CN116068877A - Active main and auxiliary switching control method of vehicle-mounted redundant control unit - Google Patents
Active main and auxiliary switching control method of vehicle-mounted redundant control unit Download PDFInfo
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Abstract
The invention discloses an active main and auxiliary switching control method of a vehicle-mounted redundant control unit, which comprises the steps of carrying out fault monitoring on signals to obtain fault states of the signals, carrying out fault analysis on the fault states, outputting the health degree of a system, further judging whether main and auxiliary switching is carried out or not, and carrying out main and auxiliary switching in what mode; the implementation of the main and auxiliary switching method of the redundant control unit comprises the following steps: the power supply voltage signal, the CAN communication signal, the redundant corner signal and the redundant torque signal are transmitted to the fault monitoring unit through the power supply management unit, the communication management unit and the sensor processing unit. According to the invention, the system health degree is evaluated for the redundant control unit in a mode of combining fault monitoring and fault analysis, and active main and auxiliary switching is performed at a proper time by utilizing the evaluation result of the system health degree, so that the comfort and safety of the system are improved, and better driving experience is brought to a driver.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted redundancy, in particular to an active main and auxiliary switching control method of a vehicle-mounted redundancy control unit.
Background
The vehicle-mounted redundant control unit is used as a novel control system and has the characteristic of redundant backup of the control system; under the normal working state, the two systems all perform moment instruction calculation, but the master system and the slave system respond to the moment instruction distributed by the master system; if the system fails in a single point, the main and auxiliary switching is performed according to the diagnosis of the system, and the redundant backup system can still work normally, so that the method has important significance for improving the safety of the vehicle when the vehicle fails.
Compared with the traditional non-redundant control unit, the redundant control unit needs more complex functions to ensure the safety, reliability and driving comfort; and after the redundancy control unit is powered on and initialized, the master-slave roles are allocated by default, and when a fault occurs, the system is switched.
The conventional redundant control unit adopts a passive main and auxiliary switching method. However, the passive main and auxiliary switching method is to switch when the system fails, and the output torque of the actuator fluctuates at the switching moment, so that the switching is not smooth, jitter is caused, and the experience of a driver is affected.
An active main and auxiliary switching control method of a vehicle-mounted redundant control unit can effectively solve the problem of unsmooth switching caused by passive main and auxiliary switching; judging the health degree of the system through fault monitoring and fault analysis, and further confirming whether the switching of the main roles and the auxiliary roles of the system is needed and what mode is adopted through a main control unit and an auxiliary control unit; the active main and auxiliary switching control method can ensure that the system responds in advance and selects proper time to switch the main and auxiliary roles when the health degree is reduced and potential failure risk exists, so that the comfort and safety of the system are improved, and better driving experience is brought to a driver; therefore, it is very valuable to design an active primary-secondary switching control method of the vehicle-mounted redundant control unit.
Disclosure of Invention
The invention aims to provide an active main and auxiliary switching control method of a vehicle-mounted redundant control unit, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: an active main and auxiliary switching control method of a vehicle-mounted redundant control unit comprises the following steps:
performing fault monitoring on the signals to obtain fault states, performing fault analysis on the fault states, outputting the health degree of the system, and further judging whether to perform primary and secondary switching and in what way;
the implementation of the main and auxiliary switching method of the redundant control unit comprises the following steps: the power supply voltage signal, the CAN communication signal, the redundant corner signal and the redundant torque signal are transmitted to the fault monitoring unit through the power supply management unit, the communication management unit and the sensor processing unit; outputting fault states of the signals through a fault monitoring unit, analyzing health coefficients of the fault states through a health evaluation unit in a fault analysis unit, and outputting health of the system by adopting a fault accumulation scheme; the main and auxiliary state machines judge whether to perform main and auxiliary switching according to the health degree of the system, switch in what mode, and simultaneously send the same set of moment instructions to the two driving control units to drive the execution scheme of each unit;
preferably, the active primary-secondary switching control method of the redundant control unit mainly involves a fault monitoring unit, a fault analyzing unit, a primary-secondary control unit, a driving unit and a redundant executing unit;
wherein, the fault monitoring unit: the system mainly comprises a power supply voltage monitoring module, a CAN communication monitoring module, a redundant corner signal detection module, a redundant torque signal monitoring module, a redundant position signal monitoring module and a driving unit temperature signal monitoring module;
fault analysis unit: mainly comprises a health evaluation unit;
a main and auxiliary control unit: the system mainly comprises a main-auxiliary switching state machine, a moment management unit and an internal signal processing unit;
preferably, the monitoring signal is transmitted to a corresponding monitoring module in the fault monitoring unit through the vehicle-mounted network, and the corresponding fault state is output.
