CN107861494A - The real-time detection of multi_motor control device and Synchronization - Google Patents
The real-time detection of multi_motor control device and Synchronization Download PDFInfo
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- CN107861494A CN107861494A CN201711002006.2A CN201711002006A CN107861494A CN 107861494 A CN107861494 A CN 107861494A CN 201711002006 A CN201711002006 A CN 201711002006A CN 107861494 A CN107861494 A CN 107861494A
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- motor control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
Abstract
The present invention relates to a kind of real-time detection of multi_motor control device and Synchronization, its method includes：Step A1：Electric machine controller detects the connection status of itself two port in real time；Step A2：If state change, electric machine controller port status is uploaded to CAN, no person's return to step A1；Step A3：The CAN data that each electric machine controller renewal receives, and deposit to respective system and connect in two-dimensional state table；Step A4：If abnormal nodes number N_err ＞ 0 in system, system connects abnormality alarming, otherwise return to step A3；Step A5：If abnormal nodes number N_err ＞ 2 in system, the electric machine controller command synchronization system failure, all electric machine controllers close output, otherwise return to step A4；Present invention ensure that when having the electric machine controller to lose communication connection in system, each controller energy very first time detects, and responds, and improves the security of distributed driving electric vehicle system.
Description
Technical field
The present invention relates to the real-time detection and synchronous coordination control of Motor Control Field, more particularly to a kind of multi_motor control device
Method processed.
Background technology
In recent years, become increasingly conspicuous due to environmentally friendly, energy security two fold problem, electric automobile leaps to regarding for people again
It is wild；Meanwhile distribution driving electric car is equal in regenerative braking, mobility, interior of body space availability ratio and controllability etc.
Better than internal-combustion engines vehicle and centralization driving electric car, its developing direction that will be driven as following electric automobile.
Distributed electric automobile has multiple power units, and each power unit is individually controllable, can be according to current car
And pavement behavior coordination control is carried out to driving torque, ensure the stable traveling of vehicle.Wherein there are two crucial technologies to ask
Topic：
First, when how to ensure to have in system the electric machine controller lose communication link, each controller energy very first time detects
Respond；
Second, how the real-time synchronization instructed between the MCU of each electric machine controller, fictionalize a main frame, main frame
Moment of torsion or speed command between each electric machine controller of MCU real time coordinations, under high bandwidth control response, each electricity in guarantee system
Machine controller synchronization performs the control instruction sent by main motor controller at the newest moment；When hostdown, system system
Remaining motor control can compete out new main frame, coordinate each electric machine controller work, ensure car safety stop.
The content of the invention
The present invention provides real-time detection and the synchronous coordination method of a kind of multi_motor control device, so as to solve above-mentioned existing skill
Technical problem existing for art.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of real-time detection method of multi_motor control device, the multi-motor control system of use include entire car controller, CAN
Bus, communication bus and several electric machine controllers for being used to control corresponding motor, wherein, entire car controller is total by CAN
Line is connected with electric machine controller, and the electric machine controller is provided with two communication bus ports, passes through communication bus and adjacent bit
The electric machine controller put is connected；
Methods described comprises the following steps：
Step A1：Each electric machine controller detects the connection status of itself two port in real time；
Step A2：If state changes, electric machine controller port status is uploaded to CAN, otherwise enters broadcast
Regularly, if broadcast is timed to, electric machine controller port status is equally uploaded to CAN, no person's return to step A1；
Step A3：The CAN data that each electric machine controller renewal receives, and deposit to respective system and connect two dimension
In state table；
Step A4：If abnormal nodes number N_err ＞ 0 in system, system connects abnormality alarming, otherwise return to step A3；
Step A5：If abnormal nodes number N_err ＞ 2 in system, the electric machine controller command synchronization system failure, Suo You electricity
Machine controller closes output, otherwise return to step A4.
Further, the electric machine controller by detect every communication bus of electric circuit inspection whether with another motor control
Device connection processed.
A kind of Synchronization of multi_motor control device, methods described comprise the following steps：
Step B1：System detects the communication state between each electric machine controller in real time；
Step B2：Whether there is new electric machine controller status data in inquiry CAN；
Step B3：If there is new data renewal, corresponding electric machine controller re-starts weighted calculation, draws newest electricity
Machine controller fictitious host computer, otherwise return to step B2；
Step B4：When local state changes, local state is sent to CAN, otherwise return to step B3；
Wherein, the detection method in the step B1 is the real-time detection method of above-mentioned multi_motor control device.
Further, also comprise the following steps before the step B1：
Step C1：Main frame and slave all interrupt transmission and the inquire-receive of execution CAN in high speed timer；
Step C2：Main frame interrupts to CAN in high speed timer and sends the first frame, records moment T1；
Step C3：The automatic record data of high-speed timer of host computer CAN controller is successfully transmitted to bus, during record
Carve T2；
Step C4：Slave using CAN controller the automatic record data of high-speed timer from bus receive at the time of, note
Record moment T3；
Step C5：The first frame that slave is sent in high speed timer interrupt inquiry to main frame, moment T4 is recorded, obtained true
Time difference Delta_Tb=T3-T4；
Step C6：Main frame is obtained receiving time difference Delta_Ta=T2-T1, and the second frame is sent to CAN；
Step C7：Slave obtains Delta_Ta=T2-T1 from CAN, according to Delta_Ta+Delta_Tb and TX pass
System is finely adjusted timer period, realizes high speed timer synchronization；
Step C8：After high speed timer synchronization, the instruction of each Motor torque for being sent through main frame computing can in TX milliseconds
Performed simultaneously in each electric machine controller.
Further, first frame is that second frame is data frame to time frame.
Further, in the step 7：(if Delta_Ta+Delta_Tb)>TX, then each slave reduction timing at a high speed
The periodic quantity Tx of device；(if Delta_Ta+Delta_Tb)>TX, then each slave increase high speed timer periodic quantity Tx；If
(Delta_Ta+Delta_Tb)=TX, then do not adjusted.
According to the real-time detection method of the above-mentioned multi_motor control device of the present invention, it is ensured that there is electric machine controller to lose in system logical
During news connection, each controller energy very first time detects, and responds, and improves the safety of distributed driving electric vehicle system
Property, ensure car safety stop.
Furthermore according to the Synchronization of the above-mentioned multi_motor control device of the present invention, efficiently solve distributed drive
In dynamic electric vehicle system the problem of each electric machine controller real time high-speed synchronization, instructed between the MCU of each electric machine controller
Real-time synchronization, fictionalize a main frame, moment of torsion or speed command between each electric machine controller of main frame MCU real time coordinations,
Under high bandwidth control response, each electric machine controller synchronization performs the newest moment and sent by main motor controller in guarantee system
Control instruction；When hostdown, motor control can compete out new main frame more than system system, coordinate each electric machine controller work
Make, improve the power performance of distributed driving electric vehicle system.
Brief description of the drawings
Fig. 1 is the attachment structure schematic diagram of multi-motor control system of the present invention；
Fig. 2 is the real-time overhaul flow chart of multi_motor control device of the present invention；
Fig. 3 is the coordination control flow chart of multi_motor control device of the present invention；
Fig. 4 is the command synchronization flow chart of multi_motor control device of the present invention.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with accompanying drawing and tool
Body embodiment, is described further to the present invention：
Fig. 1 is bindiny mechanism's schematic diagram of multi-motor control system in the embodiment of the present invention, as shown in figure 1, more motor controls
System processed includes entire car controller, CAN, communication bus and several electric machine controllers for being used to control corresponding motor,
Wherein, entire car controller is connected by CAN with electric machine controller, and the electric machine controller is provided with two communication bus ends
Mouthful, it is connected by communication bus with the electric machine controller of adjacent position；Because each electric machine controller has two identical lines
Beam interface, redundancy backup can be achieved；And wire harness is circular layout along vehicle body, it is ensured that only disconnects root system system and remains to normal communication；Again
Whether each port of each electric machine controller of person is connected to the other end to the wire harness is made closed-loop path detection.
Fig. 2 is the real-time overhaul flow chart of multi_motor control device in the embodiment of the present invention, as shown in Fig. 2 multi_motor control
The real-time detection method of device comprises the following steps：
Step A1：Each electric machine controller detects the connection status of itself two port by detecting circuit in real time；
Step A2：If state changes, electric machine controller port status is uploaded to CAN, otherwise enters broadcast
Regularly, if broadcast is timed to state change, electric machine controller port status is equally uploaded to CAN, no person's return to step
A1；
Step A3：The CAN data that each electric machine controller renewal receives, and deposit to respective system and connect two dimension
In state table；
Step A4：If abnormal nodes number N_err ＞ 0 in system, system connects abnormality alarming, otherwise return to step A3；
Step A5：If abnormal nodes number N_err ＞ 2 in system, the electric machine controller command synchronization system failure, Suo You electricity
Machine controller closes output, otherwise return to step A4.
Wherein, shown in the following Table A 1- Table As 6 of two-dimensional state table described in step 3：
It is that all wire harness of four electric machine controllers connect normal state, to all electric machine controllers shown in following Table A 1
For N_err==0, connection status is unchanged.
Shown in following Table A 2, continuously there is abnormal broken line (such as A-2 and B-1 a wire harness between four electric machine controllers；
B-2 and C-1 wire harness；C-2 and D-1 wire harness；D-2 and A-1 wire harness is abnormal), then the N_err for shown electric machine controller
==2, system connection abnormality alarming.
Shown in following Table A 3, on the basis of above-mentioned Table A 2, if further have again single line beam abnormal broken line (such as B-2 with
C-1 wire harness), i.e. electric machine controller B departs from other three electric machine controller networks completely, then to electric machine controller A, C, D
For N_err==3, then the electric machine controller command synchronization system failure, all electric machine controllers close output.
Shown in following Table A 4, then the N_err==3 for electric machine controller B, electric machine controller command synchronization system are former
Barrier, all electric machine controllers close output.
Shown in following Table A 5, on the basis of above-mentioned Table A 2, if further have again single line beam abnormal broken line (such as C-2 with
D-1 wire harness), i.e., original motor control system splits into AD and two units of BC, can not interactive information, to electric machine controller A and D
For N_err==3, the electric machine controller command synchronization system failure, all electric machine controllers close output.
Shown in following Table A 6, then the N_err==3 for electric machine controller B, electric machine controller command synchronization system are former
Barrier, all electric machine controllers close output.
Fig. 3 is the coordination control flow chart of multi_motor control device in the embodiment of the present invention, and Fig. 4 is more in the embodiment of the present invention
The command synchronization flow chart of electric machine controller；As shown in Figure 3 and Figure 4, the Synchronization of multi_motor control device includes
Following steps：
Step B1：System detects the communication state between each electric machine controller in real time；
Step B2：Whether there is new electric machine controller status data in inquiry CAN；
Step B3：If there is new data renewal, corresponding electric machine controller re-starts weighted calculation, draws newest electricity
Machine controller fictitious host computer, otherwise return to step B2；
Step B4：When local state changes, local state is sent to CAN, otherwise return to step B3；
Wherein, the detection method in the step B1 is the real-time detection method of above-mentioned multi_motor control device.
Also comprise the following steps before the step B1：
Step C1：Main frame and slave all interrupt transmission and the inquire-receive of execution CAN in high speed timer；
Step C2：Main frame interrupts to CAN in high speed timer and sends the first frame (to time frame), records moment T1；
Step C3：The automatic record data of high-speed timer of host computer CAN controller is successfully transmitted to bus, during record
Carve T2；
Step C4：Slave using CAN controller the automatic record data of high-speed timer from bus receive at the time of, note
Record moment T3；
Step C5：The first frame that slave is sent in high speed timer interrupt inquiry to main frame, moment T4 is recorded, obtained true
Time difference Delta_Tb=T3-T4；
Step C6：Main frame is obtained receiving time difference Delta_Ta=T2-T1, and the second frame (data frame) is sent to CAN；
Step C7：Slave obtains Delta_Ta=T2-T1 from CAN, according to Delta_Ta+Delta_Tb and TX pass
System is finely adjusted timer period, realizes high speed timer synchronization；
Step C8：After high speed timer synchronization, the instruction of each Motor torque for being sent through main frame computing can in TX milliseconds
Performed simultaneously in each electric machine controller.
In the step 7：(if Delta_Ta+Delta_Tb)>TX, then each slave reduction high speed timer periodic quantity
Tx；(if Delta_Ta+Delta_Tb)>TX, then each slave increase high speed timer periodic quantity Tx；If (Delta_Ta+
Delta_Tb)=TX, then do not adjusted.
Wherein, the weight computation method in above-mentioned steps B3 is as shown in following table B0：
Each electric machine controller calculates above-mentioned weighting table according to the message that each motor is sent in real time in CAN in real time,
The weighted score of each motor is drawn, score value soprano automatically becomes main frame；Original host score value be highest after concede main frame automatically,
Automatically master-slave swap is realized；To be more fully apparent from above-mentioned method of weighting, it is illustrated by following table B1-B4.
As shown in following table B1, each electric machine controller is all normal, then A automatically becomes main frame：
As shown in following table B2, if now electric machine controller A is alerted, other controllers are constant, then electric machine controller B is again competing
Striving turns into new main frame.
As shown in following table B3, if now electric machine controller B and electric machine controller C continuously disconnects, other electric machine controllers are not
Become, then electric machine controller D competes as new main frame again.
As shown in following table B4, if now electric machine controller DCAN communication abnormalities (frame mistake is more than 30%), other motor controls
Device processed is constant, then A competes as new main frame again.
According to the real-time detection method of the above-mentioned multi_motor control device of the present invention, it is ensured that there is electric machine controller to lose in system logical
During news connection, each controller energy very first time detects, and responds, and improves the safety of distributed driving electric vehicle system
Property, ensure car safety stop.
Furthermore according to the Synchronization of the above-mentioned multi_motor control device of the present invention, efficiently solve distributed drive
In dynamic electric vehicle system the problem of each electric machine controller real time high-speed synchronization, instructed between the MCU of each electric machine controller
Real-time synchronization, fictionalize a main frame, moment of torsion or speed command between each electric machine controller of main frame MCU real time coordinations,
Under high bandwidth control response, each electric machine controller synchronization performs the newest moment and sent by main motor controller in guarantee system
Control instruction；When hostdown, motor control can compete out new main frame more than system system, coordinate each electric machine controller work
Make, improve the power performance of distributed driving electric vehicle system.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；For
For those skilled in the art, it can still modify to the technical scheme described in previous embodiment,
Equivalent substitution either is carried out to which part or all technical characteristic；And these modifications or replacement, do not make relevant art
The essence of scheme departs from protection scope of the present invention.
Claims (6)
1. a kind of real-time detection method of multi_motor control device, it is characterised in that the multi-motor control system of use includes vehicle
Controller, CAN, communication bus and several electric machine controllers for being used to control corresponding motor, wherein, entire car controller
It is connected by CAN with electric machine controller, the electric machine controller is provided with two communication bus ports, passes through communication bus
It is connected with the electric machine controller of adjacent position；
Methods described comprises the following steps：
Step A1：Each electric machine controller detects the connection status of itself two port in real time；
Step A2：If state changes, electric machine controller port status is uploaded to CAN, otherwise enters broadcast timing,
If broadcast is timed to, electric machine controller port status is equally uploaded to CAN, no person's return to step A1；
Step A3：The CAN data that each electric machine controller renewal receives, and deposit to respective system and connect two-dimensional state
In table；
Step A4：If abnormal nodes number N_err ＞ 0 in system, system connects abnormality alarming, otherwise return to step A3；
Step A5：If abnormal nodes number N_err ＞ 2 in system, the electric machine controller command synchronization system failure, all motor controls
Device processed closes output, otherwise return to step A4.
2. the real-time detection method of multi_motor control device according to claim 1, it is characterised in that the electric machine controller
By detecting whether every communication bus of electric circuit inspection is connected with another electric machine controller.
3. a kind of Synchronization of multi_motor control device, it is characterised in that methods described comprises the following steps：
Step B1：System detects the communication state between each electric machine controller in real time；
Step B2：Whether there is new electric machine controller status data in inquiry CAN；
Step B3：If there is new data renewal, corresponding electric machine controller re-starts weighted calculation, draws newest motor control
Device fictitious host computer processed, otherwise return to step B2；
Step B4：When local state changes, local state is sent to CAN, otherwise return to step B3；
Wherein, the detection method in the step B1 is the real-time detection of any of claim 1-2 multi_motor control device
Method.
4. the Synchronization of multi_motor control device according to claim 3, it is characterised in that in the step
Also comprise the following steps before B1：
Step C1：Main frame and slave all interrupt transmission and the inquire-receive of execution CAN in high speed timer；
Step C2：Main frame interrupts to CAN in high speed timer and sends the first frame, records moment T1；
Step C3：The automatic record data of high-speed timer of host computer CAN controller is successfully transmitted to bus, records the moment
T2；
Step C4：Slave using CAN controller the automatic record data of high-speed timer from bus receive at the time of, during record
Carve T3；
Step C5：The first frame that slave is sent in high speed timer interrupt inquiry to main frame, moment T4 is recorded, obtains actual time
Poor Delta_Tb=T3-T4；
Step C6：Main frame is obtained receiving time difference Delta_Ta=T2-T1, and the second frame is sent to CAN；
Step C7：Slave obtains Delta_Ta=T2-T1 from CAN, is entered according to Delta_Ta+Delta_Tb and TX relation
In the row micrometric timing adjuster cycle, realize high speed timer synchronization；
Step C8：After high speed timer synchronization, each Motor torque instruction sent through main frame computing can be in TX milliseconds each
Performed simultaneously in electric machine controller.
5. the Synchronization of multi_motor control device according to claim 4, it is characterised in that first frame
For to time frame, second frame is data frame.
6. the Synchronization of multi_motor control device according to claim 4, it is characterised in that in the step
In 7：(if Delta_Ta+Delta_Tb)>TX, then each slave reduction high speed timer periodic quantity Tx；If (Delta_Ta+
Delta_Tb)>TX, then each slave increase high speed timer periodic quantity Tx；If (Delta_Ta+Delta_Tb)=TX, no
Regulation.
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| CN107861494B (en) | 2019-07-09 |
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