电动辅助转向电机控制研究及 EMC 设计

吉林大学学报(信息科学版) ›› 2023, Vol. 41 ›› Issue (5): 840-847.

电动辅助转向电机控制研究及 EMC 设计

李任¹, 刘卫平¹ , 卢希全¹ , 杨祥卓¹ , 张希明¹ , 刘雪明² , 赵塔²

1. 吉林大学仪器科学与电气工程学院, 长春 130061; 2. 中车长春轨道客车股份有限公司, 国家轨道客车工程研究中心基础研发部, 长春 130113

收稿日期:2022-08-17 出版日期:2023-10-09 发布日期:2023-10-10
作者简介:李任(1998— ), 男, 江苏徐州人, 吉林大学硕士研究生, 主要从事 EPS 永磁同步电机控制研究, ( Tel)86-18761417277 (E-mail)liren19981025@ 163. com; 刘卫平(1978— ), 男, 长春人, 吉林大学教授, 主要从事电机控制、电动汽车技术研究, (Tel)86-133143114911 (E-mail)liuwp@ jlu. edu. cn。

Research and EMC Design of Electric Assisted Steering Motor Control

LI Ren ¹ , LIU Weiping ¹ , LU Xiquan ¹ , YANG Xiangzhuo ¹ , ZHANG Ximing ¹ , LIU Xueming ² , ZHAO Ta ²

1. College of Instrument Science and Electrical Engineering, Jilin University, Changchun 130061, China; 2. National Rail Bus Engineering Research Center Basic Research and Development Department, Crrc Changchun Railway Vehicles Company Limited, Changchun 130113, China

Received:2022-08-17 Online:2023-10-09 Published:2023-10-10

摘要/Abstract

摘要： 为解决商用车在行驶过程中, 传统的液压助力转向系统阻力较大且效率较低, 并且在长期使用后保养不当容易泄露, 可能引起事故等问题, 对电动辅助转向电机控制算法和设计进行了研究。电动辅助转向电机选择永磁同步电机, 通过应用模糊 PID(Proportional Integral Derivative)算法可以精确, 快速地调制到参考值。同时采用拓展卡尔曼滤波器可以估算永磁同步电机的转子位置, 减小控制器的体积及成本。在驱动系统中, 由于大电流耦合路径多样严重影响电机控制系统的电磁兼容性能, 所以电机控制时采用驱动系统 EMC(Electro Magnetic Compatibility)设计。实验结果表明, 基于模糊 PID 算法以及拓展卡尔曼滤波器的永磁同步电机控制可以应用于商用车电动辅助转向电机控制中。

关键词: 电动辅助转向, 永磁同步电机控制策略, 模糊 PID 算法, 拓展卡尔曼滤波器, EMC 设计

Abstract: In order to solve the problems such as large resistance and low efficiency of the traditional hydraulic power steering system during the driving process of commercial vehicles, improper maintenance after long-term use will lead to leakage, and may cause accidents, an electric auxiliary steering motor control is adopted. The electric auxiliary steering motor selects the permanent magnet synchronous motor. By using the fuzzy PID (Proportional Integral Derivative) algorithm, it can be modulated to the reference value accurately and quickly . The extended Kalman filter is used to estimate the rotor position of the permanent magnet synchronous motor, reduce the volume of the controller and reduce the cost. In the drive system, the diversity of large current coupling paths seriously affects the electromagnetic compatibility performance of the motor control system, so the drive system EMC ( Electro Magnetic Compatibility) design is adopted. From the experimental results, it is concluded that the permanent magnet synchronous motor control based on fuzzy PID algorithm and extended Kalman filter can be applied to the electric auxiliary steering motor control of commercial vehicles.

Key words: electric auxiliary rotation, control strategy of permanent magnet synchronous motor, fuzzy proportional integral derivative ( PID), extended Kalman filter, electro magnetic compatibility (EMC) design

中图分类号:

TM341

李任, 刘卫平, 卢希全, 杨祥卓, 张希明, 刘雪明, 赵塔. 电动辅助转向电机控制研究及 EMC 设计[J]. 吉林大学学报(信息科学版), 2023, 41(5): 840-847.

LI Ren , LIU Weiping , LU Xiquan , YANG Xiangzhuo , ZHANG Ximing , LIU Xueming , ZHAO Ta . Research and EMC Design of Electric Assisted Steering Motor Control[J]. Journal of Jilin University (Information Science Edition), 2023, 41(5): 840-847.

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