CN102556152A - Full-hardware servo power-assisted steering controller - Google Patents
Full-hardware servo power-assisted steering controller Download PDFInfo
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- CN102556152A CN102556152A CN2012100149750A CN201210014975A CN102556152A CN 102556152 A CN102556152 A CN 102556152A CN 2012100149750 A CN2012100149750 A CN 2012100149750A CN 201210014975 A CN201210014975 A CN 201210014975A CN 102556152 A CN102556152 A CN 102556152A
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Abstract
The invention discloses a full-hardware servo power-assisted steering controller, which comprises generation circuits of 12V, +5V and +2.5V, a reference signal generation circuit, a comparator, a bipolar motor driving module, a feedback current detecting circuit and a signal processing circuit, wherein the voltage generation circuit is used for generating voltages of 12V, +5V and +2.5V required by the whole controller, and providing the voltages to each circuit module; the signal processing circuit is used for processing an input signal of the controller and a motor feedback signal through circuits, so as to obtain the required quantity; the signal is output into the comparator; the comparator compares the signal with a triangular wave signal output from the reference signal generation circuit and outputs the signal afterwards; and an obtained PWM (pulse-width modulation) signal is used by the motor driving motor to achieve the purpose of controlling a motor. The signal processing circuit adopts a plurality of combinations, thereby achieving the purpose of correcting the power-assistance characteristic of the vehicle speed; the full-hardware servo power-assisted steering controller is capable of responding rapidly and is not limited by the calculation speed of a processor.
Description
Technical field
The present invention relates to the electrical servo power-assisted steering system controller, relate to a kind of devices at full hardware servo power-assisted steering controller.
Background technology
The mechanical-hydraulic power-assisted is our modal a kind of power-assisted mode, because technology maturation is reliable, and also with low cost, be able to extensively popularized.But owing to rely on engine power to drive oil pump, energy consumption is than higher, so the driving dynamics of vehicle just has been consumed a part virtually; The pipeline structure of hydraulic efficiency pressure system is very complicated, and the valve quantity of various control fluid is various, and the maintenance in later stage needs cost; A whole set of oil circuit often keeps high pressure conditions, and also can be affected service life, and these all are the shortcoming places of mechanical-hydraulic servo steering system.
Electric boosting steering system (Electric Power Steering, abbreviation EPS) is the power steering system that a kind of direct dependence motor provides auxiliary torque, mainly is made up of torque sensor, car speed sensor, electrical motor, speed reduction gearing and controller etc.Compare with traditional hydraulic power-assisted steering, the EPS system has lot of advantages.One of which, only motor just provides power-assisted when turning to, and can significantly reduce fuel oil consumption; Its two, the power steering size can be through software adjustment, the road-holding property when ease of steering in the time of can taking into account low speed and high speed, return performance is good; Its three, compact conformation, light weight, manufacturing line assembles, and is easy to maintaining; Its four, through the setting of program, electric boosting steering system easily with the different automobile types coupling, can shorten the cycle of producing and developing.
Though the product that a lot of electric power steerings are arranged at present is place in operation, because the imperfection of technical imperfection, especially controller function makes the advantage of electric boosting steering system fail to be embodied fully.Present most of controller adopts microprocessor to gather torque signal and GES, reaches the control purpose through calculating and looking into assistant's characteristic curve again.The defective of this mode is that signal obtains all to sample through A/D and realizes; But the control accuracy that the sample rate of A/D sampling and sampling precision all can restriction controllers; The torque signal and the GES that obtain simultaneously need just can obtain required output parameter through the great amount of calculation of microprocessor, lag behind thereby caused system to exist significantly; The control effect is undesirable, in some cases even can vibrate.
Summary of the invention
The objective of the invention is to propose a kind of dependence devices at full hardware and realize, and the electric booster steering controller of not realizing by means of microprocessor.
Hardware based electric booster steering controller of the present invention comprises that power generation circuit, reference signal produce circuit, comparator, bipolar machine driver module, feedback current testing circuit, signal processing circuit.
The 12V that power generation circuit generation entire controller needs ,+5V ,+2.5V voltage, and to reference signal generation circuit, feedback current testing circuit, these three circuit modules power supplies of signal processing circuit; Reference signal produces circuit and produces the benchmark triangular signal, and the voltage signal that produces with signal processing circuit compares output in comparator; The PWM that produces produces power-assisted again via bipolar machine driver module drive motor; The feedback current testing circuit detects the electric current in the electric motor loop through sampling resistor, and through handling the output feedback voltage in signal processing circuit, as closed loop control.Signal processing circuit replaces microprocessor function, and signal processing circuit processes the output result of input torque signal, GES and feedback current testing circuit and calculate, and produces a signal and is input in the comparator.
