CN105197100A - Automotive EPS (electric power steering) control system based on sine wave inverter - Google Patents
Automotive EPS (electric power steering) control system based on sine wave inverter Download PDFInfo
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- CN105197100A CN105197100A CN201510564054.5A CN201510564054A CN105197100A CN 105197100 A CN105197100 A CN 105197100A CN 201510564054 A CN201510564054 A CN 201510564054A CN 105197100 A CN105197100 A CN 105197100A
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Abstract
The invention discloses an automotive EPS (electric power steering) control system based on a sine wave inverter. The system comprises a vehicle speed sensor, a torque sensor, a waveform processing circuit, an A/D acquisition circuit, a microcontroller module, a Hall sensor, a display module, a photoelectric isolation H-bridge drive circuit, an H-bridge power amplification circuit, a motor, a clutch, a speed reducer and a steering device, wherein the vehicle speed sensor is connected with the microcontroller module through the waveform processing circuit, the torque sensor is connected with the microcontroller module through the A/D acquisition circuit, the microcontroller module is connected with the motor through the photoelectric isolation H-bridge drive circuit and the H-bridge power amplification circuit sequentially, an engine is connected with the speed reducer and the steering device respectively through the clutch, an output end of the motor is also connected with an input end of the Hall sensor, an output end of the Hall sensor is connected with an input end of the microcontroller module, and the display module is connected with the microcontroller module.
Description
Technical field
The present invention relates to a kind of automobile steering control system, particularly relate to a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter, belong to motor turning control field.
Background technology
EPS steering swivel system belongs to automotive safety associated components, high to the requirement of the torque pulsation performance of electric machine control.Assist motor adopts permagnetic synchronous motor, is driven by three-phase inversion full-bridge.In high-power electric servo steering system, the general permagnetic synchronous motor that adopts is as the actuating unit of power-assisted, and the core control algorithm of permagnetic synchronous motor comprises PI (proportional integral (PI)) control of weak magnetics detect and d, q axle.In the control method of routine, the parameter that the parameter of weak magnetics detect, d axle and q axle PI control is generally changeless.But in the operational process of actual electric boosting steering system, the temperature of motor can raise, thus the internal resistance of motor can change.When motor internal resistance changes, same weak magnetics detect parameter and PI controling parameters can cause the torque pulsation of electric machine control to increase, thus affect the sensation on hand of chaufeur.
Electric boosting steering system is one of heat subject of automotive engineering field, and the main contents of at present research are the control law of EPS and the design of hardware control, and the realization of control law must based on stable, a failure-free controller.Most 8 micro controller systems strengthened based on function of existing controller, what also have uses DSP.At present, the core developed using 32 bit processors as high performance embedded system is the inexorable trend of embedded technology development.Arm processor has because of it application that outstanding advantage obtains widely in 32 8-digit microcontroller fields, in 32 embedded systems application, be sure to occupy the first in the world.In technical field of automotive electronics, from Body Control, chassis control, engine management, main passive safety system to car entertainment, information system etc., all be unable to do without the support of embedded technology, therefore, arm processor has good application prospect at vehicle electric field.Have studied structure and the principle of work of electric boosting steering system and controller thereof herein, and have studied the Electric Power Steering Control System based on ARMS3C44B0X micro controller system on this basis.
Such as application number is a kind of automobile electric booster steering system of " 201210004420.8 ", comprising: motor winding temperature On-line Estimation module, gathers electric current and the ambient temperature of motor, the winding temperature of estimation motor and winding resistance; Controling parameters self aligning functional module, according to motor winding temperature and winding resistance, motor assist torque command value, current of electric, motor speed and the motor angle of estimation, weak magnetic parameter, d axle PI controling parameters and q axle PI controling parameters in real time in adjustment motor control algorithms.Energy On-line Estimation motor winding temperature of the present invention, and realize controling parameters self aligning, in different applying working condition situations, reduce motor control torque fluctuation.
