CN108189672B - Electric automobile integrated controller based on function safety - Google Patents
Electric automobile integrated controller based on function safety Download PDFInfo
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- CN108189672B CN108189672B CN201810029445.0A CN201810029445A CN108189672B CN 108189672 B CN108189672 B CN 108189672B CN 201810029445 A CN201810029445 A CN 201810029445A CN 108189672 B CN108189672 B CN 108189672B
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2851—Testing of integrated circuits [IC]
- G01R31/2855—Environmental, reliability or burn-in testing
- G01R31/2856—Internal circuit aspects, e.g. built-in test features; Test chips; Measuring material aspects, e.g. electro migration [EM]
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Hardware Design (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Microelectronics & Electronic Packaging (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Electric Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to the technical field of integrated control, and aims to provide a function safety-based electric vehicle integrated controller capable of rapidly entering a safety state. The adopted technical scheme is as follows: an electric automobile integrated controller based on functional safety comprises a main drive motor controller, a high-voltage power distribution unit and a DCDC low-voltage power supply controller; the main drive motor controller is provided with a fault signal input interface and is respectively and electrically connected with the insulation detector and the auxiliary steering power-assisted controller; and the main drive motor controller, the DCDC low-voltage power supply controller, the insulation detector and the auxiliary steering power-assisted controller are all provided with a main control chip. The invention can quickly enter the safe state when the electric automobile breaks down, thereby improving the driving safety.
Description
Technical Field
The invention relates to the technical field of integrated control, in particular to an electric automobile integrated controller based on functional safety.
Background
The electric automobile adopts the all-in-one integrated controller to improve the integration of the system so as to reduce the external wiring of the vehicle. At present, most integrated controllers are only physically integrated together in an integration mode, all units in the integrated controllers are connected to an external vehicle control unit through a CAN bus, and the units in the integrated controllers do not have too many intersections, so that when the integrated controllers perform certain serious fault protection, the execution time of the integrated controllers is longer than the fault tolerance time set by a system, namely, the system cannot timely protect certain serious faults. For example: when the auxiliary steering controller or the insulation detector fails, the whole vehicle controller needs to be notified through the CAN bus, and then the whole vehicle controller notifies the main drive motor controller through the CAN bus so that the main drive motor controller enters a parking mode. The fault protection in this way has too long reaction time, the main drive motor controller cannot be stopped in time, and the driving safety risk exists.
Disclosure of Invention
The invention aims to provide a function-based safety electric vehicle integrated controller capable of rapidly entering a safety state.
In order to achieve the purpose, the invention adopts the technical scheme that:
an electric automobile integrated controller based on functional safety comprises a main drive motor controller, a high-voltage power distribution unit and a DCDC low-voltage power supply controller; the main drive motor controller is provided with a fault signal input interface and is respectively and electrically connected with the insulation detector and the auxiliary steering power-assisted controller; and the main drive motor controller, the DCDC low-voltage power supply controller, the insulation detector and the auxiliary steering power-assisted controller are all provided with a main control chip.
Preferably, the main drive motor controller is provided with a three-phase separation IGBT.
Preferably, the invention also provides a low-voltage power supply voltage monitoring module.
Preferably, the invention also provides an auxiliary detection chip, the main control chips are provided with self-checking modules, and the self-checking modules perform self-checking through the following processes: 1) the main control chip carries out self-checking and sends self-checking data to the auxiliary detection chip; 2) the auxiliary detection chip performs self-checking and receives data of the main control chip to judge whether configuration parameters of the main control chip are normal or not, and meanwhile, the received data is compared with the data collected by the auxiliary detection chip to judge whether the self-checking data of the main control chip are normal or not; 3) the auxiliary detection chip sends a detection result to the main control chip; 4) and the main control chip receives and judges the detection result, the detection result enters a fault mode if the detection result does not pass, the main control chip normally operates and carries out periodic self-detection if the detection result passes, and meanwhile, the main control chip sends periodic self-detection data to the auxiliary detection chip.
Preferably, the main drive motor controller obtains the main drive motor position signal through three paths: a) decoding the rotary transformer by a hardware decoding chip to obtain a hardware decoding digital signal; b) performing software decoding on the rotary transformer through a main control chip to obtain a software decoding signal; c) position signals obtained by estimating without position through a software algorithm; the main drive motor controller controls the main drive motor to adopt the priority of the position signals to be hardware decoding signals, software decoding signals and non-position algorithm signals in sequence, judges whether the signals of each path are normal or not through the position signal monitoring module and switches to the position signals adopting the priority of the next level when the position signals with the high priority fail.
Preferably, the invention also provides a main sensor group and an auxiliary sensor group for monitoring current, wherein the main sensor group and the auxiliary sensor group are both composed of three-phase current sensors, and the types and the acquisition circuits of the current sensors of the main sensor group and the auxiliary sensor group are different.
Preferably, the main drive motor controller is further provided with a torque detection module, and detection items of the torque detection module comprise torque range detection and torque variation trend detection.
The invention has the beneficial effects that the invention integrates a DCDC low-voltage power supply controller, an insulation detector, a high-voltage power distribution unit, an auxiliary steering power-assisted controller and a main drive motor controller. The main drive motor controller is provided with a fault signal input interface, when the auxiliary steering controller or the insulation detector fails, a low level can be immediately input into the fault signal input interface of the main drive motor controller, the main drive motor controller can judge according to the running state of the main drive motor, and safety measures such as speed reduction, torque reduction, shutdown and high voltage are quickly adopted to enable the system to enter a safety state. The invention can enter the safe state without depending on the main processor when the specified serious faults such as insulation fault, power loss fault and the like occur, the reaction is quicker, and the driving safety is better ensured. In addition, the invention also provides a DCDC low-voltage power supply controller which can perform low-voltage backup power supply on the auxiliary steering power-assisted controller and the main drive motor controller, when an external low-voltage power supply supplying power to circuit boards of the main drive motor controller and the auxiliary steering power-assisted controller is accidentally disconnected, the main drive motor controller can be immediately switched to directly take power from the DCDC low-voltage power supply controller, and simultaneously reports a fault to the main processor; the invention ensures the normal operation of the main drive motor controller and the auxiliary steering power-assisted controller under the condition of accidental power failure, thereby ensuring the driving safety.
Drawings
FIG. 1 is a schematic view of the component construction of the present invention;
FIG. 2 is a flow chart of a introspection module;
FIG. 3 is a flow chart of the main drive motor controller acquiring a main drive motor position signal;
FIG. 4 is a flow chart of the main sensor set and the sub sensor set monitoring current;
FIG. 5 is a flowchart of the operation of the torque detection module.
Detailed Description
The invention is further illustrated with reference to the accompanying figures 1 to 5.
An electric automobile integrated controller based on functional safety comprises a main drive motor controller, a high-voltage power distribution unit and a DCDC low-voltage power supply controller; the main drive motor controller is provided with a fault signal input interface and is respectively and electrically connected with the insulation detector and the auxiliary steering power-assisted controller; it should be understood that the high voltage power distribution unit inputs high voltage power from a power battery of the electric vehicle and provides the high voltage power to external control components of a main drive motor controller, an auxiliary steering assist controller, and the like. And the main drive motor controller, the DCDC low-voltage power supply controller, the insulation detector and the auxiliary steering power-assisted controller are all provided with a main control chip. It should be understood that when the auxiliary steering controller or the insulation detector fails, a low level is immediately input to the fault signal input interface of the main drive motor controller, the main drive motor controller can judge according to the running state of the main drive motor, and safety measures such as speed reduction, torque reduction, shutdown and high voltage are quickly adopted to enable the system to enter a safety state. The invention can enter the safe state without depending on the main processor when the specified serious faults such as insulation fault, power loss fault and the like occur, the reaction is quicker, and the driving safety is better ensured. In addition, the DCDC low-voltage power supply controller can perform low-voltage backup power supply on the auxiliary steering power-assisted controller and the main drive motor controller, and when an external low-voltage power supply supplying power to circuit boards of the main drive motor controller and the auxiliary steering power-assisted controller is accidentally disconnected, the main drive motor controller can be immediately switched to directly take power from the DCDC low-voltage power supply controller; the normal operation of the main drive motor controller and the auxiliary steering power-assisted controller under the condition of unexpected power failure is ensured, and the driving safety is further ensured.
Further, the main drive motor controller is provided with a three-phase separation IGBT. It should be understood that the three-phase separation IGBT is arranged on the main drive motor controller, when a system has a serious fault, the three-phase line can be cut off rapidly, and the phenomena that the phase line of the main drive motor is short-circuited and the main drive motor is locked are avoided; in addition, when the main drive motor breaks down in the high-speed operation process, the three-phase line is cut off quickly, so that the generation of overhigh counter electromotive force can be prevented, the generation of overlarge braking force is avoided, and the driving safety is guaranteed.
Furthermore, the invention is also provided with a low-voltage power supply voltage monitoring module. It should be understood that the low-voltage power supply voltage monitoring module can detect voltages of all paths, and when the detected voltage exceeds the range, the low-voltage power supply voltage monitoring module can autonomously send a command and disconnect a corresponding power supply to protect components from being burnt out by overvoltage, and simultaneously disconnect three-phase output and enter a safe state.
Furthermore, the invention is also provided with an auxiliary detection chip, the main control chips are provided with self-checking modules, and the self-checking modules perform self-checking through the following processes: 1) the main control chip carries out self-checking and sends self-checking data to the auxiliary detection chip; 2) the auxiliary detection chip performs self-checking and receives data of the main control chip to judge whether the configuration parameters of the main control chip are normal or not, and meanwhile, the received data are compared with the data acquired by the auxiliary detection chip to judge whether the self-checking data of the main control chip and the auxiliary detection chip are normal or not; 3) the auxiliary detection chip sends a detection result to the main control chip; 4) and the main control chip receives and judges the detection result, the detection result enters a fault mode if the detection result does not pass, the main control chip normally operates and carries out periodic self-detection if the detection result passes, and meanwhile, the main control chip sends periodic self-detection data to the auxiliary detection chip. It should be understood that the present invention performs self-tests both at power-up and during operation, and the self-test items include: internal registers, a power supply, a clock, a watchdog, EEPROM data, FLASH data, RAM data, current sensor position, position sensor position, an IGBT drive loop, main drive motor winding resistance, inductance, output open-phase, overcurrent, overvoltage, undervoltage, overtemperature, overspeed and the like.
Further, the main drive motor controller obtains the main drive motor position signal through three paths: a) decoding the rotary transformer by a hardware decoding chip to obtain a hardware decoding digital signal; b) performing software decoding on the rotary transformer through a main control chip to obtain a software decoding signal; c) position signals obtained by estimating without position through a software algorithm; the main drive motor controller controls the main drive motor to adopt the priority of the position signals to be hardware decoding signals, software decoding signals and non-position algorithm signals in sequence, judges whether the signals of each path are normal or not through the position signal monitoring module and switches to the position signals adopting the priority of the next level when the position signals with the high priority fail. It should be understood that the main drive motor controller by default employs hardware decoded position signals to participate in the main drive motor control; when the position signal monitoring module finds that the hardware decoding signal is abnormal, the counting of the counter is increased by one, and the hardware decoding chip is instructed to decode the rotary transformer again; when the hardware decoding signal is normal, the counter is cleared and the control program is executed; when the count of the counter is more than 3, judging that the hardware decoding fails, sending the hardware decoding failure to an external vehicle control unit, and switching to a position signal decoded by software to participate in the control of the main drive motor; when the software decoding signal is abnormal, the position signal obtained by the position-free algorithm is switched to participate in the control of the main drive motor, and a hardware decoding fault and a software decoding fault are sent to an external vehicle controller. And when the position signal obtained by the non-position algorithm is abnormal, executing serious fault measures, and carrying out speed limit, torque limit or stop processing.
Furthermore, the invention is also provided with a main sensor group and an auxiliary sensor group for monitoring the current, wherein the main sensor group and the auxiliary sensor group are both composed of three-phase current sensors, and the types and the acquisition circuits of the current sensors of the main sensor group and the auxiliary sensor group are different. It should be understood that the main sensor group and the auxiliary sensor group of the invention are both formed by three-phase current sensors, three sensors are formed into one group, one phase is used for verifying the other two phases, and the verification basis is that the sum of the three-phase currents is zero. The auxiliary sensor group is used as a redundant backup, and the model and the acquisition circuit of the auxiliary sensor group are different from those of the main sensor group, so that common cause failure of the system can be prevented. The main sensor group monitors the current signal change and the current range in real time in the operation process, and when the monitoring of the main sensor group is abnormal, the main sensor group is immediately switched to the auxiliary sensor group to participate in calculation so as to ensure the normal operation of the system. And when the monitoring of the auxiliary sensor group is abnormal, current signals which are mistakenly monitored by the main sensor group and the auxiliary sensor group are eliminated, the current signals monitored by the main sensor group and the auxiliary sensor group are subjected to cross cyclic verification, if the verification is successful, the current signals are extracted to participate in calculation and report corresponding sensor faults, and if the verification is failed, the system enters a safe state.
Further, the main drive motor controller is also provided with a torque detection module, and detection items of the torque detection module comprise torque range detection and torque variation trend detection. It should be understood that the main drive motor controller detects whether a range of a torque command given by the vehicle control unit and a range of a feedback torque calculated by the main drive motor controller are normal, and judges whether a variation trend of the torque is normal by the given torque and the feedback torque; the torque range is set in advance in accordance with the external characteristics of the main drive motor. When the torque range exceeds a preset range, the torque is limited, and the limit value of the torque can be dynamically adjusted according to different rotating speeds of the main drive motor; and then calculating given values of the weak magnetic current and the torque current, regulating the torque of the main drive motor by regulating the weak magnetic current and the torque current, and simultaneously sending a torque command abnormal fault code to the whole vehicle controller. When the torque variation trend is abnormal, the given values of the flux weakening current and the torque current are set to be zero, namely the torque command is also zero, the motor controller enters degraded operation until the motor controller stops, and meanwhile, a torque variation abnormal fault code is sent to the whole vehicle controller.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that changes or modifications may be made to these embodiments without departing from the principles and spirit of the invention, and that such changes and modifications are within the scope of the invention.
Claims (6)
1. The utility model provides an electric automobile integrated control ware based on function safety which characterized in that: the system comprises a main drive motor controller, a high-voltage power distribution unit and a DCDC low-voltage power supply controller; the main drive motor controller is provided with a fault signal input interface and is respectively and electrically connected with the insulation detector and the auxiliary steering power-assisted controller; the main drive motor controller, the DCDC low-voltage power supply controller, the insulation detector and the auxiliary steering power-assisted controller are all provided with a main control chip;
the main drive motor controller obtains a main drive motor position signal through three paths: a) decoding the rotary transformer by a hardware decoding chip to obtain a hardware decoding digital signal; b) performing software decoding on the rotary transformer through a main control chip to obtain a software decoding signal; c) position signals obtained by estimating without position through a software algorithm; the main drive motor controller controls the main drive motor to adopt the priority of the position signals to be hardware decoding signals, software decoding signals and non-position algorithm signals in sequence, judges whether the signals of each path are normal or not through the position signal monitoring module and switches to the position signals adopting the priority of the next level when the position signals with the high priority fail.
2. The electric vehicle integrated controller based on functional safety of claim 1, characterized in that: the main drive motor controller is provided with a three-phase separation IGBT.
3. The electric vehicle integrated controller based on functional safety according to claim 2, characterized in that: the system also comprises a low-voltage power supply voltage monitoring module.
4. The electric vehicle integrated controller based on functional safety of claim 3, characterized in that: still include the auxiliary detection chip, just main control chip all is provided with the self-checking module, the self-checking module carries out the self-checking through following flow: 1) the main control chip carries out self-checking and sends self-checking data to the auxiliary detection chip; 2) the auxiliary detection chip performs self-checking and receives data of the main control chip to judge whether configuration parameters of the main control chip are normal or not, and meanwhile, the received data is compared with the data collected by the auxiliary detection chip to judge whether the self-checking data of the main control chip are normal or not; 3) the auxiliary detection chip sends a detection result to the main control chip; 4) and the main control chip receives and judges the detection result, the detection result enters a fault mode if the detection result does not pass, the main control chip normally operates and carries out periodic self-detection if the detection result passes, and meanwhile, the main control chip sends periodic self-detection data to the auxiliary detection chip.
5. The electric vehicle integrated controller based on functional safety according to claim 4, characterized in that: the current monitoring device is characterized by further comprising a main sensor group and an auxiliary sensor group for monitoring current, wherein the main sensor group and the auxiliary sensor group are composed of three-phase current sensors, and the types and the acquisition circuits of the current sensors of the main sensor group and the current sensors of the auxiliary sensor group are different.
6. The electric vehicle integrated controller based on functional safety of claim 5, characterized in that: the main drive motor controller is further provided with a torque detection module, and detection items of the torque detection module comprise torque range detection and torque variation trend detection.
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| CN201810029445.0A CN108189672B (en) | 2018-01-12 | 2018-01-12 | Electric automobile integrated controller based on function safety |
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| CN201810029445.0A CN108189672B (en) | 2018-01-12 | 2018-01-12 | Electric automobile integrated controller based on function safety |
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| CN108189672B true CN108189672B (en) | 2020-01-07 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108988706A (en) * | 2018-07-30 | 2018-12-11 | 山东理工大学 | A kind of electric car driving permanent magnet synchronous motor rotation change decoding redundant apparatus and control method |
| CN110045210A (en) * | 2019-05-15 | 2019-07-23 | 深圳市英威腾电气股份有限公司 | Functional safety detection method, device, functional safety module and detection system |
| WO2020262031A1 (en) * | 2019-06-24 | 2020-12-30 | 日立オートモティブシステムズ株式会社 | On-vehicle control device |
| CN111267617B (en) * | 2020-03-30 | 2023-05-30 | 郑州智驱科技有限公司 | Power management system and control method based on five-in-one motor controller |
| CN111591302A (en) * | 2020-06-02 | 2020-08-28 | 北京罗克维尔斯科技有限公司 | Vehicle control method and device |
| CN114421841B (en) * | 2022-01-19 | 2024-02-13 | 上汽通用五菱汽车股份有限公司 | Method, device and medium for identifying motor rotation position signal through software decoding |
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| JP3890035B2 (en) * | 2003-06-17 | 2007-03-07 | 株式会社ジェイテクト | Electric steering apparatus for a vehicle having a multiple compensation system |
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| CN103427761A (en) * | 2012-05-14 | 2013-12-04 | Ls产电株式会社 | Motor control apparatus and method of controlling driving of motor by motor control apparatus |
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