1. A method for optimizing structural parameters of a power steering system comprises the following steps:

constructing a mathematical model of a steering power-assisted system;

establishing a physical structure model of the power steering system in simulation software based on a mathematical model of the power steering system;

and optimizing structural parameters to be optimized in a physical structural model of the power steering system according to a genetic algorithm to determine an optimal power steering system structural parameter combination, and optimizing the power steering system according to the optimal power steering system structural parameter combination.

2. The method of claim 1, wherein the mathematical model of the steering assist system comprises:

a steering power-assisted system mechanical structure mathematical model, a power-assisted motor mathematical model and a hydraulic power-assisted mathematical model of a circulating ball type steering gear;

the steering power-assisted system mechanical structure mathematical model comprises a steering wheel and steering column mathematical model, a corner torque sensor mathematical model, a speed reducing mechanism mathematical model and a nut and sector mathematical model.

3. The method of claim 2, wherein constructing the steering wheel and steering column mathematical model comprises:

and constructing a steering wheel and steering column mathematical model according to the angular acceleration of the steering input shaft, the angular velocity of the steering input shaft, the torque applied to the steering wheel and the torque measured by the steering angle torque sensor.

4. The method of claim 3, wherein constructing the corner torque sensor mathematical model comprises:

constructing a mathematical model of a corner torque sensor according to the rotation angle of a steering input shaft, the rotation angle of a steering screw and the torque measured by the corner torque sensor;

constructing the nut and sector mathematical model, comprising:

and constructing a nut and sector mathematical model according to the acceleration of the movement of the nut, the movement speed of the nut, the axial force acting on the nut, the torque transmitted on the sector, the angular acceleration of the sector, the angular speed of the sector and the steering resistance equivalent to the torque on the rocker arm shaft.

5. The method of claim 2, wherein the reduction mechanism mathematical model comprises an output shaft and steering screw mathematical model;

constructing the mathematical model of the output shaft and the steering screw comprises the following steps:

and constructing a mathematical model of the output shaft and the steering screw according to the angular acceleration of the steering screw, the angular speed of the steering screw, the torque transmitted on the output shaft, the torque measured by the corner torque sensor, the axial working load of the steering screw and the distance from the axial load applied to the steering screw to the center of the steering screw.

6. The method of claim 5, wherein constructing the assist motor mathematical model comprises:

and constructing a mathematical model of the power-assisted motor according to the angular acceleration of the motor shaft, the angular velocity of the motor shaft, the armature current of the motor, the torque transmitted on the output shaft, the armature inductance, the armature resistance, the counter electromotive force and the voltage at two ends of the armature.

7. The method of claim 2, wherein the hydraulic assist mathematical model of the recirculating ball steering gear includes a rotary valve model;

constructing the rotary valve model, including:

obtaining the flow passing through each throttle valve based on a flow balance formula and a thin-wall small hole principle;

and obtaining the pressure difference on two sides of each throttle valve based on the flow of each throttle valve, and taking the expression of the pressure difference as the rotary valve model.

8. The method according to claim 1, wherein the optimizing structural parameters to be optimized in a physical structural model of the power steering system according to a genetic algorithm to determine an optimal combination of the structural parameters of the power steering system comprises:

selecting structural parameters to be optimized in a physical structural model of the power steering system according to the mathematical model of the power steering system;

and optimizing the structural parameters to be optimized by utilizing a genetic algorithm based on the upper limit and the lower limit of the preset structural parameters until the optimal solution of the structural parameters to be optimized is obtained.

9. The method of claim 8, wherein the structural parameters to be optimized include a rotational inertia of a steering input shaft of the steering wheel, a viscous damping coefficient of the steering input shaft, a torsion bar stiffness coefficient, an equivalent rotational inertia of a steering screw and an output shaft, an equivalent viscous damping coefficient of the steering screw and the output shaft, a rotational inertia of the sector, a viscous damping coefficient of the nut, and a viscous damping coefficient of the sector.

10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1 to 9 when executing the program.

