CN103863386A - Motor position detection circuit of electric power steering system - Google Patents
Motor position detection circuit of electric power steering system Download PDFInfo
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- CN103863386A CN103863386A CN201210548367.8A CN201210548367A CN103863386A CN 103863386 A CN103863386 A CN 103863386A CN 201210548367 A CN201210548367 A CN 201210548367A CN 103863386 A CN103863386 A CN 103863386A
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Abstract
The invention discloses a motor position detection circuit of an electric power steering system. The motor position detection circuit of the electric power steering system comprises a rotary transformer, a phase line relay, a rotary transformer decoder chip, a main MCU (microcontroller unit) and an auxiliary MCU, wherein the rotary transformer is used for obtaining the position of an assist motor; the phase line relay is used for being connected or disconnected so as to respectively control the assist motor to provide or not to provide assisting torque; the rotary transformer decoder chip decodes analog signals output by the rotary transformer into digital signals and meanwhile transmits the digital signals to the main MCU and the auxiliary MCU; the main MCU dependently collects data output by the rotary transformer decoder chip, obtains the position of the assist motor through calculation, also collects MCU-calculated position of the assist motor and also controls the connection and the disconnection of the phase line relay; the auxiliary MCU dependently collects data output by the rotary transformer decoder chip and obtains the position of the assist motor through calculation; the phase line relay is closed by default; once the motor position calculated by the main MCU is not in accordance with that calculated by the auxiliary MCU, the main MCU disconnects the phase line relay. The motor position detection circuit of the electric power steering system can recognize conditions such as parallel port faults and MCU software errors.
Description
Technical field
The application relates to a kind of electric boosting steering system (Electric Power Steering is called for short EPS system) of automobile, particularly relates to motor position detection circuit wherein.
Background technology
Refer to Fig. 1, this is the mechanical steering system on automobile.It comprises steering handwheel 11, steering column 12, deflector 13, steering track rod 14 and wheel flutter 15.Chaufeur applies steering torque to steering handwheel 11, and this steering torque is by steering column 12 input steering gears 13, and steering track rod 14 is passed in the motion after moment and deceleration after deflector 13 is amplified, thereby drives wheel flutter 15 to move.
Refer to Fig. 2, this is the electric boosting steering system on automobile.It has increased on the basis of mechanical steering system:
---torque angle sensor 21, is used for detecting moment of torsion and the corner of steering handwheel 11;
---car speed sensor 22, is used for measurement of vehicle speed;
---ECU(electronic control unit) 23, according to the moment of torsion of steering handwheel 11, corner and vehicle speed signal, calculate corresponding assist torque, and export to assist motor 24;
---assist motor 24, be arranged in steering column 12 or deflector 13, its instruction according to ECU 23 is rotated, thus output assist torque;
---speed reduction gearing 25, is converted to the rotational angle of assist motor 24 rotational angle of steering column 12 or deflector 13 with certain proportion.If the reduction ratio of speed reduction gearing 25 is k, k > 1, the rotational angle of rotational angle/k=steering column 12 of assist motor 24.
The driving safety of electric boosting steering system and automobile is closely related, to reliability require high.Conventionally when requiring at electric boosting steering system et out of order or losing efficacy, ECU can cut off the power-assisted that electric boosting steering system provides, and makes automobile completely by the control of mechanical steering system, thereby ensures driving safety.
The actuating unit (being assist motor 24) of electric boosting steering system adopts DC brushless motor conventionally, and its position signal (being the anglec of rotation of assist motor 24) is very crucial.Once the motor position signal that ECU calculates can not reflect the actual position of assist motor, just may cause the extremely serious faults such as electric boosting steering system is locked, rotation, this may cause safety misadventure.
Refer to Fig. 3, the motor position detection circuit of existing electric boosting steering system comprises:
---magslip 241, be arranged on assist motor 24, be used for obtaining its position signal.
---phase line relay 233, is arranged in ECU 23.Its closure, assist motor 24 is exported assist torque.It disconnects, and assist motor 24 is not exported assist torque.
