CN102780441A - Scheme and method for determining zero position of permanent magnet synchronous motor for automobile EPS (Electric Power Steering) system - Google Patents
Scheme and method for determining zero position of permanent magnet synchronous motor for automobile EPS (Electric Power Steering) system Download PDFInfo
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- CN102780441A CN102780441A CN2011101187990A CN201110118799A CN102780441A CN 102780441 A CN102780441 A CN 102780441A CN 2011101187990 A CN2011101187990 A CN 2011101187990A CN 201110118799 A CN201110118799 A CN 201110118799A CN 102780441 A CN102780441 A CN 102780441A
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Abstract
The invention relates to a scheme and a method for determining the zero position of a permanent magnet synchronous motor for an automobile EPS (Electric Power Steering) system, which belongs to the field of automobile electric power steering. The invention aims to solve the problems that the zero position difference of the permanent magnet synchronous motor is large, different zero position compensations are added to positions of rotors of different motors, and therefore, the permanent magnet synchronous motor is not suitable for being widely applied to the automobile EPS system. The scheme comprises a motor driving circuit, an automobile bus, a data storage unit and the like, wherein the motor driving circuit is used for driving the permanent magnet synchronous motor to rotate, the data storage unit is used for storing the zero position of the motor, and the automobile bus is used for starting the function of determining the zero position of the motor as required. According to the scheme, a torque component iq and a reluctance component id of the motor are utilized to set the target position of the motor, and then the motor is driven to rotate. After the rotor is stabilized, the position of the rotor is determined in accordance with a position signal of the rotor, and the angle difference between the position of the rotor and the set target position is the zero position of the motor. The confirmed zero position of the motor is stored in the data storage unit to be read and used.
Description
Technical field
The invention belongs to automobile electric power-assisted steering (Electronic Process Steering System is called for short EPS) technical field, relate to a kind of scheme and method that automobile electric booster steering system is confirmed the permagnetic synchronous motor zero-bit that be used for.
Background technology
The steering of automobile can be divided into two big types: the purchaseless pure manual steering system servo steering system of unifying.Wherein servo steering system can be divided into mechanical-hydraulic servo steering system, electric-controlled hydraulic servo steering system and three classifications of electric boosting steering system again.Electric booster system wherein utilizes motor to produce the power-assisted driver and turns to, and is the developing direction of current power-assisted steering technology, and this system has following characteristics: can change power-assisted with the speed of a motor vehicle, obtain the best sensation that turns in any case; Only in steering procedure, work, but energy savings; Pollution-free in the use, compliance with environmental protection requirements.
The motor type that the EPS system can adopt has: brush direct current motor, brshless DC motor (BLDC), permagnetic synchronous motor (PMSM) etc.Wherein have brush direct current machine carbon brush and slip ring in operation process can produce spark, disturbs greatlyyer, frictional resistance is big, and lack useful life, the maintenance cost height; Torque ripple is bigger in brshless DC motor (BLDC) rotation process.And permagnetic synchronous motor (PMSM) disturbs little because non-carbonate and slip ring does not have spark in rotation process to external world; Frictional resistance is little, long service life; Compared with brshless DC motor, torque ripple is little, has very big advantage.
And the control permagnetic synchronous motor wants complicated relatively, need accurately know the position of rotor, just can control motor well.And existing a deviation between the position in detected rotor-position of motor rotor position sensor and actual rotor magnetic field usually, this deviation becomes the zero-bit of permagnetic synchronous motor.For the physical location that obtains rotor need be on detected rotor-position basis the small electromotor zero-bit.The motor zero-bit produces when transducer assembles, and zero-bit is exactly a fixed value after the motor inserting-coil.Zero-bit between the different motors more or less all exists difference.This just causes corresponding each motor in the EPS system, and it all is different needing the zero-bit of compensation, if the mistaken control effect that can not get expecting, this causes very big difficulty to production management.Objectively limited the large-scale application of permagnetic synchronous motor in the EPS system.
