CN106602957A - Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor - Google Patents
Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor Download PDFInfo
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Abstract
The invention discloses a zero-position self-learning system for an electronic-power-steering permanent-magnet synchronous motor rotor. The system is composed of a hand-held diagnostic apparatus, a power supply, an ECU controller, a permanent-magnet synchronous motor, and a rotary transformer. The power supply provides power for the ECU controller. The ECU controller consists of an MCU single-chip microcomputer, a power drive circuit, and a decoding chip. The hand-held diagnostic apparatus and the MCU single-chip microcomputer are in communication connection. The MCU single-chip microcomputer outputs six-path PWM signals to the power drive circuit; the power drive circuit and the permanent-magnet synchronous motor are connected; the permanent-magnet synchronous motor and the rotary transformer are installed coaxially; the decoding chip and the rotary transformer are connected; and the decoding chip and the MCU single-chip microcomputer are in communication. With advantages of the hand-held diagnostic apparatus, rotor zero-position correction can be carried out at a current calibration station at an EPS system assembling production line, so that the production efficiency can be improved.
Description
Technical field
The present invention relates to electric power steering field, especially a kind of electric power steering permanent magnetism based on handheld diagnostic instrument
Synchronous electric motor rotor zero-bit self learning system.
Background technology
Electric power steering（Electronic Power Steering , EPS）It is with automotive energy-saving emission-reducing, simplifies
A kind of new technique that structure needs and gradually develops.Because the vehicle steering power-assisted steering of early stage generally uses mechanical liquid
Pressure power-assisted, not only oil pipeline is complicated, and needs whole oil pump systems to be constantly in working condition, to respond steering wheel at any time
Power-assisted steering is required.And operation of oil pump needs lasting fuel consumption, thus energy resource consumption compare it is larger.In addition, oil pump systems
Also there is the risk that hydraulic oil is revealed.Electric boosting steering system (EPS) is to increase direction on the basis of mechanical-hydraulic power-assisted steering
Disk rotation direction sensor (torque or corner add torque), motor control unit (ECU) and power assist apparatus (motor and the dress that slows down
Put) form, power-assisted steering function is provided by motor.Due to being replaced to whole fluid pressure line using electric booster system
Change, therefore structure is simplified significantly.In addition motor only provides power-assisted when necessary and motor operation power is from vehicle body accumulator, because
This also saves fuel oil.It is electric boosted gradually to replace traditional hydraulic booster system based on above-mentioned advantage.
In recent years, as intermediate car is continuously increased to electric boosting steering system, the requirement to comfortableness is also got over
Come higher.Permagnetic synchronous motor (PMSM) is more and more due to high efficiency, high power density, the low advantage of torque pulsation
Be applied to electric power steering field.And vector control algorithm (FOC) situation is especially used in the control of permagnetic synchronous motor
Under, speed closed loop control or closed-loop current control are whether realized, it is required for knowing accurate motor angle information.Existing rank
The rotor-position sensor of Duan Yingyong comparative maturities has rotary transformer and encoder etc., typically coaxially connected with rotor
Together and be to be dispatched from the factory just fix by motor producer, thus rotor zero-bit and sensor zero point not necessarily through zero-bit
Centering is corrected, even if having through initial calibration, due to mechanical erection problem, always there is certain error.This error for
The vector controlled of PMSM affects very big, it is necessary to could normally use through electrical null position correction.
Conventional zero correction method has " back-emf observational method " and " high-frequency signal injection " etc..Back-emf observational method needs to make
Tested motor is dragged to drag platform frame with motor, and motor three-phase counter potential waveform and position sensor are observed simultaneously using oscillograph
Signal output waveform, it is higher to equipment requirements, and can only use where having motor bench.And EPS is needing
Just zero correction is made to each matched controller of motor on assembling line, therefore, Based on Back-EMF Method is not only received
The application scenario of drag platform frame is limited to motor, and each motor will last stand, take time and effort.High-frequency signal injection
It is the saliency using rotor, by a series of high-tension pulse being injected in machine winding bringing rotor fixed position is carried out,
But the method is only relatively good to salient-pole machine effect, for non salient pole machine or surface-mount type motor effect be not it is obvious that and
And need to be calculated through a series of complicated formulas and could realize, versatility is not high.
