CN101934814B - Electric power-assisted steering system for driving PMSM (Permanent Magnet Synchronous Motor) by using PWM (Pulse-Width Modulation) frequency conversion strategy - Google Patents
Electric power-assisted steering system for driving PMSM (Permanent Magnet Synchronous Motor) by using PWM (Pulse-Width Modulation) frequency conversion strategy Download PDFInfo
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- CN101934814B CN101934814B CN2009100541497A CN200910054149A CN101934814B CN 101934814 B CN101934814 B CN 101934814B CN 2009100541497 A CN2009100541497 A CN 2009100541497A CN 200910054149 A CN200910054149 A CN 200910054149A CN 101934814 B CN101934814 B CN 101934814B
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Abstract
The invention discloses an electric power-assisted steering system for driving a PMSM (Permanent Magnet Synchronous Motor) by using a PWM (Pulse-Width Modulation) frequency conversion strategy. In the invention, the frequency conversion strategy can be used for changing carrier frequency of pulse width modulation (short for PWM) of a three-phase inverter bridge of a PMSM assisted type electric power-assisted steering system controller according to different work conditions, so that the electric power-assisted steering system controller can obtain the balance on reducing heat productivity, improving power output capability and reducing electromagnetic noises.
Description
Technical field
The invention belongs to automobile technical field, relate to electric boosting steering system (Electric PowerSteering System, be called for short EPS), especially a kind of employing pulse width modulation (Pulse WidthModulation, abbreviation PWM) electric boosting steering system of frequency conversion policy-driven permagnetic synchronous motor (Permanent MagnetSynchronous Motor is called for short PMSM).
Background technology
Electric boosting steering system is (mainly to comprise steering handwheel by traditional mechanical steering system, steering shaft, deflector, steering track rod mechanism, wheel flutter) installs torque sensor additional, electronic control unit (ElectronicControl Unit is called for short ECU), power steering motor and speed reduction gearing thereof are formed.Wherein, torque sensor is installed on the steering shaft to detect pilot control moment; Electronic control unit calculates the driving current value that needs provide to assist motor according to current vehicles travel conditions and operating torque size; Assist motor can be installed in steering shaft or the deflector, provides assist torque by speed reduction gearing to chaufeur.
The assist motor that electric boosting steering system is commonly used includes brush DC machine and permagnetic synchronous motor.Have that brush DC machine cost is lower, control is simple, but because the existence of mechanical commutator and brush can cause adverse effects such as sparking on commutator, heating are big, torque ripple, so generally be used for the little EPS of requirement moment of torsion output.Permasyn morot is compared with DC machine and had following advantage: specific power (unit volume institute energy developed power) is big, torque ripple is little, generate heat less and dispel the heat easily, capability of fast response is good etc., is usually used in performance and the higher middle-and-high-ranking car EPS of power requirement.The EPS assist motor generally adopts the PWM technology to drive by the inverter circuit on the ECU.
The groundwork of PWM technology is to utilize rf carrier (being generally chopping sea) and control wave to compare, thereby produces through the PWM of overcutting ripple.Circuit takes place in the PWM that at present a lot of digit chip hardware carry fixed cycle change dutycycle.Under PWM control, metal oxide semiconductor field effect tube on the controller three phase inverter bridge (Metal Oxide Semicoductor Field Effect Transistor is called for short MOSFET) continues to carry out conducting, turn-offs action to produce the desired output voltage wave of controller.MOSFET can produce a large amount of heats in conducting, turn off process.Therefore the PWM frequency is high more, the MOSFET conducting, turn-offs frequently more, and the whole cal val of ECU is just big more.Owing to the existence of Dead Time, the ON time of MOSFET is always short slightly than the desirable time in addition, and this causes the output voltage of inverter bridge to be lower than desired voltage, and the voltage utilization is abundant inadequately.
Because the PWM carrier frequency can produce the electromagnetic noise influence and drive comfort when low, traditional EPS generally adopts the PWM of higher carrier frequencies to come drive motor, the ECU heating is big with regard to bringing like this, voltage utilizes problems such as insufficient, influences the power output capacity of EPS.
Summary of the invention
The objective of the invention is when taking into account the EPS low electromagnetic noise, to reduce the ECU cal val, improve the system power fan-out capability, a kind of PWM frequency conversion strategy of permagnetic synchronous motor booster type electric servo steering system is provided.
For reaching above purpose, technical scheme of the present invention is: the electric boosting steering system of a kind of PWM of employing frequency conversion policy-driven PMSM.This system can evaluate and test the main performance requirement of EPS under different operating modes, extracts coherent signal design EPS operating mode decision algorithm, realizes PWM frequency conversion strategy according to different operating modes.Coherent signal comprises control voltage vector amplitude and ECU temperature.(wherein controlling the voltage three-phase phase voltage of voltage vector amplitude by control algorithm output converts and obtains.Owing to be the output that directly utilizes control algorithm, saved the cost of hardware voltage sensor.)
