CN109017315B - Power supply self-protection system and method for hybrid power vehicle - Google Patents

Power supply self-protection system and method for hybrid power vehicle Download PDF

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Publication number
CN109017315B
CN109017315B CN201810969274.XA CN201810969274A CN109017315B CN 109017315 B CN109017315 B CN 109017315B CN 201810969274 A CN201810969274 A CN 201810969274A CN 109017315 B CN109017315 B CN 109017315B
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voltage
power
low
equipment
switch
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CN109017315A (en
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陈慧岩
梁文利
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Bit Intelligent Vehicle Technology Co ltd
Beijing Institute of Technology BIT
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Bit Intelligent Vehicle Technology Co ltd
Beijing Institute of Technology BIT
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems

Abstract

The invention relates to a power supply self-protection system and a power supply self-protection method for a hybrid vehicle, wherein the power supply self-protection system comprises a vehicle control unit, a low-voltage distribution box and a high-voltage distribution box; the vehicle control unit is electrically connected with the low-voltage distribution box and used for controlling the low-voltage equipment to be powered on or powered off according to a set sequence; the vehicle control unit is electrically connected with the energy controller and controls the high-voltage equipment to be powered on or powered off through the energy controller; after the low-voltage equipment is powered on, the high-voltage equipment is powered on by controlling; after the high-voltage equipment is powered off, the low-voltage equipment is powered off according to a set sequence. The invention avoids generating larger impact current to the low-voltage circuit in the power-up and power-down processes through power supply self-protection, thereby damaging low-voltage equipment; the vehicle fault caused by the adhesion of the relay due to the electrified disconnection of the relay of the high-voltage system is avoided; and through pre-charging, the power supply current of the high-voltage equipment is increased step by step, the current impact of the high-voltage equipment is reduced, and the high-voltage electric equipment is protected.

Description

Power supply self-protection system and method for hybrid power vehicle
Technical Field
The invention relates to the field of unmanned vehicles, in particular to a power supply self-protection system and a power supply self-protection method for a hybrid vehicle.
Background
In order to realize unmanned driving of a hybrid power vehicle, various low-voltage and high-voltage devices are often equipped on the vehicle, the low-voltage devices are powered on and off simultaneously to generate larger impact current on a low-voltage circuit, and the relay is easy to adhere due to electrified disconnection of a high-voltage system relay to cause vehicle faults.
Disclosure of Invention
In view of the foregoing analysis, the present invention is directed to a power supply self-protection system and method for a hybrid vehicle, which effectively protects the power supply of the hybrid vehicle through a logical power-up process and a logical power-down process.
The purpose of the invention is mainly realized by the following technical scheme:
a power supply self-protection system of a hybrid vehicle comprises a vehicle control unit, a low-voltage distribution box and a high-voltage distribution box;
the vehicle control unit is electrically connected with the low-voltage distribution box and used for controlling low-voltage electric equipment connected with the low-voltage distribution box to be powered on or powered off according to a set sequence;
the vehicle control unit is electrically connected with an energy controller in the low-voltage electric equipment, and the energy controller is connected with the high-voltage distribution box and used for controlling the high-voltage equipment connected with the high-voltage distribution box to be powered on or powered off;
under the control of the vehicle control unit, the high-voltage equipment is electrified after the low-voltage equipment is electrified according to a set sequence; and after the high-voltage equipment is powered off, the low-voltage equipment is powered off according to a set sequence.
Further, the set power-on sequence is that the low-voltage distribution box is powered on, the planning system is powered on, the sensing system is powered on, the bottom layer control system is powered on, and the pilot, the display and other low-voltage equipment are powered on;
the set power-off sequence comprises the steps of planning the power-off of the system, sensing the power-off of the system, powering off the pilot, the display and other low-voltage equipment, powering off the bottom layer control system and powering off the low-voltage distribution box.
The planning system comprises a planning industrial personal computer, an inertial navigation system and a satellite receiver;
the sensing system comprises a sensing industrial personal computer, a camera, a millimeter wave radar and a laser radar;
the bottom layer control system comprises a motor controller, an AMT (automated mechanical Transmission) controller, a BMS (battery management system) controller, an energy controller, an APU (auxiliary Power Unit) controller and an ESC (electronic stability control) controller.
