CN109552314A - A kind of cooperative control system for new-energy automobile ESC - Google Patents
A kind of cooperative control system for new-energy automobile ESC Download PDFInfo
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- CN109552314A CN109552314A CN201910031671.7A CN201910031671A CN109552314A CN 109552314 A CN109552314 A CN 109552314A CN 201910031671 A CN201910031671 A CN 201910031671A CN 109552314 A CN109552314 A CN 109552314A
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
Abstract
The invention discloses a kind of cooperative control systems for new-energy automobile ESC, including pedal unit, sensor unit, communication line unit, control unit, driving unit, pedal unit is used for according to driver's operation change vehicle travel condition, sensor unit is for collecting information of vehicles, and information of vehicles is passed into control unit, control unit is used to issue control signal according to information of vehicles, and control signal is passed into driving unit, driving unit is used to adjust vehicle travel condition according to control signal, communication line unit is used to provide signal path for signal in system.By the coordinated control of ESC control system and entire car controller, so that the safety in the various situations of vehicle is protected.Cooperative control system in the present invention can comparatively fast identify various dangerous situations, and can coordinate each component processing dangerous situation, can apply different ESC control systems, ESC is facilitated to be preferably applied for new-energy automobile.
Description
Technical field
The present invention relates to a kind of cooperative control systems of new-energy automobile, and in particular to one kind is used for new-energy automobile ESC
Cooperative control system.
Background technique
ESC (ELECTRONIC STABILITY CONTROL, hereinafter referred to as ESC) automobile electron stabilization control system is
A kind of active safety technologies of automobile, it can automatically correct the unstability of vehicle body, facilitate the generation for preventing accident.
The operating condition of Various Complex is handled, realizes actively brake, Emergency avoidance and stable direction etc., makes motor-vehicle accident incidence, personnel's wound
Dying rate reduces by 50% or more.Current country's ESC product is also in development phase, and mature ESC product, is not being braked especially
With cooperative control system field, there are also very big development spaces.
The colleges and universities such as Tsinghua University, Jilin University, Beijing Institute of Technology, Hunan University, Shanghai Communications University, Tongji University exist
Certain basic research work is done in terms of ESC, but these work are mostly more independent, such as to control algolithm and control strategy
Research；Research to ESC hydraulic pressure unit component；The separately adjustable research etc. of wheel pressure of wheel braking cylinder is realized to by solenoid valve.
The patent of Publication No. CN105150858B discloses a kind of regeneration brake system based on ESC hardware, the system
Including brake pedal unit, vacuum servo unit, master cylinder unit, hydraulic actuating unit, four-wheel wheel cylinder, four-wheel wheel speed sensing
Device, ESC control unit, full-vehicle control unit, motor control unit and battery control unit.The invention can guarantee when ESC is hard
When part breaks down, standby braking identical with conventional hydraulic braking system can be provided, guarantee brake safe.
The patent provides the process of regenerative braking and circuit design inside a kind of ESC, but how ESC is applied to
Full-vehicle control, such as how to judge crisis situations, for each crisis situations, interior all associated components be how Collaboration
, do not refer to, the application about ESC in new-energy automobile field still having and very big probe into space.
Summary of the invention
To solve the above-mentioned problems, it the invention proposes a kind of low cost, is readily mass-produced, and market can be rapidly entered
Cooperative control system for new-energy automobile ESC.
