叉车线控转向系统转向执行电机控制器设计

发布时间：2018-04-17 02:17

本文选题：叉车 + 线控转向系统　；参考：《天津工业大学》2015年硕士论文

【摘要】：近年来,物流业的蓬勃发展为叉车产业的兴起提供了良好的平台。因其特殊的工作环境及自身特点,使得叉车对转向系统的要求较高,而且转向性能的优劣直接影响到叉车行驶的安全性、操纵稳定性和工作效率。线控转向作为新型的转向系统,它取消了转向盘与转向轮间的机械连接,转向过程通过电信号方式控制,既能减少驾驶员的体力消耗,又可通过软件改变传动比,因此,研发一款适用于叉车的线控转向系统具有广泛的市场前景。本论文致力于研发叉车线控转向系统执行电机控制器。主要研究工作包括以下内容：选用性能优异的永磁同步电机(简称PMSM)作为叉车线控转向系统的执行电机,采用id=0的矢量控制策略,设计了基于电流环、速度环、位置环组成的三闭环控制系统方案。利用Simulink对控制器进行系统建模仿真,结果表明：电机控制策略及控制器方案设计正确可行。为获取执行电机转子位置和转速信息,设计了基于四线式旋转变压器和AD2S1200解码芯片的硬件解码模块。利用该模块解码获得的转子位置,提出一种基于电机转子电气角度与机械角度关系的过零检测角度获取方法,准确获取方向盘转角和前轮转角信息。此外,按照功能需求,基于MC56F8367主控芯片进行详细的软硬件设计并给出调试结果。搭建了叉车线控转向模拟实验台架,并基于实验台架和控制器进行了叉车线控转向静态性能实验和动态性能实验。实验结果表明,本文所设计的控制器瞬态响应快,位置跟随误差较小,能够满足叉车线控转向执行电机的控制要求。
[Abstract]:In recent years, the vigorous development of logistics industry provides a good platform for the rise of forklift truck industry.Because of its special working environment and its own characteristics, forklift has higher requirements for steering system, and the steering performance directly affects the safety, handling stability and working efficiency of forklift.As a new steering system, wire steering cancels the mechanical connection between the steering wheel and the steering wheel. The steering process is controlled by electrical signals, which can not only reduce the driver's physical exertion, but also change the drive ratio by software.The development of a forklift steering system for wire control has a broad market prospects.This paper is devoted to the research and development of forklift wire steering system executive motor controller.The main research contents are as follows: the permanent magnet synchronous motor (PMSM) with excellent performance is selected as the executive motor of forklift wire steering system. The vector control strategy of id=0 is used to design the current loop and speed loop.The scheme of three closed loop control system composed of position loop.The system modeling and simulation using Simulink show that the motor control strategy and the controller scheme design are correct and feasible.In order to obtain the information of rotor position and speed of the executive motor, a hardware decoding module based on four-wire rotary transformer and AD2S1200 decoding chip is designed.Using this module to decode the rotor position, a zero-crossing detection method based on the relationship between the electrical and mechanical angles of the motor rotor is proposed to obtain the steering wheel angle and the front wheel angle information accurately.In addition, according to the functional requirements, the detailed hardware and software design based on MC56F8367 master control chip and the debugging results are given.A forklift wire steering simulation bench was built, and the static and dynamic performance experiments of forklift steering were carried out based on the experimental bench and controller.The experimental results show that the controller designed in this paper has the advantages of fast transient response and low position following error, which can meet the control requirements of forklift truck steering motor.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH242

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