Further, the low-voltage distribution box comprises at least one set of switch components; each group comprises a main switch assembly and m equipment switch assemblies; wherein the content of the first and second substances,
each equipment switch assembly is connected with one low-voltage equipment and used for controlling the power supply of the low-voltage equipment;
the main switch assembly is connected with the vehicle-mounted power supply and all the in-group equipment switch assemblies and used for controlling the equipment switch assemblies to supply power.
Further, the main switch assembly and the equipment switch assembly are identical in structure and comprise a relay J1, a switch K1 and a switch K2;
a normally open switch consisting of a normally open contact of the relay J1 and a common terminal is connected in parallel with the switch K1 and then connected in series with the switch 2 to form a switch group;
one pin of the coil of the relay J1 is grounded, and the other pin is electrically connected with the vehicle control unit; receiving a control signal of the vehicle control unit to close the normally open switch;
the initial state of each switch is that the switch K1 is in an open state, the switch K2 is in a closed state, and the normally open switch of the relay J1 is in an open state.
Further, the high-voltage distribution box comprises a positive electrode pre-charging device and a negative electrode pre-charging device;
the negative pole pre-charging device is connected between the negative pole of the vehicle-mounted high-voltage power supply and the negative pole of the high-voltage electric equipment and comprises a power supply main circuit relay J2, a pre-charging relay J3 and a pre-charging resistor R3; the normally open switch of the pre-charging relay J3 and the pre-charging resistor R3 are connected in series to form a series circuit, the normally open switch of the power supply main circuit relay J2 and the series circuit are connected in parallel to form a parallel circuit, and two ends of the parallel circuit are used as external connection ends of the pre-charging device;
one pin of the coil of the power supply main loop relay J2 is grounded, and the other pin is electrically connected with the energy controller; the normally open switch is closed by receiving a control signal of the energy controller;
one pin of the coil of the pre-charging relay J3 is grounded, and the other pin is electrically connected with the energy controller; the normally open switch is closed by receiving a control signal of the energy controller;
the positive pole pre-charging device is connected between the positive pole of the vehicle-mounted high-voltage power supply and the positive pole of the high-voltage electric equipment; the system comprises a power supply main circuit relay J4, a pre-charging relay J5 and a pre-charging resistor R5; the normally open switch of the pre-charging relay J3 is connected with the pre-charging resistor R in series to form a series circuit, the normally open switch of the power supply main circuit relay J2 is connected with the series circuit in parallel to form a parallel circuit, and two ends of the parallel circuit are used as external connection ends of the pre-charging device;
one pin of the coil of the power supply main loop relay J4 is grounded, and the other pin is electrically connected with the energy controller; the normally open switch is closed by receiving a control signal of the energy controller;
one pin of the coil of the pre-charging relay J5 is grounded, and the other pin is electrically connected with the energy controller; and the normally open switch is closed by receiving a control signal of the energy controller.
A power supply self-protection method of a hybrid unmanned vehicle comprises a power-on self-protection method and a power-off self-protection method;
the power-on self-protection method comprises the following steps:
step S11, the vehicle control unit receives a low-voltage power-on instruction;
step S12, the vehicle control unit outputs a control instruction to the low-voltage distribution box, and controls the switch components in the low-voltage distribution box to be conducted according to a set power-on sequence, so that the low-voltage equipment is powered on according to the set sequence;
step S13, after the low-voltage electrification is finished, the vehicle control unit receives a high-voltage electrification instruction and outputs a control instruction to the energy controller, so that the energy controller outputs an instruction to the high-voltage distribution box for pre-charging; powering on the high-voltage equipment after the pre-charging is finished; and the energy controller sends a power-on completion feedback instruction to the vehicle control unit.
The power-off self-protection method comprises the following steps;
step S21, the vehicle control unit receives a high-voltage power-off instruction;
step S22, the vehicle control unit outputs a control instruction to the energy controller, so that the energy controller outputs an instruction to the high-voltage distribution box to power off the high-voltage equipment;
and step S23, after the high-voltage power-off is finished, the vehicle control unit receives a low-voltage power-off instruction, outputs a control instruction to the low-voltage distribution box, and controls the switch assemblies in the low-voltage distribution box to be disconnected according to a set power-off sequence so that the low-voltage equipment is powered off according to the set sequence.
Further, the set power-on sequence is the power-on of the low-voltage distribution box; powering up a planning system; the sensing system is powered on; powering on a bottom layer control system; powering on a pilot, a display and other low-voltage equipment;
the set power-off sequence is the power-off of a planning system; the sensing system is powered off; powering down a pilot, a display and other low-voltage equipment; powering off the bottom layer control system; and powering down the low-voltage distribution box.
