mwirth-epo/epo-nmt-datasets huggingface dataset:
图8(a)示出了根据本发明的非限制的驾驶信号的实例；
FIG. 8( a) shows an example, non-limiting driving signal according to the present disclosure;
图8(b)根据本发明产生的非限制的累积信号的实例；
FIG. 8( b) show an example, non-limiting resulting accumulated signal produced according to the present disclosure;
图9示出了根据本发明的电力辅助转向系统的实施例，该电力辅助转向系统采用增强的摩擦适配和补偿方案；
FIG. 9 shows an embodiment of an electric power assisted steering system in accordance with the present disclosure that employs an enhanced friction adaptation and compensation scheme;
图10(a)示出了非限制的转矩随时间变化的实例；
FIG. 10( a) illustrates an example, non-limiting change in torque over time;
图10(b)示出了非限制的柱角度随时间变化的实例；
FIG. 10( b) illustrates an example, non-limiting change in column angle over time;
图10(c)展示了在反向期间由柱转矩相对于累积柱角度引起的滞后特性；
FIG. 10( c) illustrates the Hysteresis characteristic arising from column torque vs. accumulated column angle during reversals;
图11(a)至(c)展示了在反向期间由累积总转矩相对于累积柱角度引起的滞后特性；
FIG. 11( c) illustrates the Hysteresis characteristic arising from accumulated total torque vs. accumulated column angle during reversals;
图12展示了用于逆时针至顺时针(CCW-CW)反向和顺时针至逆时针(CW-CCW)反向的部分滞后曲线；以及
FIG. 12 illustrates the partial hysteresis curves for a counter-clockwise to clockwise (CCW-CW) reversal and for a clockwise to counter-clockwise (CW-CCW) reversal; and
图13详细示出了由摩擦估计器在产生摩擦补偿转矩增益时执行的功能。
FIG. 13 shows in details the function performed by the friction estimator in generating the friction compensation torque gain.
在附图的图1中展示了典型的电力辅助转向系统。
A typical electric power assisted steering system is illustrated in FIG. 1 of the accompanying drawings.
系统包括电动马达1，该电动马达通过(可选的)齿轮箱3作用在驱动轴2上。
The system comprises an electric motor 1 which acts upon a drive shaft 2 through an (optional) gearbox 3.
驱动轴2终止于蜗轮机构4，该蜗轮机构与设置在转向柱5的一部分上的轮协作，或与可操作地连接至转向柱的轴协作。
The drive shaft 2 terminates with a worm gear 4 that co-operates with a wheel provided on a portion of a steering column 5 or a shaft operatively connected to the steering column.
例如，马达可以作用在转向系统的转向齿条上。
For instance, the motor may act upon a steering rack of the steering system.
当然，这不应被认为是对我们寻求的保护范围的限制，并且设想了可以应用本发明的其他动力辅助转向系统。
Of course, this is not to be taken as limiting to the scope of protection we are seeking, and other power assisted steering systems are envisaged to which the disclosure has application.
例如，替代于如图所示的柱驱动系统(其中马达作用在转向柱上)，该系统可以是所谓的皮带驱动类型，其中马达直接连接至转向齿条。
For example, instead of a column drive system as shown where the motor acts on the steering column the system may be of the so-called belt drive type in which the motor is connected directly to the steering rack.
转向柱5承载有转矩传感器6，该转矩传感器被适配为测量由转向柱承载的柱转矩T柱，该柱转矩由车辆的驾驶员跟随方向盘(未示出)时产生，以及因此转向柱逆着由车辆行走车轮(也未示出)提供的阻力转动时。
The steering column 5 carries a torque sensor 6 that is adapted to measure the column torque Tcol carried by the steering column that is produced by the driver of the vehicle as the steering wheel (not shown) and hence steering column is turned against the resisting force provided by the vehicles road wheels (also not shown).
来自转矩传感器6的输出信号(在本文中称为转矩信号)T柱被馈送至信号处理单元7的第一输入。
The output signal, referred to herein as the torque signal Tcol from the torque sensor 6 is fed to a first input of a signal processing unit 7.
角位置传感器10也设置在转向柱轴上。
An angular position sensor 10 is also provided on the steering column shaft.
如图1所示，该角位置传感器联接至转矩传感器6，因为该角位置传感器通过监测转矩传感器输出的信号来对位置进行测量。
As shown in FIG. 1, this is coupled to the torque sensor 6 because it measures the position by monitoring the signal output from the torque sensor.
该角位置传感器产生指示转向柱的角位置Q柱的输出信号，在本文中称为柱位置信号。
This produces an output signal indicative of the angular position Qcol of the steering column, referred to herein as the column position signal.
来自位置传感器的输出Q柱被馈送至信号处理单元7的第二输入。
The output from the position sensor, Qcol is fed to a second input of the signal processing unit 7.
该信号处理单元可以包括电子处理器单元或其他电子电路系统。
This may comprise an electronic processor unit or other electronic circuitry.
信号处理单元7作用于两个输入信号，以产生转矩需求信号8作为该信号处理单元的输出，该转矩需求信号传递至马达控制器9。
The signal processing unit 7 acts upon the two input signals to produce, as its output, a torque demand signal 8 that is passed to a motor controller 9.
马达控制器9将转矩需求信号8转换为用于电动马达1的驱动电流。
The motor controller 9 converts the torque demand signal 8 into drive currents for the electric motor 1.