CN107168289B - A kind of entire car controller of pure electric vehicle equation motorcycle race - Google Patents
A kind of entire car controller of pure electric vehicle equation motorcycle race Download PDFInfo
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- CN107168289B CN107168289B CN201710408741.7A CN201710408741A CN107168289B CN 107168289 B CN107168289 B CN 107168289B CN 201710408741 A CN201710408741 A CN 201710408741A CN 107168289 B CN107168289 B CN 107168289B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The invention discloses a kind of entire car controllers of pure electric vehicle equation motorcycle race, including hardware components and software section；Hardware components include micro controller module, power supply interface module, AD sampling module, CAN interface module, relay driving module, accelerator pedal acquisition module, brake pedal acquisition module, main switch state of a control acquisition module, safety return circuit and battery status acquisition module；Software section includes battery status monitoring modular, pedal state monitoring modular, motor status monitoring modular, drag evaluation module, battery SOC computing module, vehicle rule control module, protection control module and output control module；Hardware components and software section modularized processing are both facilitated developer to carry out daily operation by the present invention, timely and accurately find out guilty culprit when breaking down, easy to repair；Integrated security circuit and BMS hardware and software, save vehicle space and hardware cost, improve vehicle electric-control system stability, optimize overall wire sheaves arrangement.
Description
Technical field
The present invention relates to Control of Electric Vehicles field more particularly to a kind of entire car controllers of electronic equation motorcycle race.
Background technique
With the rise that pure electric vehicle equation motorcycle race is competed, pure electric vehicle equation motorcycle race is with its brilliant dynamic property, economy
Property and the feature of environmental protection are concerned.As a kind of prototype vehicle under electric car concept, electronic equation motorcycle race is on dynamic structure
With conventional fuel oil equation motorcycle race there are huge difference, so the control strategy of conventional fuel oil equation motorcycle race and method are no longer
It is applicable in.Current country's pure electric vehicle equation motorcycle race has the application of electric-control system, and general composition has motor, electric machine controller, moves
Power battery and BMS, accelerator pedal, brake pedal and safety return circuit part control panel etc..Control program is mostly that entire car controller is logical
Acquisition pedal signal, outside BMS data are crossed further to control motor rotation, provide driving force for vehicle.But existing scheme
There are following distinct disadvantages: it is a large amount of that the separation of entire car controller, BMS control panel and safety return circuit partial circuit occupies vehicle
It is high to result in complicated overall wire sheaves arrangement, poor reliability and hardware cost for space.
Summary of the invention
In consideration of it, the object of the present invention is to provide a kind of entire car controllers of pure electric vehicle equation motorcycle race, to solve tradition
Entire car controller is not suitable for equation motorcycle race, and traditional entire car controller and BMS control panel, safety return circuit control panel are each other
Separation expends a large amount of interior spaces and hardware cost, influences the problem of vehicle electric-control system stability and harness difficult arrangement.
