CN102887123B - Central controller for full-wire-controlled electric automobile and control method of central controller - Google Patents

Central controller for full-wire-controlled electric automobile and control method of central controller Download PDF

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Publication number
CN102887123B
CN102887123B CN201210385429.8A CN201210385429A CN102887123B CN 102887123 B CN102887123 B CN 102887123B CN 201210385429 A CN201210385429 A CN 201210385429A CN 102887123 B CN102887123 B CN 102887123B
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control
core
controller
signal
central controller
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CN102887123A (en
Inventor
宗长富
宋攀
郑宏宇
卜未琦
张泽星
李刚
陈国迎
刘超
张强
林娜
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Jilin University
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Jilin University
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Abstract

The invention discloses a central controller for a full-wire-controlled electric automobile and a control method of the central controller. The central controller comprises a double-core microprocessor, an analogue signal input interface, an analogue signal output interface, a switch signal input-output interface, a high-speed CAN (Controller Area Network) bus interface, an RS-232 serial interface, an Ethernet network communication interface and a USB (Universal Serial Bus) interface. The central controller is used for managing, coordinating, monitoring and recording each controller and each sensor of the full-wire-controlled electric automobile. The central controller collects driver operation input and gyroscope signals, the CAN bus obtains the motion states of a steering and driving motor, the signals and the states are analyzed and calculated, related data are stored into a file, and the CAN bus and the analogue signal output interface perform integrated control on a steering, driving and braking system, thereby finally achieving driving modes of front wheel steering, rear wheel steering, four-wheel steering, wedged steering and in-situ steering and a function of converting among the modes. The controller further has a function of communicating with a host machine, and has complete fault diagnosis and fault-tolerant processing functions.

Description

A kind of control electronlmobil central controller and control method thereof completely
Technical field
The present invention relates to a kind of pure electric automobile central controller and control method thereof, particularly central controller and the control method thereof of electronlmobil is controlled in a kind of all fronts.
Background technology
Wire control technology eliminates all mechanical connections between steering unit and actuating unit, and uses the communication technology to transmit control command and sensor signal, is now widely used in the fields such as aerospace.Control electronlmobil is as a kind of pure electric automobile of new structure completely, and its actuating unit all adopts wire control technology, increases the controllable degrees of freedom of vehicle as far as possible, enables vehicle realize the performances such as more excellent manoevreability, road-holding property and active safety.By means of its Volume control, control electronlmobil is very applicable to car load integrating control completely, needs and carries out design and development to its central controller pointedly.
A kind of pure electric automobile main controller device and control method thereof is disclosed in Chinese invention patent application CN1721226A, this controller and control method thereof can only complete the basic controlling to conventional electric automobile, and can not carry out integrating control for the feature controlling electronlmobil completely.A kind of all fronts control individual drive and the automobile traveling mechanism turned to and battery-driven car is disclosed in Chinese invention patent application CN101973307A, its steering swivel system, drive system, brake system are all independent controlled and be line traffic control, but and the concrete structure of not mentioned car load central controller and control method thereof.Therefore, current urgent need is developed a kind of for controlling the master control system of electronlmobil and designing corresponding integrated control method completely.
Summary of the invention
Technical matters to be solved by this invention is all fronts control electric vehicle development its master control system for a kind of four-wheel independent steering, individual drive, independent brake, and manages in real time each Vehicle Controller and sensor, coordinates, monitors and record; Integrated design control method simultaneously, under the prerequisite meeting safety and reliability, make that car load realizes front-wheel steering, rear-axle steering, four-wheel steering (four-wheel turns in the same way, four-wheel is incorgruous turns to), wedge shape turn to the function switched between (general wedge shape turns to, walks crosswise), the driving model of pivot stud and different mode.
For solving the problems of the technologies described above, the technical scheme that the central controller that the present invention is based on control electronlmobil is completely achieved is:
A kind of electronlmobil of control completely central controller device, described all fronts control electronlmobil central controller gathers pilot control input and gyroscope signal, the state of kinematic motion turned to drive motor is known by CAN, carry out analysis and calculation and related data is saved to file, by CAN and analog signal output interface to turning to, driving and brake system carries out integrating control, finally realize the function switched between front-wheel, trailing wheel, four-wheel, wedge shape, pivot stud driving model and pattern, this controller also has the function communicated with host; Possess perfect trouble diagnosing and fault-tolerant processing function.This device comprises:
Double-core core microcontroller, for the control center of central controller, be responsible for the computing of data, process and external interface mutual, by exchange control unit (3) and dma controller, asynchronous operation is carried out to system memory resources between the first inner core core (1) and the second core core (2), use clock-reset administration module (4) respectively to double-core core (1,2) and the clock of exchange control unit (3) arranged and managed, under making three be in different frequency of operations;
Memory module, i.e. RAM memory device (5) and program store (6), for storage program and data, be connected with exchange control unit (3); Analog input interface (7), i.e. A/D converter, for the collection of analog input amount, its one end is connected with multiple sensor by signal connector (8), and the other end is connected with the second core core (2);
Analog signal output interface (9), i.e. D/A converter, for converting digital signal to analog signal output, its one end is connected with electromagnetic braking controller by signal connector (8), and the other end is connected with the second core core (2);
On-off signal IO interface (10), export the instruction of LED Warning light for capture switch level signal, its one end is connected with LED Warning light with each switch, the other end is connected with the second core core (2);
High-speed CAN bus interface module (11), for providing high-speed CAN bus interface, its one end is connected with the high-speed CAN network controlling electronlmobil completely, and the other end is connected with the second core core (2);
RS-232 serial communication modular (12), for communicating with a kind of three-axis gyroscope, its one end connects gyroscope, and the other end is connected with the second core core (2):
Ethernet communication module (13), for carrying out data communication with portable host, its one end is connected with host by RJ-45 interface, and the other end is connected with the first core core (1);
Usb communication module (14), for data file is saved to external memory storage, its one end connects external memory storage, and the other end is connected with the first core core (1);
Power module (15), the each module that can be central controller provides insulating power supply, its one end is connected with external stabilized power, and the other end is connected with the first core core (1), the second core core (2), exchange control unit (3), clock-reset administration module (4), high-speed CAN bus interface module (11), RS-232 serial communication modular (12), ethernet communication module (13), usb communication module (14).
