CN101419433B - Multi-energy source integration hybrid platform system - Google Patents
Multi-energy source integration hybrid platform system Download PDFInfo
- Publication number
- CN101419433B CN101419433B CN200710178073XA CN200710178073A CN101419433B CN 101419433 B CN101419433 B CN 101419433B CN 200710178073X A CN200710178073X A CN 200710178073XA CN 200710178073 A CN200710178073 A CN 200710178073A CN 101419433 B CN101419433 B CN 101419433B
- Authority
- CN
- China
- Prior art keywords
- power
- links
- controller
- relay
- signal wire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention relates to an integrated multi-energy hybrid power platform, belonging to the technical field of novel hybrid vehicle. The system comprises a power system, a whole-vehicle control system, a brake-energy feeding back system, a data collecting and displaying system and a CAN network. A power unit in the power system is connected with a power battery in parallel by a high-voltage cable, connected with a direct-current alternating-current inverter by a high-voltage relay switch and connected with a controller of the power unit by a signal wire; the whole-vehicle control system is connected with a gear signal generator by a signal wire and is connected with the CAN network by a twisted pair shielding wire; and an asynchronous alternating-current motor is connected with a speed changing box by an output shaft. The core unit of the whole-vehicle control system is a Motorola 32-bit single chip MPC5xx. The integrated multi-energy hybrid power platform can achieve the goal of changing configuration of the power unit without changing the power battery, a driving motor and the whole-vehicle controller. Properties of a hybrid passenger vehicle adopting the integrated multi-energy hybrid power platform can reach or even exceed the national standard, thereby being an advanced international standard.
Description
Technical field
The present invention relates to multi-energy source integration hybrid platform system, belong to the novel hybrid automobile technical field.
Background technology
In the face of problems such as petroleum resources scarcity, environmental pollution are serious, press for and seek the new forms of energy power vehicle.Hybrid vehicle is the focus of studying at present.
The novel hybrid automobile dynamic system comprises power unit (PU) and power unit controller (PUC), electrokinetic cell (Battery) and battery management system (BMS), asynchronous AC motor+DC-AC inverter assembly and electric machine controller (MCU), is with the wheel box of gear shift pilot relay.
Power unit can have different version, and energy is converted into direct current from various forms, as table 1.
Table 1 energy mixed form and APU structure
| The energy mixed form | Power unit structure |
| Gasoline+ | Gasoline engine genset+rectifier |
| Diesel oil+ | Diesel power generation unit+rectifier |
| Rock gas+ | Natural gas power unit+rectifier |
| Hydrogen+ | Fuel battery engines+dc dc converter (DCDC) |
| Electricity+ | Direct power transmission line power supply+dc dc converter (DCDC) |
Electrokinetic cell can be selected lead-acid battery, Ni-MH battery or lithium battery for use.The lead-acid battery cost is low, but power density is low, charge efficiency is low; The charging and discharging lithium battery performance is good, the power density height, but cost is too high; Ni-MH battery falls between, existing reasonable charge-discharge performance, and its cost is acceptant again.
Energy integrated dynamic platform belongs to series connection type hybrid power system, is applicable to full-sized bus.
Power unit and power accumulator are connected in parallel on the power system bus, through inverter conversion rear drive asynchronous AC motor.Asynchronous AC motor drives wheel box by mechanical connection, and then drives the conventional truck part.
Summary of the invention
The object of the present invention is to provide a kind of multi-energy source integration hybrid platform system.This platform comprises power unit (Power UU), parts such as electrokinetic cell, drive motor, entire car controller.Power unit provides vehicle operating needed average power, and electrokinetic cell provides the dynamic power when quickening and partially absorbs braking energy.Entire car controller is responsible for coordinating the distribution of motor demand power between power unit and electrokinetic cell.Reclaim and be equipped with suitable energy management algorithm by braking energy, can improve the dynamic property and the economy of power system.For making platform harmonious, adopt controller local area network (CAN) to carry out communication between each parts.Entire car controller is responsible for coordinating the distribution of motor demand power between power unit and electrokinetic cell.Reclaim and be equipped with suitable energy management algorithm by braking energy, can improve the dynamic property and the economy of power system.This platform is that core is coordinated control to each parts with entire car controller (VCU), and links to each other with traditional vehicle body CAN network by another road CAN.The demarcation of entire car controller program is undertaken by Third Road CAN with modification.Constant at this unified platform medium power battery, drive motor and entire car controller hardware, power unit can have different configurations: vapour, diesel power generation unit+rectifier, natural gas power unit+rectifier, fuel cell+dc dc converter (DCDC) or other power unit forms etc.Fig. 1 is the multi-energy source integration hybrid platform system block diagram, is applicable to multiple vehicles such as car, bus and luxury station wagon, and its power source can use diesel oil, gasoline, rock gas, hydrogen or electric energy.
Multi-energy source integration hybrid platform system, this system comprises following four subsystems:
Power system comprises power unit (PU) and power unit controller (PUC), electrokinetic cell (Battery) and battery management system (BMS), asynchronous AC motor+DC-AC inverter assembly, electric machine controller (MCU) and the wheel box of being with the gear shift pilot relay;
Whole-control system comprises entire car controller and driver control system.The driver control system comprises driver's key switch, gear signal generator, emergency shutdown switch, limping switch, power unit starting switch, accelerator pedal, brake pedal and brake pedal limit switch;
Brake energy feedback system comprises feedback braking relay K 3, abs controller and feedback braking operation valve;
Data acquisition and display system comprise several extraction systems and instrument;
And the CAN network, comprise three road CAN:CAN A, CAN B and CAN C.
Each parts annexation is:
Power unit (PU): external output DC, in parallel by high-tension cable with electrokinetic cell, link to each other with dc-to-ac inverter by two high-voltage relay switches, link to each other with power unit controller (PUC) by signal wire.
Power unit controller (PUC): link to each other with power unit (PU) by signal wire, be connected on the CAN A network, become a node of CAN A network by the multiple twin shielding line.Its power supply is supplied with by car load 24V power supply.
Electrokinetic cell (Battery): in parallel by high-tension cable with power unit, link to each other with dc-to-ac inverter by two high-voltage relay switches, link to each other with battery management system by signal wire.
