Abstract
In order to meet the needs of bus electrification and intellectualization, a controller for the steering power system of an intelligent electric bus is studied in this paper. The contents mainly include: based on the structural principle and control strategy of the EHPS system, Luenberger observer is designed, which is applied to the sensorless control system of PMSM. Then, a controller with STM32F103zet6 chip as its core is designed and manufactured. The hardware design of the controller includes the minimum system circuit, power supply circuit, signal acquisition circuit, integrated driver module circuit, CAN communication circuit, fault and high temperature alarm circuit of the single chip computer; combining the design of each hardware part, the controller of EHPS system is made. In the aspect of software implementation, the control decision-making part, a motor drive control part, fault diagnosis, and transmission part are mainly designed. Finally, the bench test and vehicle test of the controller are carried out. The purpose of the bench test is to test the control effect of the controller on the motor. The bench test results show that the target speed response of the motor is fast and the output is stable. The controller developed in this paper realizes the control of PMSM. The purpose of the real vehicle test is to test whether the controller meets the actual application requirements of the steering power system of the vehicle. The actual vehicle test results show that the steering wheel's torque decreases obviously, and the steering power system has good power-assisting performance when the EHPS system controller works. With the increase of vehicle speed, the power-assisting torque decreases accordingly. EHPS system realizes the dynamic change of power-assisting and meets the requirements of the conventional power-assisting mode of the car. In addition, the controller can realize the active steering control by controlling the electric power assistant device, which provides a platform for the realization of lane auxiliary maintenance, automatic parking, unmanned driving, and other functions.
Highlights
Steering system is the mechanism that keeps direction a vehicle or changes the direction of a vehicle according to the driver’s manipulation
In order to improve the dynamic steering performance and space utilization of steering assist system for medium and heavy vehicles, a controller based on the STM32 chip for the steering power system of intelligent electric bus is studied in this paper
The Luenberger state observer of permanent magnet synchronous motor (PMSM) is further established after the motor state model is established
Summary
This work was supported in part by the National Natural Science Foundation of China under Grant 51505258, in part by the Open Subject of Traffic Safety and Control Lab in Hebei Province, under Grant JTKY 2019002, in part by the National Nature Science Foundation of Shandong Province, China, under Grant ZR2015EL019, in part by the Agricultural Machinery and Equipment Research and Development Innovation Project of Shandong Province, China, under Grant 2017YF013 and Grant 2018YF017.
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