Wherein the monitoring signal comprises at least: a power supply voltage signal, a CAN communication signal, a redundant rotation angle signal, a redundant torque signal, a redundant position signal and a temperature signal of a driving unit; the fault conditions include: a power supply voltage signal fault state, a CAN communication fault state, a redundant torque signal fault state, a redundant corner signal fault state, a redundant position signal fault state and a driving unit temperature signal fault state;
preferably, the health evaluation unit is used for analyzing the fault state sent by the fault monitoring unit and outputting the health degree of the system; the health evaluation unit comprises a health coefficient evaluation for signal fault states and a health evaluation for a system;
preferably, when the system A is used as a main system, the main and auxiliary control units A receive the health degree A sent by the fault analysis unit A and the health degree B sent by the internal communication unit, and judge whether to switch or not and the switching mode of the system by using a main and auxiliary switching state machine; transmitting a driving control signal to the driving control unit A and the driving control unit B through the torque management unit and the internal communication unit;
preferably, the evaluation rule for the fault state:
supply voltage signal: when the fluctuation condition of the monitored voltage signal is not more than 3% of the rated voltage, the monitored voltage signal is considered to be free of any potential faults, and the health coefficient of the monitored voltage signal is judged to be 3; when the fluctuation exceeds 3% of rated voltage by not more than 5%, the signal is considered as a slight potential fault, and the health coefficient of the signal is judged to be 2; the fluctuation exceeds 5% of rated voltage, and is considered as serious potential failure, and the health coefficient of the signal is judged to be 1.
CAN communication signal: judging the health coefficient of the signal according to the frame number lost by CAN transmission in a certain period; the lost frame number is less than or equal to 2, and the signal is judged to have the health degree of 3 if no potential fault exists; 2< the lost frame number is less than or equal to 6, and is considered as a slight potential fault, and the health degree of the signal is judged to be 2; when the lost frame number is more than 6, the potential fault is considered as serious, and the health degree of the signal is judged to be 1;
redundant rotation angle signal: the difference value of the two paths of corner signals is less than 5% of the average value, no potential faults are considered, and the health coefficient of the signals is judged to be 3; the difference value of the two paths of corner signals is more than 5% of the average value and less than 10% of the average value, and the difference value is considered as a slight potential fault, and the health coefficient of the signals is judged to be 2; the difference value of the two paths of corner signals is more than 10% of the average value, the serious potential faults are considered, and the health coefficient of the signals is judged to be 1;
redundant torque signal: the difference value of the two paths of torque signals is less than 5% of the average value, no potential faults are considered, and the health coefficient of the signals is judged to be 3; the difference value of the two paths of torque signals is more than 5% of the average value and less than 10% of the average value, the two paths of torque signals are considered as slight potential faults, and the health coefficient of the signals is judged to be 2; the difference value of the two paths of torque signals is larger than 10% of the average value, the two paths of torque signals are considered as serious potential faults, and the health coefficient of the signals is judged to be 1;
redundant position signals: the proportion of the failed differential signal is less than or equal to 2 percent, and the signal is considered to have no potential faults, and the health coefficient of the signal is judged to be 3; the proportion of the differential signals which are less than or equal to 2% and less than or equal to 5% and are invalid is considered as slight potential faults, and the health coefficient of the signals is judged to be 2; the proportion of the failed differential signal is more than 5 percent, the failure differential signal is considered as serious potential failure, and the health coefficient of the signal is judged to be 1;
drive power supply temperature signal: the temperature of the driving unit is less than or equal to 50 ℃, no potential faults are considered, and the health coefficient of the signal is judged to be 3;50< drive unit temperature < 65 ℃, considered as a slight potential fault, determining that the health coefficient of the signal is 2; the temperature of the driving unit is higher than 65 ℃, the driving unit is considered as serious potential fault, and the health coefficient of the signal is judged to be 1;
preferably, the evaluation rule for the health of the system:
calculating the accumulation of the health degree coefficients by adopting a fault accumulation scheme, and judging the health degree of the system according to the times of the health degree coefficients; according to the health degree coefficient judgment result of the signal, when the accumulated times of the health degree coefficient of 1 exceeds one time, the system is considered to have serious faults, and the health degree of the system is judged to be 1; when the accumulated number of times that the health coefficient is 2 exceeds 3, the system is considered to have serious potential faults, and the health of the system is judged to be 1; when the accumulated number of times that the health degree coefficient is 2 is more than 0 and less than 3, the system is considered to have slight potential faults, and the health degree of the system is judged to be 2; otherwise, the system is considered to have no potential faults, and the system health degree is judged to be 3;
preferably, in a normal working state, the main system and the auxiliary system both perform torque instruction calculation, but the driving control unit B responds to the torque instruction distributed by the main and auxiliary control units A; if the system fails in a single point, the dual system judges by using a main-auxiliary switching state machine, judges whether to perform main-auxiliary switching according to the health degree and the processing mechanism obtained by the fault analysis unit, and switches in what mode, and if necessary, the auxiliary system is switched to the main system;
preferably, the processing mechanism: when the A system is the main system, when the health degree of the A system is more than or equal to the health degree of the B system (at least one health degree of the two systems is not equal to 1), switching is not needed, the A system is kept as the main system, and the instruction sent by the A system is still corresponding at the moment; when the health degree of the system A is less than that of the system B, smooth switching or soft switching is carried out according to the health degree value, the system B is switched to be a main system, and the system responds to an instruction sent by the system B at the moment;
no handover is required: the system switching is not performed, and the current system is kept to continuously send control instructions; smooth switching: when the health degree of the system to be switched is 2, waiting for the moment fluctuation of the automobile to be almost 0, and switching the system; soft handoff: when the health degree of the system to be switched is 1, immediately switching the system;
preferably, when the received ID is 1 during initialization, the main system is adopted as an initiator of the instruction; when the received ID is 2, the auxiliary system is adopted as the initiator of the instruction.
When the ID is 1, a main system is adopted as an initiator of the instruction, and whether the system needs to perform main-auxiliary switching and a switching mode are judged according to the health degrees of the main system and the auxiliary system obtained by the fault analysis unit; when the health degree of the main system is more than or equal to the health degree of the auxiliary system and the health degree of at least one system is not 1, the main system is still the initiator of the instruction; when the health degree of the main system is = = 1 and is smaller than the health degree of the auxiliary system, soft switching is carried out, the auxiliary system is switched into the main system to serve as a new instruction initiator, and at the moment, the double systems respond to the instructions of the main system after switching; when the health degree of the main system is less than the health degree of the auxiliary system and the health degree of the main system is not equal to 1, waiting for switching; when the torque fluctuation is small and the health degree of the main system is still smaller than that of the auxiliary system, switching to the auxiliary system; when waiting to switch to an auxiliary system, the moment fluctuation is large, and the system switching can not be performed due to safety consideration, and the original main system is still adopted as an initiator of the instruction;
when the ID is 2, an auxiliary system is adopted as an initiator of the instruction, and whether the system needs to perform main-auxiliary switching and a switching mode are judged according to the health degrees of the main system and the auxiliary system obtained by the fault analysis unit; when the health degree of the auxiliary system is more than or equal to the health degree of the main system and the health degree of at least one system is not 1, the auxiliary system is still the initiator of the instruction; when the health degree of the auxiliary system is=1 and is smaller than that of the main system, soft switching is carried out, the main system is used as a new instruction initiator, and at the moment, the double systems respond to the instruction sent by the main system after switching; when the health degree of the auxiliary system is less than that of the main system and the health degree of the auxiliary system is not equal to 1, waiting for switching; when the torque fluctuation is small and the health degree of the auxiliary system is still smaller than that of the main system, switching to the main system; when waiting to switch to the main system, the moment fluctuation is large, the system switching can not be performed due to safety consideration, and the auxiliary system is still adopted as an initiator of the instruction.
Compared with the prior art, the invention has the beneficial effects that:
in the active main and auxiliary switching control method of the whole vehicle-mounted redundant control unit, signals influencing the main and auxiliary switching of the system comprise: a power supply voltage signal, a CAN communication signal, a redundant rotation angle signal, a redundant torque signal, a redundant position signal and a driving unit temperature signal; performing fault monitoring on the signals and outputting corresponding fault states; judging the health coefficient of the fault state by using a health evaluation unit in the fault analysis unit, and outputting the health of the system by adopting a fault accumulation scheme; the main and auxiliary control units judge whether main and auxiliary switching is needed according to the health degree of the A (main) system and the B (auxiliary) system, switch in what mode, and send out a torque instruction to inform the driving unit of completing corresponding actions; according to the invention, the system health degree is evaluated for the redundant control unit in a mode of combining fault monitoring and fault analysis, and active main and auxiliary switching is performed at a proper time by utilizing the evaluation result of the system health degree, so that the comfort and safety of the system are improved, and better driving experience is brought to a driver.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a functional block diagram of a redundant control unit of the present invention;
FIG. 3 is a functional block diagram of a fault monitoring unit according to the present invention;
FIG. 4 is a functional block diagram of a fault analysis unit of the present invention;
FIG. 5 is a functional block diagram of a primary and secondary control unit of the present invention;
fig. 6 is a schematic diagram of a primary and secondary switching state machine according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the present invention provides a technical solution: an active main and auxiliary switching control method of a vehicle-mounted redundant control unit comprises the following steps:
performing fault monitoring on the signals to obtain fault states, performing fault analysis on the fault states, outputting the health degree of the system, and further judging whether to perform primary and secondary switching and in what way;
the implementation of the main and auxiliary switching method of the redundant control unit comprises the following steps: the power supply voltage signal, the CAN communication signal, the redundant corner signal and the redundant torque signal are transmitted to the fault monitoring unit through the power supply management unit, the communication management unit and the sensor processing unit; outputting fault states of the signals through a fault monitoring unit, analyzing health coefficients of the fault states through a health evaluation unit in a fault analysis unit, and outputting health of the system by adopting a fault accumulation scheme; the main and auxiliary state machines judge whether to perform main and auxiliary switching according to the health degree of the system, switch in what mode, and simultaneously send the same set of moment instructions to the two driving control units to drive the execution scheme of each unit;
the active main and auxiliary switching control method of the redundant control unit mainly comprises a fault monitoring unit, a fault analysis unit, a main and auxiliary control unit, a driving unit and a redundant execution unit;
wherein, the fault monitoring unit: the system mainly comprises a power supply voltage monitoring module, a CAN communication monitoring module, a redundant corner signal detection module, a redundant torque signal monitoring module, a redundant position signal monitoring module and a driving unit temperature signal monitoring module;
fault analysis unit: mainly comprises a health evaluation unit;
a main and auxiliary control unit: the system mainly comprises a main-auxiliary switching state machine, a moment management unit and an internal signal processing unit;
the monitoring signals are transmitted to corresponding monitoring modules in the fault monitoring unit through the vehicle-mounted network, and the corresponding fault states are output.
Wherein the monitoring signal comprises at least: a power supply voltage signal, a CAN communication signal, a redundant rotation angle signal, a redundant torque signal, a redundant position signal and a temperature signal of a driving unit; the fault conditions include: a power supply voltage signal fault state, a CAN communication fault state, a redundant torque signal fault state, a redundant corner signal fault state, a redundant position signal fault state and a driving unit temperature signal fault state;
analyzing the fault state sent by the fault monitoring unit by utilizing the health assessment unit, and outputting the health degree of the system; the health evaluation unit comprises a health coefficient evaluation for signal fault states and a health evaluation for a system;
when the system A is used as a main system, the main and auxiliary control units A receive the health degree A sent by the fault analysis unit A and the health degree B sent by the internal communication unit, and judge whether to switch and the switching mode of the system by using a main and auxiliary switching state machine; transmitting a driving control signal to the driving control unit A and the driving control unit B through the torque management unit and the internal communication unit;
evaluation rules for fault conditions:
supply voltage signal: when the fluctuation condition of the monitored voltage signal is not more than 3% of the rated voltage, the monitored voltage signal is considered to be free of any potential faults, and the health coefficient of the monitored voltage signal is judged to be 3; when the fluctuation exceeds 3% of rated voltage by not more than 5%, the signal is considered as a slight potential fault, and the health coefficient of the signal is judged to be 2; the fluctuation exceeds 5% of rated voltage, and is considered as serious potential failure, and the health coefficient of the signal is judged to be 1.
