CN116853344B - EPS feedback type damping control method - Google Patents
EPS feedback type damping control method Download PDFInfo
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- CN116853344B CN116853344B CN202311132973.6A CN202311132973A CN116853344B CN 116853344 B CN116853344 B CN 116853344B CN 202311132973 A CN202311132973 A CN 202311132973A CN 116853344 B CN116853344 B CN 116853344B
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- 238000013016 damping Methods 0.000 title claims abstract description 92
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000009466 transformation Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000001914 filtration Methods 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000013461 design Methods 0.000 claims description 9
- 230000006870 function Effects 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000004422 calculation algorithm Methods 0.000 description 7
- 238000011217 control strategy Methods 0.000 description 6
- 238000013507 mapping Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 4
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- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses an EPS feedback type damping control method, which comprises the steps of firstly, collecting signals, namely collecting voltage detection signals and vehicle speed signals of three-phase terminals of a motor; secondly, calculating coefficients, namely respectively calculating damping compensation current of d/q axes and a vehicle speed gain coefficient under a rotating coordinate system; thirdly, damping control is carried out, a control channel is designed to superimpose the damping compensation current on the control of the steering motor so as to realize damping control; the steering motor controller collects motor voltage signals, current signals and motor rotor position data, calculates the voltage and current of a d/q axis of the motor through coordinate transformation, superimposes the voltage and the current into motor feedback control current, obtains current given required by damping control according to the original motor rotating speed and the torque of a steering wheel, changes the current given of a forward channel into current compensation of a feedback channel, calculates damping current required by a steering system according to motor voltage and motor running state, and superimposes the damping current onto motor feedback current.
Description
Technical Field
The invention relates to the technical field of automobile steering gears, in particular to an EPS feedback type damping control method.
Background
In order to increase the yaw control during high-speed travel at the return speed after steering the vehicle in parking/low-speed travel, the control strategy of the electric power steering system generally requires an increase in damping control. The conventional damping control strategy is to design a target damping control current required by the steering motor according to a torque signal, a vehicle speed signal or a steering angular speed and vehicle speed signal, and superimpose the target damping control current and a power assisting current, a correcting current and other compensating currents as a target given current for motor control to control the steering motor to output power assisting torque. The existing strategy generally depends on the problem of input signals and threshold judgment, and an algorithm of band-pass filtering of the signals is generally required to be added for calculating different damping gains; meanwhile, the application scene of the traditional strategy is single, and the actual driving scene is not fully considered.
In practice, the steering wheel is operated relatively complex by different drivers, for example: the steering occurs in normal running, the control strategies in the forward and backward travel of the steering wheel can be frequently switched between normal steering and return steering modes, the magnitude and the direction of return control current and damping control current are difficult to accurately judge by introducing torque signals, the steering control effect of different scenes is difficult to achieve expectations, and the driving hand feeling is influenced seriously.
For this purpose we provide an EPS feedback type damping control method to solve the above-mentioned problems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a feedback type control method, which adopts damping feedback control to replace damping given control to realize damping control, designs that a damping feedback coefficient is superposed on motor feedback current, and reduces output by increasing the feedback coefficient to achieve the aim of realizing damping force effect.
In order to achieve the above object, the present invention provides an EPS feedback type damping control method, comprising the steps of:
s1, collecting signals, namely collecting a motor three-phase terminal voltage detection signal and a vehicle speed signal;
s2, calculating coefficients, namely respectively calculating damping compensation current of d/q axes and a vehicle speed gain coefficient under a rotating coordinate system;
s3, damping control is carried out, and a control channel is designed to superimpose the damping compensation current on the control of the steering motor so as to realize damping control;
the signal acquisition further comprises a steering motor controller acquiring motor voltage signals, current signals and motor rotor position data, calculating the voltage and current of a d/q axis of the motor through coordinate transformation, superposing the voltage and the current as motor feedback control current, updating the required voltage signals, the current signals and the rotor position signals once every 62.5us, and acquiring vehicle speed data through vehicle communication;
the current control regulator of the motor receives the basic power-assisted and active-correction current from the application layer as the target current of the steering motor, calculates the difference value between the given target current and the feedback control current to carry out closed-loop current regulation, and regulates the output d/q axis voltage to drive the steering motor to provide basic power-assisted, active-correction and high-speed damping functions.
