CN108306563A - Brake system driver - Google Patents
Brake system driver Download PDFInfo
- Publication number
- CN108306563A CN108306563A CN201810113882.0A CN201810113882A CN108306563A CN 108306563 A CN108306563 A CN 108306563A CN 201810113882 A CN201810113882 A CN 201810113882A CN 108306563 A CN108306563 A CN 108306563A
- Authority
- CN
- China
- Prior art keywords
- brake system
- system driver
- permanent magnet
- synchronous motor
- magnet synchronous
- 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
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Abstract
The present invention provides a kind of brake system driver, system of the invention selects high performance permanent magnet synchronous motor to overcome the dependence to hydraulic system as the executing agency of driver, significantly mitigates weight, the volume of brake system.In addition, building the power inverter of independent H-bridge structure using double IPM modules, redundancy, the reliability of system can be improved.The driver of the present invention can rapidly and accurately complete given instruction.
Description
Technical field
The present invention relates to a kind of brake system drivers.
Background technology
The development of automotive electronics is maked rapid progress, but braking safety is focus of people's attention always.It is with hydraulic oil
There are too many drawbacks for the hydraulic brake system of driving medium, are difficult to be greatly improved in these defect short time.
Invention content
The purpose of the present invention is to provide a kind of brake system drivers, can stop by the hydraulic pressure of driving medium of hydraulic oil
There is too many drawback in vehicle system.
To solve the above problems, the present invention provides a kind of brake system driver, including：
Permanent magnet synchronous motor；
The power inverter being connect with the permanent magnet synchronous motor, the power inverter are built solely using double IPM modules
Vertical H bridge structures；
The controller being connect with the permanent magnet synchronous motor.
Further, in above-mentioned brake system driver, the power inverter includes two IPM, wherein every
IPM is integrated with six IGBT pipes, and 12 IGBT pipes form 3 independent H bridges altogether, and each H bridges are separately controlled independently of each other.
Further, in above-mentioned brake system driver, the controller uses genetic algorithm, to the position of brake system
It sets ring regulator parameter and optimizes and adjust.
Further, in above-mentioned brake system driver, the material of the permanent magnet synchronous motor is rare earth permanent-magnetic material.
Further, in above-mentioned brake system driver, the controller uses microprocessor and application-specific integrated circuit.
Further, in above-mentioned brake system driver, the microprocessor and application-specific integrated circuit include：Number letter
Number processor and field programmable gate array.
Further, in above-mentioned brake system driver, the controller use vector controlled method.
Further, in above-mentioned brake system driver, the method for the vector controlled includes：
It is controlled using flux linkage orientation, exciting current and torque current is decoupled by calculating, handle to reach respectively
To the effect of similar direct current generator.
Compared with prior art, the present invention is by selecting high performance permanent magnet synchronous motor to be used as the execution machine of driver
Structure overcomes the dependence to hydraulic system, significantly mitigates weight, the volume of brake system.In addition, being built using double IPM modules
The power inverter of independent H-bridge structure can improve redundancy, the reliability of system.The driver of the present invention can be quickly accurate
Really complete given instruction.
Description of the drawings
Fig. 1 is the system the general frame of one embodiment of the invention；
Fig. 2 is the control system block diagram of one embodiment of the invention；
Fig. 3 is the control circuit schematic diagram of one embodiment of the invention；
Fig. 4 is the genetic algorithm flow chart of one embodiment of the invention；
Fig. 5 is the performance requirement figure of one embodiment of the invention；
Fig. 6 is one embodiment of the invention based on traditional PID adjustment step response diagram；
Fig. 7 is the response diagram after the genetic algorithm of one embodiment of the invention is adjusted；
Fig. 8 is the continuous step response diagram of one embodiment of the invention；
Fig. 9-13 be one embodiment of the invention input instruction be 1-5Hz, ± 2.5mm sine wave when response diagram；
Figure 14 is the 5Hz response enlarged drawings of one embodiment of the invention.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
As shown in Figure 1, the present invention provides a kind of brake system driver, including：
Permanent magnet synchronous motor；
The power inverter being connect with the permanent magnet synchronous motor, the power inverter are built solely using double IPM modules
Vertical H bridge structures；
The controller being connect with the permanent magnet synchronous motor.
