CN108240268B - Electronic actuator in vehicle and control method thereof - Google Patents
Electronic actuator in vehicle and control method thereof Download PDFInfo
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- CN108240268B CN108240268B CN201611226475.8A CN201611226475A CN108240268B CN 108240268 B CN108240268 B CN 108240268B CN 201611226475 A CN201611226475 A CN 201611226475A CN 108240268 B CN108240268 B CN 108240268B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/22—Safety or indicating devices for abnormal conditions
- F02D41/221—Safety or indicating devices for abnormal conditions relating to the failure of actuators or electrically driven elements
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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
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
An electronic actuator in a vehicle and a control method thereof, the method comprising: receiving a control signal sent by an ECU in the vehicle, wherein the control signal is generated by the ECU according to the current working condition of an engine; the control signal comprises a physical parameter target value and a corresponding precision parameter value of an object to be controlled, and the physical parameter target value and the corresponding precision parameter value of the object to be controlled which are in one-to-one correspondence exist in different engine working conditions; judging whether the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled; and refusing to respond to the control signal when the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled. The scheme can effectively protect the electronic actuator and reduce the possibility of damage of the electronic actuator.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to an electronic actuator in a vehicle and a control method thereof.
Background
The Electronic actuator is an actuator that can receive a Control signal from an Electronic Control Unit (ECU) of a vehicle and perform a corresponding operation. Electronic actuators are widely used in the automotive industry today. For example, electronic actuators are used in components such as supercharger wastegate actuators, variable cam timing mechanisms, and the like.
The electronic actuator is usually provided with a drive motor therein. After receiving the control signal of the ECU, the electronic actuator controls the driving motor to execute corresponding actions so as to meet the requirements of the ECU.
However, in practical applications, there may be a situation where the ECU sends an error signal, which may cause the electronic actuator to fail to work normally, or even cause damage.
Disclosure of Invention
The invention solves the technical problem of how to effectively protect the electronic actuator and reduce the possibility of damage of the electronic actuator.
In order to solve the above technical problem, an embodiment of the present invention provides a method for controlling an electronic actuator in a vehicle, including: receiving a control signal sent by an ECU in the vehicle, wherein the control signal is generated by the ECU according to the current working condition of an engine; the control signal comprises a physical parameter target value and a corresponding precision parameter value of an object to be controlled, and the physical parameter target value and the corresponding precision parameter value of the object to be controlled which are in one-to-one correspondence exist in different engine working conditions; judging whether the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled; and refusing to respond to the control signal when the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled.
Optionally, the receiving a control signal sent by the ECU includes: and receiving data on the CAN bus, and acquiring a control signal sent by the ECU, wherein the control signal comprises a physical parameter target value and a corresponding precision parameter value of the object to be controlled.
Optionally, the method for controlling the electronic actuator in the vehicle further includes: when the precision parameter value in the control signal is larger than the minimum precision parameter value of the object to be controlled, acquiring the current value of the physical parameter of the object to be controlled, the target value of the physical parameter of the object to be controlled in the control signal and the corresponding precision parameter; judging whether the current value of the physical parameter of the object to be controlled is within a target range; the target area is related to the physical parameter target value and the corresponding precision parameter; and when the current value of the physical parameter of the object to be controlled is not in the target range, adjusting the current value of the physical parameter of the object to be controlled, so that the adjusted current value of the physical parameter of the object to be controlled is in the target range.
Optionally, the current value of the physical parameter of the object to be controlled includes any one of: the current position of the object to be controlled, the current rotating speed of the object to be controlled and the current angle of the object to be controlled.
Optionally, the adjusting the current value of the physical parameter of the object to be controlled includes: and adjusting the current value of the physical parameter of the object to be controlled by adopting a neural network algorithm for preset iteration times until the adjusted current value of the physical parameter of the object to be controlled is in the target range.
Optionally, the method for controlling the electronic actuator in the vehicle further includes: and when the current value of the physical parameter of the object to be controlled is adjusted by the preset iteration times and the adjusted current value of the physical parameter of the object to be controlled is not in the target range, stopping adjusting the current value of the physical parameter of the object to be controlled and sending an adjustment fault code to the ECU.
