WO2022227515A1 - 一种驻车执行器软开关控制方法 - Google Patents

一种驻车执行器软开关控制方法 Download PDF

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WO2022227515A1
WO2022227515A1 PCT/CN2021/132260 CN2021132260W WO2022227515A1 WO 2022227515 A1 WO2022227515 A1 WO 2022227515A1 CN 2021132260 W CN2021132260 W CN 2021132260W WO 2022227515 A1 WO2022227515 A1 WO 2022227515A1
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motor
voltage
parking actuator
pulse width
modulation signal
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PCT/CN2021/132260
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English (en)
French (fr)
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刘蕾
曹建雄
汪田华
姜磊
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一巨自动化装备（上海）有限公司
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Publication of WO2022227515A1 publication Critical patent/WO2022227515A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/18—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual dc motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
    • 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
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
    • Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes

Definitions

  • the invention relates to the field of parking actuator control, in particular to a soft switch control method for a parking actuator.
  • the parking actuator is driven by a DC motor and controls the parking pawl to perform parking and release parking actions.
  • the controller of the parking actuator is generally integrated into the main drive motor controller.
  • the vehicle controller and the motor controller share a set of 12V low-voltage power supply.
  • the DC motor of the parking actuator will cause a large voltage and current impact to the 12V low-voltage power supply at the moment of startup and shutdown. , it will cause the voltage to rise.
  • the switching action of the parking actuator will affect the power supply of the entire controller, so it is particularly important to design the control methods for the soft-start and soft-off actions of the parking actuator.
  • the patent document discloses a DC motor soft starter and its soft start method. By collecting the current change during start-up in real time, and adjusting the output duty cycle in a closed loop, the start-up current is reduced; when the duty cycle reaches 100 After %, the single-chip microcomputer switches to the IGBT working state through the starting winding working state, and the motor enters the rated running state.
  • the above scheme is mainly suitable for large-scale DC motors for soft start of DC motors.
  • the control device and method are relatively complicated, and additional start-up winding circuits are required; the current closed-loop control method is adopted, and the control of the parking actuator only needs to control the output shaft. position control, no additional current closed-loop control is required.
  • the method of the prior art is limited by the use of the control device, and there is no starting winding and no accurate current sampling circuit on the parking actuator. This method is not suitable for the short-term and fast switching action of the DC motor of the parking actuator. .
  • the purpose of the present invention is to provide a soft-switching control method for a parking actuator, which can reduce the drop of starting current and voltage by changing the utilization rate of DC voltage, the rate of change of the output duty cycle and the PID control in conjunction with the control method. Effectively reduce the voltage rise phenomenon at turn-off.
  • a soft switch control method for a parking actuator comprising:
  • the pulse width modulation signal PWM_0 output by the PID controller is processed by the slope control module, that is, the SLOP module, and the pulse width modulation signal PWM_1 whose duty cycle is increased or decreased with a fixed step size is output;
  • the pulse width modulation signal PWM_1 is input into the MOSFET full-bridge circuit to control and slow down the change of the output voltage of the MOSFET full-bridge circuit.
  • the output voltage of the MOSFET full-bridge circuit is used as the input voltage of the DC motor, and the DC motor controls the parking actuator to perform actions.
  • step S2 when the DC motor starts, the duty cycle of the pulse width modulation signal PWM_1 is increased by a fixed step; when the DC motor is turned off, the duty cycle of the pulse width modulation signal PWM_1 is decreased by a fixed step.
  • the slope control module no longer functions.
  • the voltage of the input terminal of the DC motor is also detected, the utilization rate of the DC power supply voltage is set according to the voltage of the input terminal of the DC motor, and the DC power supply voltage is multiplied by the voltage utilization rate as the input voltage of the MOSFET full-bridge circuit, so that the DC power The back EMF generated when the machine is turned off is not greater than the input terminal voltage.
  • the PID controller minimizes the control torque that is opposite to the direction of the rotation speed of the DC motor, resulting in the generation of current.
  • the position of the output shaft of the parking actuator is acquired by a Hall position sensor.
  • the soft switch control method of the parking actuator proposed by the present invention realizes closed-loop control according to the position of the output shaft fed back by the position sensor of the parking actuator. Solve the problem of voltage and current fluctuations during startup and shutdown;
  • the present invention simultaneously utilizes the voltage utilization rate and the duty ratio change rate to cooperate with the PID controller to control the DC motor, which can effectively reduce the voltage rise phenomenon when it is turned off.
  • FIG. 1 is a control block diagram of the soft switch control method of the parking actuator of the present invention.
  • the DC motor is equivalent to a locked-rotor state. If the full duty cycle is directly loaded and the power supply voltage is all input to the motor, a large instantaneous locked-rotor current will be generated. If the duty cycle of the PID controller is set to increase in slop steps when the DC motor is started, so that the voltage input to the motor terminal rises at a certain slope, which can effectively reduce the instantaneous stall current at the time of startup.
  • the soft switch control method of the parking actuator proposed by the present invention includes:
  • the Hall position sensor collects and obtains the position of the output shaft of the parking actuator, and calculates the difference with the target position executed by the parking actuator, and the obtained difference is input to the PID controller; the PID controller generates according to the input difference Pulse width modulation signal PWM_0 with a certain duty cycle;
  • the pulse width modulation signal PWM_0 output by the PID controller is processed by the slope control module to output the pulse width modulation signal PWM_1 whose duty cycle is incremented or decremented by a fixed step; among them:
  • the duty cycle of the pulse width modulation signal PWM_1 is increased in fixed steps; when the duty cycle of the pulse width modulation signal PWM_1 increases to 100% of the pulse width modulation signal PWM_0, the slope control module no longer functions.
  • the duty cycle of the pulse width modulation signal PWM_1 is decremented with a fixed step size, and the voltage of the input terminal of the DC motor is also detected, and the utilization rate of the DC power supply voltage is set according to the input terminal voltage of the DC motor, and the DC power supply voltage is multiplied by The voltage utilization rate is used as the input voltage of the MOSFET full-bridge circuit, so that the back EMF generated when the DC motor is turned off is not greater than the input terminal voltage.
  • the pulse width modulation signal PWM_1 is input into the MOSFET full-bridge circuit to control and slow down the change of the output voltage of the MOSFET full-bridge circuit.
  • the output voltage of the MOSFET full-bridge circuit is used as the input voltage of the DC motor, and the DC motor controls the parking actuator to perform actions.
  • the PID controller of the present invention should minimize the control torque in the opposite direction to the rotation speed of the DC motor during the control process, resulting in the generation of current. Therefore, it is necessary to constrain the control of the PID controller, and the PID control parameters must meet the above constraints.
  • the soft-switching control method of the parking actuator proposed by the present invention utilizes the pulse width modulation signal whose duty ratio is increased or decreased with a fixed step length to cooperate with the PID controller to control the DC motor, which effectively reduces the start-up and shutdown processes. voltage and current fluctuations. At the same time, combined with the utilization of power supply voltage, the phenomenon of voltage rise during turn-off can also be effectively reduced.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Direct Current Motors (AREA)
  • Motor And Converter Starters (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