Because each sensor is different with the requirement of real-time of actr, need to carry out a point circulation executed in parallel to each sensor and actr.This central controller adopts dual processors (Central Processing Unit, central process unit) structure, is be longer than the first core core of algorithm and be longer than the second core core of control respectively.By exchange control unit and DMA (Direct Memory Access, direct memory access) controller, asynchronous operation is carried out to system memory resources (comprising RAM memory device and FLASH program store) between double-core.Use clock-reset administration module to be arranged the clock of double-core core and exchange control unit and manage respectively, under enabling three be in different frequency of operations, ensure that double-core walks abreast Real-Time Scheduling and Memory Allocation.
The mutual conversion of the second core core respectively between control simulation signal and digital signal, the seizure of on-off signal, CAN (Controller Area Network, control area net(CAN)) communication of bus and RS-232 serial ports, be responsible for gathering car load sensor signal and also send the controller of control command to each actuating unit.
Wherein: steering wheel angle sensor and braking with drive pedal sensor be analog quantity, need coordinate A/D (Analog to Digital, Analog-digital Converter) conv convert to digital quantity confession the second core core process; Driving model select switch and advance/reversing switch are level switch signal, need coordinate programmable logic device (PLD) collection; CAN connects the controller of 4 steer motor and 4 drive motor, turns to drive system and the status information reading each actuating unit for controlling car load; Electromagnetic brake system uses analog signal to control independent of turning to drive system, and when avoiding braking, its controller produces larger current with the impact caused car load CAN network, ensure that certain reliability; RS-232 serial ports connects three-axis gyroscope, for controlling gyroscope and reading the angular velocity signal of vehicle centroid position longitudinal direction, side direction, vertical acceleration/accel and yaw, inclination, luffing, is convenient to the integrated control method that car load realization is more advanced.
First core core is analyzed by the sensor signal collected the second core core, calculates the control command of each actr and passes to the second core core, to realize car load steering swivel system, drive system, the jointly controlling of brake system.Meanwhile, first core core is undertaken based on UDP (User Datagram Protocol by ethernet and portable host, UDP) network service of agreement, be responsible for transmitting instrument signal and respond the control command that host sends, by USB (Universal Serial Bus, USB) controller carries out read-write operation to external memory storage, for recording relevant information and the failure message of car load electric-control system, result saves as binary number file.
Central controller power module can be each core core and module provides insulating power supply, is connected with battery-driven car constant voltage power suspply.
A kind of control method of all fronts control electronlmobil central controller comprises the following steps:
1. initialization clock-reset administration module, resets to the clock of double-core core, exchange control unit and dma controller and arranges;
2. central controller switches on power and each external interface of initialization and control and signal parameter, any interface initialization failure just stops subsequent step and gives LED (Light Emitting Diode, light-emitting diode) alarm lamp display, to treat that user investigates mistake;
3. control double-core core executed in parallel six real-time circulations to carry out read-write operation to each interface and parameter, each core core adopts the method for software programming to realize the executed in parallel of multithreading, wherein the first core core is responsible for running ethernet communication, control integrated control method and these three real-time circulations of recording data files of electronlmobil completely, second core core is responsible for working train family/digital conversion and on-off signal collection, CAN network communicates, these three real-time circulations of serial communication, data communication is carried out by RAM memory device between circulation and circulation, dispatched by exchange control unit and dma controller,
4., after host transmission is ceased and desisted order, central controller stops each circulating successively and cuts out corresponding external interface, and during any interface Fail-closed, LED alarm lamp can be shown, to treat that user investigates mistake.
Owing to there is the circulation of executed in parallel, the competition (i.e. RAM memory device and FLASH program store) of system memory resources may be caused, need to arbitrate the priority of each real-time circulation, input preferential principle based on chaufeur, each circulation is set as follows from high to low to the priority of memory read/write: (1) collection of simulant signal (writing); (2) on-off signal collection (writing); (3) CAN network obtains the status signal (writing) of steering swivel system, driving system controller; (4) RS-232 serial ports obtains gyroscope signal (writing); (5) car load integrated control method call signal and controling parameters (reading); (6) car load integrated control method amendment signal and controling parameters (writing); (7) analog signal output is to electromagnetic braking controller (reading); (8) CAN network sends steering swivel system, driving system controller control command (reading); (9) RS-232 serial ports sends gyroscope control command (reading); (10) ethernet obtains the control command (writing) that host sends; (11) ethernet is sent to host car status information (reading); (12) data file (reading).
