CN116442797A - Electric automobile torque safety monitoring system and method - Google Patents

Abstract

The invention provides a torque safety monitoring system and method for an electric automobile, wherein the system comprises the following components: peripheral hardware, a whole vehicle controller, a motor controller and a motor; the peripheral hardware is used for acquiring a torque control signal of a user; the whole vehicle controller analyzes the torque control signal into a torque demand, judges whether the torque demand is reasonable, and outputs the reasonable torque demand; judging whether the torque following is normal or not according to the torque feedback signal and the torque demand; the motor controller is used for analyzing the torque demand into a torque execution signal, judging whether the torque execution signal is reasonable or not, and driving the motor to execute torque change according to the reasonable torque execution signal; a torque feedback signal is also output. According to the invention, the vehicle torque safety monitoring is realized on the strategy layer of the whole vehicle controller, the vehicle cost is reduced, the torque control accuracy and robustness of the electric vehicle are improved, and the driving safety is improved.

Description

Electric automobile torque safety monitoring system and method

Technical Field

The invention relates to the technical field of vehicle control, in particular to a torque safety monitoring system and method for an electric automobile.

Background

The new energy automobile industry is vigorously developed, the functions of the whole automobile are gradually improved, and the requirements on the safety and reliability of an electric control system are higher and higher, wherein a power driving system is directly related to the driving safety, so that the requirements on the safety are higher.

The vehicle controller analyzes the torque required by the driver according to the opening inputs of a brake pedal and an accelerator pedal of the driver, the torque requirement is sent through a CAN bus, the motor controller receives the torque command and controls the three-phase alternating current driving motor, and the torque requirement is executed to drive the vehicle to run. It should be noted in particular that the driver torque request and the actual wheel end output torque are not mechanically related, and that both demand resolution and demand execution depend on the calculation of the electronic control system and the transmission of the CAN bus.

From the driver's driving demand to electronically controlled execution, there may be several disturbances in the various flows and links of the process that affect the torque output. Such as pedal mechanical jamming, sensor aging signal anomalies, electromagnetic interference generated by environmental factors, CAN communication signal anomalies, wheel axles stuck and unable to rotate, etc., may all cause torque anomalies in the vehicle.

When the motor is in abnormal torque output states such as non-required torque, idle running and the like, the vehicle is out of control, the vehicle is damaged, personal safety of drivers, passengers and other traffic participants is endangered, and in order to avoid the abnormal states, torque safety monitoring is introduced into a traditional vehicle or a new energy vehicle. The main problems of the existing torque safety monitoring technology are as follows:

an independent safety monitoring chip is required to be arranged in the monitoring scheme, so that the cost of the whole vehicle is improved; meanwhile, the complexity of the in-car circuit is improved due to the fact that an independent safety monitoring chip is introduced;

the monitored torque data has multiple sources, occupies large memory, and is often required to monitor the actual torque of the wheel end and the output torque of the shaft end.

In view of the above torque security monitoring scheme and the current situation, it is necessary to propose a torque monitoring scheme implemented on the whole vehicle controller policy layer.

Disclosure of Invention

Aiming at the technical problems in the prior art, the invention provides the electric vehicle torque safety monitoring system and the method, an independent safety monitoring chip is not required to be arranged, vehicle torque safety monitoring is realized on a strategy layer of a whole vehicle controller, vehicle cost is reduced, torque control accuracy and robustness of the electric vehicle are improved, and driving safety is improved.

According to a first aspect of the present invention, there is provided an electric vehicle torque safety monitoring system, comprising: peripheral hardware, a whole vehicle controller, a motor controller and a motor,

the peripheral hardware is used for acquiring a torque control signal of a user;

the whole vehicle controller is used for analyzing the torque control signal into a torque demand, judging whether the torque demand is reasonable or not and outputting the reasonable torque demand; the torque feedback signal is used for judging whether the torque following is normal or not according to the torque feedback signal and the torque demand;

the motor controller is used for analyzing the torque demand into a torque execution signal, judging whether the torque execution signal is reasonable or not, and driving the motor to execute torque change according to the reasonable torque execution signal; and is also used to obtain a torque feedback signal.

On the basis of the technical scheme, the invention can also make the following improvements.