The purpose of the present invention is what is be achieved through the following technical solutions, a kind of full-vehicle control of pure electric vehicle equation motorcycle race
Device, including hardware components and software section；Hardware components include micro controller module, power supply interface module, AD sampling module,
CAN interface module, relay driving module, accelerator pedal acquisition module, brake pedal acquisition module, main switch control shape
State acquisition module, safety return circuit and battery status acquisition module；Software section includes battery status monitoring modular, pedal state prison
Survey module, motor status monitoring modular, drag evaluation module, battery SOC computing module, vehicle rule control module, protection control
Molding block and output control module；
Power supply interface module is powered for being connected with external power supply for entire car controller；
AD sampling module is connect with external sensor, acquires the working condition of external sensor；
CAN interface module accesses the CAN bus of vehicle, carries out a group Netcom with electric machine controller, instrument CAN node
Letter；
Relay driving module will control electric signal and driving electric signal carries out Magnetic isolation；
Accelerator pedal acquisition module is by two displacement transducer signals of accelerator pedal and microcontroller two-way ADC sampling channel
Connection；
Brake pedal acquisition module is by two switching signals of brake pedal and braking oil pressure sensor signal and microcontroller
The connection of three road ADC sampling channels；
Main switch state of a control acquisition module is connect with microcontroller ADC sampling channel, acquires racing car high and low voltage switch shape
State；
Safety return circuit includes safety return circuit high-pressure section, safety return circuit low-pressure section and by safety return circuit high-voltage section, safety
The isolated part that circuit low-pressure section is isolated；
Battery status acquisition module is made of cell voltage, electric current and temperature signal sampling sensor module, passes through distribution
Sensing data is acquired in the transmission module of battery-end, with microcontroller by CAN bus group-net communication, makes entire car controller collection
At BMS function；
Voltage, electric current and temperature initial data of the battery status detection module by acquisition battery status acquisition module, warp
Current battery level, electric current, state of temperature actual value are converted to after processing；
Pedal state monitoring modular acquires the initial data of displacement sensor differential signal at pedal by AD sampling module,
Corresponding pedal travel size is obtained after calibration and calculating；
Motor status monitoring modular receives the CAN message initial data of electric machine controller transmitting in bus by CAN protocol,
Revolving speed, the electric current of current motor, the actual value of torque are converted to after processing；
Current vehicle traveling resistance is calculated in drag evaluation module combination current vehicle driving status and vehicle inherent parameters
Power provides reference for target torque calculating；
Battery initial data of the battery SOC computing module processing from battery status acquisition module estimates present battery SOC；
Vehicle rule control module combination racing car rule constrains last instruction transmission；
The monitoring and limitation of troubleshooting and output control parameter when protection control mould is applied to racing car high-speed cruising；
Output control module comprehensively considers the current operating condition of vehicle, carries out CAN bus networking by control CAN module
Communication, control PWM output control corresponding electric machine actuating mechanism, and control digital signal exports switch amount executing agency
It is controlled；
Micro controller module is obtained by acquisition, the analysis to initial data and transmits current desired control parameter.
Further, present battery SOC is estimated using ampere-hour method and open circuit voltage method weighting method.
By adopting the above-described technical solution, the present invention has the advantage that:
The present invention is different from the design of domestic service on buses or trains vehicle on design scheme, meets the particular/special requirement of race；In technology hand
By hardware components and software section modularized processing in section, developer was both facilitated to carry out daily operation, when breaking down
Guilty culprit is timely and accurately found out, it is easy to repair, and can easily add or modification function；In addition, integrated security returns
Road and BMS hardware and software, save vehicle space and hardware cost, improve vehicle electric-control system stability, optimize whole
Vehicle wire harness arrangement.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
The detailed description of one step, in which:
Fig. 1 is the hardware system block diagram of entire car controller；
Fig. 2 is the operation principle schematic diagram of entire car controller；
Fig. 3 is the flow chart that program realizes whistle starting；
Fig. 4 is the flow chart that program judges accelerator pedal displacement sensor；
Fig. 5 is the flow chart of application power limitation；
Fig. 6 is for the flow chart of driver's custom program.
Specific embodiment
Below with reference to attached drawing, a preferred embodiment of the present invention will be described in detail；It should be appreciated that preferred embodiment
Only for illustrating the present invention, rather than limiting the scope of protection of the present invention.
Fig. 1 illustrates the hardware system block diagram of entire car controller, mainly include micro controller module, power supply interface module,
AD sampling module, CAN interface module, relay driving module, accelerator pedal acquisition module, brake pedal acquisition module,
Main switch state of a control acquisition module, safety return circuit and battery status acquisition module；Software section includes battery status monitoring mould
Block, pedal state monitoring modular, motor status monitoring modular, drag evaluation module, battery SOC computing module, vehicle rule control
Molding block, protection control module and output control module；
Micro controller module is the core of entire car controller data processing and analysis of strategies, by adopting to initial data
Collection, analysis obtain and transmit current desired control parameter.