本发明公开了一种驻车执行器软开关控制方法，包括：获取驻车执行器输出轴的位置，并与驻车执行器执行的目标位置进行差值计算，得到的差值输入到PID控制器；PID控制器根据输入差值产生一定占空比的脉冲宽度调制信号PWM_0；PWM_0经过斜率控制模块处理，输出占空比以固定步长进行递增或递减的脉冲宽度调制信号PWM_1；在电机关断时，还检测直流电机输入端电压，电机输入端电压设置直流电源电压的利用率；脉冲宽度调制信号PWM_1输入到MOSFET全桥电路中，控制减缓MOSFET全桥电路输出电压的变化，MOSFET全桥电路输出电压作为直流电机的输入端电压，直流电机控制驻车执行器执行动作，有效的降低了启动和关断过程的电压、电流波动问题，降低电压抬升的情况。

Description

一种驻车执行器软开关控制方法 技术领域
本发明涉及驻车执行器控制领域，特别涉及一种驻车执行器软开关控制方法。
背景技术
驻车执行器是由直流电机作为驱动，控制驻车棘爪执行驻车和解除驻车动作，为实现高度集成化，一般将驻车执行器的控制器集成到主驱动电机控制器中，驻车控制器与电机控制器共用一套12V低压电源。而驻车执行器的直流电机在启动和关断瞬间会对12V低压电源造成较大的电压、电流冲击，如在启动瞬间会将低压电源电压拉低且产生较大的电流，而在关断时，又会造成电压的抬升。
驻车执行器开关动作会对整个控制器的电源造成影响，因此设计驻车执行器的软启动和软关断动作的控制方法显得尤为重要。
专利文献(公开号：CN103219928A)公开了一种直流电机软启动器及其软启动方法，通过实时采集启动时的电流变化，闭环调节输出占空比，来降低启动电流；在占空比达到100％以后，由单片机经启动绕组工作状态切换到IGBT工作状态，电机进入额定运行状态。
上述方案对于直流电机的软启动主要适用于大型直流电机，控制装置及方法较为复杂，需要额外的启动绕组电路；采用的是电流闭环控制方法，而驻车执行器的控制只需要对输出轴的位置进行控制，不需要额外的电流闭环控制。
现有技术的方法受限于控制装置的使用，对于驻车执行器上无启动绕组也没有精确的电流采样电路，这种方法并不适用于驻车执行器直流电机短时、快速的开关动作。
发明内容
本发明目的是：提供一种驻车执行器软开关控制方法，通过改变直流电压利用率，输出占空比的变化率及PID控制配合控制的方法来降低启动电流及电压的跌落，同时也能有效降低关断时候的电压抬升现象。
本发明的技术方案是：
一种驻车执行器软开关控制方法，包括：
S1、获取驻车执行器输出轴的位置，并与驻车执行器执行的目标位置进行 差值计算，得到的差值输入到PID控制器；PID控制器根据输入差值产生一定占空比的脉冲宽度调制信号PWM_0；
S2、PID控制器输出的脉冲宽度调制信号PWM_0，经过斜率控制模块，即SLOP模块处理，输出占空比以固定步长进行递增或递减的脉冲宽度调制信号PWM_1；
S3、脉冲宽度调制信号PWM_1输入到MOSFET全桥电路中，控制减缓MOSFET全桥电路输出电压的变化，MOSFET全桥电路输出电压作为直流电机的输入端电压，直流电机控制驻车执行器执行动作。
优选的，步骤S2中，在直流电机启动时，脉冲宽度调制信号PWM_1的占空比以固定步长进行递增；在直流电机关断时，脉冲宽度调制信号PWM_1的占空比以固定步长进行递减。
优选的，在直流电机启动时，脉冲宽度调制信号PWM_1的占空比递增到脉冲宽度调制信号PWM_0的100％时，斜率控制模块不再作用。
优选的，在直流电机关断时，还检测直流电机输入端电压，根据直流电机输入端电压设置直流电源电压的利用率，直流电源电压乘以电压利用率作为MOSFET全桥电路的输入电压，使得直流电机关断时产生的反电势不大于输入端电压。
优选的，所述PID控制器，在控制过程中尽量减小出现与直流电机转速方向相反的控制扭矩，导致出现发电电流。
优选的，所述驻车执行器输出轴的位置，由霍尔位置传感器采集获取。
本发明的优点是：
1.本发明提出的驻车执行器软开关控制方法，根据驻车执行器位置传感器反馈输出轴的位置来实现闭环控制，启动和关断过程通过降低输出占空比的变化率，有效的降低了启动和关断过程的电压、电流波动问题；
2.本发明同时利用了电压利用率及占空比变化率来配合PID控制器控制直流电机，能有效降低关断时候的电压抬升现象。
附图说明
下面结合附图及实施例对本发明作进一步描述：
图1为本发明的驻车执行器软开关控制方法的控制框图。
具体实施方式
在控制驻车执行器的直流电机启动瞬间，直流电机相当于堵转状态，如果直接加载满占空比，电源电压全部输入到电机端，会产生较大的瞬间堵转电流。如果在直流电机启动时，将PID控制器输出的占空比设置slop步长递增，使输入到电机端的电压以一定斜率上升，可以有效减少启动时刻的瞬间堵转电流。
在直流电机关断时，由于驻车执行器电机在做减速动作，反电势大于直流电压时，会造成直流电压被抬升的现象，这时如果采用限制输入电机端电压的方法，使反电势不大于直流电压，可以降低电压抬升的情况。
基于以上的设计思路，如图1所示，本发明所提出的的驻车执行器软开关控制方法，包括：
S1、霍尔位置传感器采集获取驻车执行器输出轴的位置，并与驻车执行器执行的目标位置进行差值计算，得到的差值输入到PID控制器；PID控制器根据输入差值产生一定占空比的脉冲宽度调制信号PWM_0；
S2、PID控制器输出的脉冲宽度调制信号PWM_0，经过斜率控制模块处理，输出占空比以固定步长进行递增或递减的脉冲宽度调制信号PWM_1；其中：
在直流电机启动时，脉冲宽度调制信号PWM_1的占空比以固定步长进行递增；脉冲宽度调制信号PWM_1的占空比递增到脉冲宽度调制信号PWM_0的100％时，斜率控制模块不再作用。
在直流电机关断时，脉冲宽度调制信号PWM_1的占空比以固定步长进行递减，同时还检测直流电机输入端电压，根据直流电机输入端电压设置直流电源电压的利用率，直流电源电压乘以电压利用率作为MOSFET全桥电路的输入电压，使得直流电机关断时产生的反电势不大于输入端电压。
S3、脉冲宽度调制信号PWM_1输入到MOSFET全桥电路中，控制减缓MOSFET全桥电路输出电压的变化，MOSFET全桥电路输出电压作为直流电机的输入端电压，直流电机控制驻车执行器执行动作。
本发明的所述PID控制器在控制过程中应尽量减小出现与直流电机转速方向相反的控制扭矩，导致出现发电电流。因此需要对PID控制器的控制进行约束，PID控制参数需满足上述的约束条件。
本发明提出的驻车执行器软开关控制方法，利用了占空比以固定步长进行递增或递减的脉冲宽度调制信号，来配合PID控制器控制直流电机，有效的降 低了启动和关断过程的电压、电流波动问题。同时结合利用电源电压利用率，也能有效降低关断时候的电压抬升现象。
上述实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人能够了解本发明的内容并据以实施，并不能以此限制本发明的保护范围。凡根据本发明主要技术方案的精神实质所做的修饰，都应涵盖在本发明的保护范围之内。

