CN216102358U - Steering mechanism for unmanned racing car based on PMSM vector control - Google Patents
Steering mechanism for unmanned racing car based on PMSM vector control Download PDFInfo
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- CN216102358U CN216102358U CN202121760797.7U CN202121760797U CN216102358U CN 216102358 U CN216102358 U CN 216102358U CN 202121760797 U CN202121760797 U CN 202121760797U CN 216102358 U CN216102358 U CN 216102358U
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Abstract
The utility model discloses a steering mechanism for an unmanned racing car based on PMSM vector control, which comprises an electronic control unit, a steering wheel, a servo motor controlled by PMSM vector and a motor controller for controlling the servo motor, wherein the steering wheel is connected with a steering input shaft, the steering input shaft drives an intermediate transmission shaft through a first universal joint, the intermediate transmission shaft is connected with a steering output shaft through a second universal joint, and a gear on the steering output shaft is meshed with a straight tooth of a rack on a steering tie rod in an output gear protection shell so as to drive the steering tie rod to move in a left-right translation manner; the motor input end of the servo motor is directly and fixedly connected with the steering output shaft; the utility model adjusts the arrangement direction of the steering transmission shaft, so that the transmission routes are in the same axis, and simultaneously, the traditional transmission mechanism and the clutch device are cancelled, so that the whole structure is greatly simplified, and the arrangement is convenient; the electric control system replaces the traditional mechanical clutch, and the switching mode is efficient and flexible.
Description
Technical Field
The utility model relates to the technical field of automobiles, in particular to a steering mechanism for an unmanned racing car based on PMSM vector control.
Background
Today, the development of artificial intelligence and the technology of interconnection of everything is very vigorous, and the unmanned technology is going to the life of people at an unprecedented speed. In order to respond to the development demand of the China automobile industry, college students' unmanned formula college (FSAC) born by China automotive engineering encourages college students to study unmanned technology, and sensing equipment and a control device are added on the basis of the original electric racing car to realize autonomous driving of the racing car. Among them, the wire control improvement of the racing car steering system is an extremely important key technology.
The FSAC tournament rules require that the unmanned racing vehicles must have both manned and unmanned steering modes and enable safe, convenient mode conversion to complete different events. The main difficulties are as follows: 1. the switching between unmanned driving mode and manned driving mode is realized, and no motion interference exists between the unmanned driving mode and the manned driving mode. 2. Satisfy the lightweight design of cycle racing, the structure is compact as far as possible.
To meet the above requirements, korean xiaoqiang et al, university of the college of the related art, proposed "CN 212099046U an automatic and manual switching device for steering system of formula race car without man", which selects a gear transmission in terms of transmission mode, has a stable transmission ratio, and can basically realize the mode switching between man-driving and unmanned driving by using an electromagnet as a clutch. However, the gear transmission and the electromagnet device are adopted, so that the overall structure of the device is relatively complex, the arrangement difficulty is increased, and the lightweight design of the racing car is not facilitated. Due to the adoption of a gear transmission mode, the phenomena of blockage and poor meshing can occur in the clutch process of switching the driving modes.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects and shortcomings in the prior art and provides a steering mechanism for controlling an unmanned racing car based on a PMSM vector, a servo motor controlled by the PMSM vector, a motor controller for controlling the servo motor and connection and arrangement between the steering mechanism and the servo motor so as to solve the problems in the background technology.
In order to achieve the purpose, the utility model provides the following technical scheme:
a steering mechanism based on PMSM vector control unmanned racing car comprises an electronic control unit, a steering wheel, a servo motor controlled by PMSM vector and a motor controller for controlling the servo motor, wherein the steering wheel is connected with a steering input shaft, the steering input shaft drives an intermediate transmission shaft through a first universal joint, the intermediate transmission shaft is connected with a steering output shaft through a second universal joint, and a gear on the steering output shaft is meshed with a straight tooth of a rack on a tie rod in an output gear protection shell so as to drive the tie rod to move in a left-right translation mode; the motor input end of the servo motor is directly and fixedly connected with the steering output shaft;
preferably, the servo motor and the motor controller are arranged at the front end of the output gear protection shell;
preferably, the motor controller controls the torque and the rotating speed of the servo motor;
preferably, the left side and the right side of the steering tie rod are provided with limit blocks for limiting the degree of freedom, so that steering action is output;
preferably, the servo motor is supported and fixed by a motor support frame;
preferably, the motor controller consists of a rotating speed controller, a current controller, an SVPWM module and an inverter;
preferably, the servo motor drives a steering tie rod to directly drive the steering action of the racing car through a gear on a steering output shaft in an unmanned driving mode, and controls the turning angle of the racing car through a real-time feedback control loop;
as a preferable mode, the steering wheel is provided with a steering mode switching button for switching between the manned mode and the unmanned mode.