Background

Heavy commercial car quality is heavy, load is big, and front axle load generally is about 8000kg ~10000kg, and the steering wheel hand moment that the steering in-process driver need provide is great, consequently, commercial car adopts hydraulic assistance or motor helping hand and hydraulic assistance's power-assisted steering mode usually. However, when designing the power steering system, due to the problems of unobvious power steering effect, unstable power steering state, large power steering energy loss and the like caused by improper design of structural parameters, it is necessary to optimize the structural parameters of the power steering system.

Disclosure of Invention

In view of this, an object of the present disclosure is to provide a method for optimizing a structural parameter of a power steering system and an electronic device.

Based on the above purpose, the present disclosure provides a method for optimizing structural parameters of a power steering system, including:

constructing a mathematical model of a steering power-assisted system;

establishing a physical structure model of the power steering system in simulation software based on a mathematical model of the power steering system;

and optimizing structural parameters to be optimized in a physical structural model of the power steering system according to a genetic algorithm to determine an optimal power steering system structural parameter combination, and optimizing the power steering system according to the optimal power steering system structural parameter combination.

Further, the mathematical model of the steering assist system includes:

a steering power-assisted system mechanical structure mathematical model, a power-assisted motor mathematical model and a hydraulic power-assisted mathematical model of a circulating ball type steering gear;

the steering power-assisted system mechanical structure mathematical model comprises a steering wheel and steering column mathematical model, a corner torque sensor mathematical model, a speed reducing mechanism mathematical model and a nut and sector mathematical model.

Further, a steering wheel and steering column mathematical model is constructed, comprising:

and constructing a steering wheel and steering column mathematical model according to the angular acceleration of the steering input shaft, the angular velocity of the steering input shaft, the torque applied to the steering wheel and the torque measured by the steering angle torque sensor.

Further, constructing a mathematical model of the corner torque sensor, comprising:

constructing a mathematical model of a corner torque sensor according to the rotation angle of a steering input shaft, the rotation angle of a steering screw and the torque measured by the corner torque sensor;

constructing the nut and sector mathematical model, comprising:

and constructing a nut and sector mathematical model according to the acceleration of the movement of the nut, the movement speed of the nut, the axial force acting on the nut, the torque transmitted on the sector, the angular acceleration of the sector, the angular speed of the sector and the steering resistance equivalent to the torque on the rocker arm shaft.

Further, the speed reducing mechanism mathematical model comprises an output shaft and a steering screw mathematical model;

the construction of the output shaft and steering screw mathematical model comprises the following steps:

and constructing a mathematical model of the output shaft and the steering screw according to the angular acceleration of the steering screw, the angular speed of the steering screw, the torque transmitted on the output shaft, the torque measured by the corner torque sensor, the axial working load of the steering screw and the distance from the axial load applied to the steering screw to the center of the steering screw.

Further, constructing the mathematical model of the power assisting motor comprises:

and constructing a mathematical model of the power-assisted motor according to the angular acceleration of the motor shaft, the angular velocity of the motor shaft, the armature current of the motor, the torque transmitted on the output shaft, the armature inductance, the armature resistance, the counter electromotive force and the voltage at two ends of the armature.

Further, the hydraulic power-assisted mathematical model of the recirculating ball steering gear comprises a rotary valve model;

constructing the rotary valve model, including:

obtaining the flow passing through each throttle valve based on a flow balance formula and a thin-wall small hole principle;

and obtaining the pressure difference on two sides of each throttle valve based on the flow of each throttle valve, and taking the expression of the pressure difference as the rotary valve model.

Further, the optimizing the structural parameters to be optimized in the physical structural model of the power steering system according to the genetic algorithm to determine the optimal structural parameter combination of the power steering system includes:

selecting structural parameters to be optimized in a physical structural model of the power steering system according to the mathematical model of the power steering system;

and optimizing the structural parameters to be optimized by utilizing a genetic algorithm based on the upper limit and the lower limit of the preset structural parameters until the optimal solution of the structural parameters to be optimized is obtained.

