CN115453955A - Distributed drive vehicle motor controller message identifier automatic identification and distribution method - Google Patents

Abstract

The invention discloses a distributed automatic identification and distribution method for message identifiers of a motor controller of a driving vehicle. Wherein, the method comprises the following steps: according to the number of the motor controllers, adding a corresponding number of hard-wire signal wires on the motor controllers; connecting corresponding pins of the hardware signal lines with high and low level signals, and using different numbers obtained through high and low level signal combination processing as identification signals corresponding to message identifiers of the motor controllers at different positions; and identifying message identifiers required to be sent by the motor controllers at different positions according to the identification signals. According to the technical scheme, the hard wire identification signal wire is applied to the bottom layer software of the motor controller as the message identifier identification signal, so that the purposes of automatically controlling motors installed at different positions and automatically identifying and distributing CAN ID (controller area network ID) are achieved by only writing one set of motor control software, and the working efficiency of engineers is greatly improved.

Description

Distributed drive vehicle motor controller message identifier automatic identification and distribution method

technical field

Embodiments of the present invention relate to the technical field of distributed drive vehicles, and in particular to a method for automatically identifying and assigning message identifiers of motor controllers of distributed drive vehicles.

Background technique

With the rise of the popularity of skateboard chassis, more and more companies have realized the advantages of distributed drives compared with centralized drives, and have carried out corresponding product development.

At present, most distributed drive vehicles are equipped with more than one motor controller. Therefore, in order to prevent the repetition of message identifiers (CAN ID) sent by different motor controllers, it is necessary to perform different software flashing or programming for different motor electronic controls. Calibration, to assign the corresponding CAN ID. Especially for a distributed vehicle equipped with more motors and electronic controls, if different software flashes or calibrations are performed for different motors and electronic controls, not only will engineers need to spend more time to complete the work during the actual vehicle debugging process, Moreover, it is easy to neglect or forget the CAN ID corresponding to the electric control of different positions of the motor, resulting in software flashing or calibration errors, which not only wastes more time, but also increases the difficulty of real vehicle debugging.

Contents of the invention

In order to solve the problems in the prior art, the present invention provides a method for automatically identifying and distributing message identifiers of motor controllers for distributed driving vehicles, so as to achieve electronic control of motors installed in different positions by flashing a set of motor control software, Automatically carry out CAN ID identification assignment purpose.

An embodiment of the present invention provides a distributed drive vehicle motor controller message identifier automatic identification and distribution method, including:

Add a corresponding number of hard-wired signal lines on the motor controller according to the number of motor controllers;

Connect the corresponding pins of the hardware signal line to the high and low level signals, and use the different numbers obtained through the combined processing of the high and low level signals as the identification signals corresponding to the message identifiers of the motor controllers at different positions;

Identify the message identifiers that need to be sent by the motor controller at different locations according to the identification signal.

Optionally, the corresponding relationship between the number of motor controllers and the number of hard-wire identification signal lines that need to be added is:

N _mcu =2 ⁿ

Among them, N _mcu is the number of motor controllers equipped with distributed drive vehicles, and n is the number of hard-wire identification signal lines that need to be added to the motor controller.

Optionally, the one motor controller controls one or more motors correspondingly.

Optionally, the identification signal is applied to the underlying software of the motor controller.

Optionally, the identification signal is applied to the underlying software of the motor controller, including:

Increase the message identifier identification variable in the underlying software of the motor controller, and the message identifier identification variable is used to store different numbers obtained by the hard line identification signal, and then used to identify the message identifier of the motor controller at different positions transfer.

Optionally, the method further includes: adding identifiers of all motor messages required by the vehicle when designing the bottom layer of the motor controller according to the requirements of the distributed drive vehicle.

Beneficial effects of the present invention:

According to the number of motor controllers mounted on distributed drive vehicles, the present invention adds a corresponding number of hard-line identification signal lines to the motor controller, and applies the hard-line identification signal lines to the motor as a message identifier (CAN ID) identification signal. In the underlying software of the controller, by connecting the corresponding pin of the hard-wired signal to the high and low level signals, the corresponding numbers are obtained through combination processing of the high and low level signals, and then the message identifier (CANID) required by the motor controller is identified. ), to achieve automatic CAN ID identification and distribution according to the electrical control of the motor installed in different positions by flashing a set of motor control software.

In addition, the adoption of the present invention can not only avoid the problem of flashing or calibrating different motor software for different motor electric control positions for the same distributed drive vehicle, greatly improving the work efficiency of engineers, but also avoiding problems caused by engineers’ negligence or forgetting of different The CAN ID corresponding to the electronic control of the position motor causes software flashing or calibration errors, causing unexpected problems.

Description of drawings

Fig. 1 is a flow chart of a method for automatically identifying and assigning a message identifier of a distributed drive vehicle motor controller provided by an embodiment of the present invention;

FIG. 2 is a schematic diagram of a method for automatically identifying and assigning a message identifier of a distributed drive vehicle motor controller provided by an embodiment of the present invention;

Fig. 3 is a wiring example diagram of a hard line identification signal line provided by an embodiment of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

Example

Fig. 1 is a flow chart of a method for automatically identifying and assigning a message identifier of a distributed drive vehicle motor controller provided by an embodiment of the present invention, specifically including:

S1. Add a corresponding number of hard-wired signal lines on the motor controller according to the number of motor controllers.

S2. Connect the corresponding pins of the hardware signal line to the high and low level signals, and use different numbers obtained through combined processing of the high and low level signals as identification signals corresponding to the message identifiers of the motor controllers at different positions.

S3. Identify the message identifiers that need to be sent by the motor controller at different locations according to the identification signal.

Specifically, the corresponding relationship between the number of motor controllers and the number of hard-wire identification signal lines that need to be added is:

N _mcu =2 ⁿ

Among them, N _mcu is the number of motor controllers equipped with distributed drive vehicles, and n is the number of hard-wire identification signal lines that need to be added to the motor controller.

Further, the above-mentioned motor controller is not limited to one motor controller corresponding to one motor, and one motor controller may correspond to two motors and so on.

Exemplarily, for different numbers of hard-wired identification signal lines, distributed drive vehicles with different numbers of motor controllers can be adapted. For one hard-line identification signal line, it can be applied to distributed drive vehicles with no more than two motor controllers; for two hard-line identification signal lines, it can be applied to distributed drive vehicles with no more than four motor controllers; For 3 hard line identification signal lines, it can be applied to distributed drive vehicles with no more than 8 motor controllers, and so on.

Further referring to Fig. 2, in this embodiment, first determine the quantity of the hard line identification signal wiring harness according to the message identifier identification requirement of the motor control and carry out the corresponding wiring design; All motor message identifiers required by the vehicle, and by adding CAN ID identification variables at the bottom layer of the motor controller, are used to store different numbers obtained from hard-wire identification signals, and use this CAN ID identification variable to automatically identify distributed drive vehicles The CAN ID of the motor in different positions is called for the corresponding CAN ID of the motor controller in different positions.

For example, further referring to Fig. 3, if the motor controller has three hard-wire identification signal lines, for the three hard-line signals, the wiring method of the hard-line identification signal lines is as shown in the figure: set the high level to 1, and the low level to If the level signal is set to 0, then eight combinations (000, 001, 010, 011, 100, 101, 110, 111) can be obtained, and 000 corresponds to motor controller 1; 001 corresponds to motor controller 2; 010 corresponds to Motor controller 3; 011 corresponds to motor controller 4; 100 corresponds to motor controller 5; 101 corresponds to motor controller 6; 110 corresponds to motor controller 7; 111 corresponds to motor controller 8, and then the motor controller is identified according to the identification variable value The outgoing message identifier (CAN ID) required by the device.

After the CAN communication protocol of the distributed drive vehicle is determined, the CAN IDs issued by the motor controllers at different positions will also be determined accordingly. According to the CAN IDs corresponding to the motor controllers at different positions and the values corresponding to the different values of the CAN ID identification variables Different CAN ID information, then the hard-wire wiring method of the message identifier identification signal of the motor controller at different positions will also be determined. When designing the vehicle wiring harness, the hard-wire identification signal wiring harness design is carried out according to the hard-wire wiring method.

In this embodiment, by adding a hard line identification signal line to automatically identify and assign message identifiers, engineers can flash all motor controllers on distributed vehicles with the same version of motor controller software, and the motor controllers will Different positions of the installation can automatically carry out CAN ID identification and distribution, and send and receive the required CAN ID. It is no longer necessary for engineers to flash different motor controller software according to different positions of the motor controller, which greatly improves work efficiency and avoids Program flash error.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.

Claims (6)

1. A distributed drive vehicle motor controller message identifier automatic identification and distribution method is characterized by comprising the following steps:

increasing a corresponding number of hard-wire signal wires on the motor controllers according to the number of the motor controllers;

connecting corresponding pins of the hardware signal lines with high and low level signals, and using different numbers obtained through high and low level signal combination processing as identification signals corresponding to message identifiers of the motor controllers at different positions;

and identifying message identifiers required to be sent by the motor controllers at different positions according to the identification signals.

2. The method of claim 1, wherein the number of motor controllers corresponding to the number of hard-line identification signal lines to be added is:

N _mcu ＝2 ⁿ

wherein, N _mcu The number of the motor controllers is carried for the distributed driving vehicle, and n is the number of hard wire identification signal wires which need to be added on the motor controllers.

3. The method of claim 1, wherein the one motor controller controls one or more motors accordingly.

4. The method of claim 1, wherein the identification signal is applied in underlying software of a motor controller.

5. The method of claim 4, wherein the identification signal is applied in underlying software of a motor controller, comprising:

and adding message identifier identification variables in bottom software of the motor controller, wherein the message identifier identification variables are used for storing different numbers obtained by the hard wire identification signals, and then calling the message identifiers of the motor controller at different positions.

6. The method of claim 1, further comprising: and adding all motor message identifiers required by the vehicle during the bottom-layer design of the motor controller according to the requirements of the distributed driving vehicle.

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