Abstract：In order to solve the torque ripple problem caused by the drift of the zero point of current of permanent magnet synchronous motor used for electric power steering (EPS) system when it is online, a method for regulating offset error of current sensor, zero speed zero torque compensation method by phase voltage estimation, was proposed. This method was on the basis of quantitative analysis for the influence current zero drift on output torque of permanent magnet synchronous motor and operation characteristic of EPS system. It is can be used to on-line calibrate and adjust torque ripple caused by zero drift, which contribute to alleviate driving burden and improve operating comfort. Zero speed zero torque physical model of PMSM in EPS system was established. For this, theoretical analysis, simulation modeling and prototype test was adopted. Estimation phase voltage by PWM duty method was applied to compensate the offset error of current sensor and eliminated zero error without any additional sensor. The simulation and experiment results showed that the proposed method is feasible in engineering and implementation for reducing the torque ripple of EPS system permanent magnet synchronous motor.
袁臣虎, 王岁, 刘晓明, 李阳. 基于PMSM的EPS系统电流传感器零点误差在线标定策略研究与调控实现[J]. 电工技术学报, 2018, 33(15): 3635-3643.
Yuan Chenhu, Wang Sui, Liu Xiaoming, Li Yang. On Line Calibration Strategy and Regulation Implementation of EPS System Current Sensor Zero Error Based on PMSM. Transactions of China Electrotechnical Society, 2018, 33(15): 3635-3643.
[1] 张虎. 基于永磁同步电机的电动助力转向系统力矩控制算法研究[D]. 长春: 吉林大学, 2015. [2] 曾强淋. 基于PMSM的全地形车用电动助力转向控制器的设计与实现[D]. 天津: 天津工业大学, 2016. [3] 盖江涛, 黄守道, 黄庆, 等. 基于负载观测的永磁电机驱动系统自抗扰控制[J]. 电工技术学报, 2016, 31(18): 29-36. Gai Jiangtao, Huang Shoudao, Huang Qing, et al.Active-disturbance rejection controller for permanent magnet motor drive system control based on load observer[J]. Transactions of China Electrotechnical Society, 2016, 31(18): 29-36. [4] 张永昌, 杨海涛, 魏香龙. 基于快速矢量选择的永磁同步电机模型预测控制[J]. 电工技术学报, 2016, 31(6): 66-73. Zhang Yongchang, Yang Haitao, Wei Xianglong.Model predictive control of permanent magnet synchronous motors based on fast vector selection[J]. Transactions of China Electrotechnical Society, 2016, 31(6): 66-73. [5] 李旭春, 张鹏, 严乐阳, 等. 具有参数辨识的永磁同步电机无位置传感器控制[J]. 电工技术学报, 2016, 31(14): 139-147. Li Xuchun, Zhang Peng, Yan Leyang, et al.Sensorless control of permanent magnet synchronous motor with online parameter identification[J]. Transactions of China Electrotechnical Society, 2016, 31(14): 139-147. [6] 郑江, 代颖, 石坚. 车用永磁同步电机的电磁噪声特性[J]. 电工技术学报, 2016, 31(增刊1): 53-59. Zheng Jiang, Dai Ying, Shi Jian.Electromagnetic noise characteristics of permanent magnet synchronous motor applied in electric vehicle[J]. Transactions of China Electrotechnical Society, 2016, 31(S1): 53-59. [7] Tamura H, Ajima T, Noto Y.A torque ripple reduction method by current sensor offset error compensation[C]//15th European Conference on Power Electronics and Applications, Lille, 2013: 1-10. [8] 罗旋, 陈慧, 龚小平. EPS用永磁同步电机电流传感器零点在线标定策略[J]. 汽车工程, 2009, 31(10): 995-998. Luo Xuan, Chen Hui, Gong Xiaoping.An online calibration strategy for current sensor offset in PMSM for EPS[J]. Automotive Engineering, 2009, 31(10): 995-998. [9] Tamura H, Itoh J I, Noto Y.Two methods for compensating motor-current-sensor offset error by using DC-voltage component included in phase-voltage command for current-controlled PMSM drive[C]//17th European Conference on Power Electronics and Applications, Geneva, 2015: 1-10. [10] Kim M, Sul S K, Lee J.Compensation of current measurement error for current-controlled PMSM drives[J]. IEEE Transactions on Industry Applications, 2014, 50(5): 3365-3373. [11] Jung H S, Hwang S H, Kim J M, et al.Diminution of current-measurement error for vector-controlled AC motor drives[J]. IEEE Transactions on Industry Applications, 2006, 42(5): 1249-1256. [12] 陈修亮, 车倍凯. 永磁同步电机矢量控制解耦方法的研究[J]. 电气技术, 2013, 14(4): 37-40, 43. Chen Xiuliang, Che Beikai.Research on decoupling control method for permanent magnet synchronous motor vector[J]. Electrical Engineering, 2013, 14(4): 37-40, 43. [13] Lee D, Kim K S, Kim S.Controller design of an electric power steering system[J]. IEEE Transactions on Control Systems Technology, 2018, 26(2): 748-755. [14] 汪剑鸣, 袁臣虎, 刘瑞, 等. 基于四线旋转变压器及AD2S1200的叉车线控转向永磁同步电机角度解码研究[J]. 电工技术学报, 2015, 30(增刊2): 95-100. Wang Jianming, Yuan Chenhu, Liu Rui, et al.Research on PMSM rotor position decoding of the forklift steer-by-wire system based on the four-line resolver and AD2S1200[J]. Transactions of China Electrotechnical Society, 2015, 30(S2): 95-100.
2018, Vol. 33 
