CN111497929A - Controller without position sensor for automobile EPS steering system - Google Patents

Controller without position sensor for automobile EPS steering system Download PDF

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Publication number
CN111497929A
CN111497929A CN202010195811.7A CN202010195811A CN111497929A CN 111497929 A CN111497929 A CN 111497929A CN 202010195811 A CN202010195811 A CN 202010195811A CN 111497929 A CN111497929 A CN 111497929A
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module
eps
controller
angle
pass filter
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CN111497929B (en
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孙晓东
曹俊豪
陈龙
周卫琪
田翔
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Jiangsu University
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Jiangsu University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/17—Circuit arrangements for detecting position and for generating speed information

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a controller without a position sensor for an automobile EPS steering system, which belongs to the field of automobile control and consists of an EPS state feedback controller, a band-pass filter, a per unit module, a discrete angle judgment module, a low-pass filter, a two-phase high-frequency voltage calculation module, a 2s/2r coordinate conversion module, a 3s/2s coordinate conversion module, an angle initialization module and a low-pass filter, wherein the EPS state feedback controller is connected with the input end of the EPS steering system after being connected in parallel with the two-phase high-frequency voltage calculation module, the output end of the EPS steering system is connected with the 3s/2s coordinate conversion module in series, the output end of the 3s/2s coordinate conversion module is connected with the second low-pass filter, the 2r/2s coordinate conversion module and the EPS state feedback controller in series in turn to form local closed-loop control, and the precision estimation of the motor, the defects of system delay, buffeting and the like are avoided, the EPS state feedback controller replaces a traditional series closed loop control system, and the control precision of the system is improved.

Description

Controller without position sensor for automobile EPS steering system
Technical Field
The invention belongs to the field of automobile control, and particularly relates to a controller without a position sensor for an EPS (electric power steering) system of an automobile, which is suitable for controlling the EPS system of the automobile.
Background
With the continuous innovative development of the automobile electronic technology and the control technology, the automobile power steering system goes from the traditional pure mechanical power steering system to the gradually developed and perfect hydraulic power steering system and then to the later novel electric control hydraulic power steering system, and the electric power steering system, namely the EPS system, is widely popularized and used nowadays. The EPS system adopts a power-assisted motor to provide steering power assistance, and the power assistance is directly controlled by an electric control system. Compared with the traditional hydraulic power-assisted steering system, the method for controlling the power assistance by the motor can save energy and is very environment-friendly.
The EPS system is provided with a power source by a power-assisted motor, and mainly comprises a torque sensor, the power-assisted motor, a speed reducing mechanism and a motor electronic control unit. The hydraulic system is cancelled, the engine works independently, and the energy consumption is reduced; the EPS system only adopts mechanical connection and electric signal control, has higher efficiency and is beneficial to chassis integrated control; the direct current motor has good starting and speed regulating performance, so that the direct current motor is widely applied to an EPS system, but the sliding contact of the electric brush and the commutator causes mechanical abrasion and sparks to form a radio interference source, so that the direct current motor has many faults and low reliability. The existing permanent magnet synchronous motor has the advantages of small size, high efficiency, high power factor and the like, and is developed into a novel steering motor which replaces an EPS system direct current motor, namely an EPS permanent magnet synchronous motor.
The EPS system, as a torque servo system, requires a motor assist torque with rapid and accurate response, and is very sensitive to the pulsation of the torque, so that the stable and reliable operation of the motor depends on a motor control technology. In practical industrial control systems, especially in high-performance speed regulation occasions, the position sensor is an important element for acquiring a rotor position signal, but the sensor may be in failure under the environments of high and low temperature, humidity and the like, so that the accuracy of the sensor is reduced and even the sensor is damaged, and the operation stability and controllability of the motor are affected. The simultaneous mounting of position sensors increases the cost of the drive system as well as the bulk and complexity of the drive system. Therefore, the research on the control of the motor without a position sensor is very necessary.
The traditional position-sensorless control method is to inject high-frequency signals, a heterodyne demodulation technology is adopted in position sensing control, and because heterodyne demodulation has an inertia link, delay exists in estimation of rotor position signals, and the speed regulation performance of a motor is directly influenced.
