CN102923189A - Controller and control method for electric power steering system based on permanent magnet synchronous motor - Google Patents
Controller and control method for electric power steering system based on permanent magnet synchronous motor Download PDFInfo
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- CN102923189A CN102923189A CN2012103854601A CN201210385460A CN102923189A CN 102923189 A CN102923189 A CN 102923189A CN 2012103854601 A CN2012103854601 A CN 2012103854601A CN 201210385460 A CN201210385460 A CN 201210385460A CN 102923189 A CN102923189 A CN 102923189A
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Abstract
本发明公开一种基于永磁同步电机的电动助力转向系统控制器及控制方法。控制器部分构建了方向盘转矩和转角信号采集系统、电机转子位置信号采集系统、永磁同步电机驱动系统和CAN通讯系统。控制方法部分包括了电动助力转向控制方法、永磁同步电机控制方法、电机转子位置信号解算方法和方向盘转矩转角信号解算方法。本发明采用了新型的电机位置传感器和方向盘转矩转角传感器，通过对控制器和控制方法的合理架构实现了对基于永磁同步电机的电动助力转向系统的优良控制，使得电动助力转向系统更为可靠完善。
The invention discloses a controller and a control method of an electric power steering system based on a permanent magnet synchronous motor. The controller part constructs the steering wheel torque and angle signal acquisition system, the motor rotor position signal acquisition system, the permanent magnet synchronous motor drive system and the CAN communication system. The control method part includes electric power steering control method, permanent magnet synchronous motor control method, motor rotor position signal solution method and steering wheel torque angle signal solution method. The present invention adopts a novel motor position sensor and a steering wheel torque angle sensor, and realizes excellent control of an electric power steering system based on a permanent magnet synchronous motor through a reasonable framework for a controller and a control method, making the electric power steering system more efficient Reliable and perfect.
Description
Technical field
The invention belongs to Vehicular turn control technology field, particularly a kind of electric booster steering system controller and control method based on permagnetic synchronous motor.
Background technology
Electric boosting steering system obtained the fast speed development in these several years, and the whole system performance is more and more reliably perfect.The development of electric boosting steering system has comprised following characteristics: first, the motor that electric boosting steering system adopts is by having brushless motor to the permagnetic synchronous motor transition, to solve owing to there being brushless motor to exist brush and commutator to cause the problems such as system life is short, difficult in maintenance.The second, electric power-assisted steering control method is by simple linear pattern power assist control method, towards the control method development of raising chaufeur feel that can be more excellent and vehicle handling stability.The 3rd, produced the motor rotor position sensor of low cost, high precision, high reliability.The 4th, bearing circle torque rotary angle transmitter is towards the future development of contactless, high precision, high noise immunity.The equipment that these are new and the application of method can improve the Performance And Reliability of electric boosting steering system greatly, but have caused simultaneously the whole system more complicated, have increased design difficulty.
Summary of the invention
Development characteristic for above-mentioned electric boosting steering system, the present invention integrated these new equipment and methods, give full play to the advantage of each equipment and method, by rational design, provide a kind of electric booster steering system controller based on permagnetic synchronous motor and control method.
Technical scheme of the present invention is achieved in that
The present invention has adopted electric boosting steering system based on permagnetic synchronous motor as control object.The permagnetic synchronous motor that adopts in this system is with respect to there being brushless motor that the advantages such as simple in structure, that volume is little, reliable, the life-span is long, power density is large are arranged, simultaneously control system from software to hardware on more complicated all; Motor rotor position sensor has comprised three tunnel commutation hall signal and two-way position hall signals in this system, under the prerequisite that guarantees the rotor-position precision, obviously reduced cost, be highly suitable for electric boosting steering system, and promoted the application of permagnetic synchronous motor on electric boosting steering system; Bearing circle torque rotary angle transmitter in this system, be the non-contact inductive position transduser, the output two-way is take the dtc signal of SENT agreement as the basis, export the angular signal of one tunnel class pwm signal, this sensor has high precision, fine resolution, heat stability, antijamming capability characteristics strong, easy for installation.