The planning system comprises a planning industrial personal computer, an inertial navigation system and a satellite receiver;
the sensing system comprises a sensing industrial personal computer, a camera, a millimeter wave radar and a laser radar;
the bottom layer control system comprises a motor controller, an AMT (automated mechanical Transmission) controller, a BMS (battery management system) controller, an energy controller, an APU (auxiliary Power Unit) controller and an ESC (electronic stability control) controller.
Further, step S13 of the power-on self-protection method specifically includes:
1) the vehicle control unit receives a high-voltage power-on instruction and outputs a control instruction to the energy controller;
2) the energy controller outputs a control command to close a normally open switch of a pre-charging relay J3 of the high-voltage distribution box;
3) after the delay time is set, the energy controller outputs a control instruction to close a normally open switch of a pre-charging relay J5 of the high-voltage distribution box;
4) after the set delay time, the energy controller outputs a control instruction to close normally open switches of main loop relays J2 and J4 of the high-voltage distribution box;
5) after a set delay time, the energy controller outputs a control command to open the normally open switches of the pre-charge relays J3, J5.
6) The high voltage power up is completed.
Further, step S13 of the power-on self-protection method further includes an APU system high-voltage start, specifically including:
after the low-voltage electrification is finished, the energy controller outputs a control instruction to connect the DC/AC module with the DC/DC module;
after the set time delay, the energy controller issues a high-voltage power-on instruction to the APU controller to start the APU system.
Further, the power-down method of the high-voltage system in step S22 of the power-down self-protection method specifically includes:
1) the energy controller receives a high-voltage power-off instruction;
2) after a preset time delay, the energy controller outputs a control instruction to power down the DC/AC module and the DC/DC module;
3) after the preset time delay, the energy controller issues a high-voltage power-off instruction to the APU controller, and the high-voltage equipment controlled by the APU cuts off the high voltage;
4) after a preset time delay, the energy controller outputs a control instruction to disconnect the normally open switches of the positive and negative main loop relays of the high-voltage distribution box;
5) and (5) finishing the voltage reduction at the high voltage.
The invention has the following beneficial effects:
in the power-on process, after the low-voltage equipment is powered on in sequence, high-voltage power-on is carried out, so that the phenomenon that the high-voltage circuit is subjected to larger impact current when the low-voltage equipment is powered on at the same time is avoided, and the low-voltage equipment is damaged; in the process of electrifying the high-voltage equipment, the power supply current of the high-voltage equipment is increased step by step through pre-charging, the current impact of the high-voltage equipment is reduced, and the high-voltage electric equipment is protected;
in the power-off process, the high-voltage equipment is powered off firstly, and then the low-voltage power utilization equipment is powered off sequentially, so that the situation that the low-voltage equipment can generate larger impact current to a low-voltage circuit when powered off is avoided, and the situation that the relay is adhered to cause vehicle faults due to the fact that the relay is broken in a live state when the high-voltage system relay is powered off is avoided.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a schematic diagram of a power supply self-protection system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the connection of the components of the low voltage distribution box according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the connection of the components of the switch assembly according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of the connection of the components of the high voltage power-on part in the embodiment of the present invention;
FIG. 5 is a schematic diagram of the connection of the components of the high voltage distribution box in an embodiment of the present invention;
FIG. 6 is a flowchart of a power-on self-protection method in an embodiment of the present invention;
FIG. 7 is a flowchart of a power-down self-protection method in an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention.
The invention discloses a power supply self-protection system of a hybrid vehicle,
the electric equipment carried by the hybrid unmanned vehicle comprises low-voltage equipment and high-voltage equipment;
the low-voltage equipment can be divided into a planning system, a sensing system, a bottom layer control system, a pilot, a display and other low-voltage equipment and the like;
the planning system comprises a planning industrial personal computer, an inertial navigation system and a satellite receiver;
the sensing system comprises a sensing industrial personal computer, a camera, a millimeter wave radar and a laser radar;
the bottom layer control system comprises a vehicle control unit, a motor controller, an AMT (automated mechanical transmission) controller, a BMS (battery management system) controller, an energy controller, an APU (auxiliary power unit) controller and an ESC (electronic stability control) controller.
The high-voltage equipment comprises an engine-generator set, a DC/DC module (for charging a low-voltage storage battery), a DC/AC module (for supplying power to a heat dissipation system), a left motor and a right motor.
