Construction method of permanent magnet motor composite controller for electric vehicle EPS

Abstract

The invention discloses a construction method of a permanent magnet motor composite controller for an electric vehicle EPS, which is composed of a current given module, an angle given module, a fuzzy PID regulation and control module, a torque disturbance rejection module and a position regulation module. The method is used for controlling an EPS motor system, wherein the input of the EPS motor system is voltages vd and vq under a synchronous rotating coordinate system; the output is the combined current Is of the rotor position angle theta and the current id and the current iq; the input of the fuzzy PID regulation and control module is reference current and synthetic current Is; the output is control voltage components vd1 and vq1; the input of the torque disturbance rejection module is a synthetic current Is and a motor rotor position angle theta; the output of the torque disturbance rejection module is control voltage components vd2 and vq2; the input of the position adjusting module is a reference angle theta* and a motor rotor position angle theta; and the output of the position adjusting module is control voltage components vd3 and vq3; the control voltage components vd1, vq1, vd2, vq2, vd3 and vq3 are correspondingly summed to obtain synthesized voltage vd and vq. According to the invention, the self-adaptive adjustment of PID parameters is achieved through a fuzzy algorithm, classified output of torque is achieved through an optimized torque calculation module, and the required control voltage is output through an error feedback control module.

Description

technical field [0001] The invention belongs to the technical field of electric vehicle driving and transmission control, and is particularly suitable for an AC motor control system used in an electric vehicle EPS (Electric Power Steering System). Background technique [0002] The stability and controllability of automobile handling are closely related to the performance of the steering system. The automobile steering system has roughly experienced the following development stages: mechanical transmission system, hydraulic power steering, electronically controlled hydraulic power steering, electric power steering (EPS) and Steer-by-Wire (SBW). EPS cancels the hydraulic device, which not only reduces the energy consumption of the vehicle, but also provides the basis for the active steering and automatic driving of electric vehicles. Because the brushes and commutators of DC motors will wear out due to sliding contact, the EPS system using DC motors has many faults and low re...

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Problems solved by technology

[0004] The Chinese patent application number is 202010195811.7, and the controller disclosed in the document named "A Position Sensorless Controller for Automotive EPS Steering System" is aimed at the sensorless position sensor used in the EPS system. Through the discrete angle judgment module, the position angle of the motor is realized. However, EPS is used as a torque servo system, and the existence of no position sensor makes the signal transmission delay, the torque fluctuation increases, and ultimately affects the control accuracy and performance of the motor

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