The present invention is directed to described electric boosting steering system, made up electric booster steering system controller and control method based on permagnetic synchronous motor.Control method of the present invention has comprised electric power-assisted steering control method, method for controlling permanent magnet synchronous motor, motor rotor position signal calculation method and four parts of bearing circle torque angular signal calculation method.
On controller, this patent has made up bearing circle torque angular signal Acquisition Circuit, motor rotor position signal acquisition circuit, permanent magnet synchronous electric drive circuit and CAN communicating circuit take Master control chip TMS320F2812 as core.
On control method, electric power-assisted steering control method has adopted the basic power assist control method of multiple spot broken line, motor compensating control method and has returned the positive control method.The basic power assist control method power-assisted of multiple spot broken line curve is smoother, realizes simply, is convenient to revise and debugging.The motor compensating control method has comprised friciton compensation control method, damping compensation control method and inertia compensating control method, reduces or has offset owing to steering swivel system adds friction force, dumping force and the force of inertia that the motor and speed reducer structure produces.Return the positive control method and can improve vehicle low speed and return positive deficiency, return at a high speed positive over control, make vehicle obtain good steering reversal performance.
Method for controlling permanent magnet synchronous motor has adopted the more skillful vector control method of technology, by coordinate transform the three phase current take stationary stator as the basis will be converted to take the biphase current of rotor as the basis, realize the permanent magnet excitation direction electric current and with the decoupling zero of the electric current of excitation direction vertical direction.The switching time that produces each binistor by space pulsewidth vector modulation method and seven segmentation methods at last.
Motor rotor position signal calculation method has comprised the determining of the determining of motor rotor position initialization corner, the absolute base position of rotor, the calculating of rotor absolute location and four parts of verification of rotor absolute location.
Bearing circle torque angular signal calculation method has comprised that SENT acquisition of signal, SENT signal resolve, the collection of class pwm signal and class pwm signal resolve four parts.
Description of drawings
The present invention is further illustrated below in conjunction with accompanying drawing:
Fig. 1 is of the present invention a kind of based on the electric booster steering system controller of permagnetic synchronous motor and the controller architecture schematic diagram of control method.
Fig. 2 is of the present invention a kind of based on the electric booster steering system controller of permagnetic synchronous motor and the control method overall architecture schematic diagram of control method.
Fig. 3 is of the present invention a kind of based on the electric booster steering system controller of permagnetic synchronous motor and the electric power-assisted steering control method schematic diagram of control method.
Fig. 4 be of the present invention a kind of based on permagnetic synchronous motor electric booster steering system controller and the electric power-assisted steering control method of control method in the basic power-assisted curve synoptic diagram of multiple spot broken line.
Fig. 5 is of the present invention a kind of based on the electric booster steering system controller of permagnetic synchronous motor and the permanent-magnet synchronous motor rotor position sensing device signal schematic representation of control method.
Fig. 6 is of the present invention a kind of based on the electric booster steering system controller of permagnetic synchronous motor and the permanent-magnet synchronous motor rotor position initial value decision logic schematic diagram of control method.
Fig. 7 is of the present invention a kind of based on the electric booster steering system controller of permagnetic synchronous motor and the absolute basic location positioning schematic flow sheet of control method.
Fig. 8 is of the present invention a kind of based on the electric booster steering system controller of permagnetic synchronous motor and the torque rotary angle transmitter SENT signal schematic representation of control method.
Fig. 9 is of the present invention a kind of based on the electric booster steering system controller of permagnetic synchronous motor and the torque rotary angle transmitter class pwm signal schematic diagram of control method.
Figure 10 is of the present invention a kind of based on the electric booster steering system controller of permagnetic synchronous motor and the SENT acquisition of signal schematic flow sheet of control method.
Figure 11 of the present inventionly a kind ofly resolves schematic flow sheet based on the electric booster steering system controller of permagnetic synchronous motor and the SENT signal of control method.
