WO2022227515A1 - Procédé de commande de commutation douce pour actionneur de stationnement - Google Patents

Procédé de commande de commutation douce pour actionneur de stationnement Download PDF

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Publication number
WO2022227515A1
WO2022227515A1 PCT/CN2021/132260 CN2021132260W WO2022227515A1 WO 2022227515 A1 WO2022227515 A1 WO 2022227515A1 CN 2021132260 W CN2021132260 W CN 2021132260W WO 2022227515 A1 WO2022227515 A1 WO 2022227515A1
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WO
WIPO (PCT)
Prior art keywords
motor
voltage
parking actuator
pulse width
modulation signal
Prior art date
Application number
PCT/CN2021/132260
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English (en)
Chinese (zh)
Inventor
刘蕾
曹建雄
汪田华
姜磊
Original Assignee
一巨自动化装备（上海）有限公司
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.)
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Publication date
Application filed by 一巨自动化装备（上海）有限公司 filed Critical 一巨自动化装备（上海）有限公司
Publication of WO2022227515A1 publication Critical patent/WO2022227515A1/fr

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    • 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
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/18—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual dc motor
    • 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
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes

Definitions

  • the invention relates to the field of parking actuator control, in particular to a soft switch control method for a parking actuator.
  • the parking actuator is driven by a DC motor and controls the parking pawl to perform parking and release parking actions.
  • the controller of the parking actuator is generally integrated into the main drive motor controller.
  • the vehicle controller and the motor controller share a set of 12V low-voltage power supply.
  • the DC motor of the parking actuator will cause a large voltage and current impact to the 12V low-voltage power supply at the moment of startup and shutdown. , it will cause the voltage to rise.
  • the switching action of the parking actuator will affect the power supply of the entire controller, so it is particularly important to design the control methods for the soft-start and soft-off actions of the parking actuator.
  • the patent document discloses a DC motor soft starter and its soft start method. By collecting the current change during start-up in real time, and adjusting the output duty cycle in a closed loop, the start-up current is reduced; when the duty cycle reaches 100 After %, the single-chip microcomputer switches to the IGBT working state through the starting winding working state, and the motor enters the rated running state.
  • the above scheme is mainly suitable for large-scale DC motors for soft start of DC motors.
  • the control device and method are relatively complicated, and additional start-up winding circuits are required; the current closed-loop control method is adopted, and the control of the parking actuator only needs to control the output shaft. position control, no additional current closed-loop control is required.
  • the method of the prior art is limited by the use of the control device, and there is no starting winding and no accurate current sampling circuit on the parking actuator. This method is not suitable for the short-term and fast switching action of the DC motor of the parking actuator. .
  • the purpose of the present invention is to provide a soft-switching control method for a parking actuator, which can reduce the drop of starting current and voltage by changing the utilization rate of DC voltage, the rate of change of the output duty cycle and the PID control in conjunction with the control method. Effectively reduce the voltage rise phenomenon at turn-off.
  • a soft switch control method for a parking actuator comprising:
  • the pulse width modulation signal PWM_0 output by the PID controller is processed by the slope control module, that is, the SLOP module, and the pulse width modulation signal PWM_1 whose duty cycle is increased or decreased with a fixed step size is output;
  • the pulse width modulation signal PWM_1 is input into the MOSFET full-bridge circuit to control and slow down the change of the output voltage of the MOSFET full-bridge circuit.
  • the output voltage of the MOSFET full-bridge circuit is used as the input voltage of the DC motor, and the DC motor controls the parking actuator to perform actions.
  • step S2 when the DC motor starts, the duty cycle of the pulse width modulation signal PWM_1 is increased by a fixed step; when the DC motor is turned off, the duty cycle of the pulse width modulation signal PWM_1 is decreased by a fixed step.
  • the slope control module no longer functions.
  • the voltage of the input terminal of the DC motor is also detected, the utilization rate of the DC power supply voltage is set according to the voltage of the input terminal of the DC motor, and the DC power supply voltage is multiplied by the voltage utilization rate as the input voltage of the MOSFET full-bridge circuit, so that the DC power The back EMF generated when the machine is turned off is not greater than the input terminal voltage.
  • the PID controller minimizes the control torque that is opposite to the direction of the rotation speed of the DC motor, resulting in the generation of current.
  • the position of the output shaft of the parking actuator is acquired by a Hall position sensor.
  • the soft switch control method of the parking actuator proposed by the present invention realizes closed-loop control according to the position of the output shaft fed back by the position sensor of the parking actuator. Solve the problem of voltage and current fluctuations during startup and shutdown;
  • the present invention simultaneously utilizes the voltage utilization rate and the duty ratio change rate to cooperate with the PID controller to control the DC motor, which can effectively reduce the voltage rise phenomenon when it is turned off.
  • FIG. 1 is a control block diagram of the soft switch control method of the parking actuator of the present invention.
  • the DC motor is equivalent to a locked-rotor state. If the full duty cycle is directly loaded and the power supply voltage is all input to the motor, a large instantaneous locked-rotor current will be generated. If the duty cycle of the PID controller is set to increase in slop steps when the DC motor is started, so that the voltage input to the motor terminal rises at a certain slope, which can effectively reduce the instantaneous stall current at the time of startup.
  • the soft switch control method of the parking actuator proposed by the present invention includes:
  • the Hall position sensor collects and obtains the position of the output shaft of the parking actuator, and calculates the difference with the target position executed by the parking actuator, and the obtained difference is input to the PID controller; the PID controller generates according to the input difference Pulse width modulation signal PWM_0 with a certain duty cycle;
  • the pulse width modulation signal PWM_0 output by the PID controller is processed by the slope control module to output the pulse width modulation signal PWM_1 whose duty cycle is incremented or decremented by a fixed step; among them:
  • the duty cycle of the pulse width modulation signal PWM_1 is increased in fixed steps; when the duty cycle of the pulse width modulation signal PWM_1 increases to 100% of the pulse width modulation signal PWM_0, the slope control module no longer functions.
  • the duty cycle of the pulse width modulation signal PWM_1 is decremented with a fixed step size, and the voltage of the input terminal of the DC motor is also detected, and the utilization rate of the DC power supply voltage is set according to the input terminal voltage of the DC motor, and the DC power supply voltage is multiplied by The voltage utilization rate is used as the input voltage of the MOSFET full-bridge circuit, so that the back EMF generated when the DC motor is turned off is not greater than the input terminal voltage.
  • the pulse width modulation signal PWM_1 is input into the MOSFET full-bridge circuit to control and slow down the change of the output voltage of the MOSFET full-bridge circuit.
  • the output voltage of the MOSFET full-bridge circuit is used as the input voltage of the DC motor, and the DC motor controls the parking actuator to perform actions.
  • the PID controller of the present invention should minimize the control torque in the opposite direction to the rotation speed of the DC motor during the control process, resulting in the generation of current. Therefore, it is necessary to constrain the control of the PID controller, and the PID control parameters must meet the above constraints.
  • the soft-switching control method of the parking actuator proposed by the present invention utilizes the pulse width modulation signal whose duty ratio is increased or decreased with a fixed step length to cooperate with the PID controller to control the DC motor, which effectively reduces the start-up and shutdown processes. voltage and current fluctuations. At the same time, combined with the utilization of power supply voltage, the phenomenon of voltage rise during turn-off can also be effectively reduced.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Direct Current Motors (AREA)
  • Motor And Converter Starters (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

Est divulgué dans la présente invention un procédé de commande de commutation douce pour un actionneur de stationnement, consistant à : obtenir une position d'un arbre de sortie de l'actionneur de stationnement, réaliser un calcul de différence sur ladite position et une position cible exécutée par l'actionneur de stationnement et entrer une différence obtenue dans un régulateur PID ; générer, par le régulateur PID, en fonction de la différence entrée, un signal de modulation de largeur d'impulsion PWM_0 ayant un certain rapport cyclique ; traiter le PWM_0 par un module de commande de pente et sortir un signal de modulation de largeur d'impulsion PWM_1 dont le rapport cyclique est progressivement augmenté ou diminué à une longueur de pas fixe ; lorsqu'un moteur est éteint, détecter une tension d'extrémité d'entrée du moteur à courant continu et régler le taux d'utilisation d'une tension d'alimentation en courant continu en fonction de la tension d'extrémité d'entrée du moteur ; et entrer le signal de modulation de largeur d'impulsion PWM_1 dans un circuit à pont complet MOSFET, commander et ralentir le changement d'une tension de sortie du circuit à pont complet MOSFET, en prenant la tension de sortie du circuit à pont complet MOSFET en tant que tension d'extrémité d'entrée du moteur à courant continu, et utiliser le moteur à courant continu pour commander l'actionneur de stationnement pour qu'il agisse. Le problème de fluctuation de tension et de courant dans le processus de démarrage et de mise hors tension est efficacement résolu et la condition de montée de tension est réduite.
PCT/CN2021/132260 2021-04-28 2021-11-23 Procédé de commande de commutation douce pour actionneur de stationnement WO2022227515A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110463656.7 2021-04-28
CN202110463656.7A CN113179051B (zh) 2021-04-28 2021-04-28 一种驻车执行器软开关控制方法

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WO2022227515A1 true WO2022227515A1 (fr) 2022-11-03

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WO (1) WO2022227515A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113179051B (zh) * 2021-04-28 2022-11-22 一巨自动化装备（上海）有限公司 一种驻车执行器软开关控制方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001322484A (ja) * 2000-05-12 2001-11-20 Koito Mfg Co Ltd 車輌用灯具の光軸調整装置用モータ制御回路
CN104300852A (zh) * 2014-09-26 2015-01-21 北京航天自动控制研究所 小型有刷电动伺服控制器
CN106487281A (zh) * 2015-09-02 2017-03-08 中国航空工业第六八研究所 一种控制高压电机pwm输出的软件启动方法
CN108448963A (zh) * 2018-04-03 2018-08-24 西安微电子技术研究所 一种电动舵机增量式pid控制方法及其控制装置
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CN113179051A (zh) * 2021-04-28 2021-07-27 一巨自动化装备（上海）有限公司 一种驻车执行器软开关控制方法

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CN113179051A (zh) 2021-07-27
CN113179051B (zh) 2022-11-22

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