电动助力转向系统中无刷直流电机控制器的研究与开发
摘要
电动助力转向系统(EPS)是近几年来兴起的新型动力转向系统。EPS采用电机作为动力源,以微处理器为控制单元,能针对汽车行驶的各种不同工况进行智能控制,达到最理想的助力效果。在转向操作的舒适性、安全性和节能环保等方面具有传统液压助力转向系统无法比拟的优势。本文以无刷直流电机为动力源,以高性能、高可靠性的电动助力转向系统为目标,对其进行了深入的系统的研究。
本文针对电动助力转向系统(EPS)的控制原理进行了研究,详细的分析和比较了电动助力转向系统控制策略的原理和实现方法,确定了电机电枢电流法实现助力功能。本文对电动助力转向系统中无刷直流电机控制的核心控制技术进行了研究,深入的探讨了电机相电流和母线电流的关系,提出了一种低成本、精度较高的无刷直流电机相电流检测方案,并结合工程实践给出了母线电流和相电流采样方法;讨论了无刷直流电机的阻尼控制原理,并给出了实际的应用方法;研究了一种新型的PWM控制策略,有效地降低了系统的功耗,提高系统的可靠性。
在以上的理论基础上,本文以英飞凌公司的数字信号处理器XC2365和专用三相电机驱动芯片TLE7183为核心设计了EPS无刷直流电机控制器的硬件平台。软件上将模块化设计的思想贯穿到整个EPS控制程序,软件构架清晰合理、层次分明、控制效果好,能够实现不同工况和不同模式下对电机转矩的精确控制。文中对整个系统的架构及硬件电路和驱动软件的实现作了详细的介绍,并给出硬件结构框图及软件部分的程序框图。
本文在最后介绍了调试环境和设备,给出了实验数据和波形并对实验结果做了分析和比较。实验结果证明,本文设计的汽车电动助力转向系统中的无刷直流电机控制器具有良好的性能,基本达到预期设计要求,为后续的研究工作提供了很好的基础和借鉴。
Electric power steering(EPS) is a newly-developed power steering system in the recent years. EPS uses motor as power source and microprocessor as control unit; it can adopt different intelligent control and achieve the best steering result. EPS can meet all demands of steering performances and has overwhelming advantages on operation, safety and environmental protection comparing with traditional hydraulic power steering system. This dissertation does some embedded investigation focused on the high performance EPS system which is based on brushless motor.
This paper includes research of EPS control principle, detailed analyses of implementation methods and theory of EPS control strategy, and finally realize the steering function by using the mothod of motor armature current. This paper also includes research of core control skills of BLDC in EPS, deep discussions of connections of phase current and generatrix current, made a low-cost, high precision brushless DC motor phase current testing programme, combined with engineering practice and given the phase current and generatrix current sampling methods; Discussed the principle of BLDC damping control, and gives practical application; On a new PWM control strategy to reduce the power consumption of the system, improve the reliability of the system.
Based on the theory, the EPS designed in this paper takes XC2365 of infineon company as its core control technology and adopts TLE7183 to build drive circuit. The software had developed a strongly-structured program for EPS which can achieve precise control of torque under different situations. System architecture and the design of hardware and software are presented in detail in the text,and the hardware structure and program block are given.
