CN103273959A - Electric power steering controller of forklift and electric power steering control method - Google Patents
Electric power steering controller of forklift and electric power steering control method Download PDFInfo
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- CN103273959A CN103273959A CN 201310243962 CN201310243962A CN103273959A CN 103273959 A CN103273959 A CN 103273959A CN 201310243962 CN201310243962 CN 201310243962 CN 201310243962 A CN201310243962 A CN 201310243962A CN 103273959 A CN103273959 A CN 103273959A
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Abstract
The invention discloses an electric power steering controller of a forklift and an electric power steering control method. A TMS320F28035 microprocessor is adopted as a main control chip, a driving integration chip DRV8301 is adopted as a driving chip, the microprocessor judges traveling working conditions of the forklift according to torque signals of a steering wheel and angle signals of an output end of a gearbox and controls the driving integration chip to drive a brushless direct-current motor to realize power-assisted control, aligning control and damping control of the forklift, the driving integration chip drives a power bridge and realizes step-down conversion, current amplification and overcurrent protection, circuit diagram design is simplified, and stability and reliability of a controller system are improved. The electric power steering controller is high in instantaneity and reliability, system development period is shortened, system development complexity is lowered, and requirements of an electric power steering system of the forklift can be met.
Description
Technical field
The invention belongs to fork truck electric boosting steering system technical field, relate in particular to a kind of fork truck electric booster steering controller and control method.
Background technology
The steering swivel system of electri forklift mainly contains mechanical hydraulic-pressure type, electric hydraulic and three kinds of forms of electrodynamic type.
Mechanical hydraulic power steering system generally is made of parts such as Hydraulic Pump, oil pipe, pressure flow control valve body, v type drive belt, petrol storage tanks.The area of passage that drives torsion bar change hydraulic efficiency pressure system oil circuit when it is rotated by bearing circle provides variable power-assisted, thereby the size of power-assisted is only relevant with steering angle, and steering angle is more big, and hydraulic booster is also more big, and vice versa.This steering swivel system reliable operation, compact conformation, operation pressure height, but because power steerig pump is continued to drive by driving engine, also need consumed energy even without handling maneuver, efficient is lower, and often oil leakage phenomenon occurs.
Electro-hydraulic Power Steering System is made up of mechanical device and electric apparatus two parts.Mechanical device comprises oil pump, steering box and oil pipe; Electric part then mainly is made up of electronic control unit ECU, various kinds of sensors and electromagnetic valve.The power steerig pump of this type systematic is no longer directly driven by driving engine, but is driven by electrical motor, and has installed electric-control system additional on basis before, makes to turn to the size of auxiliary force not only relevant with steering angle, also relevant with the speed of a motor vehicle.Such force aid system satisfies the requirement of riding stability under the different speed of a motor vehicle, and taking into account to provide under the low speed under big power-assisted and the high speed has road feel preferably.Yet it still can not overcome some vice propers such as the hydrostatic drive noise is big in the hydraulic power steering system, energy consumption is big, efficient is low.
Electric boosting steering system (EPS) mainly is made up of torque sensor, car speed sensor, electrical motor, speed reduction gearing and electronic control unit (ECU) etc., and it provides power-assisted by electrical motor, and the power-assisted size is regulated and control in real time by ECU (Electrical Control Unit).EPS compares with electric hydraulic power-assisted steering system with hydraulic pressure, can obviously improve the turning efficiency of fork truck, and energy consumption is low, environmental pollution is little, and system architecture is simple, and it is little to take up room, arrangement convenience.The servo-steering of present domestic fork truck is based on electric fluid pressure type, and EPS will become the inexorable trend of power steering system development.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of fork truck electric booster steering controller and control method of simply inexpensive, reliable and stable, energy-saving safety.
