CN105404282A - Double-threshold event trigger dynamic adjusting network control apparatus of electric automobile - Google Patents
Double-threshold event trigger dynamic adjusting network control apparatus of electric automobile Download PDFInfo
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- CN105404282A CN105404282A CN201510926741.7A CN201510926741A CN105404282A CN 105404282 A CN105404282 A CN 105404282A CN 201510926741 A CN201510926741 A CN 201510926741A CN 105404282 A CN105404282 A CN 105404282A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
The invention relates to an automobile control apparatus, and specifically relates to a double-threshold event trigger dynamic adjusting network control apparatus of an electric automobile. The apparatus comprises an event trigger module 1 connected with a sensor of a vehicle, a comparison module disposed at the controller end of the vehicle, an event trigger module 2, a scheduler module, a controller module and an integration module. The event trigger module 1 is connected with the comparison module through a CAN network, the comparison module is respectively connected with the event trigger module 2 and the controller module, the event trigger module 2 is then connected with the scheduler module, and the controller module and the scheduler module are respectively connected with the integration module; and the integration module is connected with a performer of the vehicle through the CAN network. The control apparatus provided by the invention realizes rapid response to system state change and system control performance change, and at the same time, achieves the purpose of reducing the network data transmission quality.
Description
Technical field
The present invention relates to a kind of automotive controls, the double threshold event being specially electric automobile triggers dynamic adjustments control based on network device.
Background technology
Along with the raising day by day of energy-saving and environmental protection and resources sustainable development demand, electric automobile obtains fast development.Compared to traditional combustion engine automobile, electric automobile relieves contacting directly of automobile and fossil energy by adopting motor to replace internal combustion engine as power source, establishes contacting of automobile and electric energy, thus achieves diversification and the sustainability of the acquisition of vapour vehicle used energy.Except energy diversification advantage, with regard to the control of vehicle itself, compare internal combustion engine and hydraulic system due to electric system and there is responding ability and control advantage more accurately faster, thus provide very large potentiality for the integrating control of vehicle power and chassis system.Such as drive motor-automatic transmission integrating control, drive motor-active front steering system integrating control, drive motor--antiskid control system-electric brake system integrating control and more comprehensive drive motor-electric control braking-automatically controlled turn to-and the correlation technique such as electronic controlled suspension integrating control is suggested in succession.Especially, along with the development of high power density compact(ing) machine technology, adopt wheel hub or wheel motor independently to drive 4 of each wheel to take turns drive electric automobile, then can realize the fairly large integrating control of 4 drive motor and automatically controlled steering, electric controlled brake system and electric suspension system etc.Fairly large integrating control can bring many advantages for the lifting of electric automobile combination property technical merit, also means that more electronic control part comprises sensor, controller and actuator needs realization interconnection and more real-time, interactive data need transmission simultaneously.
In order to realize the integrated of numerous electronic control part, In-vehicle networking such as CAN (controller local area network) is used the means as data transmission, module interconnects.Z.Shuai etc. are at document (CombinedAFSandDYCcontroloffour-wheel-independent-driveel ectricvehiclesoverCANnetworkwithtime-varyingdelays, IEEEtransactionsonvehiculartechnology, 2014.) propose in and adopt CAN to realize the integrated technical solution that 4 take turns independent driving motor system and Active Front Steering System, but also point out that the application of In-vehicle networking CAN brings new problem extraly simultaneously, as due to the network bandwidth restricted, large and the fierce Networked-induced delay caused of resource contention of volume of transmitted data will affect the control performance of vehicle, even make vehicle unstability.This document propose and adopt robust control method to suppress the impact of networking delay on system control stiffness, ensure that the stability of control system to a certain extent, but robust control method is more conservative, the dynamic perfromance of Systematical control can not be ensured.Simultaneously the method only pays close attention to network delay affects problem to system stability, and do not pay close attention to the larger problem of transmission volume, therefore its limitation improved system control performance, is not suitable for fairly large web-based sharing simultaneously yet.The effective ways solving fairly large web-based sharing problem there is not yet report in Control of Electric Vehicles field.
The real-time network control system that, data transfer throughput many for network element nodes is larger, a kind of method triggered based on threshold event is suggested at automation field.D.Yue etc. are at document (Adelaysystemmethodfordesigningevent-triggeredcontrollers ofnetworkedcontrolsystems, IEEEtransactionsonautomaticcontrol, 2013) propose a kind of threshold event based on system state change in and trigger sending method, the method increases a threshold event trigger module in sensor side, when only having the change when system state to exceed the threshold value of setting, sensor sample data is just allowed to send to network, controller and actuator are then completed by receive interruption and once control, when system state change does not meet threshold requirement, sensor is then only sampled but is not sent.So both can ensure the quick response of controller to system state change, also effectively reduce network data transmission amount simultaneously.But the defect of the method only pays close attention to the quick response problem of sensor side system state change, and do not pay close attention to the quick response problem of controller end control performance state change, therefore can not meet and require strict electric automobile demand to control performance.