Summary of the invention
The objective of the invention is in the automobile electric booster steering system (EPS), different permagnetic synchronous motor zero-bits is different, proposes to confirm permagnetic synchronous motor zero-bit scheme and method in the cover motor EPS system.
The technical scheme that the present invention adopted is:
The scheme that a kind of permagnetic synchronous motor zero-bit that is used for automobile EPS system is confirmed, it is characterized in that: said device comprises motor drive module, data memory module, motor position sensor, motor position signal processing module, algoritic module.Said algoritic module produces to said motor drive module according to set logic Control Parameter θ 1 is provided, comprising the rotor target location, and Motor torque control component iq, motor magnetic resistance control component id; The rotor target location θ 1 that said motor drive module provides according to said algoritic module; Motor torque control component iq motor magnetic resistance control component id; Produce PU, PV, three control of PW voltage; Export said permagnetic synchronous motor to, drive motors rotates to the target location, and is stable until motor rotor position; Said motor position sensor is installed on the said permagnetic synchronous motor body, is used to produce the signal that detects motor rotor position, and signal changes in the motor rotating process; Said motor position signal processing module calculates the position of rotor according to position signalling; Said algoritic module calculates the zero-bit of motor through the target location of rotor physical location and rotor, and stores the motor zero message in the described data memory module into.
Need data storage cell, motor drive module, permagnetic synchronous motor, motor position sensor, vehicle-mounted bus on the hardware of said scheme, and host computer.
Said scheme can link to each other with host computer through vehicle-mounted bus, and the said function of enable schemes can start the function of confirming the motor zero-bit as required.
Said scheme links to each other with host computer through vehicle-mounted bus, and said host computer is through the startup of the said device of vehicle-mounted total line traffic control.
Said vehicle-mounted bus is that CAN bus or LIN bus or K-Line and other are used for the bus system of automobile, and said host computer is diagnostic equipment or the computer that possesses the software of diagnostic function.
A kind ofly be used for the method that automobile EPS system confirms the motor zero-bit of permagnetic synchronous motor, it is characterized in that comprising following steps:
Step 1, initializing variable are made as zero with the representative torque component iq value of drive motors, set the target location θ 1 of rotor for 0, and magnetic resistance component id is arranged to constant C.
Motor zero-bit θ 3=θ 2-θ 1 is calculated in step 4, the stable back of judgement rotor.
The target location of step 6, change rotor, i.e. θ 1=θ 1+ Δ θ.
Step 7, judge whether rotor target location θ 1 greater than 360 °, if carry out next steps greater than 360 °; If less than 360 ° again execution in step two promptly repeatedly measure, calculate the motor zero-bit to step 6.
After powering on, the EPS system carries out following steps: detect the motor zero-bit of whether correctly storing permagnetic synchronous motor in the data memory module, if storage, execution in step one to nine.
If need reset the motor zero-bit, through vehicle-mounted bus, enable the permagnetic synchronous motor zero-bit and confirm function, execution in step one to nine with diagnostic equipment or diagnosis computer because changing motor at automobile after sale.
Advantage of the present invention is:
1. use this scheme and method, EPS system drive motor rotates a week, can confirm the zero-bit of permagnetic synchronous motor, quick and precisely.
2. use this scheme and can when automobile rolls off the production line, be used for confirming the zero-bit of EPS system permagnetic synchronous motor, promptly this scheme can be carried the zero-bit of definite motor under the state at band.
3. the controller of using this scheme EPS system can be discerned the zero-bit of permagnetic synchronous motor automatically, need not guaranteeing controller and motor correspondence one by one, and production management is simplified.
4. required hardware of this scheme and EPS system are shared, just increase software code, have the advantage on the cost.
Description of drawings
Fig. 1 is the schematic diagram of this invention scheme.
Fig. 2 is that the permagnetic synchronous motor zero-bit is from using the implementation method flow process.
Fig. 3 is that controller powered on first and enables the adaptive logic of permagnetic synchronous motor zero-bit after automobile that permagnetic synchronous motor EPS system is installed rolled off the production line.