Figure 12 is of the present invention a kind of based on the electric booster steering system controller of permagnetic synchronous motor and the class pwm signal collecting flowchart schematic diagram of control method.
Figure 13 of the present inventionly a kind ofly resolves schematic flow sheet based on the electric booster steering system controller of permagnetic synchronous motor and the class pwm signal of control method.
Among Fig. 1: 1. main control chip TMS320F2812; 2. bus transceiver 74HC245; 3. drive chip I R2130; 4. bootstrap circuit; 5. three phase full bridge power circuit; 6. permagnetic synchronous motor; 7. current sensor; 8. current signal RC filter circuit; 9. current signal operational amplification circuit; 10. motor rotor position sensor; 11. motor rotor position signal RC filter circuit; 12. twice negater circuit of motor rotor position signal; 13. bearing circle torque rotary angle transmitter; 14. bearing circle torque angular signal RC filter circuit; 15. twice negater circuit of bearing circle torque angular signal; 16.CAN bus; 17.CAN communication receiving/transmission device.
Among Fig. 2: 1. permagnetic synchronous motor; 2. motor rotor position sensor; 3. bearing circle torque rotary angle transmitter.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is explained in detail:
Fig. 1 is controller architecture schematic diagram of the present invention.Main control chip of the present invention is the digital signal processor TMS320F2812 that Texas Instruments produces.The present invention take TMS320F2812 as core design motor rotor position signal acquisition circuit, bearing circle torque angular signal Acquisition Circuit, permanent magnet synchronous electric drive circuit and CAN communicating circuit.
Motor rotor position signal and bearing circle torque angular signal have all passed through the RC filter circuit and successively by twice negater circuit that Schmidt trigger forms, and play the effect of eliminating radio-frequency interference, signal shaping, signal being converted to 3.3V by 5V.Motor rotor position signal HALLa access master control GPIOB0 pin, HALLb access master control GPIOB1 pin, HALLc access master control GPIOB2 pin, QEP1 access master control QEP4 pin, QEP2 access master control QEP5 pin.Torque angular signal SENTA access master control CAP1 pin, SENTB access master control CAP2 pin, class PWM access master control CAP3 pin.
Drive signal in the permanent magnet synchronous electric drive circuit and at first pass through bus transceiver 74HC245, play being converted to 5V, improving the effect that drives signal load ability, isolated drive circuit and governor circuit by 3.3V driving signal.Then three road high-side switch signal PWM1, PWM3, PWM5 access respectively HIN1, HIN2, the HIN3 that drives chip I R2130, and three road low side switch signal PWM2, PWM4, PWM6 access respectively HIN4, HIN5, the HIN6 that drives chip I R2130.Drive signal through behind the IR2130, after the high-side switch signal demand further boosts through bootstrap circuit, control three full bridge power circuit drives permagnetic synchronous motor operations.Because the motor winding is star connection, three phase current and be zero is so only need gather the two-way phase current.From motor phase line A, B two current sensors are installed.Current signal that current sensor sends is through RC filtering and operational amplification circuit, plays the filtering radio-frequency interference and the 5V signal is converted to the effect of 3V.Current analog signal enters ADINA1 and the ADINA2 pin of main control chip.
The CAN communicating circuit is connected to CAN_H and the CAN_L of CAN bus on the transceiver, then accesses on main control chip CANTXA and the CANRXA pin.
Fig. 2 is control method overall architecture schematic diagram of the present invention.Control method has mainly comprised four parts: electric power-assisted steering control method, method for controlling permanent magnet synchronous motor, motor rotor position signal calculation method and bearing circle torque angular signal calculation method, structurally also to four modules should be arranged: electric power steering control module, permagnetic synchronous motor control module, motor rotor position signal resolve module and bearing circle torque angular signal resolves module.Collection is resolved the bearing circle torque corner information that obtains and obtained the axial target current of permagnetic synchronous motor q by the speed information that the CAN bus obtains by electric power steering system control method.The permanent-magnet synchronous motor rotor position information that obtains is resolved in the actual current of this permagnetic synchronous motor q direction of principal axis target current, three phase lines of permagnetic synchronous motor and collection to be input in the method for controlling permanent magnet synchronous motor together, output drive signal, then by driving circuit, the final control motor of realizing is exported needed power-assisted square.