To achieve the above object, The technical solution adopted by the invention is as follows:
A kind of cooperative control system for new-energy automobile ESC, including pedal unit, sensor unit, communication line
Unit, driving unit；Pedal unit is used for according to driver's operation change vehicle travel condition, and sensor unit is used for collecting cart
Status information, and car status information is passed into control unit, control unit is used to be issued according to car status information and control
Signal processed, and control signal is passed into driving unit, driving unit is used to adjust vehicle travel condition according to control signal, lead to
News line unit is used to provide signal path for signal in system；
Pedal unit is connect with master cylinder, including brake pedal and vacuum booster or Electric booster；
Sensor unit include wheel speed sensors, steering wheel angle sensor, vehicle body vertical and horizontal acceleration transducer,
Yaw-rate sensor and master cylinder pressure sensor.Wheel speed sensors are used to acquire the wheel speed signal of four wheels, and will wheel
Fast signal is sent to ESC control system；Steering wheel angle sensor is used to acquire the steering angle signal and steering force of steering wheel
Square signal, and steering angle signal and steering moment signal are sent to ESC control system and entire car controller；Vehicle body it is longitudinal and
Lateral acceleration sensor, yaw-rate sensor are for acquiring vehicle body status information；Master cylinder pressure sensor is for acquiring
Master cylinder pressure signal, and master cylinder pressure signal is sent to entire car controller；
Communication line unit is used to provide signal path for signal in system；
Control unit includes ESC control system, entire car controller, electric machine controller and battery management system；
ESC control system is used to receive the wheel speed signal of wheel speed sensors transmission, and is integrated to obtain speed letter to it
Number, for the steering angle signal and steering moment signal of the transmission of receiving direction disk sensor, and according to speed signal, steering angle
It spends signal, vehicle body longitudinal acceleration, transverse acceleration, yaw velocity and steering moment signal and generates vehicle body status signal, it will
Vehicle body status signal sends entire car controller to, while generating first control signal according to vehicle body status signal, by the first control
Signal is sent to electric machine controller；Vehicle control is sent to for generating ESC state of a control signal, and by ESC state of a control signal
Device processed；ESC control system is adjusted pressure of wheel braking cylinder according to vehicle body status signal；
Entire car controller is used to receive vehicle body status signal, ESC state of a control signal and the motor of ESC control system transmission
Controller torque condition signal, it is raw according to vehicle body status signal, ESC state of a control signal and electric machine controller torque condition signal
At second control signal, second control signal is sent to electric machine controller；For receiving the ESC control of ESC control system transmission
Status signal processed；For receiving the motor control state signal of electric machine controller transmission；For receiving battery management system transmission
Battery using state signal；
Electric machine controller is used to receive the first control signal of ESC control system generation, receives what entire car controller generated
Second control signal, and torque is adjusted according to first control signal and second control signal control driving motor；For generating electricity
Machine state of a control signal, and give the production of motor control state signal to entire car controller；
Battery management system sends battery using state signal to vehicle control for generating battery using state signal
Device processed.
Driving unit includes driving motor, and driving motor is controlled by electric machine controller.
Wheel speed sensors in the present invention are mounted in each wheel, acquire the wheel speed signal of four wheels, and by wheel speed
Signal is sent to ESC control system, and when car is driven, tendency takes the smallest wheel speed as speed；When being braked,
Tendency takes maximum wheel speed as speed, and when being turned, four wheel speeds are normalized to vehicle center point；Calculate one
A reasonable speed.The speed is applied in the calculating logic of slip rate, and is sent to entire car controller and is carried out patrolling for itself
Collect judgement.
The present invention passes through wheel speed sensors, steering wheel sensor and vehicle body vertical and horizontal acceleration transducer, yaw angle
Velocity sensor is monitored car body situation, and when there is unsafe condition, ESC control system sends first to electric machine controller
Signal is controlled, quickly changes driving motor state, while adjusting pressure of wheel braking cylinder, vehicle is made to be returned to normal condition；Ordinary circumstance
When, entire car controller sends second control signal to electric machine controller, controls the driving of vehicle.
In the present invention, pedal simulates pedal row using master cylinder pressure sensor without additional installation pedal travel sensor
Journey, and entire car controller is sent by master cylinder pressure signal, such design can save cost.
Preferably, the first control signal that electric machine controller is transmitted using ESC control system is greatest priority, with vehicle control
The second control signal of device transmission processed is the second priority, after electric machine controller receives first control signal, controls system in conjunction with ESC
The intervention state of system generates motor control state, is sent to entire car controller.
Preferably, ESC control system transmits energy feedback signal to motor control when pressure of wheel braking cylinder is adjusted
Device, electric machine controller are sent to motor according to the intervention state output driving signal of ESC control system, generate motor control shape
State is sent to entire car controller.
Preferably, a kind of cooperative control system for new-energy automobile ESC, further includes Inertial Measurement Unit, for obtaining
The acceleration and angular speed of pick-up generate acceleration and angle rate signal, ESC control system are sent to, for generating vehicle body
Status signal.
Preferably, communication line unit includes CAN bus, provides route for the information transmission for each interelement.
Preferably, analog signal perhaps CAN communication or SPI communication are used between wheel speed sensors and ESC control system
Deng connection.
ESC control system directly acquires wheel speed sensor analog signals, by frequency analysis, obtains wheel speed value, Huo Zhetong
It crosses communication protocol mode and directly obtains wheel speed value.