At the last of this paper, tests had been done based on this and the result showed that: the BLDC of EPS designed in this paper have good performance. It had laid a soild foundation for further research
本文针对电动助力转向系统(EPS)的控制原理进行了研究,详细的分析和比较了电动助力转向系统控制策略的原理和实现方法,确定了电机电枢电流法实现助力功能。本文对电动助力转向系统中无刷直流电机控制的核心控制技术进行了研究,深入的探讨了电机相电流和母线电流的关系,提出了一种低成本、精度较高的无刷直流电机相电流检测方案,并结合工程实践给出了母线电流和相电流采样方法;讨论了无刷直流电机的阻尼控制原理,并给出了实际的应用方法;研究了一种新型的PWM控制策略,有效地降低了系统的功耗,提高系统的可靠性。
在以上的理论基础上,本文以英飞凌公司的数字信号处理器XC2365和专用三相电机驱动芯片TLE7183为核心设计了EPS无刷直流电机控制器的硬件平台。软件上将模块化设计的思想贯穿到整个EPS控制程序,软件构架清晰合理、层次分明、控制效果好,能够实现不同工况和不同模式下对电机转矩的精确控制。文中对整个系统的架构及硬件电路和驱动软件的实现作了详细的介绍,并给出硬件结构框图及软件部分的程序框图。
本文在最后介绍了调试环境和设备,给出了实验数据和波形并对实验结果做了分析和比较。实验结果证明,本文设计的汽车电动助力转向系统中的无刷直流电机控制器具有良好的性能,基本达到预期设计要求,为后续的研究工作提供了很好的基础和借鉴。
Electric power steering(EPS) is a newly-developed power steering system in the recent years. EPS uses motor as power source and microprocessor as control unit; it can adopt different intelligent control and achieve the best steering result. EPS can meet all demands of steering performances and has overwhelming advantages on operation, safety and environmental protection comparing with traditional hydraulic power steering system. This dissertation does some embedded investigation focused on the high performance EPS system which is based on brushless motor.
This paper includes research of EPS control principle, detailed analyses of implementation methods and theory of EPS control strategy, and finally realize the steering function by using the mothod of motor armature current. This paper also includes research of core control skills of BLDC in EPS, deep discussions of connections of phase current and generatrix current, made a low-cost, high precision brushless DC motor phase current testing programme, combined with engineering practice and given the phase current and generatrix current sampling methods; Discussed the principle of BLDC damping control, and gives practical application; On a new PWM control strategy to reduce the power consumption of the system, improve the reliability of the system.
Based on the theory, the EPS designed in this paper takes XC2365 of infineon company as its core control technology and adopts TLE7183 to build drive circuit. The software had developed a strongly-structured program for EPS which can achieve precise control of torque under different situations. System architecture and the design of hardware and software are presented in detail in the text,and the hardware structure and program block are given.
At the last of this paper, tests had been done based on this and the result showed that: the BLDC of EPS designed in this paper have good performance. It had laid a soild foundation for further research
引文
[1]赵燕,周斌.汽车转向系统的技术发展趋势[J].汽车研究与开发, 2003(2):22-24.
[2]卓敏,许超.汽车电动助力转向技术分析[J].机电工程技术, 2002(1):17-18、27.
[3]陈善华,宗长富,许超.汽车电子转向技术发展与展望[J],汽车技术, 2003(1):1-7.
[4] Nakayama T, Suda E. The present and future of electric power steering. Int.J.of Vehicle Design,1994,15(3\4\5).
[5]林逸,施国标.汽车电动助力转向技术的发展现状与趋势[J].公路交通科技, 2001(3):34-36.
[6] Rogers K, Kimberley W. Tuming to electric[J]. Automotive Engineer,2005,25(2):39-41.
[7] Badawy A, Bolourchi F, Gaut SKE STEER system redefines steering technology[J]. Automotive Engineering,1997,105(9):15-18.
[8]佚名.电动转向系统[EB/OL]. http://www.carcn.net/wxby/qczs2/49/htm,2002-12-19.
[9] Yasuo Shimizu, Toshitake Kawai. Development of Electric Power Steering. SAE Paper No.910014.
[10] Kami Buchholz. TRW Demonstrates Electrically Powered Steering and Active Roll Control. Automotive Engineer.1996 104(2):42.
[11]邱峰.汽车转向系统的发展趋势与关键技术[J].轻型汽车技术, 2001(5):4-9.
[12]朱迅.新型电子控制电动助力转向系统[J].北京汽车, 1996(4):33-37.
[13]冯樱,肖生发.汽车电子控制式电动助力转向系统的发展[J].湖北汽车工业学院学报, 2001(3):4~8.
