CN102923189B - A kind of electric booster steering system controller based on permagnetic synchronous motor and control method - Google Patents

A kind of electric booster steering system controller based on permagnetic synchronous motor and control method Download PDF

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Publication number
CN102923189B
CN102923189B CN201210385460.1A CN201210385460A CN102923189B CN 102923189 B CN102923189 B CN 102923189B CN 201210385460 A CN201210385460 A CN 201210385460A CN 102923189 B CN102923189 B CN 102923189B
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China
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control
signal
motor
synchronous motor
steering
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CN201210385460.1A
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CN102923189A (en
Inventor
何磊
宗长富
郑宏宇
张泽星
陈国迎
马煜乾
李春善
张为荣
李绍松
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吉林大学
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Abstract

The present invention discloses a kind of electric booster steering system controller based on permagnetic synchronous motor and control method.Controller part constructs steering wheel torque and angular signal acquisition system, motor rotor position signal acquiring system, PMSM Drive System and CAN communication system.Control method part includes electric power-assisted steering control method, method for controlling permanent magnet synchronous motor, motor rotor position signal calculation method and steering wheel torque angular signal calculation method.Present invention employs novel motor position sensor and steering wheel torque rotary angle transmitter, by the Rational of controller and control method being achieved the excellent control to electric boosting steering system based on permagnetic synchronous motor so that electric boosting steering system is the most perfect.

Description

A kind of electric booster steering system controller based on permagnetic synchronous motor and control method
Technical field
The invention belongs to Vehicular turn and control technical field, particularly to a kind of electricity based on permagnetic synchronous motor Dynamic booster steering system controller and control method.
Background technology
Electric boosting steering system this within several years, obtained quick development, whole system performance is the completeest Kind.The development of electric boosting steering system includes following feature: first, electric boosting steering system The motor used by brushed DC motor to permagnetic synchronous motor transition, to solve due to brushed DC motor There is brush and diverter and the problem such as cause lifetime of system short, difficult in maintenance.Second, electric power steering Control method, by simple linear type power assist control method, towards raising driver's hands that can be the most excellent The control method development of sense and vehicle handling stability.3rd, create low cost, in high precision, highly reliable The motor rotor position sensor of property.4th, steering wheel torque rotary angle transmitter is towards contactless, high-precision Degree, the direction of high noise immunity are developed.The application of these new equipment and method can improve electronic greatly The Performance And Reliability of servo steering system, but to cause whole system more complicated simultaneously, adds and sets Meter difficulty.
Summary of the invention
For the development characteristic of above-mentioned electric boosting steering system, the present invention integrated these new equipment and methods, Give full play to the advantage of each equipment and method, by reasonably design, it is provided that a kind of based on permanent magnet synchronous electric The electric booster steering system controller of machine and control method.
The technical scheme is that and be achieved in that:
Present invention employs electric boosting steering system based on permagnetic synchronous motor as control object.This is In system use permagnetic synchronous motor relative to brushed DC motor have simple in construction, volume little, reliable, The advantages such as life-span length, power density are big, simultaneously control system from software to hardware on the most more complicated;This is In system, motor rotor position sensor contains three tunnel commutation hall signal and two-way position hall signals, is protecting On the premise of card rotor-position precision, hence it is evident that reduce cost, be highly suitable for electric boosting steering system, And promote permagnetic synchronous motor application on electric boosting steering system;Steering wheel torque in this system Rotary angle transmitter, for non-contact inductive position sensor, exports two-way torque based on SENT protocol Signal, exports the angular signal of a road class pwm signal, and this sensor has high accuracy, high-resolution, high temperature The feature that stability, capacity of resisting disturbance are strong, easy for installation.
The present invention is directed to described electric boosting steering system, construct based on permagnetic synchronous motor electric boosted Steering controller and control method.The control method of the present invention include electric power-assisted steering control method, Method for controlling permanent magnet synchronous motor, motor rotor position signal calculation method and steering wheel torque angular signal solution Four parts of calculation method.
On the controller, this patent, with Master control chip TMS320F2812 as core, constructs steering wheel and turns Square angular signal Acquisition Circuit, motor rotor position signal acquisition circuit, permanent magnet synchronous electric drive circuit and CAN communication circuit.
