CN113246732A - Control method, readable storage medium and controller - Google Patents
Control method, readable storage medium and controller Download PDFInfo
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- CN113246732A CN113246732A CN202110593279.9A CN202110593279A CN113246732A CN 113246732 A CN113246732 A CN 113246732A CN 202110593279 A CN202110593279 A CN 202110593279A CN 113246732 A CN113246732 A CN 113246732A
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- 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
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
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- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- 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
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
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- 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
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a control method, a readable storage medium and a controller. Wherein the control method comprises the following steps: obtaining an abnormal state based on the monitoring signal; and if the abnormal state represents that the monitoring link is abnormal and the abnormal state does not violate the safety target, taking a preset measure to maintain the current working state of the monitored object. And when the safety risk of the current abnormal state is judged not to be high, the current working state of the monitored object is maintained. The problem that the control method in the prior art can trigger unnecessary safety measures such as shutdown under partial abnormal working conditions is solved.
Description
Technical Field
The invention relates to the field of automation control, in particular to a control method, a readable storage medium and a controller.
Background
The motor controller is used as a core part of a new energy automobile and needs to meet the safety requirements provided by the national standard of functional safety GBT 34590. The most important safety objective of a motor controller is to avoid undesirable torque, typically to achieve ASIL C. The torque safety is to avoid the torque actually output by a Power Electronics Unit (PEU) from being inconsistent with the torque output by the desired PEU of the whole vehicle, so that the torque output by the PEU needs to be observed in real time. One common method of calculating torque is:
wherein T isrqIs the torque (Nm), n is the rotational speed (rad/s), PwrIs the output power, PlossThe power loss is represented, U and i are phase voltage and phase current, and k is 0,1 and 2, which respectively represent the three phases of U, V and W.
The phase voltage is obtained by a six-path three-phase PWM (Pulse Width Modulation) duty ratio outputted from the motor controller and a dc bus voltage. As shown in fig. 1, fig. 1 is a schematic signal transmission diagram of a control method of a three-phase motor, and functional layer software calculates and outputs a PWM duty ratio in real time according to control logics such as a current closed loop and a rotational speed closed loop, and inputs the PWM duty ratio to a gate driving circuit to control an inverter through an external processing unit (generally including functions such as dead zone compensation check and hardware fault summary) such as a CPLD (Complex Programmable Logic Device), so as to drive the motor to rotate. And the function monitoring layer software reads back the PWM duty ratio from the output end of the CPLD so as to calculate the actual torque.
It can be seen that the monitoring link is designed to monitor for failure of the external processing unit. However, the failure of the monitoring link does not affect the output of the torque, but only the calculation of the actual output torque by the functional monitoring layer, and the torque comparison abnormal condition cuts off the torque output of the electric drive system. This monitoring strategy is satisfactory for torque safety requirements, but does not mean that the torque output must be shut off in order to achieve torque safety. Because the torque output link is in fact normal, the torque output is cut off, which in turn can cause significant distress to the driver (e.g., sudden loss of power at high speeds).
Similar problems exist for other forms of electromechanical devices.
In a word, in the control method in the prior art, when an abnormality occurs, it is difficult to distinguish whether a specific position of the abnormality is a monitoring link or a monitored object, so that unnecessary safety measures such as shutdown are triggered under partial working conditions, efficiency is reduced, and troubles are easily caused to operators of equipment.
Disclosure of Invention
The invention provides a control method, a readable storage medium and a controller, which aim to solve the problems that when an abnormality occurs, the specific position of the abnormality is difficult to distinguish whether a monitoring link or a monitored object, so that unnecessary safety measures such as shutdown and the like are triggered under partial working conditions, the efficiency is reduced, and troubles are easily caused to operators of equipment in the control method in the prior art.
In order to solve the above technical problem, according to a first aspect of the present invention, there is provided a control method including:
obtaining an abnormal state based on the monitoring signal; and the number of the first and second groups,
if the abnormal state represents that the monitoring link is abnormal and the abnormal state does not violate the safety target, a preset measure is taken to maintain the current working state of the monitored object.
Optionally, after obtaining the abnormal state, the control method further includes: and if the abnormal state represents that the monitored object has abnormality or the abnormal state violates a safety target, cutting off the output of the monitored object.
Optionally, the control method is applied to a vehicle, and the preset measure includes activating a limp home mode corresponding to the monitored object or replacing the monitoring signal returned by the abnormal portion of the monitoring link with a control target value of the monitored object.
Optionally, the step of obtaining the abnormal state includes: and obtaining the abnormal state according to the feedback signal of the post-stage processing unit of the monitored object.
Optionally, the monitored object is a power system, the power system includes a three-phase motor and a processing unit, the monitoring signal includes an actual read-back duty ratio of a driving signal of each phase of the three-phase motor, and the processing unit outputs the driving signal of the three-phase motor based on a required torque of the power system.
Optionally, the step of obtaining the abnormal state includes:
replacing the actual read-back duty ratio of the driving signal of the corresponding phase in the monitoring signal by the output duty ratio of the driving signal of at least one phase to obtain a correction signal;
obtaining a correction output torque of the power system according to the correction signal; and the number of the first and second groups,
the abnormal state is obtained based on a difference between the corrected output torque and the required torque.
Optionally, the step of obtaining the abnormal state includes:
s101: sequentially replacing the actual readback duty ratio of the driving signals of the corresponding phase in the monitoring signals by the output duty ratio signals of the driving signals of each phase according to a preset sequence to obtain correction signals;
after each step S101, obtaining the corrected output torque of the power system according to the correction signal; judging based on the difference value between the corrected output torque and the required torque, if the abnormal state can be obtained by the current information, obtaining the abnormal state and finishing the step of obtaining the abnormal state; if the current information cannot obtain the abnormal state, the next corresponding step S101 is switched to.
Wherein the preset sequence is obtained based on a failure rate of the monitored link of each phase.
Optionally, the step of deriving the abnormal state based on the difference between the corrected output torque and the required torque includes: and if the difference value between the corrected output torque and the required torque is smaller than a preset difference value, the abnormal state represents that an abnormality exists in a monitoring link and does not violate a safety target.
Optionally, the preset measures include: and replacing the actual read-back duty ratio of the driving signal of the corresponding phase in the monitoring signal by the output duty ratio of the driving signal of the phase with the abnormality.
In order to solve the above technical problem, according to a second aspect of the present invention, there is provided a readable storage medium storing a program which, when executed, executes the above control method.
In order to solve the above technical problem, according to a third aspect of the present invention, there is provided a controller for obtaining an abnormal state based on a monitor signal; and if the abnormal state represents that the monitoring link has abnormality and the abnormal state does not violate the safety target, taking a preset measure to maintain the current working state of the monitored object.
Compared with the prior art, in the control method, the readable storage medium and the controller provided by the invention, the control method comprises the following steps: obtaining an abnormal state based on the monitoring signal; and if the abnormal state represents that the monitoring link is abnormal and the abnormal state does not violate the safety target, taking a preset measure to maintain the current working state of the monitored object. And when the safety risk of the current abnormal state is judged not to be high, the current working state of the monitored object is maintained. The problem that the control method in the prior art can trigger unnecessary safety measures such as shutdown under partial abnormal working conditions is solved.
Drawings
It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:
FIG. 1 is a signal transmission diagram of a control method of a three-phase motor;
FIG. 2 is a flow chart illustrating a control method according to an embodiment of the present invention;
FIG. 3 is a signal transmission diagram illustrating a control method according to an embodiment of the present invention;
FIG. 4 is a flow chart schematic of a control method of the present invention as applied to an embodiment of a powertrain having a three-phase electric machine;
fig. 5 is a signal transmission diagram of the control method shown in fig. 4.
Detailed Description
To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.
As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a" and "an" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "proximal end" and "distal end" generally refer to the corresponding two parts, which include not only the end points, but also the terms "mounted", "connected" and "connected" should be understood broadly, e.g., as a fixed connection, as a detachable connection, or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The core idea of the invention is to provide a control method, a readable storage medium and a controller, so as to solve the problems that when an abnormality occurs, it is difficult to distinguish whether a specific position of the abnormality is a monitoring link or a monitored object, thereby causing unnecessary shutdown and other safety measures to be triggered under partial working conditions, reducing efficiency and easily causing troubles to operators of equipment in the control method in the prior art.
The following description refers to the accompanying drawings.
Referring to fig. 2 to 5, fig. 2 is a schematic flow chart illustrating a control method according to an embodiment of the invention; FIG. 3 is a signal transmission diagram illustrating a control method according to an embodiment of the present invention; FIG. 4 is a flow chart schematic of a control method of the present invention as applied to an embodiment of a powertrain having a three-phase electric machine; fig. 5 is a signal transmission diagram of the control method shown in fig. 4.