Power supply interface module is connected with external power supply, powers for entire car controller, guarantees its normal work.
AD sampling module is connect with external sensor, acquires the working condition of external sensor.
CAN interface module accesses the CAN bus of vehicle, carries out a group Netcom with CAN nodes such as electric machine controller, instrument
Letter
Control electric signal and driving electric signal progress Magnetic isolation in chip are realized microcontroller by relay driving module
Control of the device module to external switching value executing agency.
Accelerator pedal acquisition module samples two linear movement pick-up signals of accelerator pedal and microcontroller two-way ADC logical
Road connection carries out sensor failure analysis and control-Strategy analysis by being acquired to accelerator pedal two paths of differential signals.
Brake pedal acquisition module is by two switching signals of brake pedal and braking oil pressure sensor signal and microcontroller
The connection of three road ADC sampling channels carries out sensor failure analysis and control by being acquired to brake pedal two paths of differential signals
Analysis of strategies processed.
Main switch state of a control acquisition module is connect with microcontroller ADC channel, acquires racing car high and low voltage switch state.
Safety return circuit is the guarantee of vehicle safety reliability service, including three safety return circuit high pressure, low pressure and isolation parts,
Wherein isolated part is isolated using optocoupler.The integrated security circuit in entire car controller had both facilitated microcontroller to peace
The monitoring of full loop working condition, also saves interior space.
Battery status acquisition module is made of the signal samplings sensor module such as cell voltage, electric current and temperature, by dividing
The transmission module acquisition sensing data for being distributed in battery-end makes entire car controller with microcontroller by CAN bus group-net communication
It is integrated with BMS function.
Micro controller module uses the TMS320F28035 chip of TI company, and TMS320F28035 is that TI company releases
A C2000 Series of MCU, flash, 12 ADC module, enhanced PWM module and enhanced CAN mould in built-in 64K piece
Block, execution speed with higher and perfect system protection function.TMS320F28035 provide all the way the channel CAN2.0B and
Up to 16 road ADC channels support JTAG on-line debugging.It can work under -40 DEG C~125 DEG C environment, meet the need of auto industry
It asks.
Power supply interface module is connected with the working power of outside 3.3V, for powering to TMS320F28035.
AD sampling module contains two ADC converters totally 16 ADC ALT-CH alternate channels and some reserved general purpose I/Os
Mouthful, which is mainly used for acquiring the displacement stroke analog quantity of the displacement sensor at pedal, by the first of displacement sensor
Beginning position and extreme position calibrated, the size of pedal displacement in practice can be obtained after linear process.In addition, to electricity
Cell voltage, battery current and temperature sensor simulation input are acquired, and estimate present battery SOC state using ampere-hour method, into
And control is managed to battery.
The CAN bus transmitting-receiving driving chip SN65HVD230 that CAN interface module only needs 3.3V to power, is provided to bus
Differential send and receive function.
Relay driving module will control electric signal and driving electric signal carries out Magnetic isolation；
Due to TMS320F28035 operating voltage 3.3V, can not directly drive external hardware such as 12V whistle and 5V after
Electrical work, therefore corresponding external interface is devised in relay drive circuit.In terms of level conversion, optic coupling element is utilized
The low-voltage platform and relatively high external voltage platform of chip power supply has been isolated, has protected dsp system from external voltage
The influence of fluctuation improves the stability of system overall work.
Battery status detection module passes through the initial data such as voltage, electric current and the temperature for obtaining battery status acquisition module,
The actual values such as current battery level, electric current, state of temperature are converted to after processing.
Motor status monitoring modular receives the CAN message initial data of electric machine controller transmitting in bus by CAN protocol,
Revolving speed, the electric current of current motor, the actual value of torque are converted to after processing.
Pedal state monitoring modular acquires the initial data of displacement sensor differential signal at pedal by AD sampling module,
Corresponding pedal travel size is obtained after calibration and calculating.
