CN103223940B - A kind of electric car coordination control system - Google Patents
A kind of electric car coordination control system Download PDFInfo
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Abstract
A kind of electric car coordination control system, it comprises storage battery, tuning controller, driving governor, brake controller and steering controller; Storage battery is connected respectively with above-mentioned four controllers, is connected between each controller by CAN; This tuning controller gathers acceleration pedal, the brake pedal of chaufeur and handling maneuver inputs, the status information of vehicle and the input of other each controller; Drive torque needed for this driving governor had both calculated according to the aperture of acceleration pedal, compensates control according to the order of tuning controller to drive torque again; Lock torque needed for this brake controller calculates according to brake-pedal travel, and carry out braking-torque compensation control according to the control command of tuning controller; This steering controller calculates the deflection angle of front and rear wheel according to the corner of steering handwheel, and carries out wheel turning angle compensatory control according to the order of tuning controller.This electric car coordination control system improves road-holding property and the safety of electronlmobil effectively.
Description
Technical field
The present invention relates to a kind of electric car coordination control system, particularly relate to a kind of electric car coordination control system adopting distributed line traffic control actuating unit and controller, belong to control technology field.
Background technology
Electronlmobil as a kind of be energy source with battery, drive wheels travel, green traffic instrument close to no pollution with motor, its development has very important realistic meaning for solving the global energy, environmental problem
At present, the development of electronlmobil runs into following problem: safety and reliability can't ensure; Continual mileage is short, and charging duration is long and not convenient; Car load price is high, battery life is short.The main source of high cost of pure electric automobile comes from battery and motor, is difficult to significantly reduce within a very long time.Therefore, the cost performance of pure electric automobile can only be improved by the mode of improving performance, thus just can obtain the favor of customer.
Summary of the invention
For the technology status that electronlmobil is current, the invention provides a kind of electric car coordination control system, it is the electric car coordination control system adopting distributed line traffic control actuating unit and controller.This coordinated control system, mainly for the electronlmobil of control completely, can be used for the electronlmobil of four-wheel wheel hub motor individual drive, electronic mechanical braking, four-wheel steering-by-wire.
A kind of electric car coordination control system of the present invention, it comprises storage battery, tuning controller, driving governor, brake controller and steering controller.Storage battery is connected respectively with above-mentioned four controllers; In order to realize the cooperation control of control system, connected by CAN between each controller.
Described tuning controller plays the effect of cooperation control in whole control system.It is made up of process chip, power circuit, RC filter circuit, 232 communication circuits and CAN interface circuit, position annexation between them is: power circuit provides power supply to other each several part circuit, RC filter circuit, 232 communication circuits are all connected with process chip with CAN interface circuit, RC filter circuit is also connected with the incoming signal of outside simultaneously, 232 communication circuits are also connected with the serial ports of upper computer, and CAN interface circuit is also connected with the CAN of outside.The MC9S12XEP100 micro controller system that this process chip adopts Freescale company to produce; This power circuit is the circuit adopting LM2576 chip to build, can by the 5 volt power supplys of the Power convert of storage battery needed for controller work; This RC filter circuit is the filter circuit built by resistance and electric capacity, it carries out filtering to the voltage signal of outside input, it gathers the pedal force of acceleration pedal aperture, brake pedal, steering wheel angle, vehicle lateral acceleration and yaw velocity, sends voltage signal to process chip after filtering; This 232 communication circuit is the interface that tuning controller communicates with upper computer, the rs 232 serial interface signal of the Transistor-Transistor Logic level of process chip is converted to the rs 232 serial interface signal of 232 level by it, adopt MAX232 chip as the conversion chip of level, the car status information being used for process chip to collect when testing sends upper computer to; This CAN interface circuit is the interface that process chip is connected with CAN, and interface chip adopts TJA1040 chip, and process chip receives by it working control state that other controller sends over and sends compensatory control order to other controller.Tuning controller calculates the expectation running state of vehicle according to the control inputs of chaufeur and vehicle-state, and compare with the running state of reality, calculate the compensation drive torque of four wheels, lock torque and deflection angle by pseudo-Adverse control allocation algorithm.And these control commands are sent to other controller by CAN.