Optionally, the peripheral hardware includes: the vehicle control system comprises an accelerator pedal, a brake pedal and/or a cruise button, wherein a sensor of peripheral hardware is connected with a vehicle controller through a hard wire and used for transmitting a driving demand signal of a user, and the driving demand signal comprises a torque control signal.

Optionally, the whole vehicle controller is in bidirectional communication connection with the motor controller through the CAN bus, and is used for realizing that the whole vehicle controller outputs torque demands to the motor controller and is also used for realizing that the motor controller outputs torque feedback signals to the whole vehicle controller.

Optionally, the determining whether the torque requirement is reasonable and outputting a reasonable torque requirement; comprising the following steps:

judging whether the current torque demand is within the rated range of the required torque or not: if the torque demand is not within the rated range of the demand torque, performing torque demand fault alarm and sending a torque demand fault zone bit of the whole vehicle controller;

if the current period of the current torque demand is within the rated range of the required torque, the current period of the current torque demand is required to have the torque D _n With the last cycle demand torque D _n-1 Making a difference, judging whether the absolute value of the obtained required torque difference is larger than the rated maximum change of the required torqueThe value delta 1: if the torque demand is larger than the rated maximum change value delta 1 of the required torque, reporting the abnormal jump fault of the required torque of the whole vehicle controller, and sending a torque demand jump fault flag bit of the whole vehicle controller;

and if the torque demand is not greater than the rated maximum change value delta 1 of the demand torque, judging that the current torque demand is a reasonable torque demand, and outputting the current torque demand.

Optionally, the torque demand is resolved into a torque execution signal, whether the torque execution signal is reasonable or not is judged, and the motor is driven to execute torque change according to the reasonable torque execution signal; comprising the following steps:

analyzing the torque demand into a torque execution signal, and judging whether the current torque execution signal is within a signal rated range delta:

if the torque is not within the signal rated range delta, reporting that the torque executed by the motor controller is out of range and fault, and sending a torque abnormality flag bit executed by the motor controller;

if the torque is within the rated range delta of the signal, the torque E is executed in the present period of the torque execution signal _n And the last cycle execution torque E _n-1 Making a difference, judging whether the absolute value of the obtained execution torque variation is larger than the execution torque rated maximum variation delta 2 or not:

if the torque value is not greater than the maximum variation value delta 2 of the torque rating, reporting the fault of the torque jump abnormality of the motor controller, and sending a torque abnormality flag bit of the motor controller;

and if the torque is larger than the maximum variation value delta 2 of the execution torque rating, controlling three-phase alternating current input into the motor according to the current torque execution signal so as to drive the motor to execute torque variation.

Optionally, the determining whether the torque following is normal according to the torque feedback signal and the torque demand includes:

the required torque expressed by the torque requirement is differenced with the execution torque expressed by the torque feedback signal, and the absolute value of the obtained difference is calculated at a time constant t _c And (3) performing integration, and judging whether the integrated value is larger than a difference threshold value a:

if the difference value is larger than the difference value threshold value a, reporting the abnormal fault of the torque following executed by the motor controller, and sending the abnormal flag bit of the torque following executed by the motor controller;

if the difference value is not greater than the difference value threshold value a, continuing to control the motor torque, and outputting a normal working zone bit.

According to a second aspect of the present invention, there is provided a torque safety monitoring method for an electric vehicle, including:

s1, acquiring a torque control signal of a user;

s2, analyzing a torque demand from a torque control signal, judging whether the torque demand is reasonable or not, and outputting a reasonable torque demand;

s3, analyzing the torque demand into a torque execution signal, judging whether the torque execution signal is reasonable, and driving a motor to execute torque change according to the reasonable torque execution signal;

and S4, acquiring a torque feedback signal, and judging whether the torque following is normal or not according to the torque feedback signal and the torque demand.

Optionally, step S2 includes:

judging whether the current torque demand is within the rated range of the required torque or not: if the torque demand is not within the rated range of the demand torque, performing torque demand fault alarm and sending a torque demand fault zone bit;

if the current period of the current torque demand is within the rated range of the required torque, the current period of the current torque demand is required to have the torque D _n With the last cycle demand torque D _n-1 Making a difference, judging whether the absolute value of the obtained difference value of the required torque is larger than the rated maximum change value delta 1 of the required torque or not: if the torque is larger than the rated maximum change value delta 1 of the required torque, reporting the abnormal jump fault of the required torque, and sending a torque required jump fault flag bit;

and if the torque demand is not greater than the rated maximum change value delta 1 of the demand torque, judging that the current torque demand is a reasonable torque demand, and outputting the current torque demand.

