摘要
为满足客车电动化和智能化的需求,本文研究开发了适用于智能客车转向助力系统的控制器.内容主要包括:基于EHPS系统的结构原理和控制策略,设计制作了以STM32F103zet6型芯片为内核的控制器;硬件设计包括了单片机最小系统电路、电源电路、信号采集电路、功率集成模块电路、CAN通信电路以及故障与高温报警电路等;综合各硬件部分的设计,制作了EHPS系统控制器实物;在控制策略方面,采用i_(d)=0的矢量控制方法控制无位置传感器式永磁同步电机;在软件实现方面,主要设计了控制决策部分、电机驱动控制部分、故障诊断与发送部分等程序;最后对控制器进行了台架试验和EHPS系统试验.测试了控制器对电机的控制效果.试验结果显示:电机的目标转速响应迅速并且输出稳定,本文研制的控制器实现了对永磁同步式助力电机的控制.EHPS系统试验测试了控制器对客车转向助力的实现效果,EHPS系统试验结果显示:自主研制的EHPS系统控制器在工作时,操纵方向盘的转矩明显减小,且转向助力系统有良好的助力性能;随着车速的增加,操纵方向盘助力力矩随之减小,实现了助力动态变化,达到了客车常规助力模式的要求.
In view of the power limitation and low speed output instability of BLDCM in EHPS system for medium and heavy vehicles,permanent magnet synchronous motor(PMSM)is used as the power motor of the system in this paper.Based on the structure principle and control strategy of EHPS system,a controller with STM32F103zet6 chip as its core is designed and manufactured.Hardware design includes MCU minimum system circuit,power supply circuit,signal acquisition circuit,power module circuit,CAN communication circuit,fault and high temperature alarm circuit,etc.In terms of control strategy,a vector control method with i_(d)=0 is used to control sensorless permanent magnet synchronous motor.In the aspect of software implementation,the control decision-making part,motor drive control part,fault diagnosis and transmission part are mainly designed.The design of power steering system mainly includes:resistance torque of in-situ steering,output torque of steering gear,pressure of steering system,working flow of steering pump and power of steering motor.Finally,the bench test and EHPS system test of the controller are carried out,and the control effect of the controller is tested.The control effect of the controller on the motor is tested in the bench test.The results show that the target speed of the motor responds quickly and the output is stable.The controller developed in this paper realizes the control of the permanent magnet synchronous booster motor.EHPS system test has tested the effect of the controller on the passenger car steering assistance.The EHPS system test results show that:when the self-developed EHPS system controller works,the torque of steering wheel control is significantly reduced,and the steering assistance system has good performances.With increasing vehicle speeds,the steering wheel power moment decreases,which realizes the dynamic change of powers,and meets the requirements of the bus conventional power mode.
作者
李爱娟
韩文尧
王知学
张云
刘刚
袁文长
Li Aijuan;Han Wenyao;Wang Zhixue;Zhang Yun;Liu Gang;Yuan Wenchang(School of Automotive Engineering,Shan Dong Jiaotong University,Ji'nan 250357,China;School of Rail Transit,Shan Dong Jiaotong University,Ji'nan 250357,China;Office of Academic Affairs,Shan Dong Jiaotong University,Ji'nan 250357,China)
出处
《动力学与控制学报》
2021年第3期22-30,共9页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(51505258,61601265)
山东省自然科学基金资助项目(ZR2015EL019)
石家庄铁道大学省部共建交通工程结构力学行为与系统安全国家重点实验室开放课题(1903)
山东省农机装备研发创新计划项目(2017YF013,2018YF017)。
关键词
汽车工程
转向助力系统控制器设计
矢量控制
智能客车
永磁同步电机
automotive engineering
steering system controller design
vector control
intelligent bus
permanent magnet synchronous motor