CN105882649A - Fault diagnosing method of hybrid electric vehicle - Google Patents
Fault diagnosing method of hybrid electric vehicle Download PDFInfo
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- CN105882649A CN105882649A CN201610322885.6A CN201610322885A CN105882649A CN 105882649 A CN105882649 A CN 105882649A CN 201610322885 A CN201610322885 A CN 201610322885A CN 105882649 A CN105882649 A CN 105882649A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/50—Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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Abstract
The invention discloses a fault diagnosing method of a hybrid electric vehicle and aims to solve the problem that an existing fault diagnosing method of the hybrid electric vehicle is imperfect and cannot satisfy the short-time fault and closed-loop system intermittent fault diagnosing requirements of the hybrid electric vehicle. The method includes the steps of firstly, detecting the faults of the hybrid electric vehicle, to be more specific, performing fault detection on a main part input signal of a hybrid power system, a power source torque response signal and a whole vehicle CAN communication signal to obtain identifiers representing the fault states of the to-be-detected signals; secondly, confirming the faults of the hybrid electric vehicle, to be more specific, confirming the faults of the hybrid powder system according the fault state identifiers obtained in the first step.
Description
Technical field
The present invention relates to a kind of car fault diagnosis method, more precisely, the present invention relates to a kind of mixing dynamic
Power Diagnosis method of automobile faults.
Background technology
Hybrid vehicle (Hybrid Electric Vehicle, HEV) is as alleviating current energy source crisis
With one of important channels of problem such as environmental pollution, obtain significant progress in recent years.It is different from tradition vapour
Car, hybrid vehicle is a complicated Mechanical & Electrical Combination System, the electrokinetic cell of increase, battery in system
Management system, the driving electric elements such as motor, electric machine controller so that the reliability of hybrid power system is relatively
Orthodox car is low, and the incipient fault that vehicle is likely to occur is the most more.
On the one hand, due to the electromagnetic radiation between parts each in hybrid power system and equipment and interference, and
Vehicular communication system and the constraint of in-vehicle network channel width, quantization error, network congestion and node competition etc. are held
It is easily caused hybrid power system and produces intermittent fault.This type of fault is different from permanent fault and transient fault, its
Persistent period is short, can repeatedly occur, unprocessed can die away again, be a kind of special impermanent fault,
Detect the most difficult.On the other hand, hybrid power system often exist due to signal noise spike cause short
Time fault, such trouble duration is the shortest, if being directly used in the faults-tolerant control of system and failure code output
Adverse influence certainly will be brought to the stability of system, and non-essential code amount of storage can be caused.Simultaneously
Feedback compensation effect due to car load closed-loop control system so that hybrid power system self possesses certain appearance
Wrong ability, when fault is in commitment or amplitude is less, the impact that fault is brought may be controlled
Amount is covered, and causing trouble is difficult to detect.
The fault diagnosis technology of orthodox car is many for electromotor, variator and ABS system etc. at present, right
In above-mentioned hybrid vehicle system short trouble and special closed loop intermittent fault etc., the event of orthodox car
Barrier diagnostic techniques obviously can not meet requirement, sets up effective diagnostics architecture pair for hybrid power system
The most necessary in the safety and reliability of hybrid vehicle.
More existing patents, if China Patent Publication No. is CN 101364111A, publication date is 2009
February 11, invention entitled " a kind of hybrid vehicle fault detect and processing method ", this invention is with mixed
Close power vehicle control unit fault processing system be troubleshooting decision center, with motor control unit,
Fault processing unit in battery management system, engine management system is that subsystem completes fault detect jointly
And process.China Patent Publication No. CN 101941439A, publication date is on January 12nd, 2011, invention name
It is referred to as " a kind of control system method for diagnosing faults avoiding parallel fault for hybrid vehicle ", should
Invent the sequencing arrived according to fault message, to report out of order ECU to be as the criterion at first, can realize
Accurate fault diagnosis functions to the hybrid vehicle electric-control system being made up of multiple ECUs.China is specially
Profit publication number CN 102901639A, publication date is on January 30th, 2013, invention entitled " a kind of mixing
The accelerator pedal diagnostic method of power vehicle ", the accelerator pedal that the invention provides a kind of hybrid vehicle is examined
Disconnected method, solving sensor internal contact resistance after accelerator pedal uses for a long time needs to carry out high impedance inspection
Technical problem.China Patent Publication No. CN 104656026A, publication date is on May 27th, 2015, sends out
Bright entitled " a kind of hybrid power automobile battery overcharges diagnostic method and system ", the invention provides one can
Overcharge with the hybrid power automobile battery accurately judging whether battery overcharges, do not affected by variation of ambient temperature and examine
Disconnected method and system.
In sum, the fault diagnosis technology of orthodox car can not meet the need of hybrid vehicle fault diagnosis
Ask；Patent in terms of existing hybrid vehicle is many for system fault diagnosis framework and hybrid power system
Unite the diagnosis of each separate part and detection；And for the short trouble often occurred in hybrid power system,
Have a rest fault etc., the most not yet propose effective fault diagnosis solution.