---magslip decoding chip (RDC) 231, is arranged in ECU 23.Its analog signal that magslip 241 can be exported is decoded as digital signal, and passes to MCU 232 by parallel port.
---MCU(microcontroller) 232, be arranged in ECU 23.Thereby its data that gather parallel port obtain the position of assist motor 24, also control phase line relay 242.
Conventionally phase line relay 233 closures.In the time that ECU 23 finds that internal system existence may cause the fault of potential safety hazard, MCU 232 disconnects phase line relay 233, and now electric boosting steering system is no longer exported assist torque, and automobile is controlled by mechanical steering system completely.
The analog signal that export magslip 241 inside of described magslip decoding chip 231 has certain diagnosis function, if but the parallel port et out of order between magslip decoding chip 231 and MCU 232 or the MCU232 inside processing generation software error to parallel port, MCU 232 still can not get correct motor position.
Summary of the invention
Technical problems to be solved in this application are to provide a kind of motor position detection circuit of electric boosting steering system, can identify the situations such as the software error such as parallel port fault, MCU, and automobile is only switched to by the control of mechanical steering system, thereby ensure passenger's safety.
For solving the problems of the technologies described above, the motor position detection circuit of the application's electric boosting steering system comprises:
---magslip, the position that is used for obtaining assist motor;
---phase line relay, control respectively assist motor output or do not export assist torque with closed or disconnection;
---magslip decoding chip, is decoded as digital signal by the analog signal of magslip output, and passes to main MCU and auxiliary MCU simultaneously;
---main MCU, the independent position that gathers the data of magslip decoding chip output and calculate assist motor, the position of the assist motor that also the auxiliary MCU of collection calculates, also controls the closed of phase line relay or disconnects;
---auxiliary MCU, the independent position that gathers the data of magslip decoding chip output and calculate assist motor;
Described phase line relay is defaulted as closure; Once the motor position that main MCU calculates does not conform to the motor position that auxiliary MCU calculates, main MCU disconnects phase line relay.
The application uses two MCU to detect the output signal of magslip decoding chip simultaneously, between two MCU, carry out the comparison of result of calculation by the mode of communication, realize redundancy detection, be particularly suitable for finding situations such as the software error of parallel port fault, MCU, reach the object of guaranteeing automotive safety.
Brief description of the drawings
Fig. 1 is the structural representation of the mechanical steering system on automobile;
Fig. 2 is the structural representation of the electric boosting steering system on automobile;
Fig. 3 is the structural representation of the motor position detection circuit of existing electric boosting steering system;
Fig. 4 is the structural representation of the motor position detection circuit of the application's electric boosting steering system;
When Fig. 5 is assist motor clickwise, the schematic diagram of A, B, NM signal;
When Fig. 6 is assist motor left-hand revolution, the schematic diagram of A, B, NM signal.
Description of reference numerals in figure:
11 is steering handwheel; 12 is steering column; 13 is deflector; 14 is steering track rod; 15 is wheel flutter; 21 is torque angle sensor; 22 is car speed sensor; 23 is ECU; 231 is magslip decoding chip; 232 is (master) MCU; 233 is phase line relay; 234 is auxiliary MCU; 24 is assist motor; 241 is magslip; 25 is speed reduction gearing.
Detailed description of the invention
Refer to Fig. 4, the motor position detection circuit of the application's electric boosting steering system comprises:
---magslip 241, be arranged on assist motor 24, be used for obtaining its position (being the anglec of rotation of assist motor 24).
---phase line relay 233, is arranged in ECU 23.Its closure, assist motor 24 is exported assist torque.It disconnects, and assist motor 24 is not exported assist torque.
---magslip decoding chip 231, is arranged in ECU 23.Its analog signal that magslip 241 can be exported is decoded as digital signal, and passes to main MCU 232 and auxiliary MCU 233 simultaneously.
---main MCU 232, is arranged in ECU 23.It independently gathers the data that magslip decoding chip 231 exports the position that calculates assist motor 24, also gathers the position of the assist motor 24 that auxiliary MCU 233 calculates, and also controls phase line relay 242.