[14]陈志鑫.汽车转向技术的昨天、今天和明天[J].上海汽车, 1999(12):5-9.
[15]陈雯.电子控制动力转向系统.汽车运用[J], 2002(5):38-39.
[16]何渝生等著.汽车电子技术及控制系统[M].北京:国防工业出版社, 2001.4.
[17]毛爱瑛,黄兆麟译.电动转向的现状与未来[J].天津汽车, 1998(31).
[18]苗立东,何仁等.汽车电动转向技术发展综述.长安大学学报(自然科学版), 2004, vo124: 79-83.
[19]龚培康.汽车转向系统的电子控制.重型汽车, 2003(6):31-35.
[20] [日]安瓶正人.汽车的运动和操纵[M].北京:机械工业出版社, 1998.
[21]郑校英.电动助力转向系统[J].汽车与配件, 2000(31).
[22]杨通顺.电子助力转向系统[J].汽车与配件, 2000(45).
[23] [德]M.米奇克.汽车动力学C卷[M].北京:人民交通出版社, 1997.
[24] Badaway A, Zuraski J, BolourchiF, Changdy. Modeling and analysis of an electric power steering system. SAE 199-07-0403, Detroit, Michigan, 03/1一(1999).
[25] Gregg R.D. Modeling of an electric power assisted steering system.Proceedings of the 120 International Conference on Systems Science 375-81 vol.3, Sept.1995:12-15.
[26] Zaremba A.T. Control and steering feel issues in the design of an electric power steering system. Proceedings of the 1998 American Control Conference (ACC),vol.l 1998:36—40.
[27] Zaremba A., Liubakka M.K, Stuntz R.M. Vibration control based on dynamic compensation in an electric power steering system. Preprint of the Int. Conf. On Control of Oscillations and Chaos, St. Petersburg, Vo1.3, 1997:453-456.
[28] McCann R., Pujura. L.R., Lieh. J. Influence of motor drive parameter on the robust stability of power steering system. Power Electronics in Transportation, 1998:103—108.
[29] Burton A.W. Thomson N.G Analysis and Design of an Electric Power-assisted Steering System. Electronic Product Design, November 1997.
[30] Sugitani N, Electric power steering with H -infinity control design to design to obtain road information. Proceedings of America Control Conference,Vol.5, 1997:29352939.
[31] S. Chen. Control of Electric Power Steering System. SAE Paper 981116.
[32]叶耿,杨家军等.汽车电动式动力转向系统转向路感研究[J].华中科技大学学报(自然科学版), 2002(2):24~26.
[33] Adams F.J. Power Steering‘Road Feel’. SAE Paper No.83099801983
[34]叶耿,杨家军.汽车电动式动力转向系统转向路感研究[J].华中科技大学学报, 2002(2):24-26.
[35]施国标,林逸.电动助力转向助力特性的若千问题.中国汽车工程学会2003年学术年会, 714-718.
[36] F.J. Adams. Power Steering Road Feel. SAE 830998.
[37] Fujinami et. Relationship between Steering Characteristics and Driver Feeling. SAE 9534379.
[38]张春花,李翔瑁,肖朝明.电动助力转向系统控制策略研究[J].自动化技术与应用, 2007(2):30-32.
[39]王元聪,李伟光.汽车电动助力式转向系统(EPS)控制策略研究[J].交通与计算机, 2005(6):75-78.
[40]林逸,施国标,邹常丰,陈万忠,张昕,王望予.电动助力转向助力控制策略的研究[J].汽车技术, 2003(3):8-10.
[41]马南,刘元成,刘耀武,刘广成,于起顺.汽车电动助力转向系统[J].汽车电器. 2007(2):1-4.
[42]徐洪泽,谢暄.汽车电动助力系统的控制策略研究[J].机械与电子, 2005(5):56-58.
[43]吴锋,杨志家,姚栋伟,王耘,胡树根.电动助力转向系统的控制策略研究[J].汽车工程, 2006(7):676-680.
[44] Yasuo Shimizu, Toshitake kawai. Development of Electric Power Steering. SAE Paper No.910014.