Optionally, after adjusting the current value of the physical parameter of the object to be controlled to be within the target range, the method further includes: judging whether the control parameter values in the control signals are all in the working parameter range corresponding to the object to be controlled; and refusing to respond to the control signal when any control parameter value in the control signal is not within the working parameter range corresponding to the object to be controlled.
Optionally, after rejecting to respond to the control signal, the method further includes: and generating a control signal fault code and sending the control signal fault code to the ECU so as to inform the ECU that the control signal is abnormal.
An embodiment of the present invention provides an electronic actuator in a vehicle, including: the receiving unit is used for receiving a control signal sent by an ECU in the vehicle, wherein the control signal is generated by the ECU according to the current working condition of an engine; the control signal comprises a physical parameter target value and a corresponding precision parameter value of an object to be controlled, and the physical parameter target value and the corresponding precision parameter value of the object to be controlled which are in one-to-one correspondence exist in different engine working conditions; the first judgment unit is used for judging whether the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled; and the first control unit is used for refusing to respond to the control signal when the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled.
Optionally, the receiving unit is configured to receive data on a CAN bus, and obtain a control signal sent by the ECU from the data, where the control signal includes a physical parameter target value and a corresponding precision parameter value of the object to be controlled.
Optionally, the electronic actuator in the vehicle further includes: the acquisition unit is used for acquiring the current value of the physical parameter of the object to be controlled, the target value of the physical parameter of the object to be controlled and the corresponding precision parameter when the precision parameter value in the control signal is greater than the minimum precision parameter value of the object to be controlled; the second judgment unit is used for judging whether the current value of the physical parameter of the object to be controlled is in a target range; the target range is related to the physical parameter target value and the corresponding precision parameter; and the adjusting unit is used for adjusting the current value of the physical parameter of the object to be controlled when the current value of the physical parameter of the object to be controlled is not in the target range, so that the adjusted current value of the physical parameter of the object to be controlled is in the target range.
Optionally, the current value of the physical parameter of the object to be controlled includes any one of: the current position of the object to be controlled, the current rotating speed of the object to be controlled and the current angle of the object to be controlled.
Optionally, the adjusting unit is configured to adjust the current value of the physical parameter of the object to be controlled by using a neural network algorithm for a preset number of iterations until the adjusted current value of the physical parameter of the object to be controlled is within the target range.
Optionally, the electronic actuator in the vehicle further includes: and the second control unit is used for stopping adjusting the current value of the physical parameter of the object to be controlled and sending an adjustment fault code to the ECU when the adjusted current value of the physical parameter of the object to be controlled is not in the target range after the current value of the physical parameter of the object to be controlled is adjusted by the preset iteration number.
Optionally, the electronic actuator in the vehicle further includes: the third judging unit is used for judging whether the control parameter values in the control signals are all in the working range corresponding to the object to be controlled; and the third control unit is used for refusing to respond to the control signal when any control parameter value in the control signal is not in the working parameter range corresponding to the object to be controlled.
Optionally, the electronic actuator in the vehicle further includes: a generating unit for generating a control signal fault code after refusing to respond to the control signal; and the sending unit is used for sending a control signal fault code to the ECU so as to inform the ECU that the control signal is abnormal.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
after receiving the target value of the physical parameter containing the object to be controlled and the corresponding precision parameter value, the target value is compared with the minimum precision parameter value of the object to be controlled in the electronic actuator. When the precision parameter value corresponding to the physical parameter target value is smaller than the minimum precision parameter value of the object to be controlled, the electronic actuator can not reach the precision parameter value corresponding to the physical parameter target value, namely, the precision parameter value exceeds the precision range which can be executed by the electronic actuator, and the electronic actuator refuses to respond to the control signal, so that the electronic actuator can be effectively protected, and the possibility of damage of the electronic actuator is reduced.
Further, when the neural network algorithm is adopted to adjust the current value of the physical parameter of the object to be controlled by the preset iteration frequency, if the adjusted current value of the physical parameter of the object to be controlled is not in the target range after the preset iteration frequency is adjusted, the adjustment of the current value of the physical parameter of the object to be controlled is stopped, so that the condition that the object to be controlled is abraded more frequently due to the control of the object to be controlled is avoided.