Here, using hydraulic oil as the hydraulic brake system of driving medium, there are too many drawbacks, in these defect short time
It is difficult to be greatly improved, and all-electric braking system is following developing direction of vehicle electric field, using electromechanical actuator
For the executing agency of brake, it will thoroughly change everything.For current vehicle hydraulic pressure brake system there are the drawbacks of propose it is a kind of
The electrical brake mode of high dynamic high reliability.The system of the present invention selects high performance permanent magnet synchronous motor as driver
Executing agency overcomes the dependence to hydraulic system, significantly mitigates weight, the volume of brake system.In addition, using double IPM moulds
Block builds the power inverter of independent H-bridge structure, can improve redundancy, the reliability of system.The driver of the present invention can
Rapidly and accurately complete given instruction.
In one embodiment of brake system driver of the present invention, the power inverter includes two IPM, wherein every
IPM is integrated with six IGBT pipes, and 12 IGBT pipes form 3 independent H bridges altogether, and each H bridges are separately controlled independently of each other, only
There are a H bridges that can just permanent magnet synchronous motor be made to work, substantially increases the reliability of system.
In one embodiment of brake system driver of the present invention, the controller uses genetic algorithm, to brake system
Position ring regulator parameter optimize and is adjusted.
Here, it is empirical to determine that the parameter of positioner carries by engineering method, since the complexity of system compares
Height, the pid parameter determined according to conventional method is frequently not optimal solution, cannot give full play to the performance of system.To biosystem
Computer Simulation is carried out, develops obtaining genetic algorithm based on Darwinian natural selection.Using genetic algorithm to pid parameter
It is a kind of to seek globally optimal solution and the optimization method unrelated with primary condition to adjust with optimization.For the controlling of brake system
Can, the position ring regulator parameter of brake system with genetic algorithm optimize and is adjusted.
In one embodiment of brake system driver of the present invention, the material of the permanent magnet synchronous motor is rare earth permanent magnet material
Material.
Here, newest rare earth permanent-magnetic material has than the residual magnetic flux density of previous bigger, coercive force and maximum magnetic flux
Energy product, the permanent magnet synchronous motor made with it, performance is more excellent, the response frequency of superelevation, good low-speed stability, broadness
Speed adjustable range, harder mechanical property, superpower overload capacity etc., fully meet requirement of this system to servo motor.
In one embodiment of brake system driver of the present invention, the controller uses microprocessor and special integrated electricity
Road.
Here, realize digitlization using microprocessor and application-specific integrated circuit, control accuracy is continuously improved, no longer easily by
To interference.
In one embodiment of brake system driver of the present invention, the microprocessor and application-specific integrated circuit include：DSP
(digital signal processor) and CPLD (field programmable gate array).
The present invention one embodiment of brake system driver in, the controller use vector controlled method.
In one embodiment of brake system driver of the present invention, the method for the vector controlled includes：
It is controlled using flux linkage orientation, exciting current and torque current is decoupled by calculating, handle to reach respectively
To the effect of similar direct current generator.
The electrical brake driver for the high dynamic high reliability that patent of the present invention provides includes the design of three aspects：
1) driving circuit is built；
2) control algolithm programming is realized；
3) control parameter is adjusted.
Referring to Fig. 1, system is powered by 270V direct-flow voltage regulation sources for power inverting part, and 28V power supplys are partly powered in order to control,
There are two sets of controllers in four parts respectively, often cover controller and control an electric steering engine, accordingly even when there is one to be broken, remaining one
Platform can work on, and improve the redundancy of system.All controllers are integrated into TTP buses, unified by central controller
Control.In order to realize braking effect, devises three closed loops and controlled, as shown in Figure 2.Host computer is write with labview, by
Host computer sends out position command, and after filtered and the rotor-position of rotary transformer A feedbacks seeks deviation, as position ring
It is given, while feedforward control differentiates to position command and is given to speed ring, is conducive to the dynamic responding speed of raising system.Rotation
Transformer B detects initial position of rotor, for making rotor return to zero initial position.Speed closed loop is added can be effectively to the external world
Interference, which is made, timely reacts, and improves the anti-interference ability of system, and electric current loop plays the role of current limit, improves system and stablizes
Property.
It selects the motor specific chip TM320F28377S of TI companies as Master control chip, can effectively realize complexity
Control algolithm, improve control accuracy；CPLD is mainly used to do current protection, prevents accident, can be with if electric current is excessive
Effective cut-out output signal, protects system；The IPM modules of high integration high reliability, every collection are selected in power inverting part
It is managed at six IGBT, 3 independent H bridges can be formed, each H bridges can be separately controlled independently of each other, as long as having as long as one
Motor can be made to work, substantially increase the reliability of system.Control circuit frame is as shown in Figure 3.
In dq0 coordinate systems, the fundamental voltage equation of permasyn morot can usually indicate the mathematical model of PMSM
For
ud=Rsid+Pψd-ωψq
uq=Rsiq+Pψq+ωψd (1)
U in formulad, uqFor straight, the quadrature axis component of stator voltage；Rs is stator winding resistance；P is differential operator；ω is electronic
Machine rotor angular frequency.
Stator magnetic linkage equation is
ψd=Ldid+ψf
ψq=Lqiq (2)
ψ d in formula, ψ q are straight, quadrature axis magnetic linkage under rotor coordinate；Ld, Lq are d-axis, the quadrature axis inductance of PMSM；Id, iq are
Straight, the quadrature axis component of stator current；ψ f are coupling magnetic linkage of the rotor magnetic steel on stator.
The torque equation of permanent magnet synchronous motor is
Pn is the number of pole-pairs of permanent magnet synchronous motor in formula.
It can be seen that the electromagnetic torque of PMSM can almost be synthesized by stator quadrature axis component and direct-axis component, in vector controlled
Under, using by rotor flux linkage orientation (id=0) control strategy, stator current is made to only have q axis components, and without d axis components, that is,
Say that electromagnetic torque is all generated by stator q axis, at this point, the voltage equation of PMSM can be written as：
ud=ω ψq
uq=Rsiq+Pψq+ωψd (4)
Electromagnetic torque equation is：
The problem of processing makes in this way simplifies, as long as rotor mechanical location (d axis) is accurately detected out, by three-phase current
Destructing calculates, and generating PWM wave control inverter makes the resultant current (magnetomotive force) of threephase stator be located on q axis, then, PMSM
Electromagnetic torque be proportional to the amplitude of stator current, then we, which can control electric current, changes torque, the at this time control of PMSM
Characteristic processed is just similar with direct current generator.
Genetic algorithm is carried out according to this flow as shown in Figure 4, is made of five piths：(1) chromosome coding；(2)
Set initial population；(3) fitness function is designed；(4) genetic manipulation designs；(5) control parameter is set.This five elements determine
The whole of genetic algorithm.Coding is one of the tie of genetic algorithm and practical problem contact, and with GA solving practical problems
One ring of key.Position control control parameter Kp, Ki are adjusted herein, belong to multi-parameters optimization problem, using more ginsengs
Number encoder.
The individual of GA initial populations is randomly generated, it is whole that the strategy that we use is that design scheme will be integrated into shared by optimal solution
Then distribution in a problem space sets initial population in this distribution.Genetic algorithm in evolutionary search with
Fitness function is foundation.The selection of fitness function is very important, is directly related to the rate of convergence of genetic algorithm and optimal
Degree.Article takes minimum target function of the Error Absolute Value time integral performance indicator as parameter selection, while in target
The quadratic term of addition control output, the optimal index that following formula is chosen as parameter in function：
Wherein, e (t) is systematic error, the output of U (t) adjusters, tu be also be weights the rise time, W1, W2, W3 are power
Value.
In view of strictly to control overshoot, addition punitive function is as follows：
if e(t)<0
Wherein, W4 is also weights, and W4》W3 takes W1=0.99, W2=0.01, W3=2.1, W4=101.
Fitness function is the inverse of object function
F=1/J (8)
In matlab run the pid parameter optimizing program based on genetic algorithm, sampling time 1ms, by 200 generations into
Change, J=6.2134 is respectively Kp=1.032, Ki=0.0034 to obtain position PID regulator parameter.
For the performance of test control system.Performance requirement is as shown in Figure 5.Fig. 6 to Figure 14 shows the patent of invention institute
The high dynamic high reliability all-electric braking system driver of design, can be in time and accurate in the case of the given mutation in position
Tracking has the characteristics of precise control is high, and dynamic property is good, strong robustness, has certain reference value.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, depends on the specific application and design constraint of technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
Obviously, those skilled in the art can carry out invention spirit of the various modification and variations without departing from the present invention
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the present invention is also intended to including these modification and variations.
Claims (8)
1. a kind of brake system driver, which is characterized in that including：
Permanent magnet synchronous motor；
The power inverter being connect with the permanent magnet synchronous motor, the power inverter build independent H-bridge using double IPM modules
Structure；
The controller being connect with the permanent magnet synchronous motor.
2. brake system driver as described in claim 1, which is characterized in that the power inverter includes two IPM,
In, every IPM is integrated with six IGBT pipes, and 12 IGBT pipes form 3 independent H bridges altogether, and each H bridges separate independently of each other
Control.
3. brake system driver as described in claim 1, which is characterized in that the controller uses genetic algorithm, to stopping
The position ring regulator parameter of vehicle system, which optimizes, to be adjusted.
4. brake system driver as described in claim 1, which is characterized in that the material of the permanent magnet synchronous motor is rare earth
Permanent-magnet material.
5. brake system driver as described in claim 1, which is characterized in that the controller is using microprocessor and special
Integrated circuit.
6. brake system driver as claimed in claim 5, which is characterized in that the microprocessor and application-specific integrated circuit packet
It includes：Digital signal processor and field programmable gate array.
7. brake system driver as described in claim 1, which is characterized in that the controller uses the side of vector controlled
Method.
8. brake system driver as claimed in claim 7, which is characterized in that the method for the vector controlled includes：
It is controlled using flux linkage orientation, exciting current and torque current is decoupled by calculating, handle to reach class respectively
Like the effect of direct current generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810113882.0A CN108306563A (en) | 2018-02-05 | 2018-02-05 | Brake system driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810113882.0A CN108306563A (en) | 2018-02-05 | 2018-02-05 | Brake system driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108306563A true CN108306563A (en) | 2018-07-20 |
Family
ID=62864409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810113882.0A Pending CN108306563A (en) | 2018-02-05 | 2018-02-05 | Brake system driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108306563A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108646650A (en) * | 2018-07-31 | 2018-10-12 | 上海应用技术大学 | Motor monitoring system and method based on TTP communications |
| CN109586633A (en) * | 2018-11-30 | 2019-04-05 | 北京精密机电控制设备研究所 | The rudder speed and position accuracy control method of electromechanical static pressure servo system |
| CN111308887A (en) * | 2020-04-08 | 2020-06-19 | 江苏盛海智能科技有限公司 | Optimization method and optimization terminal for brake control of unmanned vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102684510A (en) * | 2011-03-18 | 2012-09-19 | 上海雷诺尔科技股份有限公司 | Intelligent integrated unit module suitable for cascading high-voltage frequency converter |
| CN203434917U (en) * | 2013-07-17 | 2014-02-12 | 江苏大学 | Motor fault tolerance driving control system capable of automatic fault repairing |
| CN106533307A (en) * | 2016-12-28 | 2017-03-22 | 南京理工大学 | Permanent magnet synchronous motor vector decoupling controller for electromobile based on DSP (Digital Signal Processor) |
| CN106788116A (en) * | 2017-01-25 | 2017-05-31 | 维尔纳（福建）电机有限公司 | A kind of control system of electric vehicle-mounted magneto |
-
2018
- 2018-02-05 CN CN201810113882.0A patent/CN108306563A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102684510A (en) * | 2011-03-18 | 2012-09-19 | 上海雷诺尔科技股份有限公司 | Intelligent integrated unit module suitable for cascading high-voltage frequency converter |
| CN203434917U (en) * | 2013-07-17 | 2014-02-12 | 江苏大学 | Motor fault tolerance driving control system capable of automatic fault repairing |
| CN106533307A (en) * | 2016-12-28 | 2017-03-22 | 南京理工大学 | Permanent magnet synchronous motor vector decoupling controller for electromobile based on DSP (Digital Signal Processor) |
| CN106788116A (en) * | 2017-01-25 | 2017-05-31 | 维尔纳（福建）电机有限公司 | A kind of control system of electric vehicle-mounted magneto |
Non-Patent Citations (1)
| Title |
|---|
| 方康玲: "《过程控制系统》", 28 February 2007 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108646650A (en) * | 2018-07-31 | 2018-10-12 | 上海应用技术大学 | Motor monitoring system and method based on TTP communications |
| CN109586633A (en) * | 2018-11-30 | 2019-04-05 | 北京精密机电控制设备研究所 | The rudder speed and position accuracy control method of electromechanical static pressure servo system |
| CN111308887A (en) * | 2020-04-08 | 2020-06-19 | 江苏盛海智能科技有限公司 | Optimization method and optimization terminal for brake control of unmanned vehicle |
| CN111308887B (en) * | 2020-04-08 | 2023-10-24 | 江苏盛海智能科技有限公司 | Optimization method and optimization end for braking control of unmanned vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Qiao et al. | Control of IPM synchronous generator for maximum wind power generation considering magnetic saturation | |
| CN105179289B (en) | Method for controlling variable-speed fan system | |
| Uddin et al. | A novel fuzzy-logic-controller-based torque and flux controls of IPM synchronous motor | |
| Do et al. | Nonlinear optimal DTC design and stability analysis for interior permanent magnet synchronous motor drives | |
| CN104734592A (en) | Control method and system for permanent magnet synchronous motor | |
| CN108306563A (en) | Brake system driver | |
| Han et al. | Improved online maximum-torque-per-ampere algorithm for speed controlled interior permanent magnet synchronous machine | |
| Sun et al. | Torque ripple reduction for a 12/8 switched reluctance motor based on a novel sliding mode control strategy | |
| CN104396139B (en) | The method and apparatus of motor of the control with two or more multi phase stator windings | |
| Butt et al. | Untrained artificial neuron-based speed control of interior permanent-magnet motor drives over extended operating speed range | |
| CN109217762B (en) | Matching method of driver and built-in permanent magnet synchronous motor | |
| Retif et al. | New hybrid direct-torque control for a winding rotor synchronous machine | |
| Mathew et al. | Design and development of fuzzy logic controller to control the speed of permanent magnet synchronous motor | |
| Liang et al. | Dual-redundancy PMSM servo system: using single neuron PID controller | |
| De Kock et al. | Dynamic control of the permanent magnet-assisted reluctance synchronous machine | |
| Goli et al. | Modeling and Speed Control for a Doubly-Salient Special Machine Employing a High-Fidelity Plant Model | |
| Zhang et al. | Permanent Magnet Synchronous Motor Drives for Gearless Traction Elevators | |
| Schoonhoven et al. | Wide speed range operation of PMSM drives using nonlinear flux control techniques | |
| Koraqi et al. | Torque Maximization Control of Permanent Magnet Synchronous Motors Using a Two-Stage Virtual Signal Injection | |
| Fard et al. | Sensor-less control of a novel axial flux-switching permanent-magnet motor | |
| Vasudevan et al. | Different viable torque control schemes of induction motor for electric propulsion systems | |
| Naik et al. | Effective motion control of vector control based PMSM drive system using PWM current controller | |
| Chu et al. | A novel torque controller with direct flux control for permanent magnet synchronous motor | |
| Min et al. | Direct torque control for four phase switched reluctance motor | |
| KR102591400B1 (en) | Method for controlling motor and apparatus using the same |
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 |
Application publication date: 20180720 |
|
| RJ01 | Rejection of invention patent application after publication |