Preferably, the signal acquisition includes the addition of three AD sampling signals by the ECU controllerThe method comprises the steps of respectively detecting the end-to-ground voltage of a three-phase motor, dividing the voltage, entering an AD acquisition conversion circuit, calculating the three-phase voltage of the motor by an MCU according to an end-voltage signal of the motor obtained by an AD acquisition module, and designing a filterAnd filtering the motor terminal voltage.
Preferably, the MCU acquires a rotor position signal of the synchronous motor through SPIThe ECU is used for receiving a vehicle speed signal from the whole vehicle and calculating damping compensation current vehicle speed gain coefficients under different vehicle speeds after low-pass filtering.
Preferably, the calculating of the damping compensation current includes calculating a motor three-phase voltage according to a three-phase motor voltage and a formula.
Preferably, the calculation of the vehicle speed gain system comprises reading the calibration parameters of the vehicle speed section stored in the nonvolatile storage periodCalculating a vehicle speed gain factor +.>The gain is intended to adjust the magnitude of the damping control at different vehicle speeds.
Preferably, the damping control comprises a damping control currentMultiplying the gain coefficient of the vehicle speed to obtain controlled currentA feedback channel into the closed loop regulation of the motor current, will +.>And->As a counter-reactionThe compensation of the feed channel is superimposed on the feedback current of the d/q axis, respectively>And->And (5) entering a current regulator to perform PI regulation and control.
Preferably, a vehicle speed gain meter is designed according to the vehicle speed signal so as to adapt to the hand feeling requirements of drivers at different vehicle speeds, and the vehicle speed gain coefficient is calculatedActing on the damping compensation output.
Preferably, the filter requires a parameter design and a dynamic adjustment of the parameters.
The EPS feedback type damping control method has the following beneficial effects:
compared with the original electric power steering damping control strategy, the compensation algorithm is improved as follows:
1. the current required by damping control is given by the original motor rotation speed and steering wheel torque.
2. The current of the forward channel is changed into the current compensation of the feedback channel, and the damping current required by the steering system is calculated according to the motor voltage and the motor running state and is superposed to the motor feedback current.
3. The damping current given start-stop in the alignment state and the active steering state of the application layer is canceled, frequent switching of a motor control mode is avoided, and the hand feeling effect under special working conditions is improved.
Drawings
FIG. 1 is a schematic diagram of an EPS feedback damping control method according to the present invention;
FIG. 2 is a schematic diagram of a damping current structure according to the present invention;
FIG. 3 is a schematic diagram of a voltage signal processing subroutine according to the present invention;
Detailed Description
The present invention will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides an EPS feedback damping control method as shown in figures 1-3, wherein the damping control strategy design of an EPS steering system comprises the following two steps: on one hand, the damping compensation current and the vehicle speed gain coefficient of the d/q axis under a rotating coordinate system are respectively calculated by combining a motor three-phase terminal voltage detection signal and a vehicle speed signal; on the other hand, a control channel is designed to superimpose damping compensation current on the control of the steering motor so as to realize damping control.
The method specifically comprises signal acquisition and processing, damping compensation current calculation, vehicle speed gain calculation and damping control.
The signal acquisition and processing comprises: the ECU controller adds three AD sampling signals to respectively detect the end-to-ground voltage of the three-phase motor, the three AD sampling signals enter an AD acquisition and conversion circuit after being divided, and the MCU calculates the three-phase voltage of the motor according to the end-voltage signals of the motor acquired by the AD acquisition module.