Drawings
Fig. 1 is a flowchart of a control method of an electronic actuator in a vehicle in an embodiment of the invention;
FIG. 2 is a flow chart of a method for adjusting a current value of a physical parameter of an object to be controlled according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an electronic actuator according to an embodiment of the present invention;
fig. 4 is a schematic structural view of another electronic actuator in the embodiment of the present invention.
Detailed Description
A driving motor is arranged in the electronic actuator, and the electronic actuator controls the driving motor to execute corresponding actions after receiving a control signal of the ECU so as to meet the requirements of the ECU. However, in practical applications, there may be a case where a signal transmitted by the ECU is interfered, resulting in a signal error.
For example, the target accuracy of the driving motor corresponding to the control signal sent by the ECU to the electronic actuator should be greater than the minimum accuracy of the driving motor, whereas the target accuracy detected by the electronic actuator is less than the minimum accuracy of the driving motor due to the interference. At this time, the driving motor can only execute the operation corresponding to the control signal with minimum precision, which causes serious abrasion of the driving motor and reduces the service life of the electronic actuator.
In the embodiment of the invention, after the physical parameter target value containing the object to be controlled and the corresponding precision parameter value are received, the physical parameter target value and the corresponding precision parameter value are compared with the minimum precision parameter value of the object to be controlled in the electronic actuator. When the precision parameter value corresponding to the physical parameter target value is smaller than the minimum precision parameter value of the object to be controlled, the electronic actuator can not reach the precision parameter value corresponding to the physical parameter target value, namely, the precision parameter value exceeds the precision range which can be executed by the electronic actuator, and the electronic actuator refuses to respond to the control signal, so that the electronic actuator can be effectively protected, and the possibility of damage of the electronic actuator is reduced.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
An embodiment of the present invention provides a method for controlling an electronic actuator in a vehicle, and is described in detail below with reference to fig. 1 through specific steps.
And step S101, receiving a control signal sent by an ECU in the vehicle.
In specific implementation, the ECU in the vehicle can acquire the current working condition of the engine in real time during the running process of the vehicle. After the ECU acquires the current working condition of the engine, the ECU can generate a control signal according to the current working condition of the engine and send the generated control signal to the corresponding electronic actuator. After receiving the control signal sent by the ECU, the electronic actuator may perform a corresponding operation according to the received control signal.
In the embodiment of the present invention, the electronic actuator may have an object to be controlled built therein. The control signal generated by the ECU may include a target value of a physical parameter of the object to be controlled and a value of an accuracy parameter corresponding to the target value of the physical parameter of the object to be controlled.
In particular implementations, the ECU may generate control signals corresponding one-to-one to different engine operating conditions. In other words, the physical parameter target values of the object to be controlled generated by the ECU may be different for different engine operating conditions. Correspondingly, the accuracy parameter values corresponding to the target values of the physical parameters of the object to be controlled may be different for different engine operating conditions.
For example, the object to be controlled is a driving motor in an electronic actuator, and the driving motor is connected with the rotating shaft. The physical parameter target value corresponding to the driving motor is a target angle for the driving motor to drive the rotating shaft to rotate, and the precision parameter value corresponding to the target angle is an angle allowance.
Aiming at a certain engine working condition, the control signal generated by the ECU comprises the following steps: the target angle of the rotating shaft is 20 degrees, and the angle allowance is +/-5 degrees. When the electronic actuator receives the control signal, the driving motor is controlled to adjust the angle of the rotating shaft to 15-25 degrees.
For another engine operating condition, the control signals generated by the ECU include: the target rotation angle of the rotating shaft is 20 DEG, and the angle allowance is +/-1 deg. When the electronic actuator receives the control signal, the driving motor is controlled to adjust the angle of the rotating shaft to 19-21 degrees.
In particular implementations, the ECU may send control signals to the electronic actuators via a Controller Area Network (CAN) bus. The electronic actuator CAN receive data on the CAN bus in real time and judge whether the data received from the CAN bus is self-required data. If the data received from the CAN bus is the self-demand data, caching the received data; and if the data received from the CAN bus is not the self-demand data, discarding the received data.