Battery management system (BMS): link to each other with electrokinetic cell (Battery) by signal wire, be connected on the CAN A network, become a node of CAN A network by the multiple twin shielding line.Its power supply is supplied with by car load 24V power supply.
DC-AC inverter: link to each other with electrokinetic cell, power unit with high-tension cable by two high-voltage relay switches, link to each other with asynchronous AC motor, link to each other with electric machine controller by signal wire by high-tension cable.
Asynchronous AC motor: link to each other with dc-to-ac inverter by high-tension cable, link to each other with wheel box by output shaft.
Electric machine controller (MCU): link to each other with motor with dc-to-ac inverter by signal wire, be connected on the CANA network, become a node of CAN A network by the multiple twin shielding line.Link to each other with the gear signal generator by signal wire, receive driver's gear signal.Link to each other with brake pedal with accelerator pedal by relay K 4.Link to each other with the limping switch by signal wire, to switch its operational mode.The MCU power supply is supplied with by car load 24V power supply.
The wheel box of band gear shift pilot relay: link to each other with car load with motor by transmission shaft, link to each other with the gear signal generator by signal wire.Power supply is provided by car load 24V power supply.
Entire car controller: link to each other with gear signal generator, power unit starting switch, accelerator pedal, brake pedal, step control relay, abs controller by signal wire; By signal wire, link to each other with the feedback braking operation valve through relay K 3; Link to each other with CAN A by the multiple twin shielding line, to coordinate each parts work of power system; Link to each other with CAN B by the multiple twin shielding line, to show the power system key message; Link to each other with CAN C by the multiple twin shielding line, to realize the on-line proving and the modification of program.
Driver's key switch: link to each other with car load electric power supply circuit by signal wire, guarantee that car load 24V power supply and high pressure power on.
Gear signal generator: link to each other with electric machine controller, entire car controller and wheel box by signal wire.
Emergency shutdown switch: link to each other with the step control relay by signal wire, control high-voltage relay K1 at last.
The limping switch: by signal wire, classified pilot relay links to each other with high-voltage relay K2; Link to each other with electric machine controller by signal wire; Link to each other with relay K 4 by signal wire,, whether be input in the electric machine controller with decision pedal signal analog quantity as the control signal of K4.
Power unit starting switch: link to each other with entire car controller by signal wire.
Accelerator pedal: link to each other with entire car controller by signal wire, link to each other with electric machine controller, power by the electric machine controller out-put supply by relay K 4.
Brake pedal: link to each other with entire car controller by signal wire, link to each other with electric machine controller, power by car load 24V power supply by relay K 4.Link to each other with the brake pedal limit switch by mechanical installation mode, limit switch is opened after acquiring a certain degree with assurance brake pedal aperture.
Brake pedal limit switch: link to each other with brake pedal by mechanical installation mode, link to each other with feedback braking relay K 3 by signal wire.
Abs controller: be connected on the CAN B network by the multiple twin shielding line, make it to become a node of CAN B network.By signal wire the DBR signal is imported in the entire car controller.Power by car load 24V power supply.
The feedback braking operation valve: by signal wire, link to each other with entire car controller through feedback braking relay K 3, its valve is braked on the gas circuit before and after being installed on vehicle.
Number extraction system: link to each other with CAN A by the multiple twin shielding line, power by car load 24V power supply.
Instrument: link to each other with CAN B by the multiple twin shielding line, power by car load 24V power supply.Signal wire by necessity links to each other with traditional body electric system, to show signals such as traditional speed of a motor vehicle, mileage.
Relay K 1: high-voltage relay, classified pilot relay links to each other with the emergency shutdown switch, and is normally closed.
Relay K 2: high-voltage relay, classified pilot relay links to each other with the limping switch with entire car controller Ready signal, often opens.
Relay K 3: low-voltage relay, controlled by the brake pedal limit switch, connect entire car controller and feedback braking operation valve, normally closed.
Relay K 4: low-voltage relay, the switch of being walked lamely is controlled, and connects brake pedal, accelerator pedal and electric machine controller, often opens.
The present invention proposes a kind of multi-energy source integration power platform system, mainly comprise power unit (Power Unit, PU), parts such as electrokinetic cell, drive motor, entire car controller.Can be implemented under the constant situation of electrokinetic cell, drive motor and entire car controller, change the configuration of power unit, three examples that provide are respectively new fuel cell hybrid power motor bus, novel diesel machine hybrid power motor bus and novel natural gas engine combined power motor bus.The performance of fuel cell hybrid passenger vehicle meets and exceeds national standard, and is in the row of international most advanced level.The dynamic property of diesel engine hybrid power and rock gas hybrid power and economy all increase than traditional power system of the same type.
Description of drawings
Fig. 1 multi-energy source integration hybrid platform system structural representation.
Fig. 2 the present invention switching synoptic diagram of walking lamely.
Fig. 3 braking energy of the present invention reclaims synoptic diagram.
Fig. 4 CAN A synoptic diagram: power system CAN network.
Fig. 5 CAN B synoptic diagram: power system links to each other with traditional vehicle body network by entire car controller.
Fig. 6 CAN C synoptic diagram: the entire car controller program is demarcated, programming.
The reference frame structural representation that Fig. 7 sends for entire car controller.
Fig. 8 is for being the power unit and the control system synoptic diagram thereof of core with the fuel battery engines.
Fig. 9 is the power unit synoptic diagram of core with the diesel engine, wherein, and (a) system architecture; (b) Dynamic Control Strategy structure; (c) rotating speed and power control strategy synoptic diagram.
Figure 10 is for being the power unit and the control system synoptic diagram thereof of core with the natural gas engine.
Figure 11 entire car controller inner structure and outside drawing synoptic diagram.
Figure 12 is OSEK configuration schematic diagram and OSEK software frame synoptic diagram, wherein, and (a) OSEK configuration schematic diagram; (b) OSEK software frame.
Figure 13 energy management algorithm of the present invention synoptic diagram, wherein, (a) car load control program upper strata algorithm synoptic diagram; (b) state recognition and switching submodule; (c) normal driving pattern.
Figure 14 car load control program state switching flow figure.