Set by the priority circulated to distinct program, a kind of control method of all fronts control electronlmobil master control system comprises the following steps:
1. record steering wheel angle and braking and driving pedal sensor by steering wheel angle sensor and record pedal displacement, pass to central controller;
2. gather the on-off signal of driving model and travel direction switching, and pass to central controller;
3. read the status signal of steering swivel system, driving system controller by CAN network, and be passed to central controller;
4. obtain gyroscope signal by RS-232 serial ports, and be passed to central controller;
5. car load integrated control method calls the car load sensor information obtained and analyzes, and calculates the control command of each actr;
6. by analog signal output to electromagnetic braking controller control command;
7. send to steering swivel system, driving system controller control command by CAN network;
8. send to gyroscope control command by RS-232 serial ports;
9. obtained the control command of portable host transmission by ethernet, and return car status information to host;
10. data file.
All fronts control electronlmobil integrated control method described in technical scheme comprises:
1. steering swivel system original point position process and braking during standstill, front-wheel steering, rear-axle steering, four-wheel steering, wedge shape turn to, mutual switching between pivot stud six kinds of driving models and different driving model;
2. drive system is according to the input of chaufeur, sensor information and driving model output drive strength square control signal;
3. brake system exports brake torque control signal according to the input of chaufeur, sensor information and driving model.
Compared with prior art the invention has the beneficial effects as follows:
1. central controller of the present invention adopts dual-cpu structure, by exchange control unit and dma controller distributing system resource, double-core concurrent management, coordination, monitors and records each Vehicle Controller and sensor, give full play to the advantage of each core core;
2. central controller of the present invention comprises RS-232 serial ports, coordinates control method to communicate with a kind of three-axis gyroscope, and its acceleration/accel obtained and angular velocity signal, realize more advanced integrated control method for car load;
3. central controller controls method of the present invention is double-core core executed in parallel six real-time circulations, thus meet each sensor requirement of real-time different with actr, input preferential principle based on chaufeur simultaneously, be provided with the priority of each circulation respectively, thus the system memory resources competition produced when effectively avoiding cardiopulmonary bypass in beating heart to perform;
4. central controller controls method of the present invention is provided with wheel original point position process for controlling electric vehicle structure feature completely, eliminates the deviation that steering swivel system produces in the process of moving;
5. central controller controls method of the present invention is provided with front-wheel steering for the Volume control of completely control electronlmobil, rear-axle steering, four-wheel steering (four-wheel turns in the same way, four-wheel is incorgruous turns to), wedge shape turn to (general wedge shape turns to, walks crosswise), the function switched between pattern and different mode is sailed in the driving of pivot stud;
6. central controller car load integrated control method of the present invention is based on the Design Mode of state machine, and the degree of modularity is high, is convenient to improve existing car load integrated control method and add new driving model;
7. to comprise multilevel software fault-tolerant for the control method of central controller of the present invention, ensure that the safety and reliability of car load.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Fig. 1 is the structural representation that all fronts of the present invention control electronlmobil is in wheel condition under different driving model;
Fig. 2 is the hardware configuration schematic diagram of all fronts of the present invention control electronlmobil;
Fig. 3 is the hardware configuration schematic diagram of all fronts of the present invention control electronlmobil wheel original point position switch;
Fig. 4 is the topology diagram of all fronts of the present invention control electronlmobil CAN network;
Fig. 5 is the hardware capability block diagram of all fronts of the present invention control electronlmobil central controller;
Fig. 6 is the circuit diagram of all fronts of the present invention control electronlmobil central controller;
Fig. 7 is the workflow diagram of all fronts of the present invention control electronlmobil central controller;
Fig. 8 is the control flow chart of all fronts of the present invention control electronlmobil driving model handover module;
Fig. 9 is the control flow chart of all fronts of the present invention control electronlmobil when being in original point position state;
Figure 10 is the calculation flow chart of a kind of steering wheel angle sensor of the present invention;
Figure 11 is the control flow chart of all fronts of the present invention control electronlmobil driving and lock torque;
Figure 12 is the schematic diagram that all fronts of the present invention control electronlmobil steer motor controls;
Figure 13 is the state transition diagram that all fronts of the present invention control electronlmobil driving model switches;
Figure 14 is the characteristic schematic diagram of a kind of steering wheel angle sensor of the present invention;
Figure 15 is the characteristic schematic diagram of a kind of pedal sensor of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
The present invention is directed a kind of four-wheel independent steering, individual drive, independent brake control central controller and the control method thereof of electronlmobil completely, electronlmobil four wheels can ° rotation around steering shaft ± 90.Its development requires manages in real time each Vehicle Controller and sensor, coordinates, monitors and record, finally realizes car load braking during standstill as shown in Figure 1 (Fig. 1 .a); Front-wheel steering (Fig. 1 .b); Rear-axle steering (Fig. 1 .c); Four-wheel steering, comprising: four-wheel turns in the same way (Fig. 1 .d), four-wheel is incorgruous turns to (Fig. 1 .e); Wedge shape turns to, and comprises walking crosswise (Fig. 1 .g) when general wedge shape turns to (Fig. 1 .f), four steering wheel angles are all ± 90 °; The function switched between the driving model of pivot stud (Fig. 1 .h) and different mode, requires car load to drive simultaneously and brake system responds the manipulation input of chaufeur under different vehicle state.