The electronic actuator may execute step S102 upon receiving a control signal sent by the ECU.
Step S102, judging whether the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled.
In specific implementation, after receiving the control signal, the electronic actuator can obtain a physical parameter target value and a corresponding precision parameter value of the object to be controlled. When the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled, step S103 is performed.
In a specific implementation, when the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled in the electronic actuator, it means that the precision required in the control signal is higher than the highest precision value of the object to be controlled.
Still take the object to be controlled as the driving motor in the electronic actuator as an example, the precision parameter value in the control signal is the precision value of the driving motor driving the rotating shaft, and the minimum precision parameter value of the driving motor is: minimum precision value for driving the rotation of the rotating shaft.
If the precision parameter value is +/-0.5 degrees in the received control signal sent by the ECU, the minimum precision parameter value of the driving motor is 1 degree. At this time, it can be known that the precision parameter value in the control signal is smaller than the minimum precision parameter value of the driving motor, that is, the precision requirement on the driving motor in the control signal is higher than the highest precision of the driving motor.
If the precision parameter value is +/-5 degrees in the received control signal sent by the ECU, the minimum precision parameter value of the driving motor is 1 degree. At this time, it can be known that the precision parameter value in the control signal is greater than the minimum precision parameter value of the driving motor, that is, the precision requirement on the driving motor in the control signal is lower than the highest precision of the driving motor.
Step S103, refusing to respond to the control signal when the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled.
In specific implementation, when the electronic actuator detects that a precision parameter value in the control signal is smaller than a minimum precision parameter value of the object to be controlled, that is, when a precision requirement of the object to be controlled in the control signal is higher than a highest precision requirement of the object to be controlled, the electronic actuator may refuse to respond to the control signal, that is: the electronic actuator refuses to control the object to be controlled to execute the operation corresponding to the control signal.
In the prior art, when the electronic actuator detects that a precision parameter value in a control signal is smaller than a minimum precision parameter value of an object to be controlled, that is, a precision requirement of the object to be controlled in the control signal is higher than a highest precision requirement of the object to be controlled, the electronic actuator controls the object to be controlled to execute an operation corresponding to the control signal by using the minimum precision parameter value. When the object to be controlled works at the minimum precision value for a long time, that is, when the object to be controlled works at the maximum precision for a long time, the abrasion speed of the object to be controlled is accelerated, and the possibility of damaging the electronic actuator is greatly increased.
In the embodiment of the invention, when the electronic actuator detects that the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled, the electronic actuator refuses to respond to the control signal, namely refuses to control the object to be controlled to execute the operation corresponding to the control signal, so that the object to be controlled can be effectively protected, and the possibility of damage of the electronic actuator is reduced.
For example, the accuracy parameter value of the received control signal sent by the ECU is ± 0.5 °, and the minimum accuracy parameter value of the drive motor is 1 °. At the moment, the precision parameter value in the control signal is smaller than the minimum precision parameter value of the driving motor, and the electronic actuator refuses to control the driving motor to work.
In a specific implementation, in step S102, in addition to the case where the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled, there is also the case where the precision parameter value in the control signal is greater than or equal to the minimum precision parameter value of the object to be controlled. When the precision parameter value in the control signal is greater than or equal to the minimum precision parameter value of the object to be controlled, the steps shown in fig. 2 are performed.
Step S201, obtaining a current value of a physical parameter of an object to be controlled.
In a specific implementation, when the precision parameter value in the control signal is greater than the minimum precision parameter value of the object to be controlled, the electronic actuator may obtain the current value of the physical parameter of the object to be controlled.
And the electronic actuator compares the acquired current value of the physical parameter of the object to be controlled with the target value of the physical parameter of the object to be controlled in the control signal and the corresponding precision parameter to judge whether the current value of the physical parameter of the object to be controlled is within the target range. In the embodiment of the present invention, the target range is related to the target value of the physical parameter of the object to be controlled in the control signal and the corresponding precision parameter, and the target range may be calculated according to the target value of the physical parameter of the object to be controlled in the control signal and the corresponding precision parameter.
