CN105599637B - The layer-stepping dynamic regulation control based on network device of electric automobile - Google Patents
The layer-stepping dynamic regulation control based on network device of electric automobile Download PDFInfo
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- CN105599637B CN105599637B CN201510965214.7A CN201510965214A CN105599637B CN 105599637 B CN105599637 B CN 105599637B CN 201510965214 A CN201510965214 A CN 201510965214A CN 105599637 B CN105599637 B CN 105599637B
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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
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Abstract
The present invention relates to the layer-stepping dynamic regulation control based on network device of electric automobile, belongs to field of automobile control, including n key-course, and the comparison module of each key-course is connected by CAN network with associated vehicle sensors；Comparison module is connected with controller module, Scheduler module respectively；The output end of controller module, the output end of Scheduler module are connected with integration module respectively；The 1st key-course in top is responsible for handling and exporting initial command；2nd key-course is received successively to the controller module of n-th of bottom key-course, Scheduler module and order of the dynamic regulation from top level control layer integration module；Vehicle actuator is finally sent to by CAN network by the integration module in n-th of bottom key-course.The control based on network device suppresses to send the influence of cycle, Networked-induced delay to various application control performances, ensures the rapidity of a variety of application integrating system responses, reduces network data transmission amount, more flexibly, precisely.
Description
Technical field
The present invention relates to the layer-stepping dynamic regulation control based on network device of electric automobile, belong to field of automobile control.
Background technology
Energy-saving and environmental protection and the three challenges that safety is automobile Faced In Sustainable Development, it is real in order to solve the problems, such as three challenges
The integrated control of existing power and chassis system turns into the main trend of automobile control technology development.In recent years, led in orthodox car
Domain, engine, speed changer, differential mechanism, brakes, steering and suspension system are integrated and realize integrated control
Correlative study turns into focus, such as engine+speed changer+Anti-slip regulation+braking anti-lock integration control technology, formulates anti-lock
+ Anti-slip regulation+vehicle stabilization control integration control technology and more comprehensive dynamical system+brakes+steering+
Integrated dynamics of vehicle integration control technology of suspension system etc. is pushed out in succession, and which part has been obtained for commercialization, greatly
Scale is promoted, such as ESP (the old program of electronic stability) and VDC (Study on Vehicle Dynamic Control system).It is worth noting that, in majority
All particularly pointed out in document：Automobile power and chassis control system it is integrated in, the function interference problem of each system need by
Rationally solve, such as wheel-slip and vehicle lateral bucking would generally occur simultaneously, Anti-slip regulation and ESP and
Active steering control unit may be to providing different control commands, so as to cause function to be interfered, and from the angle of automobile dynamics
Degree, wheel-slip control should have highest priority, next to that solving stability problem, being to solve handling maneuver performance again
Problem, three kinds of application control effects need common apply.In order to which the function of realizing similar integrates, intervene the integrated control of formula layering step by step
Organization plan processed is suggested, and very effectively solves function interference problem.
For electric automobile, because motor driven systems compare engine and Hydrodynamic transmission drive system, there is response
The advantage that speed is fast, control accuracy is high, it is possible to achieve more flexibly, efficiently control, so as to be provided for system integration control
Greater room.Especially, with the development of electric drive technology, 4 wheels using wheel hub or wheel motor independent driving automobile are independent
Driving electric automobile obtains fast development in recent years.Output torque by actively adjusting 4 motors can be realized often
Rule driving+manipulation control+Anti-slip regulation+ABS is waited indefinitely the integrated of a variety of application control functions, can be electric automobile economy
The elevator belt of property, dynamic property and control stability carrys out very big potentiality.J.Park etc. is in document (Torque distribution
algorithm for an independently driven electric vehicle using a fuzzy control
Method, energies, 2015) in for the independent driving electric automobiles of 4 wheels propose a kind of synthesis energy saving strategy+acceleration strategy
+ strategy+anti-skidding tactful integrated torque allocative decision of the formula of intervention step by step layering is turned to, safety, behaviour are efficiently solved in theory
Vertical and energy-conservation takes into account problem.But compared to traditional combustion engine automobile, the integrated control of the independent driving electric automobile of 4 wheels needs to realize
More electronic control parts include the interconnection of sensor, controller and actuator, and currently employed CAN protocol In-vehicle networking is realized
Interconnection be in electric vehicle engineering frequently with technological means.But the use of CAN network can extraly introduce the problem of new, such as
Because network bandwidth limited, network data transmission amount Networked-induced delay caused greatly, networked system extended capability difference etc. are asked
Topic.Z.Shui et al. is in document (" Lateral motion control for four-wheel-independent-drive
electric vehicles using optimal torque allocation and dynamic message
Priority scheduling, Control Engineering Practice, point out in 2014 ")：Distributed by torque
Realize that 4 wheels are independently driven in the maneuvering performance control of electric automobile, CAN protocol Networked-induced delay can have a strong impact on that vehicle is lateral
The performance of motion control, or even make system unstability.It this document propose a kind of priority dynamic adjustment side based on model decision
Method, the influence problem of delay on system control performance is improved to a certain extent, but this method is not concerned with network data transmission amount
Reduction and system extended capability problem, therefore the improvement limitation to system real time, and it is unfavorable for system extension, simultaneously should
Method is not suitable for multitask layer-stepping and integrated only for single control task.G.Qin etc. is in document (H∞ control of
four-wheel-independent drive electric vehicles with random time-varying
Delays, Mathematical problems in engineering, 2015) a kind of robust control method is proposed in, is used
The independent driving electric automobile manipulation control performance decline of 4 wheels caused by solving CAN protocol Networked-induced delay, even unstability
Problem.Robust control improves the stability of system to a certain extent, but has conservative, it is impossible to is effectively improved the dynamic of system
Characteristic, while network data transmission amount problem is not concerned with, it is not suitable for multitask layer-stepping and integrates yet.
Currently existing method all can not effectively solve the integrated control problem of intervention formula layering of electric automobile.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide a kind of layer-stepping dynamic regulation control based on network of electric automobile
Device, using a kind of layer-stepping dynamic regulation control based on network method, it is limited especially suitable for network transmission bandwidth, a variety of applications
Layer-stepping is integrated, requires system real-time response high electric automobile hard real-time power and chassis network control system, real
Now suppress data transmitting period, Networked-induced delay to more influences that control performance is integrated using layer-stepping, ensure integrated system
What is responded is quick, while reduces network data transmission amount, improves the extended capability of system.
The purpose of the present invention is achieved through the following technical solutions.
The layer-stepping dynamic regulation control based on network device of electric automobile, including n key-course, each key-course include again
Comparison module, controller module, Scheduler module and integration module；Comparison module receives driver command, while comparison module
Connected by each sensor of CAN network and vehicle；Comparison module output end connects with controller module, Scheduler module respectively
Connect；The output end of controller module, the output end of Scheduler module are connected with integration module respectively；
The 1st key-course in top is responsible for handling and exporting initial command；2nd key-course is controlled for n-th to bottom
The controller module of preparative layer, Scheduler module receive successively and order of the dynamic regulation from top level control layer integration module；Most
Vehicle actuator is sent to by CAN network by the integration module in n-th of bottom key-course eventually, realizes and intervenes formula point step by step
The integrated control effect of layer；
The comparison module of each key-course, controlled for realizing the target component of this key-course and the comparison of actual parameter with producing
Performance parameter processed；
The controller module of each key-course, it is responsible for this key-course and realizes according to control performance according to corresponding strategy and algorithm
Processing, which calculates, produces control command；
The Scheduler module of each key-course, it is responsible for this key-course and produces corresponding transmission cycle and priority scheduling order；
The integration module of each key-course, it is responsible for realizing the control command of this key-course and the combination of traffic order.
The layer-stepping dynamic regulation control based on network device of electric automobile, is controlled using layer-stepping, and each layering includes simultaneously
Control strategy and scheduling strategy, the control strategy and scheduling strategy being respectively layered can independent setting, intervene formula point step by step realizing
In the integrated control process of layer, each layer improves successively to the priority of order dynamic regulation from top to bottom, thus from longitudinal angle
Degree, the transmission of information need to receive the dynamic management of multiple key-courses, that is, form layer-stepping controller and layer-stepping scheduler.
Specifically, the processing of the input parameter of the Scheduler module of each layer, scheduling strategy according to the demand independence of function, but
Output parameter, which must assure that, unanimously requires that output scheduling order can be integrated directly；The Scheduler module of each layer both includes sending
Periodic scheduling strategy, include sending priority scheduling strategy again, two class strategies are both needed to be set according to control performance requirement；Wherein send out
Periodic scheduling strategy is sent to use fixed cycle sending mode；And fixed priority mould can both be used by sending priority scheduling strategy
Formula, the change priority scheduling pattern based on control performance parameter can also be used；Each layer Scheduler module is also needed to set and done simultaneously
When pre- thresholding, only control performance are higher than thresholding is intervened, Scheduler module, which is just triggered, applies new scheduling strategy dynamic compensation,
Otherwise do not intervene and do not change the traffic order from upper strata；Intervening the setting of thresholding can be commented by defining and assessing control performance
Valency index parameter is realized.
The input parameter of the controller module of each layer, control strategy are different and different according to control function, but export ginseng
Number must assure that unanimously, that is, require that interlayer control output order can be integrated directly up and down.
The layer-stepping dynamic regulation control based on network device of electric automobile provided by the invention, is integrated according to system layer formula
Control feature, using a kind of layer-stepping dynamic regulation control based on network method, it can suppress to send cycle, Networked-induced delay pair
The influence of various application control performances, the rapidity for ensureing a variety of application integrating system responses, while reduce network data transmission
Amount；The control device uses the layer-stepping scheduler based on control performance parameter, it is not necessary to the accurate model of system, it is not necessary to volume
Outer acquisition state information, it is simple, practical；And the scheduling strategy structure of layer-stepping can realize the stand alone type of each layer scheduler adjust into
And the local regulating effect of integrated control system is can reach, compared to non-hierarchical scheduling scheme, have more flexibly, accurately
Advantage, it is more applicable for the integrated application of electric automobile.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is that the control system of embodiment intervenes the integrated wagon control execution analysis diagram of formula layering；
Fig. 3 is that the control based on network of embodiment performs analysis diagram.
Embodiment
The present invention, using layer-stepping dynamic regulation control based on network method, presses down according to the integrated control feature of electric automobile
The rapidity of a variety of application integrating systems responses of influence, guarantee of the Networked-induced delay processed to various application control performances, simultaneously
Reduce network data transmission amount.
With reference to the accompanying drawings, the implementation to the present invention is described in detail.
As shown in figure 1, certain independent driving electric automobile layer-stepping dynamic regulation control based on network structure chart of 4 wheels.This is electronic
The control system of automobile includes 4 electric machine controllers, vehicle control device and vehicle speed sensor, angular speed of wheel sensor, turned to
Disk angular transducer and pedal type driver command.Vehicle control device will pass through 4 by gathering each sensor and driver command
Driving control strategy, energy saver mode control strategy, motor pattern control strategy, steering assistance control plan are realized in motor torque distribution
Summary and vehicle wheel non-slip control strategy, as shown in Figure 2.Wherein Driving control strategy calculates according to speed and pedal signal and produces drive
The overall torque T of motor-car；Energy saver mode control strategy then realizes total force according to speed and pedal signal according to energy-conservation principle
Torque is Tf, Tr before and after square T antero posterior axis distribution obtains respectively；Motor pattern control strategy then according to speed and pedal signal according to
According to torque Tf, Tr before and after enhancing dynamic property principle regulation；Steering assistance control strategy is then according to speed, turn signal according to improvement
The torque that handling principle distributes 4 wheels all around produces T1, T2, T3, T4；Vehicle wheel non-slip control strategy is then according to car
Speed, wheel rotation speed signals adjust the torque of 4 wheels according to anti-skidding principle respectively；The adjustment of torque command each time is all the above
Based on one layer of order.Vehicle will be in energy saver mode in speed and more steady pedal signal change and run, suitable for normal
Time cruise formula drives；When detecting that needing acceleration and deceleration to realize overtakes other vehicles, climbs and brake, it is adjusted on the basis of energy saver mode
Strengthen the motor pattern of power, otherwise do not intervene the torque command from upper strata, the generation of intervention can intervene thresholding by setting
Realize；When detecting Vehicular turn by speed and turn signal, then it is adjusted to improve maneuverability on the basis of motor pattern
Steering assistance pattern, otherwise do not intervene the torque command from upper strata, the generation similarly intervened can pass through set intervene thresholding
Realize, operated suitable for high speed steering；When detecting wheel-slip, then skidding control model is turned to from steering assistance pattern,
Otherwise the signal from upper strata is not intervened, the generation similarly intervened can intervene thresholding realization by setting.Each layer is ordered for torque
The priority of order adjustment improves successively from top to bottom.It can so realize and ensure safety, high-speed controllability and acceleration capacity
Under the premise of, improve the energy-saving effect that vehicle is run.Vehicle control device can use 16 and the realization of above microcontroller chip.Car
Fast signal, wheel angular velocity signals and pedal signal can be obtained by existing vehicle sensors and control unit.
As shown in Figure 2, each control strategy, according to the difference of control function and the security requirement of vehicle, control is held
The capable cycle and requirement of real-time has larger difference, as Driving control, energy saver mode control and motor pattern control are usual
The instruction of driver is all in response to, the requirement to control frequency and real-time is not relatively high, as the settable control process cycle is
100ms, priority are medium；And steering assistance control then needs to realize auxiliary yaw moment according to turn signal, GES
Real-time adjustment, such as settable control process cycle is 20ms, and priority is high in being；Wheel-slip control is then needed according to car
Speed, wheel speed signal realize the adjustment of hard real-time, and the general setting control process cycle is 5ms, and priority is high.
Fig. 3 show layer-stepping dynamic dispatching control based on network execution figure.As shown in figure 3, in [tk, tk+40] during, to drive
Control, energy saver mode control and motor pattern control Three models are sailed (to need not be while produce intervention, by whether reaching intervention door
Limit determine) operation situation, high speed steering back-up needs and wheel-slip do not occur for vehicle during this, data transfer under this state
Cycle is 100ms, and network data transmission amount is smaller, and because priority is medium, data transfer delay is τkIf base is used simultaneously
In the change priority policy of control performance, then data transfer delay can be reduced into τ as much as possiblek+20, further improving this is
The real-time of system control；In [tk+40, tk+44] during, travel condition of vehicle is (to need not be while produce dry in first three pattern
In advance, by whether reach intervene thresholding and determine) on the basis of again there occurs high speed steering manipulation, steering assistance control strategy general during this
Start, data transfer cycle be 20ms under this state, and network data transmission amount increases, simultaneously because priority high also phase in being
To improving, data transfer delay is τk+40, this delay is relative to τkReduction amount is little, similarly according to the change based on control performance
Priority policy, then data transfer delay can be reduced into τ as much as possiblek+44, further improve the real-time that the system controls；
In [tk+60, tk+62] during, travel condition of vehicle is (to need not be in preceding four kinds of patterns while produce intervention, by whether reaching intervention
Thresholding determines) on the basis of again there occurs wheel-slip, wheel-slip control strategy will start during this, data transfer under this state
Cycle is 5ms, and network data transmission amount increases to maximum, simultaneously because priority also further improves relatively to be high, data pass
Defeated delay is τk+60, the relative τ of this delayk+44There is certain reduction, similarly according to the change priority policy based on control performance, then
Data transfer delay can be reduced into τ as much as possiblek+61, further improve the real-time that the system controls.
Meanwhile in terms of network data transmission amount reduction, for infobit, week is sent using 100m and 20ms data
Network traffic data caused by phase is 5%, 25% when using the 5ms cycles respectively.And wheel-slip and high-speed handing control
Generally only occur under some extreme operating conditions, and the duration is extremely short.
The integrated control of the layer-stepping of vehicle can be realized from there through layer-stepping dynamic regulation, realizes that vehicle is ensureing safety
On the premise of performance (wheel is non-slip), high-speed handing performance and power performance, run according to energy saver mode；Control system then only
Have and higher control frequency and priority are used under wheel-slip and high-speed handing state, the rapidity of guarantee system response,
Real-time, and relatively low control frequency and priority are then used in the secure state, ensure vehicle in economic model and motion mould
Normal operation under formula, while network data transmission amount is greatly lowered.Be very beneficial for network system real-time improvement and
Extension.
In order to realize the intervention thresholding trigger-type management of each control function, each function control Performance Evaluating Indexes can be set
Qc, it is specifically calculated and formula (1) and (2) are shown in thresholding triggering judgement.
Qc=ε (k1e+k2Δ e) formula (1)
Qc≥μ[|ε(k1e+k2Δ e) |] formula (2)
Wherein, ε is quantization parameter, k1、k2For weight coefficient, e is error, and Δ e is error change amount, and μ is threshold coefficient, μ
∈ [0,1), | ε (k1e+k2Δ e) | to take absolute value.
Change priority scheduling general principle based on control performance is：Control performance parameter evaluation index, root are defined first
According to the size of control performance parameter evaluation index, according to certain strategy or algorithm, variable priority is produced online, realizes and works as
When control performance is poor, the higher priority of use improves the real-time of control, when control performance is preferable until limit priority
When, using relatively low priority, releasing network uses priority.Control performance parameter evaluation index can use formula in this programme
(1) define.It is specific former and the strategy or algorithm of priorities associated distribution can use tabling look-up based on experience or fuzzy reasoning etc.
Reason is shown in pertinent literature.
The foregoing is only example of the present invention, the present invention be not limited solely to it is above-mentioned realize embodiment, it is all
The locality change done in the institute of the spirit and principles in the present invention, equivalent substitution, improvement etc. should be included in the guarantor of the present invention
Within the scope of shield.
Claims (1)
1. the layer-stepping dynamic regulation control based on network device of electric automobile, it is characterised in that including n key-course, each control
Preparative layer includes comparison module, controller module, Scheduler module and integration module again；Comparison module receives driver command, together
When comparison module pass through each sensor of CAN network and vehicle connect；Comparison module output end respectively with controller module, adjust
Spend the connection of device module；The output end of controller module, the output end of Scheduler module are connected with integration module respectively；
The 1st key-course in top is responsible for handling and exporting initial command；2nd key-course is to n-th of bottom key-course
Controller module, Scheduler module receives and order of the dynamic regulation from top level control layer integration module successively；Finally by
Integration module in n-th of bottom key-course is sent to vehicle actuator by CAN network, realizes and intervenes formula stratified set step by step
Into control effect；
The comparison module of each key-course, for realizing the target component of this key-course and the comparison of actual parameter to produce controlling
Can parameter；
The controller module of each key-course, it is responsible for this key-course and realizes according to control performance according to corresponding strategy and algorithm process
Calculate and produce control command；
The Scheduler module of each key-course, it is responsible for this key-course and produces corresponding transmission cycle and priority scheduling order；
The integration module of each key-course, it is responsible for realizing the control command of this key-course and the combination of traffic order.
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| CN108790941B (en) * | 2018-06-05 | 2019-03-29 | 北京理工大学 | The real time synchronization network control device and method of distributed-driving electric automobile |
| CN109130889B (en) * | 2018-10-19 | 2020-03-31 | 北京理工大学 | Networked control system and scheduling method for multi-axis distributed driving electric vehicle |
| CN109774493B (en) * | 2019-01-18 | 2022-05-20 | 南昌大学 | Optimal torque distribution method based on distributed electric drive vehicle |
| US11491970B2 (en) * | 2020-02-11 | 2022-11-08 | GM Global Technology Operations LLC | Architecture and methodology for integrated wheel and body dynamic controls with standard stability features |
| CN113759870B (en) * | 2021-08-18 | 2023-06-02 | 东科克诺尔商用车制动技术有限公司 | Motor vehicle sensing and executing division system framework |
| CN114872645B (en) * | 2022-05-10 | 2023-03-17 | 中国第一汽车股份有限公司 | Vehicle-mounted system application management method, framework, vehicle and medium |
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| CN103220225B (en) * | 2012-05-21 | 2015-07-08 | 华为技术有限公司 | Message processing method, device and system |
| CN102975670B (en) * | 2012-11-23 | 2015-10-28 | 三一汽车制造有限公司 | The processing method of vehicle bus control system transient fault and system, vehicle |
| CN103198366B (en) * | 2013-04-09 | 2016-08-24 | 北京理工大学 | A kind of multi-goal path planing method considering that destination node is ageing |
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