CN204178582U - Based on the power sense simulation system of C-EPS structure - Google Patents

Abstract

The utility model discloses a kind of power sense simulation system based on C-EPS structure, this system comprises power sense analog mechanical system based on C-EPS structure and power sense analog control system; Power sense analog mechanical system comprises bearing circle, steering column tube, servomotor, corner locating device, torque sensor, steering wheel angle sensor; Power sense analog control system comprises controller, Controlling model; Turning to of different angle range can be realized by corner locating device, by comprise friciton compensation, moment differential, inertia compensation, damping compensation, rigidity compensation compensation model overcome that C-EPS system mechanics structure inertia is large, rub the drawback such as large; The utility model, based on the hardware configuration of volume production C-EPS system, effectively utilizes the features such as it is simple and compact for structure, accuracy of mechanical system is high, cost is low, designs the power sense simulation system with aligning torque and splendid power sense.

Description

Based on the power sense simulation system of C-EPS structure

Technical field

The invention belongs to automotive field, being specifically related to the road feel simulation of bearing circle in Prospects of Automobile Steering-By-Wire, is a Resistance-load simulator.

Background technology

Traditional automobile steering system experienced by traditional mechanical steering, hydraulic power-assist steering system, electricity liquid servo steering system, electric boosting steering system 4 developing stage, this 4 stages total feature is all mechanical connection, just apply different modes to improve the performance of mechanical steering system, the bearing circle shake that this impact that just cannot overcome uneven road surface causes and the noise and vibration problem that servo steering system causes, the mechanical connection of simultaneity factor is unfavorable for improving Crash Safety Design of Vehicles, due to many disadvantages of mechanical system and the development of automotive electronic technology, the direction that wire control technology will be future automobile development.

Along with the development of automotive electronic technology, wire control technology becomes the focus of automotive research, and steering-by-wire relative complex, require high, become each automobile vendor, colleges and universities and research institution research focus.Steering-by-wire is by gathering driver to the steering order of the control signal of bearing circle as control module, again in conjunction with current vehicle condition, pavement behavior, steering order is produced by control algolithm in control module, act on and turn to actuator controller, make any rotation angle required for wheel realization, overcoming the deficiency of conventional steering system, is the prerequisite of future automobile intelligent development.

Steering-by-wire eliminates the mechanical connecting part between steering wheel and topworks, this makes driver lose the road feel feeding back to bearing circle from tire, but road feel is the important channel that driver grasps motion state of automobile and pavement behavior in driving procedure, be ensure that automobile safely and can stablize the indispensable part travelled.Therefore, must have in wire-controlled steering system and can simulate road feel according to the information such as vehicle-state, pavement behavior, and passed to a kind of Resistance-load simulator of driver, and then ensure that driver has the driving sensation as orthodox car, guarantee that automobile has enough control stabilities and travel safety.

At present, part power sense simulation system is all carry out simulated resistance by spring or wind spring and return positive force, such as application number is the patent of 201010504604.1 and 201110185749.0, but spring is the non-linear of resistance in linear element and motor racing process suffered by tire not to be met, resistance and time positive force accurately cannot be provided, cause driver's power sense distortion, and then affect control stability.Part driver simulator loads analog force sense by motor, but major part is all designed, designed processing, complex structure, bulky, installation complexity, and volume production C-EPS has, and compact conformation, mechanical precision are high, low cost and other advantages, the present invention slightly makes improvements in original C-EPS physical construction, control algolithm is compensated overcome the intrinsic defect of mechanical system by friciton compensation, damping compensation, moment differential, rigidity compensation, inertia, makes driver's simulator have splendid Feeling curve.

Summary of the invention

The present invention is directed to current driver's simulator relies on the linear element such as spring or wind spring carry out Resistance-load or just return, and causes power sense partial distortion; The driver's simulator built with torque motor, electromagnetic brake, damping motor is bulky, complex structure, cannot the problem such as entrucking.Utilize that volume production C-EPS compact conformation, cost are low, entrucking is convenient, mechanical precision advantages of higher, combination algorithm carries out friciton compensation, damping compensation, moment differential, rigidity compensation, inertia compensates and build the power sense simulation system having power sense authenticity.