And for example application number is a kind of electronlmobil steering booster of " 201310020827.4 ", and developing rapidly of electronlmobil, people have had higher requirement to the traveling comfort of automobile and safety.Turning efficiency, as weighing the leading indicator of automotive performance, directly has influence on the stability of Automobile operation, guarantee vehicle safety traffic, reduce the personal safety of traffic accident and protection chaufeur, improve the service conditions of chaufeur.In the safety ensureing electronic automobile and layout performance, steering booster plays an important role.People require more and more higher to the well-formedness that the performance of automobile and driving are got up, and meet the performance such as reliability, portability, sensitieness of people to automobile steering system also more and more higher.Electronlmobil steering booster improves handles portability, and response flexibly, under vehicle travels, strengthens safety factor, reduces and turn to impact, manual dexterity.
Summary of the invention
Technical matters to be solved by this invention provides a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter for the deficiency of background technology.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
A kind of Electric Power Steering Control System of Automobile based on sine-wave inverter, comprise car speed sensor, torque sensor, waveform processing circuit, A/D Acquisition Circuit, micro controller module, Hall element, display module, Phototube Coupling H-bridge drive circuit, H bridge power amplification circuit, electrical motor, power-transfer clutch, retarder, steering hardware and sine-wave inverter, described car speed sensor connects micro controller module by waveform processing circuit, described torque sensor connects micro controller module by A/D Acquisition Circuit, described micro controller module is connected electrical motor by Phototube Coupling H-bridge drive circuit with H bridge power amplification circuit successively, described electrical motor is by power-transfer clutch connection reducer and steering hardware respectively, the mouth of described electrical motor also connects the input end of Hall element, the mouth of described Hall element connects the input end of micro controller module, described display module and sine-wave inverter are connected on the corresponding port of micro controller module,
Described sine-wave inverter comprises DC push-pull booster circuit, sine-converter circuit, output filter circuit, driving circuit, sample circuit, controller, lattice lcd and auxiliary power module, wherein, described DC push-pull booster circuit, sine-converter circuit, output filter circuit connects successively, the mouth of described driving circuit respectively with DC push-pull booster circuit, the input end of sine-converter circuit connects, the input end of described sample circuit respectively with DC push-pull booster circuit, sine-converter circuit, the mouth of output filter circuit connects, the input end of the mouth connection control device of described sample circuit, the mouth of described controller connects the input end of driving circuit and lattice lcd respectively, the mouth of described auxiliary power module connects the input end of driving circuit, sample circuit, controller and lattice lcd respectively.
As the further preferred version of a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter of the present invention, described micro controller module adopts the S3C44B0X micro controller system of 32.
As the further preferred version of a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter of the present invention, the chip model of described car speed sensor is DJS-11.
As the further preferred version of a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter of the present invention, the chip model of described torque sensor is 4503A.
As the further preferred version of a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter of the present invention, described display module adopts LCD display
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1, Real-time Collection dtc signal of the present invention and vehicle speed signal, realizes the control to motor by directional control circuit, H bridge motor-drive circuit and PWM pulse modulation technology, circuit layout is greatly simplified, improves the reliability of system.