Fig. 3 is electric power-assisted steering control method schematic diagram of the present invention.Electric power-assisted steering control method has comprised three parts: basic power assist control method, motor compensating control method and time positive control method, and structurally also to basic Power assisted control module, motor compensating control module being arranged and returning the positive control module.Wherein, the size of basic power assist control method generation current is relevant with bearing circle torque and the speed of a motor vehicle, and the power-assisted curve is determined to take into account ease of steering and road-holding property.The motor compensating control method reduces or offsets owing to steering swivel system adds friction force, dumping force and the force of inertia that the motor and speed reducer structure produces, and improves electric boosting steering system dynamic response effect.Return the positive control method and can improve vehicle low speed and return positive deficiency, return at a high speed positive over control, make vehicle obtain good steering reversal performance.Basic Power assisted control electric current I
b, motor compensating control electric current I
c, return the positive control electric current I
r, this three parts electric current sum has consisted of motor q axle target current I
Qref
Consult Fig. 4, basic power assist control method has adopted the basic power-assisted curve of multiple spot broken line among the present invention.Adopt the advantage of multiple spot broken line be can approximating curve type power-assisted curve effect, realize simultaneously simply, be convenient to debugging and revise.The method that multiple spot broken line power-assisted curve is realized is that vehicle speed signal V is divided into the 1st section: 0Km/h to 10Km/h, the 2nd section: 10Km/h to 20Km/h is until the 9th section: 80Km/h to 90Km/h, the 10th section: greater than 90Km/h.Bearing circle torque of each section correspondence is to the multiple spot broken line of basic power-assisted electric current.Should at first determine 9 unique points on each bar multiple spot broken line: [T
Sn1, I
Bn1], [T
Sn2, I
Bn2] ..., [T
Sn8, I
Bn8], [T
Sn9, I
Bn9].Then the multiple spot broken line can be expressed as:
Consult Fig. 3, the motor compensating control method has comprised friciton compensation control, damping compensation control and inertia compensation control.Friciton compensation control electric current I
f, damping compensation control electric current I
d, inertia compensation control electric current I
i, this three parts electric current sum has consisted of motor compensating control electric current I
c
Friciton compensation control is in order to overcome the Coulomb friction power in motor and the speed reduction gearing thereof, and its form is:
K
fBe the friciton compensation coefficient, θ is that motor turns.
Damping compensation control is in order to overcome the viscosity drag in motor and the speed reduction gearing thereof, and its form is:
K
dIt is the friciton compensation coefficient.
Inertia compensation control is in order to overcome the force of inertia in motor and the speed reduction gearing thereof, and its form is:
K
iIt is the inertia compensating factor.
Consult Fig. 3, return and to comprise back in the positive control method and just judge and return positive current and control two parts.Returning the logic of just judging is as bearing circle torque T
sAbsolute value less than a definite value T
Sr, and steering wheel angle θ
sAbsolute value greater than a definite value θ
Sr, show that bearing circle is in the positive state of letting go back, enter back positive current control this moment.Target direction dish corner is set as 0 °, by to the bearing circle rotational angle theta
sCarry out PID control, obtain back positive current, and under different vehicle velocity V, maxim and the minimum value of returning positive current limited, return positive deficiency thereby improve bearing circle low speed, return at a high speed the phenomenon of positive overshoot.
