Design Of Motor Controller For Steering Steering System Steering

In recent years, the rapid development of logistics industry provides a good platform for the rise of forklift industry. Due to its special working environment and its own characteristics, the forklift needs higher requirements on the steering system, and the pros and cons of forklift steering performance has a direct impact on the driving safety, handling stability and work efficiency.Steer-by-wire as the latest model of steering system, it cancels the mechanical connections between steering wheel and steering wheel, and the steering process controlled by electrical signals, which is not only reduces the driver’s physical consumption, but also changes transmission ratio through the software. Therefore, developing a steer-by-wire system that is suitable in forklift has a broad market prospect. This paper is devoted to the executive motor controller design of forklift steering by wire system. The main research work includes the following contents:Selecting the good performance Permanent Magnet Synchronous Motor as executive motor and completing the three closed loop control system which is consist of current loop, speed loop and position loop on the basis of vector control, Through the Simulink modeling and simulation, the results show that the motor control strategy and controller design is feasible.In order to obtain the information of rotor position and speed, the hardware decoding module is designed on the basis of four-line rotary transformer and AD2S1200 decoding chip. Using this module to decode the rotor position, and based on the relationship of rotor position and mechanical angle, the application of a zero crossing detection method is proposed to accurately obtain the position of the steering wheel and front wheel position information. In addition, according to functional requirements and based on the controller chip MC56F8367, the hardware and software design and debugging results is given in detail.Completing the construction of the steering-by-wire experimental bench, and based on this platform and controller for the static performance and dynamic performance test. The experimental results are consistent with the simulation, the control response is rapid, the position following error is small, which can meet the design requirements.