For solving the problems of the technologies described above, the present invention is by the following technical solutions: the fork truck electric booster steering controller, comprise that TMS320F28035 microprocessor and DRV8301 drive integrated chip, microprocessor front end serial connection acquisition of signal and processing module and brushless DC motor rotor position transduser, following termination movable motor controller, the rear end serial connection drives integrated chip; Drive integrated chip and comprise step-down controller, gate drivers, current foldback circuit and galvo amplifier, the input that drives integrated chip connects the output of current feedback module, and the output that drives integrated chip connects microprocessor and power bridge respectively; The output of power bridge connects brshless DC motor respectively, drives integrated chip and current feedback module, power bridge is serially connected with the driving integrated chip by the current feedback module, is serially connected with microprocessor behind the galvo amplifier through driving integrated chip inside and forms close loop control circuit.
Microprocessor is the TMS320F28035 microprocessor, and driving integrated chip is that DRV8301 drives integrated chip; The current feedback module is the high-power resistance of 2 milliohms, and power bridge is made of three groups of half-bridges.
Microprocessor links to each other with the movable motor controller by the CAN bus; Analogue to digital conversion port ADCINA1, the ADCINA2 of microprocessor connects acquisition of signal and processing module; The pulse duration modulation port EPWM1-EPWM3 of microprocessor, faulty section port TZ2-TZ3, analogue to digital conversion port ADCINA0 connect gate drivers input port, current foldback circuit output port, the galvo amplifier output port that drives integrated chip respectively.
The control method of above-mentioned fork truck electric booster steering controller may further comprise the steps:
＜1〉determines the fork truck driving cycle according to steering-wheel torque signal and angular signal after microprocessor powers on;
＜2〉power-assisted control is when needing brshless DC motor that power steering is provided, and the pulse duration modulation port EPWM1-EPWM3 of microprocessor exports the pulse width modulated wave that changes with steering-wheel torque;
＜3〉return positive control and return timing when steering handwheel, microprocessor is exported the pulse width modulated wave of less dutycycle, and control drives integrated chip and makes the brshless DC motor antiport.
Step＜1〉in the microprocessor method of differentiating the fork truck driving cycle be: as T 〉=Td
0And dT
0＜dT＜dT
1The time be the power steering state, as T＜Td
0And dT 〉=dT
1The time be back positive status; T is the steering handwheel input torque, Td
0Steering handwheel input torque when beginning power-assisted is provided, dT is steering handwheel input torque rate of change, dT
0Be the torque gradient of power-assisted state, dT
1For returning the torque gradient of positive status.
Step＜3〉in when system is in back positive status, provide back positive power-assisted returning positive process neutral line decline motor two ends control voltage.
The control method of above-mentioned fork truck electric booster steering controller, further comprising the steps of: when servo steering system broke down, controller sent instruction by the CAN bus to the movable motor controller, and movable motor is quit work.
At the deficiency of existing fork truck hydraulic power-assist steering system, the contriver has designed a kind of novel fork truck electric booster steering controller, and has set up its control method.This controller adopts the TMS320F28035 microprocessor as main control chip, drives integrated chip DRV8301 as driving chip.The TMS320F28035 microprocessor has the following advantages: (1) can provide the motor-driven reference design of customization; (2) have the ADC of 12 high speeds, be fit to electric machine control; (3) can provide password, protection client's intellectual property, and support on-the-spot code upgrade; (4) have double-core, improve system reliability, cost-cutting.Driving integrated chip DRV8301 is integrated in gate driver circuit, power supply decompression converting circuit, current amplification circuit and current foldback circuit in the chip; it provides three half-bridge drivers; each actuator can drive two N-type MOSFET; one is high side drivers; another one is low limit actuator; therefore simplify the circuit diagram design, improved stability and the reliability of controller system.
Microprocessor in the controller of the present invention determines the fork truck driving cycle according to the dtc signal of steering handwheel and the angular signal of gear box output end, and control drives integrated chip and drives the control of brshless DC motor realization fork truck power-assisted, returns positive control and damping control; Drive integrated chip driving power bridge, and realize that step-down conversion, electric current amplify and overcurrent protection, simplified the circuit diagram design, improved stability and the reliability of controller system.Controller real-time of the present invention and reliability height have reduced cycle and the complexity of system development simultaneously, can satisfy the requirement of fork truck electric boosting steering system.