Described driving governor, controls the wheel hub motor on wheel.Wheel hub motor is brshless DC motor, and it is made up of 3 Hall elements comprising the stator of 3 groups of magnet coils, the rotor comprising permanent magnet and measurement motor position.Described driving governor is made up of process chip, power circuit, RC filter circuit, 3 groups of half-bridge circuits and CAN interface circuit, position annexation between them is: power circuit provides power supply to other each several part circuit, RC filter circuit, 3 groups of half-bridge circuits are all connected with process chip with CAN interface circuit, RC filter circuit is also connected with the incoming signal of outside simultaneously, 3 groups of half-bridge circuits are also connected with brushless motor, and CAN interface circuit is also connected with the CAN of outside.The MC9S12DG128 micro controller system that this process chip adopts Freescale company to produce; The Structure and function of this power circuit is identical with the power circuit in tuning controller; This RC filter circuit is used for gathering the signal of 3 Hall elements and the acceleration pedal opening amount signal of brushless motor, sends process chip to by after these signal filterings; These 3 groups of half-bridge circuits drive 3 groups of coils respectively, and it adopts 6 N-channel MOS pipes to build, and the model of metal-oxide-semiconductor is SSF7509.Process chip adopts 3 road pwm signals and 3 tunnel general purpose I/O signals to control 3 groups of half-bridge circuits, the driving order of conversion pwm signal and general purpose I/O signal can realize the rotating control of motor, regulates the dutycycle of pwm signal can realize the adjustment of motor drive torque; This CAN interface circuit is the interface that process chip is connected with CAN, and interface chip adopts TJA1040 chip, and process chip receives the compensatory control order from tuning controller by it.Driving governor calculates the drive torque of expectation according to the aperture of acceleration pedal, and controls the wheel hub motor on four wheels respectively.Meanwhile, driving governor by CAN reception from the compensation order of tuning controller, can also compensate control to drive torque, realizes direct yaw moment control (DYC).
Described brake controller, controls electromechanical brake.It is made up of process chip, power circuit, RC filter circuit, measuring wheel speed circuit, H-bridge circuit and CAN interface circuit, position annexation between them is: power circuit provides power supply to other each several part circuit, RC filter circuit, measuring wheel speed circuit, H-bridge circuit are all connected with process chip with CAN interface circuit, RC filter circuit is also connected with the incoming signal of outside simultaneously, measuring wheel speed circuit is also connected with wheel speed sensors, H-bridge circuit is also connected with the torque motor of brake inside, and CAN interface circuit is also connected with the CAN of outside.The MC9S12DG128 micro controller system that this process chip adopts Freescale company to produce; The Structure and function of this power circuit is identical with the power circuit in tuning controller; The pedal force signal of this RC filter circuit to brake pedal gathers, and sends process chip to after filtering; This wheel speed treatment circuit adopts NCV1124 chip to build, and the sine wave signal of magneto-electric type wheel speed sensor is converted to the manageable square-wave signal of micro controller system, and sends process chip to; This H-bridge circuit drives the torque motor in drg, and process chip adopts 2 road pwm signals to control H bridge, converts the pwm signal worked and can realize rotating control, regulate the dutycycle of pwm signal can realize the adjustment of motor drive torque; This CAN interface circuit is the interface that process chip is connected with CAN, and interface chip adopts TJA1040 chip, and process chip receives the compensatory control order from tuning controller by it and sends wheel speed signal to tuning controller.Described brake controller controls the braking force of the electromechanical brake of four wheels respectively.Brake controller calculates the lock torque of expectation according to the pedal force of brake pedal, realizes basic braking function.Also be integrated with the control logic of anti-lock in brake controller, by judging the locking trend of wheel to the process of wheel speed signal, the anti-lock that can realize wheel in emergency braking operating mode controls.Brake controller can also receive the compensation order of tuning controller transmission by CAN, compensate control, realize DYC function to lock torque.