Summary of the invention
Present invention seek to address that existing hybrid vehicle method for diagnosing faults imperfection, can not meet to mix and move
The problem that short trouble, the diagnosis of closed loop system intermittent fault are required by power automobile, proposes a kind of reasonable, perfect
Hybrid vehicle method for diagnosing faults.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that realization:
A kind of hybrid vehicle method for diagnosing faults, comprises the following steps:
Step one, hybrid vehicle fault detect, to hybrid power system critical piece input signal, move
Power source torque response signal and car load CAN communication signal carry out fault detect, obtain characterizing each suspect signal
The identifier of malfunction, comprises the following steps:
1) signal-obtaining and process, each suspect signal is carried out by whole car controller of hybrid electric car HCU successively
The conversion of signal-obtaining, signal A/D processes with demarcation and signal filtering, the suspect signal after being processed；
2) signal fault detection, whole car controller of hybrid electric car HCU will be through above-mentioned steps 1) process
After suspect signal carry out between signal character detection and signal logical relation detection, obtain characterizing signal fault
The identifier of state；
3) malfunction output, whole car controller of hybrid electric car HCU exports step 2) fault detect obtains
The each suspect signal malfunction identifier arrived, for hybrid vehicle fault recognition.
Step 2, hybrid vehicle fault recognition, each suspect signal malfunction obtained according to step one
Identifier, carries out hybrid power system fault recognition, further including herein below:
1) fault recognition method based on timing, whole car controller of hybrid electric car HCU is according to through above-mentioned
Each suspect signal malfunction identifier that step one hybrid vehicle fault detect obtains, uses timing
Mode carries out fault recognition, with the short trouble of filtering appts；
2) fault recognition method based on counting, whole car controller of hybrid electric car HCU is according to through above-mentioned
Each suspect signal malfunction identifier that step one hybrid vehicle fault detect obtains, uses counting
Mode carries out fault recognition, it is achieved system intermittent fault confirms.
A kind of hybrid vehicle method for diagnosing faults of the present invention, wherein, step one hybrid power vapour
Signal-obtaining described in car fault detect and process specifically include following steps:
(1) suspect signal reads and A/D changes and demarcates: whole car controller of hybrid electric car reads and respectively treats
Inspection signal, carries out A/D conversion respectively, and obtains after A/D conversion according to formula (1) each suspect signal
Digital quantity demarcate.
In formula, f signal post definite value
VsValue after voltage signal A/D conversion
VminThe lower limit of signal normal working voltage
VmaxThe higher limit of signal normal working voltage
rhThe higher limit of the actual span of signal
rlThe lower limit of the actual span of signal
(2) signal filtering processes, and whole car controller of hybrid electric car turns through above-mentioned steps (1) A/D
The each suspect signal obtained after changing and demarcating, is filtered processing, to filter in signal according to formula (2)
Noise, suppresses signal disturbing.
Y (k)=(1-Q) y (k-1)+Qx (k) (2)
In formula, y (k) current time filtering output value
Y (k-1) previous moment filtering output value
X (k) current instance sample value
Q filter factor, Q=dT/ (dT+ τ)
The dT sampling period
τ time constant
A kind of hybrid vehicle method for diagnosing faults of the present invention, wherein, step one hybrid power vapour
Signal fault described in car fault detect detects and specifically includes herein below:
(1) signal character detection, whole car controller of hybrid electric car HCU is to the letter after processing after filtering
Number carry out the stuck fault of signal, signal slope abnormal failure and the detection of signalc threshold fault signature respectively.Tool
Body is as described below:
A. the stuck detection of signal, the signal after processing after filtering is carried out by hybrid power whole vehicle controller HCU
Delay process obtains previous moment suspect signal, and does difference extraction absolute value with current time suspect signal, when
When absolute value is higher than signal stuck detection threshold value, HCU judges that suspect signal does not exist stuck fault, and is given
The stuck fault identifier of suspect signal is Equations of The Second Kind identifier；When absolute value is less than the stuck detection threshold value of signal
Time, HCU judges that suspect signal exists the possibility of stuck fault.The stuck fault signature of signal is usually a certain signal
Long period maintains a certain fixing value, and therefore HCU judges that suspect signal exists the possibility of stuck fault
After just start timing, when absolute value exceedes default stuck fault less than time of the stuck detection threshold value of signal
Between threshold value time, it is first kind identifier that HCU provides the stuck fault identifier of suspect signal；If in stuck event
Within Downtime threshold value, signal difference absolute value recovers to higher than the dead detection threshold value of signal card, then HCU
Judge that suspect signal does not exist stuck fault, timer resets and is given the mark of the stuck fault of suspect signal
Symbol is Equations of The Second Kind identifier.
B. signal slope detection, the signal after processing after filtering is carried out by hybrid power whole vehicle controller HCU
Delay process obtains previous moment suspect signal, and calculates suspect signal slope according to formula (3).When to be checked
Signal slope exceeds signal slope detection threshold value, then HCU judges that suspect signal exists slope abnormal failure,
And to provide signal slope abnormal failure identifier be first kind identifier；When suspect signal slope is oblique less than signal
During rate detection threshold value, then HCU judges that signal slope is normal, and provides signal slope abnormal failure identifier
For Equations of The Second Kind identifier.
Dx (i)/dt=| x (i)-x (i-1) |/dT (3)
In formula, dx (i)/dt suspect signal slope
X (i) current time suspect signal
X (i-1) previous moment suspect signal
C. signalc threshold detection, hybrid power whole vehicle controller HCU will after filtering process after signal with should
Signal normal range, corresponding threshold value compared, when suspect signal is higher than signalc threshold upper limit of detection value,
HCU judges that suspect signal crosses major break down, and the excessive fault identifier of given suspect signal is first kind identifier；
When suspect signal is less than signalc threshold Monitoring lower-cut value, then HCU judges that suspect signal crosses glitch, and is given
The too small fault identifier of suspect signal is first kind identifier；When suspect signal is in signalc threshold upper limit of detection
Being worth between lower limit, HCU judges that suspect signal, without thresholding abnormal failure, and provides that suspect signal is excessive, mistake
Glitch identifier is Equations of The Second Kind fault identifier.
(2) signal logic relation detection, whole car controller of hybrid electric car HCU is by suspect signal and is
System is further associated the mutual verification of logical relation between signal, it is determined that whether suspect signal exists logic closes
It it is abnormal failure.When HCU detects that suspect signal exists logical relation abnormal failure, then provide signal logic
Relation abnormality identifier is first kind identifier；When HCU detection suspect signal is closed with correlation signal logic
System is correct, then providing signal logic relation abnormality identifier is Equations of The Second Kind identifier.
A kind of hybrid vehicle method for diagnosing faults of the present invention, wherein, step 2 hybrid power vapour
Fault recognition method based on timing described in car fault recognition specifically includes following rule:
(1) when suspect signal malfunction identifier zero setting, then hybrid power whole vehicle controller HCU confirms to work as
Front signal fault-free, timer resets；
(2) be not zero when malfunction identifier, then hybrid power whole vehicle controller HCU passes through timer
Calculate the reset time of fault identifier；
(3) exceed thresholding fault time of setting when the suspect signal fail timer time, then HCU confirms to treat
Inspection signal breaks down, and provides the identifier of fault recognition；
(4) when suspect signal is at the fault time set zero setting, then hybrid power whole vehicle controller HCU in thresholding
Confirming current demand signal fault-free, fail timer resets.
A kind of hybrid vehicle method for diagnosing faults of the present invention, wherein, step 2 hybrid power vapour
Fault recognition method based on counting described in car fault recognition specifically includes following rule:
(1) when signal fault status identifier zero setting, enumerator subtracts one；
(2) when malfunction identifier is not zero, enumerator adds one；
(3) when current time failure counter count value is between given count upper-limit and counting lower limit, meter
Number device output actual count value；
(4) when current time failure counter count value exceedes count upper-limit, then enumerator output count upper-limit
Value；
(5) current time failure counter count value is less than or equal to counting lower limit, and current demand signal fault
During status identifier zero setting, then enumerator output counting lower limit；
(6) current time failure counter count value is less than or equal to counting lower limit, and current demand signal fault
When status identifier is not zero, then counter O reset.
(7) reaching count upper-limit when failure counter counting output value, HCU i.e. confirms this fault, and exports
Fault recognition state.
Compared with prior art the invention has the beneficial effects as follows:
1. utilize signal filtering method to remove the noise in signal and interference in the fault detect stage, improve mixing
The precision of dynamical system fault detect；
2. the logical relation between various features and the unlike signal of comprehensive utilization signal carries out fault detect,
Improve the reliability of hybrid power system fault detect；
3. by fault recognition method based on timing, hybrid vehicle fault is confirmed, can will hold
Shorter short trouble of continuous time filters, and gets rid of the fault warning of the mistake caused due to signal disturbing etc.；
4. by fault recognition method based on counting, hybrid vehicle fault is confirmed, it is possible to achieve
Hybrid power system intermittent fault diagnoses, it is possible to prevent, in fault detect, persistent period length is still occurred frequency
Numerous intermittent fault is failed to report.
Accompanying drawing explanation
The present invention is further illustrated below in conjunction with the accompanying drawings:
Fig. 1 is hybrid vehicle method for diagnosing faults overall flow figure of the present invention；
Fig. 2 is hybrid vehicle fault detection method flow chart of the present invention；
Fig. 3 is the stuck overhaul flow chart of hybrid vehicle signal of the present invention；
Fig. 4 is hybrid vehicle signal slope overhaul flow chart of the present invention；
Fig. 5 is hybrid vehicle signalc threshold overhaul flow chart of the present invention；
Fig. 6 is hybrid vehicle signal logic relation overhaul flow chart of the present invention；
Fig. 7 is hybrid vehicle fault recognition method flow diagram based on timing of the present invention；
Fig. 8 is hybrid vehicle fault recognition method flow diagram based on counting of the present invention；
Fig. 9 is E-Gas signal filter in hybrid vehicle method for diagnosing faults embodiment of the present invention
Wavefront state figure；
Figure 10 is E-Gas signal filter in hybrid vehicle method for diagnosing faults embodiment of the present invention
State diagram after ripple process；
Figure 11 is E-Gas signal card in hybrid vehicle method for diagnosing faults embodiment of the present invention
Dead malfunction figure；
Figure 12 is E-Gas signal card in hybrid vehicle method for diagnosing faults embodiment of the present invention
Dead failure detection result figure；
Figure 13 is that in hybrid vehicle method for diagnosing faults embodiment of the present invention, E-Gas signal is oblique
Rate malfunction figure；
Figure 14 is that in hybrid vehicle method for diagnosing faults embodiment of the present invention, E-Gas signal is oblique
Rate failure detection result figure；
Figure 15 is E-Gas signal gate in hybrid vehicle method for diagnosing faults embodiment of the present invention
Limit malfunction figure.
Figure 16 is E-Gas signal gate in hybrid vehicle method for diagnosing faults embodiment of the present invention
Limit failure detection result figure；
Figure 17 is that in hybrid vehicle method for diagnosing faults embodiment of the present invention, E-Gas signal is patrolled
The relation of collecting detection E-Gas signal condition figure；
Figure 18 is that in hybrid vehicle method for diagnosing faults embodiment of the present invention, E-Gas signal is patrolled
The relation of collecting detection IS Idle Switch signal condition figure；
Figure 19 is that in hybrid vehicle method for diagnosing faults embodiment of the present invention, E-Gas signal is patrolled
Collect relation failure detection result figure；
Figure 20 is fault based on timing in hybrid vehicle method for diagnosing faults embodiment of the present invention
State diagram；
Figure 21 is fault based on timing in hybrid vehicle method for diagnosing faults embodiment of the present invention
Timing time；
Figure 22 is fault based on timing in hybrid vehicle method for diagnosing faults embodiment of the present invention
Confirm result figure；
Figure 23 is fault based on counting in hybrid vehicle method for diagnosing faults embodiment of the present invention
State diagram；
Figure 24 is fault based on counting in hybrid vehicle method for diagnosing faults embodiment of the present invention
Counter；
Figure 25 is fault based on counting in hybrid vehicle method for diagnosing faults embodiment of the present invention
Confirm result figure.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is explained in detail:
Refering to Fig. 1, hybrid vehicle fault diagnosis flow scheme of the present invention is divided into two steps: step one
For hybrid vehicle fault detect, hybrid power system critical piece input signal, power source torque are rung
Induction signal and car load CAN communication signal carry out fault detect, including signal-obtaining and process, signal fault
Detection and malfunction output；Step 2 is hybrid vehicle fault recognition, filters including short trouble
And intermittent fault confirms, wherein short trouble filters employing fault recognition method based on timing, interval event
Barrier confirms to use fault recognition method based on counting.
First, through step one hybrid vehicle fault detect, the error condition mark of all kinds of fault is obtained
Symbol；Then according to step 2 fault recognition based on timing method and fault recognition method based on counting,
Hybrid power system short trouble is confirmed with intermittent fault.
Hybrid vehicle method for diagnosing faults of the present invention comprises the following steps:
Step one, hybrid vehicle fault detect, refering to Fig. 1, hybrid power system fault detect content bag
Including: (1) critical piece input signal detection, detection is input to HEV controller (Hybrid Electric
Vehicle Control Unit, HCU) each signal the most normal.Such as, whether signal is exceeded it
The detection of minimax threshold value, the detection whether abnormal to signal slope and to patrolling between each signal
Collect relation detection the most normally etc..(2) power source torque rationality checking, detects each power source actual
The desired torque that whether is given with control strategy of torque response consistent.Such as, current by detection motor
The expectation torque of actual torque and motor, guarantee the accurate control to power source output torque, thus protect
Card HEV has excellent power performance and economy.(3) car load CAN communication detection, detection HEV in each
Between parts, CAN communication is the most normal.
Refering to Fig. 2, hybrid vehicle fault detection method step of the present invention is as follows:
(1) signal-obtaining and process
Hybrid power whole vehicle controller HCU reads each suspect signal, such as accelerator pedal signal, IS Idle Switch
Signal etc., and carry out A/D conversion successively and demarcate and signal filtering process.
1) signal A/D conversion and demarcation
Hybrid vehicle HCU carries out A/D conversion respectively to each signal, and voltage signal is converted to digital quantity,
Then according to formula (1), the digital signal obtained is demarcated.
In formula, f signal post definite value
VsValue after voltage signal A/D conversion
VminThe lower limit of signal normal working voltage
VmaxThe higher limit of signal normal working voltage
rhThe higher limit of the actual span of signal
rlThe lower limit of the actual span of signal
2) signal filtering processes
Before carrying out the fault detect of each suspect signal, after A/D is changed by HCU according to formula (2)
Signal is filtered processing.The purpose being filtered signal is to remove the noise in signal, suppression interference
Signal, before and after should ensureing filtering when being filtered, signal is undistorted simultaneously as far as possible.
Y (k)=(1-Q) y (k-1)+Qx (k) (2)
In formula, y (k) current time filtering output value
Y (k-1) previous moment filtering output value
X (k) current instance sample value
Q filter factor, Q=dT/ (dT+ τ)
The dT sampling period
τ time constant
(2) each signal fault detection
The suspect signal processing step after filtering is carried out signal fault detection, mainly includes that signal characteristic is examined
Survey and the detection of signal logic relation.Wherein, signal character detection includes the stuck detection of signal, signal slope
Detection and signalc threshold detection.
1) signal character detection
Refering to Fig. 2, hybrid vehicle signal fault feature detection mainly includes that the stuck detection of signal, signal are oblique
Rate detection and signalc threshold detection.It is specifically described as follows:
1. the stuck detection of signal: suspect signal x (i) after Filtering Processing is carried out time delay refering to Fig. 3, HCU
Process, obtain previous moment suspect signal x (i-1), and do difference extraction absolute value with current demand signal x (i),
To signal difference △ x (i)；When suspect signal x (i) is high with previous moment suspect signal x (i-1) difference △ x (i)
In signal stuck detection threshold value △ xLIMTime, HCU judges that suspect signal x (i) does not exist stuck fault, and gives
It has suspect signal x (i) and there is not the identifier Err01=0 of stuck fault；Otherwise, when suspect signal x (i) with
Previous moment suspect signal x (i-1) difference △ x (i) is less than signal stuck detection threshold value △ xLIMTime, then HCU
Judge that suspect signal x (i) exists the possibility of stuck fault.The stuck fault signature of signal is usually a certain signal relatively
Maintaining a certain fixing value for a long time, therefore HCU judges that suspect signal x (i) exists the possibility of stuck fault
The most just timing is started, when suspect signal x (i) is less than with previous moment suspect signal x (i-1) difference △ x (i)
Signal stuck detection threshold value △ xLIMTime t (i) exceed thresholding t stuck fault timeLIMTime, HCU exports
There is the identifier Err01=1 of stuck fault in suspect signal x (i)；If at thresholding t stuck fault timeLIM
Within, suspect signal x (i) is recovered to higher than signal card with previous moment suspect signal x (i-1) difference △ x (i)
Dead detection threshold value △ xLIM, then HCU judges that suspect signal x (i) does not exist stuck fault, is reset by timer
And provide suspect signal x (i) and there is not the identifier Err01=0 of stuck fault.
2. signal slope detection: suspect signal x (i) after Filtering Processing is carried out time delay refering to Fig. 4, HCU
Process, obtain previous moment suspect signal x (i-1).Suspect signal can be calculated according to formula (3)
Slope.When suspect signal slope is beyond suspect signal slope detection threshold value dxLIMTime, HCU directly exports to be checked
The identifier Err02=1 of signal x (i) slope abnormal failure；Otherwise, when suspect signal slope is less than letter to be checked
Number slope detection threshold value dxLIMTime, HCU judges that suspect signal x (i) slope is normal, and exports suspect signal
The identifier Err02=0 of x (i) slope abnormal failure.
Dx (i)/dt=| x (i)-x (i-1) |/dT (3)
In formula, dx (i)/dt suspect signal slope
X (i) current time suspect signal
X (i-1) previous moment suspect signal
3. signalc threshold detection: refering to Fig. 5, HCU by suspect signal x (i) after Filtering Processing and this signal
Normal range, corresponding threshold value compared, if suspect signal x (i) is higher than signalc threshold upper limit of detection value
xmax, then HCU judges that suspect signal x (i) crosses major break down, and provides excessive fault identifier Err03=1 of signal；
If suspect signal x (i) is less than signalc threshold Monitoring lower-cut value xmin, then HCU judges suspect signal x (i) mistake
Glitch, and provide too small fault identifier Err04=1 of signal；Otherwise, if suspect signal x (i) is in
Signalc threshold Monitoring lower-cut value xminWith signalc threshold upper limit of detection value xmaxBetween, then HCU judges suspect signal
X (i) is normal, and to provide signal fault identifier excessive, too small be Err03=0, Err04=0.
2) signal logic relation detection
Certain logical relation is often there is between each signal of hybrid power system, can be as hybrid power vapour
The foundation of car fault detect.By suspect signal x (i) and it is further associated signal y (i) refering to Fig. 6, HCU
Between the mutual verification of logical relation, it is determined that whether suspect signal x (i) exists logical relation abnormal failure.When
HCU detects and there is logical relation abnormal failure between signal, then provide signal logic relation abnormal failure state
Identifier Err05=1；Otherwise, when HCU detects that between each signal, logical relation is normal, then provide signal logic
Relation abnormal failure status identifier Err05=0.
(3) output malfunction
After signal character detection and signal logic relation detect, HCU exports the malfunction of each signal
Identifier, and judge whether current demand signal exists fault further by fault recognition.
Step 2, hybrid vehicle fault recognition
After signal each to hybrid vehicle completes fault detect in step one, obtain the fault of each signal
Status identifier.The fault recognition of hybrid vehicle system is carried out according to each signal fault status identifier.
Wherein, by the short trouble of fault recognition method filtering appts based on timing, to get rid of owing to signal is done
Disturb the false alarm caused, reduce non-essential code amount of storage；And realize system by method based on counting
The confirmation of system intermittent fault, reduces the rate of failing to report of fault diagnosis.
(1) fault recognition based on timing
Reading system failure detection refering to Fig. 7, HCU and export all kinds of malfunction identifiers, malfunction identifies
Symbol zero setting, HCU i.e. confirms current demand signal fault-free, and exports fault recognition result；When malfunction identifier
When being not zero, i.e. there is fault in upper strata failure detection result display suspect signal current time, then HCU passes through
Timer starts timing.Shown in the principle of timing such as formula (4), the time initial value that each timing starts is all provided with
It is set to zero.In each sampling period, HCU is all in accordance with current signal fault status identifier and the event of setting
Downtime threshold value judges.In the fault time set within threshold value, if malfunction mark
Know symbol and do not have zero setting, then timer is just on the basis of previous moment adds up T fault time (i-1), then adds up
Sample period time dT, obtains time of failure T (i) of current time, until fault cumulative time T (i)
Exceeding the time threshold threshold value of setting, HCU confirms that current demand signal exists fault, and exports fault recognition result；
In the fault time set within threshold value, if malfunction identifier zero setting, then HCU confirms current
Signal fault-free, and timer is reset.
T (i)=T (i-1)+dT (4)
In formula, T (i) the current sample period internal fault cumulative time
The internal fault cumulative time in T (i-1) previous sampling period
(2) fault recognition based on counting
All kinds of fault status informations of upper strata fault detect output are read refering to Fig. 8, HCU, and according to current event
Barrier state counts, and obtains fault recognition state based on counting finally according to count value.
The counting rule of failure counter is described below:
1) when signal fault status identifier zero setting, enumerator subtracts one；
2) when malfunction identifier is not zero, enumerator adds one；
3) current time failure counter count value is at given count upper-limit ThdUL and counting lower limit ThdLL
Between time, enumerator output actual count value；
4) when current time failure counter count value exceedes count upper-limit ThdUL, then enumerator output counting
Higher limit ThdUL；
5) current time failure counter count value is less than or equal to counting lower limit ThdLL, and current demand signal
During malfunction identifier zero setting, then enumerator output counting lower limit ThdLL；
6) current time failure counter count value is less than or equal to counting lower limit ThdLL, and current demand signal
When malfunction identifier is not zero, then counter O reset.
7) when failure counter count value reaches count upper-limit ThdUL, HCU i.e. confirms this fault, and defeated
Be out of order acknowledgement state.
According to above-mentioned counting rule, hybrid power whole vehicle controller HCU, when carrying out fault recognition, works as signal
It is in correct status the most for a long time and time current time there occurs fault, the time needed for confirming fault is longer；
And occurred at short notice, when fault currently breaks down, confirming the time of fault relatively before signal
Short.Intermittent fault in the time that thus can occur for fault and interval more reasonably identification system.
Embodiment
The present embodiment is based on hybrid vehicle E-Gas signal fault diagnosis, the event that the checking present invention proposes
The effectiveness of barrier diagnostic method.
Refering to Fig. 9, Figure 10, filtered signal compares primary signal, at time about 2s, and Filtering Processing
After signal slope there occurs slight change, but its change and size are basically identical；The making an uproar of beginning signal simultaneously
The signal error that sound interference causes is filtered out, the time be between 4s-6s signal value more than 100% three at point
In the range of being in after the filtered process in peak normally.
Refering to Figure 11, Figure 12, the time, E-Gas was stuck after 40s, E-Gas opening amount signal
Maintain a fixed value for a long time.Now HCU is after fault detect after a while, detects electricity
The malfunction that electronic throttle is stuck, and export this malfunction identifier Err01=1.
Refering to Figure 13, Figure 14, time about 30s-40s, E-Gas loose contact causes E-Gas to be opened
Degree signal is undergone mutation, and now HCU is after fault detect after a while, detects that E-Gas is oblique
The malfunction that rate is abnormal, and export this malfunction identifier Err02=1.
Refering to Figure 15, Figure 16, time about 30s-40s, E-Gas opening amount signal exceedes normal signal value
Maximum 100%, now HCU is after fault detect after a while, detects E-Gas signal
Excessive malfunction, and export this malfunction identifier Err03=1.
E-Gas opening amount signal and E-Gas IS Idle Switch signal have certain logical relation.Electronics oil
When door opening amount signal is less than certain value, IS Idle Switch signal value is 1；E-Gas opening amount signal is more than certain value
Time, IS Idle Switch signal becomes 0.Logical relation between signal logic relation detection i.e. detection the two signal
The most normal, and output firmware-error state signal when logical relation occurs abnormal between the signals.Refering to figure
17, Figure 18 and Figure 19, the time be before 45s time period in, IS Idle Switch signal is along with E-Gas
Opening amount signal changes, and when E-Gas opening amount signal is 0, IS Idle Switch state is 1；When electronics oil
When door opening amount signal is more than 0, IS Idle Switch state is 0.After about 45s, signal logic relation occurs different
Often, at this moment logical relation between E-Gas opening amount signal and E-Gas IS Idle Switch signal no longer with front
Described in face unanimously, now HCU is after fault detect after a while, detects that E-Gas signal is patrolled
The malfunction that the relation of collecting is abnormal, and export this malfunction identifier Err05=1.
Refering to Figure 20, Figure 21 and Figure 22, the fault recognition method based on timing that the present invention proposes, it is possible to
The malfunction identifier record fault duration obtained according to fault detect.When trouble duration surpasses
When crossing given threshold value, the malfunction after timing confirms becomes 1.And when fault duration is less than given
During threshold value, the malfunction after timing confirms is 0, has i.e. filtered short trouble present in system.
According to ISO 26262 standard, the present invention is by the count upper-limit in fault recognition method based on counting
ThdUL value is 127, and counting lower limit ThdLL value is-128.Refering to Figure 23, Figure 24 and Figure 25, when
During malfunction identifier zero setting, malfunction counter reduces；When malfunction is not zero,
Malfunction counter becomes big；When count value reaches count upper-limit 127, HCU exports fault recognition
State.
Claims (5)
1. a hybrid vehicle method for diagnosing faults, it is characterised in that comprise the following steps:
Step one, hybrid vehicle fault detect, to hybrid power system critical piece input signal, move
Power source torque response signal and car load CAN communication signal carry out fault detect, obtain characterizing each suspect signal
The identifier of malfunction, comprises the following steps:
1) signal-obtaining and process, each suspect signal is carried out by whole car controller of hybrid electric car HCU successively
The conversion of signal-obtaining, signal A/D processes with demarcation and signal filtering, the suspect signal after being processed；
2) signal fault detection, whole car controller of hybrid electric car HCU will be through above-mentioned steps 1) process
After suspect signal carry out between signal character detection and signal logical relation detection, obtain characterizing signal fault
The identifier of state；
3) malfunction output, whole car controller of hybrid electric car HCU exports step 2) fault detect obtains
The each suspect signal malfunction identifier arrived, for hybrid vehicle fault recognition；
Step 2, hybrid vehicle fault recognition, each suspect signal malfunction obtained according to step one
Identifier, carries out hybrid power system fault recognition, further including herein below:
1) fault recognition method based on timing, whole car controller of hybrid electric car HCU is according to through above-mentioned
Each suspect signal malfunction identifier that step one hybrid vehicle fault detect obtains, uses timing
Mode carries out fault recognition, with the short trouble of filtering appts；
2) fault recognition method based on counting, whole car controller of hybrid electric car HCU is according to through above-mentioned
Each suspect signal malfunction identifier that step one hybrid vehicle fault detect obtains, uses counting
Mode carries out fault recognition, it is achieved system intermittent fault confirms；
2. according to a kind of hybrid vehicle method for diagnosing faults described in claim 1, it is characterised in that
Signal-obtaining described in described step one hybrid vehicle fault detect and process specifically include following step
Rapid:
(1) suspect signal reads and A/D changes and demarcates: whole car controller of hybrid electric car HCU reads
Each suspect signal, carries out A/D conversion respectively to each suspect signal, and after A/D being changed according to formula (1)
The digital quantity obtained is demarcated；
In formula, f signal post definite value
VsValue after voltage signal A/D conversion
VminThe lower limit of signal normal working voltage
VmaxThe higher limit of signal normal working voltage
rhThe higher limit of the actual span of signal
rlThe lower limit of the actual span of signal
(2) signal filtering processes, and whole car controller of hybrid electric car turns through above-mentioned steps (1) A/D
The each suspect signal obtained after changing and demarcating, is filtered processing, to filter in signal according to formula (2)
Noise, suppresses signal disturbing；
Y (k)=(1-Q) y (k-1)+Qx (k) (2)
In formula, y (k) current time filtering output value
Y (k-1) previous moment filtering output value
X (k) current instance sample value
Q filter factor, Q=dT/ (dT+ τ)
The dT sampling period
τ time constant
3. according to a kind of hybrid vehicle method for diagnosing faults described in claim 1, it is characterised in that
Signal fault described in described step one hybrid vehicle fault detect detects and specifically includes herein below:
(1) signal character detection, whole car controller of hybrid electric car HCU is to the letter after processing after filtering
Number carry out the stuck fault of signal, signal slope abnormal failure and the detection of signalc threshold fault signature, tool respectively
Body is as described below:
A. the stuck detection of signal, the signal after processing after filtering is carried out by hybrid power whole vehicle controller HCU
Delay process obtains previous moment suspect signal, and does difference extraction absolute value with current time suspect signal, when
When absolute value is higher than signal stuck detection threshold value, HCU judges that suspect signal does not exist stuck fault, and is given
The stuck fault identifier of suspect signal is Equations of The Second Kind identifier；When absolute value is less than the stuck detection threshold value of signal
Time, HCU judges that suspect signal exists the possibility of stuck fault, and the stuck fault signature of signal is usually a certain signal
Long period maintains a certain fixing value, and therefore HCU judges that suspect signal exists the possibility of stuck fault
After just start timing, when absolute value exceedes default stuck fault less than time of the stuck detection threshold value of signal
Between threshold value time, it is first kind identifier that HCU provides the stuck fault identifier of suspect signal；If in stuck event
Within Downtime threshold value, signal difference absolute value recovers to higher than the dead detection threshold value of signal card, then HCU
Judge that suspect signal does not exist stuck fault, timer resets and is given the mark of the stuck fault of suspect signal
Symbol is Equations of The Second Kind identifier；
B. signal slope detection, the signal after processing after filtering is carried out by hybrid power whole vehicle controller HCU
Delay process obtains previous moment suspect signal, and calculates suspect signal slope according to formula (3), when to be checked
Signal slope exceeds signal slope detection threshold value, then HCU judges that suspect signal exists slope abnormal failure,
And to provide signal slope abnormal failure identifier be first kind identifier；When suspect signal slope is oblique less than signal
During rate detection threshold value, then HCU judges that signal slope is normal, and provides signal slope abnormal failure identifier
For Equations of The Second Kind identifier；
Dx (i)/dt=| x (i)-x (i-1) |/dT (3)
In formula, dx (i)/dt suspect signal slope
X (i) current time suspect signal
X (i-1) previous moment suspect signal
C. signalc threshold detection, hybrid power whole vehicle controller HCU will after filtering process after signal with should
Signal normal range, corresponding threshold value compared, when suspect signal is higher than signalc threshold upper limit of detection value,
HCU judges that suspect signal crosses major break down, and the excessive fault identifier of given suspect signal is first kind identifier；
When suspect signal is less than signalc threshold Monitoring lower-cut value, then HCU judges that suspect signal crosses glitch, and is given
The too small fault identifier of suspect signal is first kind identifier；When suspect signal is in signalc threshold upper limit of detection
Being worth between lower limit, HCU judges that suspect signal, without thresholding abnormal failure, and provides that suspect signal is excessive, mistake
Glitch identifier is Equations of The Second Kind fault identifier；
(2) signal logic relation detection, whole car controller of hybrid electric car HCU is by suspect signal and is
System is further associated the mutual verification of logical relation between signal, it is determined that whether suspect signal exists logic closes
It is abnormal failure, when HCU detects that suspect signal exists logical relation abnormal failure, then provides signal logic
Relation abnormality identifier is first kind identifier；When HCU detection suspect signal is closed with correlation signal logic
System is correct, then providing signal logic relation abnormality identifier is Equations of The Second Kind identifier；
4. according to a kind of hybrid vehicle method for diagnosing faults described in claim 1, it is characterised in that
Fault recognition method based on timing described in described step 2 hybrid vehicle fault recognition specifically includes
Following rule:
(1) when suspect signal malfunction identifier zero setting, then hybrid power whole vehicle controller HCU confirms to work as
Front signal fault-free, timer resets；
(2) be not zero when malfunction identifier, then hybrid power whole vehicle controller HCU passes through timer
Calculate the reset time of fault identifier；
(3) exceed thresholding fault time of setting when the suspect signal fail timer time, then HCU confirms to treat
Inspection signal breaks down, and provides the identifier of fault recognition；
(4) when suspect signal is at the fault time set zero setting, then hybrid power whole vehicle controller HCU in thresholding
Confirming current demand signal fault-free, fail timer resets；
5. according to a kind of hybrid vehicle method for diagnosing faults described in claim 1, it is characterised in that
Fault recognition method based on counting described in described step 2 hybrid vehicle fault recognition specifically includes
Following rule:
(1) when signal fault status identifier zero setting, enumerator subtracts one；
(2) when malfunction identifier is not zero, enumerator adds one；
(3) when current time failure counter count value is between given count upper-limit and counting lower limit, meter
Number device output actual count value；
(4) when current time failure counter count value exceedes count upper-limit, then enumerator output count upper-limit
Value；
(5) current time failure counter count value is less than or equal to counting lower limit, and current demand signal fault
During status identifier zero setting, then enumerator output counting lower limit；
(6) current time failure counter count value is less than or equal to counting lower limit, and current demand signal fault
When status identifier is not zero, then counter O reset；
(7) reaching count upper-limit when failure counter counting output value, HCU i.e. confirms this fault, and exports
Fault recognition state.
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| CN109920082A (en) * | 2019-03-11 | 2019-06-21 | 辽宁工业大学 | A kind of mixed power electric car fault diagnosis method for early warning |
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| CN107487230A (en) * | 2016-12-06 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Fault control method, electric machine controller and the vehicle of vehicle |
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| CN109484392A (en) * | 2018-11-26 | 2019-03-19 | 吉林大学 | A kind of integrated method for diagnosing faults of distributed hybrid power system of more wheels |
| CN109484392B (en) * | 2018-11-26 | 2020-03-10 | 吉林大学 | Integrated fault diagnosis method for multi-wheel distributed hybrid power system |
| CN109920082A (en) * | 2019-03-11 | 2019-06-21 | 辽宁工业大学 | A kind of mixed power electric car fault diagnosis method for early warning |
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| CN111273635A (en) * | 2020-01-19 | 2020-06-12 | 浙江大学 | Unknown anomaly detection method for industrial control equipment |
| CN111273635B (en) * | 2020-01-19 | 2021-02-12 | 浙江大学 | Unknown anomaly detection method for industrial control equipment |
| CN111381583A (en) * | 2020-03-23 | 2020-07-07 | 北京经纬恒润科技有限公司 | Control system fault monitoring method and device |
| CN112590615A (en) * | 2020-12-30 | 2021-04-02 | 大运汽车股份有限公司 | Pure electric power-on and power-off control method for new-energy commercial vehicle |
| CN116298866A (en) * | 2023-02-10 | 2023-06-23 | 江苏吉泰科电气有限责任公司 | Detection method for ground fault of motor controller output |
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