EPS电机控制器的设计【CAD图纸+毕业论文】【汽车车辆专业】

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摘  要

由于电动助力转向系统具有环保节能、助力特性可调、安全性高等优点，许多汽车企业和研究单位已经将其做为重点研发项目之一，其中，电子控制器硬件开发和控制软件是其核心技术之一。
本文首先分析了各种助力转向系统的特点，重点研究了电动助力转向系统的结构和动力学模型。
本文重点设计了电动助力转向系统的控制器硬件及控制软件。硬件设计方面主要包括：选取了飞思卡尔 MC9S12 系列单片机作为 EPS 系统 CPU，设计了单片机最小系统电路（包括时钟电路、滤波电路、电源电路、复位电路等）；采用 LM2576 芯片设计了稳压电源电路；方向盘转矩传感器信号和车速信号调理电路、助力电机驱动电路以及通信电路等。助力电机驱动电路由电机专用驱动芯片 TD340 驱动；通信电路主要由串口通信和 CAN 总线通信组成，实现与 PC 机和整车通信；控制软件方面主要编写了单片机的 A/D转换程序、PWM 模块和脉冲捕捉模块程序以及相关寄存器配置方法。
为了验证控制器硬件和软件的可靠性，在本设计中进行了实验研究，主要包括无助力与有助力对比、方向盘回正控制等试验，结果表明，控制器硬件部分性能良好、工作稳定可靠；软件控制效果较好，助力特性符合设计要求。转向系统稳定性较好，同时方向盘上无明显抖动，手感良好，为下一步的装车试验做好了准备。

关键词：EPS；传感器；单片机；电机；电路；

ABSTRACT

Because of electric power steering system has the environmental protection and energy saving dynamical, characteristics adjustable security advanced advantage, Many automobile enterprises and research units already use this as one of the key research projects, Including electronic controller hardware development and control software is its core technical one.
This paper first analyzes the characteristics of various steering system, Focus on the electric power steering system structure and dynamic model.
This paper puts emphasis on the design the electric power steering system controller hardware and software and hardware design control mainly includes; Select freescale MC9S12 series microcontroller as EPS system CPU, Designed the single chip minimize system clock circuit circuit (including filter circuits power circuit reset circuit etc.); Using the LM2576 chip design firm Voltage circuit was designed The steering wheel torque sensor signal and speed signal regulate circuit power motor drive circuit and communication circuit to boost by motor driving circuit for TD340 driver drive chip; Communication circuit consists mainly of serial communication and thecan bus communication composition, Realization and PC and vehicle communication; The control software is mainly wrote MCU A/D conversion process PWM module and pulse capture module procedures and related registers collocation method.
   In order to verify the reliability of the controller hardware and software, And carry through experimental study on test-bed, Including the contras of without power and have power, The experimental results show that the controller hardwareperformance is good, Stable and reliable; Software control effect is good, Dynamical characteristics comply with the design requirements. Steering system stability is good, And the steering wheel without obvious jitter,  Steering feel is good,And getting ready for the loading test of the next.

目    录

摘 要…………………………………………………………………....Ⅰ
ABSTRACT…………………………………………………………....Ⅱ
第1章 绪 论…...……………………………………………………….1
1.1 本设计研究的意义............................................1
1.2本设计研究的目的............................................ 2
1.3 电动助力转向系统国内外发展研究现状..........................3
1.4 电动助力转向系统的特点......................................4
1.5 本设计研究的主要内容........................................5
第2章 工作原理和控制方法…………………………………………..6
2.1工作原理及结构组成.......................................... 6
2.1.1 助力电机...............................................6
2.1.2 电磁离合器.............................................6
2.1.3 电子控制单元...........................................6
2.2 EPS 电机控制器的基本控制方式..............................7
2.2.1 助力控制..........................................8
2.2.2 回正控制..........................................8
2.2.3 阻尼控制..........................................8
第3章 硬件设计…………………………………………………..........9
3.1硬件电路结构及系统框图....................................9
3.2传感器....................................................10
3.2.1 电位计式扭矩传感器...................................10
3.2.2 车速传感器..........................................10
3.3 ECU.......................................................11
3.3.1单片机的选择..........................................11
3.3.2 时钟电路..............................................11
3.3.3 滤波电路..............................................12
3.3.4 电源电路..............................................13
3.3.5 复位电路...............................................13
3.4 电源转换电路..............................................13
3.5 传感器信号（车速、扭矩）处理电路..........................14
3.5.1 车速信号处理电路......................................14
3.5.2 方向盘扭矩信号........................................15
3.6 电机驱动器的选择..........................................15
3.7本章小结..................................................17
第4章 软件设计……………………………………………………....18
4.1 EPS 软件的总体流程....................................18
4.2软件设计..................................................19
4.2.1 A/D 数据采集程序设计.................................19
4.2.2 电动机 PWM 控制....................................23
4.3 本章小结..................................................27
第5章 试验分析……………………………………………………... 28
5.1 程序下载..............................................28
5.2 实验设备介绍..............................................30
5.3 台架实验结果与分析........................................30
5.3.1 无助力特性试验....................................... 30
5.3.2 助力特性试验......................................... 31
5.3.3 回正性试验........................................... 33
5.4 本章小结..................................................34
总结……………………………………………………………………. .35
致 谢…………………………………………………………………... .36
参 考 文 献…………………………………………………………….37
附录A外文文献………………………………………………………. .39
附录B中文译文 ……………………………………………………….43
附录C电机控制器主程序 …………………………………………...49

Keywords: Electric power steering; Sensor; Single chip; Electrical machine; Electrial circuit;