The steering swivel system of battery-driven car is wire-controlled steering system, and steering handwheel and front and rear wheel are all equipped with rotary angle transmitter, and front and rear wheel turns to by there being brushless motor to drive.Described steering controller, controls the steer motor of front and rear wheel.It is made up of process chip, power circuit, RC filter circuit, 2 H-bridge circuit and CAN interface circuit, position annexation between them is: power circuit provides power supply to other each several part circuit, RC filter circuit, 2 H-bridge circuit are all connected with process chip with CAN interface circuit, RC filter circuit is also connected with the incoming signal of outside simultaneously, 2 H-bridge circuit are also connected with the steer motor of front and rear wheel, and CAN interface circuit is also connected with the CAN of outside.The MC9S12DG128 micro controller system that this process chip adopts Freescale company to produce; The Structure and function of this power circuit is identical with the power circuit in tuning controller; The signal of this RC filter circuit to the rotary angle transmitter of steering handwheel and front and rear wheel carries out filtering, and sends signal to process chip; This H-bridge circuit is used for driving the steer motor of front and rear wheel, process chip adopts 4 road pwm signals to control 2 H bridges, convert the pwm signal worked and can realize rotating control, regulate the dutycycle of pwm signal can realize the adjustment of electric machine rotation moment; This CAN interface circuit is the interface that process chip is connected with CAN, and interface chip adopts TJA1040 chip, and process chip receives the compensatory control order from tuning controller by it and sends the actual steering angle of front and rear wheel to tuning controller.Steering controller gathers the deflection angle of steering handwheel, front-wheel and trailing wheel, calculates the expectation deflection angle of front and rear wheel, control the deflection angle of following expectation to the steer motor of front and rear wheel according to the deflection angle of steering handwheel.Steering controller by CAN reception from the compensation order of tuning controller, can also compensate control to the deflection angle of front and rear wheel, realizes active steering simultaneously.
Wherein, the quantity of this tuning controller is one, and the quantity of driving governor is four, and the quantity of brake controller is four, and the quantity of steering controller is one.
Wherein, the present invention is controlled by pseudo-Adverse control allocation algorithm.This algorithm can represent with following formula
u
m=-c+D
#(w+Dc)
Wherein u
mfor controlling vector, it includes the drive torque of four wheels or the deflection angle of lock torque and front and rear wheel; C is compensation vector, is used for compensating the controlling quantity exceeding actuating unit executive capability; W is by expectation vehicle-state and actual vehicle state computation pseudo-controlling quantity out; D is controlled efficiency matrix; D
#for the pseudoinverse of D, D
#can represent with following formula
D
#=W
-1D
T(DW
-1D
T)
-1
Wherein, W is diagonal weight matrix, and its value reflects u
min weight shared by each controlling quantity.
When controller beyond certain or multiple tuning controller and (or) actuating unit break down, tuning controller is modified to W matrix, the controlling quantity of actuating unit in bad order and (or) controller is set to 0, and controlling quantity is re-assigned on other actuating unit.
Compared with prior art, a kind of electric car coordination control system adopting distributed line traffic control actuating unit and controller of the present invention, adopts distributed arrangement.Driving governor, brake controller and steering controller can work independently respectively, realize the most basic driving, braking and turning function.And the control command of tuning controller can be received by CAN, desired control amount is modified, makes vehicle obtain good road-holding property.When controller beyond certain or multiple tuning controller and (or) actuating unit break down, redistributing of controlling quantity can also be realized by the control redistribution algorithm of tuning controller; When tuning controller breaks down, other controller can the most basic braking of following respective realization, driving and turning function.
Adopt coordinated control system of the present invention, effectively can improve road-holding property and the safety of vehicle.
Accompanying drawing explanation
Fig. 1 is the structural representation of coordinated control system.
Fig. 2 is the input and output amount schematic diagram of tuning controller.
Fig. 3 is the control logic schematic diagram of driving governor.
Fig. 4 is the control logic schematic diagram of brake controller.
Fig. 5 is the control logic schematic diagram of steering controller.
Fig. 6 is the structural representation of pseudo-Adverse control allocation algorithm.
Fig. 7 be the near front wheel driving governor when breaking down controlling quantity redistribute result schematic diagram
In figure, nomenclature is as follows:
W: the pseudo-controlling quantity calculated by pseudo-controller.
