CN112026672B - Electricelectric moves whole car electrical system of equation motorcycle race - Google Patents

Electricelectric moves whole car electrical system of equation motorcycle race Download PDF

Info

Publication number
CN112026672B
CN112026672B CN202010850348.5A CN202010850348A CN112026672B CN 112026672 B CN112026672 B CN 112026672B CN 202010850348 A CN202010850348 A CN 202010850348A CN 112026672 B CN112026672 B CN 112026672B
Authority
CN
China
Prior art keywords
battery
management
voltage
racing car
electric
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010850348.5A
Other languages
Chinese (zh)
Other versions
CN112026672A (en
Inventor
殷国栋
柏硕
庄伟超
耿可可
徐利伟
卢彦博
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Southeast University
Original Assignee
Southeast University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Southeast University filed Critical Southeast University
Priority to CN202010850348.5A priority Critical patent/CN112026672B/en
Publication of CN112026672A publication Critical patent/CN112026672A/en
Application granted granted Critical
Publication of CN112026672B publication Critical patent/CN112026672B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric 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
    • B60R16/02—Electric 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric 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
    • B60R16/02—Electric 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
    • B60R16/0207—Wire harnesses
    • B60R16/0215—Protecting, fastening and routing means therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric 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
    • B60R16/02—Electric 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
    • B60R16/023—Electric 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 provides a pure electric formula car complete vehicle electrical system which takes a main controller as a core and carries out data transmission based on a CAN bus. The driving system is driven by a rear wheel double motor; the battery and BMS management system detects signals such as current, voltage and temperature of the battery in real time, dynamically formulates a battery management strategy, and controls the battery to work under a proper working condition through means such as heat management, active equalization management, charge management and discharge management; the safety system detects the state of the racing car in real time, and cuts off all power sources if the state is abnormal; the control and data acquisition system is combined with signals such as a pedal angle sensor to obtain the driving intention of the racing car, finally, the control of a power system, high-voltage safety, hardware early warning protection and the like of the racing car is realized, and the problems of complex wiring harness arrangement, weak CAN signal anti-interference capability, poor robustness of an electrical system and the like of the electric racing car are solved.

