CN2934008Y - Vehicle electric power-assisted steering controller - Google Patents

Vehicle electric power-assisted steering controller Download PDF

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Publication number
CN2934008Y
CN2934008Y CN 200620106830 CN200620106830U CN2934008Y CN 2934008 Y CN2934008 Y CN 2934008Y CN 200620106830 CN200620106830 CN 200620106830 CN 200620106830 U CN200620106830 U CN 200620106830U CN 2934008 Y CN2934008 Y CN 2934008Y
Authority
CN
China
Prior art keywords
resistance
current
steering controller
power amplification
amplification element
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.)
Expired - Lifetime
Application number
CN 200620106830
Other languages
Chinese (zh)
Inventor
胡树根
王耘
朱开田
吴锋
陈伟
杨志家
宋小文
朱建新
石彬
卢斌
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.)
Zhejiang Wanda Steering Gear Co Ltd
Zhejiang University ZJU
Original Assignee
Zhejiang Wanda Steering Gear Co Ltd
Zhejiang University ZJU
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 Zhejiang Wanda Steering Gear Co Ltd, Zhejiang University ZJU filed Critical Zhejiang Wanda Steering Gear Co Ltd
Priority to CN 200620106830 priority Critical patent/CN2934008Y/en
Application granted granted Critical
Publication of CN2934008Y publication Critical patent/CN2934008Y/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model relates to a vehicle electric assisted power steering controller, which comprises a microprocessor, an H-bridge motor driving module, a motor, a current sample and feedback resistance and an electronic servo module. The microprocessor is connected with a digital potentiometer through SPI bus; the motor driving signal output end of the electronic servo module is connected with the H-bridge motor driving module. The utility model has the advantages of that feedback electric pressure signal is provided by the electronic servo module to the current sample and feedback resistance, and that given electric pressure signal is provided by differential circuit. The double directional detection provides real motor current situations through the current sample and feedback resistance and avoids the relatively large differences between the feedback current and the real current caused by fly-wheel diode in the H-bridge circuit. The electric assisted power can better satisfy practical needs and the better steadiness of the assisted power steering controller gives drivers hand feeling.

Description

The vehicle electric booster steering controller
Technical field
The utility model relates to a kind of vehicle electric booster steering controller, is particularly useful for the electrical servo power-assisted steering system that dilly turns to pillar.
Background technology
Current, along with people require to improve day by day to vehicle handling stability, environmental protection, energy-conservation etc., conventional hydraulic servo-steering system is replaced by electric power steering system just gradually.Electric power steering is by pre-set assist characteristic curve, can adjust the power-assisted size according to the hand-power situation of the different speed of a motor vehicle and chaufeur, satisfies different driving cycles.For automobile electronics, its electronic control unit (ECU) part is one of emphasis of entire product, also is one of difficult point simultaneously.The hardware circuit design of ECU is improper, not only can increase the complexity of structure, improves the cost of entire product, but also can influence the power-assisted stationarity of motor, accuracy, makes the feel variation of chaufeur, influences vehicle handling stability.
At present, general automobile electric power steering (EPS) device comprises microprocessor, H bridge motor drive module, motor, the resistance of sampling feedback electric current, usually adopt H bridge driving circuit to control to motor, the power-assisted size of motor is recently controlled in conducting by selecting different MOSFET pipes and disconnect the rotation direction of controlling motor by the duty of adjusting pulse-width signal (PWM); Sampling resistor by the high-end place of H bridge will feed back to microprocessor with the proportional magnitude of voltage of current of electric simultaneously, obtain feedback current according to ratio and compare by feedback voltage with the given electric current that microprocessor is set, proportion differential (PI) or proportional integral derivative (PID) controlled adjuster that utilization is integrated in the microprocessor are regulated, and the output pulse width modulation signal comes drive motor to produce corresponding power-assisted to motor-drive circuit.In the ordinary course of things, this feedback voltage can reflect the current value when front motor more accurately; But when the rapid steering wheel rotation of chaufeur,, make the motor power-assisted not satisfy actual requirement because the effect of flywheel diode just can have bigger discrepancy with actual motor current with the corresponding feedback current of feedback voltage.According to the constructional feature of H bridge, be positive voltage simultaneously, when the chaufeur steering wheel rotation is zeroaxial, can produce discontinuous sense like this no matter the feedback voltage motor is just changeing or reversing.Above problem all can make chaufeur feel variation, in some cases even have influence on road-holding property.
Summary of the invention
The purpose of this utility model provide a kind of give chaufeur good turn to feel, handle steady failure-free vehicle electric booster steering controller.
Vehicle electric booster steering controller of the present utility model, comprise microprocessor, H bridge motor drive module, motor, the resistance of sampling feedback electric current and electron servo module, said electron servo module comprises digital regulation resistance, sample resistance, adaptive resistance, first power amplification element, second power amplification element and PDM keyer, digital regulation resistance wherein, sample resistance and the series connection of adaptive resistance, the two ends of this circuit series respectively with the master of torque sensor, the accessory torque signal output part links to each other, the input end of first power amplification element and the two ends of sample resistance connect altogether, the mouth of first power amplification element links to each other with PDM keyer, the resistance two ends of the input end of second power amplification element and sampling feedback electric current connect altogether, the mouth of second power amplification element links to each other with PDM keyer, microprocessor links to each other with digital regulation resistance by spi bus, and the motor drive signal mouth of electron servo module connects H bridge motor drive module.
The principle of work of vehicle electric booster steering controller is as follows:
The vehicle speed signal of input microprocessor, engine ignition signal and motor current signal, export three road spi bus signals---data-signal DAT through the microprocessor internal programming control, clock signal clk and chip selection signal CS, this three road bus signals are used to change the big or small output voltage of adjusting the sample resistance two ends indirectly of resistance of digital regulation resistance.After the two ends of digital regulation resistance and adaptive resistance and sample resistance circuit series add the major and minor moment of torsion input voltage of torque sensor respectively, just constitute a series connection differential circuit.When adaptive resistance and sample resistance were zero in the digital regulation resistance resistance, the sample resistance both end voltage equaled actual torque voltage.When the speed of a motor vehicle improves, adjust the digital regulation resistance resistance value, make the voltage signal of sample resistance both end voltage, reach along with speed of a motor vehicle raising reduces power-assisted purpose less than the output of actual torque sensor according to the pre-set ratio of microprocessor.The output voltage at sample resistance two ends is directly inputted in the PDM keyer through after the processing and amplifying, and PDM keyer produces four road pulse-width signals of controlling and driving H bridge driver module according to the feedback voltage through sample resistance voltage after the processing and amplifying and reflection current of electric.H bridge motor drive module can be controlled direction of motor rotation and output torque size according to the PDM keyer output signal.
The beneficial effects of the utility model are:
What the utility model had adopted that electron servo module feedback voltage signal that direct current resistance provides to sampling feedback and differential circuit provide carries out two-way detection to determining voltage signal, make sampling feedback direct current resistance can truly reflect the current of electric situation, effectively avoid the feedback current and the bigger defective of actual motor current deviation that cause by the flywheel diode in the H bridge circuit, make the motor power-assisted more satisfy actual needs.So the electric booster steering controller of introducing after the electron servo module is more steady than general booster steering controller power-assisted, can provide more good hand feeling to chaufeur.
Description of drawings
Fig. 1 is a vehicle electric booster steering controller scheme drawing;
Fig. 2 is a kind of physical circuit example of vehicle electric booster steering controller.
The specific embodiment
Further specify the utility model below in conjunction with accompanying drawing.
With reference to Fig. 1, the vehicle electric booster steering controller comprises microprocessor 4, H bridge motor drive module 11, motor 12, the resistance 13 of sampling feedback electric current and electron servo module 8, said electron servo module 8 comprises digital regulation resistance 14, sample resistance 15, adaptive resistance 16, first power amplification element 17, second power amplification element 18 and PDM keyer 19, wherein digital regulation resistance 14, sample resistance 15 and 16 series connection of adaptive resistance, the two ends of this circuit series respectively with the master of torque sensor, the accessory torque signal output part links to each other, the two ends of the input end of first power amplification element 17 and sample resistance 15 connect altogether, the mouth of first power amplification element 17 links to each other with PDM keyer 19, resistance 13 two ends of the input end of second power amplification element 18 and sampling feedback electric current connect altogether, the mouth of second power amplification element 18 links to each other with PDM keyer 19, microprocessor 4 links to each other with digital regulation resistance 14 by spi bus 5, and the motor drive signal mouth of electron servo module 8 connects H bridge motor drive module 11.
The effect of microprocessor is according to speed of a motor vehicle correction power-assisted size, provides protection to the Combination property of whole electrical servo power-assisted steering controller, provide failure analysis, and the assurance system moves normally.Its incoming signal has vehicle speed signal, engine ignition signal, motor current signal.Wherein vehicle speed signal is for revising the foundation of power-assisted size, and the engine ignition signal is required for starting self check, and motor current signal is used for the monitoring to electric machine operation state.Output signal is connected with electron servo module 8 by spi bus 5, adjusts the size of digital regulation resistance 14 resistances in the electron servo module, plays the effect according to speed of a motor vehicle correction power-assisted size.Spi bus comprises three road signals, is respectively data-signal DAT, clock signal clk and chip selection signal CS.
The incoming signal of electron servo module has the spi bus incoming signal, the main torque signal of torque sensor output and the voltage signal at accessory torque signal and sampling feedback direct current resistance 13 two ends.The feedback voltage of sample resistance 15 voltages and reflection current of electric is amplified into PDM keyer 19 through first power amplification element 17 and second power amplification element 18 respectively, and PDM keyer 19 output signals are four road pulse-width modulated output signals 9 of control H bridge motor drive module 11.
Two ends at digital regulation resistance 14 and adaptive resistance 15 and sample resistance 16 circuit seriess add the major and minor moment of torsion input voltage of torque sensor respectively, constitute differential circuit.When digital regulation resistance was zero, the sample resistance both end voltage equaled actual torque voltage like this.When the speed of a motor vehicle improves, adjust the digital regulation resistance resistance value, make the sample resistance both end voltage, can realize the purpose that power steering reduces along with speed of a motor vehicle raising less than actual torque voltage according to the pre-set ratio of microprocessor.
Sampling feedback direct current resistance is connected with motor, it flows through electric current and is current of electric, can make current sampling resistor truly reflect the current of electric situation like this, such circuit can provide the detection of bidirectional current to the electron servo module simultaneously, so that truly reflect motor power-assisted situation.
In the physical circuit shown in Figure 2, it is 256 SPI electronic potentiometers of AD5160 that the digital regulation resistance 14 in the electron servo module is selected model for use.PDM keyer 19 is NCV494.H bridge motor drive module is made up of 4 field effect transistor NTP60N06.

Claims (3)

1, the vehicle electric booster steering controller, comprise microprocessor (4), H bridge motor drive module (11), motor (12), the resistance of sampling feedback electric current (13), it is characterized in that also comprising electron servo module (8), said electron servo module (8) comprises digital regulation resistance (14), sample resistance (15), adaptive resistance (16), first power amplification element (17), second power amplification element (18) and PDM keyer (19), digital regulation resistance (14) wherein, sample resistance (15) and adaptive resistance (16) series connection, the two ends of this circuit series respectively with the master of torque sensor, the accessory torque signal output part links to each other, the two ends of the input end of first power amplification element (17) and sample resistance (15) connect altogether, the mouth of first power amplification element (17) links to each other with PDM keyer (19), resistance (13) two ends of the input end of second power amplification element (18) and sampling feedback electric current connect altogether, the mouth of second power amplification element (18) links to each other with PDM keyer (19), microprocessor (4) links to each other with digital regulation resistance (14) by spi bus (5), and the motor drive signal mouth of electron servo module (8) connects H bridge motor drive module (11).
2. vehicle electric booster steering controller according to claim 1 is characterized in that PDM keyer (19) is NCV494.
3. vehicle electric booster steering controller according to claim 1 is characterized in that said digital regulation resistance (14) is that model is 256 SPI electronic potentiometers of AD5160.
CN 200620106830 2006-08-18 2006-08-18 Vehicle electric power-assisted steering controller Expired - Lifetime CN2934008Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200620106830 CN2934008Y (en) 2006-08-18 2006-08-18 Vehicle electric power-assisted steering controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200620106830 CN2934008Y (en) 2006-08-18 2006-08-18 Vehicle electric power-assisted steering controller

Publications (1)

Publication Number Publication Date
CN2934008Y true CN2934008Y (en) 2007-08-15

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN 200620106830 Expired - Lifetime CN2934008Y (en) 2006-08-18 2006-08-18 Vehicle electric power-assisted steering controller

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101734277A (en) * 2008-11-10 2010-06-16 株式会社捷太格特 Electric power steering apparatus and control method thereof
CN101890979A (en) * 2009-05-20 2010-11-24 斯堪尼亚商用车有限公司 Direction changing servo system
CN101339096B (en) * 2007-11-16 2010-12-08 江苏大学 Booster torquemoment determination method for heavy type transport vehicle electric power-assisted steering system
CN104627237A (en) * 2013-11-06 2015-05-20 上海航天汽车机电股份有限公司 EPS-based pavement high frequency interference damping suppression method and system

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101339096B (en) * 2007-11-16 2010-12-08 江苏大学 Booster torquemoment determination method for heavy type transport vehicle electric power-assisted steering system
CN101734277A (en) * 2008-11-10 2010-06-16 株式会社捷太格特 Electric power steering apparatus and control method thereof
CN101890979A (en) * 2009-05-20 2010-11-24 斯堪尼亚商用车有限公司 Direction changing servo system
CN101890979B (en) * 2009-05-20 2014-10-01 斯堪尼亚商用车有限公司 Steering servo system
CN104627237A (en) * 2013-11-06 2015-05-20 上海航天汽车机电股份有限公司 EPS-based pavement high frequency interference damping suppression method and system
CN104627237B (en) * 2013-11-06 2017-09-26 上海航天汽车机电股份有限公司 The damping suppressing method and system of road surface High-frequency Interference based on EPS

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Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned

Effective date of abandoning: 20060818

C25 Abandonment of patent right or utility model to avoid double patenting