Current vehicle traveling resistance is calculated in drag evaluation module combination current vehicle driving status and vehicle inherent parameters
Power provides reference for target torque calculating.
Battery SOC computing module handles the battery initial data from battery status acquisition module, using ampere-hour method and opens
Road voltage method weighting estimation present battery SOC.
Vehicle rule control module combination racing car rule constrains last instruction transmission, including power limit, biography
Sensor Failure Control, the starting of vehicle, throttle and logic control of brake signal etc.
The monitoring and limitation of troubleshooting and output control parameter when protection control mould is applied to racing car high-speed cruising,
Including cutting off power output, overheat protector and output thresholding etc. when sensor failure.
Output control module comprehensively considers the current operating condition of vehicle, carries out CAN bus networking by control CAN module
Communication, control PWM output control corresponding electric machine actuating mechanism, and control digital signal exports switch amount executing agency
It controls etc..For example, in the case where motor status exception or battery status exception motor control can be given by CAN protocol
Device processed sends instruction, cuts off all power resources；It, can root when driver operates racing car according to logic as defined in contest
Corresponding response is made according to the operation of driver.
Fig. 3 illustrates the operation principle schematic diagram of entire car controller, switchs detection module to safety return circuit main switch state
It is detected, further can detecte vehicle current working status.AD sampling module acquires accelerator pedal sensor and braking
Pedal sensor signal obtains driver's driving intention, and in conjunction with race rule, electric machine controller direct torque is sent after logic analysis
Message controls vehicle driving；The signals such as cell voltage, electric current and the temperature of battery detection module sensor transmissions are acquired,
Using the weighted calculation battery SOC of ampere-hour method and open circuit voltage method, corresponding battery management executing agency such as safety return circuit is controlled
Conservative management is carried out to the electric discharge of battery, furthermore combines SOC, vehicle currently calculated running resistance and driver's current driving meaning
Figure optimizes output to torque.
Next combine specific rules that the function of software section is explained in detail.
Driver is stepping on brake pedal while pressing driving switch requirement starting whistle in cabin.Fig. 4 is to realize this function
The program flow diagram of energy.It is interrupted by failing edge is generated when lower switch, brake signal is detected inside interruption, be 1 in brake signal
When output high level starting whistle.
When two displacement sensor errors at accelerator pedal are greater than 10%, it is desirable that cut off all power outputs.Fig. 5 is
Realize the program flow diagram of this function.If error is greater than 10% after the calibrated processing of numerical value of two displacement sensor AD sampling
When, error1 set, entire car controller is sent to electric machine controller by CAN and is instructed, and it is dynamic to disconnect institute.
Big tournament rules requirement steps on brake pedal accelerator pedal displacement simultaneously in the process of moving and is greater than 25%, disconnects dynamic
Power output, only accelerator pedal restores to 15% to step on again just to have power output.For this purpose, the special mark of setting in program
Position, when throttle signal is more than 25% and brake pedal just understands set, up to braking reset and throttle is restored to 15%
Within could remove.
When any one sensor failure on vehicle, it is desirable that disconnect all outputs.Each sensor is set in program
Double passage differential signal sampling has been set, when meeting failure condition, error3 set.
Big tournament rules require, and power cannot be more than 80kW in driving process.Fig. 6 is the program circuit for realizing this function
Figure.It is provided with torque coefficient inside program, is defaulted as 1, entire car controller is communicated with electric machine controller in real time by CAN protocol,
The electric current and revolving speed message for acquiring motor reduce torque coefficient, torque-limiting output when being close to or up to critical power.
Above-mentioned entire car controller can satisfy power demand of the driver to different pedal travels on control strategy, control plan
Slightly flexibly, output logic is customized in program with can be convenient, Fig. 6 illustrates the method for program customization；One on technical detail
Aspect pre-processes sampled data using the method for mean filter, reduces accidental error, is on the other hand realized using bit field structural body
The conversion of CANopen message data format, improves program work efficiency.