The working principle of the utility model is as follows:
when a driver presses a steering switching button, the key control system simulates a voltage signal and transmits the voltage signal to the electronic control unit ECU, and the ECU makes a decision and outputs a switching instruction.
Under the unmanned driving mode, the motor controller is controlled according to a received switching instruction, a conventional servo system can be operated, the turning angle and the turning speed are calculated by a trajectory tracking algorithm, a rotating speed signal and a torque signal are sent to the motor controller in real time, a three-phase alternating current signal input into the servo motor is obtained through vector control of a PMSM (permanent magnet synchronous motor), the servo motor drives a steering tie rod to directly drive the turning action of the racing car through a gear on a steering output shaft, and the turning angle of the racing car is accurately controlled through a real-time feedback control loop.
In a manned driving mode, a traditional steering wheel is adopted to drive a steering input shaft to transmit power to an intermediate transmission shaft through a universal joint and finally to a steering output shaft, the influence of the damping force of a motor needs to be eliminated in the process, the rotating speed of the steering output shaft is collected in real time through a rotating speed sensor and converted into a rotating speed signal Nref, an idref and an iqref are obtained through a rotating speed controller, a torque signal is that the damping force and the mechanical friction resistance of the motor are constant values, a Ud and a Uq are obtained through a current controller, three-phase alternating current signals needed by a servo motor are obtained through reverse park conversion and modulation of an SVPWM module, a magnetic field which is the same as the rotating speed of a rotating magnetic field of a motor rotor is generated by a stator of the servo motor, and the friction resistance is equivalently counteracted and the damping force of the motor is eliminated. The function of the motor is not existed, and the mechanical clutch device is replaced.
Compared with the prior art, the utility model has the beneficial effects that:
firstly, the utility model adjusts the arrangement direction of the steering transmission shaft, so that the transmission lines are in the same axis, and simultaneously, the traditional transmission mechanism and the clutch device are cancelled, so that the whole structure is greatly simplified, and the arrangement is convenient. Secondly, the motor input end of the servo motor is directly and fixedly connected with the steering output shaft, transmission loss is avoided, the transmission process is more stable, light weight design of the racing car is facilitated, and phenomena of jamming and poor meshing in the clutch process of switching the driving mode in a gear transmission mode are effectively avoided. And moreover, the servo motor and the motor controller are arranged at the front end of the steering mechanism, so that the structure is simple and convenient, and the racing car is more convenient to spatially arrange. Finally, the electric control system replaces the traditional mechanical clutch, the state of the motor can be adjusted by switching the PMSM vector control mode, the unmanned driving mode and the manned driving mode are simply and efficiently free, and the switching mode is more efficient and flexible.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a block diagram of a pmsm vector control in accordance with the present invention.
In the figure: 1. a steering wheel; 2. a steering input shaft; 3. a first universal joint; 4. an intermediate transmission shaft; 5. a steering output shaft; 6. an output gear protective case; 7. a rack; 8. a tie rod; 9. a limiting block; 10. a motor support frame; 11. a servo motor; 12. a motor controller.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1-2, the present invention provides a technical solution:
a steering mechanism based on PMSM vector control unmanned racing car comprises an electronic control unit, a steering wheel 1, a PMSM vector control servo motor 11 and a motor controller 12 for controlling the servo motor 11, wherein the steering wheel 1 is connected with a steering input shaft 2, the steering input shaft 2 drives an intermediate transmission shaft 4 through a first universal joint 3, the intermediate transmission shaft 4 is connected with a steering output shaft 5 through a second universal joint, and in an output gear protection shell 6, a gear on the steering output shaft 5 is meshed with a straight tooth of a rack 7 on a tie rod 8, so that the tie rod 8 is driven to move in a left-right translation manner; the motor input end of the servo motor 11 is directly and fixedly connected with the steering output shaft 5;
according to the utility model, the arrangement direction of the steering transmission shaft is adjusted, so that the transmission lines are in the same axis, and the traditional transmission mechanism and clutch device are eliminated, so that the whole structure is greatly simplified, and the arrangement is convenient. Secondly, the motor input end of the servo motor 11 is directly fixedly connected with the steering output shaft 5, transmission loss does not exist, the transmission process is more stable, the lightweight design of the racing car is facilitated, and the phenomena of jamming and poor meshing in the clutch process of switching the driving mode in a gear transmission mode are effectively avoided. Finally, the electric control system replaces the traditional mechanical clutch, the state of the motor can be adjusted by switching the PMSM vector control mode, the unmanned driving mode and the manned driving mode are simply and efficiently free, and the switching mode is more efficient and flexible.
The servo motor 11 and the motor controller 12 are arranged at the front end of the output gear protection shell 6; the structure is simple and convenient, and the space arrangement of the racing car is more convenient.
The motor controller 12 controls the torque and the rotating speed of the servo motor 11; the left side and the right side of the steering tie rod 8 are provided with limit blocks 9 for limiting the degree of freedom so as to output steering action; the servo motor 11 is supported and fixed through a motor support frame 10; the motor controller 12 is composed of a rotating speed controller, a current controller, an SVPWM module and an inverter; in the unmanned driving mode, the servo motor 11 drives the steering tie rod 8 to directly drive the steering action of the racing car through a gear on the steering output shaft 5, and controls the turning angle of the racing car through a real-time feedback control loop; the steering wheel 1 is provided with a steering mode switching button for switching between a manual driving mode and an unmanned driving mode.
The working principle of the utility model is as follows:
the PMSM vector control of the servo motor 11 decouples the three-phase current in a coordinate transformation mode to control one of the three-phase current to achieve the purpose of controlling the motor torque, and the characteristics of the decoupled motor are similar to those of a direct current motor, so that the control is easy to realize.
The following is a mathematical model of a permanent magnet synchronous machine:
three-phase alternating current instantaneous current expression:
ia＝Imcosωt
ib＝Imcos(ωt-120°)
ic＝Imcos(ωt+120°)
thus, the period of the rotating field of the permanent magnet synchronous motor is
The rotational speed of the rotating magnetic field is
The stator voltage equation of the permanent magnet synchronous motor under a three-phase static coordinate system is as follows:
Rsis armature resistance,. psia、ψb、ψcAre respectively abc three-phase flux linkage, ia、ib、icThe phase currents of the three abc phases are respectively.
Laa、Lbb、LccAre self-inductance of each phase winding, and are of equal size, MabEqual and equal mutual inductance between windingsfIs a permanent magnet flux linkage, and theta is an included angle between the N pole of the rotor and the axis of the a phase.
Frequency of AC power supply
The speed of rotation of the rotating magnetic field of the motor stator winding is related to the frequency of the ac power source.
Conversion relation for decoupling by converting three-phase static coordinate system into d-q coordinate system through mathematical method by using three-phase alternating current
The motor mathematical model under the three-phase static coordinate system is converted by CLARK and PARK to obtain the mathematical model under the d-q coordinate system:
wherein u isd、uqIs a d-q axis voltage, id、iqIs d-q axis current, psid、ψqIs d-q axis flux linkage, Lq、LdIs d-q axis inductance, omegaeFor rotational angular velocity, #fIs a permanent magnet flux linkage, and theta is an included angle between the N pole of the rotor and the axis of the a phase.
Motor torque expression T-23 pniq[id(Ld-Lq)+ψf]Torque and i of permanent magnet synchronous motord、iqHaving a direct relationship by adjusting id、iqThe output torque of the motor can be adjusted.