Design filter
Filtering the voltage of the motor terminal, and controlling damping when the change frequency of the voltage signal is within a reasonable range, wherein the obtained voltage signal is:
the k-th filtering output; />A filter input for the kth time;
、/>、/>the filter coefficients of the kth, the kth-1 th and the kth-2 th filtering inputs are respectively;
、/>、/>the filter coefficients of the kth, the kth-1 th and the kth-2 th filtering outputs are respectively;
is a Z domain operator;
is the center frequency (units: rAD/s); />Is the notch width (units: rAD/s).
Is an S domain operator; />Is the transfer function of the filter; />Is output in the S domain; />Is an input in the S domain; />Amplifying the coefficient for the ratio of input to output in the S domain; />Is an imaginary operator; />And->Representing the first pole and the second pole in the S domain.
Method for calculating numerical integral by bilinear transformation approximation
Wherein:for the use of cycles.
Substituted formulaThe preparation and comparison with the formula (1) can be obtained:
design adaptive parameter adjustment algorithm dynamic adjustmentThe method is characterized in that stable motor phase voltage values are calculated at the fastest speed under different working conditions of the steering motor, and the stable motor phase voltage values are used for damping compensation current calculation, wherein the damping compensation current calculation is as follows: />Is quadratic in the central frequency, +.>Is the quadratic power of the employed period.
MCU obtains synchronous motor's rotor position signal through SPIThe method is used for subsequent voltage vector decomposition, the ECU receives a vehicle speed signal from the whole vehicle, and the vehicle speed signal is used for calculating damping compensation current vehicle speed gain coefficients under different vehicle speeds after low-pass filtering.
The damping current calculation includes: according to terminal voltage of ABC three phases in three-phase motorAnd formula flatback calculating phase voltage of ABC three phases in three-phase motor>：
The steering controller obtains the angle of the motor rotorCoordinate transformation is performed to obtain d/q axis voltage +.>Calculating damping compensation current vector according to voltage
，/>And->Damping current compensation for d-axis and q-axis respectively, wherein +.>For motor voltage to dampingThe mapping matrix of the current is a dynamic variable, the size of the mapping matrix is related to the operating condition of the motor, and the mapping matrix can be obtained through the calibration of the motor.
The vehicle speed gain calculation comprises the steps of reading the calibration parameters of the vehicle speed section stored in the nonvolatile storage periodWherein->The calibration parameters of the first section to the nth section of the vehicle speed,calculating a vehicle speed gain coefficient for the vehicle speeds from the first section to the nth section of the vehicle speed according to the filtered vehicle speed signalThe gain is intended to adjust the magnitude of the damping control at different vehicle speeds.
The damping control includes: damping control currentMultiplying the gain coefficient of the vehicle speed to obtain controlled current +.>A feedback channel into the closed loop regulation of the motor current, will +.>And->Feedback currents respectively superimposed to the d/q axes as compensation of the feedback channel>And->And (5) entering a current regulator to perform PI regulation and control.
In addition, the AD acquisition circuit is added to the steering controller of the voltage acquisition and filtering processing moduleCollecting A/B/C original data phase voltages respectivelyThe three-phase voltage enters an AD port of the MCU to collect data after voltage division and RC filtering. The motor voltage data processing module filters according to the collected original data and inputs motor phase voltage +.>。
And (3) designing parameters of a filter: the change frequency of the motor three-phase voltage signal is positively correlated with the motor rotating speed, and the steering controller calibrates the filtering central frequency and the bandwidth frequency under different rotating speeds according to the motor rotating speed signal so as to effectively avoid signal fluctuation caused by harmonic waves. The higher the motor speed, the higher the filter frequency parameter.
The control algorithm related by the invention is mainly used for realizing the filtering of the motor voltage signals, but is not only used for the filtering and setting of the voltage signals. Taking 1000rpm as an example, reading calibration parameters in a memory, and acquiring central frequency and filter bandwidth parameters through an internal algorithm respectively comprises the following steps:according to formula (5) the calculation can be made +.>
The filter parameter is dynamically adjusted, in order to avoid the interference of the unsteady state operation signal of the motor, an adaptive calculation algorithm is arranged, and the method comprises the following steps of
Formula (VI)Is an intermediate variable.
When (when)First coefficient deviation compensation->Second coefficient deviation Compensation->Calculating coefficient->
When (when)，/>Calculating coefficient->
The final filter transfer function is determined as:
from this, it can be determined that the input motor phase voltage after the motor phase voltage raw data is filtered is:
can be obtained by the same way。/>For A phase->Number of primary timesAccording to the phase voltage>For A phase->Sub-primary data phase voltage, < >>For A phase->The raw data phase voltage; />For A phase->Input motor phase voltage after filtering of the sub-raw data, is provided>For A phase->Input motor phase voltage after filtering of the sub-raw data, is provided>For A phase->The secondary original data is subjected to filtered input motor phase voltage; />B and C phases respectively +.>The next raw data is filtered to input motor phase voltages.
And the damping current calculation module designs a vehicle speed gain meter according to the vehicle speed information of the whole vehicle so as to adapt to hand feeling requirements of drivers at different vehicle speeds, and applies a vehicle speed gain coefficient kvs to damping compensation output. Is provided withThe vehicle speed section/vehicle speed damping ratio calibrating parameter matrix is calculated:calculating a vehicle speed gain coefficient of damping compensation output required under the current vehicle speed according to the actual vehicle speed received by the steering gear>The vehicle speed coefficient in the scheme adopts the following scheme that the vehicle speed coefficient is reduced along with the increase of the vehicle speed, and the larger the numerical value is, the larger the damping force is. Wherein (1)>For the vehicle speed damping ratios of the 1 st to nth times,the vehicle speed is the 1 st to nth vehicle speeds.
Wherein,is to->As a function of the argument; according to the voltage theorem of motor end ground voltage and three-phase symmetrical circuit, calculating phase voltage of motor +.>The method comprises the steps of carrying out a first treatment on the surface of the According to the motor phase voltage and the motor rotor angle +.>Coordinate transformation is performed to obtain the d/q axis voltage +.>And->：
Voltage of d and q axesCompensation currents mapped to d, q axes +.>Design mapping matrix->: in the application, the mapping relation table of the d axis and the q axis is obtained by calibrating the rotating speed and the torque of the motor In order to avoid the influence of damping on the fast steering in practice, it is usual +.>Get->Positively correlated with the motor speed,/->And->The gain coefficients of the vehicle speed are d-axis and q-axis, respectively.
The damping compensation algorithm improvement related by the invention is mainly applied to damping control of an electric power steering system, and the damping control replaces the previous forward channel damping current setting, and is changed into feedback channel compensation which is overlapped in actual d and q axis feedback currents of a motor so as to realize the damping control effect of the steering system.
The steering motor controller collects motor voltage signals, current signals and motor rotor position data, calculates the voltage and current of a d/q axis of the motor through coordinate transformation, and superimposes the voltage and the current into motor feedback control current, the required voltage signals, the current signals and the rotor position signals are updated once every 62.5us, and vehicle speed data are obtained through vehicle communication; the current control regulator of the motor receives the basic power-assisted and active-correction current from the application layer as the target current of the steering motor, calculates the difference value between the given target current and the feedback control current to carry out closed-loop current regulation, and regulates the output d/q axis voltage to drive the steering motor to provide basic power-assisted, active-correction and high-speed damping functions.
The damping control strategy provided by the invention is applied to the damping control of the C-EPS and the R-EPS, so that the mode frequent switching logic of the damping and power-assisted steering and steering wheel out-of-hand alignment process is simplified, the real vehicle calibration has the characteristics of reduced calibration parameters, clear calibration process and the like, the steering is light, and the stability of the vehicle is improved.