In control method, electric power-assisted steering control method have employed the basic power assist control method of multiple spot broken line, Motor compensating control method and rotary transform tensor method.Multiple spot broken line basic power assist control method power-assisted curve ratio is relatively Smooth, it is achieved simple, it is simple to revise and debug.Motor compensating control method includes friciton compensation controlling party Method, damping compensation control method and inertia compensating control method, reduce or counteract owing to steering adds Frictional force, damping force and the inertia force entering motor and speed reducer structure and produce.Rotary transform tensor method can be improved Vehicle low speed returns positive deficiency, returns at a high speed positive over control, makes vehicle obtain good steering reversal performance.
Method for controlling permanent magnet synchronous motor have employed the vector control method that Technical comparing is skillful, is become by coordinate The three-phase current based on stationary stator of changing commanders is converted to the biphase current based on rotor, it is achieved The electric current in permanent magnet excitation direction and the decoupling of the electric current with excitation direction vertical direction.Finally by space arteries and veins Wide vector modulation method and seven segmentation methods produce the switch time of each switching device.
Motor rotor position signal calculation method, includes motor rotor position and initializes the determination of corner, electricity The determination of the absolute base position of machine rotor, the calculating of rotor absolute position and rotor absolute position Verify four parts.
Steering wheel torque angular signal calculation method, includes SENT signals collecting, the resolving of SENT signal, class Pwm signal gathers and class pwm signal resolves four parts.
Accompanying drawing explanation
The present invention is further illustrated below in conjunction with the accompanying drawings:
Fig. 1 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The controller architecture schematic diagram of control method.
Fig. 2 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The control method overall architecture schematic diagram of control method.
Fig. 3 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The electric power-assisted steering control method schematic diagram of control method.
Fig. 4 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and Multiple spot broken line basic power-assisted curve synoptic diagram in the electric power-assisted steering control method of control method.
Fig. 5 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The permanent-magnet synchronous motor rotor position sensing device signal schematic representation of control method.
Fig. 6 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The permanent-magnet synchronous motor rotor position initial value decision logic schematic diagram of control method.
Fig. 7 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The absolute base position of control method determines schematic flow sheet.
Fig. 8 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The torque rotary angle transmitter SENT signal schematic representation of control method.
Fig. 9 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The torque rotary angle transmitter class pwm signal schematic diagram of control method.
Figure 10 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The SENT signals collecting schematic flow sheet of control method.
Figure 11 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The SENT signal of control method resolves schematic flow sheet.
Figure 12 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The class pwm signal collecting flowchart schematic diagram of control method.
Figure 13 be a kind of electric booster steering system controller based on permagnetic synchronous motor of the present invention and The class pwm signal of control method resolves schematic flow sheet.
In Fig. 1: 1. main control chip TMS320F2812;2. bus transceiver 74HC245;3. driving chip IR2130;4. boostrap circuit;5. three phase full bridge power circuit;6. permagnetic synchronous motor;7. current sensor; 8. current signal RC filter circuit;9. current signal operational amplification circuit;10. motor rotor position sensor; 11. motor rotor position signal RC filter circuits;12. twice negater circuit of motor rotor position signal;13. Steering wheel torque rotary angle transmitter;14. steering wheel torque angular signal RC filter circuits;15. steering wheel torque Twice negater circuit of angular signal;16.CAN bus;17.CAN communications transceiver.
In Fig. 2: 1. permagnetic synchronous motor;2. motor rotor position sensor;3. steering wheel torque corner passes Sensor.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is explained in detail:
Fig. 1 is the controller architecture schematic diagram of the present invention.Main control chip of the present invention is Texas Instrument The digital signal processor TMS320F2812 that company produces.The present invention is with TMS320F2812 as core design Motor rotor position signal acquisition circuit, steering wheel torque angular signal Acquisition Circuit, permagnetic synchronous motor drive Galvanic electricity road and CAN communication circuit.
Motor rotor position signal and steering wheel torque angular signal have all sequentially passed through RC filter circuit and by executing Schmitt trigger composition twice negater circuit, play elimination High-frequency Interference, signal shaping, by signal by 5V Be converted to the effect of 3.3V.Motor rotor position signal HALLa accesses master control GPIOB0 foot, and HALLb accesses Master control GPIOB1 foot, HALLc accesses master control GPIOB2 foot, and QEP1 accesses master control QEP4 foot, and QEP2 accesses Master control QEP5 foot.Torque angular signal SENTA accesses master control CAP1 foot, and SENTB accesses master control CAP2 foot, Class PWM accesses master control CAP3 foot.