Accompanying drawing explanation
Fig. 1 is structure principle chart of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
As shown in Figure 1, a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter, comprises car speed sensor, torque sensor, waveform processing circuit, A/D Acquisition Circuit, micro controller module, Hall element, display module, Phototube Coupling H-bridge drive circuit, H bridge power amplification circuit, electrical motor, power-transfer clutch, retarder, steering hardware and sine-wave inverter, described car speed sensor connects micro controller module by waveform processing circuit, described torque sensor connects micro controller module by A/D Acquisition Circuit, described micro controller module is connected electrical motor by Phototube Coupling H-bridge drive circuit with H bridge power amplification circuit successively, described electrical motor is by power-transfer clutch connection reducer and steering hardware respectively, the mouth of described electrical motor also connects the input end of Hall element, the mouth of described Hall element connects the input end of micro controller module, and described display module and sine-wave inverter are connected on the corresponding port of micro controller module,
Described sine-wave inverter comprises DC push-pull booster circuit, sine-converter circuit, output filter circuit, driving circuit, sample circuit, controller, lattice lcd and auxiliary power module, wherein, described DC push-pull booster circuit, sine-converter circuit, output filter circuit connects successively, the mouth of described driving circuit respectively with DC push-pull booster circuit, the input end of sine-converter circuit connects, the input end of described sample circuit respectively with DC push-pull booster circuit, sine-converter circuit, the mouth of output filter circuit connects, the input end of the mouth connection control device of described sample circuit, the mouth of described controller connects the input end of driving circuit and lattice lcd respectively, the mouth of described auxiliary power module connects the input end of driving circuit, sample circuit, controller and lattice lcd respectively.
Wherein, described micro controller module adopts the S3C44B0X micro controller system of 32, and the chip model of described car speed sensor is DJS-11, and the chip model of described torque sensor is 4503A, and described display module adopts LCD display.
When motor turning, the Driving Torque of bearing circle measured by torque sensor, gives controller ECU, and controller is the comprehensive vehicle speed signal sent here by car speed sensor again, and determines a target current according to corresponding control policy, controls electrical motor and rotates.The Driving Torque of electrical motor is applied to Steering gear output shaft by power-transfer clutch, speed reduction gearing, and makes wheel deflect certain angle through the effect of the steering hardwares such as rack-and-gear, thus plays the power-assisted effect to steering swivel system.
Native system is when after vehicle launch, and system acceptance, to ignition signal, starts to enter mode of operation, gathers dtc signal and vehicle speed signal and gives micro controller system.According to fixed control law, determined the direction of a target current and electric machine rotation by system, and carry out drive motor rotation in the mode of PWM by H-bridge circuit.Meanwhile, the outgoing current of system to motor is sampled, on the one hand by sampled result compared with target current, in order to control motor; On the other hand in conjunction with vehicle speed signal, in order to the protection to system.When current of electric is greater than setting value or the speed of a motor vehicle higher than setting value, in order to protect the safety of motor and system, controller will send a control signal to relay, disconnect motor power, stop power-assisted, after system is normal, then recover assist function.
Controller module of the present invention adopts the ARMS3C44B0X micro controller system of 32 as the core of controller, because S3C44B0X micro controller system is integrated with abundant hardware resource, circuit layout is greatly simplified, improve the reliability of system, simultaneously also for system expansion in the future and upgrading leave certain leeway.Direction control signal and pwm signal combine, and are loaded into H-bridge drive circuit through optocoupler, and control the running state of motor, circuit is simple.Pulse width modulation mode adopts single-polarity PWM, avoids the possibility that metal-oxide-semiconductor is straight-through, and not only reliably, pulse duty cycle is also easy to adjustment.
The S3C44B0X of SUMSUNG company is the architecture based on ARM7TDMI, and be integrated with abundant peripheral functional modules on this basis, mainly contain: the Cache of 8KB, outside expansion memory controller, lcd controller, 2 UART, 5 PWM timers and 1 timer internal, 8 10, tunnel ADC, 71 general programmable I/O mouths, 8 exterior interrupt and WatchDog Timer.Meanwhile, ARM micro controller system supports C language exploitation, is conducive to exploitation and the debugging of system controlling software.
The S3C44B0X of SUMSUNG company is the architecture based on ARM7TDMI, and be integrated with abundant peripheral functional modules on this basis, mainly contain: the Cache of 8KB, outside expansion memory controller, lcd controller, 2 UART, 5 PWM timers and 1 timer internal, 8 10, tunnel ADC, 71 general programmable I/O mouths, 8 exterior interrupt and WatchDog Timer.Meanwhile, ARM micro controller system supports C language exploitation, is conducive to exploitation and the debugging of system controlling software.
Native system is when after vehicle launch, and system acceptance, to ignition signal, starts to enter mode of operation, gathers dtc signal and vehicle speed signal and gives micro controller system.According to fixed control law, determined the direction of a target current and electric machine rotation by system, and carry out drive motor rotation in the mode of PWM by H-bridge circuit.Meanwhile, the outgoing current of system to motor is sampled, on the one hand by sampled result compared with target current, in order to control motor; On the other hand in conjunction with vehicle speed signal, in order to the protection to system.When current of electric is greater than setting value or the speed of a motor vehicle higher than setting value, in order to protect the safety of motor and system, controller will send a control signal to relay, disconnect motor power, stop power-assisted, after system is normal, then recover assist function.
Those skilled in the art of the present technique are understandable that, unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, and every technological thought proposed according to the present invention, any change that technical scheme basis is done, all falls within scope.By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, makes a variety of changes under can also or else departing from the prerequisite of present inventive concept.
Claims (5)
1. based on an Electric Power Steering Control System of Automobile for sine-wave inverter, it is characterized in that: comprise car speed sensor, torque sensor, waveform processing circuit, A/D Acquisition Circuit, micro controller module, Hall element, display module, Phototube Coupling H-bridge drive circuit, H bridge power amplification circuit, electrical motor, power-transfer clutch, retarder, steering hardware and sine-wave inverter, described car speed sensor connects micro controller module by waveform processing circuit, described torque sensor connects micro controller module by A/D Acquisition Circuit, described micro controller module is connected electrical motor by Phototube Coupling H-bridge drive circuit with H bridge power amplification circuit successively, described electrical motor is by power-transfer clutch connection reducer and steering hardware respectively, the mouth of described electrical motor also connects the input end of Hall element, the mouth of described Hall element connects the input end of micro controller module, and described display module and sine-wave inverter are connected on the corresponding port of micro controller module,
Described sine-wave inverter comprises DC push-pull booster circuit, sine-converter circuit, output filter circuit, driving circuit, sample circuit, controller, lattice lcd and auxiliary power module, wherein, described DC push-pull booster circuit, sine-converter circuit, output filter circuit connects successively, the mouth of described driving circuit respectively with DC push-pull booster circuit, the input end of sine-converter circuit connects, the input end of described sample circuit respectively with DC push-pull booster circuit, sine-converter circuit, the mouth of output filter circuit connects, the input end of the mouth connection control device of described sample circuit, the mouth of described controller connects the input end of driving circuit and lattice lcd respectively, the mouth of described auxiliary power module connects the input end of driving circuit, sample circuit, controller and lattice lcd respectively.
2. a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter according to claim 1, is characterized in that: described micro controller module adopts the S3C44B0X micro controller system of 32.
3. a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter according to claim 1, is characterized in that: the chip model of described car speed sensor is DJS-11.
4. a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter according to claim 1, is characterized in that: the chip model of described torque sensor is 4503A.
5. a kind of Electric Power Steering Control System of Automobile based on sine-wave inverter according to claim 1, is characterized in that: described display module adopts LCD display.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510564054.5A CN105197100A (en) | 2015-09-08 | 2015-09-08 | Automotive EPS (electric power steering) control system based on sine wave inverter |
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| CN201510564054.5A CN105197100A (en) | 2015-09-08 | 2015-09-08 | Automotive EPS (electric power steering) control system based on sine wave inverter |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106406288A (en) * | 2016-11-16 | 2017-02-15 | 成都信息工程大学 | Electric vehicle control system monitoring device |
| CN106502237A (en) * | 2016-11-16 | 2017-03-15 | 成都信息工程大学 | For monitoring the device of control system of electric automobile |
| CN109050654A (en) * | 2018-06-29 | 2018-12-21 | 芜湖特滑移机械改装有限公司 | A kind of power steering apparatus of tree removing machine |
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