Claims (5)
1. The EPS feedback type damping control method is characterized by comprising the following steps of:
s1, collecting signals, namely collecting a motor three-phase terminal voltage detection signal and a vehicle speed signal;
s2, calculating coefficients, namely respectively calculating damping compensation currents of a d axis and a q axis under a rotating coordinate system and a vehicle speed gain coefficient;
s3, damping control is carried out, and a control channel is designed to superimpose the damping compensation current on the control of the steering motor so as to realize damping control;
the signal acquisition further comprises a steering motor controller acquiring motor voltage signals, current signals and motor rotor position data, calculating the voltage and current of a d axis and a q axis of the motor through coordinate transformation, superposing the voltage and the current with damping compensation current to form motor feedback control current, updating the required voltage signals, current signals and rotor position signals once every 62.5us, and acquiring vehicle speed data through vehicle communication;
the current control regulator of the motor receives the basic power-assisted and active alignment current from the application layer as the target current of the steering motor, calculates the difference value between the target current and the feedback control current to carry out closed-loop current regulation, and regulates the output d-axis and q-axis voltage to drive the steering motor to provide basic power-assisted, active alignment and high-speed damping functions;
the calculation of the vehicle speed gain coefficient comprises the steps of reading the vehicle speed section calibration parameter pvs stored in a nonvolatile memoryCalculating a vehicle speed gain factor kvs from the filtered vehicle speed signal>The gain is used for adjusting the damping control at different vehicle speeds;
the damping control comprises the steps of multiplying a damping compensation current by a vehicle speed gain coefficient to obtain a controlled currentA feedback channel into the closed loop regulation of the motor current, will +.>And->Feedback currents respectively superimposed on the d-axis and the q-axis as compensation of the feedback channel +.>And->Entering a current regulator to perform PI regulation and control;
according to the vehicle speed signal, a vehicle speed gain meter is designed to adapt to the hand feeling requirements of drivers at different vehicle speeds, and the vehicle speed gain coefficient is calculatedActing on the damping compensation output.
2. The EPS feedback type damping control method according to claim 1, characterized in that: the signal acquisition comprises the addition of three AD sampling signal branches by an ECU controllerThe voltage to the ground of the three-phase motor end is detected, the voltage is divided and then enters an AD acquisition conversion circuit, the MCU calculates the three-phase voltage of the motor according to the end voltage signal of the motor acquired by the AD acquisition module, and a filter is designedAnd filtering the motor terminal voltage.
3. The EPS feedback type damping control method according to claim 2, characterized in that: the MCU acquires a rotor position signal of the synchronous motor through the SPIThe ECU is used for receiving a vehicle speed signal from the whole vehicle and calculating damping compensation current vehicle speed gain coefficients under different vehicle speeds after low-pass filtering.
4. The EPS feedback type damping control method according to claim 1, characterized in that: the calculation of the damping compensation current comprises the step of calculating the three-phase voltage of the motor according to the three-phase motor voltage and a formula.
5. The EPS feedback type damping control method according to claim 2, characterized in that: the filter needs to perform parameter design and dynamic adjustment of parameters.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002166844A (en) * | 2000-12-01 | 2002-06-11 | Toyoda Mach Works Ltd | Control device for motor-driven power steering device |
| CN101456429A (en) * | 2007-12-13 | 2009-06-17 | 现代自动车株式会社 | Method for controlling drive force steering system of motor |
| CN116252853A (en) * | 2023-02-20 | 2023-06-13 | 一汽解放汽车有限公司 | Damping compensation control method, damping compensation control device, controller and storage medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5055741B2 (en) * | 2005-11-01 | 2012-10-24 | 日本精工株式会社 | Control device for electric power steering device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002166844A (en) * | 2000-12-01 | 2002-06-11 | Toyoda Mach Works Ltd | Control device for motor-driven power steering device |
| CN101456429A (en) * | 2007-12-13 | 2009-06-17 | 现代自动车株式会社 | Method for controlling drive force steering system of motor |
| CN116252853A (en) * | 2023-02-20 | 2023-06-13 | 一汽解放汽车有限公司 | Damping compensation control method, damping compensation control device, controller and storage medium |
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