CN100514838C - Electrical servo power-assisted steering controller - Google Patents
Electrical servo power-assisted steering controller Download PDFInfo
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- CN100514838C CN100514838C CNB2007100695890A CN200710069589A CN100514838C CN 100514838 C CN100514838 C CN 100514838C CN B2007100695890 A CNB2007100695890 A CN B2007100695890A CN 200710069589 A CN200710069589 A CN 200710069589A CN 100514838 C CN100514838 C CN 100514838C
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Abstract
The present invention discloses an electrical servo steering controller, which comprises a PID controller, a triangular wave generating circuit, a comparator, a motor current detecting circuit, a motor drive circuit, a microprocessor and a motor current setting circuit. Wherein, the PID controller outputs an adjusting voltage to the comparator according to a difference between a motor current setting signal output by the motor current setting circuit and a motor current detecting signal output by the motor current detecting circuit. The comparator compares a triangular wave signal output by the triangular wave generating circuit to output a pulse width modulation signal to the motor drive circuit to control the motor current. The microprocessor works out and controls a resistance value of a digital potential device in the motor current setting circuit to modify a servo characteristic. An analog circuit is adopted to complete main functions. Besides, a special motor drive chip can provide a higher servo force and ensure a larger applicable scope, simple circuit control, wonderful steering feeling and higher reliability.
Description
Technical field
The present invention relates to the electrical servo power-assisted steering system controller, be applicable to that power steering is less, the dilly of steering spindle booster type electric servo steering system has been installed.
Background technology
The technology comparative maturity of hydraulic power-assist steering system is the automobile assisted power steering system that is most widely used on automobile at present.But there are many shortcomings in it, one, the power-assisted effect is fixed, can't adjust assist characteristic according to the variation of the speed of a motor vehicle, when causing low speed when portability and high speed the contradiction between the stable type be difficult to solve; Its two, engine will drive hydraulic pump running always, to keep the oil pressure of system, causes oil consumption to increase; Its three, the hydraulic fluid leak of system pollutes, discarded hydraulic oil is difficult to problems such as processing.Increasing the weight of of environmental pollution and highlighting of energy crisis; the demand to environmental protection, energy-conserving product that all makes constantly increases; and the electric power steering technology is compared the hydraulic power-assisted steering technology and fuel consumption descended reach 5% to 10%; and do not have the hydraulic oil pollution problem of hydraulic system, well met the requirement of environmental protection and energy saving.In addition, electric boostedly different power-assisted levels be can also provide, the portability of vehicle when low speed and the stability during high speed taken into account according to the different speed of a motor vehicle.
Though a lot of motor corporations have all carried out a large amount of research to electric boosting steering system, and there are some products to begin on automobile, to use, but because technical imperfection, especially the shortcoming of controller function causes the advantage of electric boosting steering system not embodied completely.
Main problem embodies a concentrated reflection of the following aspects:
On the assist motor type of drive, the electric booster steering controller general using independence mos pipe of current use is built the H bridge, and opportunity that mos pipe is opened and closed by pulse-width signal (PWM) and time are adjusted and controls turning to and size of current of motor.This employing independently mos pipe scheme of building H bridge drive motors has following shortcoming: independently the mos pipe needs drive circuit, and drives high-end positive-negative-positive mos pipe and need booster circuit to provide to be higher than power source voltage, to cause The whole control circuit structure complexity; Because mos pipe manufacturer technology, the power-assisted current ratio is less, and bigger power-assisted can't be provided, and has limited the application of system.
