CN105137943B - A kind of micro-hybrid system integration control device - Google Patents
A kind of micro-hybrid system integration control device Download PDFInfo
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- CN105137943B CN105137943B CN201510560492.4A CN201510560492A CN105137943B CN 105137943 B CN105137943 B CN 105137943B CN 201510560492 A CN201510560492 A CN 201510560492A CN 105137943 B CN105137943 B CN 105137943B
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Abstract
The present invention relates to a kind of micro-hybrid system integration control devices, the control device is developed according to AUTOSAR system standards, and for micro-hybrid system vehicle integrated manipulator, the software architecture uses hierarchical design, including interface abstraction layer, communicate and connect with basic software layer；Signal processing layer is communicated by interface abstraction layer and basic software layer, and is carried out Modulation recognition, signal processing and signal and summarized；Application program strategic layer, it is connect with signal processing layer, including general purpose module and customizable component, the general purpose module is the set of integrated vehicle control tactics universal component, the customizable component is the set that can carry out secondary configuration element, each element region timesharing sequence and priority operation.Compared with prior art, the present invention has many advantages, such as that portable high, versatile and secondary development flexibility is high.
Description
Technical field
The present invention relates to a kind of control device, more particularly, to a kind of micro-hybrid system integration control device.
Background technology
Micro-hybrid system play/stop function automatically due to being integrated with engine, have medium sized safe voltage and
Cost is relatively low, has obtained extensive concern and the exploitation of vehicle and supplier in recent years.
Micro-hybrid system integrated vehicle control tactics are due to dynamical system form varied (BSG, ISG etc.) and same
Several different hybrid power project demands of concurrent development, original software can hardly be recycled and reused for different power in industry
System.So that the workload repeated between each project sharply increases, therefore in exploitation can be in different form there is an urgent need to one kind
Micro-hybrid project between the integrated vehicle control tactics software architecture that is multiplexed.
Coupling is higher between current micro-hybrid system integrated vehicle control tactics modules, and versatility is poor.For
Adapt to the micro hybrid vehicle of different automobile types, need to match again with design software framework, this undoubtedly increases the development cycle
And development cost.Therefore versatile, portable good software architecture is developed to contribute to reduce micro- mixing system development cost.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of portability is good, logical
With the micro-hybrid system integration control device that property is strong and secondary development flexibility is high.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of micro-hybrid system integration control device, is developed according to AUTOSAR system standards, and for micro- mixed
Close dynamical system vehicle integrated manipulator, which is characterized in that the control device uses hierarchical design, including interface abstraction
Layer is communicated with basic software layer and is connected；
Signal processing layer is communicated by interface abstraction layer and basic software layer, and carries out Modulation recognition, signal processing
Summarize with signal；
Application program strategic layer is connect with signal processing layer, and including general purpose module and customizable component, described is general
Component is the set of integrated vehicle control tactics universal component, and the customizable component is the collection that can carry out secondary configuration element
It closes, each element region timesharing sequence and priority operation.
The interface abstraction layer include input interface level of abstraction and output interface level of abstraction, be packaged for respectively with it is described
Basic software layer communication application programming interfaces.
S-function of the application programming interfaces based on C language is realized, including hard signal interface and CAN signal
Interface.
The signal processing layer includes input signal process layer and output signal process layer, input signal processing
Layer is correspondingly connected with input interface level of abstraction, and the output signal process layer is correspondingly connected with output interface level of abstraction.
The input signal process layer performs following steps successively：
Signal is divided into hard signal, engine controller CAN signal, electric machine controller CAN signal, electricity by Modulation recognition
Pond manages system CAN signal and other Vehicle Controller CAN signals；
Signal processing, conversion, signal validity check and the scalar quantity that data type is carried out to signal are set；
Signal summarizes, and forms signal set, includes application program strategic layer and signal processing layer, signal processing layer and interface
All signals of interaction between level of abstraction, each submodule of application program strategic layer；
The output signal process layer then summarizes according to signal, signal processing, Modulation recognition order perform successively.
The data type includes single-precision floating point type, is without eight integers of symbol and Boolean type, transformation rule：Number
Word amount is defined as Boolean type, and pattern amount is defined as no eight integers of symbol, and other types are defined as single-precision floating point type.
The general purpose module includes function of unity component and configurable component；
The function of unity component includes Driver intention recognition, vehicle power-on and power-off management, electric network object control, heat
It can Object Management group and system diagnostics and protection；
The configurable component includes torque object control and power and is controlled with transmission, the torque object control
Based on template secondary development pattern switching and Torque-sharing strategy, the power is with being driven in control comprising different automobile types and not
With the MAP tables of parts parameter.
The customizable component includes accessory control module and extensible controller module；
The accessory control module integrates the top level control logic of different attachmentes so as to control the work for coordinating attachment；
The extensible controller module is the Virtual Controller being embedded into inside entire car controller, the expansible control
Device module integrates the part or all of function of gear box control unit and battery management system or as parts controller
Redundancy Software.
Compared with prior art, the invention has the advantages that：
(1) software architecture of design meets AUTOSAR systems, and application program strategic layer is divided into：General purpose module and Ke Ding
Inhibition and generation component effectively increases the managerial flexibility and versatility of application software；
(2) when the software architecture based on the present invention carries out different automobile types hybrid power system integrated control software development, greatly
The development cycle is reduced, and reduce the repeated workload of written in code greatly, there is stronger engineering reference value；
(3) stratification, modular micro-hybrid system vehicle integrated control software system architecture are defined, and is had standardized
There is provided interface at all levels, so as to ensure the high modularity of software and high configurability；
(4) some or all of control work(of parts in micro-hybrid system is integrated using extensible controller module
Can, whole-vehicle wiring and amount controller can be reduced, is effectively reduced the cost of micro-hybrid system automobile.
Description of the drawings
Fig. 1 is invention software framework development structure schematic diagram；
Fig. 2 is 48V micro-hybrid system integration control device structure diagrams of the embodiment of the present invention；
Fig. 3 is interface abstraction layer structure diagram of the present invention；
Fig. 4 is signal processing layer structure diagram of the present invention；
Fig. 5 is application program strategic layer Simulink simulation block diagrams of the present invention；
Fig. 6 is each submodule coupled relation structure diagram of application program strategic layer of the present invention.
In figure, 1 is input interface level of abstraction, and 2 be input signal process layer, and 3 be application program strategic layer, and 4 be output letter
Number process layer, 5 be output interface level of abstraction, and 6 be general purpose module, and 7 be customizable component, and 8 be Modulation recognition, and 9 is at signals
Reason, 10 summarize for signal.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
In order to improve the versatility and managerial flexibility of hybrid power system integrated control program, reduce secondary development when
Between cost.An embodiment of the present invention provides a kind of 48V micro-hybrids system integration control devices.
The embodiment of the present invention carries out the exploitation of micro-hybrid full-vehicle control logic using Matlab/Simulink,
Simulink embeds the basic software layer (BSW) of the S-function encapsulation based on C language and corresponding application programming interfaces
(API), it using the Simulink Embedded Coder tools generation basic softwares carried and application code, and downloads to
In true controller.
Invention software framework is developed according to AUTOSAR system standards, and for micro-hybrid system vehicle collection
Into controller, which uses hierarchical design, including interface abstraction layer, communicates and connects with basic software layer；Signal processing
Layer, is communicated, and carry out Modulation recognition 8, signal processing 9 and signal and summarize 10 by interface abstraction layer and basic software layer；
Application program strategic layer 3 is connect with signal processing layer, including general purpose module 6 and customizable component 7, the general purpose module 6
It is the set of integrated vehicle control tactics universal component, the customizable component 7 is the set that can carry out secondary configuration element, respectively
Element region timesharing sequence and priority operation.In the 7 corresponding A UTOSAR frameworks of general purpose module 6 and customizable component
Composition, in each Composition, using Function-call Subsystem subassemblies (Component),
The running example (Runnable) of corresponding A UTOSAR, Function-call correspond to the event (Events) of triggering Runnable.
Function-call sets different sequential to distinguish program execution priority.Wherein interface abstraction layer includes input interface level of abstraction 1
(IHL) and output interface level of abstraction 5, signal processing layer include input signal process layer 2 and output signal process layer 4.
As shown in Figure 1, the exploitation of this software architecture is made of three parts：Developing instrument, development specifications, software management.
For developing instrument, hybrid power system integrated control logic, Simulink are developed using Matlab/Simulink
It embeds based on the C language S-function basic software layers (BSW) encapsulated and corresponding application programming interfaces (API), uses
The Embedded Coder tools generation basic software and application code that Simulink is carried, and download it to true
In controller.Under Simulink environment, this software is divided into five layers, is respectively：Input interface level of abstraction 1, input signal
Process layer 2, application program strategic layer 3, output signal process layer 4, output interface level of abstraction 5 meet Simulink and are based on signal
The developing mechanism of transmission.
For development specifications, based on software engineering standard development process, including：Software for Design, software document are write, are soft
Part is safeguarded.Before being developed, the framework and function of software are determined, form detailed, complete technical documentation.Subsequent control journey
Strictly with reference to technical documentation, the technical documentation of standardization improves the readability and durability of software for the exploitation of sequence.Software development is
The process of continuous iteration, for full-vehicle control program, the maintenance of software is essential.In hybrid power system integrated control
In program, signal is the premise and basis for realizing control targe.In this software architecture, body is named using the signal of oneself exploitation
System, signal description file.For example signal dINP_EngSpd_rpm, d represent displayed quantity, INP represents signal from INP layers,
EngSpd is the abbreviation of Engine Speed, and rpm is then the unit of the signal/variable.Particularly, this framework is based on AUTOSAR
System, top level control program sub-module melt hair, distinguish sequential and priority.Application program strategic layer 3 divides for 6 He of general purpose module
Component 7 is customized, the Composition in corresponding A UTOSAR systems is read.In each Composition, use
Function-call Subsystem sub-modules (Component), the running example (Runnable) of corresponding A UTOSAR,
Function-call corresponds to the event (Events) of triggering Runnable.Function-call sets different sequential to distinguish program
Execution priority.For micro- mixing system full-vehicle control program, high pressure power-on and power-off, system protection module priority be higher than its
His module has and faster performs sequential.
For software management, including：Develop supervision, software test, technical documentation update.Exploitation supervision is through full-vehicle control
The whole process of program development, real-time iterative update full-vehicle control program.Software test and the parallel progress of exploitation, including submodule
Test and integration testing.Exploitation finishes to form corresponding technical documentation as backup reference.
Fig. 2 is the 48V micro-hybrid system integration control devices based on AUTOSAR systems.Wherein, IHL and OHL difference
Represent input interface level of abstraction 1 and output interface level of abstraction 5, encapsulate respectively AUTOSAR systems be packaged for it is described
The application programming interfaces (API) of basic software layer communication, pay close attention to dynamical system integrated control logic, it is relatively cumbersome to ignore bottom
Interface.Under Matlab/Simulink development environments, the application programming interfaces (API) of modularized encapsulation are embedded into Simulink
In library, when carrying out code building, only it need to be dragged in correlation module.ISP and OSP represents input signal process layer 2 and defeated respectively
Go out signal processing layer 4, be responsible for the classification of all signals interactive with the external world, handle and summarize.APP represents application program plan in figure
Slightly layer 3, in terms of outermost layer, is divided into two components：General purpose module 6, customizable component 7.General purpose module 6 is that dynamical system integrates
The basic module collection of program is controlled, including：Driver intention recognition (DRA), vehicle power-on and power-off management (VPM), torque object control
Make (TQC), electric network object control (EEM), thermal energy Object Management group (TEM), power with transmission control (PTC) and system diagnostics and
It protects (STP).Wherein DRA, VPM, EEM, TEM and STP belong to the function of unity component of general purpose module 6 in software architecture, unified
Building blocks of function have the function of essentially identical interface and；TQC and PTC belongs to the configurable component of general purpose module 6, wherein TQC
It needs based on template secondary development pattern switching and Torque-sharing strategy, PTC modules include different automobile types, the ginseng of different parts
Number MAP tables.Customizable component 7 includes attachment control (ACC) module and extensible controller module (SCU), wherein attachment control
The top level control logic of (ACC) module integrated attachment is made, extensible controller module (SCU) integrates gear box control unit
(TCU) and some or all of function such as battery management system (BMS), on the other hand, SCU can be as parts controller
Redundancy Software improves the reliability of micro-hybrid system.
As shown in figure 3, interface abstraction layer includes input interface level of abstraction 1 and output interface level of abstraction 5, access base is encapsulated
The application programming interfaces (API) of plinth software layer (BSW), the API of encapsulation are present in a manner that S-function is modular
Under Simulink environment, including hard signal interface and CAN signal interface.By taking input interface level of abstraction 1 as an example, hard signal
API provides the interface of individual signals, and CAN signal API provides Bus signals, and a frame signal all can be depacketized out.In exploitation 48V
During micro- mixing system integrated vehicle control tactics, corresponding module is dragged in Simulink libraries and substitutes in port/ in Simulink
Output port.
As shown in figure 4, signal processing layer primary operational includes：Modulation recognition 8, signal processing 9, signal summarize 10.Legend
It is illustrated so that input signal handles 2 (ISP) as an example.For output signal process layer 4 (OSP), corresponding operation order is
Signal summarizes 10, signal processing 9 and Modulation recognition 8.Modulation recognition 8 is that signal is divided into hard signal, engine controller CAN
Signal, electric machine controller CAN signal, battery management system CAN signal and other Vehicle Controller CAN signals, each submodule
Summarize all signals that full-vehicle control program needs are used, be present in Matlab/ in the form of Simulink/Signal objects
In Simulink environment.Signal processing 9 is that conversion, signal validity check and the scalar quantity of signal progress data type are set
It puts.The embodiment of the present invention defines three kinds of data types：Single-precision floating point type (Single), without eight integers (Uint) of symbol and
Boolean type (Boolean), the signal into application layer need pressure data type to convert, and conversion principle is：Digital definition is
Boolean type (Boolean), pattern amount are defined as no eight integers (Uint) of symbol, and other types are unified for single-precision floating point type
(Single).Signal validity check module in the embodiment of the present invention is used to examine the correctness of signal, attenuated signal mutation
Or influence of the bounce to application layer control program.Particularly, demarcating module is provided in the embodiment of the present invention, is surveyed convenient for real vehicle
Examination and calibration.Demarcating module (Calibration Block) is including input signal, calibration switch and calibration value.Wherein, calibration is opened
It is Boolean type data to close setting, and the data type of calibration value is consistent with module input signal types.Gauged setting passes through
The mode for being set as Simulink/Parameter objects is realized.Signal summarizes 10 and is finally summarised in one for all signals
In Simulink buses, signal set is formed, is taken out comprising application program strategy 3 and signal processing layer, signal processing layer and interface
As between layer, 3 each submodule of application program strategic layer interaction all signals, the signal in need used all from a structure
It is obtained in body, realizes the specific communication between each submodule of application layer.
Fig. 5 is the Simulink block diagrams of application program strategic layer 3, and wherein ACC, SCU module belongs to customizable component 7,
Other modules belong to general purpose module 6.According to information such as gear, speed, torque parameters, decision goes out driver to be needed wherein DRA modules
Seek torque.For full-vehicle control program, driver intention is recognized accurately, it is to carry out torque to obtain acceleration person's demand torque
The premise of distribution.VPM modules obtain status signals, the decisions such as INP layers of key, relay and go out vehicle upward and downward electric process.Vehicle
It is the premise that full-vehicle control logic performs to power on completion, and the sequential of the module is very fast, and execution priority is high.PTC modules are power
With the relevant module of torque parameter of transmission system, including power torque parameter related to transmission system, such as：Motor maximum turns
Square, Rated motor torque, engine torque capacity MAP etc..EEM modules are electric network object management modules, including to 48V electricity
Pond, the management and control of DC/DC and 12V battery networks, core principles are to go out the operating mode of DC/DC according to SOC decisions.
TEM is thermal energy object management module, main to obtain the heat dissipations dress such as the information such as temperature, control water pump, wind turbine comprising thermal management policy
Put operation, it is ensured that each parts run well.TQC modules are direct torque objects, are the cores for controlling program.Realize torque
Reasonable distribution between engine and motor, to realize more fuel-economizings.In the implementation case, TQC modules and VPM,
EEM, PTC, DRA module all presence signals interact.The function of STP modules is system failure identification and handles, TQC modules, EEM moulds
The signal that block, TEM modules decision come out, processing that will be Jing Guo STP modules, it is ensured that control signal meets wanting for system safety
It asks.ACC module and SCU modules belong to customizable module, and ACC module function is the work that attachment is coordinated in control.Different automobile types,
Attachment differs greatly, and the main thought of the module is to coordinate the working condition of attachment according to vehicle working condition, realizes vehicle
It can be optimal.SCU is extensible controller module, such as without battery management unit, which can according to controller hardware resource
To realize some or all of function of BCU (battery controller).SCU modules are based on controller collection into thinking, it is possible to reduce control
Device quantity processed reduces integral vehicle cost.
Fig. 6 represents the operational process and coupled relation of each submodule under the software architecture.Wherein, VPM is hybrid power
The system integration controls the operation premise of program, highest priority.TQC modules obtain demand torque and vehicle transmission relevant parameter,
Under efficiency optimization principle, decision goes out the size of motor torque and motor torque under different working modes.TQC modules are run
When, EEM modules and TEM modules can apply effect.It is simply described as：Motor and the coupling of electric network object work, thermal energy pair
As the influence to motor, motor torque.The control signal that TQC, EEM, TEM decision come out is all by STP layers, it is ensured that control
Signal meets the requirement of system safety.On flow is performed, STP modules are relatively close to output signal process layer 4.STP moulds
Block is responsible for fault identification and processing, includes the protection of the parts such as motor, engine, battery.The module has very strong general
Property, for micro hybrid vehicle, which only needs matched signal and parameter to be applicable to different automobile types.The present invention is implemented
In example, PTC can be passed to by customizing the parameter of the ACC module in component, be applied in TQC modules, influenced by PTC modules
The distribution of vehicle torque；And SCU modules belong to the Virtual Controller being embedded into inside entire car controller, the module and general purpose module
The signal of interaction similar can be interpreted as virtual CAN signal between 6 each submodules.SCU assumes responsibility for the control of part assembly device
System, reduces amount controller, reduces CAN load factors, meet controller collection into trend, can effectively reduce micro-hybrid
The system cost of automobile.
Micro-hybrid system integration control device of the present invention is based on AUTOSAR systems.AUTOSAR define modularization,
The software system architecture of stratification, and provided interface at all levels is provided, so as to ensure the high modularity of software and
High configurability.Exploitation meets the micro-hybrid system integration control device of AUTOSAR systems, by application program strategic layer 3
It is divided into general purpose module 6 and customizable component 7, when being adapted to different micro- mixed vehicles, it is only necessary to secondary configuration customizable component
7, the change of general purpose module 6 amplitude is smaller, is conducive to Integrated Simulation and verification, reduces the complexity of exploitation, shortens the development cycle.
In addition, in view of micro-hybrid system requires integral vehicle cost harsh, the vehicle control of integrated parts control function
Device processed and its software architecture can reduce whole-vehicle wiring and amount controller, save automobile research cost, and contribute to micro- mixed dynamic
The industrialization of Force system.
Claims (6)
1. a kind of micro-hybrid system integration control device, is developed according to AUTOSAR system standards, and for microring array
Dynamical system vehicle integrated manipulator, which is characterized in that the control device uses hierarchical design, including interface abstraction layer,
It communicates and connects with basic software layer；
Signal processing layer is communicated by interface abstraction layer and basic software layer, and carries out Modulation recognition, signal processing and letter
Number summarize；
Application program strategic layer is connect with signal processing layer, including general purpose module and customizable component, the general purpose module
It is the set of integrated vehicle control tactics universal component, the customizable component is the set that can carry out secondary configuration element, respectively
Element region timesharing sequence and priority operation；
The customizable component includes accessory control module and extensible controller module；
The accessory control module integrates the top level control logic of different attachmentes so as to control the work for coordinating attachment；
The extensible controller module is the Virtual Controller being embedded into inside entire car controller, the extensible controller mould
Block integrates the part or all of function of gear box control unit and battery management system or the redundancy as parts controller
Software；
The signal processing layer include input signal process layer and output signal process layer, the input signal process layer with
Input interface level of abstraction is correspondingly connected with, and the output signal process layer is correspondingly connected with output interface level of abstraction；
The input signal process layer performs following steps successively：
Signal is divided into hard signal, engine controller CAN signal, electric machine controller CAN signal, cell tube by Modulation recognition
Manage system CAN signal and other Vehicle Controller CAN signals；
Signal processing, conversion, signal validity check and the scalar quantity that data type is carried out to signal are set；
Signal summarizes, and forms signal set, includes application program strategic layer and signal processing layer, signal processing layer and interface abstraction
All signals of interaction between layer, each submodule of application program strategic layer.
A kind of 2. micro-hybrid system integration control device according to claim 1, which is characterized in that the interface
Level of abstraction includes input interface level of abstraction and output interface level of abstraction, is packaged for respectively and basic software layer communication
Application programming interfaces.
A kind of 3. micro-hybrid system integration control device according to claim 2, which is characterized in that the application
S-function of the routine interface based on C language is realized, including hard signal interface and CAN signal interface.
A kind of 4. micro-hybrid system integration control device according to claim 1, which is characterized in that the output
Signal processing layer then summarizes according to signal, signal processing, Modulation recognition order perform successively.
A kind of 5. micro-hybrid system integration control device according to claim 1, which is characterized in that the data
Type includes single-precision floating point type, is without eight integers of symbol and Boolean type, transformation rule：Digital definition is Boolean type,
Pattern amount is defined as no eight integers of symbol, and other types are defined as single-precision floating point type.
6. a kind of micro-hybrid system integration control device according to claim 1, which is characterized in that described is general
Component includes function of unity component and configurable component；
The function of unity component includes Driver intention recognition, vehicle power-on and power-off management, electric network object control, thermal energy pair
Orthicon reason and system diagnostics and protection；
The configurable component includes torque object control and power and is controlled with transmission, and the torque object control is based on
Template secondary development pattern switching and Torque-sharing strategy, the power include different automobile types and different zero in being controlled from transmission
The MAP tables of parameters of operating part.
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