Preferably, ESC control system judges whether vehicle body is in tire locking according to vehicle body status signal, tyre slip,
The precarious position of ovdersteering and understeer, and calculate and drop torsion value required for driving motor, as the first control letter
Number, it is sent to electric machine controller.
After ESC control system receives wheel speed signal, judged by calculating the acceleration value of tyre skidding rate and tire
The locking degree and skid level of tire.Judge to turn to situation by Inertial Measurement Unit, Inertial Measurement Unit collects vehicle
The transverse acceleration of body, longitudinal acceleration, and the steering wheel angle sensor by being mounted on steering column, synthesis obtain one
Due course deviation magnitude of angular velocity YawRate_setpoint, the value acquire a vehicle with Inertial Measurement Unit at steady state
Course deviation angular speed Yaw Rate value compares, if YawRate_setpoint is greater than YawRate, shows understeer,
If YawRate_setpoint is less than YawRate, show ovdersteering.
Meanwhile required drop torsion value is calculated in various situations as first control signal and is sent to motor control
Device.
Preferably, electric machine controller subtracts ESC on the basis of the torque value for the second control signal that entire car controller transmits
The drop torsion value of the first control signal of control system transmission, the control torque as driving motor.
Preferably, when operating motor drop turns round request, ESC control system sends drop and turns round request to electric machine controller, motor
Controller subtracts control of the drop torsion value of ESC control system transmission as motor on the basis of the torque value that entire car controller is requested
Torque；Electric machine controller intervenes state generation motor control state according to ESC and is sent to entire car controller, knows entire car controller
Know the interactive information of ESC control system and electric machine controller.
Beneficial effects of the present invention are as follows:
(1) the present invention provides the cooperative control system that a kind of ESC is applicable in, various dangerous situations can comparatively fast be identified, and
It can coordinate each component and handle dangerous situation, different ESC control systems can be applied, ESC is facilitated to be preferably applied for new energy
Automobile.
(2) present invention saves brake pedal sensor, discrete inertance element and vehicle speed sensor compared with general scheme,
Vehicle factor hardware cost and assembly cost are saved, economy is more preferable.
(3) since ESC system often works in extreme dangerous working condition, for protecting the life security of driver, the present invention
Compared with the torque request that general scheme can intervene motor faster, anti-lock performance can be improved, improve Anti-slip regulation performance, and
Improve the stability of vehicle body.Ensure the life security of driver preferably.
Detailed description of the invention
Fig. 1 is a kind of cooperative control system schematic diagram for new-energy automobile ESC；
Fig. 2 is one of embodiment new-energy automobile ESC system structure chart.
Appended drawing reference:
1, pedal, 2, liquid reserve tank, 3, master cylinder, the 4, first pressure limiting valve, the 5, second pressure limiting valve, the 6, first inlet valve, 7,
Second inlet valve, the 8, first plunger pump, 9, piston pump motor, the 10, second plunger pump, the 11, first hydraulic accumulator, 12, second stores liquid
Device, the 13, first pressure charging valve, the 14, second pressure charging valve, 15, third pressure charging valve, the 16, the 4th pressure charging valve, the 17, first pressure reducing valve, 18,
Second pressure reducing valve, 19, third pressure reducing valve, the 20, the 4th pressure reducing valve, 21, left front wheel cylinder, 22, off hind wheel cylinder, 23, off-front wheel cylinder,
24, left back wheel cylinder, 25, left front wheel speed sensors, 26, off hind wheel speed sensor, 27, off-front wheel speed sensor, 28, left back wheel speed
Sensor, 29, ESC control system, 30, driving motor, 31, electric machine controller, 32, entire car controller, 33, battery management system
System, 34, battery pack, 35, steering wheel angle sensor, 36, master cylinder pressure sensor.