Consult Fig. 2, the method for vector controlled has been adopted in permagnetic synchronous motor control among the present invention.Motor three phase current I
A, I
BAnd I
CThrough Clark conversion and Park conversion, be converted to motor d direction of principal axis actual current I
dWith the axial actual current I of q
qThe axial target current I of motor d
DrefBe set as 0, with motor d direction of principal axis actual current I
dEnter d shaft current pid control module after subtracting each other.The axial target current I of motor q that is obtained by electric power-assisted steering control method
Qref, with the axial actual current I of motor q
qEnter q shaft current pid control module after subtracting each other.These two pid control modules are output motor d direction of principal axis target voltage U respectively
DrefWith motor q direction of principal axis target voltage U
Qref, then inverse transformation obtains motor α direction of principal axis target voltage U through Park
α refWith motor β direction of principal axis target voltage U
β refExport at last the duty cycle signals of each binistor by the method for Using dSPACE of SVPWM mode and seven segmentations.In Park conversion and Park inverse transformation, all used motor rotor position signal θ.
The Clark conversion refers to α β two phase coordinate systems with the static ABC three phase coordinate system convert to statics of motor three phase winding A, B, C composition.The α direction of principal axis is right against motor A phase winding direction, and the β direction of principal axis is along 90 ° of the direction left-hand revolutions of winding A phase.Three phase current I in the patent
A, I
BAnd I
CBe converted to biphase current I
αAnd I
βFormula be:
The Park conversion refers to that α β two phase coordinate systems that motor is static are converted to dq two phase coordinate systems with rotor.The d direction of principal axis is the permanent magnet excitation direction, and the q direction of principal axis is 90 ° of permanent magnet excitation direction left-hand revolutions, and the d direction of principal axis is θ with the angle of the direction of motor A phase.Static biphase current I in the patent
αAnd I
βBe converted to rotation biphase current I
dAnd I
qFormula be:
The Park inverse transformation refers to dq two phase coordinate systems with rotor are converted to static α β two phase coordinate systems of motor.The two-phase target voltage U that rotates in the patent
DrefAnd U
QrefThe two-phase target voltage U of convert to static
α refAnd U
β refFormula be:
Fig. 5 is the signal schematic representation that adopts the permanent-magnet synchronous motor rotor position sensing device among the present invention.Rotor-position signal has comprised three tunnel commutation hall signal HALLa, HALLb and HALLc and two-way position hall signal QEP1 and QEP2.Every road commutation hall signal is in 360 ° of scopes, there are 180 ° to be high level, 180 ° is low level in addition, can judge the absolute base position of interval, rotor position and rotor according to high-low level, rise and fall edge and the relation each other of three tunnel commutation hall signals.Only after the motor operation, just can send the position hall signal of two-way quadrature, position, every road hall signal comprises 24 rise and fall edges altogether in 360 ° of scopes, two-way comprises 48 rise and fall edges altogether, positive rise or falling edge namely occurs at every turn show that rotor has changed 7.5 °.
The present invention resolves the motor rotor position signal and has comprised four parts: the determining of the determining of motor rotor position initialization corner, the absolute base position of rotor, the calculating of rotor absolute location and the verification of rotor absolute location.
Fig. 6 is that motor rotor position signal of the present invention resolves middle motor rotor position initial value decision logic schematic diagram.Can determine to be decided to be the initialization corner of rotor with this interval midway location between lane place in the residing 60 ° of scopes of rotor by the relation of high-low level of three tunnel commutation hall signals, and drive permagnetic synchronous motor and start.
Fig. 7 is that motor rotor position signal of the present invention resolves the absolute basic location positioning schematic flow sheet of middle rotor.After permagnetic synchronous motor started, according to Fig. 5, when the rise and fall edge that detects HALLa, and HALLb was high level, determines that the absolute base position of rotor is 180 °, if HALLb is low level, determines that the absolute base position of rotor is 0 °; When the rise and fall edge that detects HALLb, and HALLc is high level, determines that the absolute base position of rotor is 300 °, if HALLc is low level, determines that the absolute base position of rotor is 120 °; Detect the rise and fall edge of HALLc, and HALLa is high level, determines that the absolute base position of rotor is 60 °, if HALLa is low level, determine that the absolute base position of rotor is 240 °.Namely by detecting the rise and fall edge of three tunnel commutation hall signals, can determine the absolute base position of rotor, and initialization NUMBER value is ANGLE_BASE/7.5.