As shown in fig. 1, the power supply self-protection system disclosed in the embodiment of the invention includes a vehicle control unit, a low-voltage distribution box and a high-voltage distribution box;
the vehicle control unit is electrically connected with the low-voltage distribution box and used for controlling low-voltage equipment connected with the low-voltage distribution box to be powered on or powered off according to a set sequence;
the vehicle control unit is electrically connected with an energy controller in the low-voltage equipment, the energy controller is connected with the high-voltage distribution box, and when the energy controller receives a high-voltage power-on or power-off instruction of the vehicle control unit after low-voltage power-on, the energy controller outputs an instruction to control the high-voltage equipment to be powered on or powered off;
under the control of the vehicle control unit, the high-voltage equipment is powered on after the low-voltage equipment is powered on; and after the high-voltage equipment is powered off, the low-voltage equipment is powered off according to a set sequence.
Particularly, a low-voltage power-on command of the vehicle control unit is controlled by a low-voltage power-on switch connected with the vehicle control unit; the low-voltage power-off command of the vehicle controller is controlled by a low-voltage power-off switch connected with the vehicle controller; the high-voltage power-on or power-off command of the vehicle controller is controlled by an up/down high-voltage switch on a vehicle driver panel.
In order to avoid that the simultaneous power-on will generate a relatively large inrush current for the low-voltage circuit,
the set power-on sequence is that the low-voltage distribution box is powered on, the system is planned to be powered on, the sensing system is powered on, the bottom layer control system is powered on, and the pilot, the display and other low-voltage equipment are powered on;
the set power-off sequence comprises the steps of planning the power-off of the system, sensing the power-off of the system, powering off the pilot, the display and other low-voltage equipment, powering off the bottom layer control system and powering off the low-voltage distribution box.
Specifically, the control of the electrification of the low-voltage equipment in the low-voltage distribution box is realized by a plurality of switch assemblies with the same structure;
optionally, the plurality of switch assemblies can be divided into N groups, wherein N is more than or equal to 1; each group comprises a main switch assembly and m equipment switch assemblies, and the number m of the equipment switch assemblies is determined according to the number of low-voltage equipment needing to be connected; each equipment switch assembly is connected with one low-voltage equipment and used for controlling the power supply of the low-voltage equipment; the main switch assembly is connected with the vehicle-mounted power supply and all the in-group equipment switch assemblies and used for controlling the equipment switch assemblies to supply power.
Specifically, as shown in fig. 2, a plurality of switch assemblies are divided into 2 groups, and the control end of each group of equipment switch assemblies is merged to an aviation plug to be connected with the vehicle control unit from the output of the low-voltage distribution box.
Specifically, as shown in fig. 3, each switch assembly includes a relay J1, a switch K1, and a switch K2;
a normally open switch consisting of a normally open contact of the relay J1 and a common terminal is connected in parallel with the switch K1 and then connected in series with the switch 2 to form a switch group;
one pin of a coil of the relay J1 is grounded, and the other pin is electrically connected with the vehicle control unit through an aviation plug; receiving a control signal of the vehicle control unit to close the normally open switch;
the initial state of each switch is that the switch K1 is in an open state, the switch K2 is in a closed state, and the normally open switch of the relay J1 is in an open state.
The switch K1 is used for powering on low-voltage equipment by closing the switch K1 when the relay J1 cannot normally close the open switch;
the switch K2 is used to forcibly power off the low voltage device when the device needs to be forcibly powered off, through the switch K2.
And only after the power-on of each controller in the low-voltage system is finished, the subsequent high-voltage power-on action of the vehicle can be controlled. For the motor, when the motor is firstly powered up by high voltage and then powered up by low voltage, a protection program is started in the motor controller, so that the motor cannot work. Therefore, it is necessary to ensure that the high voltage power-up is performed after the low voltage system completes the power-up.
As shown in fig. 4, the high-voltage power-on portion of the embodiment of the present invention includes a vehicle controller, an energy controller in a low-voltage device, and a high-voltage distribution box;
the vehicle control unit is connected with the driver, an up/down high-voltage button on the driver sends a high-voltage power-on instruction or a high-voltage power-off instruction to the vehicle control unit, and when the up/down high-voltage button is dialed to be 'on', the high-voltage power-on instruction is sent to the vehicle control unit; and when the up/down high-voltage button is turned off, sending a high-voltage power-down instruction to the vehicle control unit.
The vehicle control unit is connected with the energy controller, and controls the energy controller to output corresponding instructions to the high-voltage distribution box according to the state of an upper/lower high-voltage button of the pilot, and controls the high-voltage equipment to be powered on or powered off;
and the control energy controller outputs corresponding instructions to the APU controller to control the APU system to be powered on or powered off.