Figure 15 multipotency source energy distribution controller synoptic diagram.
Figure 16 powers on, the power down sequential schematic.
Figure 17 new fuel cell hybrid power motor bus synoptic diagram.
Figure 18 novel diesel machine hybrid power motor bus synoptic diagram.
Figure 19 novel natural gas engine combined power motor bus synoptic diagram.
Embodiment
Further specify the present invention below in conjunction with embodiment.
Fig. 1 is the multi-energy source integration hybrid platform system structural representation, and this system comprises four subsystems: power system, whole-control system, brake energy feedback system, data acquisition and display system.
Power system medium power cell controller of the present invention (PUC) is different and different according to power unit structure, as table 2.In the oil electric mixed dynamic system, comprise engine controller and excitation plate.Engine controller is used to receive the order of entire car controller, the decision engine working point; Excitation plate is used to determine the excitation intensity of generator, and then output voltage, the electric current of decision power unit.Rock gas+electric mixed dynamic system is similar with it.In the fuel cell hybrid system, PUC comprises two controllers: fuel battery engines controller (FCS) and DCDC controller (DCC).FCS receives the enabling signal of VCU and opens or close fuel cell, and controls the air mass flow of fan blower according to the target requirement power of VCU.DCDC can work in voltage mode control or current control mode, and control model order by receiving VCU and target voltage or target current determine its output voltage or electric current.Electricity+electricity mixes then comparatively simple, only needs DCC to get final product.
Battery management system (BMS) detects battery tension, electric current, temperature, calculating accumulator SOC value, and provide the battery condition signal.Electric machine controller (MCU) receives VCU or the pedal order determines its output torque, and measures quantity of states such as input voltage, electric current, temperature.Electric machine controller has two kinds of working methods: directly receive the analog signals of outside accelerator pedal and brake pedal, according to the motor speed decision motor output torque that measures; Perhaps directly receive the motor target torque on the outside CAN signal, as according to the output torque.
All signals of above-mentioned each controller all carry out communication by the CAN network, can take Time Triggered formula controller local area network network (TTCAN) still to meet the CAN network of traditional J1939 agreement according to actual needs.
Table 2 power unit (PU) and power unit controller (PUC)
| Power unit (PU) | Power unit controller (PUC) |
| Gasoline engine genset+rectifier | Gasoline engine controller (ECU)+excitation plate |
| Diesel power generation unit+rectifier | Diesel Engine Control device (ECU)+excitation plate |
| Natural gas power unit+rectifier | Natural gas engine controller (ECU)+excitation plate |
| Fuel battery engines+dc dc converter DCDC | Fuel battery engines controller (FCS)+DCDC controller (DCC) |
| Direct power transmission line power supply+dc dc converter DCDC | DCDC controller (DCC) |
Whole-control system of the present invention comprises entire car controller (VCU) and driver control system.The effect of entire car controller (VCU) is according to the normal startup of driver's switch command assurance vehicle, stops; According to driver's accelerator pedal signal deciding motor output torque, and according to the distribution of electrokinetic cell state decision motor power demand between power unit and electrokinetic cell; The braking power that decision is reclaimed according to brake pedal signal and battery condition.
The driver control system comprises driver's key switch, driver's gear signal generator, emergency shutdown switch, limping switch, power unit starting switch, accelerator pedal, brake pedal and brake pedal limit switch.
Driver's key switch: be divided into two grades, go up 24V control for first grade; Go up the bus forceful electric power for second grade.
Driver's gear signal generator: receive driver's gear shift intention and judge current gear shift feasibility and implemented in conjunction with the speed of a motor vehicle.
Emergency shutdown switch: shutdown system in emergency circumstances.
Limping switch: the vehicle Hui Ku that can walk lamely when guaranteeing the control system fault.Press the limping switch, K2 (Fig. 1) closes, and guarantees the forceful electric power supply of power system.At this moment, brake pedal and accelerator pedal signal are directly imported electric machine controller without entire car controller, thereby guarantee that motor normally moves, as Fig. 2, and Fig. 2 the present invention switching synoptic diagram of walking lamely.
Power unit starting switch: start power unit.
Accelerator pedal, brake pedal: receive the order of driver's pedal, motor quickens or braking in addition after entire car controller is explained.
The brake pedal limit switch: a brake pedal aperture hour assurance braking energy reclaims function to improve system economy; When the brake pedal aperture is big, switch to normal abs braking state to guarantee brake safe.
Brake energy feedback system of the present invention comprises feedback braking relay K 3 (Fig. 1), abs controller and feedback braking variable valve.
The driver steps on brake pedal, when the brake pedal opening ratio hour, feedback braking relay K 3 closures, entire car controller is exported the break-make of 4 road pwm signal control brake feedback variable valve, reclaims intensity to regulate braking energy; When the brake pedal aperture is big, brake pedal limit switch closure, feedback braking relay K 3 disconnects, and it is inoperative to brake back routed variable valve, and ABS is responsible for the car load braking function to ensure brake safe.Send the DBR signal to entire car controller during the abs controller braking, as the input signal of braking energy feedback algorithm, as Fig. 3, Fig. 3 reclaims synoptic diagram for braking energy of the present invention.
Data acquisition of the present invention and instrument all are with the CAN interface.The number extraction systems receive power system CAN signals, can keeping records vehicle operating process in all information of VCU, PUC, BMS and MCU, as CAN A among Fig. 1.Entire car controller (VCU) links to each other with traditional vehicle body CAN network by CAN B (Fig. 1), and the key message in the power system can send to instrument from CAN B by VCU as power of motor, accumulator power and power unit power etc., shows on instrument.