Optionally, step S3 includes:

analyzing the torque demand into a torque execution signal, and judging whether the current torque execution signal is within a signal rated range delta:

if the execution torque is not in the signal rated range delta, reporting that the execution torque is not in-range fault, and sending an execution torque abnormal flag bit;

if the torque is within the rated range delta of the signal, the torque E is executed in the present period of the torque execution signal _n And the last cycle execution torque E _n-1 Making a difference, judging whether the absolute value of the obtained execution torque variation is larger than the execution torque rated maximum variation delta 2 or not:

if the torque jump abnormality is not greater than the maximum variation value delta 2 of the execution torque rating, reporting the fault of the execution torque jump abnormality, and sending an execution torque abnormality flag bit;

and if the torque is larger than the maximum variation value delta 2 of the execution torque rating, controlling three-phase alternating current input into the motor according to the current torque execution signal so as to drive the motor to execute torque variation.

Optionally, step S4 includes:

acquiring a torque feedback signal, differencing the required torque expressed by the torque requirement and the execution torque expressed by the torque feedback signal, and setting the absolute value of the obtained difference value at a time constant t _c And (3) performing integration, and judging whether the integrated value is larger than a difference threshold value a:

if the difference value is larger than the difference value threshold value a, reporting the abnormal fault of the follow-up execution torque, and sending a flag bit of the follow-up abnormality of the follow-up execution torque;

if the difference value is not greater than the difference value threshold value a, continuing to control the motor torque, and outputting a normal working zone bit.

The invention provides an electric vehicle torque safety monitoring system and method, which are provided by the invention, and the torque safety monitoring scheme is provided on the whole vehicle controller application layer from the application layer, so that the whole vehicle cost and the resource occupation are reduced on the premise of ensuring the driving safety. The torque demand of the whole vehicle controller and the execution torque output of the motor controller are scientifically monitored, scientific and effective monitoring is carried out, the torque accuracy and the robustness of the electric vehicle are improved, and the driving safety is ensured.

Drawings

FIG. 1 is a block diagram of an electric vehicle torque safety monitoring system provided by the invention;

fig. 2 is a flowchart of a method for monitoring torque safety of an electric vehicle;

fig. 3 is a flowchart of a method for monitoring torque safety of an electric vehicle according to an embodiment.

Detailed Description

The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.

Fig. 1 is a block diagram of an electric vehicle torque safety monitoring system provided by the invention. As shown in fig. 1, the present invention provides an electric vehicle torque safety monitoring system, which includes: peripheral hardware, a whole vehicle controller, a motor controller and a motor,

the peripheral hardware is used for acquiring a torque control signal of a user;

the whole vehicle controller is used for analyzing the torque demand from the torque control signal, judging whether the torque demand is reasonable or not, and outputting the reasonable torque demand to the motor controller; the motor controller is also used for judging whether the torque following is normal or not according to the torque feedback signal provided by the motor controller and the torque demand;

the motor controller is used for analyzing the torque demand into a torque execution signal, judging whether the torque execution signal is reasonable or not, and driving the motor to execute torque change according to the reasonable torque execution signal; and the torque feedback signal of the vehicle is output to the whole vehicle controller.

It can be appreciated that based on the defects in the background technology, the embodiment of the invention provides a technical scheme that an electric automobile torque safety monitoring system takes a new energy automobile electric control system as an implementation main body, integrates a torque safety monitoring strategy, solves the problems of cost and line complexity caused by an independent safety monitoring chip, solves the problem of abnormal energy output caused by motor clamping stagnation, solves the problem that a vehicle moves without being expected by a driver, solves the problem of riding discomfort and safety caused by abnormal transition of the vehicle torque, and solves the problem that a motor controller outputs abnormally to damage a motor. The system starts from an application layer, and provides a torque safety monitoring scheme at the application layer of the whole vehicle controller, so that the whole vehicle cost and the resource occupation are reduced on the premise of ensuring the driving safety; the torque demand of the whole vehicle controller and the execution torque output of the motor controller are scientifically monitored, scientific and effective monitoring is carried out, the torque accuracy and the robustness of the electric vehicle are improved, and the driving safety is ensured.

In one possible embodiment, as shown in fig. 1, the peripheral hardware includes, but is not limited to: and the sensors of the peripheral hardware are connected with the vehicle controller through hard wires and used for transmitting driving demand signals of users to the vehicle controller, wherein the driving demand signals comprise but are not limited to torque control signals.

As shown in fig. 1, the peripheral hardware sensor transmits signals to the whole vehicle controller through a hard wire, the whole vehicle controller judges driving requirements of a driver through the peripheral hard wire signals, and the whole vehicle controller is connected with the motor controller through the CAN bus to realize signal bidirectional transmission, for example, the whole vehicle controller outputs torque requirement instructions to the motor controller, and the motor controller outputs torque feedback signals to the whole vehicle controller. The motor controller drives the motor by controlling the output U, V, W three-phase ac high voltage electric motor, the motor output enforcing the torque demand. Judging whether the torque demand is reasonable or not in the whole vehicle controller, and outputting the reasonable torque demand to the motor controller; and meanwhile, a torque feedback signal returned by the motor controller is received, whether the execution torque of the vehicle is reasonable or not is judged according to the torque feedback signal and the torque demand, whether the torque following is abnormal or not is judged, corresponding processing is carried out, the torque accuracy and the robustness of the electric automobile are improved, and the driving safety is ensured.

In one possible embodiment, in the overall vehicle controller, as shown in the flowchart of fig. 3, determining whether the torque demand is reasonable, and outputting a reasonable torque demand; comprising the following steps:

judging whether the current torque demand is within the rated range of the required torque or not: if the torque demand is not within the rated range of the demand torque, performing torque demand fault alarm and sending a torque demand fault zone bit of the whole vehicle controller;

if the current period of the current torque demand is within the rated range of the required torque, the current period of the current torque demand is required to have the torque D _n With the last cycle demand torque D _n-1 Making a difference, judging whether the absolute value of the obtained difference value of the required torque is larger than the rated maximum change value delta 1 of the required torque or not: if the torque demand is larger than the rated maximum change value delta 1 of the required torque, reporting the abnormal jump fault of the required torque of the whole vehicle controller, and sending a torque demand jump fault flag bit of the whole vehicle controller;

and if the torque demand is not greater than the rated maximum change value delta 1 of the demand torque, judging that the current torque demand is a reasonable torque demand, and outputting the current torque demand to a motor controller.

It can be appreciated that the problem of abnormal torque demand output of the vehicle controller is solved by the embodiment. The rationality and the effectiveness of torque control are ensured from the source of torque control by judging whether the torque demand analyzed by the torque control signal input to the whole vehicle controller is reasonable or not, so that the driving safety is improved.

In one possible embodiment, as shown in fig. 3, the method includes analyzing a torque demand into a torque execution signal, judging whether the torque execution signal is reasonable, and driving a motor to execute torque change according to the reasonable torque execution signal; also for outputting a torque feedback signal, comprising:

analyzing the torque demand into a torque execution signal, and judging whether the current torque execution signal is within a signal rated range delta:

if the torque is not within the signal rated range delta, reporting that the torque executed by the motor controller is out of range and fault, and sending a torque abnormality flag bit executed by the motor controller;

if the torque is within the rated range delta of the signal, the torque E is executed in the present period of the torque execution signal _n And the last cycle execution torque E _n-1 Making a difference, judging whether the absolute value of the obtained execution torque variation is larger than the execution torque rated maximum variation delta 2 or not:

if the torque value is not greater than the maximum variation value delta 2 of the torque rating, reporting the fault of the torque jump abnormality of the motor controller, and sending a torque abnormality flag bit of the motor controller;

if the torque is larger than the maximum variation value delta 2 of the execution torque rating, controlling three-phase alternating current input into the motor according to the current torque execution signal to drive the motor to execute torque variation;

and acquiring a torque feedback signal of the vehicle, and transmitting the torque feedback signal to the whole vehicle controller.