Description

Electricelectric moves whole car electrical system of equation motorcycle race
Technical Field
The invention relates to a pure electric formula racing car, and belongs to the technical field of electric system control.
Background
The electric formula automobile competition (FSEC) of college students in China is sponsored by the society of automotive engineering in China, and is a car design and manufacture competition participated in by college students in college automotive engineering or related major of cars.
The electric formula racing car is more and more concerned due to excellent dynamic property, economical efficiency and environmental protection, an electric control system of the electric formula racing car is greatly different from a traditional fuel oil racing car, and an electric control strategy of the traditional fuel oil formula racing car cannot meet the requirement of the electric formula racing car. At present, the pure electric formula car in China has an application of an electric control system, and a control strategy mostly takes analog control as a main part, namely, a vehicle control unit controls a motor to rotate by collecting signals of various sensors such as an accelerator pedal and a brake pedal and combining BMS data detected in real time so as to provide driving force for the whole vehicle. However, the existing scheme has the following disadvantages: the hardware module of the whole car electrical system controller of the conventional electric formula car occupies a large space of the formula car, the wiring harness of the whole car is complex to arrange, and the car is difficult to maintain when the car breaks down. In addition, the meter display control system can provide less current information about the racing car, and the display control system is not programmable. The response speed of the racing car is low, the anti-interference capability of the CAN signal of the whole car is weak, and all functional modules of the racing car are dispersed on different PCB circuit boards, so that the robustness of the electric system of the whole car is poor.
Disclosure of Invention
The technical problem is as follows: the traditional whole car wiring harness of the electric formula car is complex in arrangement and difficult to maintain when a fault occurs, and functional modules of the electric formula car are dispersed on different PCB (printed circuit board) circuits, so that the robustness of a whole car control system is poor. In addition, the front ring instrument display control system of the traditional electric racing car cannot be programmed, and the racing car can display less state information in real time, which is not beneficial for a racer to judge the current running state of the racing car. In addition, the shielding layer of the CAN network line of the whole automobile of the traditional electric racing car has poor anti-interference capability and is easily interfered by other signals. The invention provides a whole electric system of an electric formula car, which solves the problems.
The technical scheme is as follows:
a pure electric formula car whole electric system is characterized in that data transmission is carried out based on a CAN bus, and the system comprises a main controller, a driving system, a battery and BMS management system, a safety system and a control and data acquisition system;
the main controller is responsible for comprehensively coordinating and controlling the operation parameters of the electric racing car;
the driving system is driven by a rear wheel double motor;
the battery and BMS management system detects current, voltage and temperature signals of the battery in real time, dynamically formulates a battery management strategy, and controls the battery to work under a proper working condition through heat management, active equalization management, charge management and discharge management;
the safety system detects the states of the driving system, the battery and the BMS management system in real time, and cuts off all power sources in time when the racing car breaks down;
the control and data acquisition system is connected with each sensor of the racing car, acquires the working state of each sensor in real time, analyzes to obtain the driving intention of the racing car, and controls the racing car to stably and efficiently run.
Preferably, the driving system mainly comprises a driving motor and a driving motor controller, and the motor controller are cooled by adopting a water cooling mode.
Preferably, the battery and BMS management system mainly comprises a power storage battery box, a power storage battery management system, a pre-charging loop and a discharging loop, wherein the power storage battery box consists of a battery pack formed by single units, an insulating relay, a cooling fan and a storage battery indicator, the power storage battery management system consists of a main control module BMU and a collection balancing module BSU, the main control module BMU is communicated with the whole vehicle controller through a CAN bus, and the battery state is displayed on a front ring instrument display control system in real time; the pre-charging loop carries out pre-charging through a pre-charging resistor and a pre-charging relay, and the discharging loop provides a path for discharging of the internal capacitor of the driver after the high voltage is cut off.
Preferably, the safety system comprises a safety system main switch, a fault protection module, a safety loop starting interlocking system, a hardware early warning and protection system and a high-voltage electric safety system; the safety system main switch comprises an inertia switch, an emergency stop switch, a brake overtravel switch and a TSMS driving system switch; the fault protection module comprises a BMS fault protection module, an IMD fault protection module and a brake reliability device protection module; the hardware early warning and protection system comprises a driving system activation indicator lamp and a start whistle driving circuit; the high-voltage electric safety system comprises a DC/DC conversion system, a high-voltage disconnecting device module and an auxiliary low-voltage anti-interference system; the safety system modules are connected in series and integrated on the PCB.
Preferably, the wiring harness arrangement of the whole vehicle is optimized, cables of the inertia switch, the emergency stop switch and the braking over-travel switch are arranged along the vehicle body, the corrugated pipe is adopted for sealing and is fixed on the tie seat, and the safety loop can be immediately cut off and directly cut off in case of emergency.
Preferably, the control and data acquisition system mainly comprises an energy meter, an accelerator pedal angle sensor, a brake pedal angle sensor, a steering wheel sensor, an acceleration sensor, a front ring instrument display control system and a thermal management system, wherein the pedal angle sensor uses an AD converter to condition and convert an analog signal into a digital signal so as to obtain the pedal stroke; the front ring instrument display control system is a programmable control system and is communicated with the BMS and the ECU by being mounted on the CAN bus, so that the current state of the racing car is displayed in real time; the heat management system adopts an air cooling mode to cool the system.