CAN communication signal: judging the health coefficient of the signal according to the frame number lost by CAN transmission in a certain period; the lost frame number is less than or equal to 2, and the signal is judged to have the health degree of 3 if no potential fault exists; 2< the lost frame number is less than or equal to 6, and is considered as a slight potential fault, and the health degree of the signal is judged to be 2; when the lost frame number is more than 6, the potential fault is considered as serious, and the health degree of the signal is judged to be 1;
redundant rotation angle signal: the difference value of the two paths of corner signals is less than 5% of the average value, no potential faults are considered, and the health coefficient of the signals is judged to be 3; the difference value of the two paths of corner signals is more than 5% of the average value and less than 10% of the average value, and the difference value is considered as a slight potential fault, and the health coefficient of the signals is judged to be 2; the difference value of the two paths of corner signals is more than 10% of the average value, the serious potential faults are considered, and the health coefficient of the signals is judged to be 1;
redundant torque signal: the difference value of the two paths of torque signals is less than 5% of the average value, no potential faults are considered, and the health coefficient of the signals is judged to be 3; the difference value of the two paths of torque signals is more than 5% of the average value and less than 10% of the average value, the two paths of torque signals are considered as slight potential faults, and the health coefficient of the signals is judged to be 2; the difference value of the two paths of torque signals is larger than 10% of the average value, the two paths of torque signals are considered as serious potential faults, and the health coefficient of the signals is judged to be 1;
redundant position signals: the proportion of the failed differential signal is less than or equal to 2 percent, and the signal is considered to have no potential faults, and the health coefficient of the signal is judged to be 3; the proportion of the differential signals which are less than or equal to 2% and less than or equal to 5% and are invalid is considered as slight potential faults, and the health coefficient of the signals is judged to be 2; the proportion of the failed differential signal is more than 5 percent, the failure differential signal is considered as serious potential failure, and the health coefficient of the signal is judged to be 1;
drive power supply temperature signal: the temperature of the driving unit is less than or equal to 50 ℃, no potential faults are considered, and the health coefficient of the signal is judged to be 3;50< drive unit temperature < 65 ℃, considered as a slight potential fault, determining that the health coefficient of the signal is 2; the temperature of the driving unit is higher than 65 ℃, the driving unit is considered as serious potential fault, and the health coefficient of the signal is judged to be 1;
evaluation rules for system health:
calculating the accumulation of the health degree coefficients by adopting a fault accumulation scheme, and judging the health degree of the system according to the times of the health degree coefficients; according to the health degree coefficient judgment result of the signal, when the accumulated times of the health degree coefficient of 1 exceeds one time, the system is considered to have serious faults, and the health degree of the system is judged to be 1; when the accumulated number of times that the health coefficient is 2 exceeds 3, the system is considered to have serious potential faults, and the health of the system is judged to be 1; when the accumulated number of times that the health degree coefficient is 2 is more than 0 and less than 3, the system is considered to have slight potential faults, and the health degree of the system is judged to be 2; otherwise, the system is considered to have no potential faults, and the system health degree is judged to be 3;
in a normal working state, the main system and the auxiliary system both perform torque instruction calculation, but the driving control unit B responds to the torque instruction distributed by the main control unit A and the auxiliary control unit A; if the system fails in a single point, the dual system judges by using a main-auxiliary switching state machine, judges whether to perform main-auxiliary switching according to the health degree and the processing mechanism obtained by the fault analysis unit, and switches in what mode, and if necessary, the auxiliary system is switched to the main system;
the processing mechanism is as follows: when the A system is the main system, when the health degree of the A system is more than or equal to the health degree of the B system (at least one health degree of the two systems is not equal to 1), switching is not needed, the A system is kept as the main system, and the instruction sent by the A system is still corresponding at the moment; when the health degree of the system A is less than that of the system B, smooth switching or soft switching is carried out according to the health degree value, the system B is switched to be a main system, and the system responds to an instruction sent by the system B at the moment;
no handover is required: the system switching is not performed, and the current system is kept to continuously send control instructions; smooth switching: when the health degree of the system to be switched is 2, waiting for the moment fluctuation of the automobile to be almost 0, and switching the system; soft handoff: when the health degree of the system to be switched is 1, immediately switching the system;
when the received ID is 1 in the initialization, a main system is adopted as an initiator of the instruction; when the received ID is 2, the auxiliary system is adopted as the initiator of the instruction.