Permanent magnet synchronous electric drive circuit drives signal first pass around bus transceiver 74HC245, play and will drive Dynamic signal is converted to 5V by 3.3V, is improved driving signal load ability, isolated drive circuit and governor circuit Effect.Then three road high-side switch signal PWM1, PWM3, PWM5 are respectively connected to driving chip IR2130's HIN1, HIN2, HIN3, three road low side switch signal PWM2, PWM4, PWM6 are respectively connected to driving chip IR2130 HIN4, HIN5, HIN6.Drive signal after IR2130, high-side switch signal demand further across After boostrap circuit boosting, control three full bridge power drives permagnetic synchronous motors and run.Due to motor around Group is for Y-connection, and three-phase current and be zero, so only need to gather two-way phase current.From motor phase line A, B Two current sensors of upper installation.The current signal that current sensor sends is through RC filtering and operation amplifier electricity Road, plays and filters High-frequency Interference and 5V signal is converted to the effect of 3V.Current analog signal enters master control ADINA1 and the ADINA2 pin of chip.
CAN_H and CAN_L of CAN is connected on a transceiver by CAN communication circuit, then connects Enter on main control chip CANTXA and CANRXA pin.
Fig. 2 is control method overall architecture schematic diagram of the present invention.Control method mainly includes four parts: Electric power-assisted steering control method, method for controlling permanent magnet synchronous motor, motor rotor position signal calculation method With steering wheel torque angular signal calculation method, the most also to there being four modules: electric power steering Control module, permagnetic synchronous motor control module, motor rotor position signal resolve module and steering wheel torque Angular signal resolves module.Resolve the steering wheel torque corner information obtained by gathering and obtained by CAN To speed information obtain the axial mesh of permagnetic synchronous motor q by electric power steering system control method Mark electric current.By this permagnetic synchronous motor q direction of principal axis target current, the reality of three phase lines of permagnetic synchronous motor Border electric current is input to permagnetic synchronous motor together with gathering and resolving the permanent-magnet synchronous motor rotor position information obtained In control method, output drive signal, then by drive circuit, the final control motor that realizes exports required The power-assisted square wanted.
Fig. 3 is electric power-assisted steering control method schematic diagram of the present invention.Electric power-assisted steering control method includes Three parts: basic power assist control method, motor compensating control method and rotary transform tensor method, in structure On also to having basic Power assisted control module, motor compensating control module and rotary transform tensor module.Wherein, base The size that this power assist control method produces electric current is relevant to steering wheel torque and speed, and power-assisted curve determines to hold concurrently Turn round and look at ease of steering and control stability.Motor compensating control method reduces or offsets owing to steering adds Frictional force, damping force and the inertia force entering motor and speed reducer structure and produce, improves electric boosting steering system Dynamic response effect.Rotary transform tensor method can be improved vehicle low speed and return positive deficiency, returns at a high speed positive over control, Vehicle is made to obtain good steering reversal performance.Basic Power assisted control electric current Ib, motor compensating controls electric current Ic, Rotary transform tensor electric current Ir, this three portion of electrical current sum constitutes motor q axle target current Iqref
Refering to Fig. 4, in the present invention, basic power assist control method have employed multiple spot broken line basic power-assisted curve.Use The advantage of multiple spot broken line is to realize simple, it is simple to adjust with the effect of approximating curve type power-assisted curve simultaneously Examination and amendment.The method that multiple spot broken line power-assisted curve realizes is that GES V is divided into the 1st section: 0Km/h To 10Km/h, the 2nd section: 10Km/h to 20Km/h until the 9th section: 80Km/h to 90Km/h, the 10th Section: more than 90Km/h.One steering wheel torque of each section of correspondence multiple spot broken line to basic power-assisted electric current.Often Article one, first multiple spot broken line should determine 9 characteristic points: [Tsn1, Ibn1]、[Tsn2, Ibn2]、……、[Tsn8, Ibn8]、 [Tsn9, Ibn9].Then multiple spot broken line can be expressed as:
I b = I bn 2 - I bn 1 T sn 2 - T sn 1 ( T s - T sn 1 ) + I bn 1 T sn 1 &le; T s < T sn 2 I bn 3 - I bn 2 T sn 3 - T sn 2 ( T s - T sn 2 ) + I bn 2 T sn 2 &le; T s < T sn 3 &CenterDot; &CenterDot; &CenterDot; &CenterDot; &CenterDot; &CenterDot; I bn 9 - I bn 8 T sn 9 - T sn 8 ( T s - T sn 8 ) + I bn 8 T sn 8 &le; T s < T sn 9 I bn 9 T sn 9 &le; T s
Refering to Fig. 3, motor compensating control method includes friciton compensation control, damping compensation controls and inertia is mended Repay control.Friciton compensation controls electric current If, damping compensation controls electric current Id, inertia compensates and controls electric current Ii, this Three portion of electrical current sums constitute motor compensating and control electric current Ic
It is that its form is in order to overcome the Coulomb friction power in motor and reducing gear thereof that friciton compensation controls:KfBeing friciton compensation coefficient, θ is that motor turns.
