CN102616272A - Position control method for sensorless steering wheel - Google Patents

Position control method for sensorless steering wheel Download PDF

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Publication number
CN102616272A
CN102616272A CN2012100754211A CN201210075421A CN102616272A CN 102616272 A CN102616272 A CN 102616272A CN 2012100754211 A CN2012100754211 A CN 2012100754211A CN 201210075421 A CN201210075421 A CN 201210075421A CN 102616272 A CN102616272 A CN 102616272A
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current
motor
formula
rotating speed
rotor
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CN102616272B (en
Inventor
赵斌
高明
林联伟
石广林
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Hunan Dongjia Intelligent Technology Co.,Ltd.
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ZHUZHOU YILIDA ELECTROMECHANICAL CO Ltd
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Abstract

The invention relates to a position control method for a sensorless steering wheel. According to the position control method, continuous, smooth and stepless change of a steering ratio at different car speeds is realized by a regulation motor for controlling an ECU (Electronic Control Unit) gear ratio; meanwhile, the change rule is calculated by utilizing a correlation formula, and rotation angle compensation is carried out according to the calculated change rule; reverse steering adjustment is actively carried out during car oversteer, and the regulation motor and an assisting motor are flexibly controlled and mutually compensated so as to perfectly combine the flexibility, the portability and the control stability of the steering, so that the control performance and the safety are improved.

Description

A kind of position control method of steering handwheel of position-sensor-free
Technical field
The present invention relates to the automobile steering system motor control method, be specially a kind of position control method that is used in the brush direct current motor position-sensor-free steering handwheel of automobile electric booster steering system.
Background technology
Automobile steering system is an important vehicle chassis component of automobile, involves the rideability of automobile.The performance of steering swivel system directly has influence on the road-holding property of automobile, and it reduces the personal safety of traffic accident and protection chaufeur for the safety of guaranteeing vehicle, and alleviating chaufeur labour intensity has vital function.
Electric booster steering device (claiming EPS:Electronic Power Steering again) mainly is made up of torque sensor, car speed sensor, assist motor and speed reduction gearing and ECU control unit.The general power-assisted size of EPS is only relevant with the speed of a motor vehicle, the speed of a motor vehicle induction type of promptly often saying.But along with the further developing of science and technology; The EPS assist characteristic is more than relevant with the speed of a motor vehicle also relevant with steering wheel angle; So abroad the EPS of some middle and high shelves automobiles has also installed rotary angle transmitter except that torque sensor has been installed; Can different power-assisted sizes be provided according to angle position, thereby change power-assisted ride comfort and other assist characteristics significantly, what will propose especially is the active return function of having expanded electric power steering.Because Automobile Dynamic stabilitrak (ESP) also needs angular transducer, so steering handwheel angle sensor has become the important component part of EPS or car chassis.Along with developing of automobile industry, people are also increasingly high to the requirement of automotive performance, and particularly the EPS of low and middle-grade brush direct current motors also need increase the control of steering handwheel angle, improves power-assisted ability and reaches back positive characteristic.
All the time, the control of no position (angle) sensor of alternating current dynamo attracts large quantities of in the industry professional persons to study as a traditional research topic, still, the brush direct current motor of position-sensor-free but always few people relate to.This is because brush direct current motor generally is applied to open loop control system, and is less demanding to the control system dynamic property.If be applied in the Dynamic High-accuracy control system then extraly install expensive position transduser additional, form closed loop control at the motor afterbody.
If the EPS of low and middle-grade brush direct current motors also adds holding position (angle) sensor, this has increased the electric boosting steering system cost undoubtedly, makes the EPS marketization difficulty that promotes brush direct current motor increase.This invention is intended to propose a brush direct current motor position-sensor-free, but can draw the control method of steering handwheel angle simultaneously, makes low and middle-grade EPS on performance, improve greatly, does not increase cost simultaneously.
Summary of the invention
The technical matters that the present invention solved is to provide a kind of position control method of steering handwheel of position-sensor-free; Armature current produces the peak value of cyclic fluctuation during through detecting (monitoring) brush direct current motor (calling motor in the following text) because through the carbon brush for electric machine commutator; Pass through appropriate algorithm; Calculate the corner (position) of rotor, thereby draw steering wheel angle, and then steering handwheel is carried out controlled reset.
