CN112234876B - Motor torque harmonic compensation method for electric power steering system - Google Patents

Motor torque harmonic compensation method for electric power steering system Download PDF

Info

Publication number
CN112234876B
CN112234876B CN202011109265.7A CN202011109265A CN112234876B CN 112234876 B CN112234876 B CN 112234876B CN 202011109265 A CN202011109265 A CN 202011109265A CN 112234876 B CN112234876 B CN 112234876B
Authority
CN
China
Prior art keywords
motor
axis
current
cmd
limit
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.)
Active
Application number
CN202011109265.7A
Other languages
Chinese (zh)
Other versions
CN112234876A (en
Inventor
王雷
唐文
蒋开洪
郑鸿云
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.)
Ningbo Tuopu Group Co Ltd
Original Assignee
Ningbo Tuopu Group 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 Ningbo Tuopu Group Co Ltd filed Critical Ningbo Tuopu Group Co Ltd
Priority to CN202011109265.7A priority Critical patent/CN112234876B/en
Publication of CN112234876A publication Critical patent/CN112234876A/en
Application granted granted Critical
Publication of CN112234876B publication Critical patent/CN112234876B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • 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
    • B62D5/0472—Controlling the motor for damping vibrations
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • 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
    • H02P21/20—Estimation of torque

Abstract

The invention relates to a motor torque harmonic compensation method for an electric power steering system, which comprises the following steps: calculating an electrical compensation angle of the motor; calculating an output proportional coefficient of a moment harmonic compensation function; converting the collected three-phase current into dq-axis current of the motor; obtaining target current values of the motor on an alpha axis and a beta axis through table lookup according to the current motor rotating speed and the dq axis current; performing integral/proportional adjustment according to the target current values of the motor on the alpha axis and the beta axis and the dq axis current to obtain torque harmonic compensation voltage values of the motor on the alpha axis and the beta axis; and carrying out amplitude limiting processing on the torque harmonic compensation voltage values of the motor on an alpha axis and a beta axis to obtain amplitude limiting voltage values, and calculating the amplitude limiting voltage values according to the electric compensation angle of the motor and the output coefficient of the torque harmonic compensation function to obtain final compensation voltage values. The invention can perform voltage compensation on torque harmonic waves at different rotating speeds, and can effectively eliminate harmonic components of the motor at different rotating speeds.