Disclosure of Invention
The invention aims to provide a position sensorless controller of an automobile EPS steering system, which can effectively improve the control precision of a motor position sensorless control scheme, particularly high-performance control under transient working conditions, aiming at the defects of the existing position sensorless control scheme of an EPS permanent magnet synchronous motor.
The invention relates to a controller of an automobile EPS steering system without a position sensor, which adopts the technical scheme that: the device consists of an EPS state feedback controller, a band-pass filter, a per-unit module, a discrete angle judgment module, a low-pass filter, a two-phase high-frequency voltage calculation module, a 2s/2r coordinate transformation module, a 3s/2s coordinate transformation module, an angle initialization module and a low-pass filter, wherein the first input of the EPS state feedback controller is a reference angle thetarefThe second input is the fundamental current i under the two-phase rotating coordinate system output by the 2s/2r coordinate transformation moduledq(k) The third input is the final estimated angle theta (k) output by the first low-pass filter, and the EPS state feedback controller outputs a control voltage uαβ(k) (ii) a The input of the two-phase high-frequency voltage calculation module is a high-frequency voltage VinAnd angular frequency ωinThe output is high-frequency injection voltage under a two-phase static coordinate system
Figure BDA0002417559530000021
The control voltage uαβ(k) And high frequency injection voltage
Figure BDA0002417559530000022
As two inputs of the EPS steering system, the EPS steering system outputs three-phase current Iabc(k) To a 3s/2s coordinate transformation module, the 3s/2s coordinate transformation module outputs current I under a two-phase static coordinate systemαβ(k) Respectively to band passA filter and a second low-pass filter, the band-pass filter outputting high-frequency current under two-phase static coordinate system
Figure BDA0002417559530000023
To the per unit module, the second low-pass filter outputs fundamental current i under the two-phase static coordinate systemαβ(k) To a 2s/2r coordinate transformation module, the 2s/2r coordinate transformation module outputs fundamental current i under a two-phase rotating coordinate systemdq(k) (ii) a The per-unit module outputs per-unit parameters Kαβ(k) To a discrete angle judgment module as the first input of the discrete angle judgment module, and the second input of the discrete angle judgment module is the angular frequency omegainThe discrete angle judgment module outputs a preliminary estimated angle
Figure BDA0002417559530000024
The first low-pass filter outputs the final estimated angle theta (k) to the angle initialization module, the 2s/2r coordinate transformation module and the EPS state feedback controller respectively, and the angle initialization module outputs 3 initialized angles theta (k) serving as the third input of the discrete angle judgment module1,θ2,θ3。
The invention has the beneficial effects that:
1. according to the invention, the precision estimation of the position angle of the motor is realized through the discrete angle judgment module, so that the position sensor-free control of the EPS steering system is realized, and the defects of increased cost, complex driving system and the like caused by the installation of a position sensor in the traditional control are overcome. Compared with the traditional controller without the position sensor, the controller is efficient and direct, avoids the defects of system delay, buffeting and the like, and realizes the high-precision control of the EPS steering system without the position sensor.
2. The EPS state feedback controller replaces the traditional series closed-loop control system, so that the defects of the series closed-loop system are avoided, and the control precision of the system is improved.
3. The required control variable and the input variable are easy-to-measure variables, and the control algorithm of the controller can be realized only by modular software programming, thereby being beneficial to engineering realization.
Drawings
FIG. 1 is a block diagram of the present invention;
fig. 2 is a block diagram of the structure of the EPS steering system 2 in fig. 1;
fig. 3 is a block diagram of the structure of the EPS state feedback controller 1 in fig. 1;
in the figure: an EPS state feedback controller; an EPS steering system; 3. a band-pass filter; 4. a per-unit module; 5. a discrete angle judgment module; 6. a first low-pass filter; 7. a two-phase high-frequency voltage calculation module; 8.3s/2r coordinate transformation module; a 9.3s/2s coordinate transformation module; 10. an angle initialization module; 12.2r/2s coordinate transformation module; 13. a feedback voltage controller; 21. a space voltage vector modulation module; 22. a voltage source inverter; 23. a permanent magnet synchronous motor; 24. a speed reduction mechanism.