As shown in fig. 2, in an embodiment, the control method includes:
s10 obtaining an abnormal state based on the monitoring signal;
s20, if the abnormal state represents that the monitoring link is abnormal and the abnormal state does not violate the safety target, taking a preset measure to maintain the current working state of the monitored object; and the number of the first and second groups,
s30, if the abnormal state represents that the monitored object has abnormality or the abnormal state violates the safety target, cutting off the output of the monitored object.
In step S20, the control method specifically analyzes the abnormal state, and maintains the current operating state of the monitored object when it is determined that the current abnormal state is not at a high safety risk. The control method can convert part of working conditions needing to be stopped in the prior art into the working conditions without intervening the current working state, and has better effect.
It is to be understood that the control method is triggered when the monitoring signal feedback is abnormal. For example, the method is triggered when the difference between the required torque of a motor and the actual output torque obtained by inverse calculation of the monitoring signal is large. When the trigger exception occurs, it may be that the current device is actually running and an exception occurs only in the monitoring link of the monitoring signal. In different embodiments, the value range of the abnormal state may be selected in various ways, which are listed as follows: { monitoring link exists an anomaly and does not violate a security objective, other }, { monitoring link exists an anomaly and does not violate a security objective, monitoring link exists an anomaly and violates a security objective, monitored object exists an anomaly, it cannot be determined where an anomaly exists currently when a current state violates a security objective, other }, and so on. The value ranges may be set according to actual safety requirements and hardware costs, and may be capable of working in cooperation with the control method.
It can be understood that, when a preset measure is taken to maintain the current working state of the monitored object, generally speaking, the operation safety level of the monitored object is reduced, but through the preset measure, the monitored object can still be ensured to work normally (the normal work here should not be understood to be equivalent to working in an optimal state). In some embodiments, while maintaining the current working state of the monitored object, the control method further comprises sending an alarm signal to prompt an operator to troubleshoot the fault.
Step S30 ensures that in an unsafe situation, the control method can still adopt a shutdown strategy, sacrificing efficiency to ensure safety.
The logic for determining the abnormal state may be set according to a specific practice. Referring to fig. 3, in fig. 3, the monitored unit may be understood as a link covered by the monitoring mechanism, such as a CPLD, and the like, and the post-stage processing unit may be understood as an output link of an inverter, a motor, and the like, and a feedback link of a current sensor, a position sensor, and the like. The failure of the monitored unit is a violation of the security objective because it directly affects the output link, but the failure of the monitoring link does not directly violate the security objective. If the feedback is normal after the monitoring link is replaced, the function realization link is normal, and only the monitoring link fails. Namely, the step of obtaining the abnormal state includes: and obtaining the abnormal state according to the feedback signal of the post-stage processing unit of the monitored object. It is to be understood that in other embodiments, feedback from a post-processing unit may not be required, and the abnormal state may be determined only by a specific logic calculation. The control method shown in fig. 3 is only one possible embodiment. For example, the signal returned by the post-processing unit may be a signal of a sensor of the motor.
When the control method is applied to a vehicle, different preset measures can be designed according to the specific working principle of the monitored object, and if the monitoring link is in a double-point mode (i.e. in the case of neglecting readback monitoring, the monitored unit does not have any safety mechanism), the preset measures comprise activating a limp-home mode corresponding to the monitored object. If the monitored link itself is in a multi-point mode (i.e. if the monitored link itself fails as a security mechanism, the security mechanism can still ensure that the security objective is not violated; for example, if one phase of the read-back link fails, the other two phases can also ensure that the security risk is identified and responded to), the preset measures include that the control objective value of the monitored object replaces the abnormal part in the monitoring signal. The replaced monitoring signal is used for participating in logic operation necessary for running of the equipment. The details of the implementation of the monitoring link in the multipoint mode can be understood with reference to the following contents of the present specification.
In one embodiment, the monitored object is a power system including a three-phase motor and a processing unit, the monitoring signal includes an actual read-back duty ratio signal of a driving signal of each phase of the three-phase motor, and the processing unit outputs the driving signal of the three-phase motor based on a required torque of the power system.
The control method comprises the following steps:
s11 replacing the actual duty ratio signal of the driving current of the corresponding phase in the monitoring signal with the required duty ratio signal of the driving current of at least one phase to obtain a correction signal;
s12, obtaining the corrected output torque of the power system according to the correction signal; and the number of the first and second groups,
s13 finds the abnormal state based on the difference between the corrected output torque and the required torque, and proceeds to the subsequent steps based on the abnormal state.
It should be understood that the specific method for calculating the corrected output torque in step S12 may be set according to specific requirements, for example, whether the torque loss needs to be subtracted, whether the parameter correction needs to be performed, etc., and will not be described in detail herein. In one embodiment, the corrected output torque is calculated using the formula in the background of this specification.
There are various specific schemes for step S11, such as:
replacing only one phase; replacing two or three phases, wherein each phase is replaced independently during replacement; simultaneous substitution of two or three phases, combinations of the above, and the like.
The inventor analyzes the historical operation data of the power system, and finds that the fault rates of three phases are different due to the influence of the connection mode of the three-phase motor, so the inventor provides the following preferred embodiment.
Referring to fig. 4, in the present embodiment, the control method includes:
s101, sequentially replacing the actual read-back duty ratio of the driving signal of the corresponding phase in the monitoring signal by the output duty ratio of the driving signal of each phase according to a preset sequence to obtain a correction signal; the preset sequence is obtained based on the failure rate of the monitored link of each phase.
S102, after each step S101, obtaining a corrected output torque of the power system according to the correction signal, judging based on a difference value between the corrected output torque and the required torque, and if the abnormal state can be obtained according to the current information, obtaining the abnormal state and finishing the step of obtaining the abnormal state; if the current information can not obtain the abnormal state, switching to the next corresponding step S101;
s103, if the difference value between the current corresponding corrected output torque and the required torque is smaller than a preset difference value, replacing the actual read-back duty ratio of the corresponding phase of the driving signal in the monitoring signal with the output duty ratio of the current phase of the driving signal; and if the difference values of the corrected output torque and the required torque corresponding to the three phases are larger than a preset difference value, cutting off the output of the power system.
When the difference between the corrected output torque and the required torque is greater than or equal to the preset difference in step S103, the actual situation may still be that the monitoring link has a problem, but in the present embodiment, this state is considered as a violation of the safety target, and therefore, the manner of cutting off the output of the controlled object, that is, cutting off the output torques of the three motors, is still adopted. The specific cut-off mode, such as power cut, or disconnection of a link in the power train, or other methods, may be set by those skilled in the art according to actual needs, and will not be described in detail in this embodiment.
In step S103, the preset measure is that the required duty ratio signal of the driving current of the phase with the abnormality replaces the actual read-back duty ratio signal of the driving current of the corresponding phase in the monitoring signal. The subsequent signals can still participate in judging whether the processing units of the three motors are abnormal or not.
The control flow of the embodiment shown in fig. 4 can also be understood by referring to fig. 5, and assuming that the phase with the abnormality is the U-phase, the control method cuts off the actual read-back duty ratio signal of the U-phase (it should be understood that, in different embodiments, the phase with the abnormality may also be the V-phase or the W-phase), and replaces the actual read-back duty ratio signal with the output duty ratio signal of the driving signal output by the functional layer.
It should be understood that the above-mentioned scheme is designed based on the rule obtained by the inventor summarizing the operation data of the existing equipment. Firstly, the monitoring link of the specific phase is more prone to accidents (which is related to the hardware structure in this embodiment), so that the replacement check is performed according to the preset sequence, and the step of obtaining the abnormal state is immediately finished after obtaining the abnormal state, so that the judgment process can be shortened (because, in most cases, if there is an abnormality, the specific phase is abnormal), and the real-time performance of the control method is improved; secondly, the probability of failure of the monitoring link of only one phase is higher, and the scheme of replacing two phases at the same time is also not considered because the transmission of the remaining two-phase signal in three phases still covers the monitoring link. If only the single-phase duty cycle is switched, the abnormality of the torque comparison can be corrected, which indicates that the path passing through the CPLD is normal, because the two remaining phases can be redundant with each other. If two phases are replaced simultaneously, the remaining phase is not sufficient to justify the external processing unit and the PWM output of one of the control algorithms is itself either constantly high or constantly low. Therefore, if two-phase or even three-phase monitoring link is abnormal, the safety cannot be ensured. Therefore, when two phases are suspected to have an abnormality, a strategy for prohibiting power output is selected without considering whether the target of the abnormality is to monitor a link or a monitored object, and the safety is higher.
It can be estimated from the historical data of a vehicle that if the vehicle is provided with this embodiment, it is expected that customer complaints of about 21% (less than 6 kilometers) and 45% (6-12 kilometers) can be avoided, the amount of claims is reduced, and the customer's confidence in the product quality can be enhanced.
The embodiment also provides a readable storage medium, which stores a program, and when the program runs, the control method is executed.
The embodiment also provides a controller, wherein the controller is used for obtaining the abnormal state based on the monitoring signal; and if the abnormal state represents that the monitoring link has abnormality and the abnormal state does not violate the safety target, taking a preset measure to maintain the current working state of the monitored object.
The readable storage medium and the controller are also designed based on the same idea, and therefore have the advantage of reducing the triggering of unnecessary shutdown.
In summary, in the control method, the readable storage medium and the controller provided by the present invention, the control method includes: obtaining an abnormal state based on the monitoring signal; and if the abnormal state represents that the monitoring link is abnormal and the abnormal state does not violate the safety target, taking a preset measure to maintain the current working state of the monitored object. And when the safety risk of the current abnormal state is judged not to be high, the current working state of the monitored object is maintained. The problem that the control method in the prior art can trigger unnecessary safety measures such as shutdown under partial abnormal working conditions is solved.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art according to the above disclosure are within the scope of the present invention.
Claims (11)
1. A control method, characterized in that the control method comprises:
obtaining an abnormal state based on the monitoring signal; and the number of the first and second groups,
if the abnormal state represents that the monitoring link is abnormal and the abnormal state does not violate the safety target, a preset measure is taken to maintain the current working state of the monitored object.
2. The control method according to claim 1, characterized in that after the abnormal state is obtained, the control method further comprises:
and if the abnormal state represents that the monitored object has abnormality or the abnormal state violates a safety target, cutting off the output of the monitored object.
3. The control method according to claim 1 or 2, wherein the control method is applied to a vehicle, and the preset measure includes activating a limp home mode corresponding to the monitored object or replacing the monitoring signal returned by the abnormal portion of the monitoring link with a control target value of the monitored object.
4. The control method according to claim 1 or 2, characterized in that the step of obtaining the abnormal state includes: and obtaining the abnormal state according to the feedback signal of the post-stage processing unit of the monitored object.
5. The control method according to claim 1 or 2, wherein the monitored object is a power system including a three-phase motor and a processing unit, the monitor signal includes an actual read-back duty ratio of a drive signal of each phase of the three-phase motor, and the processing unit outputs the drive signal of the three-phase motor based on a required torque of the power system.
6. The control method according to claim 5, wherein the step of obtaining the abnormal state includes:
replacing the actual read-back duty ratio of the driving signal of the corresponding phase in the monitoring signal by the output duty ratio of the driving signal of at least one phase to obtain a correction signal;
obtaining a correction output torque of the power system according to the correction signal; and the number of the first and second groups,
the abnormal state is obtained based on a difference between the corrected output torque and the required torque.
7. The control method according to claim 5, wherein the step of obtaining the abnormal state includes:
s101: sequentially replacing the actual readback duty ratio of the driving signals of the corresponding phase in the monitoring signals by the output duty ratio of the driving signals of each phase according to a preset sequence to obtain the correction signals;
after each step S101, obtaining a corrected output torque of the power system according to the correction signal, judging based on a difference value between the corrected output torque and the required torque, and if the abnormal state can be obtained according to the current information, obtaining the abnormal state and finishing the step of obtaining the abnormal state; if the current information can not obtain the abnormal state, switching to the next corresponding step S101;
wherein the preset sequence is obtained based on a failure rate of the monitored link of each phase.
8. The control method according to claim 7, wherein the step of deriving the abnormal state based on the difference between the corrected output torque and the required torque includes:
and if the difference value between the corrected output torque and the required torque is smaller than a preset difference value, the abnormal state represents that an abnormality exists in a monitoring link and does not violate a safety target.
9. The control method according to claim 8, characterized in that the preset measure comprises: and replacing the actual read-back duty ratio of the driving signal of the corresponding phase in the monitoring signal by the output duty ratio of the driving signal of the phase with the abnormality.
10. A readable storage medium, characterized in that it stores a program which, when executed, performs the control method according to any one of claims 1 to 9.
11. A controller, wherein the controller is configured to derive an abnormal state based on a monitor signal; and if the abnormal state represents that the monitoring link has abnormality and the abnormal state does not violate the safety target, taking a preset measure to maintain the current working state of the monitored object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110593279.9A CN113246732B (en) | 2021-05-28 | 2021-05-28 | Control method, readable storage medium and controller |
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| CN113525103A (en) * | 2021-08-17 | 2021-10-22 | 上海洛轲智能科技有限公司 | Control method and device for limp mode of electric automobile, electronic equipment and medium |
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| CN113246732B (en) | 2022-11-29 |
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