It is to overcome the viscous drag in motor and reducing gear thereof that damping compensation controls, and its form is:KdIt it is friciton compensation coefficient.
Inertia compensates and controls to be to overcome the inertia force in motor and reducing gear thereof, and its form is:KiIt it is inertia penalty coefficient.
Refering to Fig. 3, rotary transform tensor method includes back that just judging and return positive current controls two parts.Return and just sentence Disconnected logic is as steering wheel torque TsAbsolute value less than definite value Tsr, and steering wheel angle θsAbsolute Value is more than definite value θsr, show that steering wheel is in positive state of letting go back, now enter back positive current and control. Target direction dish corner is set as 0 °, by steering wheel rotational angle thetasCarry out PID control, obtain back positive current, And under different vehicle velocity V, the maximum and minima returning positive current is limited, thus improve direction Dish low speed returns positive deficiency, returns at a high speed the phenomenon of positive overshoot.
Refering to Fig. 2, the method that in the present invention, permagnetic synchronous motor controls to have employed vector controlled.Motor three-phase electricity Stream IA、IBAnd ICConvert through Clark conversion and Park, be converted to motor d direction of principal axis actual current IdWith Q axial actual current Iq.Motor d axial target current IdrefIt is set as 0, with motor d axle side To actual current IdD shaft current pid control module is entered after subtracting each other.Obtained by electric power-assisted steering control method The motor q axial target current I arrivedqref, actual current I axial with motor qqQ is entered after subtracting each other Shaft current pid control module.The two pid control module output motor d direction of principal axis target voltage U respectivelydref With motor q direction of principal axis target voltage Uqref, it is then passed through Park inverse transformation and obtains motor α direction of principal axis target electricity Pressure UαrefWith motor β direction of principal axis target voltage Uβref.Finally by dSPACE of SVPWM mode and seven The method of segmentation exports the duty cycle signals of each switching device.In Park conversion and Park inverse transformation all Use motor rotor position signal θ.
Clark conversion refers to static ABC tri-phase coordinate system conversion motor three-phase windings A, B, C formed For static α β two phase coordinate system.α direction of principal axis is right against motor A phase winding direction, and β direction of principal axis is along winding A The direction half-twist counterclockwise of phase.Three-phase current I in patentA、IBAnd ICBe converted to biphase current IαAnd Iβ's Formula is:
I &alpha; I &beta; = 2 3 1 - 1 2 - 1 2 0 3 2 - 3 2 I A I B I C
Park conversion refers to the biphase seat of dq that α β two phase coordinate system static for motor is converted to rotate with rotor Mark system.D direction of principal axis is permanent magnet excitation direction, and q direction of principal axis is that permanent magnet excitation direction rotates 90 counterclockwise °, d direction of principal axis is θ with the angle in the direction of motor A phase.Static biphase current I in patentαAnd IβBe converted to Rotate biphase current IdAnd IqFormula be:
I d I q = cos &theta; sin &theta; - sin &theta; cos &theta; I &alpha; I &beta;
Park inverse transformation refers to that the α β that dq two phase coordinate system rotated with rotor is converted to motor static is biphase Coordinate system.The biphase target voltage U rotated in patentdrefAnd UqrefThe biphase target voltage U of convert to staticαref And UβrefFormula be:
U &alpha;ref U &beta;ref = cos &theta; - sin &theta; sin &theta; cos &theta; U dref U qref
Fig. 5 is the signal schematic representation of permanent-magnet synchronous motor rotor position sensing device employed in the present invention.Rotor Position signalling includes three tunnel commutation hall signal HALLa, HALLb and HALLc and two-way position hall signals QEP1 and QEP2.Every road commutation hall signal is in the range of 360 °, and having 180 ° is high level, and another 180 ° it is low level, according to the three tunnels commutation low and high levels of hall signal, rise and fall edge and pass each other System may determine that the interval absolute base position with rotor in rotor position.Only transport at motor Just can send the position hall signal that two-way is orthogonal after row, position, every road hall signal wraps in the range of 360 ° altogether Containing 24 rise and fall edges, two-way comprises 48 rise and fall edges altogether, and rising edge or decline occur the most every time Along showing that rotor has changed 7.5 °.