The orthogonal signals of having sent by the motor position Hall element after having determined the absolute base position of rotor can be calculated the rotor absolute location of any time.Can collect positive rise and the falling edge of two-way position hall signal by main control chip.Set counting variable NUMBER, so that the variation of rising or falling edge occurs two-way position hall signal, then NUMBER adds 1 when the rotor left-hand revolution; So that the variation of rising or falling edge occurs two-way position hall signal, then NUMBER subtracts 1 when the rotor clickwise.So by detecting the rise and fall edge of two-way commutation hall signal, the absolute location that can determine permanent-magnetic synchronous motor rotor is NUMBER*7.5, precision is 7.5 °.
When calculating the permanent-magnetic synchronous motor rotor absolute location, verification is carried out in the permanent-magnetic synchronous motor rotor absolute location.Consult Fig. 7, constantly detect the rise and fall of three tunnel commutation hall signals along the rise and fall of determining the commutation hall signal along the position that rotor constantly occurs, if gained rotor absolute location is identical with calculating, it is correct that then proof is calculated gained rotor absolute location; Otherwise use by three tunnel commutation hall signal rise and fall and replace calculating gained permanent-magnetic synchronous motor rotor absolute location along the motor rotor position that obtains.
Fig. 8 is that the present invention adopts torque rotary angle transmitter SENT signal schematic representation.Each Message length period of signal is 513 microseconds, comprises 1 sync section (Synchronization), 8 Nibble sections (Nibble) and 1 time-out section (Pause).Wherein in 8 Nibble sections, comprise 1 state section (Nibble1), 6 data segments (Nibble2-Nibble7), 1 CRC check section (Nibble8).Each Nibble represents a hexadecimal numeral, i.e. four binary number, and its time span is 12 to 27 transmitting element clock period, is used for representing 0 to 15 of hexadecimal numeral.The time span of sync section is the clock period of 56 transmitting elements.The state section is Nibble1, should be expressed as four binary number, and whether its low two bit representation working sensors are normal, and the Senior Two position keeps.Contain 6 Nibble in the data segment, wherein Nibble2, Nibble3 and Nibble4 represent Signal1, and Nibble5, Nibble6 and Nibble7 represent Signal2.Each Signal is one 12 binary number, is comprised of 3 Nibble, and it is divided into most important, medium important and least important three parts.For Signal1, Nibble2 is for the highest 4, and Nibble3 is middle 4, and Nibble4 is low 4.For Signal2, Nibble7 is for the highest 4, and Nibble6 is middle 4, and Nibble5 is low four.The CRC check section is Nibble8, by the mode of cyclic redundancy data segment is carried out verification.Suspend section and be used for the time of supplying so that each frame Message reaches its cycle.Such SENT signal has two-way, is respectively SENTA and SENTB, and every road can calculate the angle that the torsion bar upper and lower side reverses, and this two paths of signals is redundant signals, can carry out mutual verification.
Fig. 9 is that the present invention adopts torque rotary angle transmitter class pwm signal schematic diagram.The cycle of class pwm signal is 6 milliseconds, and the percentum that high level accounts for the whole cycle is 12.5% to 87.5%, and the angle value of its representative is 0 ° to 296 °.
The present invention resolves for bearing circle torque rotary angle transmitter signal, has comprised that SENT acquisition of signal, SENT signal resolve, the collection of class pwm signal and class pwm signal resolve four parts.
Figure 10 is SENT acquisition of signal schematic flow sheet of the present invention.The SENT acquisition of signal has adopted the mode that main control chip interrupts that triggers.Main control chip detects the falling edge of SENT signal, and the generation of record falling edge constantly, just trigger and interrupt, at first to calculate the time gap between the falling edge twice, be near 56 if comprise the transmitting element clock period, just judge this section as sync section and calculate the actual transmitting element clock period.After determining sync section, again trigger the section that interrupts representative SENT signal and just be followed successively by Nibble1 to Nibble8.By Nibble1 to the time span of each section of Nibble8 divided by the transmitting element clock period, and after rounding, obtained the quantity of contained transmitting element clock period of each Nibble, should between 12 to 27, represent hexadecimal numeral 0 to 15.