The technical matters that the present invention solved adopts following technical scheme to realize:
A kind of position control method of steering handwheel of position-sensor-free, its rotating speed of motor and angle position behind conjunction measuring armature voltage and electric current, can calculate rotor rotating speed through traditional motor model through the parameter of electric machine:
Figure DEST_PATH_753633DEST_PATH_IMAGE001
(1)
Figure DEST_PATH_983757DEST_PATH_IMAGE002
(2)
Figure DEST_PATH_840855DEST_PATH_IMAGE003
(3)
Wherein
Figure DEST_PATH_535141DEST_PATH_IMAGE004
representes armature voltage; Armature current; The electro-motive force constant; Constant excitation megnet magnetic flow;
Figure DEST_PATH_124385DEST_PATH_IMAGE005
is respectively armature resistance and inductance;
Figure DEST_PATH_169702DEST_PATH_IMAGE006
representes back electromotive force constant respectively; The rotor rotating speed,
Figure DEST_PATH_564911DEST_PATH_IMAGE007
is rotor corner and initial position.
Because following formula is to disregard magnetic flux degree of saturation and Influence of Temperature, when reality was used, rotating speed and angle all had very mistake, detected rotor rotating speed and angle so the present invention proposes a kind of new method.
The DC permanent magnet brush motor is formed by stacking after adopting the silicon steel plate punching press, and forms teeth groove, and each winding coiled coil in teeth groove forms the switching-over of electric current and the lasting rotation of rotor through carbon brush and commutator.But because this structure is shone into when commutating; Between commutator segment and commutator segment, physical separation is arranged; The fluctuation that when commutator segment and winding switch with winding (a corresponding winding of commutator segment), will produce electric current like this; Experiment is found, is a steady state value (constant) even keep magnetic flux, still can detect pulsation of current.And traditional motor mathematical model fails to express this physical process.
Figure DEST_PATH_549922DEST_PATH_IMAGE008
（4）
Wherein,
Figure DEST_PATH_637964DEST_PATH_IMAGE009
is the current of electric ripple frequency, and
Figure DEST_PATH_904997DEST_PATH_IMAGE010
is the number of commutator segment.Draw through above-mentioned physical structure and motor correction model, the frequency that detects surge of current will be learnt the rotating speed of rotor, and the number of the peak value through calculating pulsation of current can draw the corner of rotor.
When pulsing through the actual measurement current of electric, performance has DC component and AC compounent, and through numerical analysis, AC compounent contains low frequency and two kinds of compositions of high-frequency harmonic.Then rebulid the math modeling of motor, draw following formula:
（5）
Figure DEST_PATH_444880DEST_PATH_IMAGE012
（6）
Figure DEST_PATH_703823DEST_PATH_IMAGE013
（7）
Figure DEST_PATH_395836DEST_PATH_IMAGE014
（8）
In the formula
Figure DEST_PATH_132848DEST_PATH_IMAGE015
;
Figure DEST_PATH_656233DEST_PATH_IMAGE016
;
Figure DEST_PATH_23760DEST_PATH_IMAGE017
representes constant flux component (DC component) respectively; The high frequency flux component; The low frequency flux component;
Figure DEST_PATH_999806DEST_PATH_IMAGE018
is expressed as torque constant and electromagnetic torque constant respectively;
Figure DEST_PATH_540509DEST_PATH_IMAGE019
representes electromagnetic torque;
Figure DEST_PATH_620198DEST_PATH_IMAGE020
;
Figure DEST_PATH_955365DEST_PATH_IMAGE021
is expressed as load torque, motor damping coefficient respectively.
Simultaneous equations 5-8, the equation of separating:
Figure DEST_PATH_684286DEST_PATH_IMAGE022
（9）
Draw through equation 9:
Figure DEST_PATH_700784DEST_PATH_IMAGE023
（10）
Figure DEST_PATH_198761DEST_PATH_IMAGE024
（11）
Owing to be to measure steering wheel angle (position) and rotating speed during automobile electric booster steering system control; Motor is to realize power-assisted through a worm type of reduction gearing on electric boosting steering system, and corner (position) and the rotating speed to the steering handwheel will have computes to draw at last:
Figure DEST_PATH_704829DEST_PATH_IMAGE025
（12）
Figure DEST_PATH_858730DEST_PATH_IMAGE026
is the steering handwheel rotating speed in the formula.
