Torque pulsation compensation method based on current harmonic analysis and open-loop torque control

A torque pulsation and torque control technology, which is applied in the direction of motor generator control, electromechanical brake control, electromechanical transmission device control, etc., can solve the problems of steering wheel vibration noise, torque pulsation, strong and other problems, and achieve the effect of reducing torque pulsation and noise

CN114765436APending Publication Date: 2022-07-19BOSCH HUAYU STEERING SYST CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2022-07-19

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Abstract

The invention relates to the technical field of permanent magnet synchronous motors, in particular to a torque pulsation compensation method based on current harmonic analysis and open-loop torque control, which comprises the following steps of: calculating a-phase current, b-phase current and c-phase current, calculating phase current, substituting the phase current into a current fundamental wave and torque formula to obtain torque, converting a three-phase static coordinate system into a rotating coordinate system, and calculating the torque pulsation. 24-order torque pulsation is obtained, and the value of the 24-order torque pulsation is shown in the specification; 24-order torque pulsation is substituted into an open-loop torque control compensation formula to obtain torque harmonic waves, a torque harmonic wave formula is obtained, the torque harmonic wave formula is adopted to replace the torque harmonic waves of open-loop torque control in an original model, and a 24-order noise compensation model is established. Compared with the prior art, the torque pulsation compensation method based on current harmonic analysis and open-loop torque control is designed, compensation of torque pulsation is achieved by establishing a relation formula of current harmonics and torque harmonics and establishing a model, and therefore the torque pulsation and noise of the electric power steering system are reduced.
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Description

technical field

[0001] The invention relates to the technical field of permanent magnet synchronous motors, in particular to a torque ripple compensation method based on current harmonic analysis and open-loop torque control. Background technique

[0002] The electric power steering system is mainly composed of torque sensor, motor, ECU, pipe column, gear and other units. Due to the special structural design of the unit composed of motor and ECU, it will cause torque pulsation, which will cause the end user to turn the steering wheel. , the result of steering wheel shaking or strong noise.

[0003] In torque pulsation, the 24th-order disturbance is the main disturbance that exists in the electric power steering system. At present, the causes of the 24th-order noise of the electric power steering system include motor parameters, such as permanent magnet pass harmonics, inductance harmonics, Mos tube parameters of the ECU drive circuit, and EMI interference of the ECU circuit...

Examples

Embodiment Construction

[0015] The present invention will now be further described with reference to the accompanying drawings.

[0016] The present invention is a torque pulsation compensation method based on current harmonic analysis and open-loop torque control, comprising the following steps:

[0017] Step 1, calculate the phase a current according to the formula , phase b current , c-phase current , , , ,in, is the rotor position angle, is a rotating coordinate system and The phase angle of , a1 is the current fundamental wave coefficient, a5 is the 5th-order harmonic coefficient, and a7 is the 7th-order harmonic coefficient.

[0018] Step 2, the interference of the 5th and 7th orders in the phase current harmonics is the main source of the 24th order interference, therefore, the phase current is calculated according to the formula , .

[0019] Step 3, the phase current Substitute the current fundamental wave and torque formula , get the torque ,in, is the derivat...