For example, the object to be controlled is a driving motor, the target angle of rotation of the driving motor driving rotating shaft is 20 °, the corresponding precision parameter is ± 5 °, the target range of rotation of the rotating shaft is 15 ° to 25 °, that is, the angle of rotation of the driving motor driving rotating shaft controlled by the electronic actuator is 15 ° to 25 °.
For another example, the object to be controlled is a driving motor, the target value of the physical parameter corresponding to the driving motor is 20 °, and the corresponding accuracy parameter is ± 10%, then the target range of the rotation of the rotating shaft is 18 ° to 22 °, that is, the electronic actuator controls the driving motor to drive the rotating shaft to rotate by an angle of 18 ° to 22 °.
In specific implementation, the current value of the physical parameter of the object to be controlled may be the current position of the object to be controlled, the current rotation speed of the object to be controlled, or the current angle of the object to be controlled. It is understood that the current value of the physical parameter of the object to be controlled may also be other parameter values of the object to be controlled, and is not limited to the parameters of the position, the rotating speed, the angle, and the like provided in the above embodiments of the present invention.
When the current value of the physical parameter of the object to be controlled is the current position of the object to be controlled, the current position of the object to be controlled can be obtained through a preset displacement sensor. When the current value of the physical parameter of the object to be controlled is the current rotating speed of the object to be controlled, the current rotating speed of the object to be controlled can be obtained through a preset rotating speed sensor. When the current value of the physical parameter of the object to be controlled is the current angle of the object to be controlled, the current angle of the object to be controlled can be obtained through a preset angle sensor. The displacement sensor, the rotating speed sensor and the angle sensor can be arranged inside the electronic actuator or outside the electronic actuator.
In an embodiment of the present invention, the object to be controlled is a driving motor, and the current value of the physical parameter of the driving motor is the current rotation angle of the driving spindle. When the current rotating angle of the driving rotating shaft is obtained, the rotating angle of the rotating shaft is obtained by adopting an angle sensor inside the electronic actuator.
Step S202, judging whether the current value of the physical parameter of the object to be controlled is in a target range.
In the embodiment of the invention, when the current value of the physical parameter of the object to be controlled is in the target range, the object to be controlled does not need to be controlled, and the operation flow is ended; when the current value of the physical parameter of the object to be controlled is not within the target range, the object to be controlled may be controlled, and step S203 may be performed.
The object to be controlled provided in the above embodiments of the present invention is taken as an example of a driving motor. The angle that the drive motor currently drives the rotating shaft to rotate is 21 degrees. In the control signals sent by the ECU, the target value of the physical parameter corresponding to the driving motor is 20 degrees, the corresponding precision parameter is +/-5 degrees, namely the target range is 15-25 degrees. Therefore, the current rotation angle of the driving motor for driving the rotating shaft to rotate is within the target range, and the driving motor does not need to be controlled to rotate the rotating shaft.
Step S203, adjusting the current value of the physical parameter of the object to be controlled.
In a specific implementation, the current value of the physical parameter of the object to be controlled can be adjusted by the control unit in the electronic actuator. In the embodiment of the invention, the control unit in the electronic actuator can adopt a neural network algorithm to adjust the current value of the physical parameter of the object to be controlled by the preset iteration times. The number of iterations of the neural network algorithm may be preset. After adjusting the current value of the physical parameter of the object to be controlled each time, step S204 is executed.
In the embodiment of the present invention, when the current value of the physical parameter of the object to be controlled is adjusted, the current value of the physical parameter of the object to be controlled may be iteratively adjusted by a fixed step size, or the current value of the physical parameter of the object to be controlled may be iteratively adjusted by a gradual step size.
And step S204, detecting whether the adjusted current value of the physical parameter of the object to be controlled is in a target range.
In a specific implementation, if it is detected that the current value of the physical parameter of the object to be controlled is within the target range after the current iterative adjustment, step S205 may be executed; if it is detected that the current value of the physical parameter of the object to be controlled is not within the target range after the iterative adjustment, step S206 is executed.
Step S205, sending a control instruction to the object to be controlled.
In the embodiment of the invention, when the current value of the physical parameter corresponding to the adjusted object to be controlled is detected to be in the target range, the control instruction can be sent to the object to be controlled. And after receiving the control instruction, the object to be controlled executes corresponding operation, and adjusts the current value of the physical parameter corresponding to the object to be controlled to be within the target range.
For example, the preset iteration number is 10, the object to be controlled is a driving motor, the physical parameter target value corresponding to the driving motor is a target angle for the driving motor to drive the rotating shaft to rotate, and the target angle of the rotating shaft is 20 degrees; and the precision parameter value corresponding to the target angle is an angle allowance. The angular margin is ± 5 °.
During the 8 th iteration adjustment, the adjusted target angle after rotation is 22 degrees and is in the target range of 15-25 degrees, so that the control unit in the electronic actuator sends a control command to the unit to be controlled. After receiving the control command, the driving motor drives the rotating shaft to rotate to 22 degrees.
Step S206, judging whether the iteration times reach the preset times.
In a specific implementation, when the adjustment times of the current value of the physical parameter of the object to be controlled do not reach the preset iteration times, step S203 may be executed again; when the adjustment times of the current value of the physical parameter of the object to be controlled reach the preset iteration times, step S207 is executed.
And step S207, stopping adjusting the current value of the physical parameter of the object to be controlled, generating an adjustment fault code and sending the adjustment fault code to the ECU.
In the embodiment of the invention, when the adjusted current value of the physical parameter of the object to be controlled is detected not to be in the target range after the preset iteration number is finished, the adjustment of the current value of the physical parameter of the object to be controlled can be stopped, and an adjustment fault code is generated and sent to the ECU. The electronic actuator can also send a safety value within the working range of the object to be controlled to the object to be controlled, so that the object to be controlled can execute corresponding operation.
Taking the object to be controlled as the driving motor as an example. And if the rotation angle of the current driving rotating shaft of the adjusted driving motor is detected to be 28 degrees after the 10 th iteration is finished, stopping adjusting the current value of the physical parameter of the object to be controlled, generating an adjustment fault code and sending the adjustment fault code to the ECU.
In specific implementation, after the adjusted current value of the physical parameter of the object to be controlled is within the target range, it may be determined whether any control parameter value in the control signal is within the working parameter range corresponding to the object to be controlled. And if any control parameter value in the control signal is detected not to be in the working range corresponding to the object to be controlled, the electronic actuator refuses to respond to the control signal.
For example, the control parameter values in the control signal further include the driving motor operating temperature and the load factor parameter. If the working temperature of the driving motor in the control signal is 80 ℃ and the working temperature corresponding to the driving motor is-10 ℃ to 70 ℃, the electronic actuator can refuse to respond to the control signal, namely refuse to control the driving motor to execute the operation corresponding to the control signal.
After refusing to respond to the control signal, the electronic actuator can generate a control signal fault code and send the control signal fault code to the ECU so as to inform the ECU that the currently sent control signal is abnormal.
In a specific implementation, after refusing to respond to the control signal, the electronic actuator can control the object to be controlled to work with normal parameters in the working range of the object to be controlled.
Referring to fig. 3, an embodiment of the present invention provides an electronic actuator 30 in a vehicle, including: a receiving unit 301, a first judging unit 302 and a first control unit 303, wherein:
a receiving unit 301, configured to receive a control signal sent by an ECU in the vehicle, where the control signal is generated by the ECU according to a current operating condition of an engine; the control signal comprises a physical parameter target value and a corresponding precision parameter value of an object to be controlled, and the physical parameter target value and the corresponding precision parameter value of the object to be controlled which are in one-to-one correspondence exist in different engine working conditions;
a first judging unit 302, configured to judge whether a precision parameter value in the control signal is smaller than a minimum precision parameter value of the object to be controlled;
a first control unit 303, configured to refuse to respond to the control signal when a precision parameter value in the control signal is smaller than a minimum precision parameter value of the object to be controlled.
In a specific implementation, the receiving unit 301 is configured to receive data on a CAN bus, and obtain a control signal sent by the ECU, where the control signal includes a target value of a physical parameter of the object to be controlled and a corresponding precision parameter value.