Further, the structural parameters to be optimized comprise the rotational inertia of a steering input shaft of the steering wheel, the viscous damping coefficient of the steering input shaft, the rigidity coefficient of a torsion bar, the equivalent rotational inertia of a steering screw and an output shaft, the equivalent viscous damping coefficient of the steering screw and the output shaft, the rotational inertia of a sector, the viscous damping coefficient of a nut and the viscous damping coefficient of the sector.

Based on the same inventive concept, the present disclosure also provides an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method according to any one of the above aspects when executing the program.

The method for optimizing the structure parameters of the power steering system can avoid the situation that the power steering effect of the power steering system is not obvious due to the structure parameters, greatly improves the power steering effect of the power steering system, ensures the stability of the power steering state and reduces the loss of power steering energy.

Drawings

In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a flowchart of a method for optimizing structural parameters of a power steering system according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of a rotary valve model according to an embodiment of the disclosure;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

It is to be noted that technical terms or scientific terms used in the embodiments of the present disclosure should have a general meaning as understood by those having ordinary skill in the art to which the present disclosure belongs, unless otherwise defined. The use of "first," "second," and similar terms in the embodiments of the disclosure is not intended to indicate any order, quantity, or importance, but rather to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items.

As shown in the background art, the conventional steering power-assisted mode of the commercial vehicle usually adopts hydraulic power assistance or motor power assistance plus hydraulic power assistance, and the applicant finds that when the structural parameter design of the steering power-assisted system is unreasonable, the power-assisted effect on the commercial vehicle with heavy mass and large load is not obvious, the power-assisted state is unstable, and a large amount of energy loss is caused.

In view of this, the embodiment of the present disclosure provides an optimization scheme for structural parameters of a power steering system, which includes first constructing a mathematical model of the power steering system, then establishing a physical model of the power steering system in simulation software according to the mathematical model of the power steering system, and finally determining an optimal solution for the structural parameters of the power steering system according to a genetic algorithm, so as to improve a power steering effect of the power steering system, keep a power steering state stable, and reduce a loss of power steering energy.

Hereinafter, the technical means of the present disclosure will be described in detail by specific examples.

Referring to fig. 1, a method for optimizing structural parameters of a power steering system according to an embodiment of the present disclosure is applied to a heavy-duty commercial vehicle, and includes the following steps:

and S101, constructing a mathematical model of the steering power-assisted system.

In this step, the mathematical models of the power steering system include a mechanical structure mathematical model of the power steering system, a power assisting motor mathematical model, and a hydraulic power assisting mathematical model of the recirculating ball steering gear.

The steering power-assisted system mechanical structure mathematical model comprises a steering wheel and steering column mathematical model, a corner torque sensor mathematical model, a speed reducing mechanism mathematical model and a nut and sector mathematical model.

Optionally, constructing a steering wheel and steering column mathematical model includes: and constructing a steering wheel and steering column mathematical model according to the angular acceleration of the steering input shaft, the angular velocity of the steering input shaft, the torque applied to the steering wheel and the torque measured by the steering angle torque sensor.

It should be noted that the expression of the mathematical model of the steering wheel and the steering column is as follows:

wherein the content of the first and second substances,representing the moment of inertia of the steering input shaft of the steering wheel,represents the angular acceleration of the steering input shaft,representing the viscous damping coefficient of the steering input shaft,indicating the angular velocity of the steering input shaft,which represents the torque applied to the steering wheel,indicating the torque measured by the corner torque sensor.

In addition, the first and second substrates are,for steering the angle of the input shaftThe first derivative of (a) is,for steering input shaft angleIs thus able to pass throughAnddetermining the angle of rotation of a steering input shaft。

And constructing a mathematical model of the corner torque sensor according to the corner of the steering input shaft, the corner of the steering screw and the torque measured by the corner torque sensor. The expression of the mathematical model of the corner torque sensor is as follows:

wherein the content of the first and second substances,which represents the stiffness coefficient of the torsion bar,indicating the steering screw angle.