---auxiliary MCU 234, is arranged in ECU 23.It also independently gathers the data that magslip decoding chip 231 exports the position that calculates assist motor 24.
Conventionally phase line relay 233 closures.Once the motor position that main MCU 232 calculates does not conform to the motor position that auxiliary MCU 234 calculates, main MCU 232 disconnects phase line relay 233, and now electric boosting steering system is no longer exported assist torque, and automobile is controlled by mechanical steering system completely.
Preferably, magslip decoding chip 231 is exported the digital signal of two kinds of forms.Be a digital signal for parallel port mode, receive main MCU 232 by eight data lines.Another kind is the digital signal of incremental encoding mode, receives auxiliary MCU 234 by three data lines (being designated as A, B, NM).
For example, two eight bit registers can be set in magslip decoding chip 231, it can store 16 bit binary data altogether.If only adopt 12 bit binary data wherein, to be converted into the decimal scale be 2 to denotable data area
124096.The anglec of rotation that represents 0～360 degree with these 4096 data, resolution is that 360 degree/4096 ≈ 0.08789 spend.
If be used for the data bits of the anglec of rotation that represents assist motor 24 in the parallel port line width >=magslip decoding chip 231 between magslip decoding chip 231 and main MCU 232, can once transmit data; Otherwise, be divided into twice or repeatedly transmit data.
And three data lines between magslip decoding chip 231 and auxiliary MCU 234 are transmitted respectively three signals, the feature of A, B, NM signal as shown in Figure 5, Figure 6:
---NM signal represents motor zero signal, and (360 degree) enclosed in the every rotation one of assist motor 24, and NM signal there will be a pulse.
A-signal, (360 degree) enclosed in the every rotation one of assist motor 24, and a-signal there will be multiple pulses (for example 256), and the rotating speed of the cycle of these impulse singlas and assist motor 24 is inversely proportional to.
---B signal, (360 degree) enclosed in the every rotation one of assist motor 24, B signal also there will be the individual pulse with a-signal equal number, and the rotating speed of the cycle of these impulse singlas and assist motor 24 is inversely proportional to, but and between a-signal, has certain phase difference (for example differing 90 degree).In the time of assist motor 24 clickwise, the leading B signal of a-signal.In the time of assist motor 24 left-hand revolution, a-signal lags behind B signal.
According to the signal relation of A, B, NM, at counting machine of auxiliary MCU 234 inner setting, when detecting that the leading B signal of a-signal shows that assist motor 24 is clockwise direction and rotates, be the direction of counting machine increase.When detecting that a-signal lags behind B signal and shows that assist motor 24 is anticlockwise direction and rotates, it is the direction that reduces of counting machine.The pulse that at every turn collects NM signal represents that assist motor 24 has turned over a circle, restarts counting after counter O reset.Auxiliary MCU 234 is the position using the count value of counting machine as assist motor 24 just.
For example, the counting rule of described counting machine is as follows:
When a-signal is positive rise and B signal while being high level, show that a-signal lags behind B signal, counting machine subtracts one.
When a-signal is positive rise and B signal while being low level, show the leading B signal of a-signal, counting machine adds one.
When a-signal is falling edge and B signal while being high level, show the leading B signal of a-signal, counting machine adds one.
When a-signal is falling edge and B signal while being low level, show that a-signal lags behind B signal, counting machine subtracts one.
When B signal is positive rise and a-signal while being high level, show the leading B signal of a-signal, counting machine adds one.
When B signal is positive rise and a-signal while being low level, show that a-signal lags behind B signal, counting machine subtracts one.
When B signal is falling edge and a-signal while being high level, show that a-signal lags behind B signal, counting machine subtracts one.
When B signal is falling edge and a-signal while being low level, show the leading B signal of a-signal, counting machine adds one.
Once the pulse of NM signal be detected, to counter O reset.
It is 2 that the denotable data area of this counting machine is converted into the decimal scale
101024.The anglec of rotation that represents 0～360 degree with these 1024 data, resolution is that 360 degree/1024 ≈ 0.3516 spend.
Preferably, between main MCU 232 and auxiliary MCU 234, be connected by spi bus, main MCU 232 inquires about the current motor position that it calculates by spi bus to auxiliary MCU 234, and compares with the current motor position oneself calculating.When the angular deviation of the result of calculation of finding two MCU is greater than a fixing threshold values and exceedes after the regular hour, main MCU 232 just assert that this motor position detection circuit breaks down, and cut off phase line relay 233, electric boosting steering system is switched to mechanical steering system.
For example, main MCU 232 requires auxiliary MCU 234 to send once the current motor position that it calculates at interval of 4.8ms.Auxiliary MCU 234 sends to main MCU 232 by the value of its internal counter after receiving the request of main MCU 232.Main MCU 232 compares the value of the internal counter of auxiliary MCU 234 and the result of calculation of oneself.If find that the deviation of motor position of the calculating of two MCU exceedes the threshold values of a setting, starting failure counter, to carry out the time cumulative.Once the cumulative time of failure counter exceedes the threshold values of another setting, main MCU 232 just assert that motor position detection circuit lost efficacy.
These are only the application's preferred embodiment, and be not used in restriction the application.For a person skilled in the art, the application can have various modifications and variations.All within the application's spirit and principle, any amendment of doing, be equal to replacement, improvement etc., within all should being included in the application's protection domain.
Claims (7)
1. a motor position detection circuit for electric boosting steering system, is characterized in that, comprising:
---magslip, the position that is used for obtaining assist motor;
---phase line relay, control respectively assist motor output or do not export assist torque with closed or disconnection;
---magslip decoding chip, is decoded as digital signal by the analog signal of magslip output, and passes to main MCU and auxiliary MCU simultaneously;
---main MCU, the independent position that gathers the data of magslip decoding chip output and calculate assist motor, the position of the assist motor that also the auxiliary MCU of collection calculates, also controls the closed of phase line relay or disconnects;
---auxiliary MCU, the independent position that gathers the data of magslip decoding chip output and calculate assist motor;
Described phase line relay is defaulted as closure; Once the motor position that main MCU calculates does not conform to the motor position that auxiliary MCU calculates, main MCU disconnects phase line relay.
2. the motor position detection circuit of electric boosting steering system according to claim 1, is characterized in that, the digital signal of two kinds of forms of described magslip decoding chip output, passes to respectively main MCU and auxiliary MCU.
3. the motor position detection circuit of electric boosting steering system according to claim 2, is characterized in that, the digital signal of described magslip decoding chip output parallel port mode is given main MCU.
4. the motor position detection circuit of electric boosting steering system according to claim 2, is characterized in that, the digital signal of described magslip decoding chip output increment coded system is given auxiliary MCU.
5. the motor position detection circuit of electric boosting steering system according to claim 1, is characterized in that, between described main MCU and auxiliary MCU, is connected and communication by spi bus.
6. the motor position detection circuit of electric boosting steering system according to claim 4, is characterized in that, the digital signal of described incremental encoding mode has three, is respectively A, B, NM signal;
The every rotation one of assist motor is enclosed, and NM signal there will be a pulse, and A, B signal all there will be multiple pulses; In the time of assist motor clickwise, the leading B signal of a-signal; In the time of assist motor left-hand revolution, a-signal lags behind B signal;
Auxiliary counting machine of MCU inner setting, when detecting that the leading B signal of a-signal increases count value, when detecting that a-signal lags behind B signal and reduces count value, when the pulse that NM signal detected is by counter O reset, the position using the count value of counting machine as assist motor.
7. the motor position detection circuit of electric boosting steering system according to claim 6, is characterized in that, the counting rule of described counting machine is:
When a-signal is positive rise and B signal while being high level, counting machine subtracts one;
When a-signal is positive rise and B signal while being low level, counting machine adds one;
When a-signal is falling edge and B signal while being high level, counting machine adds one;
When a-signal is falling edge and B signal while being low level, counting machine subtracts one;
When B signal is positive rise and a-signal while being high level, counting machine adds one;
When B signal is positive rise and a-signal while being low level, counting machine subtracts one;
When B signal is falling edge and a-signal while being high level, counting machine subtracts one;
When B signal is falling edge and a-signal while being low level, counting machine adds one;
Once the pulse of NM signal be detected, to counter O reset.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210548367.8A CN103863386B (en) | 2012-12-17 | 2012-12-17 | The motor position detection circuit of electric boosting steering system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210548367.8A CN103863386B (en) | 2012-12-17 | 2012-12-17 | The motor position detection circuit of electric boosting steering system |
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| CN103863386A true CN103863386A (en) | 2014-06-18 |
| CN103863386B CN103863386B (en) | 2016-06-08 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494690A (en) * | 2015-01-19 | 2015-04-08 | 株洲易力达机电有限公司 | Car EPS (electric power storage) motor controller |
| CN104527773A (en) * | 2014-11-24 | 2015-04-22 | 清华大学苏州汽车研究院（相城） | Rotating transformer software decoding based electric power-assisted steering system |
| CN109164793A (en) * | 2018-11-19 | 2019-01-08 | 苏州绿控传动科技股份有限公司 | A kind of method that real-time reading becomes decoding chip data with monitoring rotation |
| CN109495051A (en) * | 2018-11-20 | 2019-03-19 | 陕西航空电气有限责任公司 | A kind of aviation starting motor position detection redundancy control method |
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| US20030127273A1 (en) * | 2002-01-08 | 2003-07-10 | Toyota Jidosha Kabushiki Kaisha | Steering apparatus for a vehicle |
| CN1471037A (en) * | 2002-07-22 | 2004-01-28 | 多摩川精机株式会社 | Steering rotation detector |
| US20050166686A1 (en) * | 2004-02-02 | 2005-08-04 | Toshihisa Yamamoto | Torque direction detecting device for brushless motor |
| CN102582677A (en) * | 2011-01-06 | 2012-07-18 | 上海联盛汽车电子有限公司 | Electric power-assisted steering system |
| CN102582678A (en) * | 2011-01-11 | 2012-07-18 | 上海联盛汽车电子有限公司 | Electric power-assisted steering system with software integrated monitoring function |
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2012
- 2012-12-17 CN CN201210548367.8A patent/CN103863386B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030127273A1 (en) * | 2002-01-08 | 2003-07-10 | Toyota Jidosha Kabushiki Kaisha | Steering apparatus for a vehicle |
| CN1471037A (en) * | 2002-07-22 | 2004-01-28 | 多摩川精机株式会社 | Steering rotation detector |
| US20050166686A1 (en) * | 2004-02-02 | 2005-08-04 | Toshihisa Yamamoto | Torque direction detecting device for brushless motor |
| CN102582677A (en) * | 2011-01-06 | 2012-07-18 | 上海联盛汽车电子有限公司 | Electric power-assisted steering system |
| CN102582678A (en) * | 2011-01-11 | 2012-07-18 | 上海联盛汽车电子有限公司 | Electric power-assisted steering system with software integrated monitoring function |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527773A (en) * | 2014-11-24 | 2015-04-22 | 清华大学苏州汽车研究院（相城） | Rotating transformer software decoding based electric power-assisted steering system |
| CN104494690A (en) * | 2015-01-19 | 2015-04-08 | 株洲易力达机电有限公司 | Car EPS (electric power storage) motor controller |
| CN109164793A (en) * | 2018-11-19 | 2019-01-08 | 苏州绿控传动科技股份有限公司 | A kind of method that real-time reading becomes decoding chip data with monitoring rotation |
| CN109495051A (en) * | 2018-11-20 | 2019-03-19 | 陕西航空电气有限责任公司 | A kind of aviation starting motor position detection redundancy control method |
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| CN103863386B (en) | 2016-06-08 |
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