CN108248598A - A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method - Google Patents
A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method Download PDFInfo
- Publication number
- CN108248598A CN108248598A CN201810016426.4A CN201810016426A CN108248598A CN 108248598 A CN108248598 A CN 108248598A CN 201810016426 A CN201810016426 A CN 201810016426A CN 108248598 A CN108248598 A CN 108248598A
- Authority
- CN
- China
- Prior art keywords
- failure
- vehicle
- generator
- hub motor
- fault
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000011217 control strategy Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 29
- 238000005070 sampling Methods 0.000 claims description 16
- 238000007781 pre-processing Methods 0.000 claims description 15
- 230000000007 visual effect Effects 0.000 claims description 8
- 238000003745 diagnosis Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 5
- 206010017577 Gait disturbance Diseases 0.000 claims description 4
- 238000012805 post-processing Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 230000004308 accommodation Effects 0.000 abstract 2
- 230000001960 triggered effect Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of hybrid electric vehicle driven by wheel hub Failure Control method, first parallel failure of removal trend identification：According to the characteristic parameter corresponding to different failure of removal, a variety of message signals is selected to carry out trend identification or judgement to failure of removal；Specifically include electronic pedal, power battery high pressure management system, the direct-connected system of generator of engine and distributed In-wheel motor driving system failure identification；Then according to failure of removal trend recognition result, failure of removal pretreatment is carried out by the control strategy of active accommodation distribution In-wheel motor driving system；Two-stage that finally failure of removal occurred is alerted and alarmed according to severity is classified, and is handled respectively by rank.Failure of removal between each system is judged and handled as parallel configurations, it cooperates between each other, the control strategy of active accommodation distribution In-wheel motor driving system is capable of under the premise of vehicle driving safety is ensured to ensure riding stability of vehicle when in face of failure of removal.
Description
Technical Field
The invention belongs to the technical field of control over hub motor distributed drive automobiles, and particularly relates to a system and a method for controlling failure of a hub motor drive hybrid electric vehicle.
Background
As shown in fig. 1, the failure control system of the hub motor driven hybrid electric vehicle mainly comprises an engine-generator direct connection system, a power battery-high voltage management system, a hub motor-hub motor controller driving system, an electronic pedal system and a vehicle control unit, wherein energy transmission is performed between the systems through high-voltage cables, and information interaction is performed through low-voltage CAN lines. Compared with the traditional vehicle, the system has high complexity and numerous system state information, so that how to actively judge the occurrence trend of failure faults, reasonably carry out the redundancy control of the whole vehicle and design a better control system architecture is one of the key technologies of the failure fault control system of the whole vehicle.
Compared with a centralized driving electric automobile, the distributed hub motor driving automobile can accurately control each wheel independently. On one hand, the control effect of the vehicle in the aspects of dynamic property, trafficability, driving skid resistance, vehicle stability and whole vehicle efficiency optimization can be improved; on the other hand, the occurrence of a failure in the remaining system of the vehicle directly affects the driving state of each wheel and the running stability of the vehicle. Therefore, how to coordinate the failure fault processing modules of each system with the in-wheel motor driving system to ensure the running stability and safety of the vehicle is one of the difficulties of the failure fault control system of the whole vehicle.
Meanwhile, the failure faults of the hub motor driving systems have various combination states, and different combination states need to adopt different processing methods to ensure the driving safety under various driving conditions. Therefore, the design of the failure fault processing module of the hub motor driving system based on the automobile dynamics is one of the difficulties of the failure fault control system of the whole automobile.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the failure control system and method for the hub motor driven hybrid electric vehicle are provided to ensure the running stability of the vehicle in the face of failure faults.
The technical scheme adopted by the invention for solving the technical problems is as follows: a failure control method for a hub motor driven hybrid electric vehicle is characterized by comprising the following steps: it comprises the following steps:
s1, identifying failure fault trend: selecting various message signals to perform trend identification or judgment on the failure faults according to the characteristic parameters corresponding to different failure faults; the method specifically comprises the following steps:
electronic pedal failure fault identification: according to the opening degree signal of the electronic pedal, carrying out logic judgment and identification on the failure fault of the electronic pedal system;
power battery-high voltage management system fault identification: according to message information which is fed back to a vehicle controller by a high-voltage management system and can represent failure faults of a power battery and a vehicle high-voltage safety system, failure fault trend identification is carried out on the types and the possibility of failure faults of the power battery and the vehicle high-voltage safety system, and the types of failure faults of the power battery and the vehicle high-voltage safety system which occur are identified;
engine-generator direct connection system fault identification: according to message information which is fed back to a vehicle control unit by a generator and an engine and can represent failure faults of the generator and the engine, and by combining bus voltage, bus current, rotating speed of the generator, stator temperature of the generator and controller temperature of the generator, failure fault trend identification is carried out on the types and the possibility of failure faults of the generator and the engine, and the types of failure faults of the generator and the engine which occur are identified;
distributed in-wheel motor drive system: according to message information which is fed back to the whole vehicle controller by the hub motor driving systems and can represent failure faults of all the hub motor driving systems, and by combining bus voltage, bus current, hub motor rotating speed, hub motor stator temperature and hub motor controller temperature of all the hub motors, failure fault trend identification is carried out on the types and the possibility of failure faults of all the hub motor driving systems, and the types of the failure faults of all the hub motor driving systems which occur are identified;
s2, failure fault preprocessing: according to the failure fault trend recognition result, performing failure fault preprocessing by actively adjusting a control strategy of the distributed hub motor driving system; the method specifically comprises the following steps:
power battery-high voltage management system failure fault preprocessing: the driver is prompted by limiting the required power of the whole vehicle and controlling the audible and visual alarm device, so that the safe deceleration of the vehicle is ensured;