The speed reducing mechanism mathematical model comprises an output shaft and a steering screw mathematical model. Wherein, construct output shaft and steering screw mathematical model and include: and constructing a mathematical model of the output shaft and the steering screw according to the angular acceleration of the steering screw, the angular speed of the steering screw, the torque transmitted on the output shaft, the torque measured by the corner torque sensor, the axial working load of the steering screw and the distance from the axial load applied to the steering screw to the center of the steering screw.

Specifically, the expression of the mathematical model of the output shaft and the steering screw is as follows:

wherein the content of the first and second substances,representing the equivalent moment of inertia of the steering screw and the output shaft of the CVT transmission,which is indicative of the steering screw angular acceleration,representing the equivalent viscous damping coefficient of the steering screw and the output shaft,which is indicative of the angular velocity of the steering screw,which represents the torque transmitted on the output shaft,Fthe axial working load of the steering screw is indicated,lindicating the distance of the axial load applied to the steering screw to the center of the steering screw.

lThe expression of (a) is:

wherein the content of the first and second substances,the lift angle of the spiral is shown,the equivalent friction angle of the circulating ball screw pair is shown,the center distance of the steel balls is shown,the steel ball diameter is shown.

Accordingly, the method can be used for solving the problems that,is composed ofThe first derivative of (a) is,is composed ofSecond derivative of, pairConducting the derivation can obtainAnd。

and constructing a nut and sector mathematical model according to the acceleration of the movement of the nut, the movement speed of the nut, the axial force acting on the nut, the torque transmitted on the sector, the angular acceleration of the sector, the angular speed of the sector and the steering resistance equivalent to the torque on the rocker arm shaft. The expression of the nut and sector mathematical model is as follows:

wherein the content of the first and second substances,mthe mass of the nut is represented and,the acceleration of the movement of the nut is indicated,the viscous damping coefficient of the nut is expressed,which is indicative of the speed of movement of the nut,indicating the axial force acting on the nut,representing the torque transmitted on the sector of the gear,r _w the pitch circle radius of the sector is shown,the moment of inertia of the sector of teeth is represented,the angular acceleration of the sector of teeth is represented,the viscous damping coefficient of the sector is expressed,the angular velocity of the sector of teeth is indicated,indicating that steering resistance is equivalent to torque on the rocker shaft.

It should be noted that, in the following description,andthe two forces are equal in magnitude and opposite in direction;is displacement of a nutxThe first derivative of (a) is,is displacement of a nutxSecond derivative of, displacement of the nutxConducting the derivation can obtainAnd；for turning the toothed fanThe first derivative of (a) is,for turning the toothed fanSecond derivative of, angle of rotation of toothed sectorConducting the derivation can obtainAnd。

when the steering screw rod rotates by an angle ofIn time, the expression of the nut movement displacement is as follows:

wherein the content of the first and second substances,Pindicating the pitch of the steering screw.

Further, constructing the mathematical model of the power assisting motor comprises: and constructing a mathematical model of the power-assisted motor according to the angular acceleration of the motor shaft, the angular velocity of the motor shaft, the armature current of the motor, the torque transmitted on the output shaft, the armature inductance, the armature resistance, the counter electromotive force and the voltage at two ends of the armature.

The expression of the power assisting motor mathematical model is as follows:

wherein the content of the first and second substances,the moment of inertia of the motor is represented,the angular acceleration of the shaft of the motor is represented,which represents the damping coefficient of the motor shaft,which is indicative of the angular speed of the shaft of the motor,indicating motor back electromotive forceThe potential of the mixture is as follows,which is representative of the motor armature current,which represents the gear ratio of the CVT transmission,the inductance of the armature is represented by,tthe time is represented by the time of day,the resistance of the armature is represented by,which represents the back electromotive force of the electromagnetic waves,representing the voltage across the armature.