Fig. 4 is in the automobile after-sales service process, changes the logic that motor or controller need enable permagnetic synchronous motor zero-bit adaptation function again.
Embodiment
As shown in Figure 1.The enforcement of this programme comprises motor-drive circuit 2, permagnetic synchronous motor 4, motor position sensor 5, host computer 14, vehicle-mounted bus 13, data storage cell 10 and algorithm itself 15.Because drive the input parameter that permagnetic synchronous motor rotational stator electric current relies on two aspects: the position of electronics rotor; The current component of d axle and q axle.Therefore at first set the rotor-position of motor for constant on the algorithm, promptly the rotor target location 12.Represent the q shaft current iq of torque component to be arranged to 0, only rely on the d shaft current to come the drive motors rotation, promptly increase the value of id gradually, stable until motor rotor position.Motor 4 is driven, and can pass through position transducer 5, the position signalling 6 that changes; The position that obtains rotor through the analysis to position signalling can obtain a current angle 9 of rotor; Subtraction is done in angle 9 and rotor target location 12, and differential seat angle 10 is exactly the zero-bit of rotor, after finding the motor zero-bit; This motor zero-bit is stored in data storage cell 11 the insides, and this data storage cell can be flash or EEPROM.Host computer 14 can be automobile-used diagnostic equipment, also can be the computer that diagnostic software has been installed, and through vehicle-mounted bus 13, can start the function of looking for the motor zero-bit as required.
As shown in Figure 2, confirm that the method enforcement of permagnetic synchronous motor zero-bit needs following steps:
Step 1, initializing variable are made as zero with the representative torque component iq value of drive motors, set the target location θ 1 of rotor for 0, and magnetic resistance component id is arranged to constant C.
Motor zero-bit θ 3=θ 2-θ 1 is calculated in step 4, the stable back of judgement rotor;
The target location of step 6, change rotor, i.e. θ 1=θ 1+ Δ θ;
Step 7, judge whether rotor target location θ 1 greater than 360 °, if carry out next steps greater than 360 °;
If less than 360 ° again execution in step two promptly repeatedly measure, calculate the motor zero-bit to step 6;
Fig. 3 is after automobile rolls off the production line, and the EPS controller powers on first, enables the logic of motor zero-bit adaptation function.
At first detect and whether stored the motor zero-bit in the data storage cell, do not exist, enable motor zero-bit adaptation function if detect the motor zero-bit; If the motor zero-bit exists, not can this function.
Fig. 4 sends order through host computer, starts the flow process of confirming the motor zero-bit.This mode is mainly used in when motor or controller are changed in after-sales service and uses.The EPS controller enables this function when receiving the startup permagnetic synchronous motor zero-bit adaptive command of host computer transmission.
Claims (5)
1. scheme that the permagnetic synchronous motor zero-bit that is used for automobile EPS system is confirmed, it is characterized in that: said device comprises motor drive module, data memory module, motor position sensor, motor position signal processing module, algoritic module.Said algoritic module produces to said motor drive module according to set logic Control Parameter θ is provided
1, comprising the rotor target location, Motor torque control component iq, motor magnetic resistance control component id; The rotor target location θ that said motor drive module provides according to said algoritic module
1, Motor torque control component iq motor magnetic resistance control component id produces PU, PV, three control of PW voltage, exports said permagnetic synchronous motor to, and drive motors rotates to the target location, and is stable until motor rotor position; Said motor position sensor is installed on the said permagnetic synchronous motor body, is used to produce the signal that detects motor rotor position, and signal changes in the motor rotating process; Said motor position signal processing module calculates the position of rotor according to position signalling; Said algoritic module calculates the zero-bit of motor through the target location of rotor physical location and rotor, and stores the motor zero message in the described data memory module into.
2. a kind of device that automobile EPS system confirms the motor zero-bit of permagnetic synchronous motor that is used for according to claim 1 is characterized in that, starts the function of confirming the motor zero-bit, can be to detect when motor zero-bit data are for sky in the data storage cell to start; Simultaneously can link to each other the startup of said PC control function with host computer through vehicle-mounted bus through said device.
3. a kind of scheme that automobile EPS system confirms the motor zero-bit of permagnetic synchronous motor that is used for according to claim 3; It is characterized in that; Said vehicle-mounted bus is CAN bus, LIN bus or K-Line bus, and said host computer is diagnostic equipment or the computer that diagnostic software is installed.
4. one kind is used for the method that automobile EPS system confirms the motor zero-bit of permagnetic synchronous motor, it is characterized in that comprising following steps:
Step 1, initializing variable are made as zero with the representative torque component iq value of drive motors, set the target location θ 1 of rotor for 0, and magnetic resistance component id is arranged to constant C.
Step 2, increase magnetic resistance component id, i.e. id=id+ Δ id gradually.According to motor position sensor calculated signals rotor position 2.
Step 3, id increase to maximum idmax, according to motor position sensor calculated signals motor rotor position θ
2, judge whether rotor is stable.
Motor zero-bit θ 3=θ 2-θ 1 is calculated in step 4, the stable back of judgement rotor.
Step 5, buffer memory motor zero-bit;
The target location of step 6, change rotor, i.e. θ 1=θ 1+ Δ θ.
Step 7, judge whether rotor target location θ 1 greater than 360 °, if carry out next steps greater than 360 °; If less than 360 ° again execution in step two promptly repeatedly measure, calculate the motor zero-bit to step 6;
Step 8, calculate the average θ 3 of motor zero-bit, with this average as final motor zero-bit;
Step 9, motor zero-bit average is stored in the data memory module.
5. according to claim 4ly be used for the method that automobile EPS system confirms the motor zero-bit of permagnetic synchronous motor; It is characterized in that; Before step 1, also include following steps: after automobile rises and once powers on; Detect the motor zero-bit that whether stores in the data memory module, if not storage, then execution in step one to nine; If store, no longer execution in step one to nine.
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| CN2011101187990A CN102780441A (en) | 2011-05-10 | 2011-05-10 | Scheme and method for determining zero position of permanent magnet synchronous motor for automobile EPS (Electric Power Steering) system |
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| CN2011101187990A CN102780441A (en) | 2011-05-10 | 2011-05-10 | Scheme and method for determining zero position of permanent magnet synchronous motor for automobile EPS (Electric Power Steering) system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103401490A (en) * | 2013-08-08 | 2013-11-20 | 安徽巨一自动化装备有限公司 | Matching method for motor and motor controller |
| CN104485859A (en) * | 2014-12-30 | 2015-04-01 | 北京经纬恒润科技有限公司 | Method and device for determining zero initial angle of motor |
| CN104734589A (en) * | 2013-12-20 | 2015-06-24 | 联合汽车电子有限公司 | Method for calibrating deviation angle in permanent magnet synchronous motor |
| CN104836506A (en) * | 2015-05-29 | 2015-08-12 | 许继集团有限公司 | Zero-position correction system and method of PMSM rotor |
| CN106026819A (en) * | 2016-07-14 | 2016-10-12 | 江苏大学 | Method of constructing smart vehicle EPS-used AC motor anti-interference smart controller |
| CN106301133A (en) * | 2016-08-10 | 2017-01-04 | 浙江云迪电气科技有限公司 | Automobile permanent magnet synchronous motor Zero positioning system, method and electric machine controller |
| CN106602957A (en) * | 2016-12-28 | 2017-04-26 | 海特汽车科技（苏州）有限公司 | Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor |
| CN107784335A (en) * | 2016-08-30 | 2018-03-09 | 长城汽车股份有限公司 | The online method and system for writing with a brush dipped in Chinese ink vehicular electric machine zero-bit |
| CN108599658A (en) * | 2018-05-03 | 2018-09-28 | 杭州瑞拉腾电气科技有限公司 | A kind of zero-bit self-learning method of the position sensor of synchronous magnetic resistance motor |
| CN109302115A (en) * | 2017-07-25 | 2019-02-01 | 郑州宇通客车股份有限公司 | A kind of New energy automobile motor electrical angle modification method |
| CN111049451A (en) * | 2018-10-11 | 2020-04-21 | 上海汽车变速器有限公司 | Method for on-line checking initial position angle of permanent magnet motor rotor position sensor |
| CN113702704A (en) * | 2021-07-16 | 2021-11-26 | 东风汽车集团股份有限公司 | Motor zero position detection method and device for new energy vehicle and related vehicle |
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- 2011-05-10 CN CN2011101187990A patent/CN102780441A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103401490A (en) * | 2013-08-08 | 2013-11-20 | 安徽巨一自动化装备有限公司 | Matching method for motor and motor controller |
| CN104734589B (en) * | 2013-12-20 | 2017-07-07 | 联合汽车电子有限公司 | The method that deviation angle is demarcated in permagnetic synchronous motor |
| CN104734589A (en) * | 2013-12-20 | 2015-06-24 | 联合汽车电子有限公司 | Method for calibrating deviation angle in permanent magnet synchronous motor |
| CN104485859A (en) * | 2014-12-30 | 2015-04-01 | 北京经纬恒润科技有限公司 | Method and device for determining zero initial angle of motor |
| CN104836506A (en) * | 2015-05-29 | 2015-08-12 | 许继集团有限公司 | Zero-position correction system and method of PMSM rotor |
| CN104836506B (en) * | 2015-05-29 | 2019-09-27 | 许继集团有限公司 | A kind of permanent-magnetic synchronous motor rotor zero correction system and method |
| CN106026819A (en) * | 2016-07-14 | 2016-10-12 | 江苏大学 | Method of constructing smart vehicle EPS-used AC motor anti-interference smart controller |
| CN106026819B (en) * | 2016-07-14 | 2018-08-10 | 江苏大学 | The building method of the anti-interference intelligent controller of intelligent automobile EPS alternating current generators |
| CN106301133A (en) * | 2016-08-10 | 2017-01-04 | 浙江云迪电气科技有限公司 | Automobile permanent magnet synchronous motor Zero positioning system, method and electric machine controller |
| CN107784335A (en) * | 2016-08-30 | 2018-03-09 | 长城汽车股份有限公司 | The online method and system for writing with a brush dipped in Chinese ink vehicular electric machine zero-bit |
| CN106602957A (en) * | 2016-12-28 | 2017-04-26 | 海特汽车科技（苏州）有限公司 | Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor |
| CN109302115A (en) * | 2017-07-25 | 2019-02-01 | 郑州宇通客车股份有限公司 | A kind of New energy automobile motor electrical angle modification method |
| CN109302115B (en) * | 2017-07-25 | 2020-10-02 | 郑州宇通客车股份有限公司 | New energy automobile motor electrical angle correction method |
| CN108599658A (en) * | 2018-05-03 | 2018-09-28 | 杭州瑞拉腾电气科技有限公司 | A kind of zero-bit self-learning method of the position sensor of synchronous magnetic resistance motor |
| WO2019210854A1 (en) * | 2018-05-03 | 2019-11-07 | 杭州瑞拉腾电气科技有限公司 | Zero self-learning method for position sensor of synchronous reluctance motor |
| CN108599658B (en) * | 2018-05-03 | 2022-05-17 | 杭州瑞拉腾电气科技有限公司 | Zero self-learning method for position sensor of synchronous reluctance motor |
| CN111049451A (en) * | 2018-10-11 | 2020-04-21 | 上海汽车变速器有限公司 | Method for on-line checking initial position angle of permanent magnet motor rotor position sensor |
| CN113702704A (en) * | 2021-07-16 | 2021-11-26 | 东风汽车集团股份有限公司 | Motor zero position detection method and device for new energy vehicle and related vehicle |
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Application publication date: 20121114 |