Figure 11 is that SENT signal of the present invention resolves schematic flow sheet.When resolving, the SENT signal judges at first whether sensor is working properly, then the SENT signal is carried out CRC check, at last take Nibble2 as high 4, Nibble3 as in the middle of four, Nibble4 for hanging down four, form 12 bit Signal1, take Nibble7 as high 4, Nibble6 as in the middle of four, Nibble5 for hanging down four, form 12 bit Signal2.Just can calculate the differential seat angle of torsion bar upper and lower side by Signal1 and Signal2.At SENT acquisition of signal and resolving in the schematic flow sheet, NibbleB is the array of a buffering, in SENT acquisition of signal flow process with the NibbleA assignment to NibbleB, in resolving flow process, the NibbleB assignment can be guaranteed like this that to NibbleC SENT acquisition of signal flow process resolves flow process with the SENT signal and be independent of each other mutually.The differential seat angle of the torsion bar upper and lower side that is resolved out by SENTA and SENTB, it differs and can not surpass 0.375 °, otherwise thinks that working sensor is unusual.
Figure 12 is class pwm signal collecting flowchart schematic diagram of the present invention.Main control chip is after collecting the rise and fall edge of class pwm signal, can record it occurs constantly, just trigger and interrupt, at first to calculate the time gap between twice rise and fall edge, then read the height of class pwm signal level this moment, if the signal that collect this moment is that the time gap that low level is then calculated is high level duration, otherwise is low level duration.
Figure 13 is that class pwm signal of the present invention resolves schematic flow sheet.Accounting for the percentum of one-period by high level, should the value linear transformation be 0 ° to 296 °.Signa11 is the position signal of torsion bar bearing circle end in the SENT signal, it is 0 ° to 40 °, the value that is obtained by the class pwm signal is 0 ° to 296 °, can calculate steering wheel angle by the vernier algorithm and be-740 ° to 740 °, can satisfy the positive and negative angular range that takes two turns that revolves of bearing circle.
Claims (7)
1. electric booster steering system controller based on permagnetic synchronous motor, it is characterized in that, this controller has main control chip, described controller comprises the motor rotor position signal acquisition circuit, bearing circle torque angular signal Acquisition Circuit, permanent magnet synchronous electric drive circuit and CAN communicating circuit, twice negater circuit access main control chip that motor rotor position signal and bearing circle torque angular signal have all passed through successively the RC filter circuit and be comprised of Schmidt trigger, drive and pass through successively bus transceiver 74HC245 after signal sends from master control, drive chip I R2130 and driving circuit, wherein the high-side switch signal is boosting by bootstrap circuit behind the chip of overdriving, the current signal that two current sensors installing on the motor phase line produce is through RC filtering and operational amplification circuit, enter main control chip, permagnetic synchronous motor is carried out Current Feedback Control, between CAN bus and main control chip, add a CAN communication receiving/transmission device.
2. according to electric booster steering system controller claimed in claim 1, it is characterized in that, described main control chip is the digital signal processor TMS320F2812 that Texas Instruments produces.
3. electric power steering system control method based on permagnetic synchronous motor, it is characterized in that, motor rotor position signal and bearing circle torque angular signal are gathered and resolve, obtain driving signal by electric power-assisted steering control method and method for controlling permanent magnet synchronous motor.This control method has comprised electric power steering control, permagnetic synchronous motor control, the motor rotor position signal resolves resolves four parts with bearing circle torque angular signal.
4. according to the electric power steering system control method based on permagnetic synchronous motor claimed in claim 3, it is characterized in that, described electric power steering control has comprised basic Power assisted control, motor compensating control and has returned positive control, described basic Power assisted control has adopted the basic power-assisted curve of multiple spot broken line type, the speed of a motor vehicle is divided into a plurality of different interval by vehicle speed signal, the unique point of the basic power-assisted electric current of the corresponding motor of a plurality of bearing circle torques is chosen in each speed of a motor vehicle interval, and linking to each other by unique point forms the multiple spot broken line in this speed of a motor vehicle interval; Described motor compensating control has comprised friciton compensation control, damping compensation control and three parts of inertia compensation control; Described time positive control has comprised time just to be judged and returns two parts of positive current control.