As shown in fig. 5, in order to avoid the damage to the components due to the excessive current in the high-voltage loop caused by the direct power-on of the high-voltage system, the high-voltage distribution box according to the embodiment of the invention includes a positive electrode pre-charging device and a negative electrode pre-charging device;
the negative pole pre-charging device is connected between the negative pole of the vehicle-mounted high-voltage power supply and the negative pole of the high-voltage electric equipment and comprises a power supply main circuit relay J2, a pre-charging relay J3 and a pre-charging resistor R3; the normally open switch of the pre-charging relay J3 and the pre-charging resistor R3 are connected in series to form a series circuit, the normally open switch of the power supply main circuit relay J2 and the series circuit are connected in parallel to form a parallel circuit, and two ends of the parallel circuit are used as external connection ends of the pre-charging device;
one pin of the coil of the power supply main loop relay J2 is grounded, and the other pin is electrically connected with the energy controller; the normally open switch is closed by receiving a control signal of the energy controller;
one pin of the coil of the pre-charging relay J3 is grounded, and the other pin is electrically connected with the energy controller; and the normally open switch is closed by receiving a control signal of the energy controller.
The positive pole pre-charging device is connected between the positive pole of the vehicle-mounted high-voltage power supply and the positive pole of the high-voltage electric equipment; the system comprises a power supply main circuit relay J4, a pre-charging relay J5 and a pre-charging resistor R5; the normally open switch of the pre-charging relay J5 and the pre-charging resistor R5 are connected in series to form a series circuit, the normally open switch of the power supply main circuit relay J4 and the series circuit are connected in parallel to form a parallel circuit, and two ends of the parallel circuit are used as external connection ends of the pre-charging device;
one pin of the coil of the power supply main loop relay J4 is grounded, and the other pin is electrically connected with the energy controller; the normally open switch is closed by receiving a control signal of the energy controller;
one pin of the coil of the pre-charging relay J5 is grounded, and the other pin is electrically connected with the energy controller; and the normally open switch is closed by receiving a control signal of the energy controller.
The embodiment of the invention also provides a power supply self-protection method of the hybrid unmanned vehicle, which comprises a power-on self-protection method and a power-off self-protection method;
as shown in fig. 6, the power-on self-protection method includes:
step S11, the vehicle control unit receives a low-voltage power-on instruction;
step S12, the vehicle control unit outputs a control instruction to the low-voltage distribution box, and controls the switch components in the low-voltage distribution box to be conducted according to a set power-on sequence, so that the low-voltage equipment is powered on according to the set sequence;
step S13, after the low-voltage electrification is finished, the vehicle control unit receives a high-voltage electrification instruction and outputs a control instruction to the energy controller, so that the energy controller outputs an instruction to the high-voltage distribution box for pre-charging; powering on the high-voltage equipment after the pre-charging is finished; and the energy controller sends a power-on completion feedback instruction to the vehicle control unit.
In the low-voltage electrifying process, the problem that all low-voltage equipment generates larger impact current to a low-voltage circuit when electrified at the same time, so that the low-voltage equipment is damaged is avoided;
optionally, the set power-on sequence is the power-on of the low-voltage distribution box; powering up a planning system; the sensing system is powered on; powering on a bottom layer control system; powering on a pilot, a display and other low-voltage equipment;
the planning system comprises a planning industrial personal computer, an inertial navigation system and a satellite receiver;
the sensing system comprises a sensing industrial personal computer, a camera, a millimeter wave radar and a laser radar;
the bottom layer control system comprises a motor controller, an AMT controller, a BMS controller, an energy controller, an APU controller and an ESC controller.
Particularly, after the vehicle control unit works for 1S, a main switch assembly in the low-voltage distribution box is closed;
after a main switch component in the low-voltage distribution box is closed for 1S, an equipment switch component connected with planning system equipment is closed, and the planning system equipment is electrified;
5 minutes after the planning system equipment is powered on; after the inertial navigation equipment is kept standing and aligned, an equipment switch component indirect with the sensing system equipment is closed, and the sensing system equipment is electrified;
after the sensing system equipment is electrified for 1S, an equipment switch assembly connected with the bottom layer control system equipment is closed, and the bottom layer control system equipment is electrified;
after the bottom layer control system equipment is electrified for 1S, the equipment switch assembly connected with the pilot, the display and other low-voltage equipment is closed, and the pilot, the display and other low-voltage equipment are electrified.
Optionally, the high-voltage power-on in step S13 of the power-on self-protection method specifically includes:
1) the vehicle control unit receives a high-voltage power-on instruction and outputs a control instruction to an energy controller of a bottom control system;
2) the energy controller outputs a control command to close a normally open switch of a pre-charging relay J3 of the high-voltage distribution box;
3) after the set delay time, the energy controller outputs a control instruction to close a normally open switch of a pre-charging relay J5 of the high-voltage distribution box;
4) after the set delay time, the energy controller outputs a control instruction to close normally open switches of main loop relays J2 and J4 of the high-voltage distribution box;
5) after a set delay time, the energy controller outputs a control command to open the normally open switches of the pre-charge relays J3, J5.
6) The high voltage power up is completed.
Optionally, the set delay time is 1S.
Particularly, a high-voltage power-on command is controlled by an upper/lower high-voltage button on the pilot, and when the upper/lower high-voltage button is dialed to be 'on', the whole vehicle controller receives the high-voltage power-on command; and, when the low voltage power-on is not completed, the high voltage device cannot be powered on.
Further, step S13 of the power-on self-protection method further includes starting an APU system at a high voltage to recover energy, specifically including:
the energy controller outputs a control instruction to connect the DC/AC module with the DC/DC module; the DC/DC module is connected with a charging loop of the low-voltage storage battery, and the DC/AC module is connected with a heat dissipation system to supply power;
after the set delay time, the energy controller issues a high-voltage power-on instruction to the APU controller to start the APU system.
As shown in fig. 7, the power-down self-protection method includes;
step S21, the vehicle control unit receives a high-voltage power-off instruction;
step S22, the vehicle control unit outputs a control instruction to the energy controller, so that the energy controller outputs an instruction to the high-voltage distribution box to power off the high-voltage equipment;
and step S23, after the high-voltage power-off is finished, the vehicle control unit receives a low-voltage power-off instruction, outputs a control instruction to the low-voltage distribution box, and controls the switch assemblies in the low-voltage distribution box to be disconnected according to a set power-off sequence so that the low-voltage equipment is powered off according to the set sequence.
Further, in step S22 of the power-off self-protection method, the power-off method of the high-voltage system specifically includes:
1) the energy controller receives a high-voltage power-off instruction;
2) after a preset time delay, the energy controller outputs a control instruction to power down the DC/AC module and the DC/DC module;
3) after the preset time delay, the energy controller issues a high-voltage power-off instruction to the APU controller, and the high-voltage equipment controlled by the APU cuts off the high voltage;
4) after a preset time delay, the energy controller outputs a control instruction to disconnect the normally open switches of the positive and negative main loop relays of the high-voltage distribution box;
5) and (5) finishing the voltage reduction at the high voltage.
Optionally, the predetermined delay time is 1S.
Particularly, a high-voltage power-off command is controlled by an upper/lower high-voltage button on the pilot, and when the upper/lower high-voltage button is turned off, the whole vehicle controller receives the high-voltage power-off command; and, when the high voltage electricity is not completed, the low voltage equipment cannot be powered down.
In the low-voltage power-off process, the problem that all low-voltage equipment can generate larger impact current to a low-voltage circuit when being powered off at the same time, so that the low-voltage equipment is damaged is avoided;
optionally, the set power-down sequence of the low-voltage equipment is the power-down sequence of the planning system; the sensing system is powered off; powering down a pilot, a display and other low-voltage equipment; powering off the bottom layer control system; and powering down the low-voltage distribution box. And finally, powering off the whole unmanned vehicle.
Optionally, the power-off delay interval of each system of the low-voltage equipment is 1S.
In summary, the power supply self-protection system and method for the hybrid unmanned vehicle disclosed in the facility example of the present invention, in the power-on process, after the low-voltage devices are powered on in sequence, high-voltage power-on is performed, so as to avoid that the simultaneous power-on generates a large impact current to the low-voltage circuit, thereby damaging the low-voltage devices; in the process of electrifying the high-voltage equipment, the power supply current of the high-voltage equipment is increased step by step through pre-charging, the current impact of the high-voltage equipment is reduced, and the high-voltage electric equipment is protected;
in the power-off process, the high-voltage equipment is powered off firstly, and then the low-voltage power utilization equipment is powered off sequentially, so that the situation that the low-voltage equipment can generate larger impact current to a low-voltage circuit when powered off is avoided, and the situation that the relay is adhered to cause vehicle faults due to the fact that the relay is broken in a live state when the high-voltage system relay is powered off is avoided.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (10)

1. A power supply self-protection system of a hybrid vehicle is characterized by comprising a vehicle control unit, a low-voltage distribution box and a high-voltage distribution box;
the vehicle control unit is electrically connected with the low-voltage distribution box and used for controlling low-voltage equipment connected with the low-voltage distribution box to be powered on or powered off according to a set sequence;
the vehicle control unit is electrically connected with an energy controller in the low-voltage equipment, and the energy controller is connected with the high-voltage distribution box and used for controlling the high-voltage equipment connected with the high-voltage distribution box to be powered on or powered off;
under the control of the vehicle control unit, the high-voltage equipment is electrified after the low-voltage equipment is electrified according to a set sequence; and after the high-voltage equipment is powered off, the low-voltage equipment is powered off according to a set sequence.
2. The power supply self-protection system according to claim 1, wherein the set power-on sequence is power-on of a low-voltage distribution box, power-on of a planning system, power-on of a sensing system, power-on of a bottom control system, power-on of a pilot, a display and other low-voltage equipment;
the set power-off sequence comprises planning power-off of the system, sensing power-off of the system, power-off of a pilot, a display and other low-voltage equipment, power-off of a bottom layer control system and power-off of a low-voltage distribution box;
the planning system comprises a planning industrial personal computer, an inertial navigation system and a satellite receiver;
the sensing system comprises a sensing industrial personal computer, a camera, a millimeter wave radar and a laser radar;
the bottom layer control system comprises a motor controller, an AMT (automated mechanical Transmission) controller, a BMS (battery management system) controller, an energy controller, an APU (auxiliary Power Unit) controller and an ESC (electronic stability control) controller.
3. The powered self-protection system of claim 1, wherein the low-voltage switchgear comprises at least one set of switch assemblies; each group comprises a main switch assembly and m equipment switch assemblies; wherein the content of the first and second substances,
each equipment switch assembly is connected with one low-voltage equipment and used for controlling the power supply of the low-voltage equipment;
the main switch assembly is connected with the vehicle-mounted power supply and all the in-group equipment switch assemblies and used for controlling the equipment switch assemblies to supply power.
4. The powered self-protection system of claim 3, wherein the main and utility switch assemblies are identical in construction, each including a relay J1, a switch K1, and a switch K2;
a normally open switch consisting of a normally open contact of the relay J1 and a common terminal is connected in parallel with the switch K1 and then connected in series with the switch 2 to form a switch group;
one pin of the coil of the relay J1 is grounded, and the other pin is electrically connected with the vehicle control unit; receiving a control signal of the vehicle control unit to close the normally open switch;
the initial state of each switch is that the switch K1 is in an open state, the switch K2 is in a closed state, and the normally open switch of the relay J1 is in an open state.
5. The powered self-protection system of claim 1, wherein the high voltage distribution box comprises positive and negative pre-charging devices;
the negative pole pre-charging device is connected between the negative pole of the vehicle-mounted high-voltage power supply and the negative pole of the high-voltage equipment using electricity, and comprises a power supply main circuit relay J2, a pre-charging relay J3 and a pre-charging resistor R3; the normally open switch of the pre-charging relay J3 and the pre-charging resistor R3 are connected in series to form a series circuit, the normally open switch of the power supply main circuit relay J2 and the series circuit are connected in parallel to form a parallel circuit, and two ends of the parallel circuit are used as external connection ends of the pre-charging device;
one pin of the coil of the power supply main loop relay J2 is grounded, and the other pin is electrically connected with the energy controller; the normally open switch is closed by receiving a control signal of the energy controller;
one pin of the coil of the pre-charging relay J3 is grounded, and the other pin is electrically connected with the energy controller; the normally open switch is closed by receiving a control signal of the energy controller;
the positive pole pre-charging device is connected between the positive pole of the vehicle-mounted high-voltage power supply and the positive pole of the power-using high-voltage equipment; the system comprises a power supply main circuit relay J4, a pre-charging relay J5 and a pre-charging resistor R5; the normally open switch of the pre-charging relay J3 is connected with the pre-charging resistor R in series to form a series circuit, the normally open switch of the power supply main circuit relay J2 is connected with the series circuit in parallel to form a parallel circuit, and two ends of the parallel circuit are used as external connection ends of the pre-charging device;
one pin of the coil of the power supply main loop relay J4 is grounded, and the other pin is electrically connected with the energy controller; the normally open switch is closed by receiving a control signal of the energy controller;
one pin of the coil of the pre-charging relay J5 is grounded, and the other pin is electrically connected with the energy controller; and the normally open switch is closed by receiving a control signal of the energy controller.
6. A power supply self-protection method using the power supply self-protection system of any one of claims 1 to 5, comprising a power-on self-protection method and a power-off self-protection method;
the power-on self-protection method comprises the following steps:
step S11, the vehicle control unit receives a low-voltage power-on instruction;
step S12, the vehicle control unit outputs a control instruction to the low-voltage distribution box, and controls the switch components in the low-voltage distribution box to be conducted according to a set power-on sequence, so that the low-voltage equipment is powered on according to the set sequence;
step S13, after the low-voltage electrification is finished, the vehicle control unit receives a high-voltage electrification instruction and outputs a control instruction to the energy controller, so that the energy controller outputs an instruction to the high-voltage distribution box for pre-charging; powering on the high-voltage equipment after the pre-charging is finished; the energy controller sends a power-on completion feedback instruction to the vehicle control unit;
the power-off self-protection method comprises the following steps;
step S21, the vehicle control unit receives a high-voltage power-off instruction;
step S22, the vehicle control unit outputs a control instruction to the energy controller, so that the energy controller outputs an instruction to the high-voltage distribution box to power off the high-voltage equipment;
and step S23, after the high-voltage power-off is finished, the vehicle control unit receives a low-voltage power-off instruction, outputs a control instruction to the low-voltage distribution box, and controls the switch assemblies in the low-voltage distribution box to be disconnected according to a set power-off sequence so that the low-voltage equipment is powered off according to the set sequence.
7. The power supply self-protection method according to claim 6, wherein the set power-on sequence is power-on of a low-voltage distribution box; powering up a planning system; the sensing system is powered on; powering on a bottom layer control system; powering on a pilot, a display and other low-voltage equipment;
the set power-off sequence is the power-off of a planning system; the sensing system is powered off; powering down a pilot, a display and other low-voltage equipment; powering off the bottom layer control system; powering down the low-voltage distribution box;
the planning system comprises a planning industrial personal computer, an inertial navigation system and a satellite receiver;
the sensing system comprises a sensing industrial personal computer, a camera, a millimeter wave radar and a laser radar;
the bottom layer control system comprises a motor controller, an AMT (automated mechanical Transmission) controller, a BMS (battery management system) controller, an energy controller, an APU (auxiliary Power Unit) controller and an ESC (electronic stability control) controller.
8. The power supply self-protection method according to claim 6, wherein the step S13 of the power-on self-protection method specifically includes:
1) the vehicle control unit receives a high-voltage power-on instruction and outputs a control instruction to the energy controller;
2) the energy controller outputs a control command to close a normally open switch of a pre-charging relay J3 of the high-voltage distribution box;
3) after the delay time is set, the energy controller outputs a control instruction to close a normally open switch of a pre-charging relay J5 of the high-voltage distribution box;
4) after the set delay time, the energy controller outputs a control instruction to close normally open switches of main loop relays J2 and J4 of the high-voltage distribution box;
5) after the set delay time, the energy controller outputs a control command to open the normally open switches of the pre-charging relays J3 and J5;
6) the high voltage power up is completed.
9. The power supply self-protection method according to claim 8, wherein the step S13 of the power-on self-protection method further includes an APU system high-voltage start, specifically including:
after the low-voltage electrification is finished, the energy controller outputs a control instruction to connect the DC/AC module with the DC/DC module;
after the set time delay, the energy controller issues a high-voltage power-on instruction to the APU controller to start the APU system.
10. The power supply self-protection method according to claim 9, wherein the step S22 of the power-down self-protection method specifically includes:
1) the energy controller receives a high-voltage power-off instruction;
2) after a preset time delay, the energy controller outputs a control instruction to power down the DC/AC module and the DC/DC module;
3) after the preset time delay, the energy controller issues a high-voltage power-off instruction to the APU controller, and the high-voltage equipment controlled by the APU cuts off the high voltage;
4) after a preset time delay, the energy controller outputs a control instruction to disconnect the normally open switches of the positive and negative main loop relays of the high-voltage distribution box;
5) and (5) finishing the voltage reduction at the high voltage.
CN201810969274.XA 2018-08-23 2018-08-23 Power supply self-protection system and method for hybrid power vehicle Active CN109017315B (en)

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