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 PDF

Info

Publication number
CN106602957A
CN106602957A CN201611233106.1A CN201611233106A CN106602957A CN 106602957 A CN106602957 A CN 106602957A CN 201611233106 A CN201611233106 A CN 201611233106A CN 106602957 A CN106602957 A CN 106602957A
Authority
CN
China
Prior art keywords
synchronous motor
mcu
zero
chip
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201611233106.1A
Other languages
Chinese (zh)
Inventor
吕艳博
张光耀
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hite Automotive Technology (suzhou) Co Ltd
Original Assignee
Hite Automotive Technology (suzhou) Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hite Automotive Technology (suzhou) Co Ltd filed Critical Hite Automotive Technology (suzhou) Co Ltd
Priority to CN201611233106.1A priority Critical patent/CN106602957A/en
Publication of CN106602957A publication Critical patent/CN106602957A/en
Pending legal-status Critical Current

Links

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

A kind of electric power steering permanent-magnetic synchronous motor rotor zero-bit self learning system
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.
CN201611233106.1A 2016-12-28 2016-12-28 Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor Pending CN106602957A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611233106.1A CN106602957A (en) 2016-12-28 2016-12-28 Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611233106.1A CN106602957A (en) 2016-12-28 2016-12-28 Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor

Publications (1)

Publication Number Publication Date
CN106602957A true CN106602957A (en) 2017-04-26

Family

ID=58604822

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611233106.1A Pending CN106602957A (en) 2016-12-28 2016-12-28 Zero-position self-learning system for electronic-power-steering permanent-magnet synchronous motor rotor

Country Status (1)

Country Link
CN (1) CN106602957A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108622075A (en) * 2018-05-14 2018-10-09 安徽江淮汽车集团股份有限公司 The rotation of hybrid vehicle becomes self learning system and method
CN109654988A (en) * 2018-11-01 2019-04-19 汉宇集团股份有限公司 Motor in electric automobile position detection method of calibration and system, electric car

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007151251A (en) * 2005-11-25 2007-06-14 Jtekt Corp Motor control device and electric power steering device
CN102780441A (en) * 2011-05-10 2012-11-14 北京超力锐丰科技有限公司 Scheme and method for determining zero position of permanent magnet synchronous motor for automobile EPS (Electric Power Steering) system
CN102923189A (en) * 2012-10-11 2013-02-13 吉林大学 Controller and control method for electric power steering system based on permanent magnet synchronous motor
CN105897105A (en) * 2016-04-27 2016-08-24 广州橙行智动汽车科技有限公司 Motor resolver detection and conditioning circuit and resolver initial position self-detection and self-updating method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007151251A (en) * 2005-11-25 2007-06-14 Jtekt Corp Motor control device and electric power steering device
CN102780441A (en) * 2011-05-10 2012-11-14 北京超力锐丰科技有限公司 Scheme and method for determining zero position of permanent magnet synchronous motor for automobile EPS (Electric Power Steering) system
CN102923189A (en) * 2012-10-11 2013-02-13 吉林大学 Controller and control method for electric power steering system based on permanent magnet synchronous motor
CN105897105A (en) * 2016-04-27 2016-08-24 广州橙行智动汽车科技有限公司 Motor resolver detection and conditioning circuit and resolver initial position self-detection and self-updating method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108622075A (en) * 2018-05-14 2018-10-09 安徽江淮汽车集团股份有限公司 The rotation of hybrid vehicle becomes self learning system and method
CN109654988A (en) * 2018-11-01 2019-04-19 汉宇集团股份有限公司 Motor in electric automobile position detection method of calibration and system, electric car
CN109654988B (en) * 2018-11-01 2021-04-13 汉宇集团股份有限公司 Electric automobile motor position detection and verification method and system and electric automobile

Similar Documents

Publication Publication Date Title
CN103731084B (en) The low inverter power consumption direct torque control of permanent-magnet synchronous motor and device
JP5423759B2 (en) Motor control device and electric power steering device using the same
JP5353867B2 (en) Rotating machine control device
CN103534929B (en) The drive system of synchronous motor
US8040096B2 (en) Rotary electric system with star-connected multiphase stator windings
US8471504B2 (en) Motor controller and electric power steering system
CN100418298C (en) Permanent-magnet synchronous motor rotor position sensing method and position sensing device
JP4429338B2 (en) Motor control device, current detection unit
AU2013306382B2 (en) System and method for error correction in angular position sensors
US7589486B2 (en) Control system for multiphase rotary electric machines
CN101677223B (en) Drive system of synchronous motor
JP4434184B2 (en) Method and apparatus for feedback control of electric motor
CN101594114B (en) Method for determining initial position angle of rotor of permanent magnet synchronous motor
JP4230276B2 (en) Brushless DC motor control device
JP3419725B2 (en) Position sensorless motor controller
US6465975B1 (en) Method and system for controlling torque in permanent magnet brushless electric motors
CN101449456B (en) Electromotor driving device and compressor driving device
CN104221274B (en) Three-phase synchronous motor driving means
CN101174811B (en) Electric motor control method and device adopting space vector pulse width modulation
CN105915135B (en) Motor control method based on dead beat optimization with double vector model predictions
CN103701382B (en) A kind of permagnetic synchronous motor electric current loop bandwidth expansion means based on FPGA
CN103414427B (en) Brushless direct current motor control method
JP5167717B2 (en) Motor drive control device and electric power steering device using motor drive control device
US8866433B2 (en) Switched reluctance initial rotor position estimation
JP5172286B2 (en) Motor control device and control device for hybrid vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20170426