[45] Masahiko Kurishige, Shunichi Wada, Takayuki Kifuku, Noriyuki Inoue, Ryoji Nishiyama and Shigeki Otagaki.A. New EPS Control Strategy to Improve Steering Wheel Returnability. SAE paper No.2000-01-0815.
[46]王兆安,黄俊主编.电力电子技术[M].北京:机械工业出版社, 2000.
[47]丁道宏主编.电力电子技术[M].北京:航空工业出版社, 1992.
[48]何建平,陆治国主编.电气传动[M].重庆:重庆大学出版社, 2001.
[49]潘新民,王燕芳编著.微型计算机控制技术.北京:电子工业出版社, 2002.
[50]王晓明著.电动机的单片机控制[M].北京:北京航空航天大学出版社, 2002.
[51]司利增著.汽车计算机控制[M].北京:电子工业出版社, 2007.
[52]何立民著.单片机高级编程[M].北京:北京航空航天大学出版社, 2000.
[53]马忠梅,籍顺心,张凯,马岩编著.单片机的C语言应用程序设计[M].北京:北京航空航天大学出版社, 2004.
[54]童诗白,华成英主编.模拟电子技术基础[M].北京:高等教育出版社, 2000.
[55]阎石主编.数字电子技术基础[M].北京:高等教育出版社, 1997.
[2]卓敏,许超.汽车电动助力转向技术分析[J].机电工程技术, 2002(1):17-18、27.
[3]陈善华,宗长富,许超.汽车电子转向技术发展与展望[J],汽车技术, 2003(1):1-7.
[4] Nakayama T, Suda E. The present and future of electric power steering. Int.J.of Vehicle Design,1994,15(3\4\5).
[5]林逸,施国标.汽车电动助力转向技术的发展现状与趋势[J].公路交通科技, 2001(3):34-36.
[6] Rogers K, Kimberley W. Tuming to electric[J]. Automotive Engineer,2005,25(2):39-41.
[7] Badawy A, Bolourchi F, Gaut SKE STEER system redefines steering technology[J]. Automotive Engineering,1997,105(9):15-18.
[8]佚名.电动转向系统[EB/OL]. http://www.carcn.net/wxby/qczs2/49/htm,2002-12-19.
[9] Yasuo Shimizu, Toshitake Kawai. Development of Electric Power Steering. SAE Paper No.910014.
[10] Kami Buchholz. TRW Demonstrates Electrically Powered Steering and Active Roll Control. Automotive Engineer.1996 104(2):42.
[11]邱峰.汽车转向系统的发展趋势与关键技术[J].轻型汽车技术, 2001(5):4-9.
[12]朱迅.新型电子控制电动助力转向系统[J].北京汽车, 1996(4):33-37.
[13]冯樱,肖生发.汽车电子控制式电动助力转向系统的发展[J].湖北汽车工业学院学报, 2001(3):4~8.
[14]陈志鑫.汽车转向技术的昨天、今天和明天[J].上海汽车, 1999(12):5-9.
[15]陈雯.电子控制动力转向系统.汽车运用[J], 2002(5):38-39.
[16]何渝生等著.汽车电子技术及控制系统[M].北京:国防工业出版社, 2001.4.
[17]毛爱瑛,黄兆麟译.电动转向的现状与未来[J].天津汽车, 1998(31).
[18]苗立东,何仁等.汽车电动转向技术发展综述.长安大学学报(自然科学版), 2004, vo124: 79-83.
[19]龚培康.汽车转向系统的电子控制.重型汽车, 2003(6):31-35.
[20] [日]安瓶正人.汽车的运动和操纵[M].北京:机械工业出版社, 1998.
[21]郑校英.电动助力转向系统[J].汽车与配件, 2000(31).
[22]杨通顺.电子助力转向系统[J].汽车与配件, 2000(45).
[23] [德]M.米奇克.汽车动力学C卷[M].北京:人民交通出版社, 1997.
