CN105599637A - Layered dynamic regulation networked control device of electric automobile - Google Patents
Layered dynamic regulation networked control device of electric automobile Download PDFInfo
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- CN105599637A CN105599637A CN201510965214.7A CN201510965214A CN105599637A CN 105599637 A CN105599637 A CN 105599637A CN 201510965214 A CN201510965214 A CN 201510965214A CN 105599637 A CN105599637 A CN 105599637A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to a layered dynamic regulation networked control device of an electric automobile and belongs to the field of automobile control. The layered dynamic regulation networked control device comprises n control layers, and a comparison module of each control layer is connected with a related vehicle sensor through a CAN network; each comparison module is connected with a controller module and a dispatcher module respectively; the output end of each controller module and the output end of each dispatcher module are connected with a comprehensive module respectively; the first control layer located at the top end is responsible for processing and outputting an initial command; the controller modules and the dispatcher modules from the second controller layer to the nth control layer at the bottom end sequentially receive and dynamically regulate orders from the comprehensive modules of the previous control layers; finally the comprehensive module of the nth control layer at the bottom end sends the orders to a vehicle executor through the CAN network. The networked control device inhibits influences, caused by the sending cycle and network-induced delays, on various types of application control performance, guarantees rapidness of response of various application integrated systems and lowers network data throughout and is more flexible and precise.
Description
Technical field
The layer-stepping dynamic adjustments networking control device that the present invention relates to electric automobile, belongs to field of automobile control.
Background technology
Energy-saving and environmental protection are the three challenges of automobile Faced In Sustainable Development with safety, ask in order to solve three challengesTopic, the integrated control that realizes power and chassis system becomes the main flow trend of automobile control technology development. In recent years,In orthodox car field, by engine, speed changer, differential mechanism, brakes, steering and suspension systemSystem integrates the correlative study that realizes integrated control becomes focus, such as engine+speed changer+drive anti-skidding+Braking anti-lock integration control technology, formulate the anti-skidding+intact stability control integration control skill of anti-lock+driveArt and the more comprehensive integrated dynamics of vehicle of dynamical system+brakes+steering+suspension systemIntegration control technologies etc. are pushed out in succession, and wherein part has obtained commercialization, large-scale promotion, as ESP(the old program of electronic stability) and VDC (Study on Vehicle Dynamic Control system) etc. It should be noted that manyNumber all particularly points out in documents: in automobile power and chassis control system integrated, the function of each system is interferedProblem need to rationally be solved, and conventionally can occur to unstability such as wheel-slip and vehicle side simultaneously, drives anti-skiddingWith ESP and active steering control module may be to providing different control commands, thereby cause meritCan interfere, and from the angle of automobile dynamics, wheel-slip control should have the highest priority, secondly be to separateCertainly stability problem, be to solve handling maneuver performance problem again, three kinds of application controls effects need to apply jointly.Integrated in order to realize similar function, intervene step by step formula layering integrated control structure scheme and be suggested, and very effectiveSolved function interference problem.
For electric automobile, because motor driven systems is compared engine and Hydrodynamic transmission drive system, haveFast response time, the advantage that control accuracy is high, can realize more flexibly, control efficiently, thereby be systemIntegrated control provides greater room. Especially, along with the development of electric drive technology, adopt wheel hub or wheel limit electricity4 of machine independent driving automobile is taken turns drive electric automobile and has been obtained in recent years fast development. Pass through active adjustmentThe output torque of 4 drive motors can be realized conventional driving+manipulation and control+drive anti-skidding+ABS and wait indefinitelyMultiple application controls function integrated, can be the elevator belt of electric automobile economy, dynamic property and control stabilityCarry out very large potentiality. J.Park etc. are at document (TorquedistributionalgorithmforanindependentlyDrivenelectricvehicleusingafuzzycontrolmethod, energies, 2015) in take turns independence for 4Strategy+anti-skidding strategy step by step to drive electric automobile to propose a kind of synthesis energy saving strategy+acceleration strategy+turn toThe integrated torque distribution scheme of intervention formula layering, has solved safety, manipulation and the energy-conservation problem of taking into account in theory effectively.But than traditional combustion engine automobile, the 4 integrated controls of taking turns drive electric automobile need to realize more electricitySub-control assembly comprises the interconnection