基于MC9S12XS128的汽车电动助力转向控制器  

Controller of the vehicle electric power steering system based on MC9S12XS128

作　　者：吴庆淼 刘振华[2] 陈啸[2] 李仁庆[2] 

机构地区：[1]浙江尤奈特电机有限公司,浙江金华321300 [2]浙江工业大学车辆工程研究所,浙江杭州310014

出　　处：《机电工程》2016年第5期638-642,共5页Journal of Mechanical & Electrical Engineering

基　　金：浙江省科技计划重点研发项目(2014C01096);浙江省重点实验室计划项目(2013E10031)

摘　　要：针对EPS系统中存在有刷电机效率低、可靠性差的问题,采用永磁无刷直流电机作为助力电机;同时基于EPS系统的构成和工作原理,设计了MC9S12XS128型主控芯片为控制器内核的硬件电路,主要包括电机驱动电路、信号采集电路和最小系统电路;在助力电机的控制策略方面,结合EPS系统的助力控制目标,采用增量式PID算法控制电机扭矩;在程序设计方面,采用模块化的编写方式调试了EPS控制器的主程序以及各个模块的子程序,并添加了CAN通信模块以实现EPS控制器与整车的数据传输;最后对控制器进行了台架助力试验检测控制器和助力电机的运行情况,实验所测到的最大助力扭矩与设计最大助力扭矩误差小于1%。实验结果表明,无刷助力电机助力性能良好,达到预期助力目标,且控制器工作正常。Aiming at the low efficiency and poor reliability of the brush motor in EPS system, the permanent magnet brushless DC motor was used as the power motor. Based on the composition and working principle of the EPS system, the hardware of the EPS controller was designed with MC9S12XS128 as its core, mainly motor drive circuit, signal acquisition circuit and minimum system circuit. In the field of motor con- trol strategy, the EPS system power control object was analyzed, the incremental PID algorithm was used to control the motor torque, and modular program was used to debug the EPS controller main program and each module subroutine, CAN communication module was added to achieve EPS controller and vehicle data transmission. At last tested the EPS controller with bench power experiment, the maximum assist torque error between experimental and design was less than 1%. The results indicated that the brushless DC motor has good power characteristic and achieve the desired goal, the controller is working properly.

关 键 词：电动助力转向 无刷电机 CAN通信 增量式PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.4[自动化与计算机技术—控制科学与工程]