CN104527773A - Rotating transformer software decoding based electric power-assisted steering system - Google Patents
Rotating transformer software decoding based electric power-assisted steering system Download PDFInfo
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- CN104527773A CN104527773A CN201410681052.XA CN201410681052A CN104527773A CN 104527773 A CN104527773 A CN 104527773A CN 201410681052 A CN201410681052 A CN 201410681052A CN 104527773 A CN104527773 A CN 104527773A
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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
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- Steering Control In Accordance With Driving Conditions (AREA)
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Abstract
The invention relates to a rotating transformer software decoding based electric power-assisted steering system. The rotating transformer software decoding based electric power-assisted steering system comprises a mechanical steering mechanism, a power-assisted mechanism and an electronic control unit; the power-assisted mechanism comprises a PMSM (Permanent Magnet Synchronous Motor) which is provided with a rotating transformer; the electronic control unit comprises an MCU (Micro Controller Unit) module, a rotating transformer signal processing module, a power driving module and a power supply module; the MCU module is connected with the power driving module and the rotating transformer signal processing module; rotating transformer signal processing module is connected with the rotating transformer; the power driving module is connected with the PMSM. According to the rotating transformer software decoding based electric power-assisted steering system, the expensive hardware decoding scheme is replaced by the low cost of spin variable software decoding scheme which is applied to the electric power-assisted steering system and accordingly the hardware cost of the electric power-assisted steering system is greatly reduced and the decoding algorithm is small in calculation amount and high in accuracy.
Description
Technical field
the present invention relates to a kind of automobile electric booster steering system, particularly relate to a kind of electric boosting steering system based on magslip software decode.
Background technology
electric boosting steering system (EPS) on the basis of traditional mechanical steering system, increases rotation direction sensor (torque or torque corner integral sensor), electronic control unit (ECU) and power assist apparatus (i.e. motor and reducer arrangement) form, owing to eliminating the oil pipeline of mechanical-hydraulic steering swivel system, driven by motor and assisted diversion power-assisted is provided, therefore there is the simple advantage of structure.In addition, because this system applies the signals such as manipulation torque on the steering wheel and the speed of a motor vehicle according to chaufeur, the power-assisted provided needed for motor is provided through ECU, therefore on the one hand, motor only provides power-assisted where necessary, can save fuel oil, on the other hand, power-assisted size can regulate according to the speed of a motor vehicle, and then obtains variable cornering properties.Just because of above-mentioned advantage, electric boosting steering system replaces traditional hydraulic power-assist steering system just gradually.
in recent years, the demand of intermediate car to electric boosting steering system sharply increases, and in order to meet the power-assisted demand of intermediate car, the assist motor of electric boosting steering system must to non-brushing (PMSM) and high-power future development.In order to realize controlling the torque servo of PMSM motor, usually adopting vector control strategy, therefore needing to obtain PMSM motor rotor position information.Although position Sensorless Control obtains application in some application scenario, but still need to rely on position transduser to obtain reliable and accurate rotor angle and velocity information in EPS, realize the accurate control to torque or rotating speed, so in EPS, PMSM motor generally all adopts position transduser, mainly contains Hall element and magslip two kinds.Compared with hall sensor, magslip has better robustness and reliability, life-span are also grown, not by the impact of the harsies environment such as dust, humidity, high temperature, vibration, the application of magslip in brushless EPS has become a kind of trend.
the signal that magslip directly exports is the orthogonal sinusoidal signal of two-way, needs just can obtain location information through decoding.The coding/decoding method of magslip is mainly divided into two kinds, and one uses special chip decoding, and another is software decode.Special chip mainly contains the AD2S 1200 of ADI company and the AU6803 etc. of Duo Mo river company, implements simple and convenient but cost is higher.Using software decode can significantly reduce decoding cost, is the optimal selection in EPS application.
proposing a kind of employing angular observation device in document " a kind of software revolves the design and development becoming quanxtizer ", carry out the decoding to revolving varying signal, but this observer needing configuration 5 parameters.The method proposed in patent CN104111665A and said method similar, have employed CORIDC algorithm when just calculating the sine and cosine value of feedback angle.Patent CN101865651A adopts fft algorithm to decode to revolving varying signal, and fft algorithm requires higher to MCU calculation process.
Summary of the invention
the object of this invention is to provide a kind of electric boosting steering system based on magslip software decode.Under the prerequisite ensureing electric boosting steering system performance, reduce the cost of electric boosting steering system, electronic control unit, reduce the expense of MCU and remove the link adopting angular observation device parameter designing and coupling, shortening time-to-market.
for achieving the above object, the technical solution used in the present invention is:
a kind of electric boosting steering system based on magslip software decode, comprise mechanical steering gear, power assistance mechanism and electronic control unit, described power assistance mechanism comprises the PMSM motor being provided with magslip, and described electronic control unit comprises:
mCU module, for completing EPS algorithm and magslip software decode algorithm;
signals of rotating transformer processing module, for providing pumping signal for described magslip, for described MCU module provides the unipolar signal of sampling;
power driver module, for driving PMSM motor;
power module is above-mentioned each module for power supply,
described MCU module is connected with described power driver module and signals of rotating transformer processing module respectively; Described signals of rotating transformer processing module is connected with magslip; Described power driver module is connected with PMSM motor.
preferably, described MCU module comprises at least 7 road PWM mouths, 1 road CAP catches end and at least 2 road AD sampling modules.
preferably, described MCU module comprise main MCU module for completing EPS algorithm, for complete magslip software decode algorithm from MUC module, described is connected from MCU module with signals of rotating transformer processing module, and described main MCU module is communicated by SPI with between MUC module.
preferably, described signals of rotating transformer processing module comprises for providing the pumping signal modulate circuit of pumping signal for described magslip, for providing the output signal conditioning circuit of the unipolar signal of sampling for described MCU module.
further preferably, described pumping signal modulate circuit comprises single order active power filtering amplifying circuit and second order Butterworth filter circuit.
preferably, described electronic control unit also comprises the communication module that is connected with described MCU module and for receiving motoring condition signal and pilot control steering wheel angle signal and signal being carried out to the signal processing module of filtering, shaping.
preferably, described mechanical steering gear comprises steering handwheel, the steering column be connected with described steering handwheel, the rack and pinion steering gear be connected with described steering column and the rotation direction sensor be connected on described steering column.
preferably, described power assistance mechanism also comprises worm type of reduction gearing, and described PMSM motor is connected with worm type of reduction gearing.
because technique scheme is used, the present invention compared with prior art has following advantages and effect:
the present invention adopts the deliquescing part decoding scheme that revolves of low cost to substitute expensive hardware decode scheme, and is applied to electric boosting steering system, greatly reduce the hardware cost of electric boosting steering system, and decoding algorithm operand is little, precision is high.
Accompanying drawing explanation
accompanying drawing 1 is the structural representation of electric boosting steering system in the present invention;
accompanying drawing 2 is the connection schematic block diagram of electronic control unit in the present invention;
accompanying drawing 3 is pumping signal modulate circuit in the present invention;
accompanying drawing 4 is output signal conditioning circuit in the present invention;
accompanying drawing 5 is the part-structure block diagram of the electronic control unit of embodiment one;
accompanying drawing 6 is the mode chart of PWM, R1/R2, Sin+/Sin-, Cos+/Cos-in embodiment one;
accompanying drawing 7 is sine and cosine unipolar signal in embodiment one, sine and cosine intrinsic curve mode chart;
accompanying drawing 8 is the algorithm flow chart of software decode in embodiment one;
accompanying drawing 9 is sine and cosine sampled signal in embodiment one, angle signal comparison chart;
accompanying drawing 10 is the part-structure block diagram of the electronic control unit of embodiment two.
wherein: 1, steering handwheel; 2, torque rotary angle transmitter; 3, worm type of reduction gearing; 4, steering column; 5, rack and pinion steering gear; 6, tire; 7, electronic control unit; 8, battery feed; 9, magslip; 10, PMSM motor.
Detailed description of the invention
below in conjunction with accompanying drawing and case study on implementation, the invention will be further described:
a kind of electric boosting steering system based on magslip software decode as shown in Figure 1, comprises mechanical steering gear, power assistance mechanism and electronic control unit 7(hereinafter referred to as ECU).Wherein:
mechanical steering gear comprises steering handwheel 1, the steering column 4 be connected with steering handwheel 1, the rack and pinion steering gear 5 be connected with steering column 4 and the rotation direction sensor be connected on steering column 4, and rotation direction sensor specifically can adopt torque rotary angle transmitter 2.
power assistance mechanism comprises being provided with on the worm type of reduction gearing 3 be connected on steering column 4, PMSM motor 10, the PMSM motor 10 that is connected with worm type of reduction gearing 3 and is provided with magslip 9.
below specifically electronic control unit 7 is described, as shown in Figure 2: electronic control unit 7 comprises:
mCU module 15, MCU module 15 is cores of ECU7, for completing EPS algorithm and magslip software decode algorithm; MCU module 15 has 7 road PWM mouths at least: 6 tunnels are used for providing pumping signal for magslip 9 for control PMSM motor 10,1 tunnel; 1 road CAP catches end: for catching the positive rise of pwm signal 23; At least 2 road AD sampling modules.MCU module 15 selects the TMS320F2812 chip of TI company in the present embodiment, and its two task manager EVA and EVB provided can meet the demand, and wherein EVA module is used for doing electric machine control, and EVB module can produce pwm signal 23.
signals of rotating transformer processing module 20, be connected with MCU module 15, magslip 9, receive the pwm signal 23 from MCU module 15 on the one hand, sinusoidal signal is nursed one's health in inside, for magslip 25 provides pumping signal 19, receive on the other hand the cosine and sine signal 17 and 18 exported from magslip 25, and do difference to above-mentioned two paths of signals and turn unipolarity conditioning, the signal 21 and 22 after conditioning can directly enter MCU module 15.Signals of rotating transformer processing module 20 comprises pumping signal modulate circuit 26 and output signal conditioning circuit 27 is formed, as shown in Figure 3,4.The pwm signal 23 that MCU module 15 exports by pumping signal modulate circuit 26, after single order active power filtering amplifying circuit 28 and the filtering of second order Butterworth filter circuit 29, generates the pumping signal 19 needed for magslip 9; The difference cosine and sine signal 17 and 18 that output signal conditioning circuit 27 pairs of magslips 9 export carries out filtering, then after direct current biasing and scale amplifying, be converted to the unipolar signal 21 and 22 of applicable MCU module 15 Direct Sampling.
power driver module 16, is connected with MCU module 15, and is connected with PMSM motor 10, drives PMSM motor 10.
signal processing module 13, be connected with MCU module 15, signal processing module 13 to carrying out the signal of self-torque rotary angle transmitter 2, ignition signal, the speed of a motor vehicle and the engine rotational speed signal from vehicle body carries out the process such as filtering, shaping, and signal is sent to MCU module 15 and carries out EPS algorithm.
communication module 14, realizes communicating with MCU module 15, as CAN communication etc., upgrades, system calibrating and diagnosis for algorithm.
power module 24, is responsible for providing power supply to MCU module 15, torque rotary angle transmitter 2 and signals of rotating transformer processing module 20 etc., and can ensures that detecting that system has during fault in MCU module 15 can cut off the electricity supply in time.
concrete decoding algorithm of setting forth lower MCU module 15 below.
embodiment one:
as shown in Figure 5: in the present embodiment, decoding and electric machine control are realized by same MCU module 15, and working process is as follows:
1, the PWM port of MCU module 15 produces a frequency 10kHz, dutycycle be the PWM ripple 30(of 50% as shown in Figure 6); CAP catches end and carries out positive rise seizure, catches PWM waveform 30; The ADC1/ADC2 of AD sampling module catches and triggers sampling;
2, PWM ripple 30 is after pumping signal modulate circuit 26 processes, generate the sinusoidal excitation signal 31 of a 10kHz, pumping signal 31 is accessed magslip 25, magslip 25 output packet is containing the sinusoidal signal 32 of the orthogonal difference of the two-way of location information and cosine signal 33, by the resistance capacitance matching value of filter circuit in adjustment pumping signal modulate circuit 26, make that the positive rise of PWM ripple 30 is corresponding with pumping signal 31 vertex (so can be made CAP catch when down trigger is sampled to sample revolving the vertex becoming output signal as far as possible, the carrier wave pumping signal become entrained by output signal is revolved in the filtering of the method energy, sample out and revolve the intrinsic curve maxim that change exports cosine and sine signal, at utmost eliminate and revolve varied angle software resolution error.) pumping signal 31 of PWM ripple 30 and magslip and cosine and sine signal 32,33 corresponding relation that exports are as shown in Figure 6;
3, the cosine and sine signal 32,33 that magslip 25 exports is two pairs of differential signals, before entering the AD sampling module of MCU module 15, it is carried out to filter and amplification, adds the process such as direct current biasing;
4, sinusoidal unipolar signal 34 after treatment and cosine unipolar signal 35 access the AD sampling module ADC1/ADC2 of MCU module 15 respectively, it triggers ADC1/ADC2 by the positive rise of PWM ripple 30 and samples, after software LPF is carried out to sampled result, obtain sine and cosine intrinsic curve 36 and 37, adopt cordic algorithm to calculate from sine and cosine intrinsic curve 36 and 37 angle signal revolving change.The sine and cosine envelope signal 36,37 that unipolarity cosine and sine signal 34,35 after process and sampling obtain is as shown in 7 figure;
5, carry out software decode, algorithm flow as shown in Figure 8.
as shown in Figure 9: for motor speed is that 1800rpm tests the magslip 25 cosine and sine signal sampled result and CORDIC software decode angle that obtain, sine amplitude sample signal 38 as can be seen from Figure, cosine sampled signal 39 is sampled steadily, it is level and smooth that software calculates angle signal 40, illustrate that this software decode device software decoded result has higher precision, the vector controlled of motor can be realized, realize the function of EPS.
embodiment two:
as shown in Figure 10: the present embodiment adopts two MCU module to realize.MCU module comprise main MCU module 44 for completing EPS algorithm, for complete magslip software decode algorithm and to the operation monitoring of main MCU module 44 from MUC module 45, be connected from MCU module 45 with signals of rotating transformer processing module 42, main MCU module 45 is communicated by SPI with between MUC module 44, the varied angle of revolving resolving out by software is sent to main MCU 45 in real time, realizes the control to EPS motor.Working process is as follows:
step 1 ~ 5 are identical with embodiment 1;
6: main MCU module 45 receives the software decode angle sent from MCU module 44, carries out EPS motor control.
above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (8)
1. the electric boosting steering system based on magslip software decode, comprise mechanical steering gear, power assistance mechanism and electronic control unit, described power assistance mechanism comprises the PMSM motor being provided with magslip, it is characterized in that: described electronic control unit comprises:
MCU module, for completing EPS algorithm and magslip software decode algorithm;
Signals of rotating transformer processing module, for providing pumping signal for described magslip, for described MCU module provides the unipolar signal of sampling;
Power driver module, for driving PMSM motor;
Power module is above-mentioned each module for power supply,
Described MCU module is connected with described power driver module and signals of rotating transformer processing module respectively; Described signals of rotating transformer processing module is connected with magslip; Described power driver module is connected with PMSM motor.
2. a kind of electric boosting steering system based on magslip software decode according to claim 1, is characterized in that: described MCU module comprises at least 7 road PWM mouths, 1 road CAP catches end and at least 2 road AD sampling modules.
3. a kind of electric boosting steering system based on magslip software decode required by right described in 1, it is characterized in that: described MCU module comprise main MCU module for completing EPS algorithm, for complete magslip software decode algorithm from MUC module, described is connected from MCU module with signals of rotating transformer processing module, and described main MCU module is communicated by SPI with between MUC module.
4. a kind of electric boosting steering system based on magslip software decode according to claim 1, is characterized in that: described signals of rotating transformer processing module comprises for providing the pumping signal modulate circuit of pumping signal for described magslip, for providing the output signal conditioning circuit of the unipolar signal of sampling for described MCU module.
5. a kind of electric boosting steering system based on magslip software decode according to claim 4, is characterized in that: described pumping signal modulate circuit comprises single order active power filtering amplifying circuit and second order Butterworth filter circuit.
6. a kind of electric boosting steering system based on magslip software decode according to claim 1, is characterized in that: described electronic control unit also comprises the communication module that is connected with described MCU module and for receiving motoring condition signal and pilot control steering wheel angle signal and signal being carried out to the signal processing module of filtering, shaping.
7. a kind of electric boosting steering system based on magslip software decode according to claim 1, is characterized in that: described mechanical steering gear comprises steering handwheel, the steering column be connected with described steering handwheel, the rack and pinion steering gear be connected with described steering column and the rotation direction sensor be connected on described steering column.
8. a kind of electric boosting steering system based on magslip software decode according to claim 1, is characterized in that: described power assistance mechanism also comprises worm type of reduction gearing, and described PMSM motor is connected with worm type of reduction gearing.
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Cited By (9)
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| CN105915127A (en) * | 2016-06-01 | 2016-08-31 | 同济大学 | Motor rotor position redundant measuring method and system and electronic device |
| CN106406288A (en) * | 2016-11-16 | 2017-02-15 | 成都信息工程大学 | Electric vehicle control system monitoring device |
| CN107863913A (en) * | 2017-11-24 | 2018-03-30 | 成都雅骏新能源汽车科技股份有限公司 | The coding/decoding method and system of a kind of rotary transformer |
| CN108988706A (en) * | 2018-07-30 | 2018-12-11 | 山东理工大学 | A kind of electric car driving permanent magnet synchronous motor rotation change decoding redundant apparatus and control method |
| CN111552204A (en) * | 2019-02-12 | 2020-08-18 | 株洲中车时代电气股份有限公司 | Resolver simulator based on FPGA |
| CN111697905A (en) * | 2019-03-12 | 2020-09-22 | 丹佛斯埃德特恩公司 | Positioning device for generating a rotational position signal and excitation device for generating an excitation signal for a resolver |
| CN112202387A (en) * | 2020-09-28 | 2021-01-08 | 深圳市英威腾电动汽车驱动技术有限公司 | Signal sampling synchronization method and device under soft decoding and motor control system |
| CN112398408A (en) * | 2020-11-16 | 2021-02-23 | 浙江台运汽车科技有限公司 | Improved method and device for decoding of rotary-change software |
| WO2021237603A1 (en) * | 2020-05-28 | 2021-12-02 | 华为数字能源技术有限公司 | Sampling triggering method, microprocessor, motor controller, and electric vehicle |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105915127A (en) * | 2016-06-01 | 2016-08-31 | 同济大学 | Motor rotor position redundant measuring method and system and electronic device |
| CN106406288A (en) * | 2016-11-16 | 2017-02-15 | 成都信息工程大学 | Electric vehicle control system monitoring device |
| CN107863913A (en) * | 2017-11-24 | 2018-03-30 | 成都雅骏新能源汽车科技股份有限公司 | The coding/decoding method and system of a kind of rotary transformer |
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| CN108988706A (en) * | 2018-07-30 | 2018-12-11 | 山东理工大学 | A kind of electric car driving permanent magnet synchronous motor rotation change decoding redundant apparatus and control method |
| CN111552204A (en) * | 2019-02-12 | 2020-08-18 | 株洲中车时代电气股份有限公司 | Resolver simulator based on FPGA |
| CN111697905A (en) * | 2019-03-12 | 2020-09-22 | 丹佛斯埃德特恩公司 | Positioning device for generating a rotational position signal and excitation device for generating an excitation signal for a resolver |
| US11677347B2 (en) | 2019-03-12 | 2023-06-13 | Danfoss Editron Oy | Positioning device for producing a rotational position signal and an excitation device for producing an excitation signal for a resolver |
| CN111697905B (en) * | 2019-03-12 | 2023-08-29 | 丹佛斯埃德特恩公司 | Positioning device for generating a rotational position signal and excitation device for generating an excitation signal for a resolver |
| WO2021237603A1 (en) * | 2020-05-28 | 2021-12-02 | 华为数字能源技术有限公司 | Sampling triggering method, microprocessor, motor controller, and electric vehicle |
| US11804795B2 (en) | 2020-05-28 | 2023-10-31 | Huawei Digital Power Technologies Co., Ltd. | Sampling trigger method, microprocessor, motor controller, and electric vehicle |
| CN112202387A (en) * | 2020-09-28 | 2021-01-08 | 深圳市英威腾电动汽车驱动技术有限公司 | Signal sampling synchronization method and device under soft decoding and motor control system |
| CN112202387B (en) * | 2020-09-28 | 2022-06-10 | 深圳市英威腾电动汽车驱动技术有限公司 | Signal sampling synchronization method and device under soft decoding and motor control system |
| CN112398408A (en) * | 2020-11-16 | 2021-02-23 | 浙江台运汽车科技有限公司 | Improved method and device for decoding of rotary-change software |
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Application publication date: 20150422 |