The content of the invention
The invention mainly solves the technical problem of providing a kind of electric power steering permanent-magnetic synchronous motor rotor zero-bit certainly
Learning system, based on handheld diagnostic instrument, solves current rotor and dispatches from the factory that zero correction error is big, bearing calibration poor universality
And to the problem that instrument and occasion are limited, as long as a handheld diagnostic instrument, an ECU controller, a motor and a confession
Power supply, using the advantage of handheld diagnostic instrument, can be same on the station to calibration with current signal on EPS assembling line
Shi Jinhang rotor zero corrections, improve production efficiency.
To solve above-mentioned technical problem, one aspect of the present invention is：There is provided a kind of electric power steering
Permanent-magnetic synchronous motor rotor zero-bit self learning system, including handheld diagnostic instrument, power supply, ECU controllers, permagnetic synchronous motor
And rotary transformer, described power supply is powered to ECU controllers, and described ECU controllers include MCU monolithics
Machine, power driving circuit and decoding chip, described handheld diagnostic instrument is connected with MCU single chip communications, described MCU single-chip microcomputers
6 road pwm signals are exported to power driving circuit, described power driving circuit is connected with permagnetic synchronous motor, it is described forever
Magnetic-synchro motor is co-axially mounted with rotary transformer, and described decoding chip is connected with each other with rotary transformer, described decoding
Chip is in communication with each other with MCU single-chip microcomputers.
In a preferred embodiment of the present invention, bus communication is used between described handheld diagnostic instrument and MCU single-chip microcomputers
Connection.
In a preferred embodiment of the present invention, described handheld diagnostic instrument passes through shape of the bus signals to MCU single-chip microcomputers
State flag bit carries out communications protocol demarcation, obtains the parameter of timing, and parameter is diagnosed, final to judge correction result.
In a preferred embodiment of the present invention, described MCU single-chip microcomputers are responsible for performing relevant soft of all motor controls
Part algorithm and motor self-learning algorithm, by carrying out FOC victor chan ge controls to angle signal and current signal, export 6 tunnels
Pwm signal controls the break-make of 6 switching tubes of power driving circuit to power driving circuit.
In a preferred embodiment of the present invention, 3 lead-out terminals on described power driving circuit respectively with permanent magnetism
The U/V/W tri- of synchronous motor is connected, and by 6 switching tubes to power driving circuit rational on-off control is carried out, can
Drive the rotation of permagnetic synchronous motor.
In a preferred embodiment of the present invention, described decoding chip produces a pumping signal and inputs to rotation after being powered
Transformation depressor, rotary transformer represents the sinusoidal letter of rotor position information because the permanent magnet induction effect of rotor can be produced
Number and cosine signal, then defeated time decoding chip again.
In a preferred embodiment of the present invention, described decoding chip carries out Interior Solutions to sinusoidal signal and cosine signal
After code, output rotor real-time position signal to MCU single-chip microcomputers are used for FOC vector controlleds.
In a preferred embodiment of the present invention, the described rotor-position signal way of output has two kinds：SPI export and
ABZ signal outputs.
In a preferred embodiment of the present invention, on-chip memory FLASH is additionally provided with described MCU single-chip microcomputers, is used
To deposit specific parameter and program, data power-fail memory function is kept.
In a preferred embodiment of the present invention, described permagnetic synchronous motor is integrated installation knot with rotary transformer
Structure.
The invention has the beneficial effects as follows：The electric power steering permanent-magnetic synchronous motor rotor zero-bit self study system of the present invention
System, based on handheld diagnostic instrument, solves current rotor and dispatches from the factory zero correction error big, bearing calibration poor universality and right
The problem that instrument and occasion are limited, as long as handheld diagnostic instrument, ECU single-chip microcomputers, a motor and a power supply
, using the advantage of handheld diagnostic instrument, can simultaneously carry out on the station to calibration with current signal on EPS assembling line
Rotor zero correction, improve production efficiency.