On power-assisted current closed-loop control mode, the controller major part of current use all adopts digitial controller to finish the function of system.Be that microprocessor is gathered torque signal and vehicle speed signal, get the assist characteristic curve chart to calculate due assist motor electric current given by looking into, cooperate current of electric feedback signal Applied Digital proportion integration differentiation control algolithm again, the calculating digitial controller is exported, and obtains being used to control the pulse-width signal with corresponding duty ratio (PWM) of motor-driven bridge.The shortcoming of this digital control scheme is: controller calculates required torque signal and obtains by the A/D sampling, but the sampling precision of A/D sampling, and the restriction of sample rate makes that the control precision of controller is poor; Microprocessor obtains the given signal demand of current of electric according to moment of torsion and vehicle speed signal and carries out a large amount of calculating, but the computational speed of general microprocessor is fast inadequately, system is existed lag behind obviously, and is slow in reacting, the control effect is undesirable, under the abominable situation even vibrate;
Import when smaller at moment of torsion, adopt the controller of motor one pole drive scheme, the program of microprocessor stored can be set electric current and be given as 0, promptly has central dead band, but because the inertia of motor, during cold start-up transition unsmooth, feel is poor.More than these problems all be difficult to solve.
Summary of the invention
The objective of the invention is to propose a kind of bigger power steering that provides, control circuit is simple, drives the better electrical servo power-assisted steering controller of feel.
Electrical servo power-assisted steering controller of the present invention comprises proportional plus integral plus derivative controller, triangle wave generating circuit, comparator, motor current detecting circuit, motor-drive circuit, microprocessor and current of electric given circuit; Microprocessor is gathered vehicle speed signal and engine rotational speed signal, and an one control signal output ends links to each other with an input of current of electric given circuit by spi bus, and another control signal output ends links to each other with the motor-drive circuit input; The main torque signal of the external signal input termination torque sensor output of current of electric given circuit, the voltage signal of current of electric given circuit output connects the input in the same way of proportional plus integral plus derivative controller; The reverse input end of proportional plus integral plus derivative controller links to each other with the output of motor current detecting circuit, the output of proportional plus integral plus derivative controller links to each other with the input in the same way of comparator, the reverse input end of comparator links to each other with the output of triangle wave generating circuit, the pulse-width signal of comparator output inserts the signal input end of motor-drive circuit, the current of electric detection signal output of motor-drive circuit links to each other with the input of motor current detecting circuit, motor-drive circuit overcurrent fault detection signal output part, the fault detection signal of triangular signal that triangle wave generating circuit produces and outside input connects the fault detect end of microprocessor respectively.
Advantage of the present invention is:
1. most function all realizes by analog circuit, avoided the low and microprocessor speed of service of A/D sampling precision slowly to the adverse effect of systematic function;
2. do not need microprocessor to calculate according to torque signal, improved the reaction speed of controller greatly, saved simultaneously the internal resource of microprocessor again, reduced requirement to microprocessor performance, help reducing cost, and can make microprocessor be absorbed in the work of system fault diagnosis protection, improve the reliability of system;
3. the required H bridge of motor-driven adopts special integrated chip to set up, and need not drive circuit, and control circuit is simple in structure, and reliability improves greatly, and can obtain bigger power-assisted electric current, has expanded the scope of application of controller;
4. proportional plus integral plus derivative controller can carry out the closed-loop control of fast and stable to current of electric, make motor apply default power torque to steering spindle, do not need microprocessor that the process of closed-loop control is interfered, saved the resource of microprocessor equally, improved the reaction speed of system;
5. motor adopts the scheme of bipolar driving, and the electric motor starting mode is warm start, has reduced the influence of motor inertia to feel, and the dead band transitions smooth does not have tangible hand-power to change;
Description of drawings
Fig. 1 is the formation schematic diagram of electrical servo power-assisted steering controller;
Fig. 2 is triangle wave generating circuit figure;
Fig. 3 is comparator and proportional plus integral plus derivative controller circuit diagram;
Fig. 4 is a kind of motor-drive circuit figure;
Fig. 5 is motor current detecting circuit figure;
Fig. 6 is current of electric given circuit figure;
Fig. 7 is a microprocessor pin connection layout.
Embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to Fig. 1, electrical servo power-assisted steering controller of the present invention, comprise proportional plus integral plus derivative controller 1, triangular-wave generator 2, comparator 3, motor-drive circuit 4, motor current detecting circuit 5, microprocessor 6 and current of electric given circuit 7, microprocessor 6 is gathered vehicle speed signal A and engine rotational speed signal B, its control signal output ends links to each other with an input of current of electric given circuit 7 by spi bus, and another control signal output ends of microprocessor 6 links to each other with motor-drive circuit 4 inputs; The main torque signal C of the external signal input termination torque sensor output of current of electric given circuit 7, the voltage signal of current of electric given circuit 7 outputs connects the input in the same way of proportional plus integral plus derivative controller 1; The reverse input end of proportional plus integral plus derivative controller links to each other with the output of motor current detecting circuit 5, the output of proportional plus integral plus derivative controller links to each other with the input in the same way of comparator 3, the reverse input end of comparator 3 links to each other with the output of triangle wave generating circuit 2, the pulse-width signal PWM of comparator output inserts the signal input end of motor-drive circuit 4, the current of electric detection signal output of motor-drive circuit 4 links to each other with the input of motor current detecting circuit 5, motor-drive circuit 4 overcurrent fault detection signal output parts, the triangular signal that triangular-wave generator 2 produces and the fault detection signal D of outside input connect the fault detect end of microprocessor 6 respectively.
Triangle wave generating circuit 2 in the electrical servo power-assisted steering controller as shown in Figure 2, it comprises two operational amplifier U1, U2 and two logic inverter U1E and U1F, a voltage-stabiliser tube Z and peripheral resistance, capacity cell.Wherein operational amplifier U1 adopts chip LM2903, and operational amplifier U2 adopts chip AD824, and two logic inverter U1E and U1F adopt chip 74HC14 respectively.Triangle wave generating circuit+the 2.5V reference voltage provides by motor current detecting circuit 5, the pin 8 of chip LM2903 connects+the 5V power supply, pin 4 ground connection, pin 2 and motor current detecting circuit 5+the 2.5V output links to each other, pin 1 connects+the 5V power Vcc by pull-up resistor R1, and connect the pin 13 of U1F chip 74HC14 by resistance R 2, the pin 12 of U1F chip 74HC14 is connected with the pin 11 of U1E chip 74HC14, the end of the pin 10 connecting resistance R5 of U1E chip 74HC14, the other end of resistance R 5 divides three the tunnel, the one road connects the pin 3 of chip LM2903 through resistance R 4, the second the tunnel connects the pin 13 of chip AD824 through resistance R 6, Third Road through voltage-stabiliser tube Z and motor current detecting circuit 5+the 2.5V output links to each other, the pin 12 of chip AD824 by resistance R 7 and motor current detecting circuit 5+the 2.5V output links to each other, between the pin 13 of chip AD824 and pin 14, insert capacitor C 1, at the pin 14 output triangular waves of chip AD824.This circuit is a self-maintained circuit, and the triangular signal amplitude of generation is 0.3～4.7V, and frequency is 20.8KHz.
Comparator and proportional plus integral plus derivative controller as shown in Figure 3, proportional plus integral plus derivative controller 1 is made up of the operational amplifier U3 with track to track characteristic and peripheral resistance, capacity cell.Operational amplifier U3 adopts chip AD824.The pin 5 of chip AD824 meets the given signal Isv of current of electric of current of electric given circuit 7 outputs by resistance R 8, pin 6 meets the current of electric feedback signal Ifb of motor current detecting circuit 5 outputs by resistance R 9, insert the circuit of the two ends parallel resistance R10 series capacitance C2 of resistance R 11 between the pin 6 of chip AD824 and pin 7, the output voltage of proportional plus integral plus derivative controller is by pin 7 outputs of chip AD824.
Motor-drive circuit 4 as shown in Figure 4, it comprises two motor drive ic BTS7960A and BTS7960B, three logic inverter U1A, U1B and U1C, and some peripheral resistance, capacity cell.Be used for according to the pulse-width signal PWM of comparator 3 outputs and the Run control signal drive motors running of microprocessor 6 outputs.
Three logic inverter U1A, U1B, U1C adopt chip 74HC14 respectively, and the pin 1 of BTS7960A and the pin 1 of BTS7960B link to each other and ground connection, and the pin 7 of BTS7960A and the pin 7 of BTS7960B link to each other and connect+the 12V power supply; The pin 3 of BTS7960A and the pin 3 of BTS7960B are Enable Pin, link to each other with the pin 6 of U1C chip 74HC14, the pin 5 of U1C chip 74HC14 connects the enable signal Run output of microcontroller 6, the pin 1 of U1A chip 74HC14 connects the pulse-width signal PWM output of comparator 3, the pin 2 of U1A chip 74HC14 links to each other with the pin 3 of U1B chip 74HC14, the pin 2 of U1A chip 74HC14 connects the pin 2 of chip BTS7960A as signal input end, the pin 4 of U1B chip 74HC14 connects the pin 2 of BTS7960B as signal input end, the pin 6 of chip BTS7960A meets the motor overcurrent fault detect end ISA of microprocessor 6, and the pin 6 of chip BTS7960B meets the motor overcurrent fault detect end ISB of microprocessor.Insert sample resistance R18 and motor between the pin 4 of chip BTS7960A and the pin 4 of chip BTS7960B.
Motor current detecting circuit 5 as shown in Figure 5, it is by chip AD8210, chip 1009D, and peripheral resistance, capacity cell are formed.Insert the parallel circuits of capacitor C 11 and capacitor C 12 between the pin 2 of chip AD8210 and the pin 6, pin 2 ground connection, pin 6 connects+the 5V power supply, the pin 1 of chip AD8210 connects the pin 4 of motor-drive circuit 4 chips BTS7960A by resistance R 19, the voltage signal I+ of input sample resistance R18 one end, the pin 8 of chip AD8210 connects the tie point of sample resistance R18 and motor in the motor-drive circuit by resistance R 20, the voltage signal I of the input sample resistance R18 other end-, link to each other with the pin 6 of chip 1009D behind the pin 3 of chip AD8210 and pin 7 short circuits, and output+2.5V reference voltage, the pin 5 of chip AD8210 is the output Ifb of current of electric detection signal, links to each other with proportional plus integral plus derivative controller.
Current of electric given circuit 7 as shown in Figure 6, it comprises two operational amplifier U5, U6, digital regulation resistance U7, Schottky diode T, logic inverter U1D and peripheral resistance capacitance element.Be used for the given signal Isv of spi bus control signal output motor electric current according to input torque signal and microprocessor 6.
Operational amplifier U5 adopts chip AD824, and operational amplifier U6 adopts chip LM2904D, and digital regulation resistance U7 adopts chip AD5160, and logic inverter U1D adopts chip 74HC14.The pin 3 one tunnel of chip AD824 connects through resistance R 22 turns round the reportedly main torque signal C of sensor output, another road through resistance R 23 and motor current detecting circuit 5+the 2.5V output links to each other, insert resistance R 27 between the pin 1 of chip AD824 and the pin 2, the pin 2 of chip AD824 links to each other with the pin 1 of chip LM2904 by resistance R 26, between the pin 2 of chip LM2904 and pin 1, insert resistance R 25,3 pin of chip LM2904 link to each other with the pin 8 of chip 74HC14 by resistance R 24, the pin 9 of chip 74HC14 links to each other with the reference voltage signal output of microprocessor 6, the pin 1 of chip AD824 links to each other with the pin 8 of chip AD5160 with resistance R 28 by Schottky diode T, the pin 7 of chip AD5160 and motor current detecting circuit 5+the 2.5V output links to each other, the pin 4 of chip AD5160 connects the clock signal clk of microprocessor 6 outputs, the pin 5 of AD5160 meets the control signal SDI of microprocessor 6 outputs, the pin 6 of AD5160 meets the chip selection signal CS of microprocessor 6 outputs, the given signal Isv of pin 1 output motor electric current of chip AD5160 meets the input Isv of proportional plus integral plus derivative controller 1.
