CN103223940A - Electric car coordination control system - Google Patents
Electric car coordination control system Download PDFInfo
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- CN103223940A CN103223940A CN2013101586364A CN201310158636A CN103223940A CN 103223940 A CN103223940 A CN 103223940A CN 2013101586364 A CN2013101586364 A CN 2013101586364A CN 201310158636 A CN201310158636 A CN 201310158636A CN 103223940 A CN103223940 A CN 103223940A
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Abstract
The invention discloses an electric car coordination control system. The electric car coordination control system comprises a storage battery, a coordination controller, a driving controller, a brake controller and a turning controller, wherein the storage battery is connected with the four controllers respectively; the controllers are connected with one another through CAN (Controller Area Network) buses; the coordination controller collects the input of an accelerate pedal, a brake pedal and turning operation, as well as car status and information, and input of other controllers; the driving controller not only calculates the needed driving force arm according to the opening of the accelerate pedal, but also performs compensation control to driving force arm according to the order from the coordination controller; the brake controller calculates the needed brake force arm according to the stroke of the brake pedal , and performs compensation control to brake force arm according to the order from the coordination controller; the turning controller calculates the turning angles of the front and rear wheels according to the turning angle of the steering wheel, and performs compensation control to the turning angle of the car wheels according to the order from the coordination controller. The electric car coordination control system effectively increases the manipulation stability and the safety of an electric car.
Description
Technical field
The present invention relates to a kind of electronlmobil coordinated control system, relate in particular to a kind of electronlmobil coordinated control system that adopts distributed line traffic control actuating unit and controller, belong to the control technology field.
Background technology
Electronlmobil as a kind of with the battery be energy source, with power wheel travel, near the zero green traffic instrument that pollutes, its development has very important realistic meaning for solving the global energy, environmental problem
At present, the development of electronlmobil runs into following problem: safety and reliability can't guarantee; Continual mileage is short, and charging duration is long and not convenient; Car load price height, battery life weak point etc.The expensive main source of pure electric automobile comes from battery and motor, is difficult to significantly reduce in a very long time.Therefore, can only improve the cost performance of pure electric automobile by the mode that promotes performance, thereby just can obtain customer's favor.
Summary of the invention
At the present technology status of electronlmobil, the invention provides a kind of electronlmobil coordinated control system, it is the electronlmobil coordinated control system that adopts distributed line traffic control actuating unit and controller.This coordinated control system is primarily aimed at the electronlmobil of control completely, can be used for the electronlmobil of four-wheel wheel hub motor individual drive, electronic mechanical braking, four-wheel steering-by-wire.
A kind of electronlmobil coordinated control system of the present invention, it comprises storage battery, tuning controller, driving governor, brake controller and steering controller.Storage battery is connected respectively with above-mentioned four controllers; In order to realize the co-operative control of control system, connect by the CAN bus between each controller.
Described tuning controller plays the effect of co-operative control in The whole control system.It is made of process chip, power circuit, RC filter circuit, 232 communication circuits and CAN interface circuit, position annexation between them is: power circuit provides power supply for other each several part circuit, RC filter circuit, 232 communication circuits and CAN interface circuit all link to each other with process chip, the RC filter circuit also links to each other with exterior incoming signal simultaneously, 232 communication circuits also link to each other with the serial ports of upper computer, and the CAN interface circuit also links to each other with exterior CAN bus.The MC9S12XEP100 micro controller system that this process chip adopts Freescale company to produce; The circuit of this power circuit for adopting the LM2576 chip to build can be 5 volts of required power supplys of controller work with the power source conversion of storage battery; This RC filter circuit is the filter circuit of being built by resistance and electric capacity, it carries out filtering to the voltage signal of outside input, it is gathered pedal force, steering wheel angle, vehicle lateral acceleration and the yaw velocity of acceleration pedal aperture, brake pedal, sends voltage signal to process chip through after the filtering; This 232 communication circuit is the interface that tuning controller is communicated by letter with upper computer, it is converted to the rs 232 serial interface signal of the Transistor-Transistor Logic level of process chip the rs 232 serial interface signal of 232 level, adopt the conversion chip of MAX232 chip, when experiment, be used for sending the car status information that process chip collects to upper computer as level; This CAN interface circuit is the interface that process chip links to each other with the CAN bus, and interface chip adopts the TJA1040 chip, and process chip receives working control state that other controller sends over and sends the compensate control order to other controller by it.The expectation running state that tuning controller calculates vehicle according to the control input and the vehicle-state of chaufeur, and compare with the running state of reality, calculate compensation drive torque, lock torque and the deflection angle of four wheels by pseudoinverse Control Allocation algorithm.And these control commands are sent to other controller by the CAN bus.