When the ID is 1, a main system is adopted as an initiator of the instruction, and whether the system needs to perform main-auxiliary switching and a switching mode are judged according to the health degrees of the main system and the auxiliary system obtained by the fault analysis unit; when the health degree of the main system is more than or equal to the health degree of the auxiliary system and the health degree of at least one system is not 1, the main system is still the initiator of the instruction; when the health degree of the main system is = = 1 and is smaller than the health degree of the auxiliary system, soft switching is carried out, the auxiliary system is switched into the main system to serve as a new instruction initiator, and at the moment, the double systems respond to the instructions of the main system after switching; when the health degree of the main system is less than the health degree of the auxiliary system and the health degree of the main system is not equal to 1, waiting for switching; when the torque fluctuation is small and the health degree of the main system is still smaller than that of the auxiliary system, switching to the auxiliary system; when waiting to switch to an auxiliary system, the moment fluctuation is large, and the system switching can not be performed due to safety consideration, and the original main system is still adopted as an initiator of the instruction;
when the ID is 2, an auxiliary system is adopted as an initiator of the instruction, and whether the system needs to perform main-auxiliary switching and a switching mode are judged according to the health degrees of the main system and the auxiliary system obtained by the fault analysis unit; when the health degree of the auxiliary system is more than or equal to the health degree of the main system and the health degree of at least one system is not 1, the auxiliary system is still the initiator of the instruction; when the health degree of the auxiliary system is=1 and is smaller than that of the main system, soft switching is carried out, the main system is used as a new instruction initiator, and at the moment, the double systems respond to the instruction sent by the main system after switching; when the health degree of the auxiliary system is less than that of the main system and the health degree of the auxiliary system is not equal to 1, waiting for switching; when the torque fluctuation is small and the health degree of the auxiliary system is still smaller than that of the main system, switching to the main system; when waiting to switch to the main system, the moment fluctuation is large, the system switching can not be performed due to safety consideration, and the auxiliary system is still adopted as an initiator of the instruction.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An active main and auxiliary switching control method of a vehicle-mounted redundant control unit comprises the following steps: performing fault monitoring on the signals to obtain fault states, performing fault analysis on the fault states, outputting the health degree of the system, and further judging whether to perform primary and secondary switching and in what way;
the implementation of the main and auxiliary switching method of the redundant control unit comprises the following steps: the power supply voltage signal, the CAN communication signal, the redundant corner signal and the redundant torque signal are transmitted to the fault monitoring unit through the power supply management unit, the communication management unit and the sensor processing unit; outputting fault states of the signals through a fault monitoring unit, analyzing health coefficients of the fault states through a health evaluation unit in a fault analysis unit, and outputting health of the system by adopting a fault accumulation scheme; the main and auxiliary state machines judge whether to perform main and auxiliary switching according to the health degree of the system, and switch in what mode, and simultaneously send the same set of moment instructions to the two driving control units to drive the execution schemes of the units.
2. The active primary and secondary switching control method of a vehicle-mounted redundant control unit according to claim 1, wherein: the active main and auxiliary switching control method of the redundant control unit mainly comprises a fault monitoring unit, a fault analysis unit, a main and auxiliary control unit, a driving unit and a redundant execution unit;
wherein, the fault monitoring unit: the system mainly comprises a power supply voltage monitoring module, a CAN communication monitoring module, a redundant corner signal detection module, a redundant torque signal monitoring module, a redundant position signal monitoring module and a driving unit temperature signal monitoring module;
fault analysis unit: mainly comprises a health evaluation unit;
a main and auxiliary control unit: the system mainly comprises a main and auxiliary switching state machine, a moment management unit and an internal signal processing unit.
3. The active primary and secondary switching control method of a vehicle-mounted redundant control unit according to claim 1, wherein: the monitoring signals are transmitted to corresponding monitoring modules in the fault monitoring unit through the vehicle-mounted network, and the corresponding fault states are output.
