CN106926750A - A kind of communication control method of distributed-driving electric automobile - Google Patents
A kind of communication control method of distributed-driving electric automobile Download PDFInfo
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- CN106926750A CN106926750A CN201710141584.8A CN201710141584A CN106926750A CN 106926750 A CN106926750 A CN 106926750A CN 201710141584 A CN201710141584 A CN 201710141584A CN 106926750 A CN106926750 A CN 106926750A
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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
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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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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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
This application provides a kind of communication control method of distributed-driving electric automobile, by the control instruction of correspondence multiple motor, it is transmitted in encapsulation to same CAN message, after multiple motors receive the CAN message, the control instruction to correspondence oneself motor in the message is identified and responds respectively.The communication control method that the application is provided, meet the high real-time demand of the aspects such as Schema control and rotating speed, torque of the distributed-driving electric automobile for multi-drive motor, fundamentally solve response time inconsistence problems of multiple motors for control instruction caused by traditional CAN communication, eliminate the undesirable weaving of vehicle, the effectively driving safety and reliability of lifting distributed-driving electric automobile.Additionally, herein disclosed communication control method and corresponding embodiment, may be applicable to the similar multisystem of other principles or the multi-part occasion very high for CAN communication real-time, reliability requirement.
Description
Technical field
The present invention relates to field of automobile control, and in particular to a kind of communication control method of distributed-driving electric automobile and
Data structure.
Background technology
The electric automobile of conventional fuel oil power car and equipment center driven motor is typically equipped with mechanical speed difference device.
For open differential, the torque allocation proportion of left and right sidesing driving wheel is close to 1:1, one of wheel-slip on wet-skid road surface
When, the driving torque being transferred on the wheel is substantially reduced, and causes to be transferred to driving force on opposite side correspondence wheel also on year-on-year basis
Example is reduced, and driveability and security performance to vehicle can produce considerable influence；And possess the differential of the sliding function of anti-skidding or limit
Device can carry out the driving force distribution of left and right wheels different proportion, and driveability and security performance are good, but it is relatively costly normally only
For high-end vehicle.
In the left and right wheels of at least one drive shaft of distributed-driving electric automobile each equipment one wheel hub motor or
Person's wheel motor, each motor works independently, and realizes to the precise control of each wheel, such that it is able to avoid it is above-mentioned in the prior art
Performance and potential safety hazard existing for standard machinery differential mechanism, reduce the transmission system cost of vehicle.
But, distributed-driving electric automobile carries out Torque distribution and differential control by electronic control mode, lifts car
While driveability and security performance, the same security performance to automobile of reliability of electronic differential brings very big challenge：
If motor does not export respective torque by set control requirement, left and right wheels output torque difference may be caused excessive, sternly
The horizontal swing of vehicle may be caused during weight, security performance is influenceed.The reliability of electronic differential can be divided into control instruction source, control again
The transmission and motor of making instruction perform the reliability of control instruction.Control instruction source is generally VCU (Vehicle
Control Unit, entire car controller), i.e., draw control after entering row mode, torque, the isoparametric calculating of rotating speed to wheel by VCU
System instruction；The transmission of control instruction is then related to VCU that the communication of the hardware, circuit and control instruction of control instruction is sent to motor
Agreement；Motor is responded by transmission line and control instruction communication protocol to instruction, correspondingly to pattern, turn
The output parameters such as square, rotating speed are adjusted.
