A method of constructing an intelligent composite controller for an AC motor used in eps

Abstract

The invention discloses a construction method of an AC motor intelligent composite controller for EPS (Electric Power Steering System) in the technical field of intelligent vehicle control and electric drive control equipment. The construction method includes the following steps: an EPS motor system with the voltages ud and uq as input and the angle of rotation theta and the currents id and iq asoutput is constructed; an optimal controller gain matrix of a state feedback controller is obtained by a controller parameter optimization module; the control voltages output by a power compensation controller, the state feedback controller and a voltage decoupling controller are combined to constitute a first part of input of a voltage limiting controller, and the angle of rotation theta and thecurrent iq are taken as a second part of input of the voltage limiting controller; and the three sub controllers constitute a high-performance composite controller. The short-term maximum voltage supplied to the motor is improved on the premise of ensuring the safe operation of the motor, and the saturation of the controller is restrained. The global optimal parameters of the state feedback controller are obtained through an artificial bee colony algorithm. The workload of parameter adjustment is reduced while the effect of the controller is improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicle control and electric drive control equipment, and in particular relates to a construction method of an AC motor controller used in an electric power steering system (EPS, Electric Power Steering System). Background technique [0002] The steering system of an automobile is one of the systems that directly affect the driving safety and reliability of the automobile. Automobile power steering system has changed from the most primitive mechanical steering system to hydraulic steering system, electro-hydraulic steering system, and then to the electric power steering system (EPS) which is more environmentally friendly, energy-saving and has better maneuverability. . EPS saves energy to a large extent, which is very beneficial to energy conservation and environmental protection. Automotive EPS is a power steering system that provides auxiliary torque directly through the motor. Its princip...

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Problems solved by technology

[0004] (1) Since the on-board power supply voltage is 12V, the output torque of the booster motor is very small, which cannot meet the high-torque power boost required by mid-to-high-end cars, which limits the application of the EPS system on mid-to-high-end cars

[0005] (2) The torque provided by the DC motor fluctuates greatly, and there is a hidden danger of commutator failure, which reduces the reliability and safety of the EPS system

The shortcomings of this control method are also obvious. There are three PI controllers in the entire control system, and at least six controller parameters need to be tuned, which will bring a lot of workload in practical applications; and due to the inherent defects of the double closed-loop control structure , the dynamic characteristics of the system will be limited

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