preprocessing the failure fault of the engine-generator direct connection system: the driver is prompted by limiting the required power of the whole vehicle and controlling the audible and visual alarm device, so that the safe deceleration of the vehicle is ensured;
preprocessing failure faults of a distributed hub motor driving system: calculating a vehicle speed and a vehicle body posture signal, limiting the required power of a target hub motor and a coaxial opposite-side hub motor, and controlling an audible and visual alarm device to prompt a driver so as to ensure the safe deceleration of the vehicle;
s3, classification post-processing of the generated failure fault: carrying out two-stage classification of warning and alarming on the failure fault according to the severity, and respectively processing according to the levels; the method specifically comprises the following steps:
and (3) processing by the electronic pedal system: when only one path of opening signal of the electronic pedal is in fault, the electronic pedal is warned, one path of normal opening signal is adopted to convey the intention of a driver, and the torque command sent to each hub motor driving system is halved; if the two paths of opening signals have faults, alarming is carried out, the output power of all the hub motor driving systems is limited, and a limping mode is entered;
power battery-high voltage management system processing: warning, the power battery automatically limits the charge and discharge power, limits the output power of all hub motor driving systems, and enters a limp mode; alarming, cutting off the high pressure of the whole vehicle, and decelerating the vehicle until the vehicle stops by the driver operating a brake pedal;
processing by an engine-generator direct connection system: warning, the engine-generator system self-limits output power while limiting torque commands sent to each in-wheel motor drive system; alarming, wherein the engine-generator direct connection system enters an unloading protection mode to work, the generator idles, the output power of all hub motor driving systems is limited, and a limp mode is entered;
processing by a distributed hub motor driving system: when the vehicle is warned, the hub motor driving system automatically limits the output power, and the vehicle control unit synchronously limits the torque commands of the target hub motor driving system and the coaxial opposite-side hub motor driving system so as to avoid the generation of additional yaw moment; and alarming, wherein the hub motor driving system unloads and idles to limit the power required by the whole vehicle, the vehicle enters a brake priority mode, and a driver safely stops through the steering power-assisted and brake power-assisted systems.
According to the method, the method also comprises the following steps of high-voltage power-on self-detection: and in the high-voltage electrifying link, whether each system of the vehicle has failure faults or not is checked, and if the failure faults or the CAN line communication problem exists, the whole vehicle controller judges that the high-voltage electrifying is unsuccessful and the vehicle cannot be driven.
According to the method, the opening degree signal of the electronic pedal is collected through the corner sensor, is filtered through the average value filtering technology after being subjected to AD conversion, and outputs 2 paths of high-one-low digital signals with 2 times of proportion relation in the stroke.
According to the method, the failure fault of the electronic pedal system is divided into a sudden change fault and a stagnation fault by using the high-low digital signal and a change rate limit value diagnosis module;
the change rate limit value diagnosis module specifically judges according to the following modes: if the values of the two times of sampling of the Pelal _ H or the Pelal _ L are unchanged and the occurrence frequency exceeds N times in the 2N times of sampling or continuously occurs N times, the stagnation fault of the electronic Pedal is considered to occur; if the difference of the values of two times of sampling of the Pelal _ H or the Pelal _ L exceeds a threshold value and the occurrence frequency in 2N times of sampling exceeds N times or continuously occurs N times, the electronic Pedal sudden change fault is considered to occur; and N is the preset sampling times.
According to the method, when the failure fault of the electronic pedal system is judged, accidental faults and short-time interference existing in a high-low digital signal are filtered, and the accidental faults and the short-time interference are faults or the interference time of the digital signal is less than the preset seconds.
According to the method, the opening degree of the electronic pedal system is calculated based on the high digital signal, and the low digital signal is compared with the high digital signal to judge the rationality fault of the digital signal.
According to the method, the calculated opening degree of the electronic pedal system is compared with a prestored opening degree threshold value, and failure faults of short circuit of the signal line to the ground, short circuit of the signal line to the power supply and open circuit are judged.
According to the method, in the step S3, audible and visual alarm is also carried out according to the levels.
The utility model provides an in-wheel motor drive hybrid vehicle failure control system which characterized in that: the system comprises a generator controller, a generator, a power battery-high voltage management system, a vehicle control unit, an electronic pedal system, a hub motor controller and a memory; wherein,
the driving signal input end and the state feedback signal output end of the generator are respectively connected with the driving signal output end and the state feedback signal input end of the generator controller, and the control signal input end and the state feedback signal output end of the generator controller are respectively connected with the control signal output end and the state feedback signal input end of the whole vehicle controller;
the control signal input end and the state feedback signal output end of the power battery-high voltage management system are respectively connected with the control signal output end and the state feedback signal input end of the whole vehicle controller;
the electronic pedal system comprises an electronic brake pedal and an electronic accelerator pedal, the electronic brake pedal and the electronic accelerator pedal respectively output an analog opening degree signal through a rotation angle sensor, the analog opening degree signal is converted into a digital signal through an AD (analog-to-digital) conversion device, and the digital signal output end is connected with the state feedback signal input end of the whole vehicle controller;
the driving signal input end and the state feedback signal output end of the hub motor are respectively connected with the driving signal output end and the state feedback signal input end of the hub motor controller, and the control signal input end and the state feedback signal output end of the hub motor controller are respectively connected with the control signal output end and the state feedback signal input end of the whole vehicle controller;
when the four hub motors are in a driving state, the power battery pack is in coordination with the generator, when the driving load is low, the power battery receives redundant electric energy of the generator, and when the driving load is high, the power battery and the generator provide electric energy for the hub motors together;
the generator is mechanically connected with the engine system, and the engine drives the generator to generate electricity;
and a controller program is stored in the memory and is called by the vehicle control unit, so that the failure control method of the hub motor driven hybrid electric vehicle is completed.
