Method and device for compensating fault in an electrical steering system
In an electric steering device, a plurality of periodic disturbances (M(f 1o ), M(f 2o ), . . . M(f no )) can occur which are to be compensated, while additionally occurring, in particular non-periodic, disturbances ( M stoer ) are not to be compensated. So as to enable simultaneous compensation of a plurality of such periodic disturbances based on a model (G nom (s)) of the steering device, it is proposed to map the further disturbances M stoer occurring in addition to the disturbances M(f 1o ), M(f 2o ), (Mf no ) to be compensated, together with inaccuracies or modeling errors (Δs) of the model (G nom (s)) in the form of an unstructured disturbance ( M stoer ).
1. A method for simultaneously compensating for a plurality of periodic disturbances (M(f 1o ), M(f 2o ), . . . M(f no )), occurring during the operation of an electric steering device, the electric steering device comprising a torque control element, and at least one compensation signal ( M (f 1o ), M (f 2o ), . . . M (f no )) corresponding to the disturbances (M(f 1o ), M(f 2o ), . . . M(f no )) to be compensated for being determined as a function of a signal (M servo ) characterizing an actuating torque of the torque control element and a signal (MTB mess ) characterizing a current torsion bar torque, using a model (G nom (s)) of the steering device wherein further disturbances M Stoer , which occur in addition to the disturbances (M(f 1o ), M(f 2o ), . . . M(f no )) that are to be compensated for, are mapped together with modeling errors (As) of the model (G nom (s)) in the form of an unstructured disturbance ( M Stoer ).
2. The method according to claim 1 , wherein the determination of the at least one compensation signal ( M (f 1o ), M (f 2o ), . . . M (f no )) is made by way of a disturbance and state calculator having an additional unstructured disturbance “SZB+uS.
3. The method according to claim 2 , wherein the disturbance and state calculator having an additional unstructured disturbance “SZB+uS” comprising a component for implementing measured variable tracking.
4. The method according to claim 2 , wherein the disturbance and state calculator have an additional unstructured disturbance “SZB+uS” comprising at least one component for modeling the periodic disturbances (M(f 1o ), M(f 2o ), . . . M(f no )), and the modeling result is used to create the respective compensation signal ( M (f 1o ), M (f 2o ), . . . M (f no )).
5. The method according to claim 1 , wherein the unstructured disturbance is ascertained by way of a prediction filter, and deviations between predicted system states, which are ascertained based on the model G nom (s) of the steering device, and a predicted system state, which is created as a function of the detected measured variable (MTB mess ) and currently estimated values for the disturbing mess, variables (M(f 1o ), M(f 2o ), . . . M(f no )), are mapped onto the unstructured disturbance (M Stoer ).
6. The method according to claim 1 , wherein the signal of the actuating torque (M servo ) is used to determine the compensation signal (M(f no ), M(f 2o ), . . . M(f no )) without modification by way of an additional filter, in particular a bandpass filter.
7. The method according to claim 1 , wherein a compensation signal ( M (f 1o ), M (f 2o ), . . . M (f no )) is created for each of the periodic disturbances (M(f 1o ), M(f 2o ), . . . M(f no )) that occurs.
8. A device for simultaneously compensating for a plurality of periodic disturbances (M(f 1o ), M(f 2o ), M(f no )) occurring during the operation of an electric steering device, the electric steering device comprising a torque control element and at least one compensation signal ( M (f 1o ), M (f 2o ), . . . M (f no )) corresponding to the disturbances (M(f 1o ), M(f 2o ), . . . M(f no )) to be compensated for being determinable as a function of a signal (M servo ) characterizing an actuating torque of the torque control element and a signal (MTB mess ) characterizing a current torsion bar torque, using a model (G nom (s)) of the steering device wherein the device comprises a calculation unit for determining the at least one compensation signal ( M (f 1o ), M (f 2o ), . . . M (f no )), the calculation unit being designed so that further disturbances M Stoer , which occur in addition to the disturbances (M(f 1o ), M(f 2o ), . . . M(f no )) that are to be compensated for, are mapped together with modeling errors (Δs) of the model (G nom (s)) in the form of an unstructured disturbance (M Stoer ).
9. A device comprising means for carrying out a method for simultaneously compensating for a plurality of periodic disturbances (M(f 1o ), M(f 2o ), . . . M(f no )), occurring during the operation of an electric steering device, the electric steering device comprising a torque control element, and at least one compensation signal (M(f 1o ), M(f 2o ), . . . M(f no )) corresponding to the disturbances (M(f 1o ), M(f 2o ), . . . M(f no )) to be compensated for being determined as a function of a signal (M servo ) characterizing an actuating torque of the torque control element and a signal (MTB mess ) characterizing a current torsion bar torque, using a model G nom (s)) of the steering device wherein further disturbances M Stoer , which occur in addition to the disturbances (M(f 1o ), M(f 2o ), . . . M(f no )) that are to be compensated for, are mapped together with modeling errors (Δs) of the model G nom (s)) in the form of an unstructured disturbance (M Stoer ).