Detailed Description
As shown in fig. 1, the present invention is composed of an EPS state feedback controller 1, a band pass filter 3, a per unit module 4, a discrete angle determination module 5, a first low pass filter 6, a two-phase high frequency voltage calculation module 7, a 2s/2r coordinate transformation module 8, a 3s/2s coordinate transformation module 9, an angle initialization module 10, and a second low pass filter 11.
The output end of the EPS state feedback controller 1 is connected with a first input end of the EPS steering system 2, and the output end of the two-phase high-frequency voltage calculation module 7 is connected with a second input end of the EPS steering system 2. The output end of the EPS steering system 2 is connected with the input end of a 3s/2s coordinate transformation module 9, the output end of the 3s/2s coordinate transformation module 9 is divided into two paths, one path is sequentially connected with a second low-pass filter 11, a 2s/2r coordinate transformation module 8 and the EPS state feedback controller 1 in series, and the other path is sequentially connected with a band-pass filter 3, a per-unit module 4, a discrete angle judgment module 5 and a first low-pass filter 6 in series. The output end of the first low-pass filter 6 is respectively connected with the angle initialization module 10, the 2s/2r coordinate transformation module 8 and the EPS state feedback controller 1. The output end of the angle initialization module 10 is connected with the discrete angle judgment module 5.
The EPS state feedback controller 1 has three inputs, the first of which is a reference angle thetaref(ii) a The second inputFundamental current i under a two-phase rotating coordinate system output by a 2s/2r coordinate transformation module 8dq(k) K is a discrete sample sampling index, and
Figure BDA0002417559530000031
) (ii) a The third input is the final estimated angle θ (k) output by the first low pass filter 6.
The EPS state feedback controller 1 processes the three output values and outputs a control voltage uαβ(k) The control voltage uαβ(k) Is the first input to the EPS steering system 2.
The input of the two-phase high-frequency voltage calculation module 7 is a high-frequency voltage V injected from the outsideinAnd a high frequency voltage VinAngular frequency of (omega)inThe output is high-frequency injection voltage under a two-phase static coordinate system
Figure BDA0002417559530000032
The high frequency injection voltage
Figure BDA0002417559530000033
Is a second input to the EPS steering system 2.
EPS steering System 2 to control Voltage uαβ(k) And high frequency injection voltage
Figure BDA0002417559530000041
As input, three-phase current I is outputabc(k) The three-phase current Iabc(k) And outputs to the 3s/2s coordinate transformation module 9. The 3s/2s coordinate transformation module 9 transforms the three-phase current Iabc(k) Conversion to a current I in a two-phase stationary coordinate systemαβ(k) Respectively passes through a band-pass filter 3 and a second low-pass filter 11, and the band-pass filter 3 outputs a high-frequency current under a two-phase static coordinate system
Figure BDA0002417559530000042
The second low-pass filter 11 outputs a fundamental current i in the two-phase stationary coordinate systemαβ(k) In that respect The 2s/2r coordinate transformation module 8 transforms the fundamental current iαβ(k) Converted into fundamental current i under a two-phase rotating coordinate systemdq(k) And input into the EPS state feedback controller 1 as a second input to the EPS state feedback controller 1.
High frequency current
Figure BDA0002417559530000043
Inputting into the per-unit module 4, the per-unit module 4 processes the high-frequency current
Figure BDA0002417559530000044
Performing per-unit processing to obtain per-unit parameter Kαβ(k) And input to the discrete angle determination module 5 as the first input of the discrete angle determination module 5. The second input of the discrete angle judgment module 5 is the angular frequency omega of the high-frequency voltageinThe third input is the initialized angle theta output by the angle initializing module 101,θ2,θ3The output of the discrete angle judgment module 5 is the preliminary estimated angle
Figure BDA0002417559530000045
Preliminary estimation of angle
Figure BDA0002417559530000046
The first low-pass filter 6 outputs the final estimated angle θ (k) through the first low-pass filter 6. The final estimated angle θ (k) is used as an input of the angle initialization module 10, and the angle initialization module 10 outputs the initialized angle θ1,θ2,θ3The initialized angle theta1,θ2,θ3As a third input to the discrete angle determination module 5.