Specific embodiment
A kind of cooperative control system for new-energy automobile ESC, including pedal unit, sensor unit, communication line
Unit, control unit, driving unit；
Pedal Unit 1 is connect with master cylinder, including brake pedal and gas pedal；
Sensor unit includes wheel speed sensors 25,26,27,28, steering wheel angle sensor 35 and master cylinder pressure sensing
Device 36, wheel speed sensors 25,26,27,28 are used to acquire the wheel speed signal of four wheels, and wheel speed signal is sent to ESC control
System 29 processed；Steering wheel angle sensor 35 is used to acquire the steering angle signal and steering moment signal of steering wheel, and will turn
ESC control system 29 and entire car controller 32 are sent to angle signal and steering moment signal；Master cylinder pressure sensor 36 is used
In acquisition master cylinder pressure signal, and master cylinder pressure signal is sent to entire car controller 32；
Communication line unit is used to provide signal path for signal in system；
Control unit includes ESC control system 29, entire car controller 32, electric machine controller 31 and battery management system 33；
ESC control system 29 is used to receive the wheel speed signal of wheel speed sensors transmission, and is integrated to obtain speed to it
Signal, for the steering angle signal and steering moment signal of the transmission of receiving direction disk sensor, and according to speed signal, steering
Angle signal and steering moment signal generate vehicle body status signal, send vehicle body status signal to entire car controller 32, simultaneously
First control signal is generated according to vehicle body status signal, first control signal is sent to electric machine controller 31；For generating ESC
State of a control signal, and send ESC state of a control signal to entire car controller 32；
For ESC control system 29 when pressure of wheel braking cylinder is adjusted, transmission energy feedback signal is to electric machine controller 31, electricity
Machine controller 31 generates motor control state according to the intervention state of ESC control system 29, is sent to entire car controller 32.
Entire car controller 32 is used to receive the vehicle body status signal of the transmission of ESC control system 29, ESC state of a control signal,
And second control signal is generated according to vehicle body status signal, ESC state of a control signal and master cylinder pressure signal, the second control is believed
Number it is sent to electric machine controller 31；For receiving the ESC state of a control signal of the transmission of ESC control system 29；For receiving motor
The motor control state signal that controller 31 transmits；For receiving the battery using state signal of the transmission of battery management system 33；
Electric machine controller 31 is used to receive the first control signal of the generation of ESC control system 29, receives entire car controller 32
The second control signal of generation, and driving motor 30 is controlled according to first control signal and second control signal；For
Motor control state signal is generated, and gives the production of motor control state signal to entire car controller 32；
The first control signal that electric machine controller 31 is transmitted using ESC control system 29 is greatest priority, with full-vehicle control
The second control signal that device 32 transmits is the second priority, after electric machine controller 31 receives first control signal, the second control of cutting
Signal processed, and motor control state is generated according to the intervention state of ESC control system 29, it is sent to entire car controller 32.
Battery management system 33 sends battery using state signal to vehicle for generating battery using state signal
Controller 32.
Driving unit includes driving motor 30, and driving motor 30 is controlled by electric machine controller 31.
Further include Inertial Measurement Unit, for obtaining the acceleration and angular speed of vehicle, generates acceleration and angular speed is believed
Number, ESC control system 29 is sent to, for generating vehicle body status signal.
Communication line unit includes CAN bus, provides route for the information transmission for each interelement.
It is directly connected between wheel speed sensors and ESC control system using analog signal.
ESC control system is adjusted pressure of wheel braking cylinder according to vehicle body status signal.
By taking following ESC systems as an example, the ESC system in example mainly explains the function of adjusting pressure of wheel braking cylinder
Bright, in conjunction with attached drawing, the present invention will be described in detail.