5. according to the electric power steering system control method based on permagnetic synchronous motor claimed in claim 3, it is characterized in that, described method for controlling permanent magnet synchronous motor has adopted the null vector controlled of motor excitation directional current, and produces the on-off signal of binistor by space pulsewidth vector modulation method and seven segmentation methods.
6. according to the electric power steering system control method based on permagnetic synchronous motor claimed in claim 3, it is characterized in that, described method for controlling permanent magnet synchronous motor gathers and resolves three tunnel commutation hall signals and two-way position hall signal, draw the position of permanent-magnetic synchronous motor rotor, it has comprised four parts: the determining of the determining of motor rotor position initialization corner, the absolute base position of rotor, the calculating of rotor absolute location and the verification of rotor absolute location.
7. according to the electric power steering system control method based on permagnetic synchronous motor claimed in claim 3, it is characterized in that, described method for controlling permanent magnet synchronous motor gathers two-way SENT signal and one tunnel class pwm signal and resolves, obtain bearing circle torque corner information, it has comprised, and SENT acquisition of signal, SENT signal resolve, the collection of class pwm signal and class pwm signal resolve four parts.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111619666A (en) * | 2020-05-26 | 2020-09-04 | 新乡艾迪威汽车科技有限公司 | Friction compensation method of automobile active steering system |
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| CN117657283A (en) * | 2022-08-22 | 2024-03-08 | 比亚迪股份有限公司 | Active return control method for electric power steering, vehicle and storage medium |
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| CN106031025A (en) * | 2013-10-25 | 2016-10-12 | Trw有限公司 | Motor circuit for electric power assisted steering and method |
| CN104157179A (en) * | 2014-08-22 | 2014-11-19 | 吉林大学 | Force sensing analog system based on C-EPS structure |
| CN104157179B (en) * | 2014-08-22 | 2017-06-30 | 吉林大学 | Power sense simulation system based on C EPS structures |
| CN104527773A (en) * | 2014-11-24 | 2015-04-22 | 清华大学苏州汽车研究院（相城） | Rotating transformer software decoding based electric power-assisted steering system |
| CN104590362A (en) * | 2014-12-01 | 2015-05-06 | 中国第一汽车股份有限公司 | Electric power steering system control device and controller based on AC asynchronous motor |
| WO2017080120A1 (en) * | 2015-11-12 | 2017-05-18 | 西安理工大学 | Method for implementing unidirectional chaotic motion of rotation speed of permanent-magnet synchronous motor |
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| CN106602957A (en) * | 2016-12-28 | 2017-04-26 | 海特汽车科技（苏州）有限公司 | Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor |
| CN109760740A (en) * | 2018-12-30 | 2019-05-17 | 山东汇川汽车部件有限公司 | A kind of AC permanent magnet direct drive of torque motor formula electric power steering apparatus |
| CN111824250A (en) * | 2019-04-23 | 2020-10-27 | Zf汽车英国有限公司 | Electric power steering system |
| CN111619666A (en) * | 2020-05-26 | 2020-09-04 | 新乡艾迪威汽车科技有限公司 | Friction compensation method of automobile active steering system |
| CN113241976A (en) * | 2021-06-04 | 2021-08-10 | 亳州联岐医疗科技有限公司 | High-precision motor monitoring system for injection pump and infusion pump |
| CN117657283A (en) * | 2022-08-22 | 2024-03-08 | 比亚迪股份有限公司 | Active return control method for electric power steering, vehicle and storage medium |
| CN117657283B (en) * | 2022-08-22 | 2024-10-11 | 比亚迪股份有限公司 | Active return control method for electric power steering, vehicle and storage medium |
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