For solving the problem, the technical solution used in the present invention is:

Based on a power sense simulation system for C-EPS structure, it comprises power sense analog mechanical system based on C-EPS structure and power sense analog control system, and wherein power sense analog control system comprises again power sense analogue enlargement model and control system hardware platform.Mechanical system based on the power sense simulation system of C-EPS structure comprises: bearing circle, steering column tube, servomotor, turbine and worm decelerator, corner locating device, torque sensor, steering wheel angle sensor.Steering wheel angle sensor is connected with the steering column tube end of C-EPS by coupling shaft, and be fixed on the housing of C-EPS by sensor support base; Steering wheel angle stop means is connected and fixed by stop means bearing and C-EPS housing.

Wherein steering wheel angle stop means is slowed down by driving gear shaft and driven gear shaft, ratio of gear is 4:1, change angle range is carried out spacing by position adjustable caging bolt and positive stop, realize bearing circle to rotate within the scope of ± 360 ° ~ ± 720 °, demand is turned to what meet different automobile types, driving gear shaft and driven gear shaft are fixed on stop means bearing and stop means housing by bearing, and wherein driving gear shaft and coupling shaft are one.

Wherein the internal keyway of steering wheel angle sensor is connected with coupling shaft outside keyway by flat key, and the other end of coupling shaft is that female spline is connected with steering column tube end male splines, makes steering wheel angle sensor and steering column tube keep right alignment accurately.The axial restraint of steering wheel angle sensor is fixed by sensor support base, the rectangular enclosure of the wire harness delivery outlet of steering wheel angle sensor matches with the rectangular opening designed by sensor support base, and by tensioning screw pretension, be connected and fixed by the housing of screw and C-EPS bottom sensor support base.

Wherein power sense analogue enlargement model is made up of the compensation model in Electric Machine Control model and electric machine controller, simultaneously by carrying out friciton compensation to mechanical system, damping compensation, moment differential, rigidity compensation, inertia compensates and revises the target current instruction of input control device, overcome the defect that mechanical system is intrinsic, revised current-order inputs to the Current Vector Control strategy of permagnetic synchronous motor.

Wherein control system hardware platform comprises: TMS320F2812 minimum circuit, feed circuit, power protecting circuit; torque angular signal Acquisition Circuit; busbar voltage observation circuit, phase current Acquisition Circuit, HALL signal transformation circuit; FeRAM memory chip; CAN transceiver, main relay driving circuit, high-power flat ripple inductance; three phase full bridge driving circuit, three phase full bridge power circuit.Dtc signal and angular signal directly input to TMS320F2812 chip after over torque angular signal Acquisition Circuit carries out impedance matching, and the input quantity as compensation model participates in calculation compensation electric current.Input to main control chip after the steering resisting moment that auto model calculates carries out impedance matching, itself and offset current acting in conjunction obtain the target current of motor.Phase current Acquisition Circuit and HALL signal transformation circuit input to main control unit after processing electric machine phase current and motor rotor position signal respectively, to carry out current phasor Closed-loop Control Strategy.

Beneficial effect of the present invention:

1. carry out part improvement based on C-EPS structure, carry out varied angle mechanical position limitation within the scope of ± 360 ° ~ ± 720 ° with the gear pair being simple and easy to process to bearing circle, what be applicable to different vehicles turns to demand.

2. by carrying out friciton compensation, damping compensation, moment differential, rigidity compensation, inertia compensation to mechanical system, overcome the inherent shortcoming of C-EPS system, make driver's simulator have splendid power sense authenticity and just right time positive force.

3. adopt volume production C-EPS structure, compact conformation is simple, mechanical precision is high, cost is low, be easy to realize entrucking.