As shown in fig. 2, the EPS steering system 2 is composed of a space voltage vector modulation module 21, a voltage source inverter 22, a permanent magnet synchronous motor 23, and a speed reduction mechanism 24, which are connected in series in this order. Control voltage u of EPS steering system 2 in two-phase stationary coordinate systemαβ(k) And high frequency injection voltage
Figure BDA0002417559530000047
As input, three-phase current I is outputabc(k) In that respect Space voltage vector modulation module 21 to control voltageuαβ(k) And high frequency injection voltage
Figure BDA0002417559530000048
The sum is used as input to output a switching pulse signal Ta、Tb、TcThe voltage source inverter 22 switches the pulse signal Ta、Tb、TcAs input, three-phase current I is outputabc(k) The permanent magnet synchronous motor 23 is driven by three-phase current Iabc(k) For input, output torque TeTo the speed reducing mechanism 24.
As shown in fig. 3, the EPS state feedback controller 1 is composed of a 2r/2s coordinate transformation module 12 and a feedback voltage controller 13. Current i in two-phase rotating coordinate systemdq(k) And a reference angle thetarefAnd the estimated angle theta (k) as input to the feedback voltage controller 13, the feedback voltage controller 13 outputting a control voltage u in a two-phase rotation coordinate systemdq(k) The control voltage udq(k) The second input of the 2r/2s coordinate transformation module 12 is an estimated angle theta (k) as the first input of the 2r/2s coordinate transformation module 12, and the control voltage u under the two-phase static coordinate system is output after the coordinate transformation of the 2r/2s coordinate transformation module 12αβ(k) The control voltage uαβ(k) Is the output of the EPS state feedback controller 1.
The expression of the feedback voltage controller 12 is:
Figure BDA0002417559530000051
wherein X is ═ id(k),iq k(k),θ(k),Eθ]TAnd is a state variable matrix of the system. i.e. id(k),iq(k) In order to synchronize the currents in the rotating coordinate system,
Figure BDA0002417559530000052
the gain coefficient matrix of the feedback voltage controller 12 is the integral of the rotating speed error, k is a discrete sampling index, T is a sampling period, P is 2 × 4, and the feedback voltage is controlled according to the actual parameters and the working condition of the EPS steering system 2The gain coefficient matrix of the device 1 is:
Figure BDA0002417559530000053
the input of the two-phase high-frequency voltage calculation module 7 is high-frequency voltage VinAnd angular frequency omega of high frequency voltageinThe output is high-frequency injection voltage under a two-phase static coordinate system
Figure BDA0002417559530000054
The input-output relationship of the two-phase high-frequency voltage calculation module 7 is as follows:
Figure BDA0002417559530000055
where k is the discrete sampling index and T is the sampling period.
Three-phase current I output by EPS steering system 2abc(k) The current I is converted into a current I under a two-phase static coordinate system through a 3s/2s coordinate conversion module 9αβ(k) Respectively passing through a band-pass filter 3 and a second low-pass filter 11 to output high-frequency current in a two-phase stationary coordinate system
Figure BDA0002417559530000056
And a fundamental current iαβ(k)。
The per-unit module 4 outputs the high-frequency current to the band-pass filter 3
Figure BDA0002417559530000057
Per-unit, outputting per-unit parameter Kαβ(k) The expression of (a) is:
Figure BDA0002417559530000058
in the formula, Ld、LqIs the stator inductance under the rotating coordinate system,
Figure BDA0002417559530000059
the angle initialization module 10 inputs the estimated angle theta (k) and outputs 3 initialization angles theta (k)1,θ2,θ3. The angle initialization module 10 first performs delay processing on the estimated angle θ (k) to obtain the estimated angle θ (k-1) of the previous period, and calculates 3 initialization angles θ (k-1) according to the estimated angle θ (k-1)1,θ2,θ3Respectively is as follows:
Figure BDA0002417559530000061
the discrete angle judgment module 5 pairs the per unit parameter Kαβ(k) Angular frequency omegain3 initialization angles theta1,θ2,θ3Processing, making discrete angle judgment, and outputting the angle estimation value of current time
Figure BDA0002417559530000062
The judgment process of the discrete angle judgment is as follows:
(1) initializing 3 angles theta1,θ2,θ3Are respectively recorded as 3 iteration angles theta'1,θ′2,θ′3Setting an iteration termination coefficient lambda;
(2) respectively iterating the angles theta'1,θ′2,θ′3Combined per unit parameter Kαβ(k) Angular frequency omegainAnd calculating 3 cost functions Q by the sampling period T1,Q2,Q3The cost function calculation formula is as follows:
Figure BDA0002417559530000063
if the estimated rotor angle is completely accurate, the corresponding cost function value Q1，Q2，Q3Is 0 and therefore the magnitude of the cost function value represents the accuracy of the rotor position signal.
