EPS torque superposition control method

The invention relates to the technical field of steering systems, in particular to an EPS torque superposition control method. The EPS torque superposition control method is characterized in that steering torque, the angle and the angular speed of a steering wheel or the rotation angle and the rotation speed of a motor, the working state of an EPS controller, an upper computer activation signal and torque information requested by an upper computer are obtained through a data acquisition module; the torque superposition state machine module determines whether to open or close the function according to the acquired data; when a function is started, software extracts a dynamic frequency component from an original request torque through a dynamic component extraction module, and the dynamic frequency component is superposed on an original gain torque after being subjected to safety limitation; and when the function is closed, the original gain torque and the dynamic gain torque are slowly retreated to 0. Compared