Said signal processing circuit comprises the input torque signal processing circuit, frequency signal converting voltage signal circuit, multiplier circuit, adder and substracter circuit, PID circuit.Wherein, the input torque signal processing circuit is done difference with the input torque signal and is amplified calculating, obtains input torque signal corresponding voltage value.The frequency signal converting voltage signal circuit is converted into cooresponding voltage signal with GES by frequency signal.The multiplication that multiplier circuit is accomplished torque signal and GES through the multiplier of realizing with FET and amplifier combination calculates.Adder and substracter circuit is done the addition and subtraction computing with torque signal and GES and both products, does that at last value is outputed to the PID circuit with voltage.The PID circuit is done difference output with the output signal of motor feedback signals and adder and substracter circuit, plays the effect of regulating voltage, and the result is outputed to comparator.
The present invention is through the mode of current feedback and the response of the moment of torsion speed of a motor vehicle; With Realization of Analog Circuit the function of electric booster steering controller; And possesses following advantage: at first; Repertoire all is through Realization of Analog Circuit, the adverse effect of having avoided A/D sampling and microprocessor computation speed to cause; Secondly, do not need microprocessor that tach signal and torque signal are calculated, improved the corresponding speed of controller, strengthened the reliability of system.At last, the passing ratio integral differential circuit is realized closed loop control to system, does not need microprocessor to interfere, and has improved the speed of response of system.
Function among the present invention all realizes through pure hardware mode; The function that replaces the conventional microprocessor processing signals with signal processing circuit F; Avoided A/D sampling precision and microprocessor running velocity adverse effect, saved the spending of microprocessor system resource and improved system reliability system performance.Simultaneously,, realized requirement, and made controller can realize good operating handle assist characteristic through the adjusting of controlled variable.
Description of drawings
Fig. 1 devices at full hardware servo power-assisted steering controller structural representation;
Fig. 2 signal processing circuit structure figure;
Fig. 3 input torque treatment circuit;
Fig. 4 frequency signal converting voltage signal circuit;
Fig. 5 multiplier circuit figure;
Fig. 6 adder and substracter circuit;
Fig. 7 feedback current testing circuit;
Fig. 8 PID circuit;
Fig. 9 reference signal produces circuit.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
With reference to Fig. 1; Electric booster steering controller based on analogous circuit of the present invention; It is formed structure and comprises that power generation circuit A, reference signal generation circuit B, comparator C, bipolar machine driver module D, feedback current testing circuit E, said signal processing circuit F (comprise input torque signal processing circuit F-1, frequency signal converting voltage signal circuit F-2, multiplier circuit F-3; Adder and substracter circuit F-4, PID circuit F-5).
The 12V that power generation circuit A generation entire controller needs ,+5V ,+2.5V voltage; Signal processing circuit F comprises (GES with the incoming signal of controller; The feedback signal of the motor that the input torque signal) obtains with feedback current testing circuit E is through handling, and the output regulating voltage is to comparator C; Comparator C compares output with the triangular signal of this voltage and reference signal generation circuit B output, the pwm signal that obtains is input to motor drive module D, thereby reaches the purpose of control motor.
Power supply by on the car+Vehicular accumulator cell of 12V provides.The 12V that power generation circuit A generation entire controller needs ,+5V ,+2.5V voltage; This part is used TLE6215 and these two chips of TLE4278, and through corresponding power driving circuit, with Vehicular accumulator cell+12V voltage; Be converted into that each module of controller need use+12V; + 5V and+three kinds of different voltages with different of 2.5V, and offer reference signal and produce circuit B, feedback current testing circuit E and signal processing circuit F use;
Among the present invention, signal processing circuit F replaces the function of microprocessor, and its implementation is as shown in Figure 2.Wherein, input torque signal processing circuit F-1 does difference with input torque and amplifies calculating, obtains the input torque corresponding voltage value.Frequency signal converting voltage signal circuit F-2 is converted into cooresponding voltage signal with GES by frequency signal.The multiplication that multiplier circuit F-3 accomplishes torque signal and GES through the multiplier of realizing with FET and amplifier combination calculates.Adder and substracter circuit F-4 does the addition and subtraction computing with torque signal and GES and both products, does that at last value is outputed to PID circuit F-5 with voltage.PID circuit F-5 says that the output signal of motor feedback signals and adder and substracter circuit F-4 does difference output, plays the effect of regulating voltage, and the result is exported.