In the autopilot mode, all executions are taken over by the motor controller 12 and the servo motor 11, the input of the motor controller 12 being obtained by a trajectory tracking algorithm. As shown in fig. 3, an input rotation speed signal Nref is passed through a rotation speed controller to obtain idref and iqref, and a torque signal is received and passed through a current controller to obtain Ud and Uq, inverse park transformation is performed and modulated by an SVPWM module to obtain a control waveform, 6 switching devices of an inverter are controlled, so that a direct current power supply signal is inverted into a three-phase alternating current voltage control servo motor 11, real-time operation data of the motor is obtained through a current sensor and a rotation speed sensor, and feedback control is performed to complete the whole vector control process. Meanwhile, the servo motor 11 is provided with a closed-loop feedback loop, so that input signals can be adjusted in real time, control errors are reduced, and more accurate control is achieved.
In the manual driving mode, the steering wheel 1 is used as a power input end, and torque is transmitted to the tie rod 8 through the double-cross universal transmission shaft, at the moment, a mechanical clutch device is not used, the rotor of the servo motor 11 is forced to rotate due to the rotation of the steering output shaft 5, the motor winding coil generates induced electromotive force, and a damping force for blocking the rotation of the steering output shaft 5 is formed. The root cause is the forced rotation of the rotor and the variation of the stator winding coil flux. Therefore, in order to eliminate the damping force generated by the change of the magnetic flux, a current signal is input through the motor controller 12 according to the rotation speed of the steering output shaft 5 detected by the rotation speed sensor, so that the stator winding coil of the servo motor 11 generates a magnetic field with the same angular velocity as the rotor rotating magnetic field, that is, the damping force of the motor is eliminated.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (8)
1. A steering mechanism based on PMSM vector control unmanned racing car comprises an electronic control unit and a steering wheel, and is characterized by further comprising a PMSM vector control servo motor and a motor controller for controlling the servo motor, wherein the steering wheel is connected with a steering input shaft, the steering input shaft drives an intermediate transmission shaft through a first universal joint, the intermediate transmission shaft is connected with a steering output shaft through a second universal joint, and in an output gear protection shell, a gear on the steering output shaft is meshed with a straight tooth of a rack on a tie rod, so that the tie rod is driven to move in a left-right translation manner; and the motor input end of the servo motor is directly and fixedly connected with the steering output shaft.
2. The steering mechanism as claimed in claim 1, wherein the servo motor and motor controller are disposed at a front end of the output gear protective housing.
3. The steering mechanism of claim 1, wherein the motor controller controls the torque and rotational speed of the servo motor.
4. The steering mechanism according to claim 1, wherein the tie rod is provided with a stopper at each of left and right sides thereof for restricting a degree of freedom to output a steering action.
5. The steering mechanism as claimed in claim 1, wherein the servo motor is supported and fixed by a motor support bracket.
6. The steering mechanism of claim 3, wherein the motor controller is comprised of a speed controller, a current controller, an SVPWM module, and an inverter.
7. The steering mechanism as claimed in claim 1, wherein the servo motor drives the tie rod to directly drive the steering action of the racing car through the gear on the steering output shaft in the unmanned mode, and controls the steering angle of the racing car through a real-time feedback control loop.
8. The steering mechanism according to claim 1, wherein the steering wheel is provided with a steering mode switching button for switching a manual driving mode and an unmanned driving mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121760797.7U CN216102358U (en) | 2021-07-30 | 2021-07-30 | Steering mechanism for unmanned racing car based on PMSM vector control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121760797.7U CN216102358U (en) | 2021-07-30 | 2021-07-30 | Steering mechanism for unmanned racing car based on PMSM vector control |
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| Publication Number | Publication Date |
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| CN216102358U true CN216102358U (en) | 2022-03-22 |
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| CN202121760797.7U Expired - Fee Related CN216102358U (en) | 2021-07-30 | 2021-07-30 | Steering mechanism for unmanned racing car based on PMSM vector control |
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- 2021-07-30 CN CN202121760797.7U patent/CN216102358U/en not_active Expired - Fee Related
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