CN105353617A - Electric automobile control system for prolonging duration mileage - Google Patents
Electric automobile control system for prolonging duration mileage Download PDFInfo
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Abstract
The invention discloses an electric automobile control system for prolonging duration mileage. The electric automobile control system comprises a controller, a motor and a signal analyzer, wherein the motor, the controller and the signal analyzer are connected through a CAN bus, a control decision module and a PID control module are connected, the PID control module and the control decision module are respectively connected with a CAN bus connection module, the signal analyzer comprises a data acquisition module, a filtering calculation module, a resistance degree calculation module, a road net matching module, an inclination angle sensor, a gradient calculation module, the CAN bus connection module and a wireless communication module, the data acquisition module, the resistance degree calculation module and the road net matching module are connected with the CAN bus connection module, and the filtering calculation module is connected with the data acquisition module and the resistance degree calculation module. The electric automobile control system can effectively prolong the duration mileage of an electric automobile.
Description
Technical field
The present invention relates to electric automobile field, particularly relate to a kind of control system of electric automobile extending course continuation mileage.
Background technology
Present electric automobile is more and more universal, but battery durable problem is the maximum obstruction met with in electric automobile popularization, is also that domestic electric vehicle engineering difficulty has large breakthrough.Electric automobile has a set of controller controlled the duty of motor, this controller be according to driver trample footfeed operation and control motor rotate speed.And accumulator is the power source that motor rotates, but the voltage attenuation of accumulator is that when accumulator is full of electricity, voltage slowly reduces, and after the electric quantity consumption part of accumulator, voltage attenuation is more and more faster in nonlinear.Course continuation mileage is the important symbol weighing electric vehicle performance, and the charging station of electric automobile is not popularized, and the course continuation mileage therefore how extending electric automobile just becomes the problem that everybody needs solution badly.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of control system of electric automobile extending course continuation mileage, for extending the course continuation mileage of electric automobile.
The present invention is achieved in that
Extend a control system of electric automobile for course continuation mileage, comprise controller, motor and signal analyzer, described motor, controller, signal analyzer are connected by CAN;
Described controller comprises pid control module, control decision module and CAN link block, and control decision module is connected with pid control module, and pid control module and control decision module are connected to CAN link block;
Described motor is connected with motor drive block and brake power generating module, and brake power generating model calling is in electrokinetic cell;
Signal analyzer comprises data acquisition module, filtering computing module, resistance degree computing module, obliquity sensor, gradient computing module, CAN link block, temperature detecting module and wireless communication module;
Data acquisition module, resistance degree computing module, to be connected with CAN link block respectively, filtering computing module is connected to data acquisition module and resistance degree computing module, and described obliquity sensor, GPS module and data acquisition module are connected to gradient computing module;
Data acquisition module is for gathering real-time vehicle signal from CAN;
Filtering computing module comprises velocity filtter, acceleration wave filter and moment of torsion wave filter, and filtering computing module is used for carrying out filtering to the signals of vehicles of data collecting module collected;
Resistance degree computing module is used for resistance when travelling according to the output data calculating vehicle of filtering computing module;
Gradient computing module is used for the gradient calculating vehicle travel according to the detection data of obliquity sensor, GPS module, vehicle power data and MEMS sensor, and by wireless communication module, the Gradient calculated is sent to server.
Further, the resistance when vehicle that described resistance degree computing module calculates travels sends to control decision module by CAN, and whether control decision module opens according to described resistance decision-making or close Energy Saving Control;
Described temperature detecting module comprises two or more temperature sensor, and described temperature sensor is for gathering the temperature information of electrokinetic cell, motor.
Further, described filtering computing module carries out filtering, difference, again filtering operation to the signals of vehicles that data acquisition module collects; In the filtering step, filtering computing module uses Digital Signal Processing to carry out power Spectral Estimation to described signals of vehicles, obtains the cutoff frequency of signals of vehicles, and carries out filtering by setting filtering type and filter order, obtains smooth curve signal.
Further, the signals of vehicles of described data collecting module collected comprises the speed of a motor vehicle, rotating speed, moment of torsion.
Further, described pid control module calculates the difference e (t) of motor speed controlling value r (t) of expection and actual output speed c (t) of motor, the ratio of described difference e (t) is calculated (P), integral and calculating (I) and differential calculation (D) and obtains controlled quentity controlled variable by linear combination, and control motor according to the controlled quentity controlled variable obtained, make the actual speed c (t) of motor close to motor speed controlling value r (t).
Further, whether described control decision module opens according to the speed of vehicle, the decision-making of resistance degree or closes Energy Saving Control;
The condition that Energy Saving Control starts is:
(1) 40km/h< car speed <120km/h, and
(2) resistance degree absolute value < sets threshold value;
Energy Saving Control stop condition:
(1) resistance degree absolute value > sets threshold value;
(2) when brake driver signal being detected; Or
(3) when driver's accelerator open degree rate of change exceedes threshold value.
Further, described control decision module also calculates for carrying out traveling power consumption economic zone, the measurement of control decision module stores obtain under unloaded, semi-load and full load condition, moment of torsion curve of output during vehicle smooth-ride, moment of torsion curve of output is divided into multiple continuous print speed interval, and according to current wagon control goal pace, control motor speed, make vehicle with speeds the most energy-conservation in present speed interval.
Further, signal analyzer also comprises road network module, and described road network module comprises local Traffic network database, GPS module and MEMS sensor, and described MEMS sensor is connected to gradient computing module;
Described road network module for using Kalman Filter Technology, and carries out real-time line matching tracking in conjunction with the data of GPS module, this Traffic network database and MEMS sensor.
Further, described road network module according to numerical map and gps signal location technology, and in conjunction with the bearing data that MEMS sensor detects, improves path adaptation precision.
Beneficial effect of the present invention is: the control system of electric automobile that the present invention extends course continuation mileage comprises motor, controller, signal analyzer, controller comprises pid control module, control decision module and CAN link block, and signal analyzer comprises data acquisition module, filtering computing module, resistance degree computing module, road network module, obliquity sensor, gradient computing module, CAN link block and wireless communication module; The present invention controls in conjunction with road network calculating, signal filtering, Energy Saving Control, gradient calculating, PID and travels control technology between economic zone, substantially prolongs the course continuation mileage of electric automobile.
Accompanying drawing explanation
Fig. 1 is the module frame chart that embodiment of the present invention extends the control system of electric automobile of course continuation mileage;
Fig. 2 is the signals of vehicles in embodiment of the present invention before filtering;
The signal that Fig. 3 obtains after filtration module filtering for signals of vehicles shown in Fig. 2;
Fig. 4 is the principle schematic of pid control module;
Vehicle load characteristic when Fig. 5 is flat pavement running.
Embodiment
By describing technology contents of the present invention, structural attitude in detail, realized object and effect, accompanying drawing is coordinated to be explained in detail below in conjunction with embodiment.
Refer to Fig. 1, the control system of electric automobile that the present invention extends course continuation mileage comprises controller, motor and signal analyzer, and described motor, controller, signal analyzer are connected by CAN;
Described controller comprises pid control module, control decision module and CAN link block, and control decision module is connected with pid control module, and pid control module and control decision module are connected to CAN link block;
Described motor is connected with motor drive block and brake power generating module, and brake power generating model calling is in electrokinetic cell;
Signal analyzer comprises data acquisition module, filtering computing module, resistance degree computing module, road network module, obliquity sensor, gradient computing module, CAN link block and wireless communication module (i.e. 2G, 3G communication module);
Data acquisition module, resistance degree computing module, road network module are connected with CAN link block respectively, filtering computing module is connected to data acquisition module, temperature detecting module and resistance degree computing module, described road network module comprises local Traffic network database, GPS module and MEMS sensor, and described obliquity sensor, GPS module, data acquisition module and MEMS sensor are connected to gradient computing module.
The function extending each module of control system of electric automobile of course continuation mileage refers to table one:
Table one
One, signal analyzer implementation:
Resistance degree calculates
Resistance degree calculates for decision-making when starting energy-saving controls, and when needs to close Energy Saving Control.Under automobile is in smooth-ride state, starting energy-saving controls, and stablizes at motoring condition, the control battery output therefore can try one's best many and do not affect the operation of driver; Closing opportunity of Energy Saving Control is: 1, be in the gradient moment, at this time driver often needs to downshift and draws high rotary speed to ensure the upward slope moment of vehicle, if carry out Energy Saving Control can navigate that vehicle driving up is unable even cannot go up a slope; 2, brake the moment, now need, by the completely leading power system of driver, additionally to intervene otherwise can safety problem be caused; 3, the idling descending moment, now power saving on the contrary is additionally controlled.
Vehicle drag degree defines, and refers to that automobile zero load is not having the acceleration of straight-line travelling and the difference of automobile actual acceleration in resistance (not having rolling, the gradient, skid resistance, air resistance and other resistance) situation.The effect of vehicle drag degree is can concentrated expression integrated car load weight, road grade and running resistance, can carry out energy saving motor control according to vehicle drag degree.
Filtering calculates
In resistance degree computing module, the speed used, acceleration, torque signal all need to carry out filtering process.Because the output shaft of automobile has speed probe usually, if the tach signal that can be collected easily is converted into the speed of a motor vehicle of automobile. to vehicle speed signal direct differential, although the acceleration of automobile can be obtained, but because the acceleration signal noise obtained like this is very large, be difficult to the control system being applied to automobile.As shown in Figure 2, be original vehicle signal.Need the automobile longitudinal acceleration to vehicle speed signal carries out filtering, the method for difference, again filtering obtains good real-time and precision.Filtering algorithm module needs by digital signal processing algorithm, first carries out signals of vehicles power Spectral Estimation, obtains cutoff frequency, and design corresponding filtering type, filter order.Wave filter calculating essence is that the floating-point multiplication of a long sequence asks conjunction computing, therefore should be noted that the floating-point operation ability of core processor when product design type selecting.Should be a smooth curve in ideal treatment effect situation after calculating.Be illustrated in figure 3 the signals of vehicles obtained after filtering calculates.In like manner, also need to carry out filtering process to signals such as moments of torsion, obtain the signal after processing and send into again in resistance degree computing module.
Map match calculates
Accurately can distinguish high speed, state's provincial highway, urban district, other road.This will relate to GPS and map matching technology, need to utilize map datum and some direction sensing amounts to realize high precision path adaptation.The correlation function that expection reaches project requires as follows:
(1) perpendicular to road error lower than 5% (i.e. path adaptation accuracy rate more than 95%).The difficulty that may exist can reach ideal effect to the process of parallel road.
(2) estimation and the maintenance of gps signal inactive area site of road is realized.
The high precision matching feature of this respect needs by direction and acceleration transducer, and fusion GPS location and map road network realize.Its concrete technology utilizes Kalman filtering, carries out data fusion, to realize hi-Fix.Concrete blending algorithm also under study for action.
The geographical gradient calculates
Merge GPS location, obliquity sensor, automobile power DATA REASONING road grade, follow the method according to automobile power DATA REASONING road grade as follows at present:
The vehicle electric motor general power Pe at the uniform velocity travelled consumes: resistance to rolling consumed power Pf; Grade resistance consumed power Pi; Windage consumed power Pw.Other: air-conditioning and vehicle mounted electrical apparatus wasted work rate Pk.Because air-conditioning and appliance power consumption hinder less relative to resistance to rolling, windage, slope, therefore affect when vehicle travels principal element can temporarily ignore in consideration, during constant-speed driving, rating formula principle is as follows:
By formulae discovery automobile at the uniform velocity smooth-ride time changed power.Wherein G=mg is gravity, and f is surface friction coefficient (or claiming coefficient of rolling resistance), and ua is present speed, and CD is air resistance coefficient, and A is vehicle front face area, η
tfor mechanical efficiency of power transmission.From a shorter time window, the resistance to rolling of the automobile at the uniform velocity travelled, windage, air-conditioning consumed power approximately constant, and total power consumption depends primarily on road grade size.
Heat management
Gathered the temperature of the main heater members of electric automobile by described temperature detecting module, as motor, electrokinetic cell, DCDC module etc., and the temperature controlling each heater members of vehicle is interval at maximum energy-saving, thus reduces energy consumption.
Under real world conditions, can not remain and at the uniform velocity travel by a car.Therefore need the running data of many vehicles to excavate, through the at the uniform velocity fragment of stretch line, excavate the slope change curve of whole circuit from each car.Again according to data cleansing, the poly-slope change curve excavating whole section of overall fusion step.
The data retained after data cleansing are that all vehicles are similar to the fragment at the uniform velocity travelled, the object done like this gets rid of acceleration to the impact of changed power, and due to speed mass conservation therefore equal, the windage consumed power approximately equal of road friction resistance consumed power of vehicle at the uniform velocity fragment, such power of vehicle change mainly affects by gradient factor.
The present invention only to the demarcation carrying out load-carrying and power consumption as initial reference Segment A car, and need not need the concrete load-carrying data of other vehicle, can estimate to merge by data cleansing and centre data the slope change data obtaining whole section.
Therefore select to need to demarcate A car during initial reference fragment, this is also easily realize (such as carry out weight demarcation to A car, or allow the unloaded load-carrying of A car be exactly standard complete vehicle quality) in actual development project process.The anti-relative slope change sequence that pushes away of the traveling power consumption of calibration vehicle on level road is utilized to be absolute slope change sequence, utilize the car cluster center of big data quantity, in conjunction with some calibration measurements, expectation can carry out large-scale geographical gradient environment measurement, sets up complete geographical Gradient storehouse.
Two, controller actualizing technology
PID controls
In actual motor controls, in order to the requirement making vehicle electric motor reach speed of a motor vehicle control, need to carry out dynamic PID control according to practical operation situation and the difference controlling to expect, PID controls to be a kind of more common control method, in the industry such as metallurgy, machinery, chemical industry, obtain widespread use.Regulatory PID control system principle diagram as shown in Figure 4.
Control system is made up of analog pid controller and controlled device, PID controller is a kind of linear controller, and the motor speed controlling value that namely it expect according to set-point r (t) and the namely actual tachometer value of real output value c (t) form control deviation
e(t)＝r(t)-e(t)
The ratio of deviation is calculated (P), integral and calculating (I) and differential calculation (D) and form controlled quentity controlled variable by linear combination, controlled device is controlled, make actual result constantly control result to expection close, therefore claim PID controller.
When Tuning PID Controller parameter, can according to the parameter of controller and the qualitative relationships between dynamic performance and steady-state behaviour.In order to reduce the parameter needing to adjust, first PI controller can be adopted.In order to ensure the safety of system, should arrange relatively more conservative parameter when debugging and starting, such as scale-up factor is not too big, and integral time is too not little, to avoid the abnormal conditions occurring that system is unstable or overshoot is excessive.Provide a Step reference signal, the information of system performance can be obtained according to the output waveform of controlled volume, such as overshoot and regulating time.According to the relation of pid parameter and system performance, should repeatedly regulate the parameter of PID.If the overshoot of step response is too large, could to stablize or unstable through multiple oscillation, scale-up factor, increase integral time should be reduced.If step response does not have overshoot, but controlled volume rises too slow, and settling time is oversize, should by contrary direction adjustment parameter.If the speed eliminating error is comparatively slow, suitably can reduces integral time, strengthen integral action.Repeatedly regulate scale-up factor and integral time, if overshoot is still comparatively large, can add differential and control, derivative time increases gradually from 0, repeatedly the ratio of adjustment control, the parameter of integration and differentiation part.
The decision-making of Energy Saving Control on off control
Energy Saving Control entry condition is:
(1) 40km/h< car speed <120km/h, now thinks that automobile can smooth ride, meets starting energy-saving controlled condition.
(2) resistance degree absolute value < sets threshold value, now thinks that environment residing for automobile is steady, without upward slope, descending, the anxious application conditions accelerated, meets starting energy-saving controlled condition.
Above two conditions must meet simultaneously, just can starting energy-saving controlling functions.
Energy Saving Control stop condition:
(1) resistance degree absolute value > sets threshold value, now automobile may run into the special circumstances needing large power, as drawn high abrupt slope on rotating speed, or run into large resistance Expenditure Levels, as driver brakes, or run into negative resistance dynamics situation, during descending as long in vehicle, use motor anti-dragged brake.
(2) when brake driver signal being detected.
(3) when driver's accelerator open degree rate of change exceedes threshold value.
Above three conditions meet one, namely will close energy-saving control function.
Economic interval computation
First the sky measuring institute's control vehicle is needed to be fully loaded with torque characteristics, as shown below, measure and obtain the moment of torsion curve of output that automobile balance travels under sky, semi-load, full load condition:
When moment of torsion curve of output refers to that a certain automobile travels with certain load, certain gear, certain gradient, motor needs the M curve exported.Moment of torsion curve of output example when Fig. 5 is flat pavement running.
Horizontal ordinate is motor speed, and ordinate is electric Driving Torque, and the Roman number such as I, II, III, IV, V, VI represents 1,2,3,4,5,6 grades of manual gear; Solid line is fully loaded moment of torsion curve of output, and horizontal dotted line is moment of torsion curves of output semi-load, and pecked line is unloading torque curve of output.
Gear is certain, and motor speed is certain, if skidding does not appear in wheel, that speed of a motor vehicle is certain.Because the speed of a motor vehicle is that during vehicle travels, the topmost operation factors of driver is also the principal element determining running time, and the rate of fuel consumption parameter in the corresponding universal characteristic table of rotating speed, it is very important for therefore drawing speed of a motor vehicle rotating speed homologous thread to statistics fuel consumption per hundred kilometers and control automobile duty.Their relation curve can be calculated when knowing Choosing of Main Gear Ration of The Motor Cars and ratio of gear parameter, also drawing their relation curve by actual measurement.When micro-cruising, according to set velocity amplitude, on a minizone, speed is adjusted toward the most energy-conservation direction as far as possible.Simultaneously according to the change of resistance degree, the empty full load condition of real-time estimation vehicle, timely switch load curve, finds correct energy-conservation interval.
The present invention is by the continuous autonomous learning of described signal analyzer, memory storage and accumulation optimization, the most energy-conservation drive manner can be searched out, the route on and off duty that such as car owner fixes to after the study in path, accumulation and analysis, provides the most energy-conservation a kind of driving control method by the signal analyzer of foregoing invention.Car owner takes this driving control method maloperation can be caused unnecessary electric energy to be used for the driving of longer time, extends the course continuation mileage of electric motor car.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (9)
1. extend a control system of electric automobile for course continuation mileage, it is characterized in that, comprise controller, motor and signal analyzer, described motor, controller, signal analyzer are connected by CAN;
Described controller comprises pid control module, control decision module and CAN link block, and control decision module is connected with pid control module, and pid control module and control decision module are connected to CAN link block;
Described motor is connected with motor drive block and brake power generating module, and brake power generating model calling is in electrokinetic cell;
Signal analyzer comprises data acquisition module, filtering computing module, resistance degree computing module, obliquity sensor, gradient computing module, CAN link block, temperature detecting module and wireless communication module;
Data acquisition module, resistance degree computing module, to be connected with CAN link block respectively, filtering computing module is connected to data acquisition module and resistance degree computing module, and described obliquity sensor, GPS module and data acquisition module are connected to gradient computing module;
Data acquisition module is for gathering real-time vehicle signal from CAN;
Filtering computing module comprises velocity filtter, acceleration wave filter and moment of torsion wave filter, and filtering computing module is used for carrying out filtering to the signals of vehicles of data collecting module collected;
Resistance degree computing module is used for resistance when travelling according to the output data calculating vehicle of filtering computing module;
Gradient computing module is used for the gradient calculating vehicle travel according to the detection data of obliquity sensor, GPS module, vehicle power data and MEMS sensor, and by wireless communication module, the Gradient calculated is sent to server;
Described temperature detecting module comprises two or more temperature sensor, and described temperature sensor is for gathering the temperature information of electrokinetic cell, motor.
2. the control system of electric automobile of prolongation course continuation mileage according to claim 1, it is characterized in that, the resistance when vehicle that described resistance degree computing module calculates travels sends to control decision module by CAN, and whether control decision module opens according to described resistance decision-making or close Energy Saving Control.
3. the control system of electric automobile of prolongation course continuation mileage according to claim 1, is characterized in that, described filtering computing module carries out filtering, difference, again filtering operation to the signals of vehicles that data acquisition module collects; In the filtering step, filtering computing module uses Digital Signal Processing to carry out power Spectral Estimation to described signals of vehicles, obtains the cutoff frequency of signals of vehicles, and carries out filtering by setting filtering type and filter order, obtains smooth curve signal.
4. the control system of electric automobile of prolongation course continuation mileage according to claim 1, is characterized in that, the signals of vehicles of described data collecting module collected comprises the speed of a motor vehicle, rotating speed, moment of torsion.
5. the control system of electric automobile of prolongation course continuation mileage according to claim 1, it is characterized in that, described pid control module calculates the difference e (t) of motor speed controlling value r (t) of expection and actual output speed c (t) of motor, the ratio of described difference e (t) is calculated (P), integral and calculating (I) and differential calculation (D) and obtains controlled quentity controlled variable by linear combination, and control motor according to the controlled quentity controlled variable obtained, make the actual speed c (t) of motor close to motor speed controlling value r (t).
6. the control system of electric automobile of prolongation course continuation mileage according to claim 1, is characterized in that, whether described control decision module opens according to the speed of vehicle, the decision-making of resistance degree or close Energy Saving Control;
The condition that Energy Saving Control starts is:
(1) 40km/h< car speed <120km/h, and
(2) resistance degree absolute value < sets threshold value;
Energy Saving Control stop condition:
(1) resistance degree absolute value > sets threshold value;
(2) when brake driver signal being detected; Or
(3) when driver's accelerator open degree rate of change exceedes threshold value.
7. the control system of electric automobile of prolongation course continuation mileage according to claim 1, it is characterized in that, described control decision module also calculates for carrying out traveling power consumption economic zone, the measurement of control decision module stores obtain under unloaded, semi-load and full load condition, moment of torsion curve of output during vehicle smooth-ride, moment of torsion curve of output is divided into multiple continuous print speed interval, and according to current wagon control goal pace, control motor speed, make vehicle with speeds the most energy-conservation in present speed interval.
8. the control system of electric automobile of prolongation course continuation mileage according to claim 1, it is characterized in that, signal analyzer also comprises road network module, described road network module comprises local Traffic network database, GPS module and MEMS sensor, and described MEMS sensor is connected to gradient computing module;
Described road network module for using Kalman Filter Technology, and carries out real-time line matching tracking in conjunction with the data of GPS module, this Traffic network database and MEMS sensor.
9. the control system of electric automobile of prolongation course continuation mileage according to claim 8, it is characterized in that, described road network module according to numerical map and gps signal location technology, and in conjunction with the bearing data that MEMS sensor detects, improves path adaptation precision.
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