Among the input torque signal processing circuit F-1, the bearing circle input torque records corresponding voltage T1, T2 by sensor, and this signal calculates through the input torque signal processing circuit, obtains corresponding torque signal Vt.This partial circuit structure is as shown in Figure 3; Incoming signal is through operational amplifier A; The torque signal that obtains is
; Wherein, R3=R4, R6=R5, the effect of two schottky diode NSR15DW1 is according to circumstances the dead band size to be set; Among the frequency signal converting voltage signal circuit F-2, original GES is the frequency signal relevant with engine speed, and this signal must transform voltage signal circuit through frequency signal and handle, and obtains the cooresponding voltage signal Vspd of the corresponding speed of a motor vehicle.This partial circuit structure is as shown in Figure 4, and chip LM2917 is a frequency-voltage converter, can be with the frequency signal of 1 pin input; Be converted into cooresponding voltage signal output, regulate R1, R2; The value of C2 can obtain different frequencies-voltage corresponding relation, to satisfy the needs of different automobile types.Multiplier circuit F-3 realizes that through the multiplier of realizing with FET and amplifier combination the multiplication of torque signal and GES calculates.This partial circuit structure is as shown in Figure 5, and among the figure, T1, T2 are two identical FETs (FET), A1, and A2, A3, A4 are op amps.Receive the principle of work of grid-controlled principle and op amp according to FET drain-source electrode resistance, the input/output relation of being not difficult to obtain this circuit is:
Wherein,
is the voltage of amplifier A2 mouth.By knowing among the figure; R11; R12 is a compensating resistance; R12 is a variable resistance, regulates its resistance, makes its value to satisfy:
.Therefore; For circuit shown in Figure 5; The value that only need measure
; And the resistance of regulating corresponding resistor among the K, just can obtain the effect that multiplication calculates, the multiplication that the multiplier of realization is accomplished torque signal and GES calculates; Through adder and substracter circuit F-4 the output signal of torque signal, GES and multiplier is being handled at last, outputed in the PID circuit with voltage Vo.The signed magnitude arithmetic(al) circuit of this part is as shown in Figure 6.
Among the present invention; Feedback current testing circuit E is sampling resistor of series connection on motor refluxes; AD8210 current detecting chip and Voltage stabilizing module detect the current value that obtains drive motor, and the magnitude of voltage through the exportable corresponding current of electric of feedback current testing circuit E is as the required feedback signal of closed loop control.This partial circuit is as shown in Figure 7, and wherein R1 is a sampling resistor, is connected in series in the electric motor loop.
The signal value Vo of current of electric feedback signal Vfb and adder and substracter circuit F-4 output together gets into PID circuit F-5, and its effect is that two incoming signals are done difference output, in conjunction with feedback signal, and GES and input torque Signal Regulation voltage.Figure is as shown in Figure 8 for this partial circuit.
The structure of reference signal generation circuit B is as shown in Figure 9.Wherein, TLV3501 is a comparator, produces square-wave signal; SN7414 is a reverser, and the effect that connects two reversers is rectification; AD820 is an op amp, constitutes integrating circuit with corresponding capacitance resistance, and square-wave signal is converted into triangular signal, through changing the value of R3 and C3, can adjust the triangle wave frequency.The reference signal of output and Vcmp are through comparator C, and comparator C adopts chip LM339.Because signal processing circuit F is different according to the regulating voltage that unlike signal obtains, relatively export the PWM ripple signal that the back obtains different duty with comparator.
PWM ripple signal is through motor drive module D, and the work of control motor makes motor play the purpose that the assistant turns to different driving direction and different driving power.Motor drive ic adopts two BTS7970B, with the mode of bipolar driving, and drive motor work more efficiently.