CAN network of the present invention comprises three road CAN:CAN A, CAN B and CAN C, Fig. 4 CAN A synoptic diagram: power system CAN network can be TTCAN or J1939CAN.Fig. 5 CAN B synoptic diagram: power system links to each other with traditional vehicle body network by entire car controller.Fig. 6 CAN C synoptic diagram: the entire car controller program is demarcated, programming.As figure, CAN A is power system CAN, can be Time Triggered formula CAN (TTCAN), also can be the CAN that meets traditional standard J1939 agreement, its node comprises: entire car controller (VCU), power unit controller (PUC), battery management system (BMS), electric machine controller (MCU) and number extraction system (DAQ).In power system CAN, except the number extraction system, each node is all sent out three frame signals: control frame, status frames and diagnosis frame.Key control variable is placed in the middle of the control frame, needs each control cycle to transmit once; Changing slow controlled quentity controlled variable then can be with frequency transmission more slowly; Diagnostic parameters then can send with slower frequency.CAN B meets traditional J1939 agreement, is used for the signal of traditional vehicle body CAN network alternately, and power system parameter is shown on the instrument with the CAN interface of compound standard J1939 agreement.CAN C is used for demarcation, the modification of entire car controller (VCU) control algolithm.Entire car controller (VCU) is the common node of CAN A and CAN B, is used for the information interaction between the two-way CAN.Shown in Figure 4 is CAN A: power system CAN network can be TTCAN or J1939CAN.Fig. 5 is CAN B: power system links to each other with traditional vehicle body network by entire car controller.Fig. 6 is CAN C: the entire car controller program is demarcated, programming.
Fig. 7 has provided the power system TTCAN communication example of certain model vehicle.The reference frame that sends of entire car controller as shown in Figure 7, J=0,1 ... 15.After all the other nodes in the TTCAN network receive reference frame, as shown in table 3 according to the different value decision time delay of J, shown in the table 3 the TTCAN network communication protocol matrix of certain model vehicle.Adopt TTCAN can improve bus load rate (＞40%), but can increase parts development difficulty and hardware cost.Adopt traditional J1939 agreement can reduce the hardware and software development difficulty, reduce cost of development.
The TTCAN network communication protocol matrix of certain model vehicle of table 3
Figure 8 shows that with the fuel battery engines to be the power unit and the control system synoptic diagram thereof of core.Comprise fuel battery engines (Fuel Cell Engine, FCE) and control system (Fuel Cell Engine Control System, FCS), dcdc converter and control system thereof (DCDC Controller, DCC).Entire car controller (VCU) sends the start-stop and the DCDC output power of order control fuel battery engines.The control method of DCDC has Control of Voltage (controlling its output voltage) or Current Control (controlling its output current).Adopt the Control of Voltage can the control system bus voltage, restriction accumulator output power; Adopt Current Control then can directly control the fuel battery engines output power, realize the power following strategy.
Fig. 9 is the power unit synoptic diagram of core with the diesel engine, and wherein, it is the power unit and the control system thereof of core that Fig. 9 (a) is depicted as with the diesel engine, comprises diesel engine and controller thereof, generator and excitation controller thereof and rectifier bridge.Fig. 9 (b) is a diesel powered unit controls policy construction synoptic diagram.The target variable of being controlled is engine target rotating speed and power unit target power, and controllable variable is engine throttle and excitation PWM dutycycle.Fig. 9 (c) is rotating speed and power control strategy synoptic diagram.Value by control engine throttle and excitation PWM dutycycle controls to desired value with engine speed and power unit power.The mode of the feedforward+PID feedback regulation shown in Fig. 9 (c) is adopted in the control of rotating speed and power.
Figure 10 shows that with the natural gas engine to be the power unit and the control system synoptic diagram thereof of core, comprise natural gas engine and controller thereof, generator and excitation controller thereof and rectifier bridge.Its Dynamic Control Strategy and diesel engine are similar.
Entire car controller inner structure and outward appearance are as shown in figure 11.Adopt modular design, be divided into digital core subboard, signal regulating panel and 3 parts of mainboard, finish functions such as algorithm process, signal filtering conditioning and power supply driving respectively.Shell adopts totally-enclosed water proof and dust proof design, possesses outstanding water proof and dust proof and good Electro Magnetic Compatibility.
The multi-energy source integration power platform is that core is carried out coordination controls such as power division, braking energy recovery to power unit, electrokinetic cell, motor with entire car controller (VCU).The mode that the design of VCU has adopted the digital core unit to separate with peripheral drive circuit has guaranteed the interchangeability of module and the dirigibility of design.Its digital core has been selected Motorola32 position single-chip microcomputer MPC5xx for use, and hardware interface comprises SCI communication, CAN communication, analog quantity input, analog quantity output, digital quantity input, digital quantity output, contact signal output and pwm signal output.Main signaling interface sees Table 4, and three road CAN are existing in front to be narrated, and serial communication can be used for demarcation, monitoring and the modification of program.The analog quantity input also has front and back wheel braking pressure signal except accelerator pedal and brake pedal are arranged.The digital quantity input mainly is the DBR signal of power unit switch, gear signal, high pressure power on signal and ABS.Digital quantity is output as the Ready signal.After whole-control system powered on, VCU checked whether each unit status of control system is normal, if normal, then sends the Ready signal, K2 (Fig. 1) closure, and motor is prepared to start.Four road pwm signals are used for the intensity of control brake energy recovery.Under different power units, also need to increase special modality.
This VCU comprises the output of 15 road digital quantities, the input of 24 road digital quantities, the output of 8 tunnel analog quantitys, the input of 24 tunnel analog quantitys, 16 road PWM output, 3 road CAN and 2 road SCI passages altogether, can add bluetooth communication, GPS module by the configuration peripheral circuit in addition, effectively guarantee the extensibility of this VCU and the possibility of further upgrading.
Table 4 hardware interface
This entire car controller uses the software development environment of CodeWarrior+QuickStart+OSEK+Matlab/Simulink.OSEK is used to make up real time operating system, guarantees the real-time of control; QuickStart is used to dispose the bottom layer driving of MPC5xx series monolithic; Matlab/Simulink is used to develop the upper strata algorithm, and exports with automatic code; CodeWarrior then is integrated, the compiling and the debugging enironment of whole software.
Figure 12 shows that OSEK configuration schematic diagram and software frame synoptic diagram.(a) OSEK configuration schematic diagram (b) OSEK software frame wherein.Be divided into some tasks, message and interruption.Under the framework of OSEK, bottom code is utilized QuickStart configuration, and the upper strata algorithm is built in Matlab/Simulink, and the generation C code that can move automatically.Utilize the hierarchy of Matlab/Simulink can set up the energy management algorithm easily, comprising data input and output, whole vehicle state identification switching, energy management module etc., as Figure 13.Figure 13 energy management algorithm of the present invention synoptic diagram, wherein, (a) car load control program upper strata algorithm synoptic diagram; (b) state recognition and switching submodule; (c) normal driving pattern.
Car load control program upper strata algorithm flow shown in Figure 13 can be represented with Figure 14.Figure 14 car load control program state switching flow figure.The car load running status is divided into start-up mode, normal driving pattern, pure electric drive pattern and shutdown mode.
The present invention (one) start-up mode
The back system that powers on is in initialized state, and power unit is in closed condition, and the output torque of motor is 0.
The inspection of key switch: the key switch signal disappeared trembles processing, if be in the ON state and last time mode of operation be in initialization or closing state, the expression driver will start automobile; Otherwise, if automobile is in the cruising state, detects the key switch signal and be in the OFF state, will close each parts.
The inspection of power unit switch: when automobile prepare to start,, then directly enter pure electronic driving mode,, start power unit if be in the ON state if the power unit switch is in the OFF state.If detect the state that it is in OFF under any pattern, will close power unit.
If the demonstration of enabling counting device starts successfully in the start-up mode, will enter the combination drive pattern; If start-up course medium power unit breaks down, will no longer start, and directly carry out electric-only mode it.
In the combination drive pattern,, carry out electric-only mode if power unit breaks down or because himself reason is closed voluntarily, will close power unit.
Under electric-only mode,,, it is started setting up the sign that starts power unit if position zero clearing of power unit fault and power unit switch are in the ON state.
Under the cruising pattern, if there is safety problem that (not working such as fuel cell hybrid hydrogen gas leakage or certain node) takes place, with closing automobile, motor is not exported torque.
(2) normal driving pattern
Under the normal condition, enter this pattern behind the starter motor.Under this pattern, the torque-demand to the driver makes an explanation respectively, carries out the calculating of energy and torque according to the motor pattern of automobile, issues electric machine controller then.The target power of power unit is distributed in decision according to battery condition.Energy management under the normal driving pattern is divided into the explanation of driver driving intention, feedback braking, three modules of driving power distribution.As Figure 15.Figure 15 multipotency source energy distribution controller synoptic diagram.
Can obtain the motor target torque by driver driving intention explanation module.Can calculate current best power source unit object power by braking energy feedback module and driving power distribution module.The power unit target power sends the corresponding command by the car load control module and realizes, implementation method is also different in different power unit configurations, as table 5.In the hybrid power system of oil+electricity, rock gas+electricity, the power unit target power is realized by the PWM dutycycle of control excitation plate; In the system that uses DCDC, the power unit target power is realized by controlling its output current.
The control of table 5 power unit power
| Power unit structure | The control of entire car controller power |
| Gasoline engine genset+rectifier | Excitation plate PWM control |
| Diesel power generation unit+rectifier | Excitation plate PWM control |
| Power unit structure | The control of entire car controller power |
| Natural gas power unit+rectifier | Excitation plate PWM control |
| Fuel battery engines+DCDC | The DCDC Current Control |
| Direct power transmission line power supply+DCDC | The DCDC Current Control |
(3) pure electric drive pattern
Power unit occurs entering electric-only mode under abnormal conditions and the normal prerequisite of battery-operated.Do not have the problem of energy management this moment, entire car controller mainly sends the driving torque of order control and restriction motor.
(4) shutdown mode
Receiving and putting Motor torque earlier behind driver's the halt command is 0, after close power unit, the back disconnects the power system forceful electric power.
The driver operation method: this vehicle is provided with big lock at the bottom of car, is used to control car load 24V power supply.The big lock in back that stops manually disconnects the car load outage.
Electric sequence: the big lock that closes, traditional vehicle such as car load instrument, front and back car light, car door partly power on.Need the detection through the car load safety detecting system this moment, if there is not potential safety hazard, can opens car door and get on the bus.Turn on key ACC shelves (one grade of key), self check and communication inspection are carried out in each parts 24V power supply.If self check and communication are all errorless, entire car controller sends the Ready signal, power system heavy-current relay K2 this moment close (as Fig. 1).After being screwed to key ON shelves (key second gear), each parts forceful electric power is connected, auxiliary DCDC work.Then press the power unit starting switch and start power unit.Be normal driver operation afterwards.Sequence of operation during parking is with above-mentioned opposite, as Figure 16.(Figure 16 powers on, the power down sequential schematic.)
Below with fuel cell series formula hybrid power passenger car, diesel engine serial mixed power passenger vehicle and natural gas engine serial mixed power passenger vehicle example explanation the present invention.
Example 1: new fuel cell hybrid power motor bus multi-energy source integration hybrid platform system
Figure 17 shows that the new fuel cell hybrid power motor bus synoptic diagram of exploitation.The power system parts are: fuel battery engines (FCE) and control system (FCS) thereof, dc dc converter (DCDC) and control system (DCC) thereof, nickel-hydrogen accumulator and battery management system (BMS), drive motor assembly and controller (MCU) thereof, hydrogen temperature pressure sensing cell (HPS) and entire car controller (VCU), TTCAN, VCU control algolithm cycle 10ms are adopted in the power system communication.Major parameter and vehicle performance such as following table (table 6) are listed.
Certain fuel cell series formula motor vehicle driven by mixed power parameter of table 6
| The power system parts | Parameter name | Parameter value |
| Fuel battery engines | Rated power/kW | 65 |
| Overload power/kW | 88 | |
| Voltage range/V | 330～450 |
| The power system parts | Parameter name | Parameter value |
| Noise/dB | 80 | |
| DCDC | Rated power/kW | 90 |
| Ni-MH battery | Rated capacity/Ah | 80 |
| Rated voltage/V | 384 | |
| Motor | Type | Phase asynchronous drive motor |
| Peak power/kW | 150 | |
| Torque capacity/N.m | 1000 | |
| Rated power/kW | 100 | |
| Maximum speed/rpm | 6000 | |
| Rated speed/rpm | 1800 | |
| The type of cooling | Water-cooled | |
| Car load | Max. speed/kmph | (74.8 semi-load)/71.4 (being fully loaded with) |
| Climbable gradient | 18% (zero load)/14.2% (being fully loaded with) | |
| 0～50kmph acceleration time/sec | 24 (zero load)/25.2 (being fully loaded with) | |
| Hundred kilometers hydrogen consumptions of China's typical urban public transport operating mode/(kg/100km) | 7.542 |
Example 2: novel diesel machine hybrid power motor bus multi-energy source integration hybrid platform system
Figure 18 shows that the novel diesel machine hybrid power motor bus synoptic diagram of exploitation.The power system parts are: diesel engine and controller thereof (ECU), excitation plate, rectifier, nickel-hydrogen accumulator and battery management system (BMS), drive motor assembly and controller (MCU) thereof and entire car controller (VCU), the power system communication is the traditional C AN that meets the J1939 agreement, VCU control algolithm cycle 20ms.Major parameter and vehicle performance such as following table are listed.
Certain diesel engine serial mixed power vehicle parameter of table 7
| The power system parts | Parameter name | Parameter value |
| Diesel motor | Model | SOFIM 2.8L |
| The power system parts | Parameter name | Parameter value |
| Classification | The high pressure co-rail diesel machine | |
| Torque capacity | 320N.m@1500r/m | |
| Optimum oil consumption/rotating speed | 210g/kW.h@1500-1800r/m | |
| The corresponding peak power of optimum oil consumption | 50-55kW | |
| Generator | Model | Stamford 4UC224G |
| Classification | The three-phase synchronous AC | |
| Rated power | 68kW@1500r/m；78kW@1800r/m | |
| Rated speed | 1500-1800r/m | |
| Excitation mode | Exciter excitation | |
| Rectifier bridge | Type | Three-phase full-wave is uncontrollable |
| Output power | 10kW-120kW | |
| Output current | Direct current 0～300A | |
| Ni-MH battery | Rated capacity/Ah | 60 |
| Motor | Type | Phase asynchronous drive motor |
| Peak power/kW | 150 | |
| Torque capacity/N.m | 1000 | |
| Rated power/kW | 100 | |
| Maximum speed/rpm | 6000 | |
| Rated speed/rpm | 1800 | |
| The type of cooling | Water-cooled |
Example 3: novel natural gas engine combined power motor bus
Figure 19 shows that the novel natural gas engine combined power motor bus synoptic diagram of exploitation.The power system parts are: natural gas engine and controller thereof (ECU), excitation plate, rectifier, nickel-hydrogen accumulator and battery management system (BMS), drive motor assembly and controller (MCU) thereof and entire car controller (VCU), the power system communication is the traditional C AN that meets the J1939 agreement, VCU control algolithm cycle 20ms.Major parameter and vehicle performance such as following table are listed.
Certain natural gas engine serial mixed power parameters of operating part of table 10
| The power system parts | Parameter name | Parameter value |
| Natural gas engine | Model | 4CT |
| Discharge capacity (L) | 5.3 | |
| Nominal power (kW)/rotating speed (r/min) | 118～132/2300 | |
| Torque capacity (N.m)/rotating speed (r/min) | 580～680/1300～1500 | |
| Combustion system | Spark ignition, lean mixture burning | |
| Intake method | Exhaust gas turbocharge, in cold | |
| Motor dry weight (kg) | 540 | |
| Long * wide * high (mm) | 900×794×971 | |
| Idling speed (r/min) | 700 | |
| Maximum speed (r/min) | 2550 | |
| Rectifier | Type | Uncontrollable |
| Frequency range/Hz | 36～50 | |
| Rated power/kW | 120 | |
| Generator | Model | Stamford UC274C |
| The excitation interface | 42V，5A | |
| Electric rating | 100KVA | |
| Rated voltage | 380V | |
| Maximum current | 152A | |
| Rated speed | 1500r/min |
| The power system parts | Parameter name | Parameter value |
| Input shaft can ripe torque | ＞700N.m | |
| Ni-MH battery | Rated capacity/Ah | 80 |
| Motor | Type | Phase asynchronous drive motor |
| Peak power/kW | 150 | |
| Torque capacity/N.m | 1000 | |
| Rated power/kW | 100 | |
| Maximum speed/rpm | 6000 | |
| Rated speed/rpm | 1800 | |
| The type of cooling | Water-cooled |
Simultaneously, the present invention also provides a natural gas engine serial mixed power passenger vehicle and traditional passenger vehicle performance comparison sheet (table 11).