Described driving governor is controlled the wheel hub motor on the wheel.Wheel hub motor is a brshless DC motor, and it is made of 3 Hall elements of the stator that comprises 3 groups of magnet coils, the rotor that comprises permanent magnet and measurement motor position.Described driving governor is made of process chip, power circuit, RC filter circuit, 3 groups of half-bridge circuits and CAN interface circuit, position annexation between them is: power circuit provides power supply for other each several part circuit, RC filter circuit, 3 groups of half-bridge circuits all link to each other with process chip with the CAN interface circuit, the RC filter circuit also links to each other with exterior incoming signal simultaneously, 3 groups of half-bridge circuits also link to each other with brushless motor, and the CAN interface circuit also links to each other with exterior CAN bus.The MC9S12DG128 micro controller system that this process chip adopts Freescale company to produce; The formation of this power circuit and function are identical with power circuit in the tuning controller; This RC filter circuit is used for gathering the signal and the acceleration pedal aperture signal of 3 Hall elements of brushless motor, will send process chip after these signal filterings to; These 3 groups of half-bridge circuits drive 3 groups of coils respectively, and it adopts 6 N-channel MOS pipes to build, and the model of metal-oxide-semiconductor is SSF7509.Process chip adopts 3 road pwm signals and 3 tunnel universal I signals that 3 groups of half-bridge circuits are controlled, the driving order of conversion pwm signal and universal I signal can realize the rotating control of motor, and the dutycycle of regulating pwm signal can realize the adjusting of motor-driven moment; This CAN interface circuit is the interface that process chip links to each other with the CAN bus, and interface chip adopts the TJA1040 chip, and process chip is by the compensate control order of its reception from tuning controller.Driving governor calculates the drive torque of expectation according to the aperture of acceleration pedal, and respectively the wheel hub motor on four wheels is controlled.Simultaneously, driving governor can also compensate control to drive torque by the compensation order of CAN bus reception from tuning controller, realizes direct yaw moment control (DYC).
Described brake controller is controlled the electronic mechanical drg.It is made of process chip, power circuit, RC filter circuit, wheel speed Acquisition Circuit, H bridge circuit and CAN interface circuit, position annexation between them is: power circuit provides power supply for other each several part circuit, RC filter circuit, wheel speed Acquisition Circuit, H bridge circuit and CAN interface circuit all link to each other with process chip, the RC filter circuit also links to each other with exterior incoming signal simultaneously, the wheel speed Acquisition Circuit also links to each other with wheel speed sensors, the H bridge circuit also links to each other with the torque motor of brake inside, and the CAN interface circuit also links to each other with exterior CAN bus.The MC9S12DG128 micro controller system that this process chip adopts Freescale company to produce; The formation of this power circuit and function are identical with power circuit in the tuning controller; This RC filter circuit is gathered the pedal force signal of brake pedal, through sending process chip after the filtering to; This wheel speed treatment circuit adopts the NCV1124 chip to build, and the sine wave signal of magneto-electric wheel speed sensors is converted to the manageable square-wave signal of micro controller system, and sends process chip to; This H bridge circuit drives the torque motor in the drg, and process chip adopts 2 road pwm signals that the H bridge is controlled, and the pwm signal that conversion is worked can be realized rotating control, and the dutycycle of regulating pwm signal can realize the adjusting of motor-driven moment; This CAN interface circuit is the interface that process chip links to each other with the CAN bus, and interface chip adopts the TJA1040 chip, and process chip receives from the compensate control order of tuning controller and to tuning controller by it and sends wheel speed signal.Described brake controller is controlled the braking force of the electronic mechanical drg of four wheels respectively.Brake controller calculates the desired braking force square according to the pedal force of brake pedal, realizes basic braking function.The also integrated control logic of anti-lock in the brake controller by the processing of wheel speed signal being judged the locking trend of wheel, can realize the anti-lock control of wheel in the emergency braking operating mode.Brake controller can also receive the compensation order that tuning controller sends by the CAN bus, and lock torque is compensated control, realizes the DYC function.