Claims (1)
1. a devices at full hardware servo power-assisted steering controller is characterized in that: comprise that (A, reference signal produce circuit (B), comparator (C), bipolar machine driver module (D), feedback current testing circuit (E), signal processing circuit (F) to power generation circuit;
The 12V that power generation circuit (A) generation entire controller needs ,+5V ,+2.5V voltage, and to reference signal generation circuit (B), feedback current testing circuit (E), these three circuit modules power supplies of signal processing circuit (F); Reference signal produces circuit (B) and produces the benchmark triangular signal, and the voltage signal that produces with signal processing circuit (F) compares output in comparator (C); The PWM that produces produces power-assisted again via bipolar machine driver module (D) drive motor; Feedback current testing circuit (E) detects the electric current in the electric motor loop through sampling resistor, and through handling the output feedback voltage in signal processing circuit (F), as closed loop control; Signal processing circuit (F) replaces microprocessor function, and signal processing circuit (F) processes the output result of input torque signal, GES and feedback current testing circuit (E) and calculate, and produces a signal and is input in the comparator (C);
Said signal processing circuit (F) comprises input torque signal processing circuit (F-1), frequency signal converting voltage signal circuit (F-2), multiplier circuit (F-3), adder and substracter circuit (F-4), PID circuit (F-5); Wherein, input torque signal processing circuit (F-1) is done difference with the input torque signal and is amplified calculating, obtains input torque signal corresponding voltage value; Frequency signal converting voltage signal circuit (F-2) is converted into cooresponding voltage signal with GES by frequency signal; The multiplication that multiplier circuit (F-3) is accomplished torque signal and GES through the multiplier of realizing with FET and amplifier combination calculates; Adder and substracter circuit (F-4) is done the addition and subtraction computing with torque signal and GES and both products, does that at last value is outputed to PID circuit (F-5) with voltage; PID circuit (F-5) is done difference output with the output signal of motor feedback signals and adder and substracter circuit (F-4), plays the effect of regulating voltage, and the result is outputed to comparator (C).
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Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103560743A (en) * | 2013-10-23 | 2014-02-05 | 国家电网公司 | Method and device for detecting rotating speed of motor |
CN104044636A (en) * | 2013-03-11 | 2014-09-17 | 操纵技术Ip控股公司 | Road Wheel Disturbance Rejection Based On Hand Wheel Acceleration |
US9540044B2 (en) | 2013-11-15 | 2017-01-10 | Steering Solutions Ip Holding Corporation | Hand wheel angle from vehicle dynamic sensors or wheel speeds |
US9540040B2 (en) | 2014-06-26 | 2017-01-10 | Steering Solutions Ip Holding Corporation | Phase plane based transitional damping for electric power steering |
CN106352980A (en) * | 2016-08-17 | 2017-01-25 | 中国电子科技集团公司第四十研究所 | High-precision grating positioning device directly driven by a limited angle motor |
US10144445B2 (en) | 2014-09-15 | 2018-12-04 | Steering Solutions Ip Holding Corporation | Modified static tire model for providing assist without a torque sensor for zero to low vehicle speeds |
US10155531B2 (en) | 2013-04-30 | 2018-12-18 | Steering Solutions Ip Holding Corporation | Providing assist torque without hand wheel torque sensor |
US10336363B2 (en) | 2015-09-03 | 2019-07-02 | Steering Solutions Ip Holding Corporation | Disabling controlled velocity return based on torque gradient and desired velocity error |
US10464594B2 (en) | 2015-09-03 | 2019-11-05 | Steering Solutions Ip Holding Corporation | Model based driver torque estimation |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US10155534B2 (en) | 2016-06-14 | 2018-12-18 | Steering Solutions Ip Holding Corporation | Driver intent estimation without using torque sensor signal |
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JP2830993B2 (en) * | 1995-12-07 | 1998-12-02 | 本田技研工業株式会社 | Electric power steering device |
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104044636A (en) * | 2013-03-11 | 2014-09-17 | 操纵技术Ip控股公司 | Road Wheel Disturbance Rejection Based On Hand Wheel Acceleration |
US10155531B2 (en) | 2013-04-30 | 2018-12-18 | Steering Solutions Ip Holding Corporation | Providing assist torque without hand wheel torque sensor |
CN103560743A (en) * | 2013-10-23 | 2014-02-05 | 国家电网公司 | Method and device for detecting rotating speed of motor |
CN103560743B (en) * | 2013-10-23 | 2016-04-20 | 国家电网公司 | Application of Motor Speed Detecting method and apparatus |
US9540044B2 (en) | 2013-11-15 | 2017-01-10 | Steering Solutions Ip Holding Corporation | Hand wheel angle from vehicle dynamic sensors or wheel speeds |
US9540040B2 (en) | 2014-06-26 | 2017-01-10 | Steering Solutions Ip Holding Corporation | Phase plane based transitional damping for electric power steering |
US10144445B2 (en) | 2014-09-15 | 2018-12-04 | Steering Solutions Ip Holding Corporation | Modified static tire model for providing assist without a torque sensor for zero to low vehicle speeds |
US10336363B2 (en) | 2015-09-03 | 2019-07-02 | Steering Solutions Ip Holding Corporation | Disabling controlled velocity return based on torque gradient and desired velocity error |
US10464594B2 (en) | 2015-09-03 | 2019-11-05 | Steering Solutions Ip Holding Corporation | Model based driver torque estimation |
CN106352980A (en) * | 2016-08-17 | 2017-01-25 | 中国电子科技集团公司第四十研究所 | High-precision grating positioning device directly driven by a limited angle motor |
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