Accordingly, the method can be used for solving the problems that,for the angle of rotation of the motorThe first derivative of (a) is,for the angle of rotation of the motorBy a second derivative of the angle of rotation of the motorConducting the derivation can obtainAnd。

further, referring to fig. 2, the hydraulic boosting mathematical model of the recirculating ball steering gear includes a rotary valve model, and the step of constructing the rotary valve model includes:

based on a flow balance formula and a thin-wall small hole principle, the flow passing through each throttle valve is obtained, and the expression is as follows:

wherein Q is₁，Q₂，Q₃，Q₄Respectively representing the flow through 4 different throttle valves,C _q denotes the flow coefficient, A₁，A₂，A₃，A₄Respectively representing the opening areas of 4 different throttle valves,P _S the oil inlet pressure of the rotary valve circuit is shown,P _A the oil-in pressure of the power cylinder is shown,P _B the pressure of the oil discharged from the power cylinder is shown,P _T the pressure of the oil storage tank is shown,the hydraulic oil density is indicated.

And obtaining the pressure difference between two sides of each throttle valve based on the flow of each throttle valve, wherein the expression is as follows:

and taking the expression of the pressure difference as the rotary valve model. The expression of the flow area of the rotary valve is as follows:

wherein the content of the first and second substances,Athe flow area of the rotary valve is shown,W ₁ showing the axial length of the valve pocket,W ₂ the axial length of the minor groove is indicated,d ₁ the throttle width of the valve port is shown,d ₂ the throttle width of the spool edge is shown,indicating the relative angle of rotation produced by the rotary valve,andeach representing a particular value of the relative angle of the rotary valve.

The expression of the hydraulic cylinder flow equation is as follows:

wherein the content of the first and second substances,Q _S the flow of an oil inlet of the hydraulic circuit is shown,A _P the effective area of the hydraulic cylinder is shown,x _r indicating the rod displacement of the cylinder, and the rod displacement of the cylinder and the displacement of the nutxAre equal.

And S102, establishing a physical structure model of the power steering system in simulation software based on the mathematical model of the power steering system.

In the step, a physical structure model of the steering assistance system can be established in simulation software Simulink/Simscape, and the physical model simulation is carried out on the steering assistance system. The physical structure model is actually the embodiment of the mathematical model in the simulation software, and is consistent with the content of the mathematical model expression.

And S103, optimizing structural parameters to be optimized in a physical structural model of the power steering system according to a genetic algorithm to determine the optimal structural parameter combination of the power steering system, and optimizing the power steering system according to the optimal structural parameter combination of the power steering system.

In this step, according to the mathematical model of the power steering system, selecting a structural parameter to be optimized in a physical structural model of the power steering system, where the structural parameter to be optimized includes a rotational inertia of a steering input shaft of the steering wheel, a viscous damping coefficient of the steering input shaft, a torsion bar stiffness coefficient, an equivalent rotational inertia of the steering screw and an output shaft, an equivalent viscous damping coefficient of the steering screw and an output shaft, a rotational inertia of the sector, a viscous damping coefficient of the nut, and a viscous damping coefficient of the sector.

And optimizing the structural parameters to be optimized by utilizing a genetic algorithm based on the upper limit and the lower limit of the preset structural parameters until the optimal solution of the structural parameters to be optimized is obtained.

The torque applied to the steering wheel is based on the torque applied to the steering wheelT _h Obtaining the steering input shaft angular acceleration by a steering wheel and steering column mathematical modelAnd steering input shaft angular velocityFurther obtain the steering input shaft angle(ii) a Turning a steering input shaftThe rotation angle of the steering screw can be obtained by inputting the rotation angle torque sensor into a mathematical model(ii) a To the turning angle of the steering screwRespectively calculating the first derivative and the second derivative to obtain the angular velocity of the steering screwAnd steering screw angular accelerationSo as to obtain the torque transmitted on the output shaft according to the mathematical model of the output shaft and the steering screwT _wg And axial working load of steering screwFFrom axial working loadFCan obtain the axial force which has the same size and opposite direction and acts on the nutFurther, the torque transmitted on the sector is obtained through a nut and sector mathematical modelT _CS Moving speed of nutAnd acceleration of nut movementFurther determining the displacement of the nutx(ii) a According to given motor armature currenti _a And torque transmitted to the output shaftT _wg Obtaining the motor shaft angular acceleration by a power-assisted motor mathematical modelAnd motor shaft angular velocityFurther obtain the rotation angle of the motor(ii) a Due to displacement of the nutxRod displacement from hydraulic cylinderx _r Equal, the pressure of the oil inlet of the rotary valve loop can be obtained through a hydraulic cylinder flow equationP _S 。