It can be appreciated that the present embodiment solves the problem of abnormal torque output performed by the motor controller. The embodiment ensures the accuracy of analyzing the torque demand into the torque execution signal, ensures that the motor execution torque is in a safety range, and further improves the driving safety.

In a possible embodiment, the determining whether the torque follows the torque according to the torque feedback signal and the torque demand includes:

the required torque expressed by the torque requirement is differenced with the execution torque expressed by the torque feedback signal, and the absolute value of the obtained difference is calculated at a time constant t _c And (3) performing integration, and judging whether the integrated value is larger than a difference threshold value a:

if the difference value is larger than the difference value threshold value a, reporting the abnormal fault of the torque following executed by the motor controller, and sending the abnormal flag bit of the torque following executed by the motor controller;

if the difference value is not greater than the difference value threshold value a, continuing to control the motor torque, and outputting a normal working zone bit.

It can be appreciated that the present embodiment solves the problem of the motor controller performing torque output not matching the torque output of the overall vehicle controller. After the torque control of the motor is successfully realized, the torque feedback signal is compared with the torque demand, and the difference between the execution torque and the expected demand torque can be obtained, so that the torque control of the vehicle is realized within a desired precision, and the torque accuracy and the robustness of the electric automobile are improved.

As shown in fig. 2, this embodiment further provides a method for monitoring torque safety of an electric vehicle, where the method includes:

s1, acquiring a torque control signal of a user;

s2, analyzing a torque demand from a torque control signal, judging whether the torque demand is reasonable or not, and outputting a reasonable torque demand;

s3, analyzing the torque demand into a torque execution signal, judging whether the torque execution signal is reasonable, and driving a motor to execute torque change according to the reasonable torque execution signal;

and S4, acquiring a torque feedback signal, and judging whether the torque following is normal or not according to the torque feedback signal and the torque demand.

It will be appreciated that the torque demand of the user may be obtained by the peripheral hardware sensor shown in fig. 1. The invention reduces the cost and the resource occupation of the whole vehicle on the premise of ensuring the driving safety, scientifically monitors the torque demand of the whole vehicle controller and the execution torque output of the motor controller, improves the torque accuracy and the robustness of the electric vehicle, and ensures the driving safety.

In one possible embodiment, step S2 includes:

judging whether the current torque demand is within the rated range of the required torque or not: if the torque demand is not within the rated range of the demand torque, performing torque demand fault alarm and sending a torque demand fault zone bit;

if the current period of the current torque demand is within the rated range of the required torque, the current period of the current torque demand is required to have the torque D _n With the last cycle demand torque D _n-1 Making a difference, judging whether the absolute value of the obtained difference value of the required torque is larger than the rated maximum change value delta 1 of the required torque or not: if the torque is larger than the rated maximum change value delta 1 of the required torque, reporting the abnormal jump fault of the required torque, and sending a torque required jump fault flag bit;

and if the torque demand is not greater than the rated maximum change value delta 1 of the demand torque, judging that the current torque demand is a reasonable torque demand, and outputting the current torque demand.

In one possible embodiment, step S3 includes:

analyzing the torque demand into a torque execution signal, and judging whether the current torque execution signal is within a signal rated range delta:

if the execution torque is not in the signal rated range delta, reporting that the execution torque is not in-range fault, and sending an execution torque abnormal flag bit;

if the torque is within the rated range delta of the signal, the torque E is executed in the present period of the torque execution signal _n And the last cycle execution torque E _n-1 Making a difference, judging whether the absolute value of the obtained execution torque variation is larger than the execution torque rated maximum variation delta 2 or not:

if the torque jump abnormality is not greater than the maximum variation value delta 2 of the execution torque rating, reporting the fault of the execution torque jump abnormality, and sending an execution torque abnormality flag bit;

and if the torque is larger than the maximum variation value delta 2 of the execution torque rating, controlling three-phase alternating current input into the motor according to the current torque execution signal so as to drive the motor to execute torque variation.

In one possible embodiment, step S4 includes:

acquiring and outputting a torque feedback signal of a vehicle, differencing the required torque expressed by the torque requirement and the execution torque expressed by the torque feedback signal, and setting the absolute value of the obtained difference value at a time constant t _c And (3) performing integration, and judging whether the integrated value is larger than a difference threshold value a:

if the difference value is larger than the difference value threshold value a, reporting the abnormal fault of the follow-up execution torque, and sending a flag bit of the follow-up abnormality of the follow-up execution torque;

if the difference value is not greater than the difference value threshold value a, continuing to control the motor torque, and outputting a normal working zone bit.

The scheme of the present invention will now be illustrated by a specific implementation scenario based on the system architecture block diagram of fig. 1 and the flowchart of fig. 3.

Step one: whole car Ready, electrifying;

step two: the whole vehicle controller receives the sensor signals in each path in the figure 1, judges the torque control signals at the moment and outputs the torque control signals;

step three: analyzing a torque demand from the torque control signal, judging whether the torque demand in the whole vehicle controller is within a required torque rated range, executing a step four if the torque demand is within the required torque rated range, and executing a step five if the torque demand is not within the required torque rated range;

step four: the current period output torque demand value D of the current torque demand _n With torque demand value D of last cycle _n-1 Making a difference, judging whether the absolute value of the torque variation (namely the obtained torque demand difference) is larger than a rated maximum variation value delta 1 of the demand torque, if not, executing a step six, and if so, executing a step seven;

step five: reporting a torque demand fault of the whole vehicle controller, sending a torque demand fault flag bit of the whole vehicle controller, and executing the step fifteen in a jumping manner;

step six: the whole vehicle controller converts the torque demand into a torque demand instruction and sends the torque demand instruction to the motor controller, the motor controller analyzes the torque demand instruction and sends a torque execution signal to drive the motor to execute the torque demand, and then the step eight is executed in a jumping manner;

step seven: reporting the abnormal jump fault of the torque demand of the whole vehicle controller, sending a torque demand jump fault zone bit of the whole vehicle controller, and executing the step fifteen in a jump way;

step eight: judging whether a current torque execution signal is in a signal rated range delta when the motor controller executes torque, executing a step nine if the current torque execution signal is in the signal rated range delta, and executing a step ten if the current torque execution signal is not in the signal rated range delta;

step nine: executing torque E in the current period of a torque execution signal sent by a motor controller _n And the execution torque E of the previous cycle _n-1 Making a difference, judging whether the absolute value of the execution torque variation is larger than the execution torque rated maximum variation delta 2, if so, executing the step eleventh, and if not, executing the step twelfth;

step ten: reporting that the torque executed by the motor controller is out of range fault, sending a torque abnormality flag bit executed by the motor controller, and skipping to execute the step fifteen;

step eleven: reporting the fault of the torque jump abnormality executed by the motor controller, sending a torque abnormality flag bit executed by the motor controller, and executing the step fifteen in a jump mode;

step twelve: controlling required torque and motor in whole vehicle controllerThe torque feedback signal expresses the execution torque value in the device and the absolute value of the obtained difference value is calculated at the time constant t _c Performing integration, judging whether the integrated value is larger than a difference threshold value a, if so, jumping to execute step thirteen, and if not, jumping to execute step fourteen;

step thirteen: reporting the abnormal fault of the torque following of the motor controller, sending the abnormal flag bit of the torque following of the motor controller, and jumping to execute the step fifteen;

step fourteen: normally executing, continuously controlling the torque of the motor, outputting a normal working zone bit, and returning to the executing step two;

fifteen steps: and the whole vehicle is powered down, and the Ready state is exited.

The embodiment of the invention provides an electric vehicle torque safety monitoring system and method, which are provided by an application layer, and the torque safety monitoring scheme of the whole vehicle controller application layer is provided, so that the whole vehicle cost and the resource occupation are reduced on the premise of ensuring the driving safety. The torque demand of the whole vehicle controller and the execution torque output of the motor controller are scientifically monitored, scientific and effective monitoring is carried out, the torque accuracy and the robustness of the electric vehicle are improved, and the driving safety is ensured. More specifically, the scheme of the invention solves the problem of abnormal torque output of the whole vehicle controller, solves the problem of abnormal torque output of the motor controller, solves the problem of mismatching of the torque output of the motor controller and the torque output of the whole vehicle controller, solves the problem of cost and line complexity caused by an independent safety monitoring chip, solves the problem of abnormal energy output caused by motor clamping stagnation, solves the problem of vehicle movement caused by unexpected vehicle movement according to a driver, solves the problem of riding