Description of the drawings
Technical scheme in order to be illustrated more clearly that the embodiment of the present invention, below will be to making needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, can be obtaining other according to these accompanying drawings
Accompanying drawing, wherein：
Fig. 1 is the structural representation of the preferred embodiment of electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system one；
Fig. 2 is based on the motor zero-bit self learning system control strategy figure of handheld diagnostic instrument；
Fig. 3 is principal function software flow pattern；
Fig. 4 is electric current loop interrupt software flow chart；
Fig. 5 is that diagnostic apparatuses carry out motor zero correcting process figure；
Labelling in accompanying drawing for：1st, handheld diagnostic instrument, 2, power supply, 3, ECU controllers, 4, permagnetic synchronous motor, 5, rotation
Transformator, 6, MCU single-chip microcomputers, 7, power driving circuit, 8, decoding chip, 9, on-chip memory FLASH.
Specific embodiment
The technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described enforcement
Example is only a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, this area is common
All other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model of present invention protection
Enclose.
As shown in figure 1, the embodiment of the present invention includes：
A kind of electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system, including handheld diagnostic instrument 1, power supply 2,
ECU controllers 3, permagnetic synchronous motor 4 and rotary transformer 5, described power supply 2 is powered to ECU controllers 3,
Described ECU controllers 3 include MCU single-chip microcomputers 6, power driving circuit 7 and decoding chip 8, described handheld diagnostic instrument 1 with
MCU single-chip microcomputers 6 are communicated to connect, and described MCU single-chip microcomputers 6 export 6 road pwm signals to power driving circuit 7, and described power drives
Galvanic electricity road 7 is connected with permagnetic synchronous motor 4, and described permagnetic synchronous motor 4 is co-axially mounted with rotary transformer 5, described
Decoding chip 8 is in communication with each other with rotary transformer 5 and is connected.Wherein, described permagnetic synchronous motor 4 is one with rotary transformer 5
Mounting structure.
In above-mentioned, connected using bus communication between described handheld diagnostic instrument 1 and MCU single-chip microcomputers 6.Handheld diagnostic instrument 1
Communications protocol demarcation is carried out to the state flag bit of MCU single-chip microcomputers 6 by bus signals, the parameter of timing is obtained, to parameter
Diagnosed, it is final to judge correction result.
Wherein, described MCU single-chip microcomputers 6 are responsible for performing the relevant software algorithm of all motor controls and motor self study
Algorithm, by carrying out FOC victor chan ge controls to angle signal and current signal, 6 road pwm signals of output are to power driving circuit
7, control the break-make of 6 switching tubes of power driving circuit 7.
Further, 3 lead-out terminals on described power driving circuit 7 respectively with the U/V/W of permagnetic synchronous motor 4
Three are connected, and by 6 switching tubes to power driving circuit 7 rational on-off control is carried out, and can drive permanent magnet synchronous electric
The rotation of machine 4.
Further, described decoding chip 8 produces a pumping signal and inputs to rotary transformer 5 after being powered, and revolves
Transformation depressor 5 represents the sinusoidal signal and cosine letter of rotor position information because the permanent magnet induction effect of rotor can be produced
Number, then defeated time decoding chip 8 again.
Described decoding chip 8 is carried out after inner decoding to sinusoidal signal and cosine signal, output rotor real time position letter
Number use for FOC vector controlleds to MCU single-chip microcomputers 6.Wherein, the described rotor-position signal way of output has two kinds：SPI is exported
With ABZ signals (QEP quadrature coding pulses) output.The present embodiment adopts SPI output forms, MCU single-chip microcomputers 6 directly to pass through SPI
The signal of output can read motor rotor position signal.
In the present embodiment, on-chip memory FLASH 9 is additionally provided with described MCU single-chip microcomputers 6, it is specific for depositing
Parameter and program, keep data power-fail memory function.Correction of a final proof of the present invention zero deviation out is stored in on-chip memory
On FLASH 9.
Operation principle：MCU single-chip microcomputers 6 on ECU controllers 3 include on-chip memory FLASH 9, and wherein programming has control
The complete software code and control parameter of motor rotation processed.By three of power drive output circuit 7 on ECU controllers 3
Binding post is connected one by one respectively with the U/V/W three-phases of permagnetic synchronous motor 4.The holding wire of rotary transformer 5 is (including excitation letter
Number, sinusoidal signal, cosine signal) connect one to one with the signal terminal of decoding chip 8 respectively.Power supply 2 is being controlled to ECU
Device processed 3 is carried out after power on operation, and ECU controllers 3 can be according to the control being solidificated in the on-chip memory FLASH on MCU single-chip microcomputers 6
Processing procedure sequence and default parameterss automatically control the start and stop operating of permagnetic synchronous motor 4.Between handheld diagnostic instrument 1 and MCU single-chip microcomputers 6 by
Bus communication connects, by the design parameter and mark that are pointed on handheld diagnostic instrument 1 on the piece of MCU single-chip microcomputers 6 in FLASH9
Will position Lsw is configured and changes, it is possible to carry out between real electrical machinery controlled state and motor angle zero point adaptive learning
Switching.
Present configuration is simple, it is not necessary to which motor is not limited professional equipments such as drag platform frame and oscillographs by occasion, only
A slight handheld diagnostic instrument, an ECU controller and a power supply is needed just can anywhere to enter to motor
The self study of row angle is demarcated, simple and convenient, substantially increases production efficiency.Control algolithm is simple, it is only necessary in the base of FOC controls
Increase ramp function Ramp_ctrl () and angle generating function Ramp_Gen () on plinth.
Motor zero Self-learning control algorithm is to two kinds of angle signal read methods in the system（SPI signal is exported and ABZ
Signal output）All can use, motility is good.
As shown in Fig. 2 Lsw is motor control state position, Lsw=0 is motor zero-bit adaptive learning, and Lsw=1 is motor
Virtual speed closed loop running status, Lsw=2 is motor normal work power-assisted state, and Lsw=3 terminates shape for motor zero-bit self study
State；IdRef_pu is the given electric current of coordinate transform d-axis target, and IqRef_pu is the given electric current of coordinate transform quadrature axis target,
Itorq_pu is operated under normal power-assisted state the control electricity being converted through tabling look-up by torque sensor institute measuring moment for motor
Stream, Idfdb_pu and Iqfdb_pu is respectively the d-axis that phase current Ia_pu and Ib_pu is obtained through clark, park coordinate transform
Feedback current and quadrature axis feedback current.
Speedref_pu is the rotating speed of target set-point of motor speed virtual closed loop, and Rmp_freq is ramp function output,
Angle generating function is input into.Rmp_out is that angle generating function is empty according to the motor that the speed command of virtual speed closed loop is generated
Intend angle.The all parameters of upper figure are all perunit value in addition to Lsw（pu）, perunit value feature is that all parameters are converted to 0 ~ 1
Between, it is not necessary to consider the conversion of the addition subtraction multiplication and division between varying number level parameter and round up, can apply to high-low pressure each
Plant different grades of electric machine control system.
Embodiment：
The present embodiment is, based on the permagnetic synchronous motor with rotary transformer, rotary transformer 5 to be solved using decoding chip 8
Code.The output angle signal of decoding chip 8 has two kinds of forms：SPI signal output motor rotor absolute position, quadrature coding pulse
ABZ incremental position signals.Zero correction software section is to either way there is consideration in the present invention.Used in specific embodiment
SPI signal reads rotor real time position.
By rotor zero-bit self learning system according to being attached shown in Fig. 1 structure charts.After power supply is powered, whole system
It is in running order.Principal function initialization is carried out after electricity on MCU single-chip microcomputers 6, as shown in Figure 3.
Each pin function is initialized first；Then initialization bus messaging parameter, is easy to and handheld diagnostic instrument reality
Now communicate；Then from on-chip memory FLASH reading angular zero offset AngleOffset, this value is not carrying out zero point school
For the first time write on-chip memory FLASH is defaulted as 0 before just.Then init state flag bit Lsw=2, that is, give tacit consent to upper electricity shape
State is motor normal work power-assisted state.Angle intermediate variable ThetaOld and ThetaNew is initialized to 0.Then motor pole
Logarithm and its dependent variable are initialized.Then configure electric current loop to interrupt, regularly enter and interrupt control.
Electric current loop software interrupt flow chart is as shown in Figure 4.
Due to power-up initializing state flag bit Lsw=2, therefore interrupt control acquiescence into motor normal work power-assisted shape
State.
Electric current loop interrupts sample motor A/B biphase currents Ia_pu/Ib_pu first, and through Clark three phase static of changing commanders is become
Coordinate system electric current Ia_pu/Ib_pu is transformed into two-phase rest frame electric current I α _ pu/I β _ pu.According to flow process Fig. 4, calculate first
Electromechanics angle.Rotor mechanical angle is equal to SPI communication and deducts from the real-time angular signal that decoding chip reading comes
Angle zero offset AngleOffset.Due to motor control need use rotor electric angle θ, electric angle θ by turn
Sub- mechanical angle is obtained with the product of motor number of pole-pairs.Because permagnetic synchronous motor is using FOC controls, therefore the biphase rotation of assignment
D-axis instruction current IdRef_pu=0 under coordinate system, quadrature axis instruction current IqRef_pu=Itorq_pu, with reference to motor electric angle
θ becomes the two-phase rest frame electric current I α _ pu/I β _ pu that changes commanders and is converted to two-phase rotating coordinate system electric current Idfdb_pu/ through Park
Iqfdb_pu.Wherein, Itorq_pu is operated under normal power-assisted state by torque sensor institute measuring moment through tabling look-up for motor
The control electric current being converted, as long as torsion torque sensor is not deformed upon after centering correction, power-assisted electric current Itorq_pu is with regard to one
Straight is 0.Then two-phase rotating coordinate system is given an order electric current IdRef_pu/IqRef_pu and feedback current Idfdb_pu/
Iqfdb_pu after the output of maximum amplitude limit, obtains straight, quadrature axis under two-phase rotating coordinate system respectively through two PI adjustment modules
Command voltage Vd_pu and Vq_pu.Vd_pu and Vq_pu becomes biphase rotational coordinates of changing commanders with reference to motor electric angle θ through Ipark
It is that voltage Vd_pu/Vq_pu is converted to two-phase rest frame voltage V α _ pu/V β _ pu.Then two-phase rest frame voltage V
α _ pu/V β _ pu through SVPWM conversion output three-phase dutycycle to power driving circuit, is switched again by 6 to upper and lower bridge arm
Management and control system carrys out motor rotation.Normal condition is carried out under demarcation state, due to empty load of motor on a production line to motor zero-bit
And torsion torque sensor is not operated and will not produce deformation, therefore torque current Itorq_pu is 0, i.e., for motor control is come
Say that straight, quadrature axis instruction current IdRef_pu, IqRef_pu are 0, therefore motor is in static not controlled state.Now avoid
The uncontrollable state such as motor rotation blockage or interim card caused by motor rotor position mistake in the case of not corrected due to motor zero-bit
Occur.
State flag bit Lsw=1, the virtual speed closed loop state of motor.
According to flow process Fig. 4, after current of electric sampling and Clark conversion, ramp function is carried out first and is referred to
Make assignment.Ramp function input instruction Ramp_Target is assigned the rotating speed of target set-point of motor speed virtual closed loop
Speedref_pu, between general span 0.15 ~ 0.5.Then speed output is referred to by ramp function Ramp_ctrl ()
Value Rmp_freq is made to start to progressively increase to target set-point Ramp_Target in the form of a slope from 0.Then by speed
Output order Rmp_freq input angle generating function Ramp_Gen (), by calculating the raw cycle at an angle with target speed
Degree instruction Ramp_Target consistent virtual angle Rmp_out of motor.Then virtual angle Rmp_out is assigned to into motor
Electric angle θ, for doing FOC vectors.Then d-axis instruction current IdRef_pu=0 under assignment two-phase rotating coordinate system,
Quadrature axis instruction current IqRef_pu=0.2（Depending on occurrence need to be according to real electrical machinery, general value 0.05 ~ 0.3）.Then pass through
Park conversion obtain two-phase rotating coordinate system electric current Idfdb_pu/Iqfdb_pu, then again through PI adjust, Ipark conversion,
SVPWM conversion generates the rotation of Duty ratio control motor.Because this Lsw=1 states are given fixed quadrature axis instruction current IqRef_
Pu=0.2, and it is to instruct Speedref_pu through ramp function and angle according to rotating speed of target to do the motor angle of vector
Virtual motor angle Rmp_out consistent with the change of rotating speed of target instruction cycle that generating function is generated, therefore with FOC
Adjust the different dutycycle meeting controlled motor of output to rotate according to target instruction target word is turned.This state is for using quadrature coding pulse
ABZ signals carry out angle signal collection decoding be it is necessary, i.e., carry out it is necessary before Lsw=0 states carry out zero point angle biasing
First pass through the virtual speed closed loop states of Lsw=1.Only after motor rotated through at least one electric cycle, pulse Z signal just meetings
A clear operation is carried out to AB signals, so as to the relative position signal measured by AB signals after just can guarantee that is accurate.
If first not allowing motor to turn at least one electric cycle before zero correction state is carried out, the relative position letter measured by AB
Number can not represent real motor zero offset signal.Because SPI signal reads motor rotor position information used in this example,
Outgoing position signal is absolute position signal, there is no the error condition of relative signal, therefore Lsw=1 states can be standby as one
With state, can not run.
State flag bit Lsw=0, motor zero positioning states.
According to Fig. 4, current of electric sampling and Clark conversion are carried out first.Because motor zero position is defined on two
On cordic phase rotator system d-axis, therefore need for quadrature axis current axis demand IqRef_pu to be entered as 0 in motor zero positioning states,
The positive current-order IdRef_pu=0.1 of given d-axis one（Depending on occurrence need to be according to real electrical machinery, general value 0.05 ~
0.3）, then by the direct pressure assignments of motor electric angle θ be 0, through Park, PI, Ipark, SVPWM it is a series of change alternatively
Afterwards, export a constant dutycycle and move rotor to software instruction given zero-bit state.Then angular error is performed
Relatively operate, i.e., first angle intermediate variable ThetaNew is assigned to into ThetaOld, then again read SPI communication from decoding chip
The real-time absolute position signal of motor fetched is assigned to ThetaNew.Relatively ThetaNew and ThetaOld errors, when error it is little
Assert that rotor has navigated to dead-center position, is assigned to motor angle zero point inclined by ThetaNew now when 0.05 degree
AngleOffset is put, is finally 3 by Lsw mark positions.
It is as shown in Figure 5 that diagnostic apparatuses carry out motor zero correcting process.
Handheld diagnostic instrument 1 selects motor zero calibration function, and by bus protocol and MCU single-chip microcomputers 6 communication connection is set up,
The state flag bit Lsw in MCU single-chip microcomputers 6 is demarcated as into 1 after successful connection, MCU after success is demarcated and is virtually turned motor is run
Fast closed loop program.
After the virtual speed closed loop program of motor is run 4 seconds, handheld diagnostic instrument 1 sends order to state flag bit Lsw automatically
Demarcated, calibration value is 0.After demarcating success, the actuating motor zero-point positioning program of MCU single-chip microcomputers 6.
After the virtual speed closed loop program of motor is run 3 seconds, handheld diagnostic instrument 1 sends and obtains motor zero correcting state automatically
Order.After obtaining success, state flag bit Lsw values represent motor zero correction and terminate for 3.
After motor zero correction terminates, handheld diagnostic instrument 1 will send bus signals and being write for MCU single-chip microcomputers 6 deposit on piece
Reservoir FLASH flag bits are demarcated.Demarcate hand-held diagnostic apparatuses 1 after success and will obtain current motor zero Offset values, and
Recorded, then IG signals are set to OFF state by handheld diagnostic instrument 1.
After IG signal OFF states continue 3 seconds, IG signals are set to ON states by handheld diagnostic instrument 1.It is hand-held to examine after waiting 2 seconds
Disconnected instrument 1 will obtain the motor zero Offset values after re-powering, and record.Offset will be compared twice, value is consistent then
Show " correcting successfully ", and show Offset values twice；Value is inconsistent then to show " correction failure ", and shows Offset twice
Value.IG signals are set to OFF state by last handheld diagnostic instrument 1.Then again state flag bit is set to into Lsw=2 and gives tacit consent to power-assisted shape
State.
In handheld diagnostic instrument 1 and the communication process of MCU single-chip microcomputers 6, the such as feedback-less of MCU single-chip microcomputers 6, then handheld diagnostic instrument 1
The printed words of " communication failure " will be shown, and IG signals will be put into OFF state.
In sum, electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system of the invention, based on hand-held
Diagnostic apparatuses, solve current rotor and dispatch from the factory zero correction error big, bearing calibration poor universality and to instrument and occasion
The problem of restriction, as long as handheld diagnostic instrument, ECU controllers, a motor and a power supply, using handss
The advantage of diagnostic apparatuses is held, rotor zero-bit school can be carried out simultaneously on the station to calibration with current signal on EPS assembling line
Just, improve production efficiency.
Embodiments of the invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, it is every using this
Equivalent structure or equivalent flow conversion that bright description is made, or directly or indirectly it is used in other related technology necks
Domain, is included within the scope of the present invention.
Claims (10)
1. a kind of electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system, it is characterised in that including handheld diagnostic
Instrument, power supply, ECU controllers, permagnetic synchronous motor and rotary transformer, described power supply enters to ECU controllers
Row power supply, described ECU controllers include MCU single-chip microcomputers, power driving circuit and decoding chip, described handheld diagnostic instrument with
MCU single chip communications connect, and described MCU single-chip microcomputers export 6 road pwm signals to power driving circuit, described power drive
Circuit is connected with permagnetic synchronous motor, and described permagnetic synchronous motor is co-axially mounted with rotary transformer, described decoding core
Piece is connected with each other with rotary transformer, and described decoding chip is in communication with each other with MCU single-chip microcomputers.
2. electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system according to claim 1, its feature exists
In being connected using bus communication between described handheld diagnostic instrument and MCU single-chip microcomputers.
3. electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system according to claim 2, its feature exists
In described handheld diagnostic instrument carries out communications protocol demarcation to the state flag bit of MCU single-chip microcomputers by bus signals, obtains school
The parameter of timing, diagnoses to parameter, final to judge correction result.
4. electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system according to claim 1, its feature exists
In described MCU single-chip microcomputers are responsible for performing the relevant software algorithm of all motor controls and motor self-learning algorithm, by right
Angle signal carries out FOC victor chan ge controls with current signal, and 6 road pwm signals of output to power driving circuit, control power drives
The break-make of 6 switching tubes on galvanic electricity road.
5. electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system according to claim 4, its feature exists
In 3 on described power driving circuit lead-out terminal is connected respectively with the U/V/W tri- of permagnetic synchronous motor, by right
6 switching tubes of power driving circuit carry out rational on-off control, can drive the rotation of permagnetic synchronous motor.
6. electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system according to claim 1, its feature exists
In described decoding chip produces a pumping signal and inputs to rotary transformer after being powered, rotary transformer is turned due to motor
The permanent magnet induction effect of son can produce the sinusoidal signal and cosine signal for representing rotor position information, then decode core defeated time again
Piece.
7. electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system according to claim 6, its feature exists
In described decoding chip is carried out after inner decoding to sinusoidal signal and cosine signal, output rotor real-time position signal to MCU
Single-chip microcomputer is used for FOC vector controlleds.
8. electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system according to claim 7, its feature exists
In the described rotor-position signal way of output has two kinds：SPI is exported and ABZ signal outputs.
9. electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system according to claim 1, its feature exists
In, on-chip memory FLASH is additionally provided with described MCU single-chip microcomputers, for depositing specific parameter and program, keep data
Power-fail memory function.
10. electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system according to claim 1, its feature exists
In described permagnetic synchronous motor is integrated mounting structure with rotary transformer.
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| CN201611233106.1A CN106602957A (en) | 2016-12-28 | 2016-12-28 | Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor |
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| CN201611233106.1A CN106602957A (en) | 2016-12-28 | 2016-12-28 | Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN107942249A (en) * | 2017-12-29 | 2018-04-20 | 深圳市正德智控股份有限公司 | Electric machine testing device and method |
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| CN112671278A (en) * | 2021-01-08 | 2021-04-16 | 中国船舶重工集团公司第七0七研究所 | Permanent magnet synchronous motor rotor magnetic field detection circuit and detection positioning method |
| CN116155170A (en) * | 2023-04-19 | 2023-05-23 | 广东科伺智能科技有限公司 | Servo diagnosis method, apparatus, device and readable storage medium |
| CN116155170B (en) * | 2023-04-19 | 2023-08-04 | 广东科伺智能科技有限公司 | Servo diagnosis method, apparatus, device and readable storage medium |
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