Accompanying drawing explanation

Fig. 1. general structure principle schematic of the present invention.

Fig. 2. position-limit mechanism schematic diagram.

Fig. 3 position-limit mechanism D direction partial sectional view.

Fig. 4. steering wheel angle sensor axially connects partial sectional view.

Fig. 5. steering wheel angle sensor fixes partial sectional view.

Fig. 6. Controlling model schematic diagram of the present invention.

Fig. 7. controller hardware Organization Chart.

In figure: 1, bearing circle, 2, steering column tube, 3, torque sensor, 4, stop means bearing, 5, coupling shaft, 6, sensor support base, 7, steering wheel angle sensor, 8, controller, 9, steering wheel angle stop means, 10, driving gear shaft, 11, driven gear shaft, 12, positive stop, 13, bearing, 14, position adjustable caging bolt, 15, stop means housing, 16, servomotor, 17, turbine and worm decelerator, 18, jump ring, 19, steering column tube end, 20, flat key, 21, screw, 22, 23, 24 is different operating positions of caging bolt.

Embodiment

Below in conjunction with the drawings and specific embodiments, the invention will be further described.

As shown in Figure 1, Figure 4, Figure 5, the present invention includes bearing circle 1, servomotor 16, turbine and worm decelerator 17, stop means 9, torque sensor 3, steering wheel angle sensor 7.Steering wheel angle sensor 7 is connected with the male splines of steering column tube end 19 by the female spline of coupling shaft 5, the axial restraint of steering wheel angle sensor 7 is fixed by sensor support base 6, wire harness square outlet and the sensor support base 6 of steering wheel angle sensor 7 coordinate, and carry out tensioning with screw 21, be fixed on C-EPS housing with screw 21 simultaneously, make sensing and steering column tube keep high-precision coaxial degree by coupling shaft 5 and sensor support base 6.

As shown in Figure 2 and Figure 3, steering wheel angle stop means 9 forms primarily of driving gear shaft 10, driven gear shaft 11, position adjustable caging bolt 11, positive stop 12, bearing 13.Stop means bearing 4 is bolted on C-EPS housing, and stop means inner body is installed based on stop means bearing 4, and stop means housing 15 is also connected to form seal case by bolt and stop means bearing 4.Driving gear shaft 10 is connected with steering column tube end 19, slowed down by driving gear shaft 10 and driven gear shaft 11, ratio of gear is 4:1, change angle range is carried out spacing by position adjustable caging bolt 14 and positive stop 12, realize bearing circle to rotate within the scope of ± 360 ° ~ ± 720 °, when when being positioned at 24 position shown in Fig. 3 with a position adjustable limiting bolt 14, maximum magnitude ± 720 ° being realized and turn to; When with two position adjustable limiting bolts 14 and be respectively be positioned at 22 shown in Fig. 3,23 position time, minimum zone ± 360 ° can be realized and turn to; When the position of position adjustable limiting bolt 14 between 23 shown in Fig. 3 and 24 can realize ± 360 ° ~ ± 720 ° any range in rotation, to meet the demand of different automobile types to steering angle.

Working method of the present invention is as follows:

After giving the power sense simulation system energising based on C-EPS structure, if bearing circle is not center position, make bearing circle self-aligning by the rigidity compensation of control system inside and damping compensation.Whole power sense simulation system is reserved with input interface, is convenient to be bonded complete drive simulation environment with vehicle dynamic model.Electric machine controller 8 gathers steering wheel angle sensor, torque sensor signal as the input of compensation model simultaneously, then is revised by the current-order of compensation model to input of controller inside, the target of correcting current as motor vector controlled is inputted.