The steering swivel system of battery-driven car is a wire-controlled steering system, and steering handwheel and front and rear wheel all are equipped with rotary angle transmitter, and front and rear wheel turns to by there being the brush DC machine to drive.Described steering controller is controlled the steer motor of front and rear wheel.It is made of process chip, power circuit, RC filter circuit, 2 H bridge circuits and CAN interface circuit, position annexation between them is: power circuit provides power supply for other each several part circuit, RC filter circuit, 2 H bridge circuits all link to each other with process chip with the CAN interface circuit, the RC filter circuit also links to each other with exterior incoming signal simultaneously, 2 H bridge circuits also link to each other with the steer motor of front and rear wheel, and the CAN interface circuit also links to each other with exterior CAN bus.The MC9S12DG128 micro controller system that this process chip adopts Freescale company to produce; The formation of this power circuit and function are identical with power circuit in the tuning controller; This RC filter circuit carries out filtering to the signal of the rotary angle transmitter of steering handwheel and front and rear wheel, and sends signal to process chip; This H bridge circuit is used for driving the steer motor of front and rear wheel, process chip adopts 4 road pwm signals that 2 H bridges are controlled, the pwm signal that conversion is worked can be realized rotating control, and the dutycycle of regulating pwm signal can realize the adjusting of motor rotating torque; This CAN interface circuit is the interface that process chip links to each other with the CAN bus, and interface chip adopts the TJA1040 chip, and process chip receives from the compensate control order of tuning controller by its and sends the actual steering angle of front and rear wheel to tuning controller.Steering controller is gathered the deflection angle of steering handwheel, front-wheel and trailing wheel, calculates the expectation deflection angle of front and rear wheel according to the deflection angle of steering handwheel, the steer motor of front and rear wheel is controlled the deflection angle of following expectation.Simultaneously steering controller can also receive compensation order from tuning controller by the CAN bus, and the deflection angle of front and rear wheel is compensated control, realizes active steering.
Wherein, the quantity of this tuning controller is one, and the quantity of driving governor is four, and the quantity of brake controller is four, and the quantity of steering controller is one.
Wherein, the present invention controls by pseudoinverse Control Allocation algorithm.This algorithm can be represented with following formula
u
m=-c+D
#(w+Dc)
U wherein
mBe the control vector, it has comprised the drive torque of four wheels or the deflection angle of lock torque and front and rear wheel; C is a compensation vector, is used for compensating the controlling quantity that exceeds the actuating unit executive capability; W serves as reasons and expects the pseudo-controlling quantity that vehicle-state and actual vehicle state computation are come out; D is control usefulness matrix; D
#Be the pseudoinverse of D, D
#Can represent with following formula
D
#=W
-1D
T(DW
-1D
T)
-1
Wherein, W is the diagonal angle weighting matrix, and its value has reflected u
mIn the shared weight of each controlling quantity.
Controller beyond certain or a plurality of tuning controller and (or) when actuating unit breaks down, tuning controller is made amendment to the W matrix, with actuating unit in bad order and (or) controlling quantity of controller is changed to 0, and controlling quantity is re-assigned on other actuating unit.
Compared with prior art, a kind of electronlmobil coordinated control system that adopts distributed line traffic control actuating unit and controller of the present invention adopts distributed arrangement.Driving governor, brake controller and steering controller can work independently respectively, realize the most basic driving, brake and turn to function.And can the expectation controlling quantity be made amendment by the control command of CAN bus reception tuning controller, make vehicle obtain good road-holding property.Controller beyond certain or a plurality of tuning controller and (or) when actuating unit breaks down, can also realize redistributing of controlling quantity by the control redistribution algorithm of tuning controller; When tuning controller broke down, other controller can followingly be realized the most basic braking separately, drive and turn to function.
Adopt coordinated control system of the present invention, can effectively improve vehicle handling and stability and safety.
Description of drawings
Fig. 1 is the structural representation of coordinated control system.
Fig. 2 is the input and output amount scheme drawing of tuning controller.
Fig. 3 is the control logic scheme drawing of driving governor.
Fig. 4 is the control logic scheme drawing of brake controller.
Fig. 5 is the control logic scheme drawing of steering controller.
Fig. 6 is the structural representation of pseudoinverse Control Allocation algorithm.