Description of drawings
Fig. 1 is the structural representation of fork truck electric booster steering controller of the present invention, among the figure: 1 acquisition of signal and processing module, 2 microprocessors; 3 drive integrated chip; 4 power bridges, 5 brshless DC motors, 6 current feedback modules; 7 brushless DC motor rotor position transdusers; 8 movable motor controllers, 31 step-down controllers, 32 gate drivers; 33 current foldback circuits, 34 galvos amplifier.
Fig. 2 is the control method diagram of circuit of fork truck electric booster steering controller of the present invention, and among the figure: T is the steering handwheel input torque, Td
0Steering handwheel input torque when beginning power-assisted is provided, dT is steering handwheel input torque rate of change, dT
0Be the torque gradient of power-assisted state, dT
1For returning the torque gradient of positive status.
The specific embodiment
As shown in Figure 1, fork truck electric booster steering controller of the present invention, comprise that TMS320F28035 microprocessor 2 and DRV8301 drive integrated chip 3, microprocessor 2 front ends serial connection acquisition of signal and processing module 1 and brushless DC motor rotor position transduser 7, following termination movable motor controller 8, the rear end serial connection drives integrated chip 3, and microprocessor 2 is by step-down controller 32 power supplies that drive integrated chip inside; Drive integrated chip and have Dead Time able to programme with the function of protection external power pipe, drive integrated chip 3 and comprise step-down controller 31, gate drivers 32, current foldback circuit 33 and galvo amplifier 34, the input that drives integrated chip 3 connects the output of current feedback module 6, the output that drives integrated chip 3 connects microprocessor 2 and power bridge 4 respectively, as the power module of microprocessor and the driver module of power bridge; The output of power bridge 4 connects brshless DC motor 5 respectively, drives integrated chip 3 and current feedback module 6, power bridge 4 is serially connected with by current feedback module 6 and drives integrated chip 3, is serially connected with microprocessor 2 behind the galvo amplifier 34 through driving integrated chip inside and forms close loop control circuit.
Analogue to digital conversion port ADCINA1, the ADCINA2 of microprocessor connects acquisition of signal and processing module.The dtc signal of the torque sensor of fork truck, angular signal are transported to acquisition of signal and processing module respectively, deliver to analogue to digital conversion port ADCINA1, the ADCINA2 of microprocessor after the processing such as above-mentioned each signal process filtering that acquisition of signal and processing module will be gathered, shaping, level conversion respectively; The pulse duration modulation port EPWM1-EPWM3 of microprocessor, faulty section port TZ2-TZ3, analogue to digital conversion port ADCINA0 connect gate drivers input port, current foldback circuit output port, the galvo amplifier output port that drives integrated chip respectively.The pulse duration modulation port EPWM1-EPWM3 of microprocessor outputs signal to the driving integrated chip, and faulty section port TZ2-TZ3 and analogue to digital conversion port ADCINA0 receive the current foldback circuit output port of self-driven integrated chip and the signal of galvo amplifier output port.
The pulse duration modulation port EPWM1-EPWM3 of microprocessor exports speed and the moment of the pulse width modulated wave control motor of certain dutycycle.Drive integrated chip during the system failure and quit work, current foldback circuit output port output low level is informed the microprocessor et out of order.
The output of feedback current module is serially connected with the galvo amplifier input port that drives integrated chip, and the analogue to digital conversion port ADCINA0 that the galvo amplifier output port is serially connected with microprocessor constitutes closed loop control.The current foldback circuit that drives integrated chip is gathered the voltage of power tube in real time, in time cuts off driving the driving signal that integrated chip is given power bridge when overcurrent takes place, thus protection power bridge and brshless DC motor.The current feedback module is the high-power resistance of resistance about 2 milliohms, just can obtain feedback current by detecting ohmically voltage.The gate drivers that drives integrated chip receives the pulse-width signal of microprocessor, and the corresponding signal that drives of output is to power bridge 4.Power bridge 4 is made of three groups of half-bridges, and power tube is the N-channel MOS FET of function admirable.
When fork truck electric booster steering controller of the present invention is worked, comprise following control step:
＜1〉determines the fork truck driving cycle according to steering-wheel torque signal and angular signal after microprocessor powers on, drive integrated chip by the control of its pulse duration modulation port EPWM1-EPWM3 output pulse width modulation signal, the direction of control brshless DC motor and moment of torsion are to drive brshless DC motor;
＜2〉power-assisted control is when needing brshless DC motor that power steering is provided, and the pulse duration modulation port EPWM1-EPWM3 of microprocessor exports the pulse width modulated wave that changes with steering-wheel torque;
＜3〉return positive control and return timing when steering handwheel, microprocessor is exported the pulse width modulated wave of less dutycycle, and control drives integrated chip and makes the brshless DC motor antiport, helps fork truck just to return.When system is in back positive status, for being returned fast, steering handwheel just arrives midway location, and keep back positive flatness, can provide back positive power-assisted at time positive process neutral line decline motor two ends control voltage, namely in returning positive process, the PWM ripple of at first exporting certain dutycycle provides back positive power-assisted, the PWM dutycycle is reduced by certain slope k, when dutycycle transfers to 50%, motor two ends control voltage decline No, 4 metal-oxide-semiconductors are turn-offed simultaneously, stop back positive power-assisted, make steering handwheel return positive characteristic by machinery and just return.
As shown in Figure 2, initialization is carried out to each port register in the microprocessor back that powers on, and torque and angular signal is handled after receiving torque, corner interrupt signal, and the result deposits the appointment register in.Microprocessor reads the value of torque and corner at regular intervals, differentiates the fork truck driving cycle according to these two signals, and is specific as follows:
As T 〉=Td
0And dT
0＜dT＜dT
1The time, it is the power steering state that microprocessor is differentiated, use conventional algorithm to calculate target current according to dtc signal and assist characteristic, the dutycycle of regulating pulse width modulated wave with the PID operation result of feedback current, export to the driving integrated chip by port EPWM1-EPWM3, regulate armature voltage and the output torque of brshless DC motor; As T＜Td
0And dT 〉=dT
1The time, the microprocessor differentiation is back positive status.Because the existence of orientation angle, fork truck self has back positive ability, but the aligning torque fork truck that can not make less than normal just returns, and need apply initiatively to return just just to make wheel flutter get back to meta.Drive the integrated chip normal operation this moment, but export the pulse width modulated wave of minimum dutycycle, drives brshless DC motor to making wheel return positive direction rotation.More than under two kinds of state of a controls, the target current and the feedback current that all need microprocessor is calculated carry out the PID computing, make brshless DC motor actual current tracking target electric current in time, reach and control target accurately.
Microprocessor links to each other with the movable motor controller by the CAN bus.When servo steering system broke down, controller sent instruction by the CAN bus to the movable motor controller, and movable motor is quit work, not only the protection servo steering system, and avoid potential safety hazard.
Claims (7)
1. fork truck electric booster steering controller, comprise that TMS320F28035 microprocessor and DRV8301 drive integrated chip, it is characterized in that: described microprocessor front end serial connection acquisition of signal and processing module and brushless DC motor rotor position transduser, following termination movable motor controller, the rear end serial connection drives integrated chip; Drive integrated chip and comprise step-down controller, gate drivers, current foldback circuit and galvo amplifier, the input that drives integrated chip connects the output of current feedback module, and the output that drives integrated chip connects microprocessor and power bridge respectively; The output of power bridge connects brshless DC motor respectively, drives integrated chip and current feedback module, power bridge is serially connected with the driving integrated chip by the current feedback module, is serially connected with microprocessor behind the galvo amplifier through driving integrated chip inside and forms close loop control circuit.
2. fork truck electric booster steering controller according to claim 1, it is characterized in that: described current feedback module is the high-power resistance of 2 milliohms, described power bridge is made of three groups of half-bridges.
3. fork truck electric booster steering controller according to claim 2 is characterized in that: described microprocessor links to each other with the movable motor controller by the CAN bus; Analogue to digital conversion port ADCINA1, the ADCINA2 of described microprocessor connects acquisition of signal and processing module; The pulse duration modulation port EPWM1-EPWM3 of described microprocessor, faulty section port TZ2-TZ3, analogue to digital conversion port ADCINA0 connect gate drivers input port, current foldback circuit output port, the galvo amplifier output port that drives integrated chip respectively.
4. according to the control method of the described fork truck electric booster steering controller of claim 3, it is characterized in that may further comprise the steps:
＜1〉determines the fork truck driving cycle according to steering-wheel torque signal and angular signal after microprocessor powers on;
＜2〉power-assisted control is when needing brshless DC motor that power steering is provided, and the pulse duration modulation port EPWM1-EPWM3 of microprocessor exports the pulse width modulated wave that changes with steering-wheel torque;
＜3〉return positive control and return timing when steering handwheel, microprocessor is exported the pulse width modulated wave of less dutycycle, and control drives integrated chip and makes the brshless DC motor antiport.
5. according to the control method of the described fork truck electric booster steering controller of claim 4, it is characterized in that step＜1〉in the microprocessor method of differentiating the fork truck driving cycle be: as T 〉=Td
0And dT
0＜dT＜dT
1The time be the power steering state, as T＜Td
0And dT 〉=dT
1The time be back positive status; T is the steering handwheel input torque, Td
0Steering handwheel input torque when beginning power-assisted is provided, dT is steering handwheel input torque rate of change, dT
0Be the torque gradient of power-assisted state, dT
1For returning the torque gradient of positive status.
6. according to the control method of the described fork truck electric booster steering controller of claim 4, it is characterized in that step＜3〉in when system is in back positive status, provide back positive power-assisted returning positive process neutral line decline motor two ends control voltage.
7. according to the control method of the described fork truck electric booster steering controller of claim 4, it is characterized in that further comprising the steps of: when servo steering system breaks down, controller sends instruction by the CAN bus to the movable motor controller, and movable motor is quit work.
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|---|---|---|---|
| CN 201310243962 CN103273959A (en) | 2013-06-19 | 2013-06-19 | Electric power steering controller of forklift and electric power steering control method |
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| CN 201310243962 CN103273959A (en) | 2013-06-19 | 2013-06-19 | Electric power steering controller of forklift and electric power steering control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670321A (en) * | 2013-11-29 | 2015-06-03 | 比亚迪股份有限公司 | Electric fork lift and steering control system for the same |
| CN104943738B (en) * | 2014-05-30 | 2019-08-13 | 比亚迪股份有限公司 | Electri forklift and its steering control system and rotating direction control method |
| CN112077008A (en) * | 2020-08-18 | 2020-12-15 | 普罗格智芯科技(湖北)有限公司 | Flip sorting device and system |
-
2013
- 2013-06-19 CN CN 201310243962 patent/CN103273959A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670321A (en) * | 2013-11-29 | 2015-06-03 | 比亚迪股份有限公司 | Electric fork lift and steering control system for the same |
| CN104670321B (en) * | 2013-11-29 | 2017-10-31 | 比亚迪股份有限公司 | Electri forklift and the steering control system for electri forklift |
| CN104943738B (en) * | 2014-05-30 | 2019-08-13 | 比亚迪股份有限公司 | Electri forklift and its steering control system and rotating direction control method |
| CN112077008A (en) * | 2020-08-18 | 2020-12-15 | 普罗格智芯科技(湖北)有限公司 | Flip sorting device and system |
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Application publication date: 20130904 |