In said method, have only the frequency of armature electric current to consider in the estimation of rotating speed in fact; Because there is nonlinearity erron in current sensor; Might there be bigger error in the estimated valve of motor speed; In actual engineering; There is eccentricity in rotor; The interference of carbon brush spark; Motor-driven PWM output noise; The saturated grade in the magnetic field of magnetic core can cause that all electric current output produces fluctuation; Produce harmonic wave and all isolate through setting up surge of current that adaptive bandwidth filter motor speed when removing switching-over causes, second among
Figure DEST_PATH_741235DEST_PATH_IMAGE027
in the wushu (10) and
Figure DEST_PATH_93719DEST_PATH_IMAGE028
in the formula (11) all removes like this, the surge of current harmonic component that motor speed causes when only being left to commutate.The adaptive bandwidth filter is the motor model in the through type (1); The conclusion that draws according to top formula (4) simultaneously; Add that dutycycle etc. draws roughly output speed of motor, certain frequency bandwidth is set simultaneously, can draw comparatively real pulsation of current waveform of motor and frequency.
Figure DEST_PATH_973951DEST_PATH_IMAGE029
(13)
Figure DEST_PATH_411885DEST_PATH_IMAGE030
(14)
Figure DEST_PATH_832502DEST_PATH_IMAGE031
is rotor prediction rotating speed in the formula (13);
Figure DEST_PATH_741290DEST_PATH_IMAGE032
is the cycle
Figure DEST_PATH_514391DEST_PATH_IMAGE034
of first sinusoidal frequency in the formula (11) , and this cycle
Figure DEST_PATH_676382DEST_PATH_IMAGE032
can obtain through the time gap of measuring adjacent two peak values of armature surge of current.
Figure DEST_PATH_3458DEST_PATH_IMAGE035
is the rotor predicted position in the formula (14), and
Figure DEST_PATH_287809DEST_PATH_IMAGE036
is the number of armature surge of current peak value.
When practical engineering application, owing to exist electromagnetic interference, electromechanics system to have the randomness vibration; Fully the residue harmonic wave of filtering etc. all can not cause when sampled peak; Mistake sampled peak or miss the sampling of peak value causes cumulative errors, in order to remove above-mentioned influence; Must proofread and check counting machine, propose the sampling period algorithm simultaneously.
Figure DEST_PATH_638019DEST_PATH_IMAGE037
(15)
Formula (15)
Figure DEST_PATH_400439DEST_PATH_IMAGE038
is the prospective peak value cycle;
Figure DEST_PATH_582021DEST_PATH_IMAGE039
calculates the cycle in the formula (1); Can draw the check and correction and the check algorithm of counting machine based on the predicted time between the peak value
Figure DEST_PATH_974956DEST_PATH_IMAGE038
, be aided with the sampling period algorithm simultaneously and draw following rule:
Very fast when 1, sampling owing to the pulsation of current frequency; It is minimum that the possibility of sudden change appears in signal; Simultaneously
Figure DEST_PATH_874779DEST_PATH_IMAGE038
to calculate confidence level by formula (1) also lower, current peak period
Figure DEST_PATH_440890DEST_PATH_IMAGE032
is by the decision common with
Figure DEST_PATH_913197DEST_PATH_IMAGE038
of the aviation value of the first five peak period.
If 2 two time to peaks are shorter at interval, will not will consider, the aviation value of getting two peak values simultaneously is as new peak value, and half of the time gap of two peak values is as the time point of new peak value, and counting machine N only adds 1.
3, in the cycle T of expectation, peak value do not occur, then counting machine adds 1 automatically.
Can draw
Figure DEST_PATH_539351DEST_PATH_IMAGE031
and according to formula (13), (14); After through the electric boosting steering system retarder, through type (12) can be derived as and can draw real rotating speed of steering handwheel and corner.Corner and tach signal through steering handwheel can be given the electric boosting steering system control module, in real time to power driver module control signal---dutycycle is revised, accomplish power-assisted, damping, the control of Hui Zheng etc. to steering handwheel.
The characteristics and the advantage of this patent of invention are:
1. in existing EPS system, do not increase parts such as any sensor, because there is teeth groove in rotor, and inner coiled coil; During rotor rotation, have the discountinuity of cutting magnetic field, the commutator segment on the commutator (the teeth groove number is identical with the commutator segment number) also is interrupted; When electric current is through carbon brush and commutator so; The pulsation that this will all can produce electric current through the detection to the armature pulsation of current, just can draw the steering handwheel position signal through digital signal processing.
