Method and device for determining a controller output variable of a controller for manual torque control of a steer-by-wire steering system for a vehicle
A method is for determining a controller output variable of a control unit having a controller for a controlled system, more particularly for manual torque control of a steer-by-wire steering system for a vehicle. The method includes adjusting a specified controller property of the controller using a specified adjustment portion, and continuously changing an influence of the specified adjustment portion on the controller property based on a parameter. The parameter is determined based on an operating situation of the controlled system, more particularly a steering and/or driving situation of the vehicle. The controller output variable is determined using the controller.
1 . A method for determining a controller output variable of a control unit for a controlled system, the control unit having a controller and a specified adjustment portion, the method comprising:
generating, with the specified adjustment portion, an adjustment signal;
receiving, with the controller, a desired output variable and the adjustment signal from the specified adjustment portion, a specified controller property of the controller being adjusted based on the adjustment signal;
continuously changing an influence of the specified adjustment portion on the specified controller property by scaling the adjustment signal from the specified adjustment portion with a parameter;
determining the parameter based on an operating situation of the controlled system; and
determining the controller output variable using the controller.
2 . The method according to claim 1 , wherein the specified adjustment portion is determined based on an operational variable of the controller.
3 . The method according to claim 1 , wherein:
the controller output variable is determined based on a transfer function of the control unit,
the transfer function is defined by a coprime factorization of the controlled system,
the specified adjustment portion is parameterized using a Youla parameterization, and
the Youla parameterization is scaled based on the parameter.
4 . The method according to claim 1 , further comprising:
modifying at least one transfer behavior of a control circuit comprising the control unit and the controlled system by the parameter,
wherein at least one other transfer behavior of the control circuit is not modified.
5 . The method according to claim 1 , wherein a gradient of the parameter is not limited.
6 . A device for determining a controller output variable of a control unit for a controlled system, the control unit having a controller and a specified adjustment portion, the device configured to:
generate, with the specified adjustment portion, an adjustment signal;
receive, with the controller, a desired output variable and the adjustment signal from the specified adjustment portion, a specified controller property of the controller being adjusted based on the adjustment signal;
continuously change an influence of the specified adjustment portion on the specified controller property by scaling the adjustment signal from the specified adjustment portion with a parameter;
determine the parameter based on an operating situation of the controlled system; and
determine the controller output variable using the controller.
7 . The device according to claim 6 , wherein the device is configured to determine the specified adjustment portion based on an operational variable of the controller.
8 . The device according to claim 6 , wherein:
the device is configured to determine the controller output variable based on a transfer function of the control unit,
the transfer function is defined by a coprime factorization of the controlled system,
the specified adjustment portion is parameterized using a Youla parameterization, and
the device is configured to scale the Youla parameterization using the parameter.
9 . The device according to claim 6 , wherein the device is configured to modify at least one transfer behavior of a control circuit comprising the control unit and the controlled system using the parameter, and not to modify at least one other transfer behavior of the control circuit.
10 . The device according to claim 6 , wherein the device is configured such that a gradient of the parameter is not limited.
11 . A vehicle, comprising:
a device according to claim 6 .
12 . The method according to claim 1 , wherein the operating situation is a steering and/or driving situation of a vehicle including the controlled system.