CN109283911A - A kind of controller for electric vehicle running state of programs machine - Google Patents
A kind of controller for electric vehicle running state of programs machine Download PDFInfo
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- CN109283911A CN109283911A CN201710596622.9A CN201710596622A CN109283911A CN 109283911 A CN109283911 A CN 109283911A CN 201710596622 A CN201710596622 A CN 201710596622A CN 109283911 A CN109283911 A CN 109283911A
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- state
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- electric vehicle
- controller
- vehicle running
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Transmission Device (AREA)
Abstract
The present invention relates to vehicle technology fields, and in particular to a kind of controller for electric vehicle running state of programs machine, it includes state machine ontology, which is arranged in controller for electric vehicle；The state machine ontology includes seven kinds of working conditions of idle state, original state, beginning state, operating status, malfunction, halted state and wait state；It sets seven kinds of working conditions, includes electric vehicle operating condition, and adoption status machine controls running state of electric motor car and switching, effectively realizes each state operation and jumps, easy to read and programming ensure that the stable operation of controller；It has logicality strong, readable simple, avoids program and the advantages that situation of mistake occurs.
Description
Technical field
The present invention relates to vehicle technology fields, and in particular to a kind of controller for electric vehicle running state of programs machine.
Background technique
With the raising of people's production and life level, the promotion of clean energy resource and the enhancing of environmental protection consciousness, electricity
For electrical automobile increasingly by the welcome of numerous people, electric car is very rapid in the development of recent years, thus in electronic vapour
The accessories field of vehicle also has innovation.Electric vehicle controller is as one of big component of electric vehicle four, the guarantee of quality parameter
Critical effect is played to electric vehicle development.The software program design of controller directly decides the working method of controller,
Then the efficiency and comfort level of electric vehicle operation are affected, therefore a logicality is strong, the simple director demon operation of readability
State machine is just particularly important.State machine in the present invention can carry out shape according to preset state according to control signal
State transfer is the control centre coordinated coherent signal movement, complete specific operation.
Summary of the invention
In view of the defects and deficiencies of the prior art, the present invention intends to provide a kind of controller for electric vehicle programs to run
State machine, it includes electric vehicle operating condition that it, which sets seven kinds of working conditions, adoption status machine control running state of electric motor car and
Switching effectively realizes each state operation and jumps that easy to read and programming ensure that the stable operation of controller；It, which has, patrols
It is strong to collect property, it is readable simple, it avoids program and the advantages that situation of mistake occurs.
A kind of controller for electric vehicle running state of programs machine of the present invention, it includes state machine ontology, the state machine
Ontology is arranged in controller for electric vehicle；The state machine ontology includes idle state, original state, beginning state, operation shape
State, malfunction, seven kinds of working conditions of halted state and wait state；
When the working condition being in idle condition, the gear of electric vehicle is in neutral position state, in without artificial control motor
Demand, anti-slip slope status releasing；
When being in the working condition of original state, the gear of electric vehicle carries out gear shift, into original state, executes ADC, PWM
Peripheral hardware, clock and interrupt priority level configuration；Automatically into beginning state；
When being in the working condition of beginning state, Hall or startup separator are detected, detects gear signal；When detecting electric current therefore
Barrier then enters malfunction；When detecting that gear is drive shift or reverse drive gear, into operating status；When detecting gear in sky
Gear then enters halted state；
When working condition in operating status, the program in controller for electric vehicle executes vector controlled at this time and position is estimated
It calculates, control motor operating, and detects fault message and gear information；When detecting current failure, then enter malfunction, when
It detects position signal failure, then enters malfunction；When gear pushes neutral gear, and fault-free appearance, then into stopping shape
State；
When being in the working condition of malfunction, block PWM drive signal is executed, current-order is reset, so that motor stalls；
Entry condition is overcurrent, Hall or startup separator, executes block PWM drive signal at this time, current-order is reset, so that motor stops
Turn.The condition for jumping out malfunction is that gear is in that neutral gear, motor are static and electric current is normal；
When being in the working condition of halted state, block pwm signal is executed；Current-order is reset, automatic after waiting be delayed within 1 second
Into wait state
Instantly when the working condition of wait state, gear information and vehicle position information are detected；If there is slipping by slope phenomenon, start
It is anti-to slip by slope function.Detect that nothing slips by slope phenomenon and gear is in neutral gear, motor is static, jumps back to idle state.