Has the advantages that:
the invention carries out modular control on the electric system of the whole automobile, is convenient to maintain when a fault occurs, and solves the problems of complex wiring harness arrangement of the electric racing automobile, weak CAN signal anti-interference capability, poor robustness of the electric system and the like. According to the invention, the cables of the inertia switch, the emergency stop switch and the brake overtravel switch are arranged along the vehicle body, and are sealed and fixed on the binding seat by the corrugated pipe, so that the wiring harness arrangement of the whole vehicle is optimized, and the wiring harness quality and the cost of the whole vehicle are effectively reduced. In addition, functional modules of the safety loop of the electric racing car are integrated on the PCB, so that the space and hardware cost of the whole car are saved, and the robustness of a control system of the whole car is improved. In the process of racing, the safety system of the racing car detects the state of the racing car in real time, and if the state of the racing car is abnormal, all power sources are cut off, so that the racing car can stably and efficiently run.
The front ring instrument display control system of the electric racing car is an integrated programmable control system, the page and the content of the display control system are controlled in a programmable mode, the display control system is communicated with the BMS and the ECU through being mounted on the CAN bus, states of the electric quantity of a battery, the voltage of the battery, the current speed of the car and the like are displayed in real time, and a racer CAN conveniently obtain the running state of the racing car in real time. In addition, the DC/DC conversion system of the racing car can convert high voltage into stable 24V low voltage for the control system to work, power is supplied to low-voltage modules such as circuit modules, indicator light modules and BMS on the car in the running process of the whole car, and meanwhile, the low-voltage battery is charged, so that the load pressure of the low-voltage battery is reduced. The whole vehicle CAN network cable adopts a double-layer shielding wire for anti-interference protection, and CAN conversion nodes are arranged to be far away from an interference source as far as possible, so that a common mode choke coil and a large current protector are added, and the anti-interference capability of a shielding layer is increased. And finally, analyzing and determining the maximum power supply time provided by the battery box for the driving system module through a middle loop voltage percentage equation and a middle loop current equation of the charging loop and a voltage current equation of the discharging loop, dynamically formulating a battery management strategy by combining the battery and a BMS management system to detect signals of the current, the voltage, the temperature and the like of the battery in real time, and controlling the battery to work in a proper working condition through means of thermal management, active equalization management, charging management, discharging management and the like.
Drawings
FIG. 1 is a hardware block diagram of a complete vehicle electrical system of the electric formula racing vehicle;
FIG. 2 is a schematic diagram of the working principle of the whole electric system of the electric formula racing car;
fig. 3emrax207 motor torque-speed diagram.
Detailed Description
Fig. 1 shows a hardware block diagram of a whole electric system of an electric formula car, which mainly comprises a driving system, a battery and BMS management system, a safety system and a control and data acquisition system, wherein the working principle of the whole electric system is as follows: the whole car takes a main controller as a core, and a real-time communication between the sensor and the main controller of the electric racing car is ensured based on the control mode of a CAN bus, and the main controller is responsible for comprehensively coordinating and controlling the running parameters of the electric racing car. The main switch of the safety system detects the on-off state of a safety loop, detects the current working state of a vehicle in real time, the control and data acquisition system judges the running state of the current racing car according to the collected signals of a wheel speed sensor, an acceleration sensor, a front ring instrument display control system and the like, the running intention of the racing car is obtained by combining the collected signals of a brake pedal angle sensor, an acceleration pedal angle sensor, a steering wheel sensor and the like, and a motor controller sends a torque control message to drive a motor, so that the running of the racing car is finished. In the process of racing, a fault protection module, a safety loop starting interlocking system, a hardware early warning and protection system and a high-voltage safety system of the safety system detect the state of the racing car in real time, and if the state of the racing car is abnormal, all power sources are cut off. The battery and BMS management system detects signals such as current, voltage and temperature of the battery in real time, dynamically formulates a battery management strategy, controls the battery to work under a proper working condition through means such as heat management, active equalization management, charge management and discharge management, and finally realizes power control, high-voltage safety control, energy control, hardware early warning protection control and heat management control of a power driving system of the electric formula racing car.
The working principle schematic diagram of the whole electric system of the electric formula car is shown in fig. 2.
1. Drive system
The driving system mainly comprises a driving motor and a driving motor controller, adopts a rear wheel double-motor driving scheme, and has the following main principles: the positive pole of the high-voltage storage battery is shunted after being HVD and is connected to the positive input end of the driver, the output end of the driver is a three-phase output end, the three-phase output end is connected with the corresponding terminal of the motor, namely the three-phase output end of the driver is respectively connected with the three-phase input end U, V, W of the motor, the motor position information is collected through a rotary encoder and is output to the feedback end of the driver, and finally the motor is driven to rotate. The vehicle control unit receives CAN message original data transmitted by the motor controller through a CAN protocol, so that the current rotating speed, current and torque of the motor are obtained.