Description

Motor torque harmonic compensation method for electric power steering system
Technical Field
The invention relates to the technical field of electric power steering, in particular to a motor torque harmonic compensation method for an electric power steering system.
Background
An electric Power steering system EPS (electric Power steering) is an important component of a modern automobile, and compared with a conventional hydraulic Power steering system hps (hydraulic Power steering), the EPS system has many advantages, but with further popularization of the electric Power steering system, problems are also generated, for example, when a torque output by a brushless motor in the EPS system is jittered due to an excessive harmonic wave, the steering wheel is driven to vibrate, so that a driver feels a vibration sense of the steering wheel and noise caused by motor vibration, the NVH performance of the whole automobile is deteriorated, and the driving experience of the driver is seriously affected.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a motor torque harmonic compensation method for an electric power steering system, which can effectively reduce the steering wheel shake caused by motor torque fluctuation caused by motor harmonic.
The technical scheme adopted by the invention for solving the technical problems is as follows: provided is a motor torque harmonic compensation method for an electric power steering system, including:
step (1): calculating the electrical compensation angle of the motor according to the current motor rotating speed, the current electrical angle of the motor and the harmonic order to be compensated;
step (2): comparing the current motor rotating speed with a preset speed threshold value to calculate a torque harmonic compensation function output proportional coefficient;
and (3): resolving to obtain the dq axis current of the motor through clark transformation and park transformation according to the current motor electrical angle and the three-phase current acquired by the current motor electrical angle and the current sensor;
and (4): according to the current motor rotating speed and the dq axis current, obtaining target current values i of the motor on an alpha axis and a beta axis through table lookupαCmd and iβCmd；
And (5): according to the target current values i of the motor on the alpha axis and the beta axisαCmd and iβPerforming integral/proportional adjustment on the Cmd and the dq axis current to obtain torque harmonic compensation voltage values V of the motor on an alpha axis and a beta axisαCmd and VβCmd；
And (6): compensating voltage value V for torque harmonics of the motor on an alpha axis and a beta axisαCmd and VβCmd carries out amplitude limiting treatment to obtain an amplitude limiting voltage value Vαlimit and Vβlimit, and according to the electric compensation angle of the motor and the output coefficient of the torque harmonic compensation function, the limiting voltage value V is subjected toαlimit and VβAnd calculating limit to obtain a final compensation voltage value.
The step (1) is specifically as follows: and calculating to obtain a moment deviation compensation angle according to the current motor rotating speed, summing the moment deviation compensation angle and the current motor electrical angle, and multiplying the value obtained by summing by the harmonic order to be compensated to obtain the motor electrical compensation angle.
In the step (2), the current motor rotating speed is compared with a preset speed threshold value to calculate an output proportional coefficient of a torque harmonic compensation function, and the formula is as follows:
Figure BDA0002728050920000021
wherein SpdLimit2 is greater than SpdLimit1, MotSpd is the current motor speed, SpdLimit1 is the first speed threshold, SpdLimit2 is the second speed threshold, K is1K is the output proportional coefficient of the torque harmonic compensation function when MotSpd is less than SpdLimit12In order to meet the output proportional coefficient of the torque harmonic compensation function when MotSpd is larger than SpdLimit2,
Figure BDA0002728050920000022
the proportional coefficient is output to meet the torque harmonic compensation function when SpdLimit1 < Motspd < SpdLimit 2.
The step (3) is specifically as follows: converting the three-phase current collected by the current sensor into a static two-phase coordinate system through clark transformation to obtain the currents of the motor on an alpha axis and a beta axis, wherein the formula is as follows:
Figure BDA0002728050920000023
wherein iαIs the current on the alpha axis, iβIs the current on the beta axis, ia、ibAnd icThe three-phase current value of the motor;
and converting the current on the alpha shaft and the beta shaft in the static two-phase coordinate system into a rotating two-phase coordinate system through park transformation according to the current electrical angle of the motor to obtain the dq shaft current of the motor, wherein the formula is as follows:
Figure BDA0002728050920000031
wherein idIs the current on the d-axis, iqIs the current on the q-axis, θ is the present motor electrical angle.
The step (4) is specifically as follows: obtaining a torque harmonic compensation value of the motor in the current state through table lookup according to the current motor rotating speed and the dq axis current, and converting the torque harmonic compensation value into target current values i of the motor on an alpha axis and a beta axis of a static two-phase coordinate systemαCmd and iβCmd。
The step (5) is specifically as follows: obtaining a dq axis current deviation value according to the dq axis current and the dq axis command current, and carrying out inverse Park transformation on the dq axis current deviation value to obtain current error values i of the motor on an alpha axis and a beta axisαErr and iβErr; the current error value i on the alpha axis and the beta axis is calculatedαErr and iβErr and target current values i of the motor on the alpha axis and the beta axisαCmd and iβC, performing integral/proportional adjustment on the Cmd to obtain torque harmonic compensation voltage values V of the motor on an alpha axis and a beta axisαCmd and VβCmd。
Compensating voltage value V for torque harmonics of the motor on an alpha axis and a beta axis in the step (6)αCmd and VβCmd carries out amplitude limiting treatment to obtain an amplitude limiting voltage value Vαlimit and VβThe limit is specifically as follows: compensating voltage value V for torque harmonics of the motor on an alpha axis and a beta axisαCmd and VβCmd carries out amplitude limiting treatment to obtain amplitude limiting voltage values V of the motor on an alpha axis and a beta axisαlimit and Vβlimit, value of limiting voltage V on the beta axisβWhen limit is larger than the maximum voltage limit value, then:
Figure BDA0002728050920000032
wherein, VlimitIs the maximum voltage limit.
The step (6) of outputting the coefficient to the amplitude limiting voltage value V according to the electric compensation angle and the moment harmonic compensation function of the motorαlimit and VβCalculating limit to obtain a compensation voltage value finally acting on the motor vector control, specifically: according to the electrical compensation angle of the motor, the amplitude limiting voltage value V is adjustedαlimit and Vβlimit is subjected to park conversion to obtain a torque harmonic compensation voltage value V of the motor on the dq axisdHarmoniccmd and VqHarmonicmd for compensating the torque harmonic of the motor on the dq axis by a voltage value VdHarmoniccmd and VqHarmonicmd is multiplied by the output proportional coefficient of the moment harmonic compensation function to obtain a final compensation voltage value VdHarmonicLimit Cmd and VqHarmonicLimitCmd。
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: the motor torque harmonic compensation method provided by the invention can compensate for harmonic components of the motor at different rotating speeds when the EPS works, can effectively eliminate harmonic component interference of different sizes caused by different rotating speeds of the motor, dynamically adjusts the torque harmonic compensation function to output a proportional coefficient, and can respond to various working conditions in real time; the invention adopts a table look-up method to obtain the torque harmonic compensation voltage value, avoids the time loss caused by using FFT, improves the responsiveness of the harmonic compensation algorithm, and further ensures the reliability and the accuracy of the control effect.
Drawings
FIG. 1 is a schematic structural view of an electric power steering system according to an embodiment of the present invention;
FIG. 2 is a system schematic of an embodiment of the present invention;
FIG. 3 is a method flow diagram of an embodiment of the present invention;
FIG. 4 is a functional block diagram of an electrical compensation angle calculation unit of an embodiment of the present invention;
FIG. 5 is a functional block diagram of a target harmonic compensation value acquisition unit of an embodiment of the present invention;
FIG. 6 is a functional block diagram of a self-tuning control unit of an embodiment of the present invention;
fig. 7 is a functional block diagram of a clipping unit according to an embodiment of the present invention.
The figure is as follows: 1. the device comprises a steering wheel, 2, an angle and torque integrated sensor, 3, a speed reducing mechanism, 4, a brushless motor, 5, an electric power steering control unit, 6, a rack steering gear, 7 and wheels.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
An embodiment of the present invention relates to a motor torque harmonic compensation method for an electric power steering system, as shown in fig. 1, which is a schematic structural diagram of an electric power steering system (EPS) according to an embodiment of the present invention, and includes: the device comprises a steering wheel 1, an angle and torque integrated sensor 2, a speed reducing mechanism 3, a brushless motor 4, an electric power steering control unit 5, a rack steering gear 6 and wheels 7; the angle and torque integrated sensor 2 is used for detecting the action of the steering wheel 1, the electric power steering control unit 5(ECU) is used for sending a signal to the brushless motor 4, and the brushless motor 4 generates an auxiliary steering force. However, when the torque output by the brushless motor 4 is jittered due to the excessively large harmonic, the steering wheel is driven to vibrate, and the driving experience is reduced.
In view of this, the motor torque harmonic compensation method provided by the embodiment can effectively solve the problem caused by the overlarge harmonic of the motor output torque, as shown in fig. 2 and 3, which are system schematic diagrams of the embodiment of the present invention, fig. 3 is a method flowchart of the embodiment of the present invention, and the specific process of the method is as follows:
step (1): calculating an electrical compensation angle of the motor according to the current motor rotating speed MotSpd, the current electrical angle theta of the motor and the harmonic order to be compensated;
when the moment harmonic compensation calculation is carried out, the deviation delta t between the time of angle processing of the system and the acquisition time of the motor position sensor needs to be considered,and the harmonic order to be compensated under the current motor rotating speed. As shown in fig. 4, which is a schematic block diagram of an electrical compensation angle calculating unit according to an embodiment of the present invention, with reference to fig. 2, the step (1) specifically includes: calculating to obtain a time deviation compensation angle theta according to the current motor rotating speed MotSpd, the motor pole pair number and the time deviation delta t1Summing the time deviation compensation angle and the current motor electrical angle theta, multiplying the value obtained by summing by the harmonic order to be compensated to obtain the motor electrical compensation angle theta2。
Step (2): comparing the current motor rotating speed MotSpd with a preset speed threshold value to calculate a torque harmonic compensation function output proportional coefficient K;
with reference to the scaling factor determination unit in fig. 2, in step (2), the output scaling factor of the torque harmonic compensation function is calculated by comparing the current motor rotation speed with a preset speed threshold, where the formula is:
Figure BDA0002728050920000051
wherein SpdLimit2 is greater than SpdLimit1, MotSpd is the current motor speed, SpdLimit1 is the first speed threshold, SpdLimit2 is the second speed threshold, K is1K is the output proportional coefficient of the torque harmonic compensation function when MotSpd is less than SpdLimit12In order to meet the output proportional coefficient of the torque harmonic compensation function when MotSpd is larger than SpdLimit2,
Figure BDA0002728050920000052
the proportional coefficient is output to meet the torque harmonic compensation function when SpdLimit1 < Motspd < SpdLimit 2.
Furthermore, the output proportional coefficient of the torque harmonic compensation function is determined according to the rotating speed of the motor, so that when the rotating speed of the motor is low, the motor cannot shake due to overlarge harmonic compensation amount; and the problem that when the rotating speed of the motor is higher, the output torque of the power-assisted motor is not smooth due to inconsistent harmonic compensation orders, so that the hand feeling is poor can be avoided.
And (3): resolving to obtain dq axis current of the motor through clark transformation (Clark transformation) and park transformation (park transformation) according to the current motor electrical angle and the three-phase current collected by the current motor electrical angle and current sensor;
with reference to the current calculating unit of fig. 2, the step (3) is specifically: the method comprises the following steps of converting three-phase currents a, b and c collected by a current sensor into a static two-phase coordinate system through clark conversion to obtain currents of a motor on an alpha axis and a beta axis, wherein the formula is as follows:
Figure BDA0002728050920000061
wherein iαIs the current on the alpha axis, iβIs the current on the beta axis, ia、ibAnd icThe three-phase current value of the motor;
and converting the current on the alpha shaft and the beta shaft in the static two-phase coordinate system into a rotating two-phase coordinate system through park transformation according to the current motor electrical angle theta to obtain the dq shaft current of the motor, wherein the formula is as follows:
Figure BDA0002728050920000062
wherein idIs the current on the d-axis, iqIs the current on the q-axis, θ is the present motor electrical angle.
And (4): according to the current motor rotating speed MotSpd and the dq axis current, obtaining target current values i of the motor on an alpha axis and a beta axis through table lookupαCmd and iβCmd；
As shown in fig. 5, which is a schematic block diagram of a target harmonic compensation value obtaining unit according to an embodiment of the present invention, and with reference to fig. 2, the step (4) specifically includes: obtaining a torque harmonic compensation value of the motor in the current state through table lookup according to the current motor rotating speed MotSpd and dq axis current, and converting the torque harmonic compensation value into target current values i of the motor on an alpha axis and a beta axis of a static two-phase coordinate systemαCmd and iβCmd。The table look-up method avoids directly carrying out FFT analysis on the actual current value, greatly reduces the operation amount, improves the responsiveness of the system and further ensures the reliability and the accuracy of the control effect.
And (5): according to the target current values i of the motor on the alpha axis and the beta axisαCmd and iβPerforming integral/proportional adjustment on the Cmd and the dq axis current to obtain torque harmonic compensation voltage values V of the motor on an alpha axis and a beta axisαCmd and VβCmd；
As shown in fig. 6, which is a schematic block diagram of a self-adjusting control unit according to an embodiment of the present invention, with reference to fig. 2, the step (5) specifically includes: obtaining a dq axis current deviation value according to the dq axis current (actual current) and the dq axis command current calculated by the ECU, and carrying out inverse Park transformation on the dq axis current deviation value to obtain current error values i of the motor on an alpha axis and a beta axisαErr and iβErr; the current error value i on the alpha axis and the beta axis is calculatedαErr and iβErr, and target current values i of the motor in the alpha and beta axesαCmd and iβCmd is subjected to integral/proportional regulation, namely, torque harmonic compensation voltage values V of the motor on an alpha axis and a beta axis are obtained through a PI controllerαCmd and VβCmd。
And (6): a clipping unit: compensating voltage value V for torque harmonics of the motor on an alpha axis and a beta axisαCmd and VβCmd carries out amplitude limiting treatment to obtain an amplitude limiting voltage value Vαlimit and Vβlimit and according to the electrical compensation angle theta of the motor2The sum torque harmonic compensation function output coefficient K is used for comparing the amplitude limiting voltage value V with the amplitude limiting voltage value Vαlimit and VβAnd calculating limit to obtain a final compensation voltage value.
As shown in fig. 7, which is a schematic block diagram of a limiting unit according to an embodiment of the present invention, in conjunction with fig. 2, the voltage value V is compensated for the torque harmonics of the motor in the α axis and the β axis in step (6)αCmd and VβCmd carries out amplitude limiting treatment to obtain an amplitude limiting voltage value Vαlimit and VβThe limit is specifically as follows: compensating voltage value V for torque harmonics of the motor on an alpha axis and a beta axisαCmd and VβCmd carries out amplitude limiting treatment to obtain amplitude limiting voltage values V of the motor on an alpha axis and a beta axisαlimit and Vβlimit, value of limiting voltage V on the beta axisβWhen limit is larger than the maximum voltage limit value, then:
Figure BDA0002728050920000071
wherein, VlimitIs the maximum voltage limit.
The step (6) of outputting the coefficient to the amplitude limiting voltage value V according to the electric compensation angle and the moment harmonic compensation function of the motorαlimit and VβCalculating limit to obtain a compensation voltage value finally acting on the motor vector control, specifically: according to the electrical compensation angle theta of the motor2The amplitude limiting voltage value V is setαlimit and Vβlimit is subjected to park conversion to obtain a torque harmonic compensation voltage value V of the motor on the dq axisdHarmoniccmd and VqHarmonicmd for compensating the torque harmonic of the motor on the dq axis by a voltage value VdHarmoniccmd and VqHarmonicmd is multiplied by the proportional coefficient K output by the moment harmonic compensation function to obtain a compensation voltage value V finally acting on the motor vector controldHarmonicLimit Cmd and VqHarmonicLimitCmd。
Therefore, the motor torque harmonic compensation method provided by the invention outputs the proportional coefficient by dynamically adjusting the torque harmonic compensation function, compensates for the harmonic components of the motor at different rotating speeds, and can effectively eliminate the harmonic component interference of different sizes caused by different rotating speeds of the motor; and a table look-up method is also adopted, so that the time loss caused by using FFT is avoided, and the responsiveness of the harmonic compensation algorithm is improved.

Claims (6)

1. A method of motor torque harmonic compensation for an electric power steering system, comprising:
step (1): calculating the electrical compensation angle of the motor according to the current motor rotating speed, the current electrical angle of the motor and the harmonic order to be compensated;
step (2): comparing the current motor rotating speed with a preset speed threshold value to calculate a torque harmonic compensation function output proportional coefficient;
in the step (2), the current motor rotating speed is compared with a preset speed threshold value to calculate an output proportional coefficient of a torque harmonic compensation function, and the formula is as follows:
Figure FDA0003306378840000011
wherein SpdLimit2 is greater than SpdLimit1, MotSpd is the current motor speed, SpdLimit1 is the first speed threshold, SpdLimit2 is the second speed threshold, K is1K is the output proportional coefficient of the torque harmonic compensation function when MotSpd is less than SpdLimit12In order to meet the output proportional coefficient of the torque harmonic compensation function when MotSpd is larger than SpdLimit2,
Figure FDA0003306378840000012
the proportional coefficient is output for meeting the torque harmonic compensation function when SpdLimit1 is more than Motspd and less than SpdLimit 2;
and (3): resolving to obtain the dq axis current of the motor through clark transformation and park transformation according to the current motor electrical angle and the three-phase current acquired by the current motor electrical angle and the current sensor;
and (4): according to the current motor rotating speed and the dq axis current, obtaining target current values i of the motor on an alpha axis and a beta axis through table lookupαCmd and iβCmd；
And (5): according to the target current values i of the motor on the alpha axis and the beta axisαCmd and iβPerforming integral/proportional adjustment on the Cmd and the dq axis current to obtain torque harmonic compensation voltage values V of the motor on an alpha axis and a beta axisαCmd and VβCmd；
And (6): compensating voltage value V for torque harmonics of the motor on an alpha axis and a beta axisαCmd and VβCmd is subjected to amplitude limiting treatment to obtain amplitude limiting electricityPressure value Vαlimit and Vβlimit, and according to the electric compensation angle of the motor and the output coefficient of the torque harmonic compensation function, the limiting voltage value V is subjected toαlimit and VβCalculating limit to obtain a final compensation voltage value;
the step (6) of outputting the coefficient to the amplitude limiting voltage value V according to the electric compensation angle and the moment harmonic compensation function of the motorαlimit and VβCalculating limit to obtain a compensation voltage value finally acting on the motor vector control, specifically: according to the electrical compensation angle of the motor, the amplitude limiting voltage value V is adjustedαlimit and Vβlimit is subjected to park conversion to obtain a torque harmonic compensation voltage value V of the motor on the dq axisdHarmoniccmd and VqHarmonicmd for compensating the torque harmonic of the motor on the dq axis by a voltage value VdHarmoniccmd and VqHarmonicmd is multiplied by the output proportional coefficient of the moment harmonic compensation function to obtain a final compensation voltage value VdHarmonicLimit Cmd and VqHarmonicLimitCmd。
2. The motor torque harmonic compensation method for an electric power steering system according to claim 1, characterized in that the step (1) is embodied as: and calculating to obtain a moment deviation compensation angle according to the current motor rotating speed, summing the moment deviation compensation angle and the current motor electrical angle, and multiplying the value obtained by summing by the harmonic order to be compensated to obtain the motor electrical compensation angle.
3. The motor torque harmonic compensation method for an electric power steering system according to claim 1, characterized in that the step (3) is embodied as: converting the three-phase current collected by the current sensor into a static two-phase coordinate system through clark transformation to obtain the currents of the motor on an alpha axis and a beta axis, wherein the formula is as follows:
Figure FDA0003306378840000021
wherein iαIs the current on the alpha axis, iβIs the current on the beta axis, ia、ibAnd icThe three-phase current value of the motor;
and converting the current on the alpha shaft and the beta shaft in the static two-phase coordinate system into a rotating two-phase coordinate system through park transformation according to the current electrical angle of the motor to obtain the dq shaft current of the motor, wherein the formula is as follows:
Figure FDA0003306378840000022
wherein idIs the current on the d-axis, iqIs the current on the q-axis, θ is the present motor electrical angle.
4. The motor torque harmonic compensation method for an electric power steering system according to claim 1, characterized in that the step (4) is embodied as: obtaining a torque harmonic compensation value of the motor in the current state through table lookup according to the current motor rotating speed and the dq axis current, and converting the torque harmonic compensation value into target current values i of the motor on an alpha axis and a beta axis of a static two-phase coordinate systemαCmd and iβCmd。
5. The motor torque harmonic compensation method for an electric power steering system according to claim 1, characterized in that the step (5) is embodied as: obtaining a dq axis current deviation value according to the dq axis current and the dq axis command current, and carrying out inverse Park transformation on the dq axis current deviation value to obtain current error values i of the motor on an alpha axis and a beta axisαErr and iβErr; the current error value i on the alpha axis and the beta axis is calculatedαErr and iβErr and target current values i of the motor on the alpha axis and the beta axisαCmd and iβC, performing integral/proportional adjustment on the Cmd to obtain torque harmonic compensation voltage values V of the motor on an alpha axis and a beta axisαCmd and VβCmd。
6. The motor torque harmonic compensation method for an electric power steering system according to claim 1, characterized in that the torque harmonics compensation voltage values V on the α -axis and the β -axis of the motor in the step (6)αCmd and VβCmd carries out amplitude limiting treatment to obtain an amplitude limiting voltage value Vαlimit and VβThe limit is specifically as follows: compensating voltage value V for torque harmonics of the motor on an alpha axis and a beta axisαCmd and VβCmd carries out amplitude limiting treatment to obtain amplitude limiting voltage values V of the motor on an alpha axis and a beta axisαlimit and Vβlimit, value of limiting voltage V on the beta axisβWhen limit is larger than the maximum voltage limit value, then:
Figure FDA0003306378840000031
s.t.Vβlimit＞Vlimit
wherein, VlimitIs the maximum voltage limit.
CN202011109265.7A 2020-10-16 2020-10-16 Motor torque harmonic compensation method for electric power steering system Active CN112234876B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011109265.7A CN112234876B (en) 2020-10-16 2020-10-16 Motor torque harmonic compensation method for electric power steering system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011109265.7A CN112234876B (en) 2020-10-16 2020-10-16 Motor torque harmonic compensation method for electric power steering system

Publications (2)

Publication Number Publication Date
CN112234876A CN112234876A (en) 2021-01-15
CN112234876B true CN112234876B (en) 2021-12-07

Family

ID=74118508

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011109265.7A Active CN112234876B (en) 2020-10-16 2020-10-16 Motor torque harmonic compensation method for electric power steering system

Country Status (1)

Country Link
CN (1) CN112234876B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114070114B (en) * 2021-10-27 2024-01-26 西安理工大学 Double-frequency induction heating voltage signal generation method based on full-bridge inverter circuit

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE545983T1 (en) * 2007-12-17 2012-03-15 Gen Electric DEVICE FOR CONTROLLING TORQUE HARMONICS IN PWM CONVERTERS AND ASSOCIATED METHOD
EP2262098B1 (en) * 2008-01-16 2014-12-31 JTEKT Corporation Motor control device and electric power steering device
CN106330042B (en) * 2015-07-10 2019-12-27 广州汽车集团股份有限公司 Method and device for suppressing harmonic current of permanent magnet synchronous motor
US10530245B2 (en) * 2016-07-20 2020-01-07 Nsk Ltd. Electric power steering apparatus
CN106788127B (en) * 2017-01-17 2018-11-20 浙江大学 The inverter non-linear harmonic wave compensation method tabled look-up based on two dimension with interpolation method
CN106849135B (en) * 2017-03-10 2019-04-19 湖南大学 The power/current quality Synergistic method of microgrid inverter and active filter
CN107276440B (en) * 2017-06-23 2019-05-03 华中科技大学 A kind of nonlinear compensating device of inverter, system and control method
CN208723819U (en) * 2018-09-05 2019-04-09 江苏大学 Bearing-free permanent magnet synchronous motor Torque Ripple Reduction controller

Also Published As

Publication number Publication date
CN112234876A (en) 2021-01-15

Similar Documents

Publication Publication Date Title
US9771098B2 (en) Motor control device and electric power steering device
US20030057913A1 (en) Electric power steering control system and control method thereof
CN110199468B (en) Electric power steering apparatus
JP5435252B2 (en) Vehicle steering system
JP4405788B2 (en) Control device for electric power steering device
JP5561516B2 (en) Motor control device and vehicle steering device
US8560174B2 (en) Electric power steering system
WO2013168564A1 (en) Electric power steering device
CN109496190B (en) Electric power steering apparatus
CN110612663A (en) Motor control device and electric power steering device equipped with same
JP6658972B2 (en) Motor control device and electric power steering device equipped with the same
JP4797565B2 (en) Motor drive control device
WO2020095479A1 (en) Motor control device, electric actuator product and electric power steering device
CN112234876B (en) Motor torque harmonic compensation method for electric power steering system
JP5170505B2 (en) Motor control device
JP5278326B2 (en) Inverter control device and control method thereof
WO2021106373A1 (en) Motor control device, electric actuator product, and electric power steering device
CN112666456B (en) Zero point calibration method and device for phase current sensor and automobile
JP5641299B2 (en) Motor control device and vehicle steering device
JP6677362B1 (en) Motor control device, electric actuator product, and electric power steering device
CN110957951B (en) Instantaneous torque direct control method and system
JP2009044821A (en) Motor control device
JP5013185B2 (en) Motor control device
JP3793733B2 (en) Three-phase motor control device
CN114514692A (en) Motor control device and motor control method

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
GR01 Patent grant
GR01 Patent grant