The central controller that the present invention is based on a kind of all fronts control electronlmobil comprises following radical function:
1. the requirement of real-time for each controller and sensor arranges different timing cycles to carry out real-time, interactive to internal storage and external device;
2. gather steering wheel angle, pedal displacement analog signal, catch the level switch signal that driving model is selected, travel direction switches;
3. by the control signal of analog output electromagnetic braking controller;
4. receive the sensor signal of four steer motor and four drive motor by CAN and send control command;
5. control a kind of three-axis gyroscope by RS-232 serial ports and the acceleration/accel of collection vehicle centroid position and angular velocity signal;
6. the ethernet controller based on UDP communication protocol connects portable host, transmits whole vehicle state information and receives control command;
7. connect external storage by USB interface, and with the relevant information of binary number file record car load electric-control system and failure message;
8. the mistake that pair outside interface initialization and shutoff operation occur gives the display of LED Warning light.
As shown in Figure 2, the actuating unit of car load comprises the hardware configuration of all fronts of the present invention control electronlmobil: four hub driven motors 1 and controller 2, four steer motor 3 thereof and controller 4, four magnet stoppers 5 thereof and controller 6 thereof.Hub driven motor is fixed on inside wheel, its stator output shaft connects magnet stopper, both keep certain brake clearance, magnet stopper is connected by wheel steering mechanism 7, whole wheels assembly comprises: wheel 8, hub driven motor 1, magnet stopper 5, wheel steering mechanism 7, suspension, it rotates around wheel steering shaft, is changed and control corner by steer motor.Onboard sensor 9 includes: steering wheel angle sensor, driving/braking pedal displacement sensor, driving model select switch, vehicle traveling direction change-over switch, and control electronlmobil is equipped with three-axis gyroscope sensor 10 completely simultaneously.Central controller 11 is communicated with steer motor controller 4 with the drive motor controller 2 in high-speed CAN bus by CAN interface 12; Gathered simulation and the on-off signal of onboard sensor 9 by data acquisition interface 13, and export analog voltage signal to electromagnetic braking controller 6; Communicated with three-axis gyroscope 10 by RS-232 interface 14; Communicated with portable host 16 by RJ-45 interface 15.The electric power system 17 of car load comprises: 72V lead-acid batteries supply wheel hub drive motor controller 2,24V lead-acid batteries supply wheel steering electric machine controller 4 and electromagnetic braking controller 6,12V lead-acid storage battery supply the DC/AC inverter 18 that vehicle-mounted 12V turns 220V.Inverter exports to constant voltage power suspply 19 and portable host 16, constant voltage power suspply exports the DC regulated power supply of two-way 5V and 12V, wherein 5V direct current exports to onboard sensor 9 as the reference voltage, and 12V direct current exports to power supply interface 20, the three-axis gyroscope 10 of car load central controller.
Consult Fig. 5, a kind of electronlmobil of control completely controllable system comprises: steering swivel system, drive system, brake system.Steering swivel system comprises: bearing circle, driving model select switch, wheel original point position switch, steer motor; Drive system comprises: acceleration pedal, travel direction change-over switch, hub driven motor; Brake system comprises: brake pedal, magnet stopper.In addition, the state of kinematic motion of vehicle can be known by three-axis gyroscope, and chaufeur and vehicle can be undertaken by portable host alternately.Car load central controller connects peripheral control unit, sensor and equipment by such as lower interface: collection of simulant signal interface closure dish rotary angle transmitter, driving/braking pedal sensor, on-off signal acquisition interface connects driving model change-over switch, wheel original place position-sensing switch, travel direction select switch, analog signal output interface connects electromagnetic braking controller, CAN transceiver connects the controller of steer motor and hub driven motor, serial ports transceiver connects three-axis gyroscope, and ethernet transceiver connects portable host.Need it is to be noted that do not describe car load central controller carries out data file to external memory storage function by USB controller in Fig. 2 and Fig. 5.
The structure of all fronts control electronlmobil central controller of the present invention as shown in Figure 6.This central controller adopts dual-cpu structure, is be longer than the first core core of algorithm and be longer than the second core core of control respectively.By exchange control unit and dma controller, asynchronous operation is carried out to system memory resources (comprising RAM memory device and FLASH program store) between double-core.Use clock-reset administration module to be arranged the clock of double-core core and exchange control unit and manage respectively, under enabling three be in different frequency of operations, ensure that double-core walks abreast Real-Time Scheduling and Memory Allocation.The mutual conversion of the second core core respectively between control simulation signal and digital signal, the seizure of on-off signal, CAN (Controller Area Network, control area net(CAN)) communication of bus and RS-232 serial ports, be responsible for gathering car load sensor signal and also send the controller of control command to each actuating unit.Wherein: steering wheel angle sensor and braking with drive pedal sensor be analog quantity, need coordinate A/D converter convert to digital quantity confession the second core core process; Driving model select switch and advance/reversing switch are level switch signal, need coordinate programmable logic device (PLD) collection; CAN connects the controller of 4 steer motor and 4 drive motor, turns to drive system and the status information reading each actuating unit for controlling car load; Electromagnetic brake system uses analog signal to control independent of turning to drive system, and when avoiding braking, its controller produces larger current with the impact caused car load CAN network, ensure that certain reliability; RS-232 serial ports connects three-axis gyroscope, for controlling gyroscope and reading the angular velocity signal of vehicle centroid position longitudinal direction, side direction, vertical acceleration/accel and yaw, inclination, luffing, is convenient to the integrated control method that car load realization is more advanced.First core core is analyzed by the sensor signal collected the second core core, calculates the control command of each actr and passes to the second core core, to realize car load steering swivel system, drive system, the jointly controlling of brake system.Meanwhile, first core core carries out the network service based on udp protocol by ethernet and portable host, be responsible for transmitting instrument signal and respond the control command that host sends, by USB controller, read-write operation is carried out to external memory storage, for recording relevant information and the failure message of car load electric-control system, result saves as binary number file.Central controller power module can be each core core and module provides insulating power supply, is connected with battery-driven car constant voltage power suspply.
Consult Fig. 7, a kind of control method of all fronts control electronlmobil central controller comprises the following steps:
1. initialization clock-reset administration module, resets to the clock of double-core core, exchange control unit and dma controller and arranges;
2. central controller switches on power and each external interface of initialization and control and signal parameter, and any interface initialization failure just stops subsequent step also giving LED alarm lamp display, to treat that user investigates mistake;
3. control double-core core executed in parallel six real-time circulations to carry out read-write operation to each interface and parameter, data communication is carried out by RAM memory device between double-core, dispatched by exchange control unit and dma controller, each core core adopts the method for software programming to realize the executed in parallel of multithreading;
4., after host transmission is ceased and desisted order, central controller stops each circulating successively and cuts out corresponding external interface, and during any interface Fail-closed, LED alarm lamp can be shown, to treat that user investigates mistake.
Different with the requirement of real-time of actr for each sensor, described double-core core executed in parallel six real-time circulations comprise:
1. ethernet communication (the first core core performs, repetition period: 10ms);
2. car load integrated control method (the first core core performs, repetition period: 1ms);
3. data file (the first core core performs, repetition period: 50ms);
4.A/D changes, on-off signal collection, D/A conversion (the second core core performs, repetition period: 1ms);
5.CAN bus communication (the second core core performs, repetition period: 7ms);
6. serial communication (the second core core performs, repetition period: 20ms).
Owing to there is the circulation of executed in parallel, the competition (i.e. RAM memory device) of system memory resources may be caused, need to arbitrate the priority of each real-time circulation, input preferential principle based on chaufeur, each circulation is set as follows from high to low to the priority of memory read/write:
1. collection of simulant signal (to internal RAM memory write operation);
2. on-off signal collection (to internal RAM memory write operation);
The status signal (to internal RAM memory write operation) of 3.CAN Network Capture steering swivel system, driving system controller;
4.RS-232 serial ports obtains gyroscope signal (to internal RAM memory write operation);
5. car load integrated control method call signal and controling parameters (to internal RAM memory read operation);
6. car load integrated control method amendment signal and controling parameters (to internal RAM memory write operation);
7. analog signal output is to electromagnetic braking controller (to internal RAM memory read operation);
8.CAN network sends steering swivel system, driving system controller control command (to internal RAM memory read operation);
9.RS-232 serial ports sends gyroscope control command (to internal RAM memory read operation);
10. ethernet obtains the control command (to internal RAM memory write operation) that host sends;
11. ethernets are sent to host car status information (to internal RAM memory read operation);
12. data file (to internal RAM memory read operation).
Set by the priority circulated to distinct program, a kind of control method of all fronts control electronlmobil master control system comprises the following steps:
1. record steering wheel angle and braking and driving pedal sensor by steering wheel angle sensor and record pedal displacement, pass to central controller;
2. gather the on-off signal of driving model and travel direction switching, and pass to central controller;
3. read the status signal of steering swivel system, driving system controller by CAN network, and be passed to central controller;
4. obtain gyroscope signal by RS-232 serial ports, and be passed to central controller;
5. car load integrated control method calls the car load sensor information obtained and analyzes, and calculates the control command of each actr;
6. by analog signal output to electromagnetic braking controller control command;
7. send to steering swivel system, driving system controller control command by CAN network;
8. send to gyroscope control command by RS-232 serial ports;
9. obtained the control command of portable host transmission by ethernet, and return car status information to host;
10. data file.
Consult Figure 14 and Figure 10, respectively describe a kind of signal intensity characteristic and calculation process thereof of steering wheel angle sensor.Two signals of sensor are linear change with the rotation of bearing circle, the phase difference of 90 ° is there is between signal P1 and P2, by the circulation of central controller collection of simulant signal try to achieve this circulation and upper a circulate between the variation delta P1 of signal and Δ P2, thus the variation delta Angle calculating corner also accumulate obtain bearing circle work as front hook.In order to eliminate the accumulated error of steering wheel angle sensor in vehicle travel process, after host sends steering handwheel reset command, default steering handwheel current location is zero-bit, and Δ P1, Δ P2 and Δ Angle is made zero.
The characteristic of a kind of pedal sensor of the present invention as shown in figure 15.Because sensor signal has noise, signal has drift at end position, thus cannot realize the manipulation request exporting or close driving/braking moment completely, and when namely pedal position is 0%, signal value P is slightly larger than 0; When pedal position is 100%, signal value P is slightly less than 1.Control method of the present invention has been done as down conversion: P ÷ 0.95-0.05.Thus achieve the manipulation input exporting or close drive torque completely, and ensure that the idle travel of about 5% pedal displacement, reduce the maloperation of chaufeur.
A kind of electronlmobil of control completely of the present invention comprises three kinds of actuating units: steer motor, drive motor, magnet stopper.The topology diagram of all fronts control electronlmobil CAN network of the present invention as shown in Figure 4; high-speed CAN Web vector graphic bus type structure connects 4 steer motor controllers and 4 drive motor controller successively, and the current-limiting resistance of bus two ends two 12 Ω in parallel is to protect each CAN interface.The sending order of CAN network data frame is: left front steer motor controller → right back steer motor controller → right front steer motor controller → left back steer motor controller → left drive electric machine controller → right back drive motor controller → right front steer motor controller → left back steer motor controller.Because motor is not executed in parallel on the microcosmic time, the benefit arranged like this is steering swivel system preferential answering driver's operation, and the wheel reducing each motor execution time inconsistent generation adds force and moment.Bus type topological structure, under the prerequisite ensureing communication reliability and stability, makes full use of the network bandwidth, and the communication delay that elimination brings after arranging gateway, real-time is better.What automobile reliability requirement was the highest is brake system, therefore electromagnetic braking controller is controlled separately independent of other actuating units.Car load central controller uses analog signal output interface directly to send control command to electromagnetic braking controller, and when avoiding braking, electromagnetic braking controller produces larger current with the impact caused car load CAN network.
The angular acceleration of a kind of three-axis gyroscope energy measuring vehicle centroid position place of the present invention longitudinal direction, side direction, vertical acceleration/accel and yaw, inclination, luffing, central controller is communicated with by RS-232 rs 232 serial interface signal.Gyroscope has two kinds of communication patterns, and respectively: continuous mode, namely sensor constantly transmission serial ports instruction is in real time resolved by other equipment; Request-feedback model, namely sensor receives the control word that external device sends, and feeds back the state of kinematic motion of Current vehicle.The first pattern easily produces the Lou phenomenon such as frame, string frame, and the second mode reliability is higher.A kind of three-axis gyroscope of the present invention uses the communication pattern based on request-feedback.
Central controller carries out the network service based on udp protocol by Ethernet interface (RJ-45 interface) and portable host, is responsible for transmitting instrument signal and responds the control command that host sends.Adopt the udp protocol without the need to response to ensure that the ability that network connects fast and information is transmitted, real-time is better.User can be sent to central controller by host and cease and desist order, thus interrupts full-vehicle control.Central controller carries out read-write operation by USB interface to external memory storage, and for recording relevant information and the failure message of car load electric-control system, result saves as binary number file, and file size is little, write and reading speed fast.
The signal that portable host receives central controller transmission has: the wheel speed of the reality of the reality of 4 steer motor and target rotation angle, 4 drive motor and target control electric current, 4 wheels, current with target driving model, wheel original point position on-off signal, gyroscope acceleration/accel and angular velocity signal, steering wheel angle signal; Host sends to the order of central controller to have: steering wheel angle sensor reset control, open or stop the function of central controller data file, central controller ceases and desist order; Data file content comprises: the wheel speed of the reality of the reality of 4 steer motor and target rotation angle, 4 drive motor and target control electric current, 4 wheels, current with target driving model, gyroscope acceleration/accel and angular velocity signal, steering wheel angle signal, driving/braking pedal displacement signal.
All fronts control electronlmobil integrated control method of the present invention comprises:
1. steering swivel system original point position process and braking during standstill, front-wheel steering, rear-axle steering, four-wheel steering, wedge shape turn to, mutual switching between pivot stud six kinds of driving models (under any driving model, inner and outer wheel all meets Ackermann angle relation) and different driving model;
2. drive system is according to the input of chaufeur, sensor information and driving model output drive strength square control signal;
3. brake system exports brake torque control signal according to the input of chaufeur, sensor information and driving model.
The state transition diagram of electronlmobil steering swivel system driving model switching is controlled as shown in figure 13 in all fronts of the present invention: car load just enters original point position process after starting, braking during standstill pattern is changed into after end to be positioned, now user can the different driving model of unrestricted choice, coordinate driving model handover module, vehicle can between braking during standstill and six kinds of driving models any switching laws between two.Consult Fig. 8, all fronts of the present invention control electronlmobil driving model handover module is by gathering ownership goal driving model and the current state of vehicle, judge whether any drive wheel wheel speed is less than 10 revs/min and the absolute value of the difference of wheel flutter actual rotational angle and target rotation angle is less than 10 ° arbitrarily, thus control car load enters new driving model, first Rule of judgment ensures that vehicle is in the state of coming to a complete stop substantially, and second Rule of judgment ensures that vehicle is not in handoff procedure or steer motor between pattern and breaks down.Make software restriction to wheel target control corner, its absolute value is not more than 90 °, to ensure the safety and reliability of steering swivel system in car load driving process simultaneously.
Because wire control technology eliminates all mechanical connections between steering unit and actuating unit, when vehicle starts at every turn, all first to carry out original point position process, to eliminate the corner accumulated error that steer motor produces in operational process and the distortion compensating steering hardware.Consult Fig. 3, the structure of all fronts control electronlmobil wheel original point position switch of the present invention comprises position-sensing switch 21 and wheel alignment disc 22.The position-sensing switch of each wheel is installed on vehicle frame 23, wheel alignment disc is installed on steering shaft 24, disc 22 located by wheel when zero crossings turns to can drive position-sensing switch 21 closure or openness, judges the zero-bit of current wheel by the change of capture switch signal.In order to ensure precision and the speed of original point position process simultaneously, the locate mode that the present invention describes adopts four wheel executed in parallel original point position (every 7ms rotate ± 0.05 °), and concrete control flow chart as shown in Figure 9.If wheel original point position switch failure arbitrarily, integrated control method ensures that the absolute value of wheel steering angle is not more than 90 °, and the wire harness preventing wheel unlimited rotary from causing damages, and makes car load maintain original point position state, to wait for that user investigates mistake.