The invention has the beneficial effects that: the failure fault judgment and processing among the electronic pedal, the power battery-high voltage management system, the engine-generator direct connection system and the distributed hub motor driving system are parallel frameworks, the failure faults to be generated and the failure faults to be generated are judged respectively and work cooperatively, the control strategy of the distributed hub motor driving system can be actively adjusted on the premise of ensuring the driving safety of the whole vehicle so as to ensure the driving stability of the vehicle when the vehicle faces the failure faults, and the generated failure faults are processed in a grading manner.
Drawings
Fig. 1 is a parallel structure diagram of a complete vehicle failure fault processing module.
FIG. 2 is a schematic diagram of a hierarchical failure fault handling method for an electronic pedal system.
Fig. 3 is an architecture diagram of a hierarchical failure fault handling method for a power battery-high voltage management system.
FIG. 4 is a block diagram of a hierarchical failure handling method for an engine-generator direct connection system.
FIG. 5 is a schematic diagram of a distributed hub motor drive system fault handling method for hierarchical failure.
Detailed Description
The invention is further illustrated by the following specific examples and figures.
The invention provides a wheel hub motor driven hybrid electric vehicle failure control system, which comprises a generator controller, a generator, a power battery-high voltage management system, a vehicle control unit, an electronic pedal system, a wheel hub motor controller and a memory, wherein the generator controller, the generator, the power battery-high voltage management system, the vehicle control unit, the electronic pedal system, the wheel hub motor controller and the memory are communicated with each other through a CAN (controller area network) line or transmit electric energy through. The vehicle control unit plays a role in judging, identifying and transferring other systems to work cooperatively. Wherein,
the driving signal input end and the state feedback signal output end of the generator are respectively connected with the driving signal output end and the state feedback signal input end of the generator controller, and the control signal input end and the state feedback signal output end of the generator controller are respectively connected with the control signal output end and the state feedback signal input end of the whole vehicle controller;
the control signal input end and the state feedback signal output end of the power battery-high voltage management system are respectively connected with the control signal output end and the state feedback signal input end of the whole vehicle controller;
the electronic pedal system comprises an electronic brake pedal and an electronic accelerator pedal, the electronic brake pedal and the electronic accelerator pedal respectively output an analog opening degree signal through a rotation angle sensor, the analog opening degree signal is converted into a digital signal through an AD (analog-to-digital) conversion device, and the digital signal output end is connected with the state feedback signal input end of the whole vehicle controller;
the driving signal input end and the state feedback signal output end of the hub motor are respectively connected with the driving signal output end and the state feedback signal input end of the hub motor controller, and the control signal input end and the state feedback signal output end of the hub motor controller are respectively connected with the control signal output end and the state feedback signal input end of the whole vehicle controller;
when the four hub motors are in a driving state, the power battery pack is in coordination with the generator, when the driving load is low, the power battery receives redundant electric energy of the generator, and when the driving load is high, the power battery and the generator provide electric energy for the hub motors together;
the generator is mechanically connected with the engine system, and the engine drives the generator to generate electricity;
and a controller program is stored in the memory and is called by the vehicle control unit, so that the failure control method of the hub motor driven hybrid electric vehicle is completed.
The failure control method of the hub motor driven hybrid electric vehicle comprises the following steps:
s1, identifying failure fault trend: selecting various message signals to perform trend identification or judgment on the failure faults according to the characteristic parameters corresponding to different failure faults; the method specifically comprises the following steps:
electronic pedal failure fault identification: and logically judging and identifying the failure fault of the electronic pedal system according to the opening degree signal of the electronic pedal.
When the electronic pedal works, the corner sensor assembled on the pedal outputs an analog signal, the analog signal is inevitably subjected to pulse interference after being collected, and the digital signal output by the electronic pedal is filtered by using a mean value filtering technology, so that the smoothness of the digital signal is effectively improved; simultaneously, two paths of output digital signals of the electronic pedal are set as a high path and a low path: the two paths of signals have a 2-time proportional relation in the stroke: and the Peal _ Input _ H is approximately equal to the Peal _ Input _ L _ 2, and the double-channel setting has higher fault tolerance rate and better fault identification effect compared with the single-channel setting. The failure faults comprise a digital signal sudden change fault, a digital signal stagnation fault, a digital signal rationality fault, an electronic pedal circuit to ground short-circuit fault, an electronic pedal circuit to power supply short-circuit fault and an electronic pedal circuit open-circuit fault.
The digital signals of the electronic pedal are analyzed through specific resolution after being filtered, so that the digital signals output by the acceleration pedal and the brake pedal represent the real-time opening degree of the pedal in a percentage mode and better reflect the intention of a driver, and then the vehicle control unit calculates the real-time peak output power of the power system according to a driving mode (hybrid power driving/pure electric driving) and multiplies the real-time opening degree (percentage) of the pedal output by the electronic acceleration pedal to obtain a power request which is sent to a hub motor driving system by the vehicle control unit in real time, and meanwhile, various redundant controls influence the power request in real time, such as driving anti-skid control, driving force adaptive control, generator loading control, power battery charging and discharging power adaptive control and the like. However, when the corner sensor of the electronic pedal breaks down, the digital signal is distorted, the whole vehicle cannot respond to the intention of the driver, and even the driving safety of the whole vehicle is seriously affected; aiming at the situation, according to the obtained two-path output signals Pedal _ Input _ H, Pedal _ Input _ L of the electronic Pedal after filtering, the failure fault of the digital signal is divided into a sudden change fault and a stagnation fault by using the limit value diagnosis of the change rate. If the values of the two samplings of the Pedal _ H or the Pedal _ L are not changed and the number of occurrences exceeds a predetermined sampling number (for example, 100) in 200 samplings or a predetermined sampling number (for example, 100) occurs continuously, the electronic Pedal stagnation failure is considered to occur; if the difference between the two sampling values of the Pedal _ H or the Pedal _ L exceeds the threshold value and the number of occurrences in the predetermined sampling number (e.g., 200) samples exceeds half or half of the consecutive occurrences, it is considered that the electronic Pedal sudden change fault has occurred.
The dual-channel signal has occasional faults and short-time interference, so that a failure fault grading processing module of the electronic pedal system can be triggered suddenly in a short time, the continuity of the electronic pedal system for identifying the intention of a driver is further influenced, and the running smoothness is greatly influenced; aiming at the situation, the fault jitter elimination technology is used for effectively filtering accidental faults or short-time interference existing in the dual-channel signals, so that short-time triggering of a failure protection program is avoided.
And (3) calculating the Pedal opening according to a high-path signal Peal _ Input _ H in the two paths of output signals of the electronic Pedal, and monitoring whether a rationality fault exists in the high-path digital signal in real time according to a low-path signal Peal _ Input _ L in the two paths of output signals of the electronic Pedal obtained in the step (2-1) by using a two-path comparison method.
According to the two paths of output signals of the electronic pedal, a threshold value diagnosis/limit value diagnosis method is adopted to compare the filtered acceleration/brake pedal signal with a threshold value prestored in the vehicle control unit, so that faults such as short circuit of a signal line to the ground, short circuit of a power supply, open circuit and the like can be effectively diagnosed.
Power battery-high voltage management system fault identification: according to message information which is fed back to a vehicle controller by a high-voltage management system (BMS) and can represent failure faults of a power battery and a vehicle high-voltage safety system, failure fault trend identification is carried out on the types and the possibility of the failure faults of the power battery and the vehicle high-voltage safety system, and the types of the failure faults of the power battery and the vehicle high-voltage safety system which occur are identified.
Engine-generator direct connection system fault identification: according to message information which is fed back to the vehicle control unit by the generator and the engine and can represent failure faults of the generator and the engine, and by combining bus voltage, bus current, rotating speed of the generator, stator temperature of the generator and controller temperature of the generator, failure fault trend identification is carried out on the type and possibility of failure faults of the generator and the engine, and the type of failure faults of the generator and the engine which occur is identified.
Distributed in-wheel motor drive system: according to message information which is fed back to the whole vehicle controller by the hub motor driving system and can represent failure faults of each hub motor driving system, and by combining bus voltage, bus current, hub motor rotating speed, hub motor stator temperature and hub motor controller temperature of each hub motor, failure fault trend identification is carried out on the type and possibility of failure faults of each hub motor driving system, and the type of failure faults of each hub motor driving system which occur is identified.
S2, failure fault preprocessing: according to the failure fault trend recognition result, performing failure fault preprocessing by actively adjusting a control strategy of the distributed hub motor driving system; the method specifically comprises the following steps:
power battery-high voltage management system failure fault preprocessing: after the trend that the power battery has failure faults or the whole vehicle high-voltage system has potential safety hazards is identified, the whole vehicle controller reduces the resolution of an accelerator pedal by half and controls an audible and visual alarm device, so that a driver and the power battery-high voltage management system failure fault processing module work cooperatively, and the failure faults are controlled in an un-triggered state as far as possible on the premise of ensuring the safe deceleration of the vehicle.
Preprocessing the failure fault of the engine-generator direct connection system: after the starting motor and the engine are identified to have the tendency of failure faults, the whole vehicle controller reduces the resolution of the accelerator pedal by half and controls the acousto-optic alarm device, so that a driver and the failure fault processing module of the engine-generator direct connection system work cooperatively, and the failure faults are controlled in an un-triggered state as far as possible on the premise of ensuring the safe deceleration of the vehicle.
And (2) preprocessing the failure fault of the distributed hub motor driving system, namely after recognizing that one or more hub motor-hub motor controller systems have the tendency of failure fault, comprehensively calculating the vehicle speed and vehicle body posture signals to obtain a torque command regulating quantity △ T, and under the premise of ensuring the driving stability, synchronously reducing the torque command sent to a target hub motor and a coaxial opposite-side hub motor by a vehicle control unit according to △ T and controlling an acousto-optic alarm device, so that a driver and the failure fault processing module of the distributed hub motor driving system work cooperatively, and under the premise of ensuring the safe deceleration of the vehicle, the failure fault is controlled in an un-triggered state as far as possible.
S3, classification post-processing of the generated failure fault: and (3) carrying out two-stage grading on warning ' and alarming ' alarm ' on the failure faults which occur according to the severity, and respectively processing according to grades. When the vehicle has a tendency of failure fault, the vehicle controller actively adjusts the power required by the vehicle and cooperates with the deceleration operation of a driver to ensure that the vehicle safely decelerates, if the vehicle decelerates, the tendency of failure fault occurrence is not effectively restrained, the vehicle subsequently has failure fault, and each parallel working module starts to perform hierarchical post-processing on the failure fault. The method specifically comprises the following steps:
and (3) processing by the electronic pedal system: when only one path of opening signal of the electronic pedal is in fault, the electronic pedal is warned, one path of normal opening signal is adopted to convey the intention of a driver, and the torque command sent to each hub motor driving system is halved; if the two paths of opening signals have faults, alarming is carried out, the output power of all the hub motor driving systems is limited, and a limping mode is entered. Specifically, the method processes the early warning fault of the electronic pedal system, namely: the vehicle controller adopts a normal pedal signal to convey the intention of a driver, and reduces the torque command sent to each in-wheel motor driving system by half, so that the vehicle runs in a relatively safe low-power state, and the vehicle controller triggers a 'warning' alarm signal. Processing an early warning fault of an electronic pedal system (alarm): the vehicle control unit limits the output power of all in-wheel motor driving systems according to the calculated low-speed driving resistance power, limits the maximum vehicle speed of the vehicle within 5km/h, namely enters a limping mode, and triggers an alarm signal.
Power battery-high voltage management system processing: warning, the power battery automatically limits the charge and discharge power, limits the output power of all hub motor driving systems, and enters a limp mode; and alarming, cutting off the high pressure of the whole vehicle, and decelerating the vehicle until the vehicle stops by the operation of a brake pedal by a driver. Specifically, the method is used for processing the early warning fault of a power battery-high voltage management system: the power battery automatically limits the charge and discharge power, and considering that if the failure level is continuously upgraded, the high voltage of the whole vehicle is cut off, the brake and the steering power are lost, and a driver cannot safely control the vehicle to stop, so that the whole vehicle controller severely limits the output power of all hub motor driving systems according to the calculated slow running resistance power, limits the maximum vehicle speed of the vehicle within 5km/h, namely enters a limp mode, and simultaneously triggers a 'warning' signal. Processing early warning faults of a power battery-high voltage management system (alarm): the power battery-high voltage system cuts off the high voltage of the whole vehicle, the vehicle is decelerated until the vehicle stops by the operation of a brake pedal of a driver, and an 'alarm' signal is triggered at the same time.
Processing by an engine-generator direct connection system: warning, the engine-generator system self-limits output power while limiting torque commands sent to each in-wheel motor drive system; and alarming, wherein the engine-generator direct connection system enters an unloading protection mode to work, the generator idles, the output power of all hub motor driving systems is limited, and a limp mode is entered. Specifically, the early warning fault of the engine-generator direct connection system 'warning' is processed: the engine-generator system automatically limits output power, meanwhile, the vehicle controller limits the output power of all in-wheel motor driving systems according to the calculated medium-speed running resistance power, and limits the maximum vehicle speed of the vehicle within 30km/h, namely, torque commands sent to all in-wheel motor driving systems are limited and 'warning' early warning signals are triggered. Processing an alarm fault of an engine-generator direct connection system (alarm): the vehicle controller severely limits the output power of all in-wheel motor driving systems according to the calculated slow running resistance power, limits the maximum vehicle speed of the vehicle within 5km/h, namely a pure electric limp-home mode, and simultaneously triggers an 'alarm' signal.
Processing by a distributed hub motor driving system: when the vehicle is warned, the hub motor driving system automatically limits the output power, and the vehicle control unit synchronously limits the torque commands of the target hub motor driving system and the coaxial opposite-side hub motor driving system so as to avoid the generation of additional yaw moment; and alarming, wherein the hub motor driving system unloads and idles to limit the power required by the whole vehicle, the vehicle enters a brake priority mode, and a driver safely stops through the steering power-assisted and brake power-assisted systems. Specifically, handle distributed in-wheel motor drive system "warning" early warning trouble: the hub motor driving system limits output power by itself, and the whole vehicle controller synchronously limits torque commands of the target hub motor driving system and the coaxial opposite-side hub motor driving system so as to avoid generation of additional yaw moment and trigger a 'warning' signal at the same time. Handling distributed in-wheel motor drive system "alarm fault: the hub motor driving system is unloaded and idled, in order to prevent the hub motor system from being irreversibly damaged and ensure the running stability of the vehicle, the required power of the whole vehicle is reduced to zero, the vehicle enters a brake priority mode, a driver safely stops through a steering power-assisted system and a brake power-assisted system, and an 'alarm' signal is triggered at the same time.
The method also comprises the following steps of high-voltage power-on self-detection: and in the high-voltage electrifying link, whether each system of the vehicle has failure faults or not is checked, and if the failure faults or the CAN line communication problem exists, the whole vehicle controller judges that the high-voltage electrifying is unsuccessful and the vehicle cannot be driven.
The whole vehicle failure fault processing module is not only suitable for the series hybrid power hub motor distributed driving automobile shown in fig. 1, but also can be used for identifying and processing the whole vehicle failure fault of a new energy vehicle driven by an electric wheel in a distributed mode, so that the highly-electric distributed driving vehicle can safely cope with the failure faults of a high-voltage driving part, a high-voltage energy storage part and an electric accessory in the power-on and driving processes.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (9)
1. A failure control method for a hub motor driven hybrid electric vehicle is characterized by comprising the following steps: it comprises the following steps:
s1, identifying failure fault trend: selecting various message signals to perform trend identification or judgment on the failure faults according to the characteristic parameters corresponding to different failure faults; the method specifically comprises the following steps:
electronic pedal failure fault identification: according to the opening degree signal of the electronic pedal, carrying out logic judgment and identification on the failure fault of the electronic pedal system;
power battery-high voltage management system fault identification: according to message information which is fed back to a vehicle controller by a high-voltage management system and can represent failure faults of a power battery and a vehicle high-voltage safety system, failure fault trend identification is carried out on the types and the possibility of failure faults of the power battery and the vehicle high-voltage safety system, and the types of failure faults of the power battery and the vehicle high-voltage safety system which occur are identified;
engine-generator direct connection system fault identification: according to message information which is fed back to a vehicle control unit by a generator and an engine and can represent failure faults of the generator and the engine, and by combining bus voltage, bus current, rotating speed of the generator, stator temperature of the generator and controller temperature of the generator, failure fault trend identification is carried out on the types and the possibility of failure faults of the generator and the engine, and the types of failure faults of the generator and the engine which occur are identified;
distributed in-wheel motor drive system: according to message information which is fed back to the whole vehicle controller by the hub motor driving systems and can represent failure faults of all the hub motor driving systems, and by combining bus voltage, bus current, hub motor rotating speed, hub motor stator temperature and hub motor controller temperature of all the hub motors, failure fault trend identification is carried out on the types and the possibility of failure faults of all the hub motor driving systems, and the types of the failure faults of all the hub motor driving systems which occur are identified;
s2, failure fault preprocessing: according to the failure fault trend recognition result, performing failure fault preprocessing by actively adjusting a control strategy of the distributed hub motor driving system; the method specifically comprises the following steps:
power battery-high voltage management system failure fault preprocessing: the driver is prompted by limiting the required power of the whole vehicle and controlling the audible and visual alarm device, so that the safe deceleration of the vehicle is ensured;
preprocessing the failure fault of the engine-generator direct connection system: the driver is prompted by limiting the required power of the whole vehicle and controlling the audible and visual alarm device, so that the safe deceleration of the vehicle is ensured;
preprocessing failure faults of a distributed hub motor driving system: calculating a vehicle speed and a vehicle body posture signal, limiting the required power of a target hub motor and a coaxial opposite-side hub motor, and controlling an audible and visual alarm device to prompt a driver so as to ensure the safe deceleration of the vehicle;
s3, classification post-processing of the generated failure fault: carrying out two-stage classification of warning and alarming on the failure fault according to the severity, and respectively processing according to the levels; the method specifically comprises the following steps:
and (3) processing by the electronic pedal system: when only one path of opening signal of the electronic pedal is in fault, the electronic pedal is warned, one path of normal opening signal is adopted to convey the intention of a driver, and the torque command sent to each hub motor driving system is halved; if the two paths of opening signals have faults, alarming is carried out, the output power of all the hub motor driving systems is limited, and a limping mode is entered;
power battery-high voltage management system processing: warning, the power battery automatically limits the charge and discharge power, limits the output power of all hub motor driving systems, and enters a limp mode; alarming, cutting off the high pressure of the whole vehicle, and decelerating the vehicle until the vehicle stops by the driver operating a brake pedal;
processing by an engine-generator direct connection system: warning, the engine-generator system self-limits output power while limiting torque commands sent to each in-wheel motor drive system; alarming, wherein the engine-generator direct connection system enters an unloading protection mode to work, the generator idles, the output power of all hub motor driving systems is limited, and a limp mode is entered;
processing by a distributed hub motor driving system: when the vehicle is warned, the hub motor driving system automatically limits the output power, and the vehicle control unit synchronously limits the torque commands of the target hub motor driving system and the coaxial opposite-side hub motor driving system so as to avoid the generation of additional yaw moment; and alarming, wherein the hub motor driving system unloads and idles to limit the power required by the whole vehicle, the vehicle enters a brake priority mode, and a driver safely stops through the steering power-assisted and brake power-assisted systems.
2. The in-wheel motor driven hybrid electric vehicle failure control method according to claim 1, characterized in that: the method also comprises the following steps of high-voltage power-on self-detection: and in the high-voltage electrifying link, whether each system of the vehicle has failure faults or not is checked, and if the failure faults or the CAN line communication problem exists, the whole vehicle controller judges that the high-voltage electrifying is unsuccessful and the vehicle cannot be driven.
3. The in-wheel motor driven hybrid electric vehicle failure control method according to claim 1, characterized in that: the opening degree signal of the electronic pedal is collected through a corner sensor, is filtered through an average filtering technology after being subjected to AD conversion, and outputs 2 paths of high-one-low digital signals with a 2-time proportional relation in the stroke.
4. The in-wheel motor driven hybrid electric vehicle failure control method according to claim 3, characterized in that: dividing the failure fault of the electronic Pedal system into a sudden change fault and a stagnation fault by using the high-low digital signals, namely the PEdal _ H and the PEdal _ L, and a change rate limit value diagnosis module;
the change rate limit value diagnosis module specifically judges according to the following modes: if the values of the two times of sampling of the Pelal _ H or the Pelal _ L are unchanged and the occurrence frequency exceeds N times in the 2N times of sampling or continuously occurs N times, the stagnation fault of the electronic Pedal is considered to occur; if the difference of the values of two times of sampling of the Pelal _ H or the Pelal _ L exceeds a threshold value and the occurrence frequency in 2N times of sampling exceeds N times or continuously occurs N times, the electronic Pedal sudden change fault is considered to occur; and N is the preset sampling times.
5. The in-wheel motor driven hybrid electric vehicle failure control method according to claim 4, characterized in that: when the failure fault of the electronic pedal system is judged, the accidental fault and the short-time interference existing in a high-low digital signal are filtered, wherein the accidental fault and the short-time interference are faults or the time of the digital signal interference is less than a preset number of seconds.
6. The in-wheel motor driven hybrid electric vehicle failure control method according to claim 3, characterized in that: and calculating the opening degree of the electronic pedal system by taking the high digital signal as a reference, and comparing the low digital signal with the high digital signal to judge the rationality fault of the digital signal.
7. The in-wheel motor driven hybrid electric vehicle failure control method according to claim 6, characterized in that: and comparing the calculated opening degree of the electronic pedal system with a prestored opening degree threshold value, and judging the failure faults of the signal line, such as short circuit to the ground, short circuit to the power supply and open circuit.
8. The in-wheel motor driven hybrid electric vehicle failure control method according to claim 1, characterized in that: in S3, sound and light alarm is performed according to the grade.
9. The utility model provides an in-wheel motor drive hybrid vehicle failure control system which characterized in that: the system comprises a generator controller, a generator, a power battery-high voltage management system, a vehicle control unit, an electronic pedal system, a hub motor controller and a memory; wherein,
the driving signal input end and the state feedback signal output end of the generator are respectively connected with the driving signal output end and the state feedback signal input end of the generator controller, and the control signal input end and the state feedback signal output end of the generator controller are respectively connected with the control signal output end and the state feedback signal input end of the whole vehicle controller;
the control signal input end and the state feedback signal output end of the power battery-high voltage management system are respectively connected with the control signal output end and the state feedback signal input end of the whole vehicle controller;
the electronic pedal system comprises an electronic brake pedal and an electronic accelerator pedal, the electronic brake pedal and the electronic accelerator pedal respectively output an analog opening degree signal through a rotation angle sensor, the analog opening degree signal is converted into a digital signal through an AD (analog-to-digital) conversion device, and the digital signal output end is connected with the state feedback signal input end of the whole vehicle controller;
the driving signal input end and the state feedback signal output end of the hub motor are respectively connected with the driving signal output end and the state feedback signal input end of the hub motor controller, and the control signal input end and the state feedback signal output end of the hub motor controller are respectively connected with the control signal output end and the state feedback signal input end of the whole vehicle controller;
when the four hub motors are in a driving state, the power battery pack is in coordination with the generator, when the driving load is low, the power battery receives redundant electric energy of the generator, and when the driving load is high, the power battery and the generator provide electric energy for the hub motors together;
the generator is mechanically connected with the engine system, and the engine drives the generator to generate electricity;
the memory stores a controller program for the vehicle control unit to call, so as to complete the method for controlling the failure of the in-wheel motor driven hybrid electric vehicle according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016426.4A CN108248598B (en) | 2018-01-08 | 2018-01-08 | A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016426.4A CN108248598B (en) | 2018-01-08 | 2018-01-08 | A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108248598A true CN108248598A (en) | 2018-07-06 |
| CN108248598B CN108248598B (en) | 2019-08-27 |
Family
ID=62726122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810016426.4A Active CN108248598B (en) | 2018-01-08 | 2018-01-08 | A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108248598B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159669A (en) * | 2018-07-24 | 2019-01-08 | 中国第汽车股份有限公司 | A kind of protection system and method for power drive system |
| CN110386149A (en) * | 2019-07-15 | 2019-10-29 | 武汉理工大学 | The fault tolerant control method of distribution driving vehicle high tension distribution system |
| CN111688718A (en) * | 2019-03-15 | 2020-09-22 | 郑州宇通客车股份有限公司 | Fault identification method of vehicle speed reducer, vehicle control method and device |
| CN112733887A (en) * | 2020-12-24 | 2021-04-30 | 浙江大学 | Method for detecting fault of hub motor of electric vehicle driven by supervision data |
| WO2021218277A1 (en) * | 2020-04-27 | 2021-11-04 | 湖南大学 | Analysis and test method for fault diagnosis of vehicle control unit of electric vehicle |
| CN116022227A (en) * | 2021-10-26 | 2023-04-28 | 上海集度汽车有限公司 | Emergency method and device for steer-by-wire fault, vehicle and storage medium |
| US12109895B1 (en) | 2020-09-24 | 2024-10-08 | Apple Inc. | Motion system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000240481A (en) * | 1999-02-24 | 2000-09-05 | Nissan Motor Co Ltd | Vehicle control device |
| CN101428611A (en) * | 2007-11-08 | 2009-05-13 | 通用汽车环球科技运作公司 | Shutdown path performance test for permanent magnet AC motor in hybrid powertrain |
| US20100312441A1 (en) * | 2009-06-05 | 2010-12-09 | Long Charles F | Main modulation calibration using control main valve |
| CN105246731A (en) * | 2013-06-03 | 2016-01-13 | 加特可株式会社 | Malfunction determination device and malfunction determination method for hybrid vehicle |
| CN105291887A (en) * | 2015-11-20 | 2016-02-03 | 南车株洲电力机车研究所有限公司 | Double-motor torque distribution control method for rubber wheel low-floor intelligent rail train |
| CN105523034A (en) * | 2014-09-29 | 2016-04-27 | 重庆长安汽车股份有限公司 | Control method and system for limping running of pure electric automobile |
-
2018
- 2018-01-08 CN CN201810016426.4A patent/CN108248598B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000240481A (en) * | 1999-02-24 | 2000-09-05 | Nissan Motor Co Ltd | Vehicle control device |
| CN101428611A (en) * | 2007-11-08 | 2009-05-13 | 通用汽车环球科技运作公司 | Shutdown path performance test for permanent magnet AC motor in hybrid powertrain |
| US20100312441A1 (en) * | 2009-06-05 | 2010-12-09 | Long Charles F | Main modulation calibration using control main valve |
| CN105246731A (en) * | 2013-06-03 | 2016-01-13 | 加特可株式会社 | Malfunction determination device and malfunction determination method for hybrid vehicle |
| CN105523034A (en) * | 2014-09-29 | 2016-04-27 | 重庆长安汽车股份有限公司 | Control method and system for limping running of pure electric automobile |
| CN105291887A (en) * | 2015-11-20 | 2016-02-03 | 南车株洲电力机车研究所有限公司 | Double-motor torque distribution control method for rubber wheel low-floor intelligent rail train |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159669A (en) * | 2018-07-24 | 2019-01-08 | 中国第汽车股份有限公司 | A kind of protection system and method for power drive system |
| CN111688718A (en) * | 2019-03-15 | 2020-09-22 | 郑州宇通客车股份有限公司 | Fault identification method of vehicle speed reducer, vehicle control method and device |
| CN111688718B (en) * | 2019-03-15 | 2022-02-18 | 郑州宇通客车股份有限公司 | Fault identification method of vehicle speed reducer, vehicle control method and device |
| CN110386149A (en) * | 2019-07-15 | 2019-10-29 | 武汉理工大学 | The fault tolerant control method of distribution driving vehicle high tension distribution system |
| CN110386149B (en) * | 2019-07-15 | 2020-08-18 | 武汉理工大学 | Fault-tolerant control method of high-voltage power distribution system for distributed driving vehicle |
| WO2021218277A1 (en) * | 2020-04-27 | 2021-11-04 | 湖南大学 | Analysis and test method for fault diagnosis of vehicle control unit of electric vehicle |
| US12109895B1 (en) | 2020-09-24 | 2024-10-08 | Apple Inc. | Motion system |
| CN112733887A (en) * | 2020-12-24 | 2021-04-30 | 浙江大学 | Method for detecting fault of hub motor of electric vehicle driven by supervision data |
| CN116022227A (en) * | 2021-10-26 | 2023-04-28 | 上海集度汽车有限公司 | Emergency method and device for steer-by-wire fault, vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108248598B (en) | 2019-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108248598B (en) | A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method | |
| CN107020957B (en) | Fault processing method and system of pure electric vehicle and pure electric vehicle | |
| CN107117067B (en) | A kind of electric sanitation vehicle control | |
| US8018190B2 (en) | Method and device for controlling and monitoring a hybrid four-wheel drive vehicle | |
| CN108859766B (en) | Four-wheel hub motor hybrid electric vehicle fault coordination control method | |
| CN101544215B (en) | High-voltage double-loop safety system of electric vehicle and method thereof | |
| CN104590267A (en) | Torque safety control method of new energy automobile | |
| CN103248281B (en) | A kind of electric automobile overspeed protection control method, system and electric automobile | |
| CN103072576B (en) | Based on the chaufeur requested torque security architecture of parallel organization | |
| CN111559248B (en) | Safety-based control system and method for automatically driving pure electric passenger car | |
| CN108082187A (en) | A kind of method and device of automobile energy recycling | |
| CN110803030B (en) | Failure limping control device and failure limping control method of pure electric vehicle | |
| CN107323270A (en) | A kind of electric automobile and its energy feedback method and system | |
| CN112140893A (en) | High-voltage power-off control method and device and automobile | |
| KR102388275B1 (en) | In-wheel system with autonomous emergency braking utility and control method thereof | |
| CN102336141B (en) | System and method for monitoring torque of electric automobile | |
| CN113708441B (en) | Power battery control method and device and electric stacker | |
| CN114347803B (en) | New energy vehicle torque safety monitoring and processing method | |
| CN110509790B (en) | Wireless charging system, vehicle-mounted charging device and new energy automobile | |
| CN104052367B (en) | Control strategy for the motor in vehicle | |
| CN111830337B (en) | Leakage detection method and leakage detection system | |
| CN112572331B (en) | Emergency power supply control method for electric power steering system | |
| CN114801749A (en) | Intelligent control system for vehicle power battery | |
| CN113580943A (en) | Pure electric vehicle VCU control electric drive cooling control method and system | |
| CN210027382U (en) | Service brake boosting system of electric automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |