CN106712603A - DC permanent magnet brush motor controller for small electric warehousing vehicle steering system - Google Patents
DC permanent magnet brush motor controller for small electric warehousing vehicle steering system Download PDFInfo
- Publication number
- CN106712603A CN106712603A CN201710006332.4A CN201710006332A CN106712603A CN 106712603 A CN106712603 A CN 106712603A CN 201710006332 A CN201710006332 A CN 201710006332A CN 106712603 A CN106712603 A CN 106712603A
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- China
- Prior art keywords
- steering
- controller
- vehicle
- permanent magnet
- magnet brush
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- 230000003993 interaction Effects 0.000 claims abstract description 7
- 230000035945 sensitivity Effects 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
- H02P7/08—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by manual control without auxiliary power
- H02P7/14—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by manual control without auxiliary power of voltage applied to the armature with or without control of field
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a DC permanent magnet brush motor controller for a small electric warehousing vehicle steering system. The DC permanent magnet brush motor controller comprises a steering controller in data interaction with a walking controller of a vehicle. The steering controller is connected with and controls a steering motor of the vehicle, and enables a walking rubber wheel to steer through a speed reducer and a reduction gear disk in sequence; the steering controller controls the steering motor according to rotation magnitude and direction of a steering instruction sensor; a position feedback sensor on a rotor shaft of the steering motor feeds back the position of a steering wheel to the steering controller, thereby realizing closed-loop control of handle position and steering wheel position; and a proximity switch arranged on the gear disk provides a known zero reference signal for position calculation of the steering controller. The walking controller limits vehicle driving speed according to the turning angle, and the steering controller changes turning sensitivity according to the driving speed, thereby improving comfortableness of vehicle driving, providing cost advantage for market popularization of the small electric warehousing vehicle steering system, and improving reliability.
Description
Technical field
The present invention relates to electric vehicle steering, more particularly to a kind of direct current of small-sized electric storage car steering is forever
Magnetic brush motor controller.
Background technology
The steering of fork truck mainly have surge, air-power steering and electric power steering, electric power steering because
With simple structure, light, easy to maintenance, pollution-free, electri forklift field increasingly extensive use at home is operated.But
For small-sized electric storage vehicle application, electric power steering is seldom used in the market, because the electricity on domestic and international market
What steering was commonly used is exchange steering motor and alternating current steering controller, and its system cost is high, and control technology is multiple
It is miscellaneous, suitable for application on small-sized electric storage vehicle, it is difficult to be received by domestic market.
The content of the invention
The present invention seeks to：There is provided a kind of reliability high, easy to operate, cost is relatively low, turn for small-sized electric storage car
To the DC permanent magnet brush electric machine controller of system.
The technical scheme is that：
A kind of DC permanent magnet brush electric machine controller of small-sized electric storage car steering, including by CAN and vehicle
Traveling controller carry out the steering controller of data interaction, the steering motor of the steering controller connection control vehicle, according to
It is secondary to turn to walking rubber wheel by steering motor decelerator and reducing gear wheel disc, it is also respectively connected with the steering controller
Have：
Steering order sensor, on joystick axle, the size and Orientation information that joystick is rotated is sent to and is turned
To controller；
Position feedback transducer, on steering motor armature spindle, steering controller is fed back to by the position of deflecting roller, is realized
Closed-loop control to joystick position and steer wheel position；
Zero-bit proximity switch, on toothed disc, known zero reference signal is provided for steering controller calculates position.
The traveling controller limits vehicle to run speed according to angle of turn, steering controller according to walking speed come
Change steering sensitivity.
Preferably, the steering controller uses single-chip microcomputer.
Preferably, the single-chip microcomputer output PWM, drives steering motor to rotate by power device.
Preferably, the single-chip microcomputer connects the interlock switch of vehicle, interlock switch once closing, and single-chip microcomputer is begun to one
The PWM outputs of individual fixation, drive steering motor to look for zero signal, and zero-bit proximity switch senses right on toothed disc
After the bonding jumper answered, steering position is in zero-bit state；Single-chip microcomputer further according to input steering command signals and position feed back signal,
PID regulations are carried out, deflecting roller is reached target location.
Preferably, the single-chip microcomputer also monitors steering motor electric current by current detection circuit, carries out PID regulations, when
When steering controller breaks down, the main contactor of vehicle will be disconnected by closing fault output driving.
Preferably, the single-chip microcomputer is also associated with state LED, when steering controller breaks down, by controller
Indicating fault output port driving condition LED, or by serial communication by external dedicated programmable device read failure code.
It is an advantage of the invention that：
1. DC permanent magnet brush steering controller of the invention carries out data interaction by CAN communication and traveling controller, makes row
Walking controller can limit vehicle to run speed according to angle of turn, and steering controller can change according to walking speed and turn
To sensitivity, so as to improve the comfortableness for driving vehicle.
2. DC permanent magnet brush steering controller of the invention be small-sized electric storage car steering marketing carry
Supply cost advantage, and substantially increase the comfortableness and reliability of vehicle drive, it is easy to operate, facilitate after sale.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 is DC permanent magnet brush motor steering system block diagram of the present invention；
Fig. 2 is the structure principle chart of steering controller of the present invention；
Fig. 3 is the control flow chart of steering controller of the present invention；
Fig. 4 is the physical cabling figure of steering controller in embodiment.
Specific embodiment
The DC permanent magnet brush motor control of car steering as shown in figure 1, disclosed small-sized electric is stored in a warehouse
Device, including the steering controller of data interaction is carried out with the traveling controller of vehicle by CAN, the steering controller connects
The steering motor of control vehicle is connect, sequentially passing through steering motor decelerator and reducing gear wheel disc turns to walking rubber wheel, described
Steering order sensor, position feedback transducer and zero-bit proximity switch have been also respectively connected with steering controller.
Operation principle：When joystick rotation direction, the steering order sensor rotation in Handle axis is driven,
Steering controller controls steering motor according to the size and Orientation of steering order sensor rotation, by reducing gear（Turn to
Motor reducer and toothed disc）Turn to walking rubber wheel, the position feedback transducer on steering motor armature spindle will
The position of deflecting roller feeds back to steering controller, the closed-loop control to handle position and steer wheel position is realized, installed in gear
Proximity switch on disk provides known zero reference signal for steering controller calculates position（Suitable for encoder as position
Feedback device）.Data interaction can be carried out by CAN communication and traveling controller in addition, allow traveling controller according to turn
Bending angle limits vehicle to run speed, and steering controller can change steering sensitivity according to walking speed, so as to improve
Drive the comfortableness of vehicle.
As shown in Fig. 2 being the structure principle chart of steering controller.The steering controller uses single-chip microcomputer.The monolithic
Machine exports PWM, drives steering motor to rotate by power device.Key switch closure on vehicle, changes by linear power supply
Output+3.3V ,+15V and outside+5V, power to single-chip microcomputer, power device, outside steering and position sensor respectively.
The single-chip microcomputer connects the interlock switch of vehicle, as shown in figure 3, the interlock switch on vehicle is once closed, monolithic
Machine begins to be exported with a fixed PWM, drives steering motor to look for zero signal, and zero-bit proximity switch senses installation
After corresponding bonding jumper on toothed disc, steering position is in zero-bit state.Single-chip microcomputer further according to input steering command signals and
Position feed back signal, carries out PID regulations, deflecting roller is reached target location exactly, i.e. position/velocity close-loop control.
As shown in figure 4, being the physical cabling figure of certain steering controller, controller parameter is as follows：
Rated voltage：24V
Rated current：40A
Control model：Absolute position Schema control
Working frequency：PWM 15.6KHZ
Communication modes：CAN, serial ports
The complementary analog sensor of binary channels is supported in steering order input
Corner feed back input supports orthogonal encoder or the two kinds of sensor of analog quantity.
With reference to Fig. 2, the single-chip microcomputer monitors current of electric by current detection circuit, carries out PID regulations, i.e. electric current
Closed-loop control.When steering controller breaks down, the main contactor of vehicle will be disconnected by closing fault output driving, stopped
Only vehicle, it is ensured that safety traffic.Single-chip microcomputer also may be used also by the indicating fault output port driving condition LED of controller
, by external dedicated programmable device read failure code, man-machine interaction is realized with by serial communication, be easy to after-sales service.Watchdog circuit
Can be with the operation of monitor in real time SCM program, once program operation error, can reset single-chip microcomputer immediately, it is ensured that program is run
Safety.
The above embodiments merely illustrate the technical concept and features of the present invention, its object is to allow person skilled in the art
Will appreciate that present disclosure and implement according to this, it is not intended to limit the scope of the present invention.It is all main according to the present invention
The modification for wanting the Spirit Essence of technical scheme to be done, should all be included within the scope of the present invention.
Claims (7)
1. a kind of small-sized electric is stored in a warehouse the DC permanent magnet brush electric machine controller of car steering, it is characterised in that：Including passing through
CAN carries out the steering controller of data interaction, the steering controller connection control vehicle with the traveling controller of vehicle
Steering motor, sequentially pass through steering motor decelerator and reducing gear wheel disc turn to walking rubber wheel, the steering controller
On be also respectively connected with：
Steering order sensor, on joystick axle, the size and Orientation information that joystick is rotated is sent to and is turned
To controller；
Position feedback transducer, on steering motor armature spindle, steering controller is fed back to by the position of deflecting roller, is realized
Closed-loop control to joystick position and steer wheel position；
Zero-bit proximity switch, on toothed disc, known zero reference signal is provided for steering controller calculates position.
2. small-sized electric according to claim 1 is stored in a warehouse the DC permanent magnet brush electric machine controller of car steering, and it is special
Levy and be：The traveling controller limits vehicle to run speed according to angle of turn, steering controller according to walking speed come
Change steering sensitivity.
3. small-sized electric according to claim 1 is stored in a warehouse the DC permanent magnet brush electric machine controller of car steering, and it is special
Levy and be：The steering controller uses single-chip microcomputer.
4. small-sized electric according to claim 3 is stored in a warehouse the DC permanent magnet brush electric machine controller of car steering, and it is special
Levy and be：The single-chip microcomputer exports PWM, drives steering motor to rotate by power device.
5. small-sized electric according to claim 4 is stored in a warehouse the DC permanent magnet brush electric machine controller of car steering, and it is special
Levy and be：The single-chip microcomputer connects the interlock switch of vehicle, interlock switch once closing, and single-chip microcomputer begins to fixed with one
PWM is exported, and drives steering motor to look for zero signal, and zero-bit proximity switch senses the corresponding metal on toothed disc
After bar, steering position is in zero-bit state；Single-chip microcomputer carries out PID further according to input steering command signals and position feed back signal
Regulation, makes deflecting roller reach target location.
6. small-sized electric according to claim 3 is stored in a warehouse the DC permanent magnet brush electric machine controller of car steering, and it is special
Levy and be：The single-chip microcomputer also monitors steering motor electric current by current detection circuit, carries out PID regulations, works as course changing control
When device breaks down, the main contactor of vehicle will be disconnected by closing fault output driving.
7. small-sized electric according to claim 6 is stored in a warehouse the DC permanent magnet brush electric machine controller of car steering, and it is special
Levy and be：The single-chip microcomputer is also associated with state LED, when steering controller breaks down, by the indicating fault of controller
Output port driving condition LED, or by serial communication by external dedicated programmable device read failure code.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006332.4A CN106712603A (en) | 2017-01-05 | 2017-01-05 | DC permanent magnet brush motor controller for small electric warehousing vehicle steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006332.4A CN106712603A (en) | 2017-01-05 | 2017-01-05 | DC permanent magnet brush motor controller for small electric warehousing vehicle steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106712603A true CN106712603A (en) | 2017-05-24 |
Family
ID=58906776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710006332.4A Pending CN106712603A (en) | 2017-01-05 | 2017-01-05 | DC permanent magnet brush motor controller for small electric warehousing vehicle steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106712603A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112196002A (en) * | 2020-09-29 | 2021-01-08 | 徐工集团工程机械股份有限公司科技分公司 | Friction positioning type electric steering control system and method for loader |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203482125U (en) * | 2013-08-30 | 2014-03-12 | 浙江师范大学 | Permanent-magnet synchronous traction motor control device for warehouse tramcars |
| CN203666419U (en) * | 2014-02-09 | 2014-06-25 | 黑龙江工业学院 | Logistics warehouse trolley with tracking function |
| CN104228937A (en) * | 2014-08-26 | 2014-12-24 | 苏州市职业大学 | Dual-mode control electronic power steering system for industrial vehicle |
| CN206585491U (en) * | 2017-01-05 | 2017-10-24 | 科蒂斯技术（苏州）有限公司 | A kind of DC permanent magnet brush electric machine controller of small-sized electric storage car steering |
-
2017
- 2017-01-05 CN CN201710006332.4A patent/CN106712603A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203482125U (en) * | 2013-08-30 | 2014-03-12 | 浙江师范大学 | Permanent-magnet synchronous traction motor control device for warehouse tramcars |
| CN203666419U (en) * | 2014-02-09 | 2014-06-25 | 黑龙江工业学院 | Logistics warehouse trolley with tracking function |
| CN104228937A (en) * | 2014-08-26 | 2014-12-24 | 苏州市职业大学 | Dual-mode control electronic power steering system for industrial vehicle |
| CN206585491U (en) * | 2017-01-05 | 2017-10-24 | 科蒂斯技术（苏州）有限公司 | A kind of DC permanent magnet brush electric machine controller of small-sized electric storage car steering |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112196002A (en) * | 2020-09-29 | 2021-01-08 | 徐工集团工程机械股份有限公司科技分公司 | Friction positioning type electric steering control system and method for loader |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170524 |
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| RJ01 | Rejection of invention patent application after publication |