(1) Driving a motor: the driving system comprises two driving motors, the driving motors adopt EMARAX207 three-phase alternating current permanent magnet synchronous motors, the motors are high in energy density and working efficiency, and the performance of the driving system is greatly improved. The motor has the peak power of 80kW, the input voltage of 360V and the rated torque of 80Nm, and the motor is cooled by adopting a water cooling mode.
(2) A drive motor controller: the drive system contains two drive motor controllers which are a unimocar-D3-400 and a 400-RS- (FU) controller from Unitek. The controller has high accuracy, can stably work under extreme working conditions, and has the functions of torque regulation, brake recovery and the like. The maximum continuous power of the controller is 80kW, the peak power is 160kW, the maximum input voltage is 400V, and the motor controller is cooled by adopting a water cooling mode.
In order to better complete the electric formula car race, the maximum power supply time provided by the battery box to the driving system module needs to be determined, and the specific calculation method is as follows: firstly, assuming that the average speed v of the formula car is 50km/h, the diameter d of the car wheel is 0.4572m, and the reduction ratio i of the speed reducer is 4:1, the average rotating speed n of the motor can be calculated by the following formula:
Figure BDA0002644528050000041
assuming a motor efficiency η of 95%, the emrax207 motor torque-speed diagram is shown in fig. 3. According to the power output curve of the motor, the input power of the motor is as follows:
Figure BDA0002644528050000042
in the formula, n is the average rotating speed of the motor, and T is the motor torque corresponding to the rotating speed.
Average power loss p of motor driverloss0.5kW, the overall capacity C of the battery is 6.66kWh, so the maximum power supply time of the battery is:
Figure BDA0002644528050000043
2. battery and BMS management system
The battery and BMS management system mainly comprises a power storage battery box, a power storage battery management system, a pre-charging loop and a discharging loop. The power storage battery pack is connected in a 96-string 7-parallel mode, the total number of battery monomers is 672, the total battery capacity is 17.5Ah, and the number of battery modules is 6, so that each module is less than 120VDC, and the rule requirement of the electric equation game is met. The rated voltage of the whole power storage battery pack is 345.6V, the maximum voltage is 403.2V, and the minimum voltage is 192V. The battery and BMS management system specifically includes the following:
(1) a power storage battery box: the power storage battery box is made of 45 steel materials through welding, and the interior of the battery box mainly comprises a battery pack formed by single units in a group, An Insulating Relay (AIR), a cooling fan and a storage battery indicator.
The battery pack is formed by single batteries. The power storage battery monomer adopts the lithium iron phosphate battery, is fixed in the battery box frame of 3D printing, has vertical baffle to keep apart two group battery between every group battery, and the monomer maximum voltage 4.2V of monomer battery who adopts, rated voltage 3.6V, minimum voltage 2.0V. The storage battery monomers are connected in series to form a group, the storage battery is connected to the BMS management system from the output end wiring of the storage battery, a bidirectional high-frequency switching power supply converter is controlled inside the BMS to discharge the battery with higher voltage, and the discharged energy is used for charging the monomer with lower voltage.
Secondly, two insulating relays (AIR) are arranged in the battery box, direct-current high-voltage relays are adopted, contacts are normally open contacts, and switching current in a normal state is 300A.
And the whole vehicle controller adjusts the fan speed in real time according to the collected battery temperature signal, and a PWM interface of the controller is connected with a control signal of the fan speed to convert the temperature signal of the battery temperature sensor into a PWM duty ratio so as to control the fan to rotate to cool the battery box.
And fourthly, the storage battery indicator uses a 24 indicator lamp as a high-voltage electrifying indicator lamp, is connected with the high-voltage end and the low-voltage end of the output of the insulating relay, and is additionally connected with a 15k omega cement resistor as a current-limiting resistor protection indicator lamp. When the safety loop is closed, the isolation relay (AIR) outputs HV + and HV-, respectively, at which time the indicator light is operated.
(2) Power battery management system: the system mainly comprises a main control module BMU and a collection balancing module BSU, wherein a power storage battery management system is communicated with a whole vehicle controller through a CAN bus and displays the battery state on a front ring instrument display control system. The acquisition equalization module BSU is composed of voltage, current and temperature acquisition sensors of the battery, and is used for networking and communicating acquired sensor data and the vehicle control unit through a CAN bus to finally complete the acquisition of battery state signals. The BMU carries out high-speed communication with the BSU through the CAN interface, dynamically formulates a battery management strategy through real-time acquisition and analysis of battery pack data, controls the battery to work under a proper working condition through means of heat management, active equalization management, charge management, discharge management, boundary management and the like, and simultaneously communicates with a racing car main controller. The working power supply of the power storage battery management system is 16-32V, and the temperature of the battery pack is-40-120 ℃.
(3) A precharge circuit. Pre-charging is required through a pre-charge resistor and a pre-charge relay before applying a high voltage to the driver input. The aluminum shell resistor is selected as the pre-charging resistor, the high-voltage direct-current relay is selected as the pre-charging relay, the lithium battery charger is adopted as the charger, the maximum charging power of the charger is 2kW, and the maximum charging voltage 389V is obtained. According to a basic formula of first-order RC circuit charging, an intermediate loop voltage percentage equation and an intermediate loop current equation are respectively as follows:
Figure BDA0002644528050000061
Figure BDA0002644528050000062
in the formula u0345.6V is taken for the output voltage of the battery at the moment of electrifying; u. ofcIs the intermediate loop voltage in the pre-charging process; i is the intermediate loop current in the pre-charging process; r is a pre-charging resistor, and the resistance value of the resistor is 200 omega; c is the driver capacitive load, and referring to the driver manual, the driver exhibits a capacitive load of about 800uF during precharging, so the driver capacitive load is taken to be 800 uF. The calculation shows that the input voltage of the driver can rise to more than 90% of the rated voltage within 0.3 s.
(4) A discharge circuit: because the driver internally comprises the capacitor with a large capacitance value, when the output of the high-voltage battery is disconnected, the voltage on the capacitor is not released by a proper path, so that the voltage of the high-voltage output end cannot be reduced quickly, a discharge loop is constructed, and the capacitor is discharged after the high voltage is disconnected. The voltage and current equations of the discharge loop are respectively:
Figure BDA0002644528050000063
Figure BDA0002644528050000064
in the formula u0345.6V is taken for the output voltage of the battery at the moment of discharging; r is a discharge resistor, the resistance value of the resistor is 1.5K omega, and C is a capacitive load of the driver and is 800 uF.
3. Security system
The safety system is used for detecting states of a driving system, a battery, a BMS management system and the like of the racing car in real time, can give an alarm and process in time when the racing car breaks down, and mainly comprises a main switch of the safety system, a fault protection module, a safety loop starting interlocking system, a hardware early warning and protection system and a high-voltage safety system. The safety system is characterized in that the modules are connected in series, and the main principle is as follows: the functional module of the safety circuit is integrated on the PCB circuit board, the safety circuit is connected in series with the interlocking device and the driving system main switch through the 3 emergency stop switches, the inertia switch, the brake overtravel switch and the high-voltage disconnecting device, then the safety circuit is connected into the battery box to be interlocked with the high-voltage plug outside the battery box, and finally the safety circuit returns to the circuit board to be grounded.
(1) A security system main switch: the system mainly comprises an inertia switch, an emergency stop switch, a brake overtravel switch and a TSMS driving system switch. The cables of the inertia switch, the emergency stop switch and the braking over-travel switch are arranged along the vehicle body, are sealed by corrugated pipes and are fixed on the binding seat, and can be immediately disconnected when an emergency occurs, so that the safety loop is directly turned off. The inertia switch is selected from a collision inertia switch, the switch is in a normally open state, and the braking overtravel switch is in a normally closed state. The TSMS driving system switch is a main switch for opening the safety loop, and the switch is in a normally open state.
(2) The fault protection module mainly comprises a BMS fault protection module, an IMD fault protection module and a brake reliability device protection module, and specifically comprises the following contents:
BMS fault protection module integration is on the PCB circuit board, and the BMS input passes through shielded cable and connects BMS's alarm signal output, when reporting to the police, makes the triode switch on through opto-coupler switch, and the collecting electrode and the projecting pole of triode establish ties with magnetic latching relay's coil, then insert between +5V voltage and the GND, relay work and disconnection safety circuit this moment, open the BMS alarm lamp simultaneously. When the fault is eliminated, the reset button is pressed, and the other circuit connected with the relay is conducted to reset the relay. The relay output is walked the line all the way in PCB inboard, inserts safety circuit, and another way is connected with the BMS alarm lamp.
The IMD fault protection module is integrated on the PCB circuit board, whether electric leakage occurs in the whole vehicle can be detected in real time, the IMD input end is connected with the alarm signal output end of the IMD through a shielded cable, when an alarm occurs, the triode is conducted through the optocoupler switch, the collector and the emitter of the triode are connected with the coil of the magnetic latching relay in series and then connected between +5V voltage and GND, the relay works and breaks a safety loop at the moment, and meanwhile, the IMD alarm lamp is turned on. When the fault is eliminated, the reset button is pressed, and the other circuit connected with the relay is conducted to reset the relay. The relay output end is arranged inside the PCB all the way, is connected with the safety circuit, and the other way is connected with the IMD alarm lamp.
And the braking reliability device protection module compares the signals of the two sensors with a preset threshold value through a comparator by acquiring a brake pedal angle signal detected by the angle sensor and a high-voltage system current signal detected by the Hall sensor, if the two signals are simultaneously greater than the threshold value, the conflict is shown, and a logic gate circuit outputs a control signal to drive the relay to break off the safety circuit.
(3) Safety loop start interlock system: the safety circuit starting interlocking module is integrated on the PCB, the input end of the safety circuit starting interlocking module is connected into the safety circuit, after the safety circuit is closed, the corresponding optical coupler device is controlled to be conducted, then the starting button is pressed, and the relay is started to work so that the racing car enters a state to be driven. If the safety loop is not closed, the optocoupler is disconnected, and the starting loop cannot be connected, so that the safety of the driving system is ensured.
(4) The hardware early warning and protection system mainly comprises a driving system activation indicator lamp and a starting whistle driving circuit, wherein sound of not less than 70dB needs to be emitted before the racing car is started to attract the attention of field personnel according to the requirements of the race rule, and the activation indicator lamp flickers at a frequency which can be noticed by human eyes when the racing car runs, so that the warning effect is achieved.
The driving system activation indicator lamp is integrated on a PCB circuit board, a multivibrator circuit is formed by adopting an analog circuit, and the activation indicator lamp is controlled by the on-off of a relay. The specific principle is as follows: the input end of the activation indicator lamp is connected with signals of the pre-charging relay, the main positive relay, the auxiliary contacts of the main negative relay and the voltage sensor, when one relay is closed or the voltage reaches 60VDC, the relay powered by the red indicator lamp is closed, and the power MOS tube with the cathode connected with the GND in series is continuously switched on and off under the action of 2.38Hz square waves sent by the 555 timer, so that the flickering effect is achieved. The control signal of the green indicating lamp is to connect the signal after the control system is switched on and off to the circuit board, and judge the control signal of the red indicating lamp, and the green indicating lamp is kept normally on when the control system is switched on and no red indicating lamp flicker signal exists.
Secondly, a start whistle driving circuit is integrated on the PCB, a monostable trigger is formed by adopting an analog circuit, and a buzzer is controlled by on-off of a relay. The specific principle is as follows: the input terminal of the start whistling driving circuit is connected to a start loop and connected with a start button, and meanwhile, a 24V power line is led out to supply power to the buzzer when the monostable state is triggered. When the safety circuit is conducted, the safety circuit is conducted with the interlocking circuit of the starting circuit, the starting button is pressed, the optical coupling switch is conducted, the 555 monostable trigger works, the output end outputs a square wave signal with the duration about 2s, the power MOS tube is driven to enable the two ends of the buzzer to be electrified, and the buzzer sounds about 2 s.
(5) The high-voltage electrical safety system mainly comprises a DC \ DC conversion system, a high-voltage disconnecting device module and an auxiliary low-voltage anti-interference system, and specifically comprises the following contents:
firstly, a DC/DC conversion system is fixed above a driver by means of a fixing support of the driver, can convert 300V-400V high voltage input by a high-voltage battery into stable 24V low voltage for a control system to work, supplies power to low-voltage modules such as circuit modules, indicator light modules and BMS on a vehicle in the running process of the whole vehicle, and simultaneously charges the low-voltage battery to reduce the load pressure of the low-voltage battery. The DC/DC conversion system is controlled by a safety loop, a relay is closed when the safety loop is communicated, and the DC/DC supplies power to the rear-end water pump, the cooling fan and the low-voltage power supply.
High-voltage disconnecting device module: the high-voltage disconnecting device module uses a high-voltage maintenance switch and is internally integrated with a high-voltage interlocking function. The high-voltage connection in the high-voltage disconnecting device and the safety circuit form interlocking, the high voltage cannot be output when the safety circuit is disconnected, and meanwhile, the safety circuit is automatically cut off after the connector is disconnected, so that the insulating relay in the battery box is cut off. The output high voltage of the battery box is connected to the positive input end of the driver and the HV + end on the DC \ DC after passing through the HVD.
Auxiliary low-voltage anti-interference system: the auxiliary low-voltage part communicates with various sensors, a master controller and a driver through a CAN network, and transmits a sensor control signal to the driver through the CAN network. Because the driving system has a large interference and influence on the low-voltage signal, the sensor signal needs to be subjected to signal control processing or torque correction through the main control, so that the interference of the driving system on the low-voltage part is reduced. The whole vehicle CAN communication is a junction for information exchange processing of racing vehicles, a CAN network cable adopts a double-layer shielding line to perform anti-interference protection, a CAN conversion node is arranged to be far away from an interference source as far as possible, and a common mode choke coil and a large current protector are added, so that the anti-interference capability of a shielding layer is increased.
4. Control and data acquisition system
The control and data acquisition system is connected with each sensor of the racing car and is used for acquiring the working state of each sensor. The intelligent control system mainly comprises an energy meter, an accelerator pedal angle sensor, a brake pedal angle sensor, a steering wheel sensor, an acceleration sensor, a front ring instrument display control system and a thermal management system, wherein a controller of the control system adopts a RapidECU-U2 controller of Huahai corporation.
The energy meter is arranged inside a box body on the upper side of the driver and is fixed in the box body through a threaded hole in the bottom. The energy meter is arranged between the battery and the controller and is connected with the positive electrode and the negative electrode of the battery through an M8 copper nose, and the low-voltage power supply supplies power to the energy meter through a Wilpu SP1310 plug.
Secondly, connecting an accelerator pedal angle sensor with an ADC (analog to digital converter) sampling channel of the vehicle controller, acquiring a differential signal of an accelerator pedal displacement sensor through an AD sampling module, conditioning and converting an analog signal of the accelerator pedal sensor into a digital signal by using an AD converter, and calculating to obtain the corresponding stroke of the accelerator pedal;
connecting a switch signal and a brake oil pressure sensor signal of a brake pedal with an ADC (analog to digital converter) sampling channel of the whole vehicle controller by using the brake pedal angle sensor, acquiring a differential signal of a brake pedal displacement sensor by using an AD sampling module, conditioning and converting an analog signal of the brake pedal sensor into a digital signal by using an AD converter, so as to calculate and obtain the corresponding stroke of the brake pedal, and correspondingly adjusting the signal input of the whole vehicle controller to the motor controller to complete the deceleration or parking of the racing car;
fourthly, the steering wheel sensor and the acceleration sensor output CAN signals and are directly connected into a CAN network;
the front ring instrument display control system is an integrated programmable control system, the page and content of the display control system are controlled in a programmable mode, the display control system is communicated with the BMS and the ECU through being mounted on the CAN bus, the current state of the racing car is displayed in real time, and the page content mainly comprises information such as battery capacity, battery voltage, battery current, motor controller temperature and current car speed.
And sixthly, the heat management system is cooled in an air cooling mode, the main controller of the whole car adjusts the fan speed in real time according to the temperature of the motor and the motor controller and the current state of the racing car, a control signal of the fan speed is connected with a PWM (pulse width modulation) port of the main controller, and a temperature signal of the motor temperature sensor is converted into a PWM duty ratio, so that the fan is controlled to rotate to cool.

Claims (8)

1. A pure electric formula car whole electric system is characterized in that data transmission is carried out based on a CAN bus, and the system comprises a main controller, a driving system, a battery and BMS management system, a safety system and a control and data acquisition system;
the main controller is responsible for comprehensively coordinating and controlling the operation parameters of the electric racing car;
the driving system is driven by a rear wheel double motor;
the battery and BMS management system detects current, voltage and temperature signals of the battery in real time, dynamically formulates a battery management strategy, and controls the battery to work under a proper working condition through heat management, active equalization management, charge management and discharge management;
the safety system detects the states of the driving system, the battery and the BMS management system in real time, and cuts off all power sources in time when the racing car breaks down;
the safety system comprises a safety system main switch, a fault protection module, a safety loop starting interlocking system, a hardware early warning and protection system and a high-voltage safety system; the safety system main switch comprises an inertia switch, an emergency stop switch, a brake overtravel switch and a TSMS driving system switch; the fault protection module comprises a BMS fault protection module, an IMD fault protection module and a brake reliability device protection module; the hardware early warning and protection system comprises a driving system activation indicator lamp and a start whistle driving circuit; the high-voltage electric safety system comprises a DC/DC conversion system, a high-voltage disconnecting device module and an auxiliary low-voltage anti-interference system; all modules of the safety system are connected in series and integrated on the PCB;
the control and data acquisition system is connected with each sensor of the racing car, acquires the working state of each sensor in real time, analyzes to obtain the driving intention of the racing car, and controls the racing car to stably and efficiently run.
2. The electric system of claim 1, wherein the driving system mainly comprises a driving motor and a driving motor controller, and the motor controller are cooled by water cooling.
3. The electric system of claim 1, wherein the battery and BMS management system mainly comprises a power battery box, a power battery management system, a pre-charging circuit, and a discharging circuit, wherein the power battery box comprises a battery pack, an insulating relay, a cooling fan, and a battery indicator, the power battery management system comprises a BMU (main control unit) and a BSU (acquisition and equalization unit), and is in communication with the vehicle control unit through a CAN bus, and a battery status is displayed on the front ring instrument display control system in real time; the pre-charging loop carries out pre-charging through a pre-charging resistor and a pre-charging relay, and the discharging loop provides a path for discharging of the internal capacitor of the driver after the high voltage is cut off.
4. The electric system of claim 3, wherein the BSU comprises sensors for collecting voltage, current and temperature of the battery, and the collected sensor data and the main controller are networked via the CAN bus to finally complete the collection of the battery status signal.
5. The electric system of claim 3, wherein the BMU communicates with the BSU at high speed through the CAN interface, dynamically establishes a battery management strategy through real-time collection and analysis of battery pack data, controls the battery to work under appropriate conditions through heat management, active equalization management, charge management, discharge management and boundary management, and communicates with the racing car main controller.
6. The electric system of claim 1, wherein the wiring harness layout of the whole car is optimized, and the cables of the inertia switch, the emergency stop switch and the brake overtravel switch are arranged along the car body, sealed by corrugated pipes and fixed on the tie seat, and can be immediately disconnected in case of emergency, and the safety circuit is directly turned off.
7. The electric system of the full electric equation racing car as a whole of claim 1, wherein the control and data acquisition system mainly comprises an energy meter, an accelerator pedal angle sensor, a brake pedal angle sensor, a steering wheel sensor, an acceleration sensor, a front ring instrument display control system and a thermal management system, wherein the pedal angle sensor conditions and converts an analog signal into a digital signal by using an AD converter, so as to obtain the pedal stroke; the front ring instrument display control system is a programmable control system and is communicated with the BMS and the ECU by being mounted on the CAN bus, so that the current state of the racing car is displayed in real time; the heat management system adopts an air cooling mode to cool the system.
8. The electric system of claim 1, wherein the CAN network cable of the entire car is protected against interference by a double-layer shielding wire, and the CAN switching node is located as far away from an interference source as possible.
CN202010850348.5A 2020-08-21 2020-08-21 Electricelectric moves whole car electrical system of equation motorcycle race Active CN112026672B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010850348.5A CN112026672B (en) 2020-08-21 2020-08-21 Electricelectric moves whole car electrical system of equation motorcycle race

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010850348.5A CN112026672B (en) 2020-08-21 2020-08-21 Electricelectric moves whole car electrical system of equation motorcycle race

Publications (2)

Publication Number Publication Date
CN112026672A CN112026672A (en) 2020-12-04
CN112026672B true CN112026672B (en) 2021-05-14

Family

ID=73581830

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010850348.5A Active CN112026672B (en) 2020-08-21 2020-08-21 Electricelectric moves whole car electrical system of equation motorcycle race

Country Status (1)

Country Link
CN (1) CN112026672B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113031573A (en) * 2021-04-16 2021-06-25 张瀚祺 FSAC unmanned racing car data acquisition monitoring system based on internet
CN113511105A (en) * 2021-07-28 2021-10-19 广东工业大学 Battery charging protection system and method based on FSAE racing car

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103640534A (en) * 2013-12-19 2014-03-19 西华大学 Complete car control system of formula student full electrical sports car
KR20170068700A (en) * 2015-12-09 2017-06-20 현대자동차주식회사 Method for controlling start of fuelcell vehicle
CN107168289A (en) * 2017-06-02 2017-09-15 重庆大学 A kind of entire car controller of pure electronic equation motorcycle race
CN207190808U (en) * 2017-07-19 2018-04-06 福州大学 A kind of vehicle electric-control system of the electronic equation motorcycle race of university student

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200473133Y1 (en) * 2008-12-29 2014-06-13 대성전기공업 주식회사 Vehicular junction box

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103640534A (en) * 2013-12-19 2014-03-19 西华大学 Complete car control system of formula student full electrical sports car
KR20170068700A (en) * 2015-12-09 2017-06-20 현대자동차주식회사 Method for controlling start of fuelcell vehicle
CN107168289A (en) * 2017-06-02 2017-09-15 重庆大学 A kind of entire car controller of pure electronic equation motorcycle race
CN207190808U (en) * 2017-07-19 2018-04-06 福州大学 A kind of vehicle electric-control system of the electronic equation motorcycle race of university student

Also Published As

Publication number Publication date
CN112026672A (en) 2020-12-04

Similar Documents

Publication Publication Date Title
CN107117067B (en) A kind of electric sanitation vehicle control
CN103991386B (en) A kind of stroke-increasing electric automobile whole-control system and control method
CN103770660B (en) A kind of explosion-proof pure electric vehicle for coal mine operation
CN112026672B (en) Electricelectric moves whole car electrical system of equation motorcycle race
CN205149563U (en) Pure electric vehicles control system
US11077760B2 (en) Precharging for direct current fast charging
CN202016445U (en) Finished vehicle controller for electric vehicle
WO2011130885A1 (en) Whole-vehicle integrated control system for mini electric car
CN102054379B (en) Environment-friendly motor-driven coach car for driving schools
CN101722859A (en) High-voltage safety system of hybrid electric vehicle
CN106427638A (en) Intelligent power distribution quick charger and control method thereof
CN106347169A (en) Distributed four-wheel drive pure electric vehicle electrical system
KR20170123651A (en) Hybrid electric vehicle, drive control method of hybrid electric vehicle, and drive control device
CN102167001A (en) Controller for electric vehicle
CN111071067B (en) Whole control system of pure electric vehicle
WO2010111881A1 (en) Power system for hybrid automobile and control method thereof
CN103097174A (en) Vehicle, charging system, and method for controlling vehicle
CN108790827A (en) A kind of pure electric vehicle vehicle high-voltage interlocking control method
CN106627203A (en) Pure electric sanitation vehicle on-board power source system
CN104015623B (en) Vehicle control system of blade electric vehicle and blade electric vehicle structure
CN108859766A (en) Four-wheel hub motor hybrid vehicle fault co-ordination control method
CN203902308U (en) Vehicle control system and vehicle structure of pure electric vehicle
CN111409471A (en) Torque control method of four-wheel drive electric automobile
CN107351688B (en) Driving strategy of university student electric formula car and electric control system thereof
CN110562094A (en) locomotive electrical system and battery pack charging and discharging method thereof

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant