CN104494690A - Car EPS (electric power storage) motor controller - Google Patents
Car EPS (electric power storage) motor controller Download PDFInfo
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- CN104494690A CN104494690A CN201510025025.1A CN201510025025A CN104494690A CN 104494690 A CN104494690 A CN 104494690A CN 201510025025 A CN201510025025 A CN 201510025025A CN 104494690 A CN104494690 A CN 104494690A
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- electronic control
- control unit
- varying signal
- revolve
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to the car EPS (electric power storage) motor controller field, in particular to a car EPS motor controller. The car EPS motor controller comprises an electronic control unit and an electromotor connected with the electronic control unit, and further comprises a resolver signal detection unit connected with the electronic control unit and a resolver signal conversion circuit connected with the resolver signal detection unit, wherein the resolver signal detection unit is mechanically installed in the electromotor, the electronic control unit generates an excitation signal and inputs the excitation signal into the resolver signal detection unit, the resolver signal detection unit detects the position of a rotor of a motor, the resolver signal conversion circuit is connected with the electronic control unit, the resolver signal conversion circuit samples signals output by the resolver signal detection unit and inputs the sampled signals into the electronic control unit, and the electronic control unit decodes signals detected by the resolver signal detection unit. The car EPS motor controller detects the position of the rotor of the assist motor of an EPS system through the resolver signal detection unit, has good output characteristics and interference resisting capability, and high reliability under severe environments, can run in a motor drive control system so as to improve operating performance of the motor, and thereby improves overall performance of an electric power steering system.
Description
Technical field
The present invention relates to automobile EPS motor controller field, more specifically, relate to a kind of automobile EPS motor controller.
Background technology
Along with the fast development of automobile industry and the intensification of energy shock consciousness, the attention rate of people to vehicle energy saving is more and more higher.The turning efficiency of automobile is performance important in vehicle traveling process, servo steering system also constantly updates, electric boosting steering system (EPS, Electric Power Steering) directly provide power steering by assist motor, the belt pulley eliminating the necessary power steering oil pump of hydraulic power steering system, flexible pipe, hydraulic oil, belt conveyor and be loaded on driving engine, becomes one of emphasis of steering swivel system research and development and automotive technology development with the advantage of energy-saving and environmental protection, anti-interference resistance, safety and road-holding property.EPS is usually by turning to sensing device, car speed sensor, assistance mechanical device, providing steering assist motor and microcomputer control unit to form, chaufeur is when steering dish turns to, torque sensor detects the size of turning to of steering handwheel and torque, voltage signal is transported to electronic control unit, torque voltage signal, rotation direction and vehicle speed signal etc. that electronic control unit detects according to torque sensor, instruction is sent to motor controller, make electrical motor export the power steering torque of corresponding size and Orientation, thus produce auxiliary power.When automobile does not turn to, electronic control unit does not send instruction to motor controller, and electrical motor does not work.In this process, assist motor is the actuating unit of whole steering swivel system, and motor is as the performance of the quality decision whole system of its performance of core component.Wherein, motor rotor position detects very important to the control of motor.Therefore, how the control accuracy that motor rotor position directly has influence on electrode is accurately detected.
Summary of the invention
The present invention, for overcoming at least one defect (deficiency) described in above-mentioned prior art, provides a kind of automobile EPS motor controller, detects have higher antijamming capability and have higher reliability motor rotor position.
For solving the problems of the technologies described above, technical scheme of the present invention is as follows:
A kind of automobile EPS motor controller, the electrical motor comprising electronic control unit and be connected with electronic control unit, also comprise be connected with electronic control unit revolve varying signal detecting unit and with revolve that varying signal detecting unit is connected revolve varying signal change-over circuit, the described varying signal detecting unit that revolves is mechanically mounted in electrical motor, electronic control unit produces pumping signal input and revolves varying signal detecting unit, revolve the rotor-position that varying signal detecting unit detects motor, revolve varying signal change-over circuit to be connected with electronic control unit, revolve the sampling of varying signal change-over circuit revolve the signal of varying signal detecting unit output and input to electronic control unit, electronic control unit is decoded to the signal revolving the detection of varying signal detecting unit.
In such scheme, described electrical motor is permanent magnet synchronous brushless DC motor.
In such scheme, revolving varying signal detecting unit is rotation sensor.
In such scheme, electronic control unit carries out decoding acquisition motor speed and phase place by revolving deliquescing decoding second order closed loop phase track algorithm to the signal revolving the detection of varying signal detecting unit.
In such scheme, revolve varying signal change-over circuit comprise second-order filter shaping and anti-phase treatment circuit, current gain driving circuit and revolve varying signal treatment circuit, electronic control unit, second-order filter shaping and anti-phase treatment circuit, current gain driving circuit connect in turn, current gain driving circuit with revolve varying signal detecting unit and be connected, revolve varying signal detecting unit and revolve varying signal treatment circuit and be connected, revolve varying signal treatment circuit and be connected with electronic control unit.
In such scheme, also comprise power supply, power supply is connected with electronic control unit, power supply also with current gain driving circuit, revolve varying signal treatment circuit and be connected.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
(1) the present invention is by revolving the detection of varying signal detecting unit to the assist motor rotor-position of EPS, there is good output characteristic and antijamming capability, and high reliability in the presence of a harsh environment, be used in the drive ability that can improve motor in driving control system for electric machine, thus improve the overall performance of electric boosting steering system.
(2) the present invention adopts and revolves deliquescing decoding second order closed loop phase track algorithm and decode to motor rotor position, use second order closed loop phase track channel, thus the motor rotor position that accuracy is higher detected, electronic control unit is provided and controls assist motor signal more accurately to reach power-steering object.
(3) the present invention adopts and revolves deliquescing decoding second order closed loop phase track algorithm and decode to motor rotor position, eliminates expensive decoding driving chip, makes current package cheap, be more suitable for product and commercially promote.
(4) the present invention adopts and revolves deliquescing decoding second order closed loop phase track algorithm and decode to motor rotor position, to the motor of different capacity and the different parameters of revolving varying signal detecting unit and rotation sensor insensitive, as long as suitably change parameter can meet the measurement requirement of motor speed in software algorithm, comformability is stronger.
Accompanying drawing explanation
Fig. 1 is the constructional drawing that a kind of automobile EPS motor controller based on rotation sensor decoding of the present invention is applied to electric boosting steering system.
Fig. 2 is rotation sensor electrical schematic diagram in the present invention.
Fig. 3 is rotation sensor input/output signal mode chart in the present invention.
Fig. 4 revolves varying signal change-over circuit schematic diagram in the present invention.
Fig. 5 is electronic control unit signaling interface schematic diagram in the present invention.
Fig. 6 is the schematic diagram revolving deliquescing decoding second order closed loop phase track algorithm in the present invention.
Wherein 1 is steering column, 2 is sensor unit, 3 is speed reduction gearing, 4 is tween drive spindle, and 5 is rack and pinion steering gear, and 6 be torque sensor 7 is rotary angle transmitter, 8 is electrical motor, 9 for revolving varying signal change-over circuit, and 10 is electronic control unit, and 11-15 is respectively ignition signal, engine rotational speed signal, vehicle speed signal, not under command light signal, diagnostic signal.
Detailed description of the invention
Accompanying drawing, only for exemplary illustration, can not be interpreted as the restriction to this patent;
In order to better the present embodiment is described, some parts of accompanying drawing have omission, zoom in or out, and do not represent the size of actual product;
To those skilled in the art, in accompanying drawing, some known features and explanation thereof may be omitted is understandable.
In describing the invention, it is to be appreciated that term " first ", " second " only for describing object, and can not be interpreted as the quantity of instruction or hint relative importance or implicit indicated technical characteristic.Thus, one or more these features can be expressed or impliedly be comprised to the feature of " first ", " second " of restriction.In describing the invention, except as otherwise noted, the implication of " multiple " is two or more.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also can be indirectly connected by intermediary, the connection of two element internals can be said.For the ordinary skill in the art, particular case above-mentioned term can be understood at concrete meaning of the present invention.
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Embodiment 1
As shown in Figure 1, traditional electric boosting steering system is formed primarily of three parts: signal sensor (comprising torque sensor 6, rotary angle transmitter 7 and car speed sensor), assistant steering mechanism (electrical motor 8, reduction gearing mechanism 3) and electronic control unit 10.Electrical motor 8 only works when needs power-assisted, chaufeur is when handling steering handwheel, torque sensor 6 and rotary angle transmitter 7 produce corresponding voltage signal according to the size of input torque and deflection angle, car speed sensor detects vehicle speed signal, electronic control unit 10 is according to the signal of voltage and the speed of a motor vehicle, provide instruction and control motor operation, thus the power steering required for producing.
In the present invention, a kind of automobile EPS motor controller adds and revolves varying signal detecting unit, revolves varying signal change-over circuit 9 in traditional electric boosting steering system; Electronic control unit 10 is connected with electrical motor, as shown in Figure 5, the electrical motor of the present embodiment adopts permanent magnet synchronous brushless DC motor, electronic control unit 10 with revolve varying signal detecting unit and be connected, in the present embodiment, revolving varying signal detecting unit adopts magslip to realize; Revolve varying signal change-over circuit 9 to be connected with magslip, magslip is mechanically mounted in electrical motor 8, magslip detects the rotor-position of motor, revolve varying signal change-over circuit 9 to be connected with electronic control unit 10, revolve varying signal change-over circuit 9 sample magslip export signal and input to electronic control unit 10, electronic control unit 10 to revolve varying signal detecting unit detect signal decode.
In specific implementation process, electrical motor 8 adopts permanent magnet synchronous brushless DC motor, and its internal mechanical structure has been settled and revolved varying signal detecting unit.
In specific implementation process, revolve varying signal detecting unit and adopt rotation sensor, as shown in Figure 5, revolve varying signal detecting unit and adopt magslip to realize.Permanent-magnet synchronous brushless motor is built-in rotation sensor, rotation sensor electrical schematic diagram and input/output signal mode chart shown in Fig. 2 and Fig. 3, the elementary excitation winding (R1-R2) of rotation sensor and secondary induction winding (S2-S4, S3-S1) are all positioned on stator.Pumping signal (R1-R2) is input on armature winding, two secondary winding machinery dislocation 90 °, due to the particular design of rotor, secondary grade coupled along with Angle Position change and there is sinusoidal variations, produce two the output voltage (S2-S4 modulated by the sine and cosine of shaft angle, S3-S1), computing formula is:
;
;
, wherein: θ is shaft angle,
for rotor excitation frequency, U is rotor excitation amplitude.In the present invention, the specified pumping signal of this rotation sensor is AC7Vrms, and its frequency is 10KHZ.
Wherein, the usual STM32F100VBT based on Cortex-M3 kernel of electronic control unit 10 is as main control chip, and this chip is 32 8-digit microcontrollers of a general enhancement mode based on ARM, and its outside has 100 pins; flash capacity is 128K, adopts the encapsulation of LQFP technology.
During specific works, magslip detects the rotor-position of electrical motor 8, and output packet contains the cosine and sine signal of rotor-position and rotary speed information; Revolve varying signal change-over circuit 9 to be electrically connected with as the magslip revolving varying signal detecting unit, the signal that sampling magslip exports; Revolve varying signal change-over circuit 9 to be electrically connected with electronic control unit 10, the signal after filter and amplification is exported to electronic control unit 10; The signal that obtains by second order closed loop phase track algorithm, is calculated position and the cireular frequency of rotor by electronic control unit 10; Electronic control unit 10 is electrically connected with electrical motor 8, electronic control unit 10 decoding obtains rotor-position and cireular frequency, sampling torque sensor signal, then adopts FOC algorithm output motor drive singal, exports three-phase driving signal eventually through motor predrive to motor.
In specific implementation process, revolve varying signal change-over circuit 9 comprise second-order filter shaping and anti-phase treatment circuit, current gain driving circuit and revolve varying signal treatment circuit, electronic control unit 10, second-order filter shaping and anti-phase treatment circuit, current gain driving circuit connect in turn, current gain driving circuit with revolve varying signal detecting unit and be connected, revolve varying signal detecting unit and revolve varying signal treatment circuit and be connected, revolve varying signal treatment circuit and be connected with electronic control unit.In a preferred embodiment, also comprise power supply, power supply is connected with electronic control unit 10, power supply also with current gain driving circuit, revolve varying signal change-over circuit and be connected.
As shown in Figure 4, for revolving varying signal change-over circuit 9 one specific embodiments.As shown in Figure 4, pumping signal Reso_Exc is produced by electronic control unit 10, through second-order filter shaping and anti-phase treatment circuit, become two-way sine difference signal and be connected with current gain driving circuit, improve horsepower output by OP push-pull circuit, finally input rotation sensor R1, R2 end; Revolve the cosine and sine signal that varying signal treatment circuit sampling rotation sensor exports, obtain signal Reso_Sin_ad and Reso_Cos_ad and export electronic control unit 10 to after the signal revolving the sampling of varying signal treatment circuit amplifies process after filtering; Power supply controls by electronic control unit 10, and control signal is expressed as Reso_Pwr_Ctr1, power supply and current gain driving circuit and revolve varying signal treatment circuit and be connected, for current gain driving circuit with revolve varying signal treatment circuit power supply be provided.
In specific implementation process, rotation sensor output signal is analog quantity, also will calculate through analogue to digital conversion one-tenth the rotor-position meeting controller control and go to realize the control to motor.In the present invention, for ensureing the high integration of the real-time of the electronics rotor-position signal data that EPS motor controller obtains, accuracy and electric machine controller, rotation sensor output signal of the present invention adopts and revolves varying signal change-over circuit and be transferred to main control chip (MCU) in electronic control unit 10, is decoded by software algorithm.Particularly, electronic control unit carries out decoding acquisition motor speed and phase place by revolving deliquescing decoding second order closed loop phase track algorithm to the signal revolving the detection of varying signal detecting unit.
Revolve deliquescing decoding and adopt second order closed loop phase track algorithm, accurate motor phase and speed can be provided continuously to export.
During embody rule, as shown in Figure 6, first to sample the sine and cosine output signal of rotation sensor
with
as incoming signal, be then multiplied by respectively
with
, Φ is the output phase place of system, and system is made comparisons by the feedback of Φ and θ, finally makes error be zero, θ=Φ, thus obtains motor phase angle θ.And ω obtains is integral relation based on motor angular velocity and phase place.
Systematic error
, wherein U represents the amplitude in a trigonometric function;
When
angle difference very little time, can handle be similar to
regard as
.
So system transter can be reduced to
, wherein, s represents required solution, K1 and K2 is respectively characteristic root, is equivalent to decompose factor and asks characteristic root;
The latent root equation of system is
, contrast typical second-order linear system,
Wherein ω is system nature hunting angle frequency, and ξ is the damping ratio of system.
Known
,
.
Contrast F (s) and G (s), F (s) system is more than typical second-order system a zero point, this will cause the system fading margin time to diminish, overshoot strengthens, but basic specification ω and ξ of system can not be changed, thus the response curve of Φ can be obtained, thus obtain motor phase angle θ.
When the zero distance imaginary axis is far away, it is negligible on the impact of system; When the zero distance imaginary axis is nearer, it is also larger on the impact of system.
Describe in accompanying drawing position relationship for only for exemplary illustration, the restriction to this patent can not be interpreted as;
Obviously, the above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All any amendments done within the spirit and principles in the present invention, equivalent to replace and improvement etc., within the protection domain that all should be included in the claims in the present invention.
Claims (6)
1. an automobile EPS motor controller, the electrical motor comprising electronic control unit and be connected with electronic control unit, it is characterized in that, also comprise revolve varying signal detecting unit and with revolve that varying signal detecting unit is connected revolve varying signal change-over circuit, the described varying signal detecting unit that revolves is mechanically mounted in electrical motor, revolve the rotor-position that varying signal detecting unit detects motor, revolve varying signal change-over circuit to be connected with electronic control unit, revolve the sampling of varying signal change-over circuit revolve the signal of varying signal detecting unit output and input to electronic control unit, electronic control unit is decoded to the signal revolving the detection of varying signal detecting unit.
2. automobile EPS motor controller according to claim 1, is characterized in that, described electrical motor is permanent magnet synchronous brushless DC motor.
3. automobile EPS motor controller according to claim 1, is characterized in that, revolving varying signal detecting unit is rotation sensor.
4. automobile EPS motor controller according to claim 1, is characterized in that, electronic control unit carries out decoding acquisition motor speed and phase place by revolving deliquescing decoding second order closed loop phase track algorithm to the signal revolving the detection of varying signal detecting unit.
5. the automobile EPS motor controller according to any one of Claims 1-4, it is characterized in that, revolve varying signal change-over circuit comprise second-order filter shaping and anti-phase treatment circuit, current gain driving circuit and revolve varying signal treatment circuit, electronic control unit, second-order filter shaping and anti-phase treatment circuit, current gain driving circuit connect in turn, current gain driving circuit with revolve varying signal detecting unit and be connected, revolve varying signal detecting unit and revolve varying signal treatment circuit and be connected, revolve varying signal treatment circuit and be connected with electronic control unit.
6. automobile EPS motor controller according to claim 5, it is characterized in that, also comprise power supply, power supply is connected with electronic control unit, power supply also with current gain driving circuit, revolve varying signal treatment circuit and be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510025025.1A CN104494690A (en) | 2015-01-19 | 2015-01-19 | Car EPS (electric power storage) motor controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510025025.1A CN104494690A (en) | 2015-01-19 | 2015-01-19 | Car EPS (electric power storage) motor controller |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966454A (en) * | 2016-06-06 | 2016-09-28 | 东风柳州汽车有限公司 | Tubular column type steering device of electric power automobile |
| CN107132414A (en) * | 2017-05-26 | 2017-09-05 | 北京新能源汽车股份有限公司 | Detection method, electric machine controller and automobile that a kind of motor position sensor loosens |
| CN109639191A (en) * | 2018-12-29 | 2019-04-16 | 南京奥吉智能汽车技术研究院有限公司 | Motor position detection method and motor control method |
| CN109696898A (en) * | 2017-10-20 | 2019-04-30 | 龙海特尔福汽车电子研究所有限公司 | A kind of device for the test of EPS desktop |
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|---|---|---|---|---|
| US20050166686A1 (en) * | 2004-02-02 | 2005-08-04 | Toshihisa Yamamoto | Torque direction detecting device for brushless motor |
| CN101226066A (en) * | 2008-01-25 | 2008-07-23 | 连云港杰瑞电子有限公司 | Multiple-loop absolute type rotary encoder based on rotating transformer |
| CN102957374A (en) * | 2011-08-22 | 2013-03-06 | 株式会社捷太格特 | Motor control unit and electric power steering system |
| CN103863386A (en) * | 2012-12-17 | 2014-06-18 | 联创汽车电子有限公司 | Motor position detection circuit of electric power steering system |
-
2015
- 2015-01-19 CN CN201510025025.1A patent/CN104494690A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050166686A1 (en) * | 2004-02-02 | 2005-08-04 | Toshihisa Yamamoto | Torque direction detecting device for brushless motor |
| CN101226066A (en) * | 2008-01-25 | 2008-07-23 | 连云港杰瑞电子有限公司 | Multiple-loop absolute type rotary encoder based on rotating transformer |
| CN102957374A (en) * | 2011-08-22 | 2013-03-06 | 株式会社捷太格特 | Motor control unit and electric power steering system |
| CN103863386A (en) * | 2012-12-17 | 2014-06-18 | 联创汽车电子有限公司 | Motor position detection circuit of electric power steering system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966454A (en) * | 2016-06-06 | 2016-09-28 | 东风柳州汽车有限公司 | Tubular column type steering device of electric power automobile |
| CN107132414A (en) * | 2017-05-26 | 2017-09-05 | 北京新能源汽车股份有限公司 | Detection method, electric machine controller and automobile that a kind of motor position sensor loosens |
| CN107132414B (en) * | 2017-05-26 | 2019-06-18 | 北京新能源汽车股份有限公司 | A kind of detection method, electric machine controller and automobile that motor position sensor loosens |
| CN109696898A (en) * | 2017-10-20 | 2019-04-30 | 龙海特尔福汽车电子研究所有限公司 | A kind of device for the test of EPS desktop |
| CN109639191A (en) * | 2018-12-29 | 2019-04-16 | 南京奥吉智能汽车技术研究院有限公司 | Motor position detection method and motor control method |
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