Motor rotor position signal is resolved and includes four parts by the present invention: motor rotor position initializes and turns The determination at angle, the determination of the absolute base position of rotor, the calculating of rotor absolute position and motor turn The verification of sub-absolute position.
Fig. 6 is motor rotor position initial value decision logic signal during motor rotor position signal of the present invention resolves Figure.May determine that 60 ° of models residing for rotor by the relation of the low and high level of three tunnel commutation hall signals Enclose interior position interval, be set to the initialization corner of rotor with the centre position in this interval, and drive Permagnetic synchronous motor starts.
Fig. 7 is that during motor rotor position signal of the present invention resolves, the absolute base position of rotor determines that flow process is shown It is intended to.After permagnetic synchronous motor starts, according to Fig. 5, when the rise and fall edge of HALLa being detected, and And HALLb is high level, determine that the absolute base position of rotor is 180 °, if HALLb is low level, Determine that the absolute base position of rotor is 0 °;When the rise and fall edge of HALLb being detected, and HALLc It is high level, determines that the absolute base position of rotor is 300 °, if HALLc is low level, determine motor The absolute base position of rotor is 120 °;The rise and fall edge of HALLc detected, and HALLa be high level, Determine that the absolute base position of rotor is 60 °, if HALLa is low level, determine rotor absolute base Plinth position is 240 °.I.e. by detecting the rise and fall edge of three tunnel commutation hall signals, it may be determined that motor turns Son definitely base position, and initialize NUMBER value for ANGLE_BASE/7.5.
After determining the absolute base position of rotor by motor position Hall element send orthogonal Signal can calculate the absolute position of rotor any time.Two-way position can be collected by main control chip Put rising edge and the trailing edge of hall signal.Set counting variable NUMBER, when rotor rotates counterclockwise Make the change of two-way position hall signal generation rising or falling, then NUMBER adds 1;When motor turns Son turns clockwise so that the change of two-way position hall signal generation rising or falling, then NUMBER subtracts 1.So by the rise and fall edge of detection two-way commutation hall signal, it may be determined that permanent-magnetic synchronous motor rotor Absolute position be NUMBER*7.5, precision is 7.5 °.
While calculating permanent-magnetic synchronous motor rotor absolute position, to permanent-magnetic synchronous motor rotor absolute position Verify.Refering to Fig. 7, constantly the rise and fall of detection three tunnel commutation hall signal are along determining commutation Hall There is the position of the rotor in moment in the rise and fall edge of signal, if absolute with calculating gained rotor Position is identical, then prove to calculate gained rotor absolute position correct;Otherwise with by three tunnel commutation Halls Signal rise and fall replace calculating the absolute position of gained permanent-magnetic synchronous motor rotor along the motor rotor position obtained Put.
Fig. 8 is the present invention used torque rotary angle transmitter SENT signal schematic representation.Each Message of signal Cycle time, a length of 513 microseconds, comprised 1 sync section (Synchronization), 8 Nibble Section (Nibble) and 1 pause segment (Pause).Wherein in 8 Nibble sections, comprise 1 state section (Nibble1), 6 data segments (Nibble2-Nibble7), 1 CRC check section (Nibble8).Often Individual Nibble represents a hexadecimal number, the binary number of i.e. four, and its time span is 12 to 27 The individual transmitting element clock cycle, it is used for representing 0 to the 15 of hexadecimal number.The time span of sync section is 56 The clock cycle of individual transmitting element.State section is Nibble1, should be expressed as the binary number of four, and it is low by two Position represents that working sensor is the most normal, high two reservations.Containing 6 Nibble in data segment, wherein Nibble2, Nibble3 and Nibble4 represent Signal1, Nibble5, Nibble6 and Nibble7 table Show Signal2.Each Signal is the binary number of 12, is made up of, by it 3 Nibble It is divided into important and the most important three parts most important, medium.It is the highest 4 for Signal1, Nibble2, Nibble3 is middle 4, and Nibble4 is low 4.It is the highest 4 for Signal2, Nibble7, Nibble6 is middle 4, and Nibble5 is low four.CRC check section is Nibble8, superfluous by circulation Data segment is verified by remaining mode.Pause segment makes each frame Message reach it for the time of supplying Cycle.Such SENT signal has two-way, respectively SENTA and SENTB, and every road can calculate The angle that torsion bar upper and lower side reverses, this two paths of signals is redundant signals, can mutually verify.
Fig. 9 is the present invention used torque rotary angle transmitter class pwm signal schematic diagram.The week of class pwm signal Phase is 6 milliseconds, and it is 12.5% to 87.5% that high level accounts for the percentage ratio in whole cycle, and its angle value represented is 0 ° to 296 °.
The present invention, for the resolving of steering wheel torque rotary angle transmitter signal, includes SENT signals collecting, SENT Signal resolves, class pwm signal gathers and class pwm signal resolves four parts.
Figure 10 is SENT signals collecting schematic flow sheet of the present invention.SENT signals collecting have employed triggering master control The mode of chip interrupt.The trailing edge of main control chip detection SENT signal, and record the generation moment of trailing edge, Just trigger interruption, first have to calculate the time interval between twice trailing edge, if comprising transmitting element clock Cycle is near 56, decides that this section for sync section and calculates the actual transmitting element clock cycle. After determining sync section, again trigger the section of SENT signal representated by interrupting and be just followed successively by Nibble1 To Nibble8.By the time span of each section of Nibble1 to Nibble8 divided by transmitting element clock week Phase, and after rounding, obtained the quantity of transmitting element clock cycle contained by each Nibble, it should Between 12 to 27, represent hexadecimal number 0 to 15.
Figure 11 is that SENT signal of the present invention resolves schematic flow sheet.SENT signal first determines whether sensing when resolving Device is the most working properly, and then SENT signal carry out CRC check, finally with Nibble2 for high 4, Nibble3 is middle four, Nibble4 is low four, forms 12 bit Signal1, with Nibble7 be high 4, Nibble6 be middle four, Nibble5 be low four, form one 12 two System number Signal2.Just the differential seat angle of torsion bar upper and lower side can be calculated by Signal1 and Signal2. In SENT signals collecting and resolving schematic flow sheet, NibbleB is the array of a buffering, believes at SENT NibbleA is assigned to NibbleB by number collecting flowchart, in resolving flow process, NibbleB is assigned to NibbleC so can ensure that SENT signals collecting flow process resolves flow process with SENT signal and is independent of each other mutually.By The differential seat angle of the torsion bar upper and lower side that SENTA and SENTB resolves, its difference not can exceed that 0.375 °, no Then think that working sensor is abnormal.
Figure 12 is class pwm signal collecting flowchart schematic diagram of the present invention.Main control chip is collecting class pwm signal Rise and fall along after, can record its occur the moment, just trigger interruption, first have to calculate under twice rising Time interval between fall edge, then reads the height of now class pwm signal level, if now collect Signal be the time interval that low level is then calculated be high level duration, otherwise held by low level The continuous time.
Figure 13 is that class pwm signal of the present invention resolves schematic flow sheet.The percentage in a cycle is accounted for by high level Ratio, is 0 ° to 296 ° by this value linear transformation.In SENT signal, Signa11 is torsion bar steering wheel end Position signalling, be 0 ° to 40 °, class pwm signal the value obtained is 0 ° to 296 °, can pass through Vernier algorithm calculates steering wheel angle and is-740 ° to 740 °, can meet what the positive and negative rotation of steering wheel took two turns Angular range.

Claims (7)

1. an electric booster steering system controller based on permagnetic synchronous motor, it is characterised in that this control Utensil processed has main control chip, described controller to include that motor rotor position signal acquisition circuit, steering wheel torque turn Angle signal Acquisition Circuit, permanent magnet synchronous electric drive circuit and CAN communication circuit, motor rotor position signal RC filter circuit and twice be made up of all has been sequentially passed through Schmidt trigger with steering wheel torque angular signal Negater circuit access main control chip, drive signal sequentially pass through after master control sends bus transceiver 74HC245, Driving chip IR2130 and drive circuit, wherein high-side switch signal is electric by bootstrapping after driving chip Boost in road, the current signal that two current sensors that motor phase line is installed produce through RC filtering and Operational amplification circuit, enters main control chip, permagnetic synchronous motor carries out Current Feedback Control, total at CAN A CAN communication transceiver is added between line and main control chip;To based on permagnetic synchronous motor electric boosted When steering controller carries out rotary transform tensor, to maximum and the minimum returning positive current under different vehicle velocity V Value limits;In SENT signals collecting flow process, NibbleA is assigned to NibbleB, resolves flow process Middle NibbleB is assigned to NibbleC, SENTA and SENTB the angle of the torsion bar upper and lower side resolved Difference difference not can exceed that 0.375 °, otherwise it is assumed that working sensor is abnormal.
2. according to the electric booster steering system controller described in claim 1, it is characterised in that described master Control chip is the digital signal processor TMS320F2812 that Texas Instruments produces.
3. an electric power steering system control method based on permagnetic synchronous motor, it is characterised in that right Motor rotor position signal and steering wheel torque angular signal are acquired and resolve, by electric power steering control Method processed and method for controlling permanent magnet synchronous motor obtain driving signal, and this control method includes electric power steering Control, permagnetic synchronous motor controls, motor rotor position signal resolves and steering wheel torque angular signal resolves four Individual part;In SENT signals collecting flow process, NibbleA is assigned to NibbleB, will in resolving flow process NibbleB is assigned to NibbleC, SENTA and SENTB the differential seat angle of the torsion bar upper and lower side resolved Difference not can exceed that 0.375 °, otherwise it is assumed that working sensor is abnormal.
4. according to the electric power steering system control method based on permagnetic synchronous motor described in claim 3, It is characterized in that, described electric power steering controls to include basic Power assisted control, motor compensating controls and returns Positive control, described basic Power assisted control have employed multiple spot broken line type basic power-assisted curve, will by GES Speed is divided into multiple different interval, and each vehicle speed intervals chooses the multiple directions dish torque basic power-assisted of correspondence motor The characteristic point of electric current, is connected by characteristic point and forms the multiple spot broken line of this vehicle speed intervals;Described motor compensating control System includes friciton compensation control, damping compensation controls and inertia compensates and controls three parts;Described rotary transform tensor Include back and just judge and return positive current two parts of control.
5. according to the electric power steering system control method based on permagnetic synchronous motor described in claim 3, It is characterized in that, described method for controlling permanent magnet synchronous motor have employed the null arrow of motor excitation directional current Amount controls, and is produced the switching signal of switching device by space pulse width vector modulation method and seven segmentation methods.
6. according to the electric power steering system control method based on permagnetic synchronous motor described in claim 3, It is characterized in that, described method for controlling permanent magnet synchronous motor is to three tunnel commutation hall signals and two-way position Hall letter Number it is acquired and resolves, draw the position of permanent-magnetic synchronous motor rotor, that includes four parts: motor turns The determination of sub-position initialization corner, the determination of the absolute base position of rotor, rotor absolute position Calculate and the verification of rotor absolute position.
7. according to the electric power steering system control method based on permagnetic synchronous motor described in claim 3, It is characterized in that, described method for controlling permanent magnet synchronous motor is to two-way SENT signal and a road class pwm signal It is acquired resolving, obtains steering wheel torque corner information, that includes SENT signals collecting, SENT letter Number resolve, class pwm signal gather and class pwm signal resolve four parts.
CN201210385460.1A 2012-10-11 2012-10-11 A kind of electric booster steering system controller based on permagnetic synchronous motor and control method CN102923189B (en)

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