[24] Badaway A, Zuraski J, BolourchiF, Changdy. Modeling and analysis of an electric power steering system. SAE 199-07-0403, Detroit, Michigan, 03/1一(1999).
[25] Gregg R.D. Modeling of an electric power assisted steering system.Proceedings of the 120 International Conference on Systems Science 375-81 vol.3, Sept.1995:12-15.
[26] Zaremba A.T. Control and steering feel issues in the design of an electric power steering system. Proceedings of the 1998 American Control Conference (ACC),vol.l 1998:36—40.
[27] Zaremba A., Liubakka M.K, Stuntz R.M. Vibration control based on dynamic compensation in an electric power steering system. Preprint of the Int. Conf. On Control of Oscillations and Chaos, St. Petersburg, Vo1.3, 1997:453-456.
[28] McCann R., Pujura. L.R., Lieh. J. Influence of motor drive parameter on the robust stability of power steering system. Power Electronics in Transportation, 1998:103—108.
[29] Burton A.W. Thomson N.G Analysis and Design of an Electric Power-assisted Steering System. Electronic Product Design, November 1997.
[30] Sugitani N, Electric power steering with H -infinity control design to design to obtain road information. Proceedings of America Control Conference,Vol.5, 1997:29352939.
[31] S. Chen. Control of Electric Power Steering System. SAE Paper 981116.
[32]叶耿,杨家军等.汽车电动式动力转向系统转向路感研究[J].华中科技大学学报(自然科学版), 2002(2):24~26.
[33] Adams F.J. Power Steering‘Road Feel’. SAE Paper No.83099801983
[34]叶耿,杨家军.汽车电动式动力转向系统转向路感研究[J].华中科技大学学报, 2002(2):24-26.
[35]施国标,林逸.电动助力转向助力特性的若千问题.中国汽车工程学会2003年学术年会, 714-718.
[36] F.J. Adams. Power Steering Road Feel. SAE 830998.
[37] Fujinami et. Relationship between Steering Characteristics and Driver Feeling. SAE 9534379.
[38]张春花,李翔瑁,肖朝明.电动助力转向系统控制策略研究[J].自动化技术与应用, 2007(2):30-32.
[39]王元聪,李伟光.汽车电动助力式转向系统(EPS)控制策略研究[J].交通与计算机, 2005(6):75-78.
[40]林逸,施国标,邹常丰,陈万忠,张昕,王望予.电动助力转向助力控制策略的研究[J].汽车技术, 2003(3):8-10.
[41]马南,刘元成,刘耀武,刘广成,于起顺.汽车电动助力转向系统[J].汽车电器. 2007(2):1-4.
[42]徐洪泽,谢暄.汽车电动助力系统的控制策略研究[J].机械与电子, 2005(5):56-58.
[43]吴锋,杨志家,姚栋伟,王耘,胡树根.电动助力转向系统的控制策略研究[J].汽车工程, 2006(7):676-680.
[44] Yasuo Shimizu, Toshitake kawai. Development of Electric Power Steering. SAE Paper No.910014.
[45] Masahiko Kurishige, Shunichi Wada, Takayuki Kifuku, Noriyuki Inoue, Ryoji Nishiyama and Shigeki Otagaki.A. New EPS Control Strategy to Improve Steering Wheel Returnability. SAE paper No.2000-01-0815.
[46]王兆安,黄俊主编.电力电子技术[M].北京:机械工业出版社, 2000.
[47]丁道宏主编.电力电子技术[M].北京:航空工业出版社, 1992.
[48]何建平,陆治国主编.电气传动[M].重庆:重庆大学出版社, 2001.
[49]潘新民,王燕芳编著.微型计算机控制技术.北京:电子工业出版社, 2002.
[50]王晓明著.电动机的单片机控制[M].北京:北京航空航天大学出版社, 2002.
[51]司利增著.汽车计算机控制[M].北京:电子工业出版社, 2007.
[52]何立民著.单片机高级编程[M].北京:北京航空航天大学出版社, 2000.
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