基于直接转矩控制的EPS控制器设计

发布时间：2019-07-05 18:34

【摘要】：随着电子科学技术的迅速发展,汽车动力转向系统已经逐渐舍弃了液压助力转向系统以及电控液压助力转向系统,转而向电动助力转向系统全面发展。作为电动助力转向系统核心元件的伺服电机,特别是性能优良的永磁同步电机,也成为了许多专家与学者的研究对象。直接转矩控制方法作为最新颖的电机控制方法也成为了研究热点。本文在使用直接转矩控制方法控制永磁同步电机的基础上,设计了电动助力转向系统的控制器,并设计了试验对控制器的控制效果进行了验证。首先,本文论述了直接转矩控制的理论和实现方法,并结合了空间矢量脉宽调制技术的思想,以永磁同步电机为对象搭建了控制系统,奠定了上层EPS控制策略的基础。其次,本文设计了一种曲线型助力特性曲线,制定了EPS助力模式的控制策略,设计了EPS回正模式的触发规则,使用汽车动力学仿真软件Carsim搭建了整车模型,使用Simulink搭建了汽车的转向系统模型,并利用Carsim与Simulink的联合仿真验证了本文设计的助力控制策略和回正控制策略的有效性。再次,本文选用TI公司的TMS320F2812作为EPS控制器的主控芯片。在此芯片的基础上,设计了控制器硬件部分的电源电路、时钟电路、JTAG调试接口电路和外部接口电路,以及电压电流采集处理电路、逆变器及其驱动隔离保护电路、CAN通信电路等。然后,本文使用Code Composer Studio (CCS)编译软件,编写了EPS控制器的软件程序。包括了系统的初始化程序、主中断程序、电机转子初始位置确定子程序、AD转换程序、SVM-DTC算法子程序等。最后,为了验证EPS控制器的有效性,本文进行了永磁同步电机直接转矩控制的台架试验和电动助力转系统台架试验。试验结果表明直接转矩控制方法可以有效地控制永磁同步电机,且本文设计的EPS控制器也提高了汽车的转向轻便性和回正性能。
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[Abstract]:With the rapid development of electronic science and technology, the automobile power steering system has gradually abandoned the hydraulic power steering system and the electronic control hydraulic power steering system, and turned to the electric power steering system in an all-round way. As the core component of electric power steering system, servo motor, especially permanent magnet synchronous motor (PMSM) with excellent performance, has also become the research object of many experts and scholars. As the most novel motor control method, direct torque control (DTC) has become a hot research topic. In this paper, on the basis of using direct torque control method to control permanent magnet synchronous motor (PMSM), the controller of electric power steering system is designed, and the control effect of the controller is verified by experiments. Firstly, the theory and implementation method of direct torque control are discussed, and combined with the idea of space vector pulse width modulation technology, the control system is built for permanent magnet synchronous motor (PMSM), which lays the foundation of EPS control strategy in the upper layer. Secondly, this paper designs a curved power characteristic curve, formulates the control strategy of EPS power mode, designs the trigger rules of EPS correction mode, uses the automobile dynamics simulation software Carsim to build the whole vehicle model, uses Simulink to build the vehicle steering system model, and verifies the effectiveness of the power control strategy and correction control strategy designed in this paper by using the joint simulation of Carsim and Simulink. Thirdly, the TMS320F2812 of TI Company is selected as the main control chip of EPS controller. On the basis of this chip, the power supply circuit, clock circuit, JTAG debugging interface circuit and external interface circuit, voltage and current acquisition and processing circuit, inverter and its drive isolation protection circuit, CAN communication circuit and so on are designed. Then, this paper uses Code Composer Studio (CCS) to compile the software and compiles the software program of EPS controller. Including the initialization program of the system, the main interrupt program, the motor rotor initial position determination subprogram, AD conversion program, SVM-DTC subroutine and so on. Finally, in order to verify the effectiveness of EPS controller, the bench test of direct torque control (DTC) of permanent magnet synchronous motor (PMSM) and the bench test of electric power rotation system are carried out in this paper. The experimental results show that the direct torque control method can effectively control the permanent magnet synchronous motor (PMSM), and the EPS controller designed in this paper also improves the steering portability and correction performance of the vehicle.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.4

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