ESC system includes the first brake circuit and the second brake circuit, and the construction of the first brake circuit is as follows: the first sucking
6 entrance of valve, 4 entrance of the first pressure limiting valve are connected with 3 ante-chamber of master cylinder simultaneously, and the outlet of the first inlet valve 6 goes out with check valve simultaneously
Mouth, 8 entrance of the first plunger pump are connected, and one-way valve inlet is connected with the first pressure reducing valve 17, the outlet of the second pressure reducing valve 18 simultaneously, and first
The outlet of plunger pump 8 is connected with the outlet of the first pressure limiting valve 4,13 entrance of the first pressure charging valve, 14 entrance of the second pressure charging valve simultaneously, and first increases
The outlet of pressure valve 13,17 entrance of the first pressure reducing valve are connected with left front wheel cylinder 21 simultaneously, the outlet of the second pressure charging valve 14, the second pressure reducing valve 18
Entrance is connected with off hind wheel cylinder 22 simultaneously；The first hydraulic accumulator 11 of first pressure reducing valve 17 outlet installation；For traditional ESC braking system
System, when the first brake circuit ABS is depressurized, brake fluid subtracts from left front wheel cylinder 21, off hind wheel cylinder 22 through the first pressure reducing valve 17, second
Pressure valve 18 is driven by the first plunger pump 8, flows back to 3 ante-chamber of master cylinder through the first pressure limiting valve 4, it is therefore desirable in the first decompression
Valve 17, the first hydraulic accumulator 11 of the second pressure reducing valve 18 outlet setting, store the braking to flow back from left front wheel cylinder 21, off hind wheel cylinder 22
Liquid has the function that quickly to reduce pressure of wheel braking cylinder, and the function of check valve is that hydraulic actuating unit actively increases the first brake circuit
When pressure, prevent brake fluid from entering the first hydraulic accumulator 11；
The construction of second brake circuit is as follows: 7 entrance of the second inlet valve, 5 entrance of the second pressure limiting valve simultaneously with master cylinder 3
Back cavity is connected, and the outlet of the second inlet valve 7 is exported with third pressure reducing valve 19 simultaneously, the 4th pressure reducing valve 20 exports, the second plunger pump 10
Entrance is connected, and the second plunger pump 10 is exported while being exported with the second pressure limiting valve 5,15 entrance of third pressure charging valve, the 4th pressure charging valve 16
Entrance is connected, and the outlet of third pressure charging valve 15,19 entrance of third pressure reducing valve are connected with off-front wheel cylinder 23 simultaneously, and the 4th pressure charging valve 16 goes out
Mouth, 20 entrance of the 4th pressure reducing valve are connected with left back wheel cylinder 24 simultaneously, the second hydraulic accumulator 12 of the outlet of third pressure reducing valve 19 installation, and second
5 entrance of pressure limiting valve installs first pressure sensor 36；For traditional ESC braking system, when the second brake circuit ABS is depressurized,
Brake fluid is driven through third pressure reducing valve 19, the 4th pressure reducing valve 20 by the second plunger pump 10 from off-front wheel cylinder 23, left back wheel cylinder 24
It is dynamic, 3 back cavity of master cylinder is flowed back to through the second pressure limiting valve 5, it is therefore desirable in third pressure reducing valve 19, the 4th pressure reducing valve 20 outlet setting
Second hydraulic accumulator 12 stores the brake fluid to flow back from off-front wheel cylinder 23, left back wheel cylinder 24, reaches the work for quickly reducing pressure of wheel braking cylinder
With；
First plunger pump 8 and the second plunger pump 10 share a piston pump motor 9；
Four-wheel wheel cylinder is left front wheel cylinder 21, off-front wheel cylinder 23, left back wheel cylinder 24, off hind wheel cylinder 22；
Corresponding, four-wheel wheel speed sensors are left front wheel speed sensors 25, off-front wheel speed sensor 27, left back wheel speed sensing
Device 28, off hind wheel speed sensor 26；
ESC control system 29 acquire left front wheel speed sensors 25, off-front wheel speed sensor 27, left back wheel speed sensors 28,
The wheel speed signal of off hind wheel speed sensor 26 and the pressure signal of first pressure sensor 36, it is each by control hydraulic actuating unit
Solenoid valve is cut-off, and realizes the braking pressure control to left front wheel cylinder 21, off-front wheel cylinder 23, left back wheel cylinder 24, off hind wheel cylinder 22.
Embodiment 1
Common braking
When driver depresses brake pedal, each solenoid valve remains powered off state at this time, and brake fluid passes through master cylinder 3, warp
Cross pressure limiting valve, pressure charging valve enters directly into each wheel cylinder.Master cylinder pressure sensor 36 acquires master cylinder pressure variation, and by master cylinder
Pressure signal is sent to ESC controller 29, from the point of view of hydraulic circuit: master cylinder --- pressure limiting valve --- pressure charging valve --- wheel cylinder.
Hydraulic actuating unit progress active boost, pressure maintaining, decompression process are (by taking left front wheel cylinder 21 as an example):
(1) when left front wheel cylinder 21 needs to be pressurized, the first inlet valve 6, which is powered, to be opened, and the first pressure limiting valve 4, which is powered, closes, the
The power-off of one pressure charging valve 13 is opened, and the power-off of the first pressure reducing valve 17 is closed, and is driven through the first plunger pump 8, and brake fluid is from liquid reserve tank 2, the
One inlet valve 6 and liquid storage device 11 enter left front wheel cylinder 21 by the first pressure charging valve 13, complete pressurization.
(2) when left front wheel cylinder 21 needs pressure maintaining, the power-off of the first inlet valve 6 is closed, and the first pressure limiting valve 4, which is powered, closes, the
One pressure charging valve 13, which is powered, closes, and the power-off of the first pressure reducing valve 17 is closed, and left front 21 hydraulic circuit of wheel cylinder is cut off, and completes pressure maintaining.
(3) when left front wheel cylinder 21 needs to depressurize, the first inlet valve 6, which is powered, to be opened, and the first pressure limiting valve 4, which is powered, closes, the
One pressure charging valve 13, which is powered, closes, and the first pressure reducing valve 17, which is powered, to be opened, and brake fluid is flowed by the first pressure reducing valve 17, the first inlet valve 6
Liquid reserve tank 2 is returned, decompression is completed.
By above-mentioned pressurization, pressure maintaining, decompression operation, so that left front wheel cylinder 21 is obtained desired brake pressure.
During this, wheel speed sensors 25,26,27,28 are used to acquire the wheel speed signals of four wheels, and by wheel speed signal
It is sent to ESC control system 29；Steering wheel angle sensor 35 is used to acquire the steering angle signal and steering moment of steering wheel
Signal, and steering angle signal and steering moment signal are sent to ESC control system 29 and entire car controller 32；ESC control
System 29 generates vehicle body status signal according to speed signal, steering angle signal and steering moment signal, by vehicle body status signal
Send entire car controller 32 to.
Embodiment 2
The identification and processing of locking situation
Wheel speed sensors 25,26,27,28 are used to acquire the wheel speed signal of four wheels, and wheel speed signal is sent to ESC
Control system judges the locking degree of tire by calculating the acceleration value of tyre skidding rate and tire, if judging at tire
In locking edge, then decompression movement is executed, decompression movement is (for when left front wheel cylinder 21 depressurizes): the first pressure charging valve 13 is powered
It closes, the first pressure reducing valve 17, which is powered, to be opened, and brake fluid passes through the first pressure reducing valve 17, and fast discharging is complete into the first hydraulic accumulator 11
At decompression, make the brake pressure of wheel cylinder, to achieve the purpose that reduce tyre skidding rate.Electric machine controller 31 in order to prevent simultaneously
Energy feedback influences the anti-lock control of ESC, and ESC control system 29 sends energy feedback shutdown signal to electric machine controller 31,
Electric machine controller 31 sends ESC intervention state to entire car controller 32, and entire car controller 32 is made to know ESC control system 29 and electricity
The interactive information of machine controller 31.
Embodiment 3
The identification and processing of slippery conditions
Wheel speed sensors 25,26,27,28 are used to acquire the wheel speed signal of four wheels, and wheel speed signal is sent to ESC
Control system judges the skid level of tire by calculating the acceleration value of tyre skidding rate and tire.
If judgement has at least one tire to be in skidding edge, operating motor drop turns round request, and ESC control system 29 is sent out
Drop is sent to turn round request to electric machine controller 31, electric machine controller 31 subtracts ESC on the basis of the torque value that entire car controller 32 is requested
Control torque of the drop torsion value that control system 29 is sent as driving motor 30.Electric machine controller 31 send ESC intervention state to
Entire car controller 32 makes entire car controller 32 know the interactive information of ESC control system 29 and electric machine controller 31.
Embodiment 4
The identification and processing of understeer situation
Inertial Measurement Unit obtains the acceleration and angular speed of vehicle, generates acceleration and angle rate signal, sends ESC to
Control system 29, ESC control system collect the transverse acceleration of vehicle body, longitudinal acceleration and yaw velocity, and pass through peace
Steering wheel angle sensor on steering column, synthesis obtain a vehicle due course deviation angular speed at steady state
Value YawRate_setpoint, the course deviation angular speed YawRate value which acquires with Inertial Measurement Unit compare,
YawRate_setpoint is greater than YawRate, shows understeer,
It is judged as understeer, then operating motor drop turns round request, and the transmission drop of ESC control system 29 turns round request and gives motor control
Device 31 processed, electric machine controller 31 subtract the drop torsion value of ESC transmission as drive on the basis of the torque value that entire car controller 32 is requested
The control torque of dynamic motor 30.Electric machine controller 31 sends ESC intervention state to entire car controller 32, knows entire car controller
The interactive information of ESC control system 29 and electric machine controller 31.
If the understeer of left steering, need additionally for off hind wheel provide actively pressurization, if right turn steering not
Foot is needed additionally to provide for left rear wheel and actively be pressurizeed.Pressure process is (with left steering deficiency, actively to pressurize for off hind wheel cylinder 22
For): the first inlet valve 6, which is powered, to be opened, and the first pressure limiting valve 4, which is powered, closes, and the power-off of the second pressure charging valve 14 is opened, the second pressure reducing valve
18 power-off are closed, and are driven through the first plunger pump 8, and brake fluid is entered from liquid reserve tank 2, the first inlet valve 6 by the second pressure charging valve 14
Off hind wheel cylinder 22 completes pressurization.Brake fluid is drawn into the wheel cylinder by pump from master cylinder, to improve the brake pressure of wheel cylinder, enhancing
Steering capability.
Embodiment 5
The identification and processing of ovdersteering situation
Inertial Measurement Unit obtains the acceleration and angular speed of vehicle, generates acceleration and angle rate signal, sends ESC to
Control system 29, ESC control system collect the transverse acceleration of vehicle body, longitudinal acceleration and yaw velocity, and pass through peace
Steering wheel angle sensor on steering column, synthesis obtain a vehicle due course deviation angular speed at steady state
Value YawRate_setpoint, the course deviation angular speed YawRate value which acquires with Inertial Measurement Unit compare,
YawRate_setpoint is less than YawRate, shows ovdersteering.
It is judged as ovdersteering, then operating motor drop turns round request, and the transmission drop of ESC control system 29 turns round request and gives motor control
Device 31 processed, electric machine controller 31 subtract the drop torsion value of ESC transmission as electricity on the basis of the torque value that entire car controller 32 is requested
The control torque of machine.Electric machine controller 31 sends ESC intervention state to entire car controller 32, and entire car controller 32 is made to know ESC
The interactive information of control system 29 and electric machine controller 31.
If the ovdersteering of left steering, needs additionally to provide for off-front wheel and actively pressurize, if the steering of right turn
Degree is needed additionally to provide for the near front wheel and actively be pressurizeed.Pressure process be (it is excessive with left steering, actively pressurize for off-front wheel cylinder 23
For): the second inlet valve 7, which is powered, to be opened, and the second pressure limiting valve 5, which is powered, closes, and the power-off of third pressure charging valve 15 is opened, third pressure reducing valve
19 power-off are closed, and are driven through the second plunger pump 10, brake fluid from liquid reserve tank 2, the second inlet valve 7, by third pressure charging valve 15 into
Enter off-front wheel cylinder 23, completes pressurization.Brake fluid is drawn into the wheel cylinder by pump from master cylinder, to improve the brake pressure of wheel cylinder, is subtracted
Weak steering capability.
Above-described embodiment is merely exemplary for the purpose of the present invention, and and not restrictive, its object is to allow be familiar with this
The understanding of technology cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.Not
In the case where being detached from claim limited range, those of ordinary skill in the art understand, any modification, the change that can be made
Change or equivalent, will fall within the scope of protection of the present invention.
Claims (8)
1. a kind of cooperative control system for new-energy automobile ESC, it is characterised in that: including pedal unit, sensor unit,
Communication line unit, control unit, driving unit；The pedal unit is used for according to driver's operation change vehicle traveling shape
The information of vehicles is passed to described control unit, the control for collecting information of vehicles by state, the sensor unit
Unit is used to issue control signal according to information of vehicles, and the control signal is passed to driving unit, the driving unit
For adjusting vehicle travel condition according to the control signal, the communication line unit is used to provide signal for signal in system
Access；
The pedal unit is connect with master cylinder, including brake pedal and gas pedal；
The sensor unit includes wheel speed sensors, steering wheel angle sensor (35) and master cylinder pressure sensor (36), institute
State wheel speed sensors include left front wheel speed sensors (25), it is off hind wheel speed sensor (26), off-front wheel speed sensor (27), left back
Wheel speed sensors (28) are sent to described control unit for acquiring the wheel speed signal of four wheels, and by the wheel speed signal；
Steering wheel angle sensor (35) is used to acquire the steering angle signal and steering moment signal of steering wheel, and by the steering angle
Degree signal and the steering moment signal are sent to described control unit；The master cylinder pressure sensor (36) is for acquiring master cylinder
Pressure signal, and the master cylinder pressure signal is sent to described control unit；
Described control unit includes ESC control system (29), entire car controller (32), electric machine controller (31) and battery management system
It unites (33)；
The ESC control system (29) is used to receive the wheel speed signal of the wheel speed sensors (25,26,27,28) transmission,
And it is integrated to obtain speed signal, for receiving the steering angle signal and the institute of the steering wheel sensor transmission
Steering moment signal is stated, and vehicle body is generated according to the speed signal, the steering angle signal and the steering moment signal
Status signal sends the vehicle body status signal entire car controller (32) to, while according to the vehicle body status signal
First control signal is generated, the first control signal is sent to the electric machine controller (31)；For generating ESC control shape
State signal, and send the ESC state of a control signal to the entire car controller (32)；ESC control system (29) root
According to the vehicle body status signal, pressure of wheel braking cylinder is adjusted；
The entire car controller (32) is used to receive the vehicle body status signal, described of the ESC control system (29) transmission
ESC state of a control signal receives the master cylinder pressure signal of the master cylinder pressure sensor (36) transmission, and according to the vehicle
Body status signal, the ESC state of a control signal and the master cylinder pressure signal generate second control signal, and described second is controlled
Signal processed is sent to the electric machine controller (31)；The ESC for receiving ESC control system (29) transmission controls shape
State signal；For receiving the motor control state signal of the electric machine controller (31) transmission；For receiving the battery management
The battery using state signal of system (33) transmission；
The electric machine controller (31) is used to receive the first control signal that the ESC control system (29) generates, and receives
The second control signal that the entire car controller (32) generates, and according to the first control signal and second control
Signal controls driving motor (30) and adjusts torque；Believe for generating motor control state signal, and by the motor control state
Entire car controller (32) are given in number production；
The battery management system (33) is transmitted for generating battery using state signal, and by the battery using state signal
Give the entire car controller (32).
The driving unit includes driving motor (30), and the driving motor (30) is controlled by the electric machine controller (31).
2. a kind of cooperative control system for new-energy automobile ESC according to claim 1, it is characterised in that: described
The first control signal that electric machine controller (31) is transmitted using the ESC control system (29) is greatest priority, with described
The second control signal of entire car controller (32) transmission is the second priority, and the electric machine controller (31) receives first control
After signal processed, the intervention state according to the ESC control system (29) generates the motor control state, is sent to the vehicle
Controller (32).
3. a kind of cooperative control system for new-energy automobile ESC according to claim 1, it is characterised in that: described
For ESC control system (29) when pressure of wheel braking cylinder is adjusted, transmission energy feedback signal gives the electric machine controller (31), institute
The intervention state that electric machine controller (31) is stated according to the ESC control system (29) generates the motor control state, is sent to
The entire car controller (32).
4. a kind of cooperative control system for new-energy automobile ESC according to claim 1, it is characterised in that: also wrap
Inertial Measurement Unit is included, for obtaining the acceleration and angular speed of vehicle, acceleration and angle rate signal is generated, sends to described
ESC control system (29), for generating the vehicle body status signal.
5. a kind of cooperative control system for new-energy automobile ESC according to claim 1, it is characterised in that: described
Communication line unit includes CAN bus, provides route for the information transmission for each interelement.
6. a kind of cooperative control system for new-energy automobile ESC according to claim 1, it is characterised in that: described
Perhaps CAN communication is directly connected to using analog signal between wheel speed sensors and the ESC control system (29) or SPI is logical
The connection such as letter.
7. according to claim 1 or 4 its any one of described in a kind of cooperative control system for new-energy automobile ESC,
It is characterized by: the ESC control system (29) judges whether vehicle body is in tire locking according to the vehicle body status signal, wheel
Tire skids, ovdersteering or understeer, and calculates and drop torsion value required for driving motor (30), as first control
Signal processed is sent to the electric machine controller (31).
8. a kind of cooperative control system for new-energy automobile ESC according to claim 7, it is characterised in that: execute
When motor drop turns round request, ESC control system (29) the transmission drop turns round request and gives the electric machine controller (31), the motor
The drop torsion value that controller (31) calculates the torque value of entire car controller (32) request and the ESC control system (29) is sent
Control torque as motor；The electric machine controller (31) intervenes state according to ESC and generates the motor control state transmission
Give the entire car controller (32).
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| CN109552314B (en) | 2020-08-11 |
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