Controlling model as shown in Figure 6, compensation model in controller comprises: friciton compensation, damping compensation, moment differential, rigidity compensation, inertia compensate, the drawback in physical construction of C-EPS is overcome by compensation model, splendid road feel can be provided, wherein friciton compensation adopts the method that can realize static-dynamic friction torque co-controlling, and funtcional relationship is as follows:

T _t＝T _s+T _c

$V_{\stackrel{.}{\mathrm{\θc}}}=\mathrm{sat}\left(\mathrm{\λ}{\stackrel{.}{\mathrm{\θ}}}_c\right)$

$T_{\mathrm{friction}}=\mathrm{sat}[V_{\stackrel{.}{\mathrm{\θc}}}+\mathrm{\γ}(1-|V_{\stackrel{.}{\mathrm{\θc}}}\left|\right)T_t]T_1$

Wherein, T _tresultant moment suffered by steering column assembly; T _sfor the hand-power of bearing circle; T _cfor the simulation moment of servomotor; for the saturation function of steering column rotating speed; λ is the rotating speed coefficient of saturation function; for tach signal; The export-restriction of sat () function is ± 1; T _frictionfor friciton compensation; γ is regulation coefficient; T ₁for the static friction of system.Can see: when comparatively ambassador when reaching capacity, compensate the pivoting friction of steering column assembly; When time, compensate the static friction of steering column assembly; When during unsaturation, it is the transient process of two kinds of friciton compensations.

The funtcional relationship that damping compensation, moment differential, rigidity compensation, inertia compensate is as follows respectively:

$T_{\mathrm{Damping}}=K_D{\stackrel{.}{\mathrm{\θ}}}_c$

$T_{\mathrm{Torque}}=K_T{\stackrel{.}{T}}_t$

T _Stiffness＝K _STθ _c

$T_{\mathrm{Inertness}}=J{\stackrel{..}{\mathrm{\θ}}}_c$

Wherein, T _dampingfor damping compensation; K _dfor ratio of damping; T _torquefor moment derivative compensation; k _tit is moment differential coefficient; T _stiffnessfor rigidity compensation; K _sTfor moment differential coefficient; T _inertnessfor inertia compensates; J is the moment of inertia of system, wherein K _d, K _t,k _sTrelevant to the speed of a motor vehicle, measure gained by experiment.

As shown in Figure 6, permagnetic synchronous motor closed-loop current control adopts id=0 vector control strategy, vector control strategy carries out Clark conversion and Park conversion according to magnetic potential and the constant principle of power to motor stator current phasor, be broken down into by rotor field-oriented excitation current component id and torque current component iq, then carry out current PI closed-loop control respectively and obtain relevant voltage component, eventually pass Park inverse transformation and space voltage vector pulse width modulation method realization dynamically following the tracks of fast motor target current.

As shown in Figure 7, control system hardware platform is with 32 bit DSPs for core, and main operation compensation model and motor vector control strategy, realize the accurate analog to power sense.Control system hardware platform comprises: TMS320F2812 minimum circuit, feed circuit, power protecting circuit, torque angular signal Acquisition Circuit, busbar voltage observation circuit, phase current Acquisition Circuit, HALL signal transformation circuit, FeRAM memory chip, CAN transceiver, main relay driving circuit, high-power flat ripple inductance, three phase full bridge driving circuit, three phase full bridge power circuit.Dtc signal and angular signal directly input to TMS320F2812 chip after over torque angular signal Acquisition Circuit carries out impedance matching, and the input quantity as compensation model participates in calculation compensation electric current; Input to main control chip after the steering resisting moment that auto model calculates carries out impedance matching, itself and offset current acting in conjunction obtain the target current of motor; Phase current Acquisition Circuit and HALL signal transformation circuit input to main control unit after processing electric machine phase current and motor rotor position signal respectively, to carry out current phasor Closed-loop Control Strategy.