After adopting the above structure, the invention has the following beneficial effects: a kind of controller for electric vehicle program operation of the present invention
State machine, it has logicality strong, readable simple, avoids program and the advantages that situation of mistake occurs.
Detailed description of the invention
Described herein the drawings are intended to provide a further understanding of the invention, constitutes part of this application, but
It does not constitute improper limitations of the present invention, in the accompanying drawings:
Fig. 1 is the flow chart of the working method of state machine of the invention.
Specific embodiment
Come that the present invention will be described in detail below in conjunction with attached drawing and specific embodiment, illustrative examples therein and says
It is bright to be only used to explain the present invention but not as a limitation of the invention.
As shown in Figure 1, a kind of controller for electric vehicle running state of programs machine described in present embodiment, it includes shape
State machine ontology, the state machine ontology are arranged in controller for electric vehicle；The state machine ontology includes idle state, initial shape
State starts state, operating status, malfunction, seven kinds of working conditions of halted state and wait state；
When the working condition being in idle condition, the gear of electric vehicle is in neutral position state, in without artificial control motor
Demand, anti-slip slope status releasing；
When being in the working condition of original state, the gear of electric vehicle carries out gear shift, into original state, executes ADC, PWM
Peripheral hardware, clock and interrupt priority level configuration；Automatically into beginning state；
When being in the working condition of beginning state, Hall or startup separator are detected, detects gear signal；When detecting electric current therefore
Barrier then enters malfunction；When detecting that gear is drive shift or reverse drive gear, into operating status；When detecting gear in sky
Gear then enters halted state；
When working condition in operating status, the program in controller for electric vehicle executes vector controlled at this time and position is estimated
It calculates, control motor operating, and detects fault message and gear information；When detecting current failure, then enter malfunction, when
It detects position signal failure, then enters malfunction；When gear pushes neutral gear, and fault-free appearance, then into stopping shape
State；
When being in the working condition of malfunction, block PWM drive signal is executed, current-order is reset, so that motor stalls；
Entry condition is overcurrent, Hall or startup separator, executes block PWM drive signal at this time, current-order is reset, so that motor stops
Turn.The condition for jumping out malfunction is that gear is in that neutral gear, motor are static and electric current is normal；
When being in the working condition of halted state, block pwm signal is executed；Current-order is reset, automatic after waiting be delayed within 1 second
Into wait state；
Instantly when the working condition of wait state, gear information and vehicle position information are detected；If there is slipping by slope phenomenon, start
It is anti-to slip by slope function.Detect that nothing slips by slope phenomenon and gear is in neutral gear, motor is static, jumps back to idle state.
Working principle of the invention is as follows:
State machine of the present invention refers to that system is jumped between different conditions by different condition, and use state machine is compiled
Journey not only program clear thinking, it is easy to read, also comply with logic and the natural law.
State machine of the present invention includes idle state, original state, beginning state, operating status, malfunction, stops
Only state, wait state.
Idle state: i.e. when gear is in neutral gear, starting is anti-automatically slips by slope function.When from neutral gear become drive shift or after
Automatically into the original state when moving back grade.
Original state: rotary speed instruction clearing, allows chip defeated at the initialization of PI controller integrate-dump, slope given function
Pwm signal out, after the completion automatically into beginning state.
Beginning state: executing fault detection, and the malfunction is entered if breaking down, and blocks PWM drive signal, makes
Obtain motor stalling；Enter the operating status if without failure；If detecting that gear in neutral gear, enters and stops shape
State.
Operating status: program executes vector controlled and position estimation, control motor operating at this time, and keep detection failure and
Neutral gear.Program executes vector controlled and position estimation, control motor operating at this time.And detect whether faulty and neutral gear.Such as
Fruit current failure then enters malfunction, if position signal failure, enters malfunction.If gear pushes neutral gear, and
And fault-free occurs, then enters halted state.
Malfunction: entry condition is overcurrent, Hall or startup separator, executes block PWM drive signal at this time, and electric current refers to
It enables and resetting, so that motor stalls.The condition for jumping out malfunction is that gear is in that neutral gear, motor are static and electric current is normal.
Halted state: when gear becomes neutral gear automatically into halted state, actuating motor stops at this time, block PWM letter
Number, automatically into the wait state after waiting be delayed within 1 second.
Wait state: detection vehicle position information, if there is slipping by slope phenomenon, starting is anti-to slip by slope function；If detecting at this time
Shelves are in neutral gear and motor remains static, then automatically into the idle state.
Adoption status machine control program operation in circulation waiting.
In the present invention, seven kinds of working conditions of state machine include all situations of electric vehicle operation, adoption status machine control
Running state of electric motor car processed and switching effectively realize each state operation and jump that easy to read and programming ensure that controller
Stable operation.
A kind of controller for electric vehicle running state of programs machine of the present invention, it has logicality strong, readable simple,
It avoids program and the advantages that situation of mistake occurs.
The above description is only a preferred embodiment of the present invention, thus it is all according to the configuration described in the scope of the patent application of the present invention,
The equivalent change or modification that feature and principle are done, is included in the scope of the patent application of the present invention.
Claims (8)
1. a kind of controller for electric vehicle running state of programs machine, it is characterised in that: it includes state machine ontology, the state machine ontology
It is arranged in controller for electric vehicle；The state machine ontology includes idle state, original state, beginning state, operating status, event
Seven kinds of working conditions of barrier state, halted state and wait state.
2. a kind of controller for electric vehicle running state of programs machine according to claim 1, it is characterised in that: when in the free time
When the working condition of state, the gear of electric vehicle is in neutral position state, in the demand without artificial control motor, anti-slip ramp shaped state
It releases.
3. a kind of controller for electric vehicle running state of programs machine according to claim 1, it is characterised in that: when in initial
When the working condition of state, the gear of electric vehicle carries out gear shift, into original state, executes ADC, PWM peripheral hardware, clock and interruption
Priority configuration；Automatically into beginning state.
4. a kind of controller for electric vehicle running state of programs machine according to claim 1, it is characterised in that: when in beginning
When the working condition of state, Hall or startup separator are detected, detects gear signal；When detecting current failure, then enter failure
State；When detecting that gear is drive shift or reverse drive gear, into operating status；When detecting gear in neutral gear, then entrance stops
State.
5. a kind of controller for electric vehicle running state of programs machine according to claim 1, it is characterised in that: when in operation
When the working condition of state, the program in controller for electric vehicle executes vector controlled and position estimation at this time, and control motor operates,
And detect fault message and gear information；When detecting current failure, then enter malfunction, when detecting position signal therefore
Barrier then enters malfunction；When gear pushes neutral gear, and fault-free appearance, then into halted state.
6. a kind of controller for electric vehicle running state of programs machine according to claim 1, it is characterised in that: when in failure
When the working condition of state, block PWM drive signal is executed, current-order is reset, so that motor stalls；Entry condition was
Stream, Hall or startup separator execute block PWM drive signal at this time, and current-order is reset, so that motor stalls；Jump out failure
The condition of state is that gear is in that neutral gear, motor are static and electric current is normal.
7. a kind of controller for electric vehicle running state of programs machine according to claim 1, it is characterised in that: when in stopping
When the working condition of state, block pwm signal is executed；Current-order is reset, automatically into wait state after waiting be delayed within 1 second.
8. a kind of controller for electric vehicle running state of programs machine according to claim 1, it is characterised in that: instantly in waiting
When the working condition of state, gear information and vehicle position information are detected；If there is slipping by slope phenomenon, starting is anti-to slip by slope function；Inspection
It measures without phenomenon is slipped by slope and gear is in neutral gear, motor is static, jumps back to idle state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710596622.9A CN109283911A (en) | 2017-07-20 | 2017-07-20 | A kind of controller for electric vehicle running state of programs machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710596622.9A CN109283911A (en) | 2017-07-20 | 2017-07-20 | A kind of controller for electric vehicle running state of programs machine |
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| Publication Number | Publication Date |
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| CN109283911A true CN109283911A (en) | 2019-01-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201710596622.9A Pending CN109283911A (en) | 2017-07-20 | 2017-07-20 | A kind of controller for electric vehicle running state of programs machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111101919A (en) * | 2019-12-27 | 2020-05-05 | 三一石油智能装备有限公司 | Sand mixing truck control method based on state machine, state machine and sand mixing truck |
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Application publication date: 20190129 |
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