After the structural parameters to be optimized are determined, the optimization target of the power steering system needs to be determined, namely the output performance of the power steering system is determined. Selectable steering resistance equivalenceTorque to rocker shaftT _p With torque applied to the steering wheelT _h The following performance of the steering assistance system is used as a standard for judging the optimization performance of the steering assistance system; or the angle of the sectorAngle of rotation of steering input shaftThe following performance of the steering assistance system is used as a standard for judging the optimization performance of the steering assistance system; the two modes can be combined to be used as a standard for judging the optimization performance of the steering power-assisted system, and the expression is as follows:

wherein the content of the first and second substances,Va matrix representing the structural parameters to be optimized,is shown int _k At the moment, the optimized parameter value isVThe steering resistance at that time is equivalent to the torque on the rocker shaft,is shown int _k Moment of time, torque applied to the steering wheelT _h ，Is shown int _k At the moment, the optimized parameter value isVAngular rotation of toothed sector，Is shown int _k Angular rotation of toothed sector at any time。

Therefore, according to the technical scheme provided by the disclosure, reasonable structural parameters can be selected, a real object of the power steering system is processed, the power steering effect of the power steering system is obviously improved, the stability of the power steering state can be ensured, and the power steering energy loss is avoided.

In some embodiments, optimizing the structural parameter to be optimized by using a genetic algorithm based on preset upper and lower limits of the structural parameter until obtaining an optimal solution of the structural parameter to be optimized specifically includes:

setting initial parameters of a steering assistance system in a Simulink/Simscape according to the preset steering wheel torque to generate an initialization population of structural parameters to be optimized, performing iterative loop by using a genetic algorithm, and calculating a fitness function; and selecting the next generation of chromosomes by a roulette method according to the obtained fitness function value to perform selection, crossing and variation operations to optimize the population, and obtaining the optimal steering power-assisted system structure parameter combination after iteration is completed.

It should be noted that the method of the embodiments of the present disclosure may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In such a distributed scenario, one of the devices may only perform one or more steps of the method of the embodiments of the present disclosure, and the devices may interact with each other to complete the method.

It should be noted that the above describes some embodiments of the disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

Based on the same inventive concept, corresponding to the method of any embodiment described above, the present disclosure further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, the method for optimizing the structural parameters of the power steering system according to any embodiment described above is implemented.

Fig. 3 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.

The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solutions provided in the embodiments of the present disclosure.

The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present specification is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called to be executed by the processor 1010.

The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.

The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present apparatus and other apparatuses. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).

Bus 1050 includes a path that transfers information between various components of the device, such as processor 1010, memory 1020, input/output interface 1030, and communication interface 1040.

It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.

The electronic device of the foregoing embodiment is used for implementing the method for optimizing the structural parameters of the steering assist system in any one of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.

Based on the same inventive concept, corresponding to any of the above embodiments, the present disclosure further provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method for optimizing a structural parameter of a power steering system according to any of the above embodiments.

Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

The computer instructions stored in the storage medium of the foregoing embodiment are used to enable the computer to execute the method for optimizing the structural parameters of the power steering system according to any one of the foregoing embodiments, and have the beneficial effects of corresponding method embodiments, which are not described herein again.

Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the present disclosure, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of brevity.

In addition, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown in the provided figures for simplicity of illustration and discussion, and so as not to obscure the embodiments of the disclosure. Furthermore, devices may be shown in block diagram form in order to avoid obscuring embodiments of the present disclosure, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the present disclosure are to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that the embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.

While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.

The disclosed embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalents, improvements, and the like that may be made within the spirit and principles of the embodiments of the disclosure are intended to be included within the scope of the disclosure.