Table 11 natural gas engine serial mixed power passenger vehicle and traditional passenger vehicle performance are relatively
Claims (7)
1. multi-energy source integration hybrid platform system, this system comprises brake energy feedback system, and data acquisition and display system is characterized in that, and this system also comprises:
Power system comprises power unit and power unit controller, electrokinetic cell and battery management system, asynchronous AC motor+DC-AC inverter assembly, electric machine controller and the wheel box of being with the gear shift pilot relay;
Whole-control system comprises entire car controller and driver control system; The driver control system comprises driver's key switch, gear signal generator, emergency shutdown switch, limping switch, power unit starting switch, accelerator pedal, brake pedal and brake pedal limit switch;
The CAN network comprises three road CAN:CAN A, CAN B and CAN C;
Described power system medium power unit is in parallel with electrokinetic cell by high-tension cable, links to each other with dc-to-ac inverter by the high-voltage relay switch, links to each other with the power unit controller by signal wire;
The power unit controller links to each other with power unit by signal wire, is connected on the CAN A network by the multiple twin shielding line; Its power supply is supplied with by car load 24V power supply;
Electrokinetic cell is in parallel with power unit by high-tension cable, links to each other with dc-to-ac inverter by two high-voltage relay switches, links to each other with battery management system by signal wire;
Battery management system links to each other with electrokinetic cell by signal wire, is connected on the CAN A network by the multiple twin shielding line; Its power supply is supplied with by car load 24V power supply;
DC-AC inverter links to each other with electrokinetic cell, power unit with high-tension cable by two high-voltage relay switches, links to each other with asynchronous AC motor by high-tension cable, links to each other with electric machine controller by signal wire;
Asynchronous AC motor links to each other with dc-to-ac inverter by high-tension cable, links to each other with wheel box by output shaft;
Electric machine controller links to each other with motor with dc-to-ac inverter by signal wire, is connected on the CAN A network by the multiple twin shielding line; Link to each other with the gear signal generator by signal wire, receive driver's gear signal; Link to each other with brake pedal with accelerator pedal by relay K 4; Link to each other with the limping switch by signal wire; The electric machine controller power supply is supplied with by car load 24V power supply;
The wheel box of band gear shift pilot relay links to each other with car load with motor by transmission shaft, links to each other with the gear signal generator by signal wire; Power supply is provided by car load 24V power supply;
Entire car controller links to each other with gear signal generator, power unit starting switch, accelerator pedal, brake pedal, step control relay, abs controller by signal wire; By signal wire, link to each other with the feedback braking operation valve through relay K 3; Link to each other with CAN A by the multiple twin shielding line; Link to each other with CAN B by the multiple twin shielding line; Link to each other with CAN C by the multiple twin shielding line;
Driver's key switch links to each other with car load electric power supply circuit by signal wire, guarantees that car load 24V power supply and high pressure power on;
The gear signal generator links to each other with electric machine controller, entire car controller and wheel box by signal wire;
The emergency shutdown switch links to each other with the step control relay by signal wire, controls high-voltage relay K1 at last;
The limping switch is by signal wire, and classified pilot relay links to each other with high-voltage relay K2; Link to each other with electric machine controller by signal wire; Link to each other with relay K 4 by signal wire,, whether be input in the electric machine controller with decision pedal signal analog quantity as the control signal of relay K 4;
The power unit starting switch links to each other with entire car controller by signal wire;
Accelerator pedal links to each other with entire car controller by signal wire, links to each other with electric machine controller by relay K 4, is powered by the electric machine controller out-put supply;
Brake pedal links to each other with entire car controller by signal wire, links to each other with electric machine controller by relay K 4, is powered by car load 24V power supply; Link to each other with the brake pedal limit switch by mechanical installation mode, limit switch is opened after acquiring a certain degree with assurance brake pedal aperture;
The brake pedal limit switch links to each other with brake pedal by mechanical installation mode, links to each other with feedback braking relay K 3 by signal wire;
Abs controller is connected on the CAN B network by the multiple twin shielding line, makes it to become a node of CAN B network; By signal wire the DBR signal is imported in the entire car controller; Power by car load 24V power supply;
Relay K 1: high-voltage relay, classified pilot relay links to each other with the emergency shutdown switch, and is normally closed;
Relay K 2: high-voltage relay, classified pilot relay links to each other with the limping switch with entire car controller Ready signal, often opens;
Relay K 3: low-voltage relay, controlled by the brake pedal limit switch, connect entire car controller and feedback braking operation valve, normally closed;
Relay K 4: low-voltage relay, the switch of being walked lamely is controlled, and connects brake pedal, accelerator pedal and electric machine controller, often opens.
2. multi-energy source integration hybrid platform system according to claim 1 is characterized in that, described CAN A is TTCAN or J1939CAN.
3. multi-energy source integration hybrid platform system according to claim 1 is characterized in that, described CAN B is J1939CAN.
4. multi-energy source integration hybrid platform system according to claim 1 is characterized in that, CAN C is TTCAN.
5. multi-energy source integration hybrid platform system according to claim 1 is characterized in that described entire car controller comprises digital core unit and peripheral drive circuit; Entire car controller contains the output of 15 road digital quantities, the input of 24 road digital quantities, the output of 8 tunnel analog quantitys, the input of 24 tunnel analog quantitys, 16 road PWM output, 3 road CAN and 2 road SCI passages; Entire car controller (VCU) uses the CodeWarrior+QuickStart+OSEK+Matlab/Simulink software development environment; OSEK makes up real time operating system; QuickStart is used to dispose the bottom layer driving of digital core cell; Matlab/Simulink is used to develop the upper strata algorithm; CodeWarrior then is integrated, the compiling and the debugging enironment of whole entire car controller (VCU) software.
6. multi-energy source integration hybrid platform system according to claim 5 is characterized in that, described digital core unit is Motorola32 position single-chip microcomputer MPC5xx.
7. multi-energy source integration hybrid platform system according to claim 6 is characterized in that, the hardware interface such as the following table of described digital core unit:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710178073XA CN101419433B (en) | 2007-11-26 | 2007-11-26 | Multi-energy source integration hybrid platform system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710178073XA CN101419433B (en) | 2007-11-26 | 2007-11-26 | Multi-energy source integration hybrid platform system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101419433A CN101419433A (en) | 2009-04-29 |
| CN101419433B true CN101419433B (en) | 2010-06-09 |
Family
ID=40630252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200710178073XA Active CN101419433B (en) | 2007-11-26 | 2007-11-26 | Multi-energy source integration hybrid platform system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101419433B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102689601A (en) * | 2012-06-11 | 2012-09-26 | 浙江海康集团有限公司 | Integrated control system for new energy vehicles |
Families Citing this family (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101572332B (en) * | 2009-06-08 | 2012-03-28 | 奇瑞汽车股份有限公司 | Control system of high-voltage battery and control method thereof |
| CN102419561B (en) * | 2010-09-28 | 2013-07-31 | 上海海能汽车电子有限公司 | Single-shaft parallel type hybrid power system whole vehicle controller |
| CN102294962A (en) * | 2011-06-07 | 2011-12-28 | 山东天海电装有限公司 | Intelligent finished automobile controller of pure electric vehicle |
| CN102354170B (en) * | 2011-06-29 | 2014-02-12 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Information display method for working state and energy storage situation of hydraulic hybrid power system of loader |
| CN102332616B (en) * | 2011-07-29 | 2014-06-11 | 奇瑞汽车股份有限公司 | Diagnosis and control method for power battery management system |
| CN102991496B (en) * | 2011-09-15 | 2016-01-13 | 北汽福田汽车股份有限公司 | For energy recovery control method and the system of hybrid vehicle |
| CN102360209A (en) * | 2011-09-22 | 2012-02-22 | 昆明理工大学 | Multi-embedded intelligent monitoring, communication and control system for hybrid electric vehicle |
| CN102799166B (en) * | 2012-08-17 | 2014-06-18 | 山东省科学院自动化研究所 | Improved network management device and method for electric automobile |
| CN103625304B (en) * | 2012-08-20 | 2016-06-08 | 北汽福田汽车股份有限公司 | For the control device of electric automobile |
| CN103883547B (en) * | 2012-12-21 | 2017-06-30 | 上海大郡动力控制技术有限公司 | The control method of the cooling blower of automobile-used noise adaptive control |
| KR101584405B1 (en) * | 2013-10-31 | 2016-01-12 | 주식회사 엘지화학 | Application module having fixed interface |
| CN103713539A (en) * | 2014-01-08 | 2014-04-09 | 上汽通用五菱汽车股份有限公司 | Method for configuring bottom driver and I / O module in vehicle control system development |
| CN104260712B (en) * | 2014-09-25 | 2017-07-04 | 北京新能源汽车股份有限公司 | pure electric automobile automatic parking control method |
| KR101693934B1 (en) * | 2014-11-04 | 2017-01-06 | 현대자동차주식회사 | Apparatus and Method for preventing shut down in limphome |
| CN105584374B (en) * | 2016-01-05 | 2017-10-27 | 台州台鹰电动汽车有限公司 | A kind of electric automobile energy feedback system and energy feedback method based on ABS |
| CN107231314B (en) * | 2016-03-24 | 2019-12-27 | 宝沃汽车（中国）有限公司 | CAN channel self-adaptation method, device and system and automobile |
| CN106740121A (en) * | 2016-12-16 | 2017-05-31 | 上海中科深江电动车辆有限公司 | Electric automobile smart circuit management system and its management control method |
| CN107479529A (en) * | 2017-07-11 | 2017-12-15 | 北京机械设备研究所 | The test system and method for testing of a kind of electric machine control system, electric automobile |
| CN107585032A (en) * | 2017-08-10 | 2018-01-16 | 清华大学 | The electric system of electric automobile |
| CN109466475A (en) * | 2018-11-23 | 2019-03-15 | 安徽安凯汽车股份有限公司 | A kind of the VCU control system and control method of new-energy automobile |
| CN112448656B (en) * | 2019-09-03 | 2022-07-19 | 北京新能源汽车股份有限公司 | Motor controller working mode switching method and device and electric automobile |
| CN110606074B (en) * | 2019-09-26 | 2020-09-22 | 中国第一汽车股份有限公司 | Limping control method of 48V hybrid vehicle |
| CN114228494B (en) * | 2021-11-25 | 2023-11-17 | 潍柴动力股份有限公司 | Limp control method for fuel cell vehicle |
| CN114407657B (en) * | 2021-12-27 | 2023-11-03 | 广东汇天航空航天科技有限公司 | Power supply system control method and device for flying vehicle and flying vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6242873B1 (en) * | 2000-01-31 | 2001-06-05 | Azure Dynamics Inc. | Method and apparatus for adaptive hybrid vehicle control |
| CN1804741A (en) * | 2005-12-12 | 2006-07-19 | 天津卡达克汽车高新技术公司 | Intelligent automobile body network control system device and control method thereof |
| US7281770B1 (en) * | 2000-08-08 | 2007-10-16 | Ford Global Technologies, Llc | System and method for regenerative and antiskid braking within an electric vehicle |
-
2007
- 2007-11-26 CN CN200710178073XA patent/CN101419433B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6242873B1 (en) * | 2000-01-31 | 2001-06-05 | Azure Dynamics Inc. | Method and apparatus for adaptive hybrid vehicle control |
| US7281770B1 (en) * | 2000-08-08 | 2007-10-16 | Ford Global Technologies, Llc | System and method for regenerative and antiskid braking within an electric vehicle |
| CN1804741A (en) * | 2005-12-12 | 2006-07-19 | 天津卡达克汽车高新技术公司 | Intelligent automobile body network control system device and control method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102689601A (en) * | 2012-06-11 | 2012-09-26 | 浙江海康集团有限公司 | Integrated control system for new energy vehicles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101419433A (en) | 2009-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101419433B (en) | Multi-energy source integration hybrid platform system | |
| CN205554092U (en) | DCDC converter, battery energy management system and hybrid vehicle | |
| CN104139709B (en) | A kind of control system of fuel cell stroke lengthening unit and control method | |
| CN201511806U (en) | Coaxial parallel-connected fuel-electric / gas-electric mixing power passenger car three type chassis | |
| CN101207331B (en) | Control method of commingle dynamic force automobile DC-DC | |
| CN101367381B (en) | Weak hybrid power automobile motor control method | |
| CN102387932B (en) | Automobile and method for controlling said automobile | |
| CN103072492B (en) | Active control type hybrid power system for pure electric bus and control method of active control type hybrid power system | |
| CN102991331B (en) | Plug-in hybrid electric vehicle | |
| CN101492046A (en) | Parallel type hybrid vehicles energy management and assembly coordinated control method | |
| CN111071067B (en) | Whole control system of pure electric vehicle | |
| CN109177749A (en) | Three energy power system of extended-range electric motor coach and energy management method | |
| CN101734138A (en) | Hybrid powertrain and method for controlling a hybrid powertrain | |
| CN102815192B (en) | Based on mild hybrid power system and the control method of the conversion of vehicle exhaust thermoelectricity | |
| CN101092140A (en) | Control system of weak mixed dynamical car | |
| CN108248365B (en) | Hybrid gas-electric hybrid power vehicle power system and control method | |
| CN101870264A (en) | Range-extended electric automobile | |
| CN202080273U (en) | Energy management system of battery electric vehicle | |
| CN110641457B (en) | Gradient identification-based control system and method for series-parallel wide-body dump truck | |
| CN203974582U (en) | A kind of series parallel type gas-electricity hybrid power coach | |
| CN107985087A (en) | Fuel cell movable charging vehicle and its charge control method | |
| CN201610069U (en) | Coaxial parallel type hybrid vehicle | |
| CN208069460U (en) | A kind of control system of hydrogen-fueled system car | |
| CN212737779U (en) | Power supply system of electric automobile and range-extended electric automobile | |
| Zhang et al. | Co-simulation of energy management strategy for hybrid electric vehicle in AVL InMotion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |