Position-dependent friction compensation for steering systems
A method is for compensating for a rotor angle deviation of a motor, which may be used as an actuator, e.g., as a servo actuator, in a steering system. The rotor angle deviation is compensated for by a piecewise linearized control of the difference between a desired rotor angle, which is based on a manual torque and a stored rotor angle, and a measured rotor angle, a control factor of the control being variable as a function of the control range.
1. A method for compensating for a rotor angle deviation of a motor, comprising:
piecewise linearized controlling of a difference between a desired rotor angle and a measured rotor angle, the desired rotor angle being based on a manual torque on a steering handle and a stored rotor angle, a control factor of the controlling being variable as a function of a control range.
2. The method according to claim 1 , wherein the motor includes an actuator in a steering system.
3. The method according to claim 1 , wherein the control factor is variable by a gradient change as a function of the control range.
4. The method according to claim 1 , wherein the controlling includes breaking off the compensation for the rotor angle deviation in the event that the compensation exceeds the desired rotor angle.
5. The method according to claim 1 , wherein the controlling including compensating for all friction-related deviations of the rotor angle under influences of the manual torque.
6. The method according to claim 1 , wherein the controlling is performed by a controller that includes at least one of (a) a P-controller, (b) an I-controller and (c) a PI-controller.
7. The method according to claim 6 , wherein a controlled system of the I-controller is provided with a maximum control factor for input variables that are quantitatively far from zero and is provided with variable, quantitatively decreasing control factors in an input variable range that is quantitatively near zero.
8. The method according to claim 1 , further comprising influencing a manipulated variable by a value limiter within an admissible maximum range of values.
9. The method according to claim 8 , wherein the value limiter is linear within a first range and limited to the maximum manipulated variable within a second range and a third range.
10. The method according to claim 1 , further comprising quantitatively limiting the manual torque to a maximum value.
11. The method according to claim 1 , wherein the controlling sets in in accordance with a change in the manual torque.
12. The method according to claim 1 , wherein the controlling sets in only when the manual torque exceeds a limiting value.
13. The method according to claim 1 , further comprising determining a desired rotor angle deviation from a difference of the manual torque with respect to a previously stored manual torque, multiplied by a gear ratio and divided by a factor for a system stiffness.
14. The method according to claim 1 , further comprising selecting a first control if the manual torque is above a first threshold value and selecting a second control if a magnitude of the manual torque having a negative sign is above a second threshold value.
15. The method according to claim 14 , wherein the first control includes a positive compensation control.
16. The method according to claim 14 , wherein the second control includes a negative compensation control.
17. The method according to claim 14 , wherein the first threshold value and the second threshold value are quantitatively identical.
18. A steering system, comprising:
a device adapted to perform piecewise linearized controlling of a difference between a desired rotor angle and a measured rotor angle, the desired rotor angle being based on a manual torque on a steering handle and a stored rotor angle, a control factor of the controlling being variable as a function of a control range.
19. The steering system according to claim 18 , wherein the steering system is arranged as a steering system for a motor vehicle.