基于PMSM的全地形车用电动助力转向控制器的设计与实现

发布时间：2017-12-26 16:24

本文关键词：基于PMSM的全地形车用电动助力转向控制器的设计与实现　出处：《天津工业大学》2016年硕士论文　论文类型：学位论文

【摘要】：全地形车因其具有越野性能好、成本费用低、环境危害小等优点,在林区消防、勘探、军事领域等广泛应用。全地形车经常行驶在沙滩、坑洼、山地等复杂路面,同时由于车胎胎面宽大、胎纹多、胎冠深等原因使得车胎与地面的摩擦力较大,增加了操作难度并可能影响行驶安全,所以研究适用于全地形车的助力转向系统是非常有必要的。电动助力转向(EPS)相比于液压助力转向(HPS)和电控液压助力转向(EHPS),具有装配性好、能量消耗少、绿色环保等优点,是当今世界汽车转向领域的研究热点。目前,EPS的助力电机主要有永磁有刷直流电机、永磁无刷直流电机和永磁同步电机(PMSM)。 PMSM相比于永磁有刷直流电机,具有无碳刷、功率体积比大、价格低廉等优点,相比于永磁无刷直流电机,其转矩脉动小、控制性能更优越,因此本文将设计基于PMSM的全地形车用EPS控制器。论文首先建立了PMSM的控制模型,针对PMSM 非非线性、强耦合、时变的特点,对PMSM的控制策略进行了研究分析,确定采用力=0的矢量控制方法,在PMSM的变频驱动设计上,详细介绍了空问矢量脉宽调制(SVPWM)的原理和算法实现,同时设计了EPS系统的控制结构图。然后设计了控制器的硬件部分和软件部分。硬件部分以MC56F82748为核心,主要包括电源模块、DSP最小系统、电流采样模块、扭矩采样模块、车速采样模块、发动机转速采样模块、电机转子位置测量模块、驱动隔离模块、三相逆变器以及故障指示模块；软件部分建立了系统的软件流程图,子系统主要包括助力曲线设计、PMSM转子位置解码设计、PI控制器设计以及SVPWM控制算法设计。最后为了验证控制器的基本功能、助力效果和可靠性,进行了台架实验和实车实验。实验结果表明：本文设计的控制器具有助力功能,助力手感良好,能够实现随速助力和故障容错控制,同时进行了散热方面的设计,满足本文对控制器的性能要求。
[Abstract]:Due to its advantages of good cross-country performance, low cost and low environmental damage, all terrain vehicles are widely used in fire, exploration and military fields in the forest area. All terrain vehicles often run in the beach, potholes, mountainous road, at the same time as the tyre tread, the tread, wide crown depth causes friction with the ground tire greatly increases the difficulty of the operation and may affect driving safety, so the research is applicable to all terrain vehicle steering system is very necessary the. Compared with hydraulic power steering (HPS) and electrically controlled hydraulic power steering (EHPS), electric power steering (EPS) has many advantages, such as good assembly, less energy consumption and environmental protection. It is the research focus in the field of vehicle steering nowadays. At present, EPS's power auxiliary motor mainly consists of permanent magnet brushed DC motor and permanent magnet brushless DC motor He Yongci synchronous motor (PMSM). Compared with permanent magnet brushless DC motor, PMSM has the advantages of Brushless DC motor, large power and volume ratio and low cost. Compared with Yu Yongci brushless DC motor, its torque ripple is small and its control performance is superior. Therefore, this paper will design EPS controller for all terrain vehicle based on PMSM. This paper first builds the control model of PMSM, according to the characteristics of PMSM nonlinear, strong coupling and time varying, the control strategies of PMSM are analyzed by =0, to determine the vector control method in PMSM variable frequency drive design, introduces the space vector pulse width modulation (SVPWM) principle and at the same time the design of control algorithm and structure diagram of EPS system. Then the hardware and software parts of the controller are designed. The hardware part uses MC56F82748 as core, including power module, DSP minimum system, current sampling module, sampling module, torque speed sampling module, engine speed sampling module, measurement module, rotor position of motor drive isolation module, three-phase inverter and fault indication module; the software part of the establishment of the software flowchart of the system, subsystem including the power curve design, PMSM design, rotor position decoding PI controller design and SVPWM control algorithm design. At last, in order to verify the basic function, power effect and reliability of the controller, a bench test and a real car experiment were carried out. The experimental results show that the controller designed in this paper has the help function and helps hand feel well, and realizes speed assist and fault tolerant control. At the same time, the heat dissipation is designed to meet the performance requirements of this controller.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U489

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