(3) Will iterate an angle of θ'1,θ′2,θ′3Corresponding 3 cost function values Q1,Q2,Q3Comparing, and taking the iteration angle corresponding to the minimum cost function value as the optimal angle thetaop。
(4) Make theta'1＝θop，θ′2＝θop+2π/3·2-n，θ′3＝θop-2π/3·2-nAnd n is the current iteration number.
(5) If (theta'2-θ′1) If lambda is less than lambda, the iteration is terminated, otherwise, the step (2) is returned.
(6) After the iteration is ended, outputting an angle estimated value
Figure BDA0002417559530000064
Estimated angle of output from the discrete angle judgment module 5
Figure BDA0002417559530000065
The final estimated angle θ (k) is output as an input to the first low pass filter 6 and is used as an input to the EPS state feedback controller 1, the 2s/2r coordinate transformation module 8 and the angle initialization module 10.
As shown in figure 1, an EPS state feedback controller 1 and a two-phase high-frequency voltage calculation module 7 are connected in parallel and then connected with an input end of an EPS steering system 2, an output end of the EPS steering system 2 is connected with a 3s/2s coordinate transformation module 9 in series, an output end of the 3s/2s coordinate transformation module 9 is connected with a second low-pass filter 11, a 2r/2s coordinate transformation module 8 and the EPS state feedback controller 1 in series in sequence to form local closed-loop control, and meanwhile, the output end of the EPS state feedback controller is connected with a band-pass filter 3, a per unit module 4, a discrete angle judgment module 5 and a first low-pass filter 6 in series to finally form an EPS steering system position-sensor-free controller, so that position-sensor-. The EPS state feedback controller 1 replaces a traditional series closed-loop control system, so that the defects of the series closed-loop system are overcome, and the control precision of the system is improved. The two-phase high-frequency voltage calculation module 7 realizes the low-speed control of the permanent magnet synchronous motor by introducing high-frequency voltage. The per unit module 4 eliminates the adverse effect of the motor parameter change on the control. The invention overcomes the defects of increased cost, complex driving system and the like caused by installing the position sensor in the traditional control method, and avoids the control delay caused by the traditional phase-locked loop control technology without the position sensor. The defects of angle estimation precision, system delay, buffeting and the like are improved through discrete angle iterative optimization. Meanwhile, the EPS state feedback controller replaces the traditional series closed-loop control, and the control accuracy and the control structure are improved, so that the high-accuracy EPS steering system is controlled without a position sensor.