U
m: the working control amount of each actuating unit of battery-driven car, comprises the deflection angle of the propulsive effort of four wheels and (or) braking force, wheel.
Y: the operation attitude of battery-driven car, comprises yaw velocity and the lateral acceleration of battery-driven car.
T
1, T
2, T
3, T
4: the drive torque of left front, left back, right back and off front wheel.
δ
f, δ
r: the deflection angle of front-wheel and trailing wheel.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, this coordinated control system that the present invention relates to comprises: storage battery 1, tuning controller 2, driving governor 3, brake controller 4 and steering controller 5.The above four kinds of controller is linked together by CAN, can communicate each other.
Described tuning controller 2 plays the effect of cooperation control in whole control system, is the core of whole control system.Only under the cooperation control of tuning controller 2, this coordinated control system just can reach best control effects.If tuning controller 2 breaks down, then other controller controls separately, though can realize basic driving, braking and turning function, can not reach best control effects.The incoming signal that tuning controller 2 gathers comprises: the yaw velocity of the pedal force of acceleration pedal aperture, brake pedal, the corner of steering handwheel, vehicle and lateral acceleration.The actual driving moment of four wheels from driving governor 3 can be received by CAN; From the estimated valve of the wheel speed of four wheels of brake controller 4, lock torque and the speed of a motor vehicle; From the wheel actual steering angle of steering controller 5.
As shown in Figure 2, tuning controller 2 with above-mentioned signal for input variable, by pseudo-Adverse control allocation algorithm, control is compensated to the drive torque of four wheels, lock torque and deflection angle, and control command is sent to driving governor 3, brake controller 4 and steering controller 5 by CAN.
The type of drive of the application corresponding to this coordinated control system is four-wheel wheel hub motor individual drive.Comprise four driving governors 3 in coordinated control system, respectively four wheel hub motors are controlled.The control logic of driving governor 3 as shown in Figure 3.Driving governor 3 gathers the aperture of acceleration pedal, by expecting that moment computing module calculates initial expectation drive torque, receives the compensation drive torque from tuning controller 2 by CAN simultaneously.Two moment summations can be obtained final expectation drive torque by driving governor 3.Current sampling resistor in driving governor 3 also gathers the electric current of wheel hub motor, calculates actual drive torque by motor model.Master control logic is with drive torque error for input, and adoption rate differential controls to control wheel hub motor.Each driving governor 3 forms a closed loop control system with corresponding wheel hub motor.There are three Hall elements described wheel hub motor inside, is used for measuring the position of motor.Have three groups of magnet coils in wheel hub motor, wherein one end of these three groups of coils links together, and the other end is as three control ends.When wheel hub motor is in different positions, need the voltage to control end input different directions that motor just can be made to rotate to a direction.The height of control inputs terminal voltage, just can the size of driving force square.Driving governor 3 adopts the universal I/O port of micro controller system to gather the position signal of motor, is controlled three control ends of motor by three groups of half-bridge circuits.
Described coordinated control system adopts electromechanical brake, comprises four brake controllers 4, control respectively to four drgs in system.The control logic of brake controller 4 as shown in Figure 4.Brake controller 4 gathers the stroke of brake pedal, and calculates initial desired braking moment according to the trip.Brake controller 4 is by the compensation lock torque of CAN reception from tuning controller 2 simultaneously.Two moment summations can be obtained final desired braking moment by brake controller 4.Current sampling resistor in brake controller 4 also gathers the electric current of the drive motor of drg, calculates actual lock torque by motor model and brake model.Master control logic is with lock torque error for input, and adoption rate differential controls to control the drive motor of drg.
This coordinated control system adopts wire controlled four wheel steering system, and two front-wheels and two trailing wheels are linked together by steering trapezium.The control logic of steering controller 5 as shown in Figure 5.Be not mechanically connected between steering handwheel and wheel flutter, but provide angular signal to controller.Steering controller 5, according to the angular signal of steering handwheel, calculates the initial expectation deflection angle of front and rear wheel.The deflection angle that steering controller 5 is received from tuning controller 2 by CAN simultaneously compensates, and calculates the final expectation value of deflection angle.The front and rear wheel place of electronlmobil there are also installed rotary angle transmitter 5, is used for measuring the deflection angle of front and rear wheel.Steering controller 5 pairs of actual steering angle signals gather, and control according to the steer motor of steering angle error to front and rear wheel, and motor drives front and rear wheel to turn to by pinion and rack.
This coordinated control system is controlled by pseudo-Adverse control allocation algorithm.The structure of this algorithm as shown in Figure 6.In figure, y is the motoring condition of vehicle.Pseudo-controller goes out pseudo-controlling quantity w according to the input of chaufeur and the state computation of vehicle.W is not the working control amount be applied on actuating unit, but controls to distribute and an intermediate variable of design to realize.Controlling allocation algorithm take w as input variable, by the algorithm shown in following formula, calculates and controls vector u
m.
u
m=-c+D
#(w+Dc)
Wherein
D
# =W
-1D
T(DW
-1D
T)
-1
Above formula, W is diagonal weight matrix, and its value reflects u
min weight shared by each controlling quantity.
Pseudo-Adverse control allocation algorithm calculates the expectation value of each actuating mechanism controls amount according to the manipulation input of chaufeur and state of motion of vehicle, and the controlling quantity current according to each actuating unit calculates the compensation value of controlling quantity.By the compensatory control of the drive torque to four wheels, lock torque and deflection angle, make the stability that electronlmobil keeps good.
Especially, when the controller beyond certain or multiple tuning controller 2 of electronlmobil and (or) actuating unit break down, vehicle has certain automatic recovery ability.Pseudo-Adverse control allocation algorithm in tuning controller 2 can be redistributed the controlling quantity of each actuating unit, to reduce the impact that fault causes, vehicle motoring condition is desirably travelled.The concrete grammar redistributed of tuning controller 2 is for modify to W matrix, element in W corresponding to actuating unit in bad order and (or) controller is increased 1000 times, thus the output of actuating unit in bad order and (or) controller is set to 0, and controlling quantity is re-assigned on other actuating unit.Such as: steering handwheel be input as amplitude be 45 degree sine input operating mode, desired speed is 70km/h, and coefficient of road adhesion is 0.8.Suppose that the near front wheel driving governor 3 of electronlmobil breaks down, after the redistributing of control algorithm, the drive torque of each wheel and deflection angle are as shown in Figure 7.Wherein T
1, T
2, T
3and T
4be respectively drive torque that is left front, left back, right back and off front wheel, δ
fand δ
rbe respectively the deflection angle of front-wheel and trailing wheel.Visible, the drive torque of the near front wheel is 0, and the drive torque expected has been assigned to other wheel.When tuning controller 2 breaks down, controlling allocation algorithm can not work.Electronlmobil can realize the most basic driving, braking and course changing control under the control of other controller.
Claims (3)
1. an electric car coordination control system, is characterized in that: it comprises storage battery, tuning controller, driving governor, brake controller and steering controller; Storage battery is connected respectively with above-mentioned four controllers, is connected between each controller by CAN;
Described tuning controller plays the effect of cooperation control in whole control system, it is made up of process chip, power circuit, RC filter circuit, 232 communication circuits and CAN interface circuit, power circuit provides power supply to other each several part circuit, RC filter circuit, 232 communication circuits are all connected with process chip with CAN interface circuit, RC filter circuit is also connected with the incoming signal of outside simultaneously, 232 communication circuits are also connected with the serial ports of upper computer, and CAN interface circuit is also connected with the CAN of outside; This process chip adopts MC9S12XEP100 micro controller system; This power circuit is the circuit adopting LM2576 chip to build, by the 5 volt power supplys of the Power convert of storage battery needed for controller work; This RC filter circuit is the filter circuit built by resistance and electric capacity, it carries out filtering to the voltage signal of outside input, the pedal force of acceleration pedal aperture, brake pedal, steering wheel angle, vehicle lateral acceleration and yaw velocity are gathered, after filtering, sends voltage signal to process chip; This 232 communication circuit is the interface that tuning controller communicates with upper computer, the rs 232 serial interface signal of the Transistor-Transistor Logic level of process chip is converted to the rs 232 serial interface signal of 232 level by it, adopt MAX232 chip as the conversion chip of level, the car status information being used for process chip to collect sends upper computer to; This CAN interface circuit is the interface that process chip is connected with CAN, and interface chip adopts TJA1040 chip, and process chip receives by it working control state that other controller sends over and sends compensatory control order to other controller; Tuning controller calculates the expectation running state of vehicle according to the control inputs of chaufeur and vehicle-state, and compare with the running state of reality, calculate the compensation drive torque of four wheels, lock torque and deflection angle by pseudo-Adverse control allocation algorithm, and these control commands are sent to other controller by CAN;