Claims (6)

  1. 一种驻车执行器软开关控制方法，其特征在于，包括：
    S1、获取驻车执行器输出轴的位置，并与驻车执行器执行的目标位置进行差值计算，得到的差值输入到PID控制器；PID控制器根据输入差值产生一定占空比的脉冲宽度调制信号PWM_0；
    S2、PID控制器输出的脉冲宽度调制信号PWM_0，经过斜率控制模块处理，输出占空比以固定步长进行递增或递减的脉冲宽度调制信号PWM_1；
    S3、脉冲宽度调制信号PWM_1输入到MOSFET全桥电路中，控制减缓MOSFET全桥电路输出电压的变化，MOSFET全桥电路输出电压作为直流电机的输入端电压，直流电机控制驻车执行器执行动作。
  2. 根据权利要求1所述的驻车执行器软开关控制方法，其特征在于，步骤S2中，在直流电机启动时，脉冲宽度调制信号PWM_1的占空比以固定步长进行递增；在直流电机关断时，脉冲宽度调制信号PWM_1的占空比以固定步长进行递减。
  3. 根据权利要求2所述的驻车执行器软开关控制方法，其特征在于，在直流电机启动时，脉冲宽度调制信号PWM_1的占空比递增到脉冲宽度调制信号PWM_0的100％时，斜率控制模块不再作用。
  4. 根据权利要求2所述的驻车执行器软开关控制方法，其特征在于，在直流电机关断时，还检测直流电机输入端电压，根据直流电机输入端电压设置直流电源电压的利用率，直流电源电压乘以电压利用率作为MOSFET全桥电路的输入电压，使得直流电机关断时产生的反电势不大于输入端电压。
  5. 根据权利要求1-4任意一项所述的驻车执行器软开关控制方法，其特征在于，所述PID控制器，在控制过程中尽量减小出现与直流电机转速方向相反的控制扭矩，导致出现发电电流。
  6. 根据权利要求1所述的驻车执行器软开关控制方法，其特征在于，所述驻车执行器输出轴的位置，由霍尔位置传感器采集获取。
PCT/CN2021/132260 2021-04-28 2021-11-23 一种驻车执行器软开关控制方法 WO2022227515A1 (zh)

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