In vehicle electronics technical field, the most the vehicle electronics control instruction communication protocol of main flow be the eighties in 20th century by
The CAN (Controller Area Network, controller LAN) of German Bosch companies exploitation, CAN is that Bosch companies are
The one kind for solving the problems, such as the Real Data Exchangs in Hyundai Motor between numerous electronic control units and tester and developing
Serial communication protocol, the communication efficiency high and reliability of CAN are accepted by the world, and are widely used in automobile, industry certainly
The fields such as dynamicization, ship, medical treatment and industrial equipment.The normal data frame of CAN2.0B constitute as shown in figure 1, include frame it is initial,
Arbitration section, control section, data segment, CRC sections, ACK sections, frame end.Arbitration section is 11 bit identifier ID (Identifier), the ID
It is the unique mark of each CAN message, describes the specific meanings of message, and determine the priority of message, ID numerical value is smaller,
Then priority is higher；Data segment is the application data of CAN communication actual transmissions and the check information of these data, and length is 0-
8Bytes；CAN communication uses many main website structures, is arbitrated by the ID to each message, priority message prior high
Send, the low message of priority sends rearward；Arbitration and the transmission process of CAN message are as shown in Fig. 2 in tri- nodes of A, B, C
There is a CAN message etc. to be sent respectively, the CAN message ID values of A nodes are 75, the CAN message ID values of B node are 250, C sections
Point CAN message ID values be 1000, according to aforementioned priority rule, by respectively with broadcast in the form of according to priority orders successively
Tri- CAN messages of A, B, C are sent, all of node can receive tri- CAN messages of above-mentioned A, B, C.
The motor system control instruction transmission overwhelming majority of existing electric automobile has continued to use aforementioned conventional CAN communication
Agreement, when distributed-driving electric automobile field is related to, then needs to control difference respectively by the CAN message of different ID values
Motor.CAN message such as the existing left and right wheels motor control instructions of Fig. 3 is sent shown in schematic diagram, and CAN_H is
CAN connections high, CAN_L is the low connections of CAN, and CAN ID_L issue the message of left wheel electric system, CAN ID_R for VCU
The message of right wheel motor systems is issued for VCU, Motor_L is left wheel electric system, and Motor_R is right wheel electrical machine system
System, other ECUs represent other controller in CAN network.Because traditional CAN communication agreement is when CAN message is sent, must
Must one by one be sent according to the height of message priority, this is caused by VCU while the CAN for being respectively issued to left and right wheelses electric system is reported
Because the difference of ID values, different wheel motor systems cannot simultaneously receive CAN message, directly result in different electricity text naturally
Machine output response has the regular hour poor, and the time difference excessive may exceed differential control error range.Additionally, in different ID
It is worth in the transmission arbitrated procedure of message, may result in the loss of a certain frame message, causes correspondence electric system to receive to refer to
Order.Or, even if two frames difference ID values message normally sends, but because a certain frame message is disturbed rear information errors, cause
The corresponding mistake of corresponding electric system.
In sum, existing CAN communication control method cannot meet distributed-driving electric automobile communication will
Ask, in the application of traditional CAN communication on distributed-driving electric automobile, refer to because different motors cannot simultaneously receive control
Order, and issuable command error or mistake, may finally cause lateral direction of car to swing or occur other not pre- by control
The phenomenon of phase operation.
The content of the invention
To solve the above problems, it is electronic that the present invention provides a kind of follow-on distributed driving based on CAN communication agreement
The communication control method of automobile, comprises the following steps：
VCU encapsulates to same CAN message the control instruction of correspondence multiple motor；
VCU is sent to the multiple motor the CAN message by communication network；
The multiple motor receives the CAN message respectively；
Control instruction of the multiple motor respectively to correspondence oneself motor in the CAN message is identified and rings
Should.
Alternatively, the control instruction of correspondence multiple motor is encapsulated to the data segment of the CAN message.
Alternatively, the control instruction of correspondence multiple motor is encapsulated to the data segment of the CAN message
Byte1 to Byte8 in any position.
Alternatively, the data segment of CAN message also includes check information, and check information includes：Counting check
Information (Counter) and data correctness check information (Checksum).
Alternatively, the data segment of CAN message also includes the control instruction of other controllers of correspondence, other controls
Device processed includes battery management system and charging system.
Alternatively, recipient's information of control instruction, motor are also included in the data segment of CAN message
Or other controllers are according to recipient's information entrained in data segment, the corresponding control instruction of itself is recognized and responded.
Alternatively, multiple motors are revolver motor and right wheel the driving electricity in same drive shaft
Machine, or, multiple motors are multiple revolver motors and multiple right wheel motors in multiple drive shafts.
Alternatively, control instruction is " tachometer value+pattern " control instruction, or, control instruction is " torque
Value+pattern " control instruction.
