CN105763118A - EPS control method for improving hand touch of steering wheel rapidly manipulated by driver - Google Patents

EPS control method for improving hand touch of steering wheel rapidly manipulated by driver Download PDF

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Publication number
CN105763118A
CN105763118A CN201610220178.6A CN201610220178A CN105763118A CN 105763118 A CN105763118 A CN 105763118A CN 201610220178 A CN201610220178 A CN 201610220178A CN 105763118 A CN105763118 A CN 105763118A
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steering wheel
torque
voltage
current
motor
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CN105763118B (en
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陈无畏
黄鹤
赵林峰
汪洪波
申雪
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Hefei University of Technology
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Hefei University of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention discloses an EPS control method for improving hand touch of a steering wheel rapidly manipulated by a driver. The method comprises the following steps: in step S1, a three phase current of a permanent magnet synchronous motor is obtained, the collected three phase current is subjected to Clarke conversion and Park conversion, and therefore an actual field current instruction id and an actual torque current instruction iq are obtained; in step S2, a steering wheel torque signal, a vehicle speed signal and steering wheel angular velocity omega are obtained in real time; in step S3, electric motor stator voltage us is detected and is compared with a maximum voltage Umax which can be provided by an inverter; in step S4, when us is less than Umax, an EPS system enters a torque loop to execute id=0 control; in step S5, when us is greater than Umax, the EPS system enters a rotating speed loop to execute advance angle magnetic-field-weakening control. According to the EPS control method, overall consideration is given to specific requirements of EPS system time sharing for torque and rotating speed, and a problem that the steering wheel is difficult to manipulate in an EPS system due to heavy weight is well addressed.

Description

A kind of EPS control method improving driver's quick manipulation steering wheel feel
Technical field
The present invention relates to automobile technical field, particularly relate to a kind of EPS control method improving driver's quick manipulation steering wheel feel.
Background technology
Electric boosting steering system (electricpowersteeringsystem, EPS), due to its compact conformation, energy-conserving and environment-protective, but also different programs can be mated according to different vehicles, substantially reduce the construction cycle, so EPS has been substantially achieved universal on passenger car in the market.In recent years, along with the fast development of Power Electronic Technique, New-type electric machine control theory and rare earth permanent-magnetic material, permagnetic synchronous motor (permanentmagnetsynchronousmotor, PMSM) is able to rapid popularization and application.Compared with traditional electric excitation synchronous motor, permagnetic synchronous motor, particularly rare earth permanent-magnet synchronization motor have that loss is few, efficiency is high, power savings clear advantage.Permasyn morot provides excitation with permanent magnet, makes electric motor structure relatively simple, reduces processing and assembly fee use, and eliminates the collector ring and brush that easily go wrong, improves the reliability of motor running；Again because of without exciting current, it does not have excitation loss, improve efficiency and the power density of motor, thus it is a kind of motor more and more widely of EPS application in recent years.
But permagnetic synchronous motor is different from separately excited machine and can regulate exciting current size and carry out expansion speed, this just greatly limit the speed adjustable range of permagnetic synchronous motor, although this can meet EPS requirement to motor speed under common operating mode, but when under special operation condition, such as urgent avoidance, driver needs quick manipulation steering wheel with avoiding obstacles, and this is accomplished by permagnetic synchronous motor and provides moment big rotating speed, otherwise will cause the heavy problem of wheel steering.
Summary of the invention
Based on the technical problem that background technology exists, the present invention proposes a kind of EPS control method improving driver's quick manipulation steering wheel feel.
A kind of EPS control method improving driver's quick manipulation steering wheel feel provided by the invention, comprises the following steps:
S1, acquisition permagnetic synchronous motor three-phase current, and the three-phase current gathered is carried out Clarke conversion and Park conversion, it is thus achieved that actual excitation current instruction idWith actual torque current-order iq；
S2, in real time acquisition steering wheel torque signal, GES and steering wheel angular velocity ω；
S3, detection motor stator voltage us, and by motor stator voltage usThe maximum voltage U that can be provided by with invertermaxCompare, motor stator voltage usEqual to direct-axis voltage UdWith quadrature-axis voltage UqVector
S4, work as us< Umax, system EPS enters torque ring and performs id=0 controls, and it comprises the following steps:
S41, arrange with reference to excitation current instruction idref=0；
S42, according to steering wheel torque signal and GES, obtain motor stator electric current i by power-assisted curves, torque reference current-order iqref=is；
S43, will with reference to excitation current instruction idref, actual excitation current instruction id, torque reference current-order iqrefWith actual torque current-order iqDirect-axis voltage U is drawn through electric current loop pi regulatordWith quadrature-axis voltage Uq；
S5, work as us> Umax, EPS enters der Geschwindigkeitkreis, performs the weak magnetic control of advance angle, and it comprises the following steps:
S51, obtain stator current i according to steering wheel angular velocity ω and motor actual speed ns, electric current loop pi regulator draw direct-axis voltage UdWith quadrature-axis voltage Uq, by motor stator voltage usWith reference voltage UmaxDiffer from, and adjust an advance angle θ by pi regulator；Work as usMore than UmaxTime, θ ranges for-pi/2 < θ < 0, now idref=isSin θ < 0, iqref=isCos θ, weak magnetic control starts；
S52, will with reference to excitation current instruction idref, actual excitation current instruction id, torque reference current-order iqrefWith actual torque current-order iqAgain direct-axis voltage U is drawn through electric current loop pi regulatordWith quadrature-axis voltage Uq；
S53, by motor stator voltage usWith the reference voltage U arrangedmaxRegulated by PI and advance angle θ is updated, then according to advance angle θ to reference excitation current instruction idrefWith torque reference current-order iqrefIt is updated；
S6, by direct-axis voltage UdWith quadrature-axis voltage UqObtain control signal after sequentially passing through anti-PARK conversion, SVPWM and inverter permagnetic synchronous motor is controlled.
Preferably, in step S3, reference voltageUdcFor DC bus-bar voltage.
Preferably, in step S51, obtain stator current i according to steering wheel angular velocity ω and motor actual speed nsMode be: obtained permagnetic synchronous motor reference rotation velocity n by steering wheel angular velocity ωref, and detect acquisition permagnetic synchronous motor actual speed n, then by motor actual speed n and motor reference rotation velocity nrefRegulate through PI and obtain stator current is。
Preferably, in step S51, motor reference rotation velocity nrefIt is multiplied by EPS speed reducing ratio k equal to steering wheel angular velocity ω.
Preferably, in step S51, motor actual speed n is obtained by formula n=d β/dt, and β is motor rotor position and can be obtained by permanent-magnet synchronous motor rotor position sensing device.
Preferably, at id=0 controls and carries out torque between the weak magnetic control of advance angle to take over seamlessly.
Preferably, the torque reference current-order i at the advance angle weak magnetic control initial stage of acquisition is taken over seamlessly according to torqueqrefModel be:
i q r e f = i s c o s &theta; - i q t T t + i q t , t &le; T i s c o s &theta; , t > T ;
The i of acquisition is taken over seamlessly according to torqued=0 torque reference current-order i controlling the initial stageqrefModel be:
i q r e f = f ( v , T d ) - i q v T t + i q v , t &le; T f ( v , T d ) , t > T ;
T is time constant, trial and error procedure draw；iqt、iqvRespectively i in switching instant torque ringd=0 controls and the weak magnetic control torque reference current-order of advance angle in der Geschwindigkeitkreis；f(v,Td) represent at idTrying to achieve torque reference current-order by power-assisted curve in=0 control, wherein, v is speed, TdFor steering wheel torque.
Preferably, in step S53, as motor stator voltage usMore than reference voltage Umax, weak magnetic control functions to, now restriction-idmax< idref< 0 ,-idmaxFor the minimum weak magnetoelectricity stream allowed for PMSM.
Preferably ,-idmax=-ψf/Ld, ψfRepresent magnetic linkage, LdRepresent d-axis inductance.
Preferably, step S6 is particularly as follows: by direct-axis voltage UdWith quadrature-axis voltage UqThe U in α β coordinate system is obtained through anti-PARK conversionαSignal and UβSignal, by UαSignal and UβSignal carries out sector judgement by SVPWM, calculates the sector switch time, and the torque rotary speed of permagnetic synchronous motor is controlled by the final pwm signal exporting duty ratio corresponding.
The invention provides a kind of with motor stator voltage for basis for estimation, at torque ring application i under the steering wheel slow-speed of revolutiond=0 control strategy, applies the weak magnetic control strategy of advance angle, EPS of the having made overall plans timesharing particular requirement to torque and rotating speed under steering wheel height rotating speed in der Geschwindigkeitkreis, well solves the problem that in EPS, quick manipulation wheel steering is heavy.
The present invention is at id=0 controls, in the process mutually switched with the weak magnetic control of advance angle, to add torque and take over seamlessly module, it is prevented that cause torque to suddenly change in handoff procedure, improve driver's feel.
The pattern switching of the present invention is with motor stator voltage for basis for estimation, simple and practical, it is easy to writing of program, and adopts advanced horn cupping as the weak magnetic control strategy of the present invention, and the method is simply effective, the parameter of electric machine is not had dependency, it is easy to Project Realization.
Accompanying drawing explanation
Fig. 1 id=0 controls and weak magnetic control switching flow figure sketch；
A kind of EPS control method flow chart improving driver's quick manipulation steering wheel feel that Fig. 2 present invention proposes；
Fig. 3 id=0 control block diagram；
The weak magnetic control block diagram of Fig. 4 advance angle；
Fig. 5 case verification figure.
Detailed description of the invention
With reference to Fig. 1, Fig. 2, a kind of EPS control method improving driver's quick manipulation steering wheel feel that the present invention proposes, comprise the following steps.
S1, EPS obtain permagnetic synchronous motor three-phase current i by external sensor such as current sensora、ib、ic, and to the three-phase current i gathereda、ib、icCarry out Clarke conversion and Park conversion, it is thus achieved that actual excitation current instruction idWith actual torque current-order iq。
S2, EPS obtain steering wheel torque signal, GES and steering wheel angular velocity ω by external sensor.
S3, detection motor stator voltage us, and by motor stator voltage usThe maximum voltage U that can be provided by with invertermaxCompare, motor stator voltage usEqual to direct-axis voltage UdWith quadrature-axis voltage UqVectorReference voltageUdcFor DC bus-bar voltage.
S4, reference Fig. 3, work as us< Umax, system EPS enters torque ring and performs id=0 controls, and it comprises the following steps:
S41, arrange with reference to excitation current instruction idref=0；
S42, according to steering wheel torque signal and GES, obtain motor stator electric current i by power-assisted curves, due to reference excitation current instruction idref=0, torque reference current-order iqref=is, carry out common Power assisted control.
S43, will with reference to excitation current instruction idref, actual excitation current instruction id, torque reference current-order iqrefWith actual torque current-order iqDirect-axis voltage U is drawn through electric current loop pi regulatordWith quadrature-axis voltage Uq。
S5, reference Fig. 4, work as us> Umax, EPS enters der Geschwindigkeitkreis, performs the weak magnetic control of advance angle, and it comprises the following steps:
S51, obtain stator current i according to steering wheel angular velocity ω and motor actual speed ns, electric current loop pi regulator draw direct-axis voltage UdWith quadrature-axis voltage Uq, by motor stator voltage usWith reference voltage UmaxDiffer from, and adjust an advance angle θ by pi regulator；Work as usMore than UmaxTime, θ ranges for-pi/2 < θ < 0, now idref=isSin θ < 0, iqref=isCos θ, weak magnetic control starts.
In this step, obtain stator current i according to steering wheel angular velocity ω and motor actual speed nsMode be: obtained permagnetic synchronous motor reference rotation velocity n by steering wheel angular velocity ωref, and detect acquisition permagnetic synchronous motor actual speed n, then by motor actual speed n and motor reference rotation velocity nrefRegulate through PI and obtain stator current is.Motor reference rotation velocity nrefIt is multiplied by EPS speed reducing ratio k, i.e. n equal to steering wheel angular velocity ωref=k × w.Motor actual speed n is obtained by formula n=d β/dt, and β is motor rotor position and can be obtained by permanent-magnet synchronous motor rotor position sensing device.
S52, will with reference to excitation current instruction idref, actual excitation current instruction id, torque reference current-order iqrefWith actual torque current-order iqAgain direct-axis voltage U is drawn through electric current loop pi regulatordWith quadrature-axis voltage Uq.Specifically, will with reference to excitation current instruction idrefWith actual excitation current instruction idDo difference and can obtain direct-axis voltage U through PID calculatingd, torque reference current-order iqrefWith actual torque current-order iqDo difference and can obtain quadrature-axis voltage U through PID calculatingq。
S53, by motor stator voltage usWith the reference voltage U arrangedmaxRegulated by PI and advance angle θ is updated, then according to advance angle θ to reference excitation current instruction idrefWith torque reference current-order iqrefIt is updated, and returns step S52.
This step is the core difference that der Geschwindigkeitkreis controls with torque ring, and it is by reference excitation current instruction idrefCarry out real-time update.By vectorWith reference voltage UmaxDo difference, only work as vectorMore than reference voltage Umax, namely arrive negative reference excitation current instruction i through what PI regulateddrefTime, weak magnetic control just functions to.Reference voltageUdcFor DC bus-bar voltage.
In present embodiment, in order to prevent permanent magnet from forever demagnetizing, to reference excitation current instruction idrefMaximum carry out amplitude limit ,-idmax< idreF < 0 ,-idmaxFor the minimum weak magnetoelectricity stream allowed for PMSM ,-idmax=-ψf/Ld, ψfRepresent magnetic linkage, LdRepresent d-axis inductance.
In present embodiment, by Us Equal to Umax(UdcFor DC bus-bar voltage) time motor speed as turnover rotating speed, so, work as us> UmaxAfterwards, program can immediately enter the weak magnetic control part of the advance angle in der Geschwindigkeitkreis；In like manner, u is worked ass< Umax, system EPS enters torque ring and performs id=0 controls.
In present embodiment, at id=0 controls and carries out torque between the weak magnetic control of advance angle to take over seamlessly, to avoid producing torque ripple.The torque reference current-order i at the advance angle weak magnetic control initial stage of acquisition is taken over seamlessly according to torqueqrefModel be:
i q r e f = i s c o s &theta; - i q t T t + i q t , t &le; T i s c o s &theta; , t > T ;
The i of acquisition is taken over seamlessly according to torqued=0 torque reference current-order i controlling the initial stageqrefModel be:
i q r e f = f ( v , T d ) - i q v T t + i q v , t &le; T f ( v , T d ) , t > T ;
T is time constant, trial and error procedure draw；iqt、iqvRespectively i in switching instant torque ringd=0 controls and the weak magnetic control torque reference current-order of advance angle in der Geschwindigkeitkreis；f(v,Td) represent at idTrying to achieve torque reference current-order by power-assisted curve in=0 control, wherein, v is speed, TdFor steering wheel torque.
S6, by direct-axis voltage UdWith quadrature-axis voltage UqObtain control signal after sequentially passing through anti-PARK conversion, SVPWM and inverter permagnetic synchronous motor is controlled.Specifically, by direct-axis voltage UdWith quadrature-axis voltage UqThe U in α β coordinate system is obtained through anti-PARK conversionαSignal and UβSignal, by UαSignal and UβSignal carries out sector judgement by SVPWM, calculates the sector switch time, and the break-make of MOSFET is controlled by the final pwm signal exporting duty ratio corresponding, thus the torque rotary speed of permagnetic synchronous motor is controlled.
Below in conjunction with a specific embodiment, said method is verified.
This embodiment is the hardware-in-the-loop test carried out on EPS stand, and the major parameter of the PMSM that test uses is: motor number of pole-pairs 3, rated output power 360W, rated voltage 12V, rated current 60A, rated speed 960rpm, maximum speed 3000rpm.Quick manipulation steering wheel in test, gathers steering wheel torque signal as shown in Figure 5, it is seen that, the method adopting the present invention, it may be achieved less smoother steering wheel torque, thus efficiently solving the problem that wheel steering is heavy.
The above; it is only the present invention preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any those familiar with the art is in the technical scope that the invention discloses; it is equal to replacement according to technical scheme and inventive concept thereof or is changed, all should be encompassed within protection scope of the present invention.

Claims (10)

1. the EPS control method improving driver's quick manipulation steering wheel feel, it is characterised in that comprise the following steps:
S1, acquisition permagnetic synchronous motor three-phase current, and the three-phase current gathered is carried out Clarke conversion and Park conversion, it is thus achieved that actual excitation current instruction idWith actual torque current-order iq；
S2, in real time acquisition steering wheel torque signal, GES and steering wheel angular velocity ω；
S3, detection motor stator voltage us, and by motor stator voltage usThe maximum voltage U that can be provided by with invertermaxCompare, motor stator voltage usEqual to direct-axis voltage UdWith quadrature-axis voltage UqVector
S4, work as us< Umax, system EPS enters torque ring and performs id=0 controls, and it comprises the following steps:
S41, arrange with reference to excitation current instruction idref=0；
S42, according to steering wheel torque signal and GES, obtain motor stator electric current i by power-assisted curves, torque reference current-order iqref=is；
S43, will with reference to excitation current instruction idref, actual excitation current instruction id, torque reference current-order iqrefWith actual torque current-order iqDirect-axis voltage U is drawn through electric current loop pi regulatordWith quadrature-axis voltage Uq；
S5, work as us> Umax, EPS enters der Geschwindigkeitkreis, performs the weak magnetic control of advance angle, and it comprises the following steps:
S51, obtain stator current i according to steering wheel angular velocity ω and motor actual speed ns, electric current loop pi regulator draw direct-axis voltage UdWith quadrature-axis voltage Uq, by motor stator voltage usWith reference voltage UmaxDiffer from, and adjust an advance angle θ by pi regulator；Work as usMore than UmaxTime, θ ranges for-pi/2 < θ < 0, now idref=isSin θ < 0, iqref=isCos θ, weak magnetic control starts；
S52, will with reference to excitation current instruction idref, actual excitation current instruction id, torque reference current-order iqrefWith actual torque current-order iqAgain direct-axis voltage U is drawn through electric current loop pi regulatordWith quadrature-axis voltage Uq；
S53, by motor stator voltage usWith the reference voltage U arrangedmaxRegulated by PI and advance angle θ is updated, then according to advance angle θ to reference excitation current instruction idrefWith torque reference current-order iqrefIt is updated；
S6, by direct-axis voltage UdWith quadrature-axis voltage UqObtain control signal after sequentially passing through anti-PARK conversion, SVPWM and inverter permagnetic synchronous motor is controlled.
2. improve the EPS control method of driver's quick manipulation steering wheel feel as claimed in claim 1, it is characterised in that in step S3, reference voltageUdcFor DC bus-bar voltage.
3. improve the EPS control method of driver's quick manipulation steering wheel feel as claimed in claim 1, it is characterised in that in step S51, obtain stator current i according to steering wheel angular velocity ω and motor actual speed nsMode be: obtained permagnetic synchronous motor reference rotation velocity n by steering wheel angular velocity ωref, and detect acquisition permagnetic synchronous motor actual speed n, then by motor actual speed n and motor reference rotation velocity nrefRegulate through PI and obtain stator current is。
4. improve the EPS control method of driver's quick manipulation steering wheel feel as claimed in claim 3, it is characterised in that in step S51, motor reference rotation velocity nrefIt is multiplied by EPS speed reducing ratio k equal to steering wheel angular velocity ω.
5. improve the EPS control method of driver's quick manipulation steering wheel feel as claimed in claim 3, it is characterized in that, in step S51, motor actual speed n is obtained by formula n=d β/dt, and β is motor rotor position and can be obtained by permanent-magnet synchronous motor rotor position sensing device.
6. improve the EPS control method of driver's quick manipulation steering wheel feel as claimed in claim 1, it is characterised in that at id=0 controls and carries out torque between the weak magnetic control of advance angle to take over seamlessly.
7. improve the EPS control method of driver's quick manipulation steering wheel feel as claimed in claim 6, it is characterised in that take over seamlessly the torque reference current-order i at the advance angle weak magnetic control initial stage of acquisition according to torqueqrefModel be:
i q r e f = i s c o s &theta; - i q t T t + i q t , t &le; T i s c o s &theta; , t > T ;
The i of acquisition is taken over seamlessly according to torqued=0 torque reference current-order i controlling the initial stageqrefModel be:
i q r e f = f ( v , T d ) - i q v T t + i q v , t &le; T f ( v , T d ) , t > T ;
T is time constant, trial and error procedure draw；iqt、iqvRespectively i in switching instant torque ringd=0 controls and the weak magnetic control torque reference current-order of advance angle in der Geschwindigkeitkreis；f(v,Td) represent at idTrying to achieve torque reference current-order by power-assisted curve in=0 control, wherein, v is speed, TdFor steering wheel torque.
8. the EPS control method improving driver's quick manipulation steering wheel feel as described in claim 1 or 7, it is characterised in that in step S53, as motor stator voltage usMore than reference voltage Umax, weak magnetic control functions to, now restriction-idmax< idref< 0 ,-idmaxFor the minimum weak magnetoelectricity stream allowed for PMSM.
9. improve the EPS control method of driver's quick manipulation steering wheel feel as claimed in claim 7, it is characterised in that-idmax=-ψf/Ld, ψfRepresent magnetic linkage, LdRepresent d-axis inductance.
10. improve the EPS control method of driver's quick manipulation steering wheel feel as claimed in claim 1, it is characterised in that step S6 is particularly as follows: by direct-axis voltage UdWith quadrature-axis voltage UqThe U in α β coordinate system is obtained through anti-PARK conversionαSignal and UβSignal, by UαSignal and UβSignal carries out sector judgement by SVPWM, calculates the sector switch time, and the torque rotary speed of permagnetic synchronous motor is controlled by the final pwm signal exporting duty ratio corresponding.
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CN109150042A (en) * 2018-07-23 2019-01-04 同济大学 A kind of surface permanent magnetic synchronous motor Feedforward Decoupling field weakening control method
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