The existing method for fairly large web-based sharing problem all has certain limitation, can not meet that the network bandwidth is limited, transmission volume is large, system be responded fast to the actual needs requiring high electric powered motor and chassis control system and other network control systems.
Summary of the invention
For above-mentioned technical matters, the double threshold event that the invention provides a kind of electric automobile triggers dynamic adjustments control based on network device, for ensureing the rapidity of the system responses when fairly large integrated, volume of transmitted data is larger, reduce network data transmission amount simultaneously.
The object of the invention is to be achieved through the following technical solutions:
The double threshold event of electric automobile triggers dynamic adjustments control based on network device, comprises the event trigger module 1 be connected with the sensor of vehicle, the comparison module being positioned at vehicle control device end, event trigger module 2, Scheduler module, controller module and integration module; Event trigger module 1 is connected with comparison module by CAN network, and comparison module is connected with event trigger module 2 and controller module respectively, and event trigger module 2 is connected with Scheduler module again, and controller module is connected with integration module respectively with Scheduler module; Integration module is connected with the actuator of vehicle by CAN network;
Event trigger module 1, the threshold event for management of sensor output state triggers and sends;
Comparison module, for comparing of realize target parameter and actual parameter, produces control performance parameter;
Controller module, based on control performance driving parameter, calculates according to preset strategy and algorithm process and produces control command result;
Event trigger module 2, the threshold event for managing control performance parameter triggers and sends;
Scheduler module, produces the traffic order based on control performance under the triggering of event trigger module 2, and its scheduling strategy can adopt the variable period based on control performance to send, become priority transmission and both comprehensive scheduling methods;
Integration module, realize the combination of the combination of control command and itself and priority command, and the CAN network realizing information sends.
Event trigger module 1 i.e. system output state threshold event trigger module: threshold value is based on analysis, test and experience setting, detection algorithm be employing state change evaluation index value and threshold value contrast, be more than or equal to, allow to send, be less than, do not allow to send.
Event trigger module 2 i.e. system control performance threshold event trigger module: threshold value is based on analysis, test and experience setting, detection algorithm is adopt the evaluation index value of control performance and threshold value to contrast, be more than or equal to, allow to send, be less than, do not allow to send.
Control device Performance Evaluating Indexes Qc, it specifically calculates and thresholding arranges formula:
Q
c＝ε(k
1e+k
2Δe)≤μ[|ε(k
1e+k
2Δe)|]
Wherein, ε is quantization parameter, k
1, k
2for weight coefficient, e is error vector, and Δ e is error change amount vector, and μ is threshold coefficient, and μ ∈ [0,1), | ε (k
1e+k
2Δ e) | for taking absolute value.
Between sensor and vehicle control device, namely feedback channel have employed system output state threshold event trigger module, between vehicle control device and actuator, namely forward path have employed system control performance status threshold event trigger module simultaneously, namely forms a kind of double threshold event-triggered dynamic adjustments device.
Whether sensor adopts the periodic samples of time triggered pattern, but managed to CAN network transmission and reception by event trigger module 1; The traffic order of vehicle control device receiving scheduling device module, the traffic order that Scheduler module produces can be fixed priority or the change priority dynamic dispatching based on control performance, but the work of Scheduler module is managed by event trigger module 2; Actuator then adopts event trigger mode to realize work.
The double threshold event of electric automobile provided by the invention triggers dynamic adjustments control based on network device, system state threshold event trigger module is adopted in sensor side, adopt system control performance threshold event trigger module at controller end simultaneously, realize the quick response to system state change and system control performance change, reach the object reducing network data transmission amount simultaneously; Double threshold event triggering method only compares parameter according to the system state sampling parameter easily obtained and control performance in addition, only need complete thresholding according to simple algorithm to arrange, do not need the accurate model of controlled system, do not need to carry out analytical calculation under a large amount of lines, be very beneficial for applying in electric vehicle engineering yet.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is that the electric automobile of embodiment turns to execution analysis diagram;
Fig. 3 is that the network of embodiment performs analysis diagram;
Fig. 4 is the priority management execution figure of the scheduler module of embodiment.
Embodiment
The accompanying drawings specific embodiment of the invention.
According to the fairly large integrated integrating control demand of electric automobile, double threshold event is adopted to trigger dynamic adjustments scheme, trigger the dynamic adjustments realized feedback channel communication behavior based on system state threshold event, trigger based on system control performance threshold event the information driving forward path to perform based on scheduler management simultaneously and send dynamic adjustments; Ensure the real-time that control action responds fast to system state change and control performance change to reduce total network data transmission amount simultaneously.
As shown in Figure 1, certain double threshold event used for electric vehicle triggers dynamic adjustments control based on network structural drawing.The power of this electric automobile and chassis system belong to the higher system ensemble of integrated scale, its network node comprises 4 drive motor controller, vehicle speed sensor, yaw-rate sensor and side drift angle sensor, yaw velocity and side drift angle information also can be realized by certain algorithm for estimating; Other node multiple is also there is in the system of simultaneously CAN network, as EPS electric turning booster system controller, ABS anti-lock braking system controller, TPM tire pressure monitoring system controller and Active suspension control device etc., each controller is interconnected by CAN network, wherein the real-time sampling information such as the speed of a motor vehicle, yaw velocity and body side drift angle will by vehicle control device, the controller such as EPS, ABS and Active suspension Real-Time Sharing as required.Vehicle control device is by gathering the information such as the speed of a motor vehicle, yaw velocity and side drift angle, according to preset control strategy, computing produces the torque command of 4 motors, 4 motor straights attach to wheel, adjusted by the moment of 4 wheels, produce corresponding zigzag tread patterns tractive force and the yaw moment around Z-axis, and then the speed realizing vehicle regulates and steering behaviour regulates, as shown in Figure 2.Wagon control can adopt 16 MCU microcontroller chips to realize.
Due to more network node that CAN network has interconnected, then volume of transmitted data is larger, simultaneously the limited bandwidth of CAN, and most high bit rate is 1mbits/s.Trigger the network that can realize as shown in Figure 3 by double threshold event to perform.Owing to there is multiple sensor information, in order to realize the synchronous of multiple sensor information, controller adopts cyclic polling tupe, and the treatment cycle of sensor and controller needs rationally to arrange according to control performance.At [t
k, t
k+1] period causes event to trigger to send for the change of system output state reaches thresholding, but the numerical value of control performance does not reach thresholding event can not be caused to trigger send, and control command is not sent out; Only have feedback channel to have data transport behavior during this, Networked-induced delay is τ
k, τ
k+1, owing to have employed period treatment pattern, both are a sampling period T; At [t
k+2, t
k+3] and [t
k+5, t
k+6] two sections period system output state and the numerical value of system control performance all do not reach respective thresholding, then two passages will all not have data to transmit; At [t
k+4, t
k+5] period, the numerical value of system control performance reaches thresholding and then causes event to trigger transmission, and system output state numerical value does not reach thresholding and then do not send sample information, and now only have forward path to have data to transmit, Networked-induced delay powder is respectively τ
k+4, τ
k+5, wherein τ
k+5it is the result that Scheduler module have employed that change priority policy reduces Networked-induced delay; At [t
k+7, t
k+8] period, system output state and system control performance numerical value all reach thresholding and cause event triggering transmission, and now two passages all have data to transmit, and Networked-induced delay is respectively T
k+7+ τ
k+7, T
k+8+ τ
k+8, and T
k+7=T
k+8=T, τ
k+8it is the result that Scheduler module have employed that change priority policy reduces Networked-induced delay.Can by τ by adjustment priority
k+8be reduced to minimum, and then make T
k+8+ τ
k+8the impact of Multi net voting networked control systems is down to minimum, and the system control performance under this state and stability then can obtain according to time lag system theoretical analysis.
In order to the threshold event realizing system output state triggers management, can first the comprehensive evaluation index S of setup control unit state change and thresholding thereof, it specifically calculates sees formula (1).
S＝(x
k-x
k-1)
2≤θ(x
k)
2(1)
Wherein, x
kfor the system output state variable in k moment, x
k-1represent the etching system output state variable in upper a period of time of k, k=1,2,3 ...., θ is threshold coefficient, θ ∈ [0,1).
In like manner, in order to the threshold event realizing system control performance triggers management, can first setup control device control performance evaluation index Qc and thresholding thereof, it specifically calculates sees formula (2).
Q
c＝ε(k
1e+k
2Δe)≤μ[|ε(k
1e+k
2Δe)|](2)
Wherein, ε is quantization parameter, k
1, k
2for weight coefficient, e is error, and Δ e is error change amount, and μ is threshold coefficient, and μ ∈ [0,1), | ε (k
1e+k
2Δ e) | for taking absolute value.
Fig. 4 is the priority management execution figure of Scheduler module.Scheduler module can adopt fixed priority, if but this priority is relatively little time, because CAN network transmission quantity is comparatively large, forward path CAN network induction time delay will be comparatively large, specifically see Fig. 3; Also the change priority scheduling based on control performance can be adopted to change priority, can reduce the transmission delay of forward path further, priority policy herein and algorithm can adopt the method such as to table look-up based on experience to realize.
To sum up, institute's extracting method is with regard to automobile controls, time when Vehicular yaw state and yaw control performance are all in poor state is usually very of short duration, and the number of times occurred is relatively limited, as only at ice and snow, wet-skid road surface or when running at high speed, more unexpected the extremity such as to turn under just occur, therefore under the rapidity prerequisite ensureing wagon control response under extremity, the mass data transmission quantity in normal running time can be reduced by double threshold event trigger mode, significantly will save bandwidth and be used for other node communication, the method is very beneficial for realizing the integrated of fairly large network control system.
The foregoing is only example of the present invention, the present invention is not only confined to above-mentionedly realize embodiment, and all localities done in the institute of the spirit and principles in the present invention are changed, equivalent replacement, improvement etc. all should be included within protection scope of the present invention.
Claims (4)
1. the double threshold event of electric automobile triggers dynamic adjustments control based on network device, it is characterized in that: comprise the event trigger module 1 be connected with the sensor of vehicle, the comparison module being positioned at vehicle control device end, event trigger module 2, Scheduler module, controller module and integration module; Event trigger module 1 is connected with comparison module by CAN network, and comparison module is connected with event trigger module 2 and controller module respectively, and event trigger module 2 is connected with Scheduler module again; Controller module is connected with integration module respectively with Scheduler module; Integration module is connected with the actuator of vehicle by CAN network;
Event trigger module 1, the threshold event for management of sensor output state triggers and sends;
Comparison module, for comparing of realize target parameter and actual parameter, produces control performance parameter;
Controller module, based on control performance driving parameter, calculates according to preset strategy and algorithm process and produces control command result;
Event trigger module 2, the threshold event for managing control performance parameter triggers and sends;
Scheduler module, produces the traffic order based on control performance under the triggering of event trigger module 2, and its scheduling strategy can adopt the variable period based on control performance to send, become priority transmission and both comprehensive scheduling methods;
Integration module, realize the combination of the combination of control command and itself and priority command, and the CAN network realizing information sends.
2. the double threshold event of electric automobile according to claim 1 triggers dynamic adjustments control based on network device, it is characterized in that: described event trigger module 1 i.e. system output state threshold event trigger module, threshold value is based on analysis, test and experience setting, detection algorithm be employing state change evaluation index value and threshold value contrast, be more than or equal to, allow to send, be less than, do not allow to send.
3. the double threshold event of electric automobile according to claim 1 triggers dynamic adjustments control based on network device, it is characterized in that: described event trigger module 2 i.e. system control performance threshold event trigger module, threshold value is based on analysis, test and experience setting, detection algorithm is adopt the evaluation index value of control performance and threshold value to contrast, be more than or equal to, allow to send, be less than, do not allow to send.
4. the double threshold event of the electric automobile according to any one of Claim 1-3 triggers dynamic adjustments control based on network device, and it is characterized in that: described control device Performance Evaluating Indexes Qc, it specifically calculates and thresholding arranges formula:
Q
c＝ε(k
1e+k
2Δe)≤μ[|ε(k
1e+k
2Δe)|]
Wherein, ε is quantization parameter, k
1, k
2for weight coefficient, e is error vector, and Δ e is error change amount vector, and μ is threshold coefficient, and μ ∈ [0,1), | ε (k
1e+k
2Δ e) | for taking absolute value.
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| JP2014109346A (en) * | 2012-12-04 | 2014-06-12 | Nissan Motor Co Ltd | Gear change control device |
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2015
- 2015-12-14 CN CN201510926741.7A patent/CN105404282B/en active Active
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|---|---|---|---|---|
| CN102749845A (en) * | 2012-06-15 | 2012-10-24 | 华中科技大学 | Electric system state feedback controller construction method based on event trigger mechanism |
| CN102887123A (en) * | 2012-10-11 | 2013-01-23 | 吉林大学 | Central controller for full-wire-controlled electric automobile and control method of central controller |
| JP2014109346A (en) * | 2012-12-04 | 2014-06-12 | Nissan Motor Co Ltd | Gear change control device |
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