The present invention, for basic control law design premises, integrates BMS and safety return circuit partial circuit with race rule, saves
Vehicle space and cost, improve vehicle electric-control system stability, and optimization overall wire sheaves arrangement is directly right convenient for entire car controller
Battery carries out protection control, is acquired to main switch state.
In the present invention, battery status acquisition module is independently of entire car controller, and battery status acquisition module is by battery electricity
The signal samplings sensor modules such as pressure, electric current and temperature composition, the transmission module by being distributed in battery-end acquire sensor number
It is believed that number connect entire car controller by vehicle CAN interface module, further, when utilization peace method and open-circuit voltage hair plus
Battery SOC is calculated in power, further, executes the software control management function of BMS, furthermore also saves independent BMS control
The occupied space of plate and cost.
In the present invention, circuit part is integrated with the partial circuit of safety return circuit, is subject to high and low voltage isolation and ensures vehicle control
The state-detection of main switch and module switch further can be realized by internal cabling for the reliability of device processed, in addition,
The interior space of safety return circuit control panel occupancy is saved, further, vehicle operating status is can detecte, analyzes vehicle trouble
Reason etc..
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, it is clear that those skilled in the art
Various changes and modifications can be made to the invention by member without departing from the spirit and scope of the present invention.If in this way, of the invention
Within the scope of the claims of the present invention and its equivalent technology, then the present invention is also intended to encompass these to these modifications and variations
Including modification and variation.
Claims (1)
1. a kind of entire car controller of pure electric vehicle equation motorcycle race, it is characterised in that: including hardware components and software section；Hardware
Part include micro controller module, power supply interface module, AD sampling module, CAN interface module, relay driving module,
Accelerator pedal acquisition module, brake pedal acquisition module, main switch state of a control acquisition module, safety return circuit and battery status are adopted
Collect module；Software section includes battery status monitoring modular, pedal state monitoring modular, motor status monitoring modular, resistance gauge
Calculate module, battery SOC computing module, vehicle rule control module, protection control module and output control module；
Power supply interface module is powered for being connected with external power supply for entire car controller；
AD sampling module is connect with external sensor, acquires the working condition of external sensor；
CAN interface module accesses the CAN bus of vehicle, carries out group-net communication with electric machine controller, instrument CAN node；
Relay driving module will control electric signal and driving electric signal carries out Magnetic isolation；
Accelerator pedal acquisition module connects two displacement transducer signals of accelerator pedal and microcontroller two-way ADC sampling channel
It connects；
Brake pedal acquisition module is by three tunnel of two switching signals of brake pedal and braking oil pressure sensor signal and microcontroller
The connection of ADC sampling channel；
Main switch state of a control acquisition module is connect with microcontroller ADC sampling channel, acquires racing car high and low voltage switch state；
Safety return circuit includes safety return circuit high-pressure section, safety return circuit low-pressure section and by safety return circuit high-voltage section, safety return circuit
The isolated part that low-pressure section is isolated；
Battery status acquisition module is made of cell voltage, electric current and temperature signal sampling sensor module, by being distributed in electricity
The transmission module of Chi Duan acquires sensing data, with microcontroller by CAN bus group-net communication, is integrated with entire car controller
BMS function；
Battery status detection module passes through voltage, electric current and the temperature initial data for obtaining battery status acquisition module, through handling
After be converted to current battery level, electric current, state of temperature actual value；
Pedal state monitoring modular acquires the initial data of displacement sensor differential signal at pedal by AD sampling module, passes through
Corresponding pedal travel size is obtained after calibration and calculating；
Motor status monitoring modular receives the CAN message initial data of electric machine controller transmitting in bus by CAN protocol, through locating
Revolving speed, the electric current of current motor, the actual value of torque are converted to after reason；
Drag evaluation module combination current vehicle driving status and vehicle inherent parameters, are calculated current vehicle running resistance,
Reference is provided for target torque calculating；
Battery initial data of the battery SOC computing module processing from battery status acquisition module estimates present battery SOC；
Vehicle rule control module combination racing car rule constrains last instruction transmission；
The monitoring and limitation of troubleshooting and output control parameter when control module being protected to be applied to racing car high-speed cruising；
Output control module comprehensively considers the current operating condition of vehicle, carries out CAN bus group Netcom by control CAN module
Letter, control PWM output corresponding electric machine actuating mechanism is controlled, control digital signal export switch amount executing agency into
Row control；
Micro controller module is obtained by acquisition, the analysis to initial data and transmits current desired control parameter；
Present battery SOC is estimated using ampere-hour method and open circuit voltage method weighting method.
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| CN201710408741.7A CN107168289B (en) | 2017-06-02 | 2017-06-02 | A kind of entire car controller of pure electric vehicle equation motorcycle race |
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| CN201710408741.7A CN107168289B (en) | 2017-06-02 | 2017-06-02 | A kind of entire car controller of pure electric vehicle equation motorcycle race |
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| CN107168289A CN107168289A (en) | 2017-09-15 |
| CN107168289B true CN107168289B (en) | 2019-10-01 |
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| CN112026672B (en) * | 2020-08-21 | 2021-05-14 | 东南大学 | Electricelectric moves whole car electrical system of equation motorcycle race |
| CN112078561A (en) * | 2020-08-25 | 2020-12-15 | 浙江工业大学 | Driving control method for FSEC racing car |
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| WO2011019133A2 (en) * | 2009-08-13 | 2011-02-17 | Chung Yon Jong | Battery-charging system for an electric vehicle |
| EP2902248A2 (en) * | 2013-11-06 | 2015-08-05 | Yamaha Hatsudoki Kabushiki Kaisha | Vehicle and battery pack and method for controlling a battery pack assembly |
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| CN101181874A (en) * | 2007-12-04 | 2008-05-21 | 奇瑞汽车有限公司 | Management system for electric automobile battery |
| CN102390331B (en) * | 2011-09-07 | 2013-09-11 | 重庆长安汽车股份有限公司 | Entire vehicle controller integrated with battery management system for pure electric automobile |
| CN103640534A (en) * | 2013-12-19 | 2014-03-19 | 西华大学 | Complete car control system of formula student full electrical sports car |
| CN204155981U (en) * | 2014-09-18 | 2015-02-11 | 广西科技大学鹿山学院 | The electronic racing car battery case of a kind of FSAE |
| CN104354654B (en) * | 2014-09-19 | 2017-03-29 | 北京新能源汽车股份有限公司 | Integrated control device based on pure electric automobile |
| CN105346405B (en) * | 2015-10-27 | 2018-03-13 | 北京新能源汽车股份有限公司 | Electric automobile and its battery bag monitoring system |
| CN105644390A (en) * | 2016-02-02 | 2016-06-08 | 浙江工业大学 | Entire racer control method for undergraduate electric formula racer |
| CN205450766U (en) * | 2016-03-03 | 2016-08-10 | 合肥国轩高科动力能源有限公司 | Integrated battery management and automobile body control function's vehicle control unit |
| CN105936269A (en) * | 2016-05-13 | 2016-09-14 | 合肥中航新能源技术研究院有限责任公司 | Electric vehicle integrated control system and control method |
| CN106696862B (en) * | 2016-12-19 | 2019-01-29 | 华南理工大学 | A kind of multi-node entire-vehicle control system of kart |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011019133A2 (en) * | 2009-08-13 | 2011-02-17 | Chung Yon Jong | Battery-charging system for an electric vehicle |
| EP2902248A2 (en) * | 2013-11-06 | 2015-08-05 | Yamaha Hatsudoki Kabushiki Kaisha | Vehicle and battery pack and method for controlling a battery pack assembly |
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