Alternatively, " pattern " includes：Standby standby modes, Torque Control mode torque controls
Molding formula, Speed Control mode rotating speed control modes, Dischrage active discharges pattern, OffsetCal skew footmarks
Mould-fixed, Enable enable pattern, Motor mode electric models, Generator mode power generation modes, Rotation
Direction forward or reverse pattern and OffsetCal deviation angle calibration modes.
The advantage of the invention is that：The present invention is based on CAN2.0B communication control processors, by the control of correspondence multiple motor
Instruction processed is transmitted in being encapsulated in same CAN message, there is provided a kind of communication suitable for distributed-driving electric automobile
Control method, meets the aspects such as Schema control and rotating speed, torque of the distributed-driving electric automobile for multi-drive motor
High real-time demand.Fundamentally solve response time of multiple motor systems for control instruction caused by communication
Inconsistence problems, eliminate undesirable vehicle yaw motion, greatly promote distributed-driving electric automobile driving safety and
Reliability.Additionally, a kind of communication control method of distributed-driving electric automobile that the present invention is provided, applies also for other principles
The similar multisystem or part occasion very high for CAN communication real-time, reliability requirement.
Brief description of the drawings
Fig. 1 is CAN2.0B message structure schematic diagrames；
Arbitrations and transmission process schematic diagram of the Fig. 2 for CAN message；
Fig. 3 is the CAN message transmission process schematic diagram of existing left and right wheels motor control instruction；
Fig. 4 is a kind of communication control method flow chart of distributed-driving electric automobile provided in an embodiment of the present invention；
Fig. 5 is that a kind of CAN message transmission process of left and right sidesing driving wheel motor control instruction provided in an embodiment of the present invention is shown
It is intended to；
Fig. 6 is a kind of CAN message data segment schematic diagram provided in an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and in conjunction with specific embodiments, the present invention is described in further detail.
A kind of communication control method of distributed-driving electric automobile provided in an embodiment of the present invention, as described in Figure 4, including
Following steps：
Step 401, VCU encapsulates to same CAN message the control instruction of correspondence multiple motor；
The CAN message is sent to multiple motors by step 402, VCU by communication network；
Step 403, multiple motors receive the CAN message respectively；
Step 404, control instruction of multiple motors respectively to correspondence oneself motor in the CAN message is identified simultaneously
Response.
The embodiment of the present invention is encapsulated in same CAN message by just corresponding to the control instruction of multiple driving wheel motor
It is transmitted, there is provided a kind of communication control method suitable for distributed-driving electric automobile, meets multi-drive motor electricity
High real-time demand of the electrical automobile for the aspect such as Schema control and rotating speed, torque of many driving wheel motors.Fundamentally solve
Response time inconsistence problems of multiple motor systems for control instruction that are caused by communication.As shown in figure 5, VCU
It is connected in a CAN communication network with the revolver motor in same drive shaft, right wheel motor, may be used also in the network
With comprising being worked more close other controllers with motor, such as battery management system, charging system, according still further to CAN
Network design specification in terminal add 120 Ohmic resistances, and CAN_H it is high/CAN_L low communication circuits.By using same
Individual CAN message (CAN ID_L＆R) carries the control instruction of revolver motor and right wheel motor, eliminates many messages
The arbitrated procedure of transmission, so as to avoid the time difference that many messages send, even if additionally, the message be interfered cause to lose or
Person's mistake, is also that left and right wheels motor cannot receive or receive identical false command, will not cause two drivings
The response difference of wheel.
Optionally, the control instruction of correspondence multiple motor is encapsulated to the data segment of the CAN message.
With reference to shown in Fig. 1 CAN2.0B communication protocol message structures, the data segment of CAN message is real in CAN communication agreement
The application data and the check information for these data of border transmission.
Optionally, correspondence multiple motors control instruction encapsulate to the data segment of the CAN message Byte1 extremely
Any position in Byte8.
Because the data segment of CAN message includes Byte1 to Byte8, the control instruction information overwhelming majority situation of VCU generations
The whole data segment of Byte1 to Byte8 will not be occupied down, therefore, the position that control instruction information is stored on data segment can be with
Self-defining, any one the Byte position that can be stored in Byte1 to Byte8 in theory.
Optionally, the data segment of CAN message also includes check information, and check information includes：Counter (believe by counting check
Breath) and Checksum (data correctness check information).
Generally, the accuracy of the control instruction entrained by data segment in guarantee CAN message, in data segment generally
Above-mentioned check information can be carried.
Optionally, the data segment of CAN message also includes the control instruction of other controllers of correspondence, and other controllers include electricity
Pond management system and charging system.
This is that data segment also has vacant data segment after having stored control instruction and associated check information in CAN message
In the case of, the control instruction of some corresponding other controllers in the data segment of the message, can also be stored, such as controlling
The dependent instruction of battery management system or charging system.
Optionally, recipient's information of control instruction, motor or other controls are also included in the data segment of CAN message
Device processed recognizes and responds the corresponding control instruction of itself according to recipient's information entrained in data segment.
By defining the recipient of each control instruction in data segment, to realize that each motor or other controllers are carried out
Correct control instruction identification, only recognizes the corresponding control instruction of itself, for other control instructions, is not identified or knows
Do not responded after not.
If Fig. 6 is a kind of CAN message structural representation provided in an embodiment of the present invention, wherein, Byte3 data segments are VCU
Control model instruction, wherein 0-3bit for R right wheel motors control model instruct, 4-7bit be L revolver motors
Control model instruction.The expectation torque value of the revolver motor that Byte4 data segments send for VCU, Byte5 data segments are
The expectation torque value of the right wheel motor that VCU sends.VCU is according to drive demand, vehicle-state, electric system, battery system
Deng critical component state comprehensive descision, controlled motor system enters corresponding working condition, including Standby/Torque
Control mode/Speed Control mode/Dischrage/OffsetCal etc., while according to driving wheel direct torque
Or sliding ratio control differential control policy calculation goes out the driving torque value of left and right sidesing driving wheel.
Optionally, multiple motors are the revolver motor and right wheel motor in same drive shaft, or, it is many
Individual motor is multiple revolver motors and multiple right wheel motors in multiple drive shafts.
Still two ends are respectively provided with distributed-driving electric automobile relatively conventional in the market in same drive shaft
There are revolver motor and right wheel motor, there certainly exist twin shaft 4 wheel driven or more shaft-driven electric automobiles, for
4 wheel driven or multiaxis drive electric automobile, if it is desired to driven between each axle coordinate stringent synchronization, it is also possible to by all drive shafts
The control instruction of motor is encapsulated into same CAN message and is transmitted.
Optionally, control instruction is " tachometer value+pattern " control instruction, or, control instruction is controlled for " torque value+pattern "
System instruction.
Optionally, " pattern " in control instruction includes：Standby (standby mode), Torque Control mode
(torque control model), Speed Control mode (rotating speed control mode), Dischrage (active discharge pattern),
OffsetCal (deviation angle calibration mode), Enable (enable pattern), Motor mode (electric model), Generator
Mode (power generation mode), Rotation direction (forward or reverse pattern) and OffsetCal (deviation angle calibration molds
Formula).
For the particular content of the control instruction of motor, will also be depending on differential speed of vehicle control strategy and its to driving
The control model of motor.According to wheel speed control differential control strategy is driven, then need to be sent to each motor system
Desired tachometer value and mode control instruction.According to driving wheel direct torque or driving wheel sliding ratio control differential control plan
Slightly, then need to send desired torque value and mode control instruction to each motor system.If being adopted according to electric system
With mode controlling mode, main control model has Standby (wait), Torque Control mode (torques in general
Control model), Speed Control mode (rotating speed control mode), Dischrage (active discharge pattern) and OffsetCal
(deviation angle calibration mode) etc..If electric system uses traditional control method, main control instruction has Enable in general
(enable), Motor mode (electric model), Generator mode (power generation mode), Rotation direction (are rotated forward
Or reversion) and OffsetCal (deviation angle calibration mode) etc..No matter which kind of electric system control mode is used, to that must expire
The motor torque or rotating speed of prestige, are both needed to send corresponding torque or rotational speed command value.Herein it should be noted that the present invention is implemented
Above-mentioned control strategy or pattern that example is provided, are not the limitation to the applicable control strategy of the present invention or pattern.
Additionally, those skilled in the art are it is to be understood that above-mentioned communication control method provided in an embodiment of the present invention and corresponding
Embodiment, go for the similar multisystem of other principles or multi-part for CAN communication real-time, reliability
Exigent occasion.
Finally it should be noted that above-mentioned technical proposal provided in an embodiment of the present invention and accompanying drawing, are only used for the present invention
Further illustrate and unrestricted.Those of ordinary skill in the art should know, still can be to described in previous embodiment
Technical scheme is modified, or equivalent is carried out to which part or all technical characteristic, and these modifications or replacement,
The scope of the essence disengaging technical solution of the present invention of appropriate technical solution is not made.
Claims (9)
1. a kind of communication control method of distributed-driving electric automobile, it is characterised in that comprise the following steps：
VCU encapsulates to same CAN message the control instruction of correspondence multiple motor；
VCU is sent to the multiple motor the CAN message by communication network；
The multiple motor receives the CAN message respectively；
Control instruction of the multiple motor respectively to correspondence oneself motor in the CAN message is identified and responds.
2. the communication control method of distributed-driving electric automobile according to claim 1, it is characterised in that the control
Instruction is encapsulated to the data segment of the CAN message.
3. the communication control method of distributed-driving electric automobile according to claim 2, it is characterised in that the control
Instruction is encapsulated to any position in the Byte1 to Byte8 of the data segment of the CAN message.
4. the communication control method of distributed-driving electric automobile according to claim 3, it is characterised in that the CAN
The data segment of message also includes check information, and the check information includes：Counting check information and data correctness verification letter
Breath.
5. the communication control method of distributed-driving electric automobile according to claim 4, it is characterised in that the CAN
The data segment of message also include correspondence other controllers control instruction, described other controllers include battery management system and
Charging system.
6. the communication control method of distributed-driving electric automobile according to claim 5, it is characterised in that the CAN
Recipient's information of the control instruction, the motor or described other controller roots are also included in the data segment of message
According to recipient's information, the corresponding control instruction of itself is recognized and responded.
7. the communication control method of distributed-driving electric automobile according to claim 1, it is characterised in that the multiple
Motor is revolver motor and right wheel motor in same drive shaft；
Or, the multiple motor is multiple revolver motors and multiple right wheel motors in multiple drive shafts.
8. the communication control method of distributed-driving electric automobile according to claim 1, it is characterised in that the control
It is " tachometer value+pattern " control instruction to instruct；
Or, the control instruction is " torque value+pattern " control instruction.
9. the communication control method of the distributed-driving electric automobile according to claim 8, it is characterised in that " mould
Formula " includes：Standby mode, torque control model, rotating speed control mode, active discharge pattern, deviation angle calibration mode, enable mould
Formula, electric model, power generation mode, forward or reverse pattern and deviation angle calibration mode.
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| CN107483515A (en) * | 2017-10-18 | 2017-12-15 | 张洋 | Message transmitting method and system, message parsing method and device |
| WO2019233004A1 (en) * | 2018-06-05 | 2019-12-12 | 北京理工大学 | Real-time synchronous networked control device and method for distributed drive electric vehicle |
| CN111251902A (en) * | 2020-02-18 | 2020-06-09 | 吉利汽车研究院（宁波）有限公司 | Distributed axle electric driving system and control method thereof |
| CN112327678A (en) * | 2020-09-30 | 2021-02-05 | 中国煤炭科工集团太原研究院有限公司 | Signal processing method based on coal mine trackless auxiliary transport robot |
| US12060063B2 (en) | 2020-11-16 | 2024-08-13 | Volvo Truck Corporation | Method for controlling wheel slip of a vehicle |
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| CN112327678A (en) * | 2020-09-30 | 2021-02-05 | 中国煤炭科工集团太原研究院有限公司 | Signal processing method based on coal mine trackless auxiliary transport robot |
| US12060063B2 (en) | 2020-11-16 | 2024-08-13 | Volvo Truck Corporation | Method for controlling wheel slip of a vehicle |
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| CN106926750B (en) | 2020-04-07 |
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