电动助力转向论文：电动助力转向 永磁同步电机 矢量控制 DSP.doc

【关键词】电动助力转向 永磁同步电机 矢量控制 DSP【英文关键词】Electric Power Steering Permanent Magnet Synchronous Motor Vector Control DSP电动助力转向论文：基于永磁同步电机的电动助力转向系统控制器开发【中文摘要】随着我国汽车产业的迅速发展，电动助力转向系统相对于液压助力转向系统更为节能环保，并且可以提高车辆的操纵稳定性的优点得到了广泛认可，其装配率正逐步与世界接轨，电动助力转向系统市场空间巨大。然而目前在电动助力转向系统市场上，外资或合资企业市场占有率达90%以上，处于垄断地位，中国本土企业市场占有率则不足10%，且大多配套于国产小型车辆。国际上，由于有刷直流电机中电刷和换向器的存在会造成电动助力转向系统寿命短、维护困难等问题，永磁同步电机成为电动助力转向系统所采用电机的主流。然而我国电子产业发展相对滞后，国内本土企业所开发的电动助力转向系统依然基于有刷直流电机，基于永磁同步电机的电动助力转向系统的开发成为一个瓶颈。基于永磁同步电机的电动助力转向系统的研究对打破国外技术和市场垄断具有重要意义。本文进行了基于永磁同步电机的电动助力转向系统控制器开发，具体工作内容如下：（1）永磁同步电机控制策略和电动助力转向控制策略的研究电动助力转向系统不同于一般的电机速度和位置伺服系统，其采用了转矩反馈控制，转速转角随动的方式，对电机输出转矩的响应速度和波动程度有较高要求。为达到这样的要求，本文经过分析研究，首先描述了永磁同步电机模型并进行了坐标变换，实现了控制的解耦，构建了励磁方向电流等于0的矢量控制策略，进而运用空间矢量脉宽调制技术输出六路开关信号，达到了永磁同步电机基本的控制，最后构建了弱磁扩速控制策略。电动助力转向控制时，基本助力采用了多点折线控制策略，助力特性曲线平滑、实现简单、便于调试。同时分析了电机补偿控制和力矩微分控制对转向系统动态响应的影响。（2）电动助力转向系统控制器硬件设计本文对电动助力转向系统控制器硬件设计进行了需求分析，设计了以主控芯片TMS3230F2812为核心的系统硬件整体架构。根据硬件设计的原则，通过对芯片的合理选择和电路的合理设计，最终确定了控制器硬件的最小电路、驱动电路、外部信号采集电路和CAN通讯电路。由于电动助力转向电控系统具有低压大电流的特点，对控A制器承受大电流的能力、散热能力做了充分的考虑。同时在一定程度上考虑了系统的故障检测和电路保护，并进行了电磁兼容性设计，在实现控制器的硬件功能的基础上，提高了控制器的硬件可靠性。（3）电动助力转向系统控制器软件设计本文依据电动助力转向系统的功能需求和主控制芯片的中断机制设计了系统的软件架构，包括了起始段程序、循环段程序、电动助力转向和电机控制中断程序、转矩转角信号解码中断程序四个部分。然后根据软件设计的原则和芯片的特性，设计了电机位置信号解算、方向盘转矩转角信号解算、AD信号采集、PWM信号生成、电机转速计算和CAN通讯程序，力求软件程序层次清晰，关系明确，各个模块相互独立，便于修改和调试。（4）电动助力转向控制器台架试验电动助力转向控制器台架试验主要包括永磁同步电机台架试验和电动助力转向系统台架试验。通过台架实验来验证电机控制策略和电动助力转向控制策略的有效性，以及控制器各个硬件功能模块和软件功能模块的有效性。【英文摘要】With the rapid development of Chinas automobile industry, the advantages are widelyrecognized that the electric power steering system is more energy-saving andenvironmentally friendly, and could improve handling and stability of the full vehiclerelative to hydraulic power steering system. At present，foreign-funded enterprises and jointventures are in a monopoly position with more than90%market share of electric powersteering system in china. Local enterprises hold only less than10%market share, equipmentfor domestic small vehicles. Due to the existence of brush and commutator, electric powersteering system with brush DC motor is the short life and difficult to maintain. Therefore,internationally, the permanent magnet synchronous motor is becoming the mainstream of themotor used in electric power steering system. Because of electronic industry developmentlag, development of the electric power steering system by domestic local enterprises is stillbased on brush DC motor, and development of electric power steering system based onpermanent magnet synchronous motor becomes a bottleneck. The research on electric powersteering system based on permanent magnet synchronous motor has great significance inbreaking foreign monopoly of technology and market.This paper develop electric power steering system controller based on permanentmagnet synchronous motor. The concrete work as follows:(1) The research on control strategy of permanent magnet synchronous motor andcontrol strategy of electric power steering systemDifferent from the motor speed and position servo system, the electric power steeringsystem adopts torque-feedback control with follow-up speed and angle, which has highrequest in torque response and fluctuation. After analysis, to achieve such a request, first, thispaper describes the model of permanent magnet synchronous motor and carries outcoordinate transformation, realizing decoupling control. By above methods, this paperconstructs control strategy that currents of excitation direction equal zero. Second, six-wayswitch signal is outputed using space vector pulse width modulation to reach thefundamental permanent magnet synchronous motor control. At last, flux weakening controlstrategy is seted up. In electric power steering system control strategy, basic assist controladopts multi-point polyline control strategy. Assist Characteristic curve is smooth, simple,easy to debug. Besides, this paper analyzes the influences which motor compensation control Aand torque differential control have on dynamic response of steering system.(2) Controller hardware design of electric power steering systemIn this paper, the overall system hardware architecture is designed in which master chipTMS320F2812as the core, after requirements analysis of controller hardware design ofelectric power steering system. Through the rational selection of the chips and rationaldesign of the electric circuits in accordance with the principles of hardware design, minimumcircuit, drive circuit, external signal acquisition circuit and CAN communication circuit arecompleted. The electric power steering electronic control system has the characteristics oflow-voltage and high-current, this paper gives plenty of consideration in the ability towithstand high current and dissipate heat. In addition, fault detection, circuit protection andelectromagnetic compatibility are taken into account, which improve the reliability on thebasis of the achievement of controller hardware function.(3) Controller software design of electric power steering systemThis paper in accordance with the functional requirements of the electric power steeringsystem and the interrupt mechanism of the master chip designs software architecture of thesystem, including the initial program, the loop program, the electric power steering andmotor control interrupt program, the torque and angle signal decoding interrupt program.Then according to the principles of software design and the characteristics of master chip,this paper designs the motor position signal decoding program, torque and angle signaldecoding program, the AD signal acquisition program, the PWM signal generation program,the motor speed calculation program and CAN communication program. And softwaredesign requires clear level, definite relationship and independent module in order to modifyand debug software easily.(4) The bench test of electric power steering system controllerThe bench test of electric power steering system controller includes the bench test ofpermanent magnet synchronous motor and the bench test of the electric power steeringsystem. The bench test verifies the effectiveness of motor control strategy and electric powersteering control strategy and the effectiveness of all functional modules of the controllerhardware and software.【目录】基于永磁同步电机的电动助力转向系统控制器开发摘要4-6Abstract6-7第1章 绪论11-191.1 研究背景和意义11-151.1.1 EPS 系统简介11-131.1.2 EPS 系统研究现状13-151.2 适用于 EPS 系统的电机介绍15-161.3 永磁同步电机的控制方法研究现状16-181.4 课题来源和研究内容18-19第2章 永磁同步电机控制策略和 EPS 控制策略19-352.1 永磁同步电机控制策略19-292.1.1 永磁同步电机矢量控制技术19-232.1.2 空间矢量电压脉宽调制技术23-262.1.3 永磁同步电机弱磁扩速技术26-292.2 EPS 控制策略29-342.2.1 基本助力控制29-322.2.2 电机补偿控制32-332.2.3 方向盘力矩微分控制33-342.3 本章小结34-35第3章 EPS 系统控制器硬件设计35-553.1 硬件设计总体架构35-383.1.1 硬件设计的原则35-363.1.2 EPS 系统硬件设计的需求36-373.1.3 EPS 系统硬件设计架构37-383.2 最小电路实现38-433.2.1 主控芯片介绍38-393.2.2 电源电路设计39-423.2.3 最小电路设计42-433.3 驱动电路设计43-