of sensor, controller and actuator, current employing CAN agreement In-vehicle networkingRealizing interconnection is the normal technological means adopting in electric vehicle engineering. But the use meeting of CAN network extralyIntroduce new problem, as the network is guided time delay because the network bandwidth is limited, network data transmission amount causes greatly,The problems such as networked system extended capability is poor. The people such as Z.Shui are at document (" Lateralmotioncontrolforfour-wheel-independent-driveelectricvehiclesusingoptimaltorqueallocationandDynamicmessagepriorityscheduling, points out in ControlEngineeringPractice, 2014 "):Take turns in the maneuvering performance control of drive electric automobile CAN protocol network realizing 4 by torque distributionInduction time delay meeting has a strong impact on the performance of Vehicle Lateral Motion Based control, even makes system unstability. The document has proposedA priority dynamic adjusting method based on model decision-making, has improved time delay controlled to system to a certain extentThe problem that affects of energy, but the method is not paid close attention to the reduction of network data transmission amount and system extension capability problems, thereforeImprovement degree to system real time is limited, and is unfavorable for system extension, and the method is only for single control simultaneouslyTask, is not suitable for multitask layer-stepping integrated. G.Qin etc. are at document (H∞controloffour-wheel-independentdriveelectricvehicleswithrandomtime-varyingdelays,Mathematicalproblemsinengineering, 2015) in, a kind of robust control method has been proposed, for separatingWhat certainly CAN protocol network induction time delay caused 4 takes turns drive electric automobile and handles control performance and decline, veryTo the problem of unstability. Robust control has improved the stability of system to a certain extent, but has conservative, can notEffectively the dynamic characteristic of improvement system is not paid close attention to network data transmission amount problem simultaneously, is not also suitable for manyBusiness layer-stepping is integrated.
Current existing method all can not effectively solve the integrated control problem of intervention formula layering of electric automobile.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of layer-stepping dynamic adjustments networking of electric automobileControl device, adopts a kind of layer-stepping dynamic adjustments networking control method, is specially adapted to Internet Transmission bandwidthLimited, multiple applying hierarchical formula is integrated, to system real-time response require high electric automobile hard real-time power andChassis network control system, realizes and suppresses data transmitting period, the network is guided time delay to many applying hierarchicals formula collectionBecome the impact of control performance, ensure the quick of integrated system response, reduce network data transmission amount, raising simultaneouslyThe extended capability of system.
The object of the invention is to be achieved through the following technical solutions.
The layer-stepping dynamic adjustments networking control device of electric automobile, comprises n key-course, each key-courseComprise again comparison module, controller module, Scheduler module and comprehensive module; Comparison module is accepted driver and is referred toOrder, comparison module is connected with each sensor of vehicle by CAN network simultaneously; Comparison module output dividesBe not connected with controller module, Scheduler module; The output of controller module, the output of Scheduler moduleBe connected with comprehensive module respectively;
The 1st key-course in top is responsible for processing and exporting initial command; The 2nd key-course is to bottomThe controller module of n key-course, Scheduler module receive successively and dynamic adjustments comprehensive from upper strata key-courseThe order of module; Final by sending to car in the comprehensive module of n the key-course in bottom by CAN networkActuator, realizes and intervenes step by step the integrated control effect of formula layering;
The comparison module of each key-course, for realizing the target component of this key-course and the comparison of actual parameter to produceRaw control performance parameter;
The controller module of each key-course, be responsible for that this key-course is realized according to control performance according to corresponding strategy andAlgorithm process is calculated and is produced control command;
The Scheduler module of each key-course, is responsible for this key-course and produces corresponding transmission cycle and priority scheduling lifeOrder;
The comprehensive module of each key-course, is responsible for realizing the control command of this key-course and the combination of traffic order.
The layer-stepping dynamic adjustments networking control device of electric automobile, adopts layer-stepping control, and each layering simultaneouslyComprise control strategy and scheduling strategy, the control strategy of each layering and scheduling strategy all can independently be set, and are realizingIntervene step by step in the integrated control procedure of formula layering, each layer the priority of order dynamic adjustments is complied with from top to bottomInferior raising, thus from regulation of longitudinal angle, the transmission of information need to be accepted the dynamic management of multiple key-courses, formsLayer-stepping controller and layer-stepping scheduler.
Concrete, input parameter, the scheduling strategy of the Scheduler module of each layer are independently located according to the demand of functionReason, but output parameter must ensure unanimously to require the output scheduling order can be directly comprehensive; The scheduler of each layerModule had both comprised transmission periodic scheduling strategy, comprised again and sent priority scheduling strategy, and two class strategies all need basisControl performance requires to set; Wherein send periodic scheduling strategy and can adopt fixed cycle sending mode; And send preferentialLevel scheduling strategy both can adopt fixed priority scheme, also can adopt the change priority based on control performance parameterScheduling method; Each layer of Scheduler module also needs intervention thresholding is set simultaneously, only has control performance higher than intervening thresholdingTime, Scheduler module is just triggered and applies new scheduling strategy dynamic compensation, otherwise nonintervention do not change fromThe traffic order on upper strata; The setting of intervening thresholding can come real by definition evaluation control Performance Evaluating Indexes parameterExisting.
The input parameter of the controller module of each layer, control strategy be difference according to controlling the difference of function, but defeatedGo out parameter and must ensure unanimously, requiring to control output command between levels can be directly comprehensive.
The layer-stepping dynamic adjustments networking control device of electric automobile provided by the invention, according to system layer formulaIntegrated control feature, adopts a kind of layer-stepping dynamic adjustments networking control method, can suppress the transmission cycle,The impact of the network is guided time delay on various application controls performances, ensure the rapidity of multiple application integrating system response,Reduce network data transmission amount simultaneously; This control device adopts the layer-stepping scheduler based on control performance parameter,Do not need the accurate model of system, do not need extra acquisition state information, simple, practical; And the tune of layer-steppingDegree policy construction can be realized the stand alone type adjusting of each layer scheduler and then reachability set and become the local formula of control systemRegulating effect, compares overstepping one's bounds laminar scheduling scheme, has more flexibly, advantage accurately, is more applicable for electricityThe integrated application of electrical automobile.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is that the control system of embodiment is intervened the integrated vehicle control execution of formula layering analysis diagram;
Fig. 3 is that analysis diagram is carried out in the networking control of embodiment.
Detailed description of the invention
The present invention, according to the integrated control feature of electric automobile, adopts layer-stepping dynamic adjustments networking control method,The impact of Suppression network induction time delay on various application controls performances, ensure the fast of multiple application integrating system responseSpeed reduces network data transmission amount simultaneously.
With reference to the accompanying drawings, enforcement of the present invention is described in detail.
As shown in Figure 1, certain 4 takes turns drive electric automobile layer-stepping dynamic adjustments networking control structure figure.The control system of this electric automobile comprises 4 electric machine controllers, vehicle control device and vehicle speed sensor, wheel angleVelocity sensor, steering wheel angle sensor and pedal class driver command. Vehicle control device is each by gatheringSensor and driver command, distributed and realized Driving control strategy, energy saver mode control plan by 4 motor torquesSummary, motor pattern control strategy, turn to auxiliary control strategy and vehicle wheel non-slip control strategy, as shown in Figure 2.Wherein Driving control strategy, according to the speed of a motor vehicle and pedal signal, calculates and produces the overall moment T that drives vehicle; Energy-conservationThe antero posterior axis that pattern control strategy is realized overall moment T according to the speed of a motor vehicle and pedal signal according to energy-conservation principle dividesBefore and after partition does not obtain, moment is Tf, Tr; Motor pattern control strategy according to the speed of a motor vehicle and pedal signal according to increasingMoment Tf, Tr before and after strong power principle regulates; Turn to auxiliary control strategy to comply with according to the speed of a motor vehicle, turn signalDistribute the moment of 4 wheels all around to produce T1, T2, T3, T4 according to improving handling principle; Wheel is anti-Sliding control strategy is adjusted respectively the moment of 4 wheels according to anti-skidding principle according to the speed of a motor vehicle, vehicle wheel rotational speed signal;The adjustment of torque command is each time all taking last layer order as basis. Vehicle changes ratio in the speed of a motor vehicle and pedal signalWhen more steady, will move in energy saver mode, and be applicable to the formula of cruising of normal time and drive; Need acceleration and deceleration when detectingWhen realization is overtaken other vehicles, climbs and brakes, on energy saver mode basis, adjust to the motor pattern that strengthens power, otherwiseNonintervention is from the torque command on upper strata, and the generation of intervention can be intervened thresholding realization by arranging; When passing through the speed of a motor vehicleWhile Vehicular turn being detected with turn signal, on motor pattern basis, adjust to that to improve turning to of maneuverability auxiliaryHelp pattern, otherwise nonintervention is from the torque command on upper strata, the generation of in like manner intervening can be by arranging intervention thresholdingRealize, be applicable to high speed steering operation; In the time wheel-slip being detected, skid from turning to auxiliary mode to turn toControl model, otherwise nonintervention is from the signal on upper strata, the generation of in like manner intervening can by arranging, to intervene thresholding realExisting. The each layer of priority of adjusting for torque command improves from top to bottom successively. So can realize and ensure peaceEntirely, under the prerequisite of high-speed controllability and acceleration capacity, improve the energy-saving effect of vehicle operating. Vehicle control device canTo adopt 16 and the realization of above microcontroller chip. GES, angular speed of wheel signal and pedal signalCan obtain by existing vehicle sensors and control module.
As shown in Figure 2, each control strategy, according to controlling the difference of function and the security requirement of vehicle, rightControl cycle and the requirement of real-time carried out and there is larger difference, as Driving control, energy saver mode control and fortuneThe control of dynamic model formula is all response driver's instruction conventionally, relative not high to the requirement of controlled frequency and real-time,Controlling treatment cycle as arranged is 100ms, and priority is medium; Turn to auxiliary control to need according to turningRealize the real-time adjustment of auxiliary yaw moment to signal, GES, controlling treatment cycle as arranged is 20ms,Priority is high in being; Wheel-slip control needs to realize according to the speed of a motor vehicle, wheel speed signal the adjustment of hard real-time,Operated by rotary motion control treatment cycle is 5ms, and priority is high.
Figure 3 shows that layer-stepping dynamic dispatching networking control execution graph. As shown in Figure 3, at [tk,tk+40] phaseBetween, for Driving control, energy saver mode control and three kinds of patterns of motor pattern control (need not to be simultaneously to produce and intervene,Intervene thresholding and determine by whether reaching) situation of operation, during this vehicle do not occur the auxiliary demand of high speed steering andWheel-slip, under this state, data transfer cycle is 100ms, network data transmission amount is less, due to priorityFor medium, transfer of data time delay is τkIf adopt the change priority policy based on control performance, data simultaneouslyTransmission delay can be reduced into τ as much as possiblek+20, further improve the real-time of native system control; ?[tk+40,tk+44] during, travel condition of vehicle is for (needing not to be simultaneously and produce and intervene, by being in first three kind patternNo reaching intervened thresholding and determined) there is again high speed steering manipulation on basis, during this, turn to auxiliary control strategyTo start, under this state, data transfer cycle is 20ms, and network data transmission amount increases, simultaneously due to preferentiallyLevel is high in being also to be improved relatively, and transfer of data time delay is τk+40, this time delay is with respect to τkDecrease is little, withIf reason adopts the change priority policy based on control performance, transfer of data time delay can be reduced into as much as possibleτk+44, further improve the real-time of native system control; At [tk+60,tk+62] during, travel condition of vehicle isOn front four kinds of patterns (need not to be simultaneously to produce and intervene, intervene thresholding and determine by whether reaching) basis, occur againWheel-slip, during this, wheel-slip control strategy will start, under this state, data transfer cycle is 5ms,Network data transmission amount increases to maximum, simultaneously because priority is high also relatively further raising, and transfer of dataTime delay is τk+60, the relative τ of this time delayk+44Have necessarily and reduce, if in like manner adopt the change based on control performance preferentialLevel strategy, transfer of data time delay can be reduced into τ as much as possiblek+61, further improve native system controlReal-time.
Meanwhile, aspect the reduction of network data transmission amount, with regard to infobit, adopt 100m and 20msThe network traffic data producing when data transmitting period is respectively 5%, 25% while adopting 5ms cycle. And carWheel skids and high-speed handing control only occurs conventionally under some extreme operating condition, and the duration is extremely short.
Can realize thus the integrated control of layer-stepping of vehicle by layer-stepping dynamic adjustments, realize vehicle and ensureingUnder the prerequisite of security performance (wheel is non-slip), high-speed handing performance and power performance, transport according to energy saver modeOK; Control system only adopts higher controlled frequency and priority under wheel-slip and high-speed handing state,Ensure rapidity, the real-time of system responses, and at the lower controlled frequency of the next use of safe condition and preferentialLevel, ensures the normal operation of vehicle under economic model and motor pattern, significantly reduces network data simultaneously and passesThroughput rate. Be very beneficial for improvement and the expansion of network system real-time.
In order to realize the intervention thresholding trigger-type management of each control function, can set the evaluation of each function control performanceIndex Qc, it specifically calculates and formula (1) and (2) are shown in thresholding triggering judgement.
Qc＝ε(k1e+k2Δ is formula (1) e)
Qc≥μ[|ε(k1e+k2Δ is e) |] formula (2)
Wherein, ε is quantization parameter, k1、k2For weight coefficient, e is error, and Δ e is error change amount, and μ isThreshold coefficient, and μ ∈ [0,1), | ε (k1e+k2Δ is e) | for taking absolute value.
Change priority scheduling general principle based on control performance is: first define control performance parameter evaluation index,According to the size of control performance parameter evaluation index, according to certain strategy or algorithm, produce online variable excellentFirst level, realizes when control performance is poor, adopts higher priority until limit priority, raising controlReal-time, in the time that control performance is better, adopts lower priority, and releasing network uses priority. This programmeMiddle control performance parameter evaluation index can adopt formula (1) definition. And the strategy that priorities associated is distributed or calculationMethod can adopt based on the tabling look-up or fuzzy reasoning etc. of experience, and concrete principle is shown in pertinent literature.
The foregoing is only example of the present invention, the present invention is not only confined to the above-mentioned embodiment of realization,All localities of doing in the institute of the spirit and principles in the present invention change, be equal to replacement, improvement etc. all should be included inWithin protection scope of the present invention.
Claims (1)
1. the layer-stepping dynamic adjustments networking control device of electric automobile, is characterized in that, comprises n controlLayer, each key-course comprises again comparison module, controller module, Scheduler module and comprehensive module; Relatively mouldPiece is accepted driver command, and comparison module is connected with each sensor of vehicle by CAN network simultaneously; RatioBe connected with controller module, Scheduler module respectively compared with module output; The output of controller module, schedulingThe output of device module is connected with comprehensive module respectively;
The 1st key-course in top is responsible for processing and exporting initial command; The 2nd key-course is to bottomThe controller module of n key-course, Scheduler module receive successively and dynamic adjustments comprehensive from upper strata key-courseThe order of module; Final by sending to car in the comprehensive module of n the key-course in bottom by CAN networkActuator, realizes and intervenes step by step the integrated control effect of formula layering;
The comparison module of each key-course, for realizing the target component of this key-course and the comparison of actual parameter to produceRaw control performance parameter;
The controller module of each key-course, be responsible for that this key-course is realized according to control performance according to corresponding strategy andAlgorithm process is calculated and is produced control command;
The Scheduler module of each key-course, is responsible for this key-course and produces corresponding transmission cycle and priority scheduling lifeOrder;
The comprehensive module of each key-course, is responsible for realizing the control command of this key-course and the combination of traffic order.
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| CN109774493A (en) * | 2019-01-18 | 2019-05-21 | 南昌大学 | A kind of optimum torque distribution method based on distributed electro-motive vehicle |
| CN113246961A (en) * | 2020-02-11 | 2021-08-13 | 通用汽车环球科技运作有限责任公司 | Architecture and method for integrated wheel and body dynamic control with standard stability features |
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Cited By (7)
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| CN109774493A (en) * | 2019-01-18 | 2019-05-21 | 南昌大学 | A kind of optimum torque distribution method based on distributed electro-motive vehicle |
| CN113246961A (en) * | 2020-02-11 | 2021-08-13 | 通用汽车环球科技运作有限责任公司 | Architecture and method for integrated wheel and body dynamic control with standard stability features |
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| CN113759870A (en) * | 2021-08-18 | 2021-12-07 | 东科克诺尔商用车制动技术有限公司 | Perception and execution division system framework of motor vehicle |
| WO2023217158A1 (en) * | 2022-05-10 | 2023-11-16 | 中国第一汽车股份有限公司 | Vehicle-mounted system application management method and architecture, and vehicle and medium |
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