2. set up the adaptive bandwidth filter through classical motor model and duty cycle signals, make the motor pulsatory current through behind the adaptive bandwidth filter, the harmonic wave that other interference cause will reduce greatly, make the prediction of motor position and rotary speed precision improve greatly.
3. through the counting of current peak, can draw the motor incremental counter, the check and correction and the check algorithm of while design current peak value, the system cumulative errors of making reduce, and system's antijamming capability is greatly improved.
4. through the EPS retarder, can draw precision higher steering handwheel position and rotating speed, make control accuracy higher.
Description of drawings
The current of electric wave pattern that Fig. 1 relates to for process of the present invention.
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with specific embodiment, further set forth the present invention.
Rotating speed of motor and angle position behind conjunction measuring armature voltage and electric current, can calculate rotor rotating speed through traditional motor model through the parameter of electric machine:
Figure DEST_PATH_968375DEST_PATH_IMAGE001
(1)
Figure DEST_PATH_124550DEST_PATH_IMAGE040
(2)
Figure DEST_PATH_921605DEST_PATH_IMAGE041
(3)
Wherein
Figure DEST_PATH_468123DEST_PATH_IMAGE004
representes armature voltage; Armature current; The electro-motive force constant; Constant excitation megnet magnetic flow;
Figure DEST_PATH_641616DEST_PATH_IMAGE005
is respectively armature resistance and inductance;
Figure DEST_PATH_652297DEST_PATH_IMAGE006
representes back electromotive force constant respectively; The rotor rotating speed, is rotor corner and initial position.
Through test and calculating
Figure DEST_PATH_654068DEST_PATH_IMAGE042
;
Figure DEST_PATH_100093DEST_PATH_IMAGE043
;
Figure DEST_PATH_230860DEST_PATH_IMAGE044
; Give electrical power; Record
Figure DEST_PATH_805936DEST_PATH_IMAGE045
;
Figure DEST_PATH_389364DEST_PATH_IMAGE046
; The actual constant rotational speed of motor is 2005r/min; The conversion Rad is 206.517rad/s; Through type (1); Calculate
Figure DEST_PATH_639080DEST_PATH_IMAGE047
; In formula (3); Suppose that initial position
Figure DEST_PATH_562036DEST_PATH_IMAGE048
is 0; Motor constant rotation time t=1s; Then drawing actual radian is 206.517, and theoretical calculation formula (1) calculates radian 209.663.There are certain difference in actual value and theoretical value, but difference is less.Because this operating mode is given constant current, actual measurement and formula (1) calculated difference is little, if variable speed and electric current, load, the rotating speed and the actual measurement difference that calculate of formula (1) will be very big so.
Because following formula is to disregard magnetic flux degree of saturation and Influence of Temperature, when reality was used, rotating speed and angle detected rotor rotating speed and angle through having very mistake after the accumulative total for a long time so patent of the present invention proposes a kind of new method.
The DC permanent magnet brush motor is formed by stacking after adopting the silicon steel plate punching press, and forms teeth groove, and each winding coiled coil in teeth groove forms the switching-over of electric current and the lasting rotation of rotor through carbon brush and commutator.But because this structure is shone into when commutating; Between commutator segment and commutator segment, physical separation is arranged; The fluctuation that when commutator segment and winding switch with winding (a corresponding winding of commutator segment), will produce electric current like this; Experiment is found, is a steady state value (constant) even keep magnetic flux, still can detect pulsation of current.And traditional motor mathematical model fails to express this physical process.
Figure DEST_PATH_871795DEST_PATH_IMAGE008
（4）
Figure DEST_PATH_942519DEST_PATH_IMAGE009
is the current of electric ripple frequency, and
Figure DEST_PATH_933609DEST_PATH_IMAGE010
is the number of commutator segment.Draw through above-mentioned physical structure and motor correction model, the frequency that detects surge of current will be learnt the rotating speed of rotor, and the number of the peak value through calculating pulsation of current can draw the corner of rotor.
Convert 33.926r/s to
Figure DEST_PATH_773389DEST_PATH_IMAGE049
that calculate into; The number of existing commutator segment is 22; Each circle
Figure DEST_PATH_254049DEST_PATH_IMAGE009
=746.374Hz, this frequency is the pulsatory current oscillation frequency.We promptly can think, when one second build-in test the number of surge of current crest when being 746, promptly motor speed is 33.926r/s, and the angle of rotating in the second is 21373.38 °.if
Figure DEST_PATH_484173DEST_PATH_IMAGE009
=22Hz; Then motor speed is 1r/s, and the angle of rotating in the second is 360 °.
When pulsing through the actual measurement current of electric, performance has DC component and AC compounent, and through numerical analysis, AC compounent contains low frequency and two kinds of compositions of high-frequency harmonic.Then on the basis of classical motor model, draw the math modeling of following revised motor, draw following formula:
Figure DEST_PATH_341270DEST_PATH_IMAGE011
（5）
Figure DEST_PATH_35557DEST_PATH_IMAGE012
（6）
Figure DEST_PATH_687118DEST_PATH_IMAGE050
（7）
Figure DEST_PATH_168653DEST_PATH_IMAGE014
（8）
In the formula
Figure DEST_PATH_563862DEST_PATH_IMAGE015
; ; representes constant flux component (DC component) respectively; The high frequency flux component; The low frequency flux component;
Figure DEST_PATH_405413DEST_PATH_IMAGE018
is expressed as torque constant and electromagnetic torque constant respectively;
Figure DEST_PATH_338734DEST_PATH_IMAGE019
representes electromagnetic torque;
Figure DEST_PATH_945296DEST_PATH_IMAGE020
;
Figure DEST_PATH_204239DEST_PATH_IMAGE021
is expressed as load torque, motor damping coefficient respectively.
Simultaneous equations 5-8, the equation of separating:
Figure DEST_PATH_692989DEST_PATH_IMAGE051
（9）
Draw through equation 9:
Figure DEST_PATH_633263DEST_PATH_IMAGE023
（10）
Figure DEST_PATH_156649DEST_PATH_IMAGE052
（11）
Figure DEST_PATH_320914DEST_PATH_IMAGE027
representes DC component; What of X axle (zero point) are real process represent to depart from;
Figure DEST_PATH_998757DEST_PATH_IMAGE028
AC compounent has two kinds; A kind of is high frequency ; Be mainly the fluctuation that each number of direction turning piece and teeth groove causes; Also having a kind of is low frequency
Figure DEST_PATH_917352DEST_PATH_IMAGE049
, is mainly the fluctuation that rotor turns around and periodically causes.
Owing to be to measure steering wheel angle (position) and rotating speed during automobile electric booster steering system control; Motor is to realize power-assisted through a worm type of reduction gearing on electric boosting steering system, and corner (position) and the rotating speed to the steering handwheel will have computes to draw at last:
Figure DEST_PATH_455781DEST_PATH_IMAGE025
（12）
Figure DEST_PATH_919123DEST_PATH_IMAGE026
is the steering handwheel rotating speed in the formula.
Design worm gear transmission ratio is 18:1 at present; Use the result of formula (1);
Figure DEST_PATH_263517DEST_PATH_IMAGE047
; So =11.648
Figure DEST_PATH_205245DEST_PATH_IMAGE054
; Conversion is angled 667.3 °/s; Be equivalent near per second two Lap Time degree; Can find out that through behind the reductor, the steering handwheel rotating speed has reduced; It can also be seen that simultaneously if certain error appears in motor angle, to the basic not influence of the angle estimation of steering handwheel.
In said method, have only the frequency of armature electric current to consider in the estimation of rotating speed in fact; Because there is nonlinearity erron in current sensor; Might there be bigger error in the estimated valve of motor speed; In actual engineering; There is eccentricity in rotor; The interference of carbon brush spark; Motor-driven PWM output noise; The saturated grade in the magnetic field of magnetic core can cause that all electric current output produces fluctuation; Produce harmonic wave and all isolate through setting up surge of current that adaptive bandwidth filter motor speed when removing switching-over causes, second among
Figure DEST_PATH_421463DEST_PATH_IMAGE027
in the wushu (10) and
Figure DEST_PATH_303968DEST_PATH_IMAGE028
in the formula (11) all removes like this, the surge of current harmonic component that motor speed causes when only being left to commutate.The adaptive bandwidth filter is the motor model in the through type (1); The conclusion that draws according to top formula (4) simultaneously; Add that dutycycle etc. draws roughly output speed of motor, certain frequency bandwidth is set simultaneously, can draw comparatively real pulsation of current waveform of motor and frequency.
Casehistory:; At formula (1) actual measurement rotor rotating speed is 206.517rad/s; Through type (1); Calculate
Figure DEST_PATH_594135DEST_PATH_IMAGE047
; through calculating sets up a bandwidth; ± 35rad/s; Actual measurement rotor rotating speed one fixes in this frequency bandwidth so, the harmonic wave that other reasons causes through the adaptive bandwidth filter after by being isolated, as shown in Figure 1 through the waveform behind the sef-adapting filter.(because formula (1) is the same with formula (5), promptly do not repeat, formula (6)-formula (11) is just described the waveform of Fig. 1, in the motor position estimation of reality, does not participate in calculating, so do not have the concrete data calculation of substitution.）
Figure DEST_PATH_709039DEST_PATH_IMAGE055
(13)
Figure DEST_PATH_831453DEST_PATH_IMAGE056
(14)
is rotor prediction rotating speed in the formula (13);
Figure DEST_PATH_151893DEST_PATH_IMAGE032
is the cycle
Figure DEST_PATH_239115DEST_PATH_IMAGE034
of first sinusoidal frequency in the formula (11) , and this cycle
Figure DEST_PATH_566191DEST_PATH_IMAGE032
can obtain through the time gap of measuring adjacent two peak values of armature surge of current.
Figure DEST_PATH_788225DEST_PATH_IMAGE035
is the rotor predicted position in the formula (14), and
Figure DEST_PATH_935172DEST_PATH_IMAGE036
is the number of armature surge of current peak value.
In Fig. 1 waveform; Actual measurement T=0.00128s;
Figure DEST_PATH_963171DEST_PATH_IMAGE031
calculate 223.124rad/s; Turning over pulse number in supposing in one second is 780, has then turned over 12763.64 °, has changeed 35.46 circles.
When practical engineering application, owing to exist electromagnetic interference, electromechanics system to have the randomness vibration; Fully the residue harmonic wave of filtering etc. all can not cause when sampled peak; Mistake sampled peak or miss the sampling of peak value causes cumulative errors, in order to remove above-mentioned influence; Must proofread and check counting machine, propose the sampling period algorithm simultaneously.
Figure DEST_PATH_82437DEST_PATH_IMAGE057
(15)
Formula (15)
Figure DEST_PATH_537689DEST_PATH_IMAGE038
is the prospective peak value cycle;
Figure DEST_PATH_437512DEST_PATH_IMAGE039
calculates the cycle in the formula (1); In the formula (1); Calculate rotating speed for
Figure DEST_PATH_3623DEST_PATH_IMAGE058
;
Figure DEST_PATH_475930DEST_PATH_IMAGE038
=0.00136; Because actual measurement T=0.00128s in formula (14); So between
Figure DEST_PATH_102083DEST_PATH_IMAGE038
and T, individual check algorithm is arranged, to guarantee the accuracy of sampled peak number.
Can draw the check and correction and the check algorithm of counting machine based on the predicted time between the peak value
Figure DEST_PATH_223623DEST_PATH_IMAGE038
, be aided with the sampling period algorithm simultaneously and draw following rule:
1. very fast when sampling owing to the pulsation of current frequency; It is minimum that the possibility of sudden change appears in signal; Simultaneously
Figure DEST_PATH_531108DEST_PATH_IMAGE038
to calculate confidence level by formula (1) also lower, current peak period
Figure DEST_PATH_687283DEST_PATH_IMAGE032
is by the decision common with
Figure DEST_PATH_484337DEST_PATH_IMAGE038
of the aviation value of the first five peak period.
2. if two time to peaks are shorter at interval, will not will consider, the aviation value of getting two peak values simultaneously is as new peak value, and half of the time gap of two peak values is as the time point of new peak value, and counting machine N only adds 1.
3. in the cycle T of expectation, peak value do not occur, then counting machine adds 1. automatically
Can draw
Figure DEST_PATH_30856DEST_PATH_IMAGE031
and
Figure DEST_PATH_938769DEST_PATH_IMAGE035
according to formula (13), (14); After through the electric boosting steering system retarder, through type (12) can be derived as and can draw real rotating speed of steering handwheel and corner.Corner and tach signal through steering handwheel can be given the electric boosting steering system control module, in real time to power driver module control signal---dutycycle is revised, accomplish power-assisted, damping, the control of Hui Zheng etc. to steering handwheel.
More than show and described groundwork of the present invention and principal character and advantage of the present invention.The technical personnel of the industry should be understood; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the specification sheets just explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The scope of the present invention is required by the appended claims and their equivalents define
Figure DEST_PATH_DEST_PATH_IMAGE059
Figure DEST_PATH_887134DEST_PATH_IMAGE059
Figure DEST_PATH_855090DEST_PATH_IMAGE059
Figure DEST_PATH_951222DEST_PATH_IMAGE059
.

Claims (2)

1. the position control method of the steering handwheel of a position-sensor-free; It is characterized in that, at first, calculate rotating speed of motor and angle position through the parameter of electric machine; Behind conjunction measuring armature voltage and electric current, can calculate the rotor rotating speed through traditional motor model:
Figure DEST_PATH_RE-DEST_PATH_IMAGE001
(1)
Figure DEST_PATH_947250DEST_PATH_IMAGE002
(2)
Figure DEST_PATH_RE-DEST_PATH_IMAGE003
(3)
Wherein
Figure DEST_PATH_78017DEST_PATH_IMAGE004
representes armature voltage; Armature current; The electro-motive force constant; Constant excitation megnet magnetic flow; is respectively armature resistance and inductance;
Figure DEST_PATH_653092DEST_PATH_IMAGE006
representes back electromotive force constant respectively; The rotor rotating speed,
Figure DEST_PATH_RE-DEST_PATH_IMAGE007
is rotor corner and initial position;
Because following formula is to disregard magnetic flux degree of saturation and Influence of Temperature, and the DC permanent magnet brush motor is formed by stacking after adopting the silicon steel plate punching press, and forms teeth groove; Each winding coiled coil in teeth groove forms the switching-over of electric current and the lasting rotation of rotor through carbon brush and commutator, but owing to this structure is shone into when commutating; Between commutator segment and commutator segment, physical separation is arranged, the fluctuation that when commutator segment and winding and winding switching, will produce electric current like this, experiment is found; Even keeping magnetic flux is a steady state value; Still can detect pulsation of current, draw through above-mentioned physical structure and motor correction model, the frequency that detects surge of current will be learnt the rotating speed of rotor; The number of the peak value through calculating pulsation of current can draw the corner of rotor
When pulsing through the actual measurement current of electric, performance has DC component and AC compounent, and through numerical analysis, AC compounent contains low frequency and two kinds of compositions of high-frequency harmonic, then rebulids the math modeling of motor, draws following formula:
（5）
Figure DEST_PATH_RE-DEST_PATH_IMAGE009
（6）
Figure DEST_PATH_423919DEST_PATH_IMAGE010
（7）
Figure DEST_PATH_RE-DEST_PATH_IMAGE011
（8）
In the formula
Figure DEST_PATH_346876DEST_PATH_IMAGE012
;
Figure DEST_PATH_RE-DEST_PATH_IMAGE013
;
Figure DEST_PATH_656634DEST_PATH_IMAGE014
representes constant flux component (DC component) respectively; The high frequency flux component; The low frequency flux component;
Figure DEST_PATH_RE-DEST_PATH_IMAGE015
is expressed as torque constant and electromagnetic torque constant respectively;
Figure DEST_PATH_399463DEST_PATH_IMAGE016
representes electromagnetic torque;
Figure DEST_PATH_RE-DEST_PATH_IMAGE017
;
Figure DEST_PATH_889087DEST_PATH_IMAGE018
is expressed as load torque, motor damping coefficient respectively;
Simultaneous equations 5-8, the equation of separating:
Figure DEST_PATH_RE-DEST_PATH_IMAGE019
（9）
Draw through equation 9:
Figure DEST_PATH_728867DEST_PATH_IMAGE020
（10）
（11）
Owing to be to measure steering wheel angle (position) and rotating speed during automobile electric booster steering system control; Motor is to realize power-assisted through a worm type of reduction gearing on electric boosting steering system, and corner (position) and the rotating speed to the steering handwheel will have computes to draw at last:
（12）
Figure DEST_PATH_RE-DEST_PATH_IMAGE023
is the steering handwheel rotating speed in the formula;
Because there is nonlinearity erron in current sensor; Might there be bigger error in the estimated valve of motor speed; In actual engineering; There is eccentricity in rotor; The interference of carbon brush spark; Motor-driven PWM output noise, the saturated grade in the magnetic field of magnetic core can cause that all electric current output produces fluctuation, produce harmonic wave and all isolate through setting up surge of current that adaptive bandwidth filter motor speed when removing switching-over causes; Among
Figure DEST_PATH_642914DEST_PATH_IMAGE024
in the wushu (10) and
Figure DEST_PATH_RE-DEST_PATH_IMAGE025
in the formula (11) second all removes like this; The surge of current harmonic component that motor speed causes during only remaining the switching-over, the adaptive bandwidth filter is the motor model in the through type (1), the conclusion that draws according to top formula (4) simultaneously; Add that dutycycle etc. draws roughly output speed of motor; Certain frequency bandwidth is set simultaneously, can draws comparatively real pulsation of current waveform of motor and frequency
Figure DEST_PATH_234432DEST_PATH_IMAGE026
(13)
Figure DEST_PATH_RE-DEST_PATH_IMAGE027
(14)
Figure DEST_PATH_131981DEST_PATH_IMAGE028
is rotor prediction rotating speed in the formula (13);
Figure DEST_PATH_RE-DEST_PATH_IMAGE029
is the cycle
Figure DEST_PATH_RE-DEST_PATH_IMAGE031
of first sinusoidal frequency in the formula (11)
Figure DEST_PATH_783542DEST_PATH_IMAGE025
; This cycle
Figure DEST_PATH_22935DEST_PATH_IMAGE029
can obtain through the time gap of measuring adjacent two peak values of armature surge of current;
Figure DEST_PATH_418144DEST_PATH_IMAGE032
is the rotor predicted position in the formula (14), and
Figure DEST_PATH_DEST_PATH_IMAGE033
is the number of armature surge of current peak value;
When practical engineering application, owing to exist electromagnetic interference, electromechanics system to have the randomness vibration; Fully the residue harmonic wave of filtering etc. all can not cause when sampled peak; Mistake sampled peak or miss the sampling of peak value causes cumulative errors, in order to remove above-mentioned influence; Must proofread and check counting machine, propose the sampling period algorithm simultaneously:
Figure DEST_PATH_170200DEST_PATH_IMAGE034
(15)
Formula (15) is the prospective peak value cycle; calculates the cycle in the formula (1), can draw the check and correction and the check algorithm of counting machine based on the predicted time between the peak value
Figure DEST_PATH_197379DEST_PATH_IMAGE035
;
Can draw
Figure DEST_PATH_396279DEST_PATH_IMAGE028
and
Figure DEST_PATH_2841DEST_PATH_IMAGE032
according to formula (13), (14); After through the electric boosting steering system retarder, through type (12) can be derived as and can draw real rotating speed of steering handwheel and corner.Corner and tach signal through steering handwheel can be given the electric boosting steering system control module, in real time to power driver module control signal---dutycycle is revised, accomplish power-assisted, damping, the control of Hui Zheng etc. to steering handwheel.
2. the position control method of the steering handwheel of a kind of position-sensor-free according to claim 1 is characterized in that, said sampling period algorithm draws following rule:
Very fast when 1. sampling owing to the pulsation of current frequency; It is minimum that the possibility of sudden change appears in signal; Simultaneously
Figure DEST_PATH_996204DEST_PATH_IMAGE035
to calculate confidence level by formula (1) also lower, current peak period
Figure DEST_PATH_750534DEST_PATH_IMAGE029
is by the decision common with of the aviation value of the first five peak period;
If 2. two time to peaks are shorter at interval, will not will consider, the aviation value of getting two peak values simultaneously is as new peak value, and half of the time gap of two peak values is as the time point of new peak value, and counting machine N only adds 1;
3. in the cycle T of expectation, peak value do not occur, then counting machine adds 1 automatically.
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CN106697039A (en) * 2016-11-23 2017-05-24 耐世特汽车系统（苏州）有限公司 Active return-to-middle control system based on brush electric power steering system
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CN110875699B (en) * 2018-08-31 2023-09-22 兄弟工业株式会社 Interference observer, control device, machine tool, and interference estimation method
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CN111830275A (en) * 2019-04-18 2020-10-27 现代摩比斯株式会社 Apparatus and method for estimating motor rotation speed in electronic brake system
CN111830275B (en) * 2019-04-18 2022-05-10 现代摩比斯株式会社 Apparatus and method for estimating motor rotation speed in electronic brake system
CN111742486A (en) * 2019-07-19 2020-10-02 深圳市大疆创新科技有限公司 Position estimation method, device, mobile robot and storage medium
CN111497929A (en) * 2020-03-19 2020-08-07 江苏大学 Controller without position sensor for automobile EPS steering system
CN113300640A (en) * 2021-05-25 2021-08-24 上海飞象健康科技有限公司 Jet flow blockage protection method, computer readable storage medium and tooth flushing device

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