Controlling quantity redistributed result schematic diagram when Fig. 7 broke down for the near front wheel driving governor
Nomenclature is as follows among the figure:
W: the pseudo-controlling quantity that calculates by pseudo-controller.
u
m: the working control amount of each actuating unit of battery-driven car, comprise four wheels propulsive effort and (or) deflection angle of braking force, wheel.
Y: the operation attitude of battery-driven car comprises the yaw velocity and the lateral acceleration of battery-driven car.
T
1, T
2, T
3, T
4: the drive torque of left front, left back, right back and off front wheel.
δ
f, δ
r: the deflection angle of front-wheel and trailing wheel.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1, this coordinated control system that the present invention relates to comprises: storage battery 1, tuning controller 2, driving governor 3, brake controller 4 and steering controller 5.The above four kinds of controller links together by the CAN bus, can communicate each other.
Described tuning controller 2 plays the effect of co-operative control in The whole control system, be the core of The whole control system.Only under the co-operative control of tuning controller 2, this coordinated control system just can reach best control effect.If tuning controller 2 breaks down, then other controller is controlled separately, though can realize basic driving, brake and turn to function, can not reach best control effect.The incoming signal that tuning controller 2 is gathered comprises: the yaw velocity and the lateral acceleration of the pedal force of acceleration pedal aperture, brake pedal, the corner of steering handwheel, vehicle.Can receive actual driving moment by the CAN bus from four wheels of driving governor 3; Estimated valve from wheel speed, lock torque and the speed of a motor vehicle of four wheels of brake controller 4; Wheel actual steering angle from steering controller 5.
As shown in Figure 2, tuning controller 2 is an input variable with above-mentioned signal, by pseudoinverse Control Allocation algorithm drive torque, lock torque and the deflection angle of four wheels compensated control, and control command is sent to driving governor 3, brake controller 4 and steering controller 5 by the CAN bus.
The type of drive of the pairing application of this coordinated control system is a four-wheel wheel hub motor individual drive.Comprise four driving governors 3 in the coordinated control system, respectively four wheel hub motors are controlled.The control logic of driving governor 3 as shown in Figure 3.The aperture that driving governor 3 is gathered acceleration pedal calculates initial expectation drive torque by expectation moment computing module, simultaneously by the compensation drive torque of CAN bus reception from tuning controller 2.Driving governor 3 can obtain final expectation drive torque with two moment summations.Current sampling resistor in the driving governor 3 is also gathered the electric current of wheel hub motor, calculates actual drive torque by motor model.Master control logic is input with the drive torque error, adopts proportion differential control that wheel hub motor is controlled.Each driving governor 3 constitutes a closed loop control system with corresponding wheel hub motor.There are three Hall elements described wheel hub motor inside, is used for measuring the position of motor.Three groups of magnet coils are arranged in the wheel hub motor, and a wherein end of these three groups of coils links together, and the other end is as three control ends.When wheel hub motor is in different positions, need motor be rotated to a direction to the voltage that control end is imported different directions.The height of control input end voltage, size that just can controlling and driving moment.Driving governor 3 adopts the universal I/O port of micro controller system to gather the position signal of motor, controls three control ends of motor by three groups of half-bridge circuits.
Described coordinated control system adopts the electronic mechanical drg, comprises four brake controllers 4 in the system, respectively four drgs is controlled.The control logic of brake controller 4 as shown in Figure 4.Brake controller 4 is gathered the stroke of brake pedal, and calculates initial desired braking moment according to the trip.Brake controller 4 is by the compensation lock torque of CAN bus reception from tuning controller 2 simultaneously.Brake controller 4 can obtain final desired braking moment with two moment summations.Current sampling resistor in the brake controller 4 is also gathered the electric current of the drive motor of drg, calculates actual lock torque by motor model and brake model.Master control logic is input with the lock torque error, adopts proportion differential control that the drive motor of drg is controlled.
This coordinated control system adopts the line traffic control four-wheel steering system, and two front-wheels and two trailing wheels link together by steering trapezium.The control logic of steering controller 5 as shown in Figure 5.Do not have mechanical connection between steering handwheel and the wheel flutter, but provide angular signal to controller.Steering controller 5 calculates the initial expectation deflection angle of front and rear wheel according to the angular signal of steering handwheel.Steering controller 5 compensates by the deflection angle that the CAN bus receives from tuning controller 2 simultaneously, and calculates the final expectation value of deflection angle.Rotary angle transmitter 5 has also been installed at the front and rear wheel place of electronlmobil, is used for measuring the deflection angle of front and rear wheel.5 pairs of actual steering angle signals of steering controller are gathered, and according to steering angle error the steer motor of front and rear wheel are controlled, and motor drives front and rear wheel by pinion and rack and turns to.