Described driving governor, controls the wheel hub motor on wheel, this wheel hub motor is brshless DC motor, it is by the stator comprising 3 groups of magnet coils, the rotor comprising permanent magnet and 3 Hall elements measuring motor position are formed, described driving governor is by process chip, power circuit, RC filter circuit, 3 groups of half-bridge circuits and CAN interface circuit are formed, power circuit provides power supply to other each several part circuit, RC filter circuit, 3 groups of half-bridge circuits are all connected with process chip with CAN interface circuit, RC filter circuit is also connected with the incoming signal of outside simultaneously, 3 groups of half-bridge circuits are also connected with brushless motor, CAN interface circuit is also connected with the CAN of outside, this process chip is MC9S12DG128 micro controller system, the Structure and function of this power circuit is identical with the power circuit in tuning controller, this RC filter circuit is used for gathering the signal of 3 Hall elements and the acceleration pedal opening amount signal of brushless motor, sends process chip to by after these signal filterings, these 3 groups of half-bridge circuits drive 3 groups of coils respectively, it adopts 6 N-channel MOS pipes to build, the model of metal-oxide-semiconductor is SSF7509, process chip adopts 3 road pwm signals and 3 tunnel general purpose I/O signals to control 3 groups of half-bridge circuits, the driving order of conversion pwm signal and general purpose I/O signal can realize the rotating control of motor, regulates the dutycycle of pwm signal to realize the adjustment of motor drive torque, this CAN interface circuit is the interface that process chip is connected with CAN, and interface chip adopts TJA1040 chip, and process chip receives the compensatory control order from tuning controller by it, driving governor calculates the drive torque of expectation according to the aperture of acceleration pedal, and controls the wheel hub motor on four wheels respectively, meanwhile, driving governor also receives the compensation order from tuning controller by CAN, compensates control, realize direct yaw moment control to drive torque,
Described brake controller, electromechanical brake is controlled, it is by process chip, power circuit, RC filter circuit, measuring wheel speed circuit, H-bridge circuit and CAN interface circuit are formed, power circuit provides power supply to other each several part circuit, RC filter circuit, measuring wheel speed circuit, H-bridge circuit is all connected with process chip with CAN interface circuit, RC filter circuit is connected with the incoming signal of outside simultaneously, measuring wheel speed circuit is connected with wheel speed sensors, H-bridge circuit is connected with the torque motor of brake inside, CAN interface circuit is connected with the CAN of outside, this process chip is MC9S12DG128 micro controller system, the Structure and function of this power circuit is identical with the power circuit in tuning controller, the pedal force signal of this RC filter circuit to brake pedal gathers, and sends process chip to after filtering, this wheel speed treatment circuit adopts NCV1124 chip to build, and the sine wave signal of magneto-electric type wheel speed sensor is converted to the treatable square-wave signal of micro controller system, and sends process chip to, this H-bridge circuit drives the torque motor in drg, and process chip adopts 2 road pwm signals to control H bridge, converts the pwm signal worked and realizes rotating control, regulate the dutycycle of pwm signal to realize the adjustment of motor drive torque, this CAN interface circuit is the interface that process chip is connected with CAN, and interface chip adopts TJA1040 chip, and process chip receives the compensatory control order from tuning controller by it and sends wheel speed signal to tuning controller, brake controller controls the braking force of the electromechanical brake of four wheels respectively, and it calculates the lock torque of expectation according to the pedal force of brake pedal, realizes basic braking function, also be integrated with the control logic of anti-lock in brake controller, by judging the locking trend of wheel to the process of wheel speed signal, the anti-lock realizing wheel in emergency braking operating mode controls, brake controller also receives the compensation order of tuning controller transmission by CAN, compensate control, realize DYC function to lock torque,
The steering swivel system of battery-driven car is wire-controlled steering system, and steering handwheel and front and rear wheel are all equipped with rotary angle transmitter, and front and rear wheel turns by there being brushless motor to drive; Described steering controller, it controls the steer motor of front and rear wheel, it is made up of process chip, power circuit, RC filter circuit, 2 H-bridge circuit and CAN interface circuit, power circuit provides power supply to other each several part circuit, RC filter circuit, 2 H-bridge circuit are all connected with process chip with CAN interface circuit, RC filter circuit is connected with the incoming signal of outside simultaneously, and 2 H-bridge circuit are connected with the steer motor of front and rear wheel, and CAN interface circuit is connected with the CAN of outside; This process chip is MC9S12DG128 micro controller system; The Structure and function of this power circuit is identical with the power circuit in tuning controller; The signal of this RC filter circuit to the rotary angle transmitter of steering handwheel and front and rear wheel carries out filtering, and sends signal to process chip; This H-bridge circuit is used for driving the steer motor of front and rear wheel, and process chip adopts 4 road pwm signals to control 2 H bridges, converts the pwm signal worked and realizes rotating and control, regulate the dutycycle of pwm signal to realize the adjustment of electric machine rotation moment; This CAN interface circuit is the interface that process chip is connected with CAN, and interface chip adopts TJA1040 chip, and process chip receives the compensatory control order from tuning controller by it and sends the actual steering angle of front and rear wheel to tuning controller; Steering controller gathers the deflection angle of steering handwheel, front-wheel and trailing wheel, calculates the expectation deflection angle of front and rear wheel, control the deflection angle of following expectation to the steer motor of front and rear wheel according to the deflection angle of steering handwheel; Steering controller also receives the compensation order from tuning controller by CAN simultaneously, compensates control, realize active steering to the deflection angle of front and rear wheel.
2. a kind of electric car coordination control system according to claim 1, is characterized in that: calculate the compensation drive torque of four wheels, lock torque and deflection angle by pseudo-Adverse control allocation algorithm, this pseudo-Adverse control allocation algorithm is specifically calculated as follows:
u
m=-c+D
#(w+Dc)
Wherein u
mfor controlling vector, it includes the drive torque of four wheels or the deflection angle of lock torque and front and rear wheel; C is compensation vector, is used for compensating the controlling quantity exceeding actuating unit executive capability; W is by expectation vehicle-state and actual vehicle state computation pseudo-controlling quantity out; D is controlled efficiency matrix; D
#for the pseudoinverse of D, D
#represent with following formula
D
#=W
-1D
T(DW
-1D
T)
-1
Wherein, W is diagonal weight matrix, and its value reflects u
min weight shared by each controlling quantity.
3. a kind of electric car coordination control system according to claim 1, is characterized in that: the quantity of this tuning controller is one, and the quantity of driving governor is four, and the quantity of brake controller is four, and the quantity of steering controller is one.
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| CN113071378B (en) * | 2021-04-30 | 2022-06-14 | 佛山仙湖实验室 | Multi-energy cooperative control method for power system |
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| CN101323303A (en) * | 2008-07-30 | 2008-12-17 | 清华大学 | Central coordinating method and coordinator for automobile control |
| CN101377675A (en) * | 2007-08-28 | 2009-03-04 | 刘恒春 | Automobile auxiliary control and driving system based on self-adapting sensor network |
| CN101612923A (en) * | 2009-07-31 | 2009-12-30 | 上海联孚新能源科技有限公司 | Vehicle control unit of electric vehicle |
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| CN101377675A (en) * | 2007-08-28 | 2009-03-04 | 刘恒春 | Automobile auxiliary control and driving system based on self-adapting sensor network |
| CN101323303A (en) * | 2008-07-30 | 2008-12-17 | 清华大学 | Central coordinating method and coordinator for automobile control |
| CN101612923A (en) * | 2009-07-31 | 2009-12-30 | 上海联孚新能源科技有限公司 | Vehicle control unit of electric vehicle |
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