What microprocessor was selected for use is the MC9S08AW32 chip (see figure 7) of Freescale company research and development.Pin 8 is gathered rotating speed of automobile engine signal B, setting has only when engine rotational speed signal is higher than 500r/min, electric booster steering controller is started working, pin 11 connects outside vehicle speed pulse signal input part, pin 26 connects the Run signal input part in the motor-drive circuit 4, pin 17 connects the input of the clock signal clk of the digital regulation resistance AD5160 in the current of electric given circuit 7, pin 19 connects the input of the control signal SDI of the digital regulation resistance AD5160 in the current of electric given circuit 7, pin 20 connects the input of the chip selection signal CS of the digital regulation resistance AD5160 in the current of electric given circuit 7, pin 15 connects the reference voltage PWM-0 input in the current of electric given circuit 7, and pin 52 connects external torque signal C input.In order to improve the reliability of system, microprocessor 6 has been gathered multiple signal and has been carried out fault detect, comprise: pin 35 meets the overcurrent signal output ISA of the motor drive ic BTS7960A of motor-drive circuit, pin 36 meets the overcurrent signal output ISB of the motor drive ic BTS7960B of motor-drive circuit, pin 37 acquisition systems+12V power supply signal, pin 54 acquisition systems+5V power supply signal, pin 46 is gathered and is turned round the reportedly absolute angular signal S3 of sensor output, pin 47 is gathered and is turned round the reportedly secondary angular signal S2 of sensor output, pin 50 is gathered and is turned round the reportedly main angular signal of sensor output, and pin 51 is gathered and turned round the reportedly accessory torque signal Ts of sensor output.
What microprocessor was selected for use is the MC9S08AW32 chip of Freescale company research and development.Pin 8 is gathered the tach signal B of automobile engine, setting has only when engine rotational speed signal is higher than 500r/min, electric booster steering controller is started working, pin 11 connects outside vehicle speed pulse signal A input, pin 26 connects the Run signal input part in the motor-drive circuit 4, pin 17 connects the input of the clock signal clk of the digital regulation resistance AD5160 in the current of electric given circuit 7, pin 19 connects the input of the control signal SDI of the digital regulation resistance AD5160 in the current of electric given circuit 7, pin 20 connects the input of the chip selection signal CS of the digital regulation resistance AD5160 in the current of electric given circuit 7, pin 15 connects the reference voltage PWM-0 input in the current of electric given circuit 7, and pin 52 connects external torque signal C input.In order to improve the reliability of system, microprocessor 6 has been gathered multiple signal and has been carried out fault detect, comprise: pin 35 meets the current of electric fault detect end ISA of the motor drive ic BTS7960A of motor-drive circuit, pin 36 meets the current of electric fault detect end ISB of the motor drive ic BTS7960B of motor-drive circuit, pin 37 acquisition systems+12V power supply signal, pin 54 acquisition systems+5V power supply signal, pin 46 is gathered and is turned round the reportedly absolute angular signal S3 of sensor output, pin 47 is gathered and is turned round the reportedly secondary angular signal S2 of sensor output, pin 50 is gathered and is turned round the reportedly main angular signal of sensor output, and pin 51 is gathered and turned round the reportedly accessory torque signal Ts of sensor output.
Operation principle
The operation principle of electric booster steering controller of the present invention is as follows:
Main torque signal from torque sensor is imported the current of electric given circuit after the wave circuit processing after filtration.After the design of current of electric given circuit was finished, the height of input torque signal voltage had determined the output end voltage of digital regulation resistance in the current of electric given circuit, had realized that promptly current of electric changes along with the variation of input torque signal to determining voltage signal Isv.
Microprocessor is gathered vehicle speed signal A, looks into the resistance of digital regulation resistance in taking-up and the corresponding current of electric given circuit of vehicle speed signal according to program stored in the microprocessor.Microprocessor is exported control signal by spi bus, the resistance of control figure potentiometer.Owing to have the dividing potential drop effect in the circuit, so the variation of digital regulation resistance resistance can influence the voltage height of the given signal output part Isv of current of electric, and promptly microprocessor has been realized according to the correction of the speed of a motor vehicle to the booster steering controller assist characteristic.
When having input torque signal C, there is the power-assisted electric current to flow through in the motor, the pressure drop that is connected on the sample resistance R18 two ends in the electric motor loop is directly proportional with current of electric, real-time measurement is carried out in the pressure drop at 5 pairs of sample resistance two ends of motor current detecting circuit, is exportable and the given Signal Matching of current of electric after amplifying through the chip AD8210 shaping in the motor current detecting circuit 5, and with the proportional current of electric feedback voltage signal of motor actual current Ifb.
Given signal Isv of current of electric and current of electric feedback signal Ifb are input in the proportional plus integral plus derivative controller 1, proportional plus integral plus derivative controller 1 is regulated motor voltage signal according to the difference between given and the feedback signal, obtains corresponding output level.
The signal of the triangular signal of triangle wave generating circuit 2 outputs and proportional plus integral plus derivative controller 1 output is input to the backward end and the in-phase end of comparator 3 respectively, with the input two voltage of signals just compare after, the pulse-width signal PWM that can obtain having certain duty ratio at the output of comparator 3.Because triangular wave was exactly the signal of fixing after circuit was determined, and the voltage signal of proportional plus integral plus derivative controller 1 output is that the difference between the given and feedback signal constantly changes along with current of electric, therefore just obtained having certain duty ratio, represented electric moter voltage pulse-width signal PWM just at the output of comparator 3.The control end of motor drive ic in the pulse-width signal PWM input motor-drive circuit 4, the size of duty ratio has determined the height of armature average voltage, thereby has determined the size of current of electric.Because triangular wave determines that the level height of proportion integration differentiation regulating circuit output has just determined the height of the duty ratio of comparator 3 output pulse-width signal PWM.
There is not the moment of torsion input in comparator 3 outputs, be that the input torque signal is 0 o'clock, the current of electric feedback signal of the given signal Isv of current of electric of current of electric given circuit 7 outputs and motor current detecting circuit 5 outputs is+2.5V, therefore the level of proportional plus integral plus derivative controller output also is+2.5V, and so just can obtain duty ratio at comparator output terminal is 50% pulse-width signal PWM.The control signal that flows to motor when promptly not needing motor to carry out power-assisted is that duty ratio is 50% pulse-width signal PWM, this motor drive mode is bipolar driving, motor is in the critical condition of rotation all the time, the Starting mode of motor is warm start when needing the motor power-assisted, thereby has guaranteed that electric booster steering controller of the present invention has better feel.
Be input to the Enable Pin of two motor drive ics in the motor-drive circuit 4 after the control signal Run process logic inverter chip negate of microprocessor 6 outputs, when the Run signal is high level, be input to the low level that is of two motor drive ic Enable Pins, chip is not worked, and chip is in running order during for low level.In the pulse-width signal PWM input motor-drive circuit 4 of comparator output, make the signal input end of two motor drive ics of input obtain just the opposite control signal after treatment, characteristic according to motor drive ic, can make the electric current that flows through both direction in the motor, the power-assisted of both direction promptly is provided.Adopt motor drive ic BTS7960 to come drive motors, the voltage ratio that consumes on chip for driving is lower, just makes that the pressure drop on the motor is bigger accordingly, therefore can obtain bigger power-assisted electric current.
In order to improve the reliability of system, microprocessor 6 has been gathered multiple signal and has been carried out fault detect, comprise: the overcurrent signal output ISA of the motor drive ic BTS7960A of motor-drive circuit, the overcurrent signal output ISB of the motor drive ic BTS7960B of motor-drive circuit; System+12V power supply signal, electric booster steering controller quits work when being lower than 8V; System+5V power supply signal, electric booster steering controller quits work when being lower than 4.8V; Turn round the reportedly absolute angular signal S3 of sensor output, turn round the reportedly secondary angular signal S2 of sensor output, turn round the reportedly main angular signal of sensor output, turn round the reportedly accessory torque signal Ts of sensor output,, when these signals do not meet when turning round reportedly the sensor characteristic, electric booster steering controller quits work.When the A/D of above signal sampled value exceeded the scope that sets in the program, microprocessor quit work electric booster steering controller by two motor drive ic BTS7960A of Run signal at stop and BTS7960B, to guarantee safety.
Claims (4)
1. electrical servo power-assisted steering controller is characterized in that comprising proportional plus integral plus derivative controller (1), triangle wave generating circuit (2), comparator (3), motor current detecting circuit (5), motor-drive circuit (4), microprocessor (6) and current of electric given circuit (7); Microprocessor (6) is gathered vehicle speed signal (A) and engine rotational speed signal (B), an one control signal output ends links to each other with an input of current of electric given circuit (7) by spi bus, and another control signal output ends links to each other with motor-drive circuit (4) input; The main torque signal (C) of the external signal input termination torque sensor output of current of electric given circuit (7), the voltage signal of current of electric given circuit (7) output connects the input in the same way of proportional plus integral plus derivative controller (1); The reverse input end of proportional plus integral plus derivative controller links to each other with the output of motor current detecting circuit (5), the output of proportional plus integral plus derivative controller links to each other with the input in the same way of comparator (3), the reverse input end of comparator (3) links to each other with the output of triangle wave generating circuit (2), the pulse-width signal (PWM) of comparator output inserts the signal input end of motor-drive circuit (4), the current of electric detection signal output of motor-drive circuit (4) links to each other with the input of motor current detecting circuit (5), motor-drive circuit (4) overcurrent fault detection signal output part, the fault detection signal (D) of triangular signal that triangle wave generating circuit (2) produces and outside input connects the fault detect end of microprocessor (6) respectively.
2. electrical servo power-assisted steering controller according to claim 1, it is characterized in that current of electric given circuit (7) comprises two operational amplifier (U5, U6), digital regulation resistance (U7), Schottky diode (T), logic inverter (U1D) and peripheral resistance, capacity cell, wherein, an operational amplifier (U5) adopts chip AD824, another operational amplifier (U6) adopts chip LM2904, digital regulation resistance (U7) adopts chip AD5160, logic inverter (U1D) adopts chip 74HC14, the pin 3 one tunnel of chip AD824 connects the main torque signal C of torque sensor output through resistance R 22, another road through resistance R 23 and motor current detecting circuit (5)+the 2.5V output links to each other, insert resistance R 27 between the pin 1 of chip AD824 and the pin 2, the pin 2 of chip AD824 links to each other with the pin 1 of chip LM2904 by resistance R 26, between the pin 2 of chip LM2904 and pin 1, insert resistance R 25,3 pin of chip LM2904 link to each other with the pin 8 of chip 74HC14 by resistance R 24, the pin 9 of chip 74HC14 links to each other with the reference voltage signal output of microprocessor (6), the pin 1 of chip AD824 links to each other with the pin 8 of chip AD5160 with resistance R 28 by Schottky diode (T), the pin 7 of chip AD5160 and motor current detecting circuit (5)+the 2.5V output links to each other, the pin 4 of chip AD5160 connects the clock signal clk of microprocessor (6) output, the pin 5 of AD5160 meets the control signal SDI of microprocessor (6) output, the pin 6 of AD5160 meets the chip selection signal CS of microprocessor (6) output, the given signal Isv of pin 1 output motor electric current of chip AD5160 connects the input in the same way of proportional plus integral plus derivative controller (1).
3. electrical servo power-assisted steering controller according to claim 1, it is characterized in that motor-drive circuit (4) comprises two motor drive ics, three logic inverter (U1A, U1B and U1C) and some peripheral resistance, capacity cell, wherein, a motor drive ic is BTS7960A, another motor drive ic is BTS7960B, three logic inverter (U1A, U1B, U1C) adopt chip 74HC14 respectively, the pin 1 of BTS7960A and the pin 1 of BTS7960B link to each other and ground connection, and the pin 7 of BTS7960A and the pin 7 of BTS7960B link to each other and connect+the 12V power supply; The pin 3 of BTS7960A and the pin 3 of BTS7960B all link to each other with the pin 6 of the 3rd logic inverter (U1C) 74HC14, the pin 5 of the 3rd logic inverter (U1C) 74HC14 connects the enable signal output (Run) of microcontroller (6), the pin 1 of first logic inverter (U1A) 74HC14 connects the pulse-width signal PWM output of comparator (3), the pin 3 of the pin 2 of first logic inverter (U1A) 74HC14 and second logic inverter (U1B) 74HC14 connects the pin 2 of chip BTS7960A altogether, the pin 4 of second logic inverter (U1B) 74HC14 connects the pin 2 of BTS7960B, the pin 6 of chip BTS7960A connects the motor overcurrent fault detect end (ISA) of microprocessor (6), the pin 6 of chip BTS7960B connects the motor overcurrent fault detect end (ISB) of microprocessor (6), inserts sample resistance R18 and motor between the pin 4 of chip BTS7960A and the pin 4 of chip BTS7960B.
4. electrical servo power-assisted steering controller according to claim 1, it is characterized in that triangle wave generating circuit (2) is that the generation amplitude is 0.3～4.7V, frequency is the self-maintained circuit of 20.8KHz triangular signal, comprise two operational amplifier (U1, U2) and two logic inverter (U1E, U1F), a voltage-stabiliser tube (Z) and peripheral resistance, capacity cell, one of them operational amplifier (U1) adopts chip LM2903, another operational amplifier (U2) adopts chip AD824, two logic inverters (U1E and U1F) adopt chip 74HC14 respectively, the pin 8 of chip LM2903 connects+the 5V power supply, pin 4 ground connection, pin 2 and motor current detecting circuit (5)+the 2.5V output links to each other, pin 1 connects+5V power supply (Vcc) by pull-up resistor R1, and connect the pin 13 of second logic inverter (U1F) 74HC14 by resistance R 2, the pin 12 of second logic inverter (U1F) 74HC14 is connected with the pin 11 of first logic inverter (U1E) 74HC14, the end of the pin 10 connecting resistance R5 of first logic inverter (U1E) 74HC14, the other end of resistance R 5 divides three the tunnel, the one road connects the pin 3 of chip LM2903 and an end of resistance R 3 through resistance R 4, resistance R 3 other ends link to each other with the pin 14 of chip AD824, the second the tunnel connects the pin 13 of chip AD824 through resistance R 6, Third Road through voltage-stabiliser tube (Z) and motor current detecting circuit (5)+the 2.5V output links to each other, the pin 12 of chip AD824 by resistance R 7 and motor current detecting circuit (5)+the 2.5V output links to each other, insert capacitor C 1 between the pin 13 of chip AD824 and pin 14, the pin 14 of chip AD824 is the triangular wave output.
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| CNB2007100695890A CN100514838C (en) | 2007-08-03 | 2007-08-03 | Electrical servo power-assisted steering controller |
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| CNB2007100695890A CN100514838C (en) | 2007-08-03 | 2007-08-03 | Electrical servo power-assisted steering controller |
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| CN100514838C true CN100514838C (en) | 2009-07-15 |
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