Referring to fig. 4 in conjunction with fig. 3, in a specific implementation, the electronic actuator 30 may further include: an obtaining unit 304, configured to obtain a current value of a physical parameter of the object to be controlled, a target value of the physical parameter of the object to be controlled in the control signal, and a corresponding precision parameter when a precision parameter value in the control signal is greater than a minimum precision parameter value of the object to be controlled; a second judging unit 305, configured to judge whether a current value of a physical parameter of the object to be controlled is within a target range; the target range is related to the physical parameter target value and the corresponding precision parameter; the adjusting unit 306 may be configured to, when the current value of the physical parameter of the object to be controlled is not within the target range, adjust the current value of the physical parameter of the object to be controlled, so that the adjusted current value of the physical parameter of the object to be controlled is within the target range.
In a specific implementation, the current value of the physical parameter of the object to be controlled may include any one of the following: the current position of the object to be controlled, the current rotating speed of the object to be controlled and the current angle of the object to be controlled.
In the embodiment of the present invention, the object to be controlled may be a driving motor, and at this time, the current value of the physical parameter of the object to be controlled may be the current rotation speed of the driving motor, or may be the rotation angle of the driving shaft of the driving motor.
In a specific implementation, the adjusting unit 306 may be configured to adjust the current value of the physical parameter of the object to be controlled by using a neural network algorithm for a preset number of iterations until the adjusted current value of the physical parameter of the object to be controlled is within the target range.
Referring to fig. 4, in a specific implementation, the electronic actuator 30 may further include: the second control unit 307 may be configured to stop adjusting the current value of the physical parameter of the object to be controlled and send an adjustment fault code to the ECU when the current value of the physical parameter of the object to be controlled after the current value of the physical parameter of the object to be controlled is adjusted by the preset iteration number and the adjusted current value of the physical parameter of the object to be controlled is not within the target range.
Referring to fig. 4, in a specific implementation, the electronic actuator 30 may further include: a third determining unit 308, configured to determine whether all control parameter values in the control signal are within a working range corresponding to the object to be controlled; the third control unit 309 may be configured to refuse to respond to the control signal when any control parameter value in the control signal is not within the working parameter range corresponding to the object to be controlled.
Referring to fig. 4, in a specific implementation, the electronic actuator 30 may further include: a generating unit 310, operable to generate a control signal fault code after rejecting a response to the control signal; the sending unit 311 may be configured to send a control signal fault code to the ECU to inform the ECU that the control signal is abnormal.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: ROM, RAM, magnetic or optical disks, and the like.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (16)
1. A control method of an electronic actuator in a vehicle, characterized by comprising:
receiving a control signal sent by an ECU in the vehicle, wherein the control signal is generated by the ECU according to the current working condition of an engine; the control signal comprises a physical parameter target value and a corresponding precision parameter value of an object to be controlled, and the physical parameter target value and the corresponding precision parameter value of the object to be controlled which are in one-to-one correspondence exist in different engine working conditions;
judging whether the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled;
and refusing to respond to the control signal when the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled.
2. The method for controlling an electronic actuator in a vehicle according to claim 1, wherein the receiving of the control signal sent by the ECU includes:
and receiving data on the CAN bus, and acquiring a control signal sent by the ECU, wherein the control signal comprises a physical parameter target value and a corresponding precision parameter value of the object to be controlled.
3. The method of controlling an electronic actuator in a vehicle according to claim 1, characterized by further comprising:
when the precision parameter value in the control signal is larger than the minimum precision parameter value of the object to be controlled, acquiring the current value of the physical parameter of the object to be controlled, the target value of the physical parameter of the object to be controlled in the control signal and the corresponding precision parameter;
judging whether the current value of the physical parameter of the object to be controlled is within a target range; the target range is related to the physical parameter target value and the corresponding precision parameter;
and when the current value of the physical parameter of the object to be controlled is not in the target range, adjusting the current value of the physical parameter of the object to be controlled, so that the adjusted current value of the physical parameter of the object to be controlled is in the target range.
4. A control method of an electronic actuator in a vehicle according to claim 3, characterized in that the present value of the physical parameter of the object to be controlled includes any one of: the current position of the object to be controlled, the current rotating speed of the object to be controlled and the current angle of the object to be controlled.
5. The method for controlling an electronic actuator in a vehicle according to claim 3, wherein said adjusting the current value of the physical parameter of the object to be controlled comprises:
and adjusting the current value of the physical parameter of the object to be controlled by adopting a neural network algorithm for preset iteration times until the adjusted current value of the physical parameter of the object to be controlled is in the target range.
6. The method of controlling an electronic actuator in a vehicle according to claim 5, characterized by further comprising: and when the current value of the physical parameter of the object to be controlled is adjusted by the preset iteration times and the adjusted current value of the physical parameter of the object to be controlled is not in the target range, stopping adjusting the current value of the physical parameter of the object to be controlled and sending an adjustment fault code to the ECU.
7. The method of controlling an electronic actuator in a vehicle according to claim 5, further comprising, after adjusting the current value of the physical parameter of the object to be controlled to be within the target range:
judging whether the control parameter values in the control signals are all in the working parameter range corresponding to the object to be controlled;
and refusing to respond to the control signal when any control parameter value in the control signal is not within the working parameter range corresponding to the object to be controlled.
8. The method of controlling an electronic actuator in a vehicle according to claim 1 or 7, further comprising, after denying a response to the control signal:
and generating a control signal fault code and sending the control signal fault code to the ECU so as to inform the ECU that the control signal is abnormal.
9. An electronic actuator in a vehicle, comprising:
the receiving unit is used for receiving a control signal sent by an ECU in the vehicle, wherein the control signal is generated by the ECU according to the current working condition of an engine; the control signal comprises a physical parameter target value and a corresponding precision parameter value of an object to be controlled, and the physical parameter target value and the corresponding precision parameter value of the object to be controlled which are in one-to-one correspondence exist in different engine working conditions;
the first judgment unit is used for judging whether the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled;
and the first control unit is used for refusing to respond to the control signal when the precision parameter value in the control signal is smaller than the minimum precision parameter value of the object to be controlled.
10. The electronic actuator in a vehicle according to claim 9, wherein the receiving unit is configured to receive data on a CAN bus, and obtain a control signal sent by the ECU, and the control signal includes a target value of a physical parameter of the object to be controlled and a corresponding precision parameter value.
11. The electronic actuator in a vehicle of claim 9, further comprising:
the acquisition unit is used for acquiring the current value of the physical parameter of the object to be controlled, the target value of the physical parameter of the object to be controlled and the corresponding precision parameter when the precision parameter value in the control signal is greater than the minimum precision parameter value of the object to be controlled;
the second judgment unit is used for judging whether the current value of the physical parameter of the object to be controlled is in a target range; the target range is related to the physical parameter target value and the corresponding precision parameter;
and the adjusting unit is used for adjusting the current value of the physical parameter of the object to be controlled when the current value of the physical parameter of the object to be controlled is not in the target range, so that the adjusted current value of the physical parameter of the object to be controlled is in the target range.
12. The electronic actuator in a vehicle according to claim 11, wherein the current value of the physical parameter of the object to be controlled includes any one of: the current position of the object to be controlled, the current rotating speed of the object to be controlled and the current angle of the object to be controlled.
13. The electronic actuator in a vehicle according to claim 11, wherein the adjusting unit is configured to adjust the current value of the physical parameter of the object to be controlled by using a neural network algorithm for a preset number of iterations until the adjusted current value of the physical parameter of the object to be controlled is within the target range.
14. The electronic actuator in a vehicle of claim 13, further comprising: and the second control unit is used for stopping adjusting the current value of the physical parameter of the object to be controlled and sending an adjustment fault code to the ECU when the adjusted current value of the physical parameter of the object to be controlled is not in the target range after the current value of the physical parameter of the object to be controlled is adjusted by the preset iteration number.
15. The electronic actuator in a vehicle of claim 13, further comprising:
the third judging unit is used for judging whether the control parameter values in the control signals are all in the working range corresponding to the object to be controlled;
and the third control unit is used for refusing to respond to the control signal when any control parameter value in the control signal is not in the working parameter range corresponding to the object to be controlled.
16. The electronic actuator in a vehicle according to claim 9 or 15, further comprising:
a generating unit for generating a control signal fault code after refusing to respond to the control signal;
and the sending unit is used for sending a control signal fault code to the ECU so as to inform the ECU that the control signal is abnormal.
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