The decision algorithm regulation when above-mentioned arbitrary signal surpasses threshold value, needs to reduce the PWM frequency, improves voltage utilization or reduces the ECU cal val.When two signals all are lower than threshold value, then improve the PWM frequency, reduce the electromagnetic noise of ECU.For fear of near the result of determination frequent variations that signal fluctuates threshold value and causes, decision algorithm has adopted " sluggishness " design.This characteristic feature of an invention is that the EPS software strategy has been done to replenish, and has increased PWM frequency conversion strategy, makes EPS can satisfy main performance requirement under the different operating modes better.This tactful decision condition meets the practical operation situation of EPS, can reach the purpose of " taking into account low electromagnetic noise, low ECU cal val, high system power fan-out capability ".Wherein specially designed " sluggishness " decision method has been avoided the frequent variations of PWM frequency effectively.
Concrete scheme is as follows:
A kind of electric boosting steering system that adopts PWM frequency conversion policy-driven PMSM, described electric boosting steering system comprises steering handwheel, steering shaft, deflector, steering track rod mechanism, wheel flutter, torque sensor, electronic control unit, power steering motor and speed reduction gearing thereof are formed, and wherein, torque sensor is installed on the steering shaft to detect pilot control moment; Electronic control unit calculates the driving current value that needs provide to assist motor according to current vehicles travel conditions and operating torque size; Assist motor can be installed in steering shaft or the deflector, provides assist torque by speed reduction gearing to chaufeur; Described power steering motor is a permagnetic synchronous motor, it is characterized in that, described electric boosting steering system comprises PWM frequency conversion strategy, this frequency conversion strategy adopts the voltage vector amplitude and the ECU temperature signal of permagnetic synchronous motor, and, decide electronic control unit when to adopt higher PWM frequency, when adopt lower PWM frequency by a decision algorithm.
Described voltage vector amplitude is converted by dq axle control voltage signal and obtains, and wherein algorithm is:
Vamp-voltage vector amplitude wherein;
Vd-d axle control voltage;
Vq-q axle control voltage.
Described decision algorithm compares voltage vector amplitude signal and ECU temperature signal respectively with the threshold value that provides, need only arbitrary signal greater than threshold value, and controller adopts lower PWM frequency; Otherwise adopt higher PWM frequency.
Described threshold value is a hysteresis comparator.This hysteresis comparator has higher limit and lower limit; When incoming signal is higher than higher limit, be judged to be " height ", be judged to be " low " when being lower than lower limit, the judgement before keeping in the time of between upper limit value and lower limit value.
Owing to adopted above technical scheme, the invention has the beneficial effects as follows: under the prerequisite of hardware that does not need to change electric boosting steering system and existing software strategy, by increasing PWM frequency conversion strategy, optimized the performance of electric boosting steering system under the different operating modes.
Description of drawings
Fig. 1 is a decision algorithm schematic diagram of the present invention
The specific embodiment
Below in conjunction with description of drawings embodiments of the invention is described in further detail, but present embodiment is not limited to the present invention, every employing analog structure of the present invention and similar variation all should be listed within protection scope of the present invention.
A kind of electric boosting steering system that adopts PWM frequency conversion policy-driven PMSM.This system can evaluate and test the main performance requirement of EPS under different operating modes, extracts coherent signal design EPS operating mode decision algorithm, realizes PWM frequency conversion strategy according to different operating modes.Coherent signal comprises control voltage vector amplitude and ECU temperature.Wherein controlling the dq axle control voltage of voltage vector amplitude by control algorithm output converts and obtains.Owing to be the output that directly utilizes control algorithm, saved the cost of hardware voltage sensor.Concrete control algorithm is:
Vamp-voltage vector amplitude wherein;
Vd-d axle control voltage;
Vq-q axle control voltage.
Decision algorithm schematic diagram as shown in Figure 1.By two hysteresis comparators the voltage vector amplitude and the ECU temperature of input are judged, if being higher than threshold value then exports " height " (1), on the contrary output " low " (0).In present embodiment to the voltage vector amplitude relatively on be limited to 11V, be limited to down 10V; The ECU temperature relatively on be limited to 100 ℃, down be limited to 80 ℃.The output of two hysteresis comparators obtains result of determination later on through logical "or".If be judged to be " height " (1), adopt lower PWM frequency, in present embodiment 10kHz; If be judged to be " low " (0), adopt higher PWM frequency, in present embodiment 20kHz.
The description of the foregoing description is can understand and apply the invention for ease of those skilled in the art.The person skilled in the art obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art should be within protection scope of the present invention for improvement and modification that the present invention makes according to announcement of the present invention.