Consult Figure 12, all fronts control electronlmobil steer motor of the present invention has four kinds of control commands, and respectively: enable control, namely instruction control unit powers on to steer motor, and standby; Arrange absolute zero position, namely instruction control unit sets current wheel angle position is zero-bit; Enable position controls, and namely controller receives absolute angle position order and controls motor movement to this position; Read actual rotational angle, namely request controller returns current motor angle position signal.First vehicle carries out enable control to four steer motor and arranges wheel current location (whatsoever position) being absolute zero position at initial phase, then sends enable position control command (now not sending the request of reading actual rotational angle) and performs original point position control method.After original point position process terminates, with eight time slots for the cycle, send the request of reading actual rotational angle every a time slot (7ms) to wherein independent steer motor, other times require to send enable position control command according to integrated control method.Adopt this kind of scheme decrease steer motor due to the rotating angle movement sending other control commands and cause discontinuous, and this shake produced is distributed on each wheel and each time slot, ensure that the promptness (angular signal of each wheel flutter refreshes once every 56ms) of wheel steering angle signal simultaneously.Drive motor uses closed-loop current control, and its controller adopts inquiry mode to be controlled, and after namely each time slot sends target current order to 4 drive motor controller, controller just feeds back the actual drive current of current motor and wheel wheel speed signal.
The control flow chart of control electronlmobil driving in all fronts of the present invention and lock torque as shown in figure 11, under vehicle original point position and braking during standstill pattern, 4 wheels are braked completely and cut off drive torque, under other patterns, central controller receive respectively drive and brake pedal signal thus respectively to drive and brake system control.Because drive motor uses closed-loop current control, control drive current and can reach the object controlling motor torque; The lock torque proportionate relationship of brake system antero posterior axis is set by electromagnetic braking controller, the demand of analog signal output car load total braking force square.
Embodiment recited above is only be described the preferred embodiment of the present invention; not the spirit and scope of the present invention are limited; do not departing under design concept prerequisite of the present invention; the various modification that in this area, common engineering staff make technical scheme of the present invention and improvement; all should fall into protection scope of the present invention, the technology contents of request protection of the present invention is all recorded in detail in the claims.

Claims (8)

1. control the control method of electronlmobil central controller completely for one kind, it is characterized in that: described all fronts control electronlmobil central controller gathers pilot control input and gyroscope signal, the state of kinematic motion turned to drive motor is known by CAN, by CAN and analog signal output interface to turning to, driving and brake system carries out integrating control, these all fronts control electronlmobil central controller comprises:
Double-core core microcontroller, for the control center of central controller, be responsible for the computing of data, process and external interface mutual, by exchange control unit (3) and dma controller, asynchronous operation is carried out to system memory resources between the first inner core core (1) and the second core core (2), clock-reset administration module (4) is used to be arranged and manage the clock of the first core core (1), the second core core (2) and exchange control unit (3), under making three be in different frequency of operations respectively;
Memory module, i.e. RAM memory device (5) and program store (6), for storage program and data, be connected with exchange control unit (3); Analog input interface (7), i.e. A/D converter, for the collection of analog input amount, its one end is connected with multiple sensor by signal connector (8), and the other end is connected with the second core core (2);
Analog signal output interface (9), i.e. D/A converter, for converting digital signal to analog signal output, its one end is connected with electromagnetic braking controller by signal connector (8), and the other end is connected with the second core core (2);
On-off signal IO interface (10), export the instruction of LED Warning light for capture switch level signal, its one end is connected with LED Warning light with each switch, the other end is connected with the second core core (2);
High-speed CAN bus interface module (11), for providing high-speed CAN bus interface, its one end is connected with the high-speed CAN network controlling electronlmobil completely, and the other end is connected with the second core core (2);
RS-232 serial communication modular (12), for communicating with a kind of three-axis gyroscope, its one end connects gyroscope, and the other end is connected with the second core core (2);
Ethernet communication module (13), for carrying out data communication with portable host, its one end is connected with host by RJ-45 interface, and the other end is connected with the first core core (1);
Usb communication module (14), for data file is saved to external memory storage, its one end connects external memory storage, and the other end is connected with the first core core (1);
Power module (15), the each module that can be central controller provides insulating power supply, its one end is connected with external stabilized power, and the other end is connected with the first core core (1), the second core core (2), exchange control unit (3), clock-reset administration module (4), high-speed CAN bus interface module (11), RS-232 serial communication modular (12), ethernet communication module (13), usb communication module (14);
The control method of these all fronts control electronlmobil central controller comprises the steps:
1) initialization clock-reset administration module (4), resets to the clock of the first core core (1) and the second core core (2), exchange control unit (3) and dma controller and arranges;
2) central controller switches on power and each external interface of initialization and control and signal parameter, during any interface initialization failure, just stops subsequent step and gives LED alarm lamp display, to treat that user investigates mistake;
3) the first core core (1) and the second core core (2) executed in parallel six real-time circulations are controlled to carry out read-write operation to each interface and parameter, each core core adopts the method for software programming to realize the executed in parallel of multithreading, wherein the first core core (1) is responsible for running ethernet communication, integrated control method and these three real-time circulations of recording data files, second core core (2) is responsible for working train family/digital conversion and on-off signal collection, CAN network communicates, these three real-time circulations of serial communication, data communication is carried out by RAM memory device (5) between circulation and circulation, dispatched by exchange control unit (3) and dma controller,
4) after host transmission is ceased and desisted order, central controller stops each circulating successively and cuts out corresponding external interface, and during any interface Fail-closed, LED alarm lamp can be shown, to treat that user investigates mistake.
2. the control method of a kind of all fronts control electronlmobil central controller according to claim 1, is characterized in that: described is comprised by six real-time circulations of the first core core and the second core core executed in parallel:
1) ethernet communication, is performed by the first core core, repetition period: 10ms;
2) car load integrated control method, is performed by the first core core, repetition period: 1ms;
3) data file, is performed by the first core core, repetition period: 50ms;
4) A/D conversion, on-off signal collection, D/A conversion, performed by the second core core, repetition period: 1ms;
5) CAN communication, is performed by the second core core, repetition period: 7ms;
6) serial communication, is performed by the second core core, repetition period: 20ms.
3. the control method of a kind of all fronts control electronlmobil central controller according to claim 1, is characterized in that: the first described core core and the second core core arrange as follows to the priority that RAM memory device carries out read-write operation:
1) collection of simulant signal, to internal RAM memory write operation;
2) on-off signal collection, to internal RAM memory write operation;
3) CAN network obtains the status signal of steering swivel system, driving system controller, to internal RAM memory write operation;
4) RS-232 serial ports obtains gyroscope signal, to internal RAM memory write operation;
5) car load integrated control method call signal and controling parameters, to internal RAM memory read operation;
6) car load integrated control method amendment signal and controling parameters, to internal RAM memory write operation;
7) analog signal output is to electromagnetic braking controller, to internal RAM memory read operation;
8) CAN network sends steering swivel system, driving system controller control command, to internal RAM memory read operation;
9) RS-232 serial ports sends gyroscope control command, to internal RAM memory read operation;
10) ethernet obtains the control command that host sends, to internal RAM memory write operation;
11) ethernet is sent to host car status information, to internal RAM memory read operation;
12) data file, to internal RAM memory read operation.
4. the control method of a kind of all fronts control electronlmobil central controller according to claim 2, it is characterized in that: central controller carries out the network service based on udp protocol by Ethernet interface and portable host, and the signal of transmission has: the wheel speed of the reality of the reality of 4 steer motor and target rotation angle, 4 drive motor and target control electric current, 4 wheels, current with target driving model, wheel original point position on-off signal, gyroscope acceleration/accel and angular velocity signal, steering wheel angle signal; Host sends to the order of central controller to have: steering wheel angle sensor reset control, open or stop the function of central controller data file, central controller ceases and desist order; Central controller data file content comprises: the wheel speed of the reality of the reality of 4 steer motor and target rotation angle, 4 drive motor and target control electric current, 4 wheels, current with target driving model, gyroscope acceleration/accel and angular velocity signal, steering wheel angle signal, driving/braking pedal displacement signal; Three-axis gyroscope uses the communication pattern based on request-feedback, sends control word by RS-232 serial ports, receives control word and feed back the state of kinematic motion of Current vehicle centroid position by gyroscope.
5. the control method of a kind of all fronts control electronlmobil central controller according to claim 2, is characterized in that: the integrated control method of described all fronts control electronlmobil comprises:
1) steering swivel system original point position process and braking during standstill, front-wheel steering, rear-axle steering, four-wheel steering, wedge shape turn to, mutual switching between pivot stud six kinds of driving models and different driving model;
2) drive system is according to the input of chaufeur, sensor information and driving model output drive strength square control signal;
3) brake system exports brake torque control signal according to the input of chaufeur, sensor information and driving model.
6. the control method of a kind of all fronts control electronlmobil central controller according to claim 5, it is characterized in that: described all fronts control electronlmobil steering swivel system is after initial phase completes wheel original point position, enter braking during standstill state, coordinate that driving model handover module completes braking during standstill, front-wheel steering, rear-axle steering, four-wheel steering, wedge shape turn to according to the model selection of chaufeur input, mutual switching between pivot stud six kinds of driving models and different driving model; Original point position adopts four wheels to walk abreast the mode of location, and steering swivel system ensures that in vehicle travel process inboard wheel and outboard wheels meet Ackermann angle relation and the absolute value limiting wheel steering angle is not more than 90 °; Under vehicle original point position and braking during standstill pattern, 4 wheels are braked completely and cut off drive torque, under other patterns, central controller receive respectively drive and brake pedal signal thus respectively to drive and brake system control.
7. the control method of a kind of all fronts control electronlmobil central controller according to claim 6, it is characterized in that: driving model handover module is by gathering ownership goal driving model and the current state of vehicle, judge whether any drive wheel wheel speed is less than 10 revs/min and the absolute value of the difference of wheel flutter actual rotational angle and target rotation angle is less than 10 ° arbitrarily, thus control car load enters new driving model, make software restriction to wheel target control corner, its absolute value is not more than 90 ° simultaneously.
8. the control method of electronlmobil central controller is controlled in a kind of all fronts according to claim 1, it is characterized in that: the sending order of CAN network data frame is: left front steer motor controller → right back steer motor controller → right front steer motor controller → left back steer motor controller → left drive electric machine controller → right back drive motor controller → right front steer motor controller → left back steer motor controller; First carry out enable control to four steer motor and arrange wheel current location being absolute zero position at initial phase, then send enable position control command and perform original point position control method, after original point position process terminates, with eight time slots for the cycle, send the request of reading actual rotational angle every a time slot 7ms to wherein independent steer motor, other times send enable position control command according to the requirement of integrated control method; Drive motor uses closed-loop current control, and its controller adopts inquiry mode to be controlled, and after namely each time slot sends target current order to 4 drive motor controller, controller just feeds back the actual drive current of current motor and wheel wheel speed signal.
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