This coordinated control system is controlled by pseudoinverse Control Allocation algorithm.The structure of this algorithm as shown in Figure 6.Y is the motoring condition of vehicle among the figure.Pseudo-controller goes out pseudo-controlling quantity w according to the input of chaufeur and the state computation of vehicle.W is not the working control amount that is applied on the actuating unit, but in order to realize Control Allocation intermediate variable of design-calculated.The Control Allocation algorithm is input variable with w, by the algorithm shown in the following formula, calculates control vector u
m
u
m=-c+D
#(w+Dc)
Wherein
D
# =W
-1D
T(DW
-1D
T)
-1
Following formula, W are the diagonal angle weighting matrix, and its value has reflected u
mIn the shared weight of each controlling quantity.
The expectation value that pseudoinverse Control Allocation algorithm calculates each actuating mechanism controls amount according to the manipulation input and the state of motion of vehicle of chaufeur, and calculate the compensation value of controlling quantity according to the current controlling quantity of each actuating unit.By compensate control, make electronlmobil keep good stable to drive torque, lock torque and the deflection angle of four wheels.
Especially, the controller beyond certain or a plurality of tuning controller 2 of electronlmobil and (or) when actuating unit broke down, vehicle had certain automatic recovery ability.Pseudoinverse Control Allocation algorithm in the tuning controller 2 can be redistributed the controlling quantity of each actuating unit, to reduce the influence that fault causes, vehicle is travelled according to the motoring condition of expectation.The concrete grammar of redistributing of tuning controller 2 is for to make amendment to the W matrix, with actuating unit in bad order and (or) element among the pairing W of controller increases 1000 times, thereby with actuating unit in bad order and (or) output of controller is changed to 0, and controlling quantity is re-assigned on other actuating unit.For example: the amplitude that is input as of steering handwheel is the 45 sine input operating modes of spending, and desired speed is 70km/h, and coefficient of road adhesion is 0.8.The near front wheel driving governor 3 of supposing electronlmobil breaks down, and through after the redistributing of control algorithm, the drive torque of each wheel and deflection angle are as shown in Figure 7.T wherein
1, T
2, T
3And T
4Be respectively the drive torque of left front, left back, right back and off front wheel, δ
fAnd δ
rBe respectively the deflection angle of front-wheel and trailing wheel.As seen, the drive torque of the near front wheel is 0, and the drive torque of expectation has been assigned to other wheel.When tuning controller 2 broke down, the Control Allocation algorithm can not work.Electronlmobil can be realized the most basic driving, brake and turn to control under the control of other controller.
Claims (3)
1. electronlmobil coordinated control system, it is characterized in that: it comprises storage battery, tuning controller, driving governor, brake controller and steering controller; Storage battery is connected respectively with above-mentioned four controllers, connects by the CAN bus between each controller;
Described tuning controller plays the effect of co-operative control in The whole control system, it is made of process chip, power circuit, RC filter circuit, 232 communication circuits and CAN interface circuit, power circuit provides power supply for other each several part circuit, RC filter circuit, 232 communication circuits and CAN interface circuit all link to each other with process chip, the RC filter circuit also links to each other with exterior incoming signal simultaneously, 232 communication circuits also link to each other with the serial ports of upper computer, and the CAN interface circuit also links to each other with exterior CAN bus; This process chip adopts the MC9S12XEP100 micro controller system; The circuit of this power circuit for adopting the LM2576 chip to build is 5 volts of required power supplys of controller work with the power source conversion of storage battery; This RC filter circuit is the filter circuit of being built by resistance and electric capacity, it carries out filtering to the voltage signal of outside input, pedal force, steering wheel angle, vehicle lateral acceleration and yaw velocity to acceleration pedal aperture, brake pedal are gathered, and send voltage signal to process chip through after the filtering; This 232 communication circuit is the interface that tuning controller is communicated by letter with upper computer, it is converted to the rs 232 serial interface signal of the Transistor-Transistor Logic level of process chip the rs 232 serial interface signal of 232 level, adopt the conversion chip of MAX232 chip, be used for sending the car status information that process chip collects to upper computer as level; This CAN interface circuit is the interface that process chip links to each other with the CAN bus, and interface chip adopts the TJA1040 chip, and process chip receives working control state that other controller sends over and sends the compensate control order to other controller by it; The expectation running state that tuning controller calculates vehicle according to the control input and the vehicle-state of chaufeur, and compare with the running state of reality, calculate compensation drive torque, lock torque and the deflection angle of four wheels by pseudoinverse Control Allocation algorithm, and these control commands are sent to other controller by the CAN bus;
Described driving governor is controlled the wheel hub motor on the wheel; This wheel hub motor is a brshless DC motor, it is by the stator that comprises 3 groups of magnet coils, comprising the rotor of permanent magnet and 3 Hall elements of measurement motor position constitutes, described driving governor is by process chip, power circuit, the RC filter circuit, 3 groups of half-bridge circuits and CAN interface circuit constitute, power circuit provides power supply for other each several part circuit, the RC filter circuit, 3 groups of half-bridge circuits all link to each other with process chip with the CAN interface circuit, the RC filter circuit also links to each other with exterior incoming signal simultaneously, 3 groups of half-bridge circuits also link to each other with brushless motor, and the CAN interface circuit also links to each other with exterior CAN bus; This process chip is the MC9S12DG128 micro controller system; The formation of this power circuit and function are identical with power circuit in the tuning controller; This RC filter circuit is used for gathering the signal and the acceleration pedal aperture signal of 3 Hall elements of brushless motor, will send process chip after these signal filterings to; These 3 groups of half-bridge circuits drive 3 groups of coils respectively, it adopts 6 N-channel MOS pipes to build, the model of metal-oxide-semiconductor is SSF7509, process chip adopts 3 road pwm signals and 3 tunnel universal I signals that 3 groups of half-bridge circuits are controlled, the driving order of conversion pwm signal and universal I signal can realize the rotating control of motor, and the dutycycle of regulating pwm signal realizes the adjusting of motor-driven moment; This CAN interface circuit is the interface that process chip links to each other with the CAN bus, and interface chip adopts the TJA1040 chip, and process chip is by the compensate control order of its reception from tuning controller; Driving governor calculates the drive torque of expectation according to the aperture of acceleration pedal, and respectively the wheel hub motor on four wheels is controlled; Simultaneously, driving governor also by the compensation order of CAN bus reception from tuning controller, compensates control to drive torque, realizes direct yaw moment control;
Described brake controller, the electronic mechanical drg is controlled, it is by process chip, power circuit, the RC filter circuit, the wheel speed Acquisition Circuit, H bridge circuit and CAN interface circuit constitute, power circuit provides power supply for other each several part circuit, the RC filter circuit, the wheel speed Acquisition Circuit, the H bridge circuit all links to each other with process chip with the CAN interface circuit, the RC filter circuit links to each other with exterior incoming signal simultaneously, the wheel speed Acquisition Circuit links to each other with wheel speed sensors, the H bridge circuit links to each other with the torque motor of brake inside, and the CAN interface circuit links to each other with exterior CAN bus; This process chip is the MC9S12DG128 micro controller system; The formation of this power circuit and function are identical with power circuit in the tuning controller; This RC filter circuit is gathered the pedal force signal of brake pedal, through sending process chip after the filtering to; This wheel speed treatment circuit adopts the NCV1124 chip to build, and the sine wave signal of magneto-electric wheel speed sensors is converted to the treatable square-wave signal of micro controller system, and sends process chip to; This H bridge circuit drives the torque motor in the drg, and process chip adopts 2 road pwm signals that the H bridge is controlled, and the pwm signal that conversion is worked is realized rotating control, and the dutycycle of regulating pwm signal realizes the adjusting of motor-driven moment; This CAN interface circuit is the interface that process chip links to each other with the CAN bus, and interface chip adopts the TJA1040 chip, and process chip receives from the compensate control order of tuning controller and to tuning controller by it and sends wheel speed signal; Brake controller is controlled the braking force of the electronic mechanical drg of four wheels respectively, and it calculates the desired braking force square according to the pedal force of brake pedal, realizes basic braking function; The also integrated control logic of anti-lock in the brake controller by the processing of wheel speed signal being judged the locking trend of wheel, realizes the anti-lock control of wheel in the emergency braking operating mode; Brake controller can also receive the compensation order that tuning controller sends by the CAN bus, and lock torque is compensated control, realizes the DYC function;
The steering swivel system of battery-driven car is a wire-controlled steering system, and steering handwheel and front and rear wheel all are equipped with rotary angle transmitter, and front and rear wheel changes by there being the brush DC machine to drive; Described steering controller, it is controlled the steer motor of front and rear wheel, it is made of process chip, power circuit, RC filter circuit, 2 H bridge circuits and CAN interface circuit, power circuit provides power supply for other each several part circuit, RC filter circuit, 2 H bridge circuits all link to each other with process chip with the CAN interface circuit, the RC filter circuit links to each other with exterior incoming signal simultaneously, and 2 H bridge circuits link to each other with the steer motor of front and rear wheel, and the CAN interface circuit links to each other with exterior CAN bus; This process chip is the MC9S12DG128 micro controller system; The formation of this power circuit and function are identical with power circuit in the tuning controller; This RC filter circuit carries out filtering to the signal of the rotary angle transmitter of steering handwheel and front and rear wheel, and sends signal to process chip; This H bridge circuit is used for driving the steer motor of front and rear wheel, and process chip adopts 4 road pwm signals that 2 H bridges are controlled, and the pwm signal that conversion is worked is realized rotating control, and the dutycycle of regulating pwm signal realizes the adjusting of motor rotating torque; This CAN interface circuit is the interface that process chip links to each other with the CAN bus, and interface chip adopts the TJA1040 chip, and process chip receives from the compensate control order of tuning controller by its and sends the actual steering angle of front and rear wheel to tuning controller; Steering controller is gathered the deflection angle of steering handwheel, front-wheel and trailing wheel, calculates the expectation deflection angle of front and rear wheel according to the deflection angle of steering handwheel, the steer motor of front and rear wheel is controlled the deflection angle of following expectation; Simultaneously steering controller can also receive compensation order from tuning controller by the CAN bus, and the deflection angle of front and rear wheel is compensated control, realizes active steering.
2. a kind of electronlmobil coordinated control system according to claim 1 is characterized in that: calculate compensation drive torque, lock torque and the deflection angle of four wheels by pseudoinverse Control Allocation algorithm, this pseudoinverse Control Allocation algorithm specifically is calculated as follows:
u
m=-c+D
#(w+Dc)
U wherein
mBe the control vector, it has comprised the drive torque of four wheels or the deflection angle of lock torque and front and rear wheel; C is a compensation vector, is used for compensating the controlling quantity that exceeds the actuating unit executive capability; W serves as reasons and expects the pseudo-controlling quantity that vehicle-state and actual vehicle state computation are come out; D is control usefulness matrix; D
#Be the pseudoinverse of D, D
#Represent with following formula
D
#=W
-1D
T(DW
-1D
T)
-1
Wherein, W is the diagonal angle weighting matrix, and its value has reflected u
mIn the shared weight of each controlling quantity.
3. a kind of electronlmobil coordinated control system according to claim 1 is characterized in that: the quantity of this tuning controller is one, and the quantity of driving governor is four, and the quantity of brake controller is four, and the quantity of steering controller is one.
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| CN105278371A (en) * | 2015-10-10 | 2016-01-27 | 华南理工大学 | Control system and control method of integrated dual-control module of electric automobile |
| CN105946590A (en) * | 2016-06-20 | 2016-09-21 | 南京百邻悦科技服务有限公司 | Apparatus and method for braking all-wheel independent drive inductive brushless electric vehicle |
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| CN108860296A (en) * | 2018-08-24 | 2018-11-23 | 厦门理工学院 | Electric car electronic differential control system and electric car based on steering angle closed loop |
| CN108860296B (en) * | 2018-08-24 | 2023-07-28 | 厦门理工学院 | Electronic differential control system of electric automobile and electric automobile based on steering angle closed loop |
| CN111845734A (en) * | 2020-07-31 | 2020-10-30 | 北京理工大学 | Fault-tolerant tracking control method for four-wheel distributed electrically-driven automatic driving vehicle |
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| CN113002616A (en) * | 2021-03-05 | 2021-06-22 | 清华大学 | Multi-mode steering system and method applied to automatic driving |
| CN113071378A (en) * | 2021-04-30 | 2021-07-06 | 佛山仙湖实验室 | Multi-energy cooperative control method for power system |
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