Claims (3)
1. electric boosting steering system that adopts PWM frequency conversion policy-driven PMSM, described electric boosting steering system comprises steering handwheel, steering shaft, deflector, steering track rod mechanism, wheel flutter, torque sensor, electronic control unit, power steering motor and speed reduction gearing thereof are formed, and wherein, torque sensor is installed on the steering shaft to detect pilot control moment; Electronic control unit calculates the driving current value that needs provide to assist motor according to current vehicles travel conditions and operating torque size; Assist motor can be installed in steering shaft or the deflector, provides assist torque by speed reduction gearing to chaufeur; Described power steering motor is a permagnetic synchronous motor, it is characterized in that, described electric boosting steering system comprises PWM frequency conversion strategy, this frequency conversion strategy adopts the voltage vector amplitude and the ECU temperature signal of permagnetic synchronous motor, and, decide electronic control unit when to adopt higher PWM frequency, when adopt lower PWM frequency by a decision algorithm;
Described decision algorithm compares voltage vector amplitude signal and ECU temperature signal respectively with the threshold value that provides, need only arbitrary signal greater than threshold value, and controller adopts lower PWM frequency; Otherwise adopt higher PWM frequency;
Described threshold value is a hysteresis comparator, and this hysteresis comparator has higher limit and lower limit; When incoming signal is higher than higher limit, be judged to be " height ", be judged to be " low " when being lower than lower limit, the judgement before keeping in the time of between upper limit value and lower limit value.
2. the electric boosting steering system of employing PWM frequency conversion policy-driven PMSM according to claim 1 is characterized in that described voltage vector amplitude d axle control voltage is obtained by conversion, and wherein algorithm is:
Vamp-voltage vector amplitude wherein;
Vd-d axle control voltage;
Vq-q axle control voltage.
3. the electric boosting steering system of employing PWM frequency conversion policy-driven PMSM according to claim 2 is characterized in that described d axle control voltage comes the output voltage of the decoupling algorithm of self-contained employing park conversion at interior control algorithm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100541497A CN101934814B (en) | 2009-06-30 | 2009-06-30 | Electric power-assisted steering system for driving PMSM (Permanent Magnet Synchronous Motor) by using PWM (Pulse-Width Modulation) frequency conversion strategy |
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| CN2009100541497A CN101934814B (en) | 2009-06-30 | 2009-06-30 | Electric power-assisted steering system for driving PMSM (Permanent Magnet Synchronous Motor) by using PWM (Pulse-Width Modulation) frequency conversion strategy |
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| CN101934814B true CN101934814B (en) | 2011-11-23 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101767877B1 (en) * | 2011-05-23 | 2017-08-14 | 현대모비스 주식회사 | Method for controlling output of motor driven power steering system |
| CN102611370B (en) * | 2012-03-19 | 2014-09-03 | 矽力杰半导体技术(杭州)有限公司 | Control method and control circuit for modulating sine waves of permanent-magnet synchronous motor |
| KR20140014632A (en) * | 2012-07-25 | 2014-02-06 | 현대모비스 주식회사 | Locking solenoid control device and method of active front steering system |
| CN102887169B (en) * | 2012-09-26 | 2016-01-20 | 郑州宇通客车股份有限公司 | Adopt electric hydraulic power-assisted steering system and the control method thereof of frequency conversion strategy |
| JP5616413B2 (en) | 2012-10-04 | 2014-10-29 | ファナック株式会社 | Motor control device used by switching the PWM frequency |
| CN103013827B (en) * | 2013-01-18 | 2015-03-11 | 辽宁医学院 | Cell vibration meter |
| DE102014102424A1 (en) * | 2014-02-25 | 2015-08-27 | Robert Bosch Automotive Steering Gmbh | Method for operating a steering system |
| JP2015192515A (en) * | 2014-03-28 | 2015-11-02 | 株式会社日立製作所 | drive system |
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| JP2007283953A (en) * | 2006-04-19 | 2007-11-01 | Honda Motor Co Ltd | Electric power steering device |
| CN101121416A (en) * | 2007-09-03 | 2008-02-13 | 奇瑞汽车有限公司 | Electric steering system in mixed power system |
| CN101156313A (en) * | 2005-04-12 | 2008-04-02 | 株式会社捷太格特 | Electric power steering system |
| CN201058622Y (en) * | 2007-05-21 | 2008-05-14 | 林士云 | Electric power-assisted steering system based on intelligent control |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101156313A (en) * | 2005-04-12 | 2008-04-02 | 株式会社捷太格特 | Electric power steering system |
| JP2007283953A (en) * | 2006-04-19 | 2007-11-01 | Honda Motor Co Ltd | Electric power steering device |
| CN201058622Y (en) * | 2007-05-21 | 2008-05-14 | 林士云 | Electric power-assisted steering system based on intelligent control |
| CN101121416A (en) * | 2007-09-03 | 2008-02-13 | 奇瑞汽车有限公司 | Electric steering system in mixed power system |
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