Main control unit exports 6 road pwm signals according to the voltage vector that vector policy calculation goes out; control motor after being amplified by three phase full bridge driving circuit and three phase full bridge power circuit and carry out steering drag loading, power protecting circuit utilizes TVS device and diode circuit Protection control system hardware can not damage when being subject to surge voltage impact and reverse power connection.Busbar voltage observation circuit inputs to governor circuit after carrying out filtering and impedance matching process to bus voltage signal, is disconnected by the connection of main relay driving circuit by bus and power device when the situation of sustained overvoltage and overcurrent appears in system.FeRAM memory chip is connected with main control unit by spi bus as external data storage, when carrying out data scaling by under calibrated data value storage.The status information amount of control system is also sent to outside measuring and controlling equipment by the vehicle speed signal that CAN transceiver primary recipient dSPACE or NI platform send.

Claims (5)

1., based on the power sense simulation system of C-EPS structure, it comprises power sense analog mechanical system based on C-EPS structure and power sense analog control system, and wherein power sense analog control system comprises again power sense analogue enlargement model and control system hardware platform; It is characterized in that: the described power sense analog mechanical system based on C-EPS structure comprises: bearing circle (1), steering column tube (2), servomotor (16), turbine and worm decelerator (17), corner locating device (9), torque sensor (3), steering wheel angle sensor (7); Steering wheel angle sensor (7) is connected with the steering column tube end of C-EPS by coupling shaft (5), and be fixed on the housing of C-EPS by sensor support base (6); Steering wheel angle stop means (9) is connected by stop means bearing (4) and C-EPS housing.

2. the power sense simulation system based on C-EPS structure according to claim 1, it is characterized in that: described steering wheel angle stop means is slowed down by driving gear shaft (10) and driven gear shaft (11), ratio of gear is 4:1, change angle range is carried out spacing by position adjustable caging bolt (14) and positive stop (12), realize bearing circle to rotate within the scope of ± 360 ° ~ ± 720 °, demand is turned to what meet different automobile types, driving gear shaft (10) and driven gear shaft (11) are fixed on stop means bearing (4) and stop means housing (15) by bearing (13), wherein driving gear shaft (10) and coupling shaft (5) design as a whole.

3. the power sense simulation system based on C-EPS structure according to claim 1, it is characterized in that: the internal keyway of described steering wheel angle sensor is connected with coupling shaft (5) outside keyway by flat key, the other end of coupling shaft (5) is that female spline is connected with steering column tube end male splines, makes steering wheel angle sensor and steering column tube keep right alignment accurately; The axial restraint of steering wheel angle sensor is fixed by sensor support base (6), the rectangular enclosure of the wire harness delivery outlet of steering wheel angle sensor (7) matches with the rectangular opening designed by sensor support base, and by tensioning screw pretension, the bottom of sensor support base (6) is connected and fixed by the housing of screw and C-EPS.

4. the power sense simulation system based on C-EPS structure according to claim 1, it is characterized in that: described power sense analogue enlargement model is made up of the compensation model in Electric Machine Control model and electric machine controller, by carrying out friciton compensation to mechanical system, damping compensation, moment differential, rigidity compensation, inertia compensates and revises the target current instruction of input control device, overcome the defect that mechanical system is intrinsic, revised current-order inputs to the Current Vector Control strategy of permagnetic synchronous motor.

5. the power sense simulation system based on C-EPS structure according to claim 1, is characterized in that: described control system hardware platform comprises: TMS320F2812 minimum circuit, feed circuit, power protecting circuit, torque angular signal Acquisition Circuit, busbar voltage observation circuit, phase current Acquisition Circuit, HALL signal transformation circuit, FeRAM memory chip, CAN transceiver, main relay driving circuit, high-power flat ripple inductance, three phase full bridge driving circuit, three phase full bridge power circuit; Dtc signal and angular signal directly input to TMS320F2812 chip after over torque angular signal Acquisition Circuit carries out impedance matching, and the input quantity as compensation model participates in calculation compensation electric current; Input to main control chip after the steering resisting moment that auto model calculates carries out impedance matching, itself and offset current acting in conjunction obtain the target current of motor; Phase current Acquisition Circuit and HALL signal transformation circuit input to main control unit after processing electric machine phase current and motor rotor position signal respectively, to carry out current phasor Closed-loop Control Strategy.