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Position-free sensor motor control method for electric hydraulic steering booster pump

A power steering pump and motor control technology, applied in the direction of motor generator control, motor control, AC motor control, etc., can solve the problems that affect the robustness, cannot obtain the position information of the motor rotor, and the motor-driven pump cannot generate power, etc. , to achieve the effect of improving the robustness

Inactive Publication Date: 2018-06-26
恒荣动力科技(徐州)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the defect of the current position sensorless control method of the permanent magnet synchronous motor of the electrohydraulic steering booster is that the motor has no back electromotive force or the back electromotive force is very small when the motor is at zero speed and low speed, and the position information or position of the motor rotor cannot be obtained. The information is vague, if the speed closed loop control is used when the motor is started from a standstill, the motor may rotate in the opposite direction, causing the motor to drive the pump without power assistance
In the process of open-loop acceleration, the size of the current command and the acceleration time are related to the size of the load, and the viscosity or resistance of the oil load is related to the ambient temperature. For example, the load in winter is larger than that in summer, and the difference is different. There will be large differences in regions, which will affect the robustness of the control, and the success rate of the motor entering the speed closed loop will be reduced, which will affect the effect of steering power in the whole vehicle.

Method used

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  • Position-free sensor motor control method for electric hydraulic steering booster pump
  • Position-free sensor motor control method for electric hydraulic steering booster pump
  • Position-free sensor motor control method for electric hydraulic steering booster pump

Examples

Experimental program
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Effect test

Embodiment 1

[0046] see Figure 1-2 As shown, the present invention is a position sensorless motor control method of an electrohydraulic power steering pump, comprising the following steps:

[0047] Step 1, the motor controller 101 receives the motor speed command and detects the current feedback signal of the motor 110. The motor controller 101 includes a speed closed-loop regulator 102, a direct-axis current regulator 103, a quadrature-axis current regulator 104, and a first conversion module 105, the second transformation module 106, the third transformation module 107, the fourth transformation module 108, the sliding mode control module 109;

[0048] The speed closed-loop regulator 102 outputs the quadrature axis current command after receiving the motor speed command and the motor speed feedback;

[0049] The first transformation module 105 receives the motor current feedback signal, and the first transformation module 105 transforms the three-phase stationary coordinate system to t...

Embodiment 2

[0056] like image 3 As shown, the sliding mode control module 109 estimates the rotor position angle and the actual speed of the motor according to the voltage command and current feedback signal transmitted by the third conversion module 107; the sliding mode control module 109 includes a sliding mode regulator 111, a filtering module 112, a rotor Position angle estimation module 113, rotational speed calculation module 114 and angle compensation module 115;

[0057] The sliding mode regulator 111 receives the voltage command and the current feedback signal under the two-phase stationary coordinate system, and adjusts and outputs the limiting slip signal under the two-phase stationary coordinate system;

[0058] The sliding mode regulator 111 includes the voltage equation of the motor, and the voltage equation contains motor parameters, and the motor parameters include the motor winding phase resistance value and phase inductance value, the motor rated current, the motor rat...

Embodiment 3

[0064] like Figure 4 As shown, the rotor position angle estimation module 113 includes: a negative value module 116, an arctangent calculation module A117, an arctangent calculation module B118, and an estimation selection module 119; after receiving the back EMF signal under the two-phase stationary coordinate system, the negative value is taken Module 116 takes its negative value to the back EMF signal under the two-phase stationary coordinate system;

[0065] The arctangent calculation module A117 uses the negative value of the x-axis and the positive value of the y-axis in the two-phase stationary coordinate system to perform arctangent trigonometric function calculations to obtain an estimated value A of the motor rotor position angle;

[0066] The arctangent calculation module B118 uses the positive value of the x-axis and the negative value of the y-axis in the two-phase stationary coordinate system to perform arctangent trigonometric function calculations to obtain an...

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PUM

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Abstract

The invention discloses a position-free sensor motor control method for an electric hydraulic steering booster pump, wherein a motor controller receives a motor rotating speed command, detects a current feedback signal of the motor and estimates the rotor position angle of the motor; when the motor is started at a static state in a speed closed-loop mode, the motor controller performs specific rotor position angle compensation according to the direction and the size of the actual rotating speed of the motor through a sliding mode control module, so that the motor does not rotate reversely, andthe speed closed-loop operation of the motor from the zero rotating speed to the rated rotating speed is achieved. According to the method, the reverse potential signals obtained through current estimation in the sliding mode control module are subjected to different arctangent calculation processing, the motor rotor position angle estimated in different rotating speed directions is corrected, and specific angle compensation is carried out on the estimated value, so as to realize position-free sensor speed closed-loop control in a motor full-speed range.

Description

technical field [0001] The invention belongs to the field of new energy vehicles, and in particular relates to a position sensorless motor control method of an electrohydraulic power steering pump. Background technique [0002] New energy electric vehicles have gradually replaced fuel vehicles as the mainstream urban transportation, especially in the commercial vehicle market such as electric buses. The steering assist device is an indispensable part of electric vehicles, and the steering assist devices of most electric buses use electrohydraulic steering boosters. The core components of the electro-hydraulic steering booster include an oil pump, a motor and a motor controller. The motor controller controls the motor to run at a rated speed, and the motor drives the oil pump to rotate through a mechanical connection to generate a corresponding flow, which overcomes the pressure generated during the rotation of the steering wheel of the car. Resistance, thereby providing ste...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/24H02P21/18H02P21/34H02P25/022
CPCH02P21/24H02P21/18H02P21/34H02P25/024H02P2205/07H02P2207/05
Inventor 白继荣杨保荣
Owner 恒荣动力科技(徐州)有限公司