Wherein the monitoring signal comprises at least: a power supply voltage signal, a CAN communication signal, a redundant rotation angle signal, a redundant torque signal, a redundant position signal and a temperature signal of a driving unit; the fault conditions include: a power supply voltage signal fault state, a CAN communication fault state, a redundant torque signal fault state, a redundant corner signal fault state, a redundant position signal fault state and a driving unit temperature signal fault state.
4. The active primary and secondary switching control method of a vehicle-mounted redundant control unit according to claim 1, wherein: analyzing the fault state sent by the fault monitoring unit by utilizing the health assessment unit, and outputting the health degree of the system; the health evaluation unit comprises a health coefficient evaluation of the signal fault state and a health evaluation of a system.
5. The active primary and secondary switching control method of a vehicle-mounted redundant control unit according to claim 1, wherein: when the system A is used as a main system, the main and auxiliary control units A receive the health degree A sent by the fault analysis unit A and the health degree B sent by the internal communication unit, and judge whether to switch and the switching mode of the system by using a main and auxiliary switching state machine; and sending a driving control signal to the driving control unit A and the driving control unit B through the torque management unit and the internal communication unit.
6. The active primary and secondary switching control method of a vehicle-mounted redundant control unit according to claim 1, wherein: evaluation rules for fault conditions:
supply voltage signal: when the fluctuation condition of the monitored voltage signal is not more than 3% of the rated voltage, the monitored voltage signal is considered to be free of any potential faults, and the health coefficient of the monitored voltage signal is judged to be 3; when the fluctuation exceeds 3% of rated voltage by not more than 5%, the signal is considered as a slight potential fault, and the health coefficient of the signal is judged to be 2; the fluctuation exceeds 5% of rated voltage, and is considered as serious potential failure, and the health coefficient of the signal is judged to be 1.
CAN communication signal: judging the health coefficient of the signal according to the frame number lost by CAN transmission in a certain period; the lost frame number is less than or equal to 2, and the signal is judged to have the health degree of 3 if no potential fault exists; 2< the lost frame number is less than or equal to 6, and is considered as a slight potential fault, and the health degree of the signal is judged to be 2; when the lost frame number is more than 6, the potential fault is considered as serious, and the health degree of the signal is judged to be 1;
redundant rotation angle signal: the difference value of the two paths of corner signals is less than 5% of the average value, no potential faults are considered, and the health coefficient of the signals is judged to be 3; the difference value of the two paths of corner signals is more than 5% of the average value and less than 10% of the average value, and the difference value is considered as a slight potential fault, and the health coefficient of the signals is judged to be 2; the difference value of the two paths of corner signals is more than 10% of the average value, the serious potential faults are considered, and the health coefficient of the signals is judged to be 1;
redundant torque signal: the difference value of the two paths of torque signals is less than 5% of the average value, no potential faults are considered, and the health coefficient of the signals is judged to be 3; the difference value of the two paths of torque signals is more than 5% of the average value and less than 10% of the average value, the two paths of torque signals are considered as slight potential faults, and the health coefficient of the signals is judged to be 2; the difference value of the two paths of torque signals is larger than 10% of the average value, the two paths of torque signals are considered as serious potential faults, and the health coefficient of the signals is judged to be 1;
redundant position signals: the proportion of the failed differential signal is less than or equal to 2 percent, and the signal is considered to have no potential faults, and the health coefficient of the signal is judged to be 3; the proportion of the differential signals which are less than or equal to 2% and less than or equal to 5% and are invalid is considered as slight potential faults, and the health coefficient of the signals is judged to be 2; the proportion of the failed differential signal is more than 5 percent, the failure differential signal is considered as serious potential failure, and the health coefficient of the signal is judged to be 1;
drive power supply temperature signal: the temperature of the driving unit is less than or equal to 50 ℃, no potential faults are considered, and the health coefficient of the signal is judged to be 3;50< drive unit temperature < 65 ℃, considered as a slight potential fault, determining that the health coefficient of the signal is 2; the drive unit temperature >65 c, considered as a serious potential fault, determines the health factor of the signal to be 1.
7. The active primary and secondary switching control method of a vehicle-mounted redundant control unit according to claim 1, wherein: evaluation rules for system health:
calculating the accumulation of the health degree coefficients by adopting a fault accumulation scheme, and judging the health degree of the system according to the times of the health degree coefficients; according to the health degree coefficient judgment result of the signal, when the accumulated times of the health degree coefficient of 1 exceeds one time, the system is considered to have serious faults, and the health degree of the system is judged to be 1; when the accumulated number of times that the health coefficient is 2 exceeds 3, the system is considered to have serious potential faults, and the health of the system is judged to be 1; when the accumulated number of times that the health degree coefficient is 2 is more than 0 and less than 3, the system is considered to have slight potential faults, and the health degree of the system is judged to be 2; in other cases, the system is considered to be free of any potential faults, and the system health is judged to be 3.
8. The active primary and secondary switching control method of a vehicle-mounted redundant control unit according to claim 1, wherein: in a normal working state, the main system and the auxiliary system both perform torque instruction calculation, but the driving control unit B responds to the torque instruction distributed by the main control unit A and the auxiliary control unit A; if the system fails in a single point, the dual system judges by using the main and auxiliary switching state machines, judges whether to perform main and auxiliary switching according to the health degree and the processing mechanism obtained by the fault analysis unit, and switches in what mode, and if necessary, the auxiliary system is switched to the main system.
9. The active primary and secondary switching control method of a vehicle-mounted redundant control unit according to claim 1, wherein: the processing mechanism is as follows: when the A system is the main system, when the health degree of the A system is more than or equal to the health degree of the B system (at least one health degree of the two systems is not equal to 1), switching is not needed, the A system is kept as the main system, and the instruction sent by the A system is still corresponding at the moment; when the health degree of the system A is less than that of the system B, smooth switching or soft switching is carried out according to the health degree value, the system B is switched to be a main system, and the system responds to an instruction sent by the system B at the moment;
no handover is required: the system switching is not performed, and the current system is kept to continuously send control instructions; smooth switching: when the health degree of the system to be switched is 2, waiting for the moment fluctuation of the automobile to be almost 0, and switching the system; soft handoff: when the health degree of the system to be switched is 1, the system switching is immediately performed.
10. The active primary and secondary switching control method of a vehicle-mounted redundant control unit according to claim 1, wherein: when the received ID is 1 in the initialization, a main system is adopted as an initiator of the instruction; when the received ID is 2, the auxiliary system is adopted as the initiator of the instruction.
When the ID is 1, a main system is adopted as an initiator of the instruction, and whether the system needs to perform main-auxiliary switching and a switching mode are judged according to the health degrees of the main system and the auxiliary system obtained by the fault analysis unit; when the health degree of the main system is more than or equal to the health degree of the auxiliary system and the health degree of at least one system is not 1, the main system is still the initiator of the instruction; when the health degree of the main system is = = 1 and is smaller than the health degree of the auxiliary system, soft switching is carried out, the auxiliary system is switched into the main system to serve as a new instruction initiator, and at the moment, the double systems respond to the instructions of the main system after switching; when the health degree of the main system is less than the health degree of the auxiliary system and the health degree of the main system is not equal to 1, waiting for switching; when the torque fluctuation is small and the health degree of the main system is still smaller than that of the auxiliary system, switching to the auxiliary system; when waiting to switch to an auxiliary system, the moment fluctuation is large, and the system switching can not be performed due to safety consideration, and the original main system is still adopted as an initiator of the instruction;
when the ID is 2, an auxiliary system is adopted as an initiator of the instruction, and whether the system needs to perform main-auxiliary switching and a switching mode are judged according to the health degrees of the main system and the auxiliary system obtained by the fault analysis unit; when the health degree of the auxiliary system is more than or equal to the health degree of the main system and the health degree of at least one system is not 1, the auxiliary system is still the initiator of the instruction; when the health degree of the auxiliary system is=1 and is smaller than that of the main system, soft switching is carried out, the main system is used as a new instruction initiator, and at the moment, the double systems respond to the instruction sent by the main system after switching; when the health degree of the auxiliary system is less than that of the main system and the health degree of the auxiliary system is not equal to 1, waiting for switching; when the torque fluctuation is small and the health degree of the auxiliary system is still smaller than that of the main system, switching to the main system; when waiting to switch to the main system, the moment fluctuation is large, the system switching can not be performed due to safety consideration, and the auxiliary system is still adopted as an initiator of the instruction.
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