Claims (7)

1. The utility model provides a car EPS a steering system does not have position sensor controller which characterized by: the device is composed of an EPS state feedback controller (1), a band-pass filter (3), a per unit module (4), a discrete angle judgment module (5), a low-pass filter (6), a two-phase high-frequency voltage calculation module (7), a 2s/2r coordinate transformation module (8), a 3s/2s coordinate transformation module (9), an angle initialization module (10) and a low-pass filter (11), wherein the first input of the EPS state feedback controller (1) is a reference angle thetarefThe second input is the fundamental current i under the two-phase rotating coordinate system output by the 2s/2r coordinate transformation module (8)dq(k) The third input is the final estimated angle theta (k) output by the first low-pass filter (6), and the EPS state feedback controller (1) outputs a control voltage uαβ(k) (ii) a The input of the two-phase high-frequency voltage calculation module (7) is a high-frequency voltage VinAnd angular frequency ωinThe output is high-frequency injection voltage under a two-phase static coordinate system
Figure FDA0002417559520000011
The control voltage uαβ(k) And high frequency injection voltage
Figure FDA0002417559520000012
As two inputs of the EPS steering system (2), the EPS steering system (2) outputs a three-phase current Iabc(k) To a 3s/2s coordinate transformation module (9), the 3s/2s coordinate transformation module (9) outputs a current I under a two-phase static coordinate systemαβ(k) Respectively to a band-pass filter (3) and a second low-pass filter (11), the band-pass filter (3) outputs high-frequency current under a two-phase static coordinate system
Figure FDA0002417559520000013
To the per unit module (4), the second low pass filter (11) outputs the fundamental current i under the two-phase static coordinate systemαβ(k) To a 2s/2r coordinate transformation module (8), the 2s/2r coordinate transformation module (8) outputs fundamental current i under a two-phase rotating coordinate systemdq(k) (ii) a The per-unit module (4) outputs a per-unit parameter Kαβ(k) To a discrete angle judgment module (5) as a first input of the discrete angle judgment module (5), and a second input of the discrete angle judgment module (5) is the angular frequency omegainThe discrete angle judgment module (5) outputs a preliminary estimated angle
Figure FDA0002417559520000014
To the first low-pass filter (6), the first low-pass filter (6) outputs the final estimated angle theta (k) to the angle initialization module (10), the 2s/2r coordinate transformation module (8) and the EPS state feedback controller (1), and the angle initialization module (10) outputs 3 initialized angles theta (k) as the third input of the discrete angle judgment module (5)1,θ2,θ3。
2. The position sensorless controller for an EPS steering system of an automobile according to claim 1, wherein: the EPS state feedback controller (1) consists of a 2r/2s coordinate transformation module (13) and a feedback voltage controller (12), and the current i under a two-phase rotating coordinate systemdq(k) And a reference angle thetarefAnd the estimated angle theta (k) is used as the input of a feedback voltage controller (12), and the feedback voltage controller (12) outputs a control voltage u under a two-phase rotating coordinate systemdq(k) The control voltage udq(k) As the first input of the 2r/2s coordinate transformation module (13), the second input of the 2r/2s coordinate transformation module (13) is an estimated angle theta (k), and a control voltage u under a two-phase static coordinate system is output through the 2r/2s coordinate transformation module (13)αβ(k)。
3. The EPS steering system of claim 2, for an automobileThe controller without the position sensor is characterized in that: the expression of the feedback voltage controller (12) is:
Figure FDA0002417559520000021
X＝[id(k),iq k(k),θ(k),Eθ]Tthe state variable matrix, which is the state variable matrix of the system,
Figure FDA0002417559520000022
and k is a discrete sampling index, T is a sampling period, and P is a gain coefficient matrix of the feedback voltage controller of 2 × 4.
4. The position sensorless controller for an EPS steering system of an automobile according to claim 1, wherein: the input and output relation of the two-phase high-frequency voltage calculation module (7) is as follows:
Figure FDA0002417559520000023
k is the discrete sampling index and T is the sampling period.
5. The position sensorless controller for an EPS steering system of an automobile according to claim 1, wherein: per-unit parameters output by the per-unit module (4)
Figure FDA0002417559520000024
Ld、LqIs the stator inductance under the rotating coordinate system,
Figure FDA0002417559520000025
6. the position sensorless controller for an EPS steering system of an automobile according to claim 1, wherein: 3 initialization angles are
Figure FDA0002417559520000026
θ (k-1) is the estimated angle of the last cycle.
7. The position sensorless controller for an EPS steering system of an automobile according to claim 6, wherein: the discrete angle judgment module (5) initializes 3 angles theta1,θ2,θ3Are respectively recorded as 3 iteration angles theta'1,θ′2,θ′3Respectively calculate 3 corresponding cost functions
Figure FDA0002417559520000027
Taking the iteration angle corresponding to the minimum cost function value as the optimal angle thetaopOf # o'1＝θop，θ′2＝θop+2π/3·2-n，θ′3＝θop-2π/3·2-nN is the current number of iterations, if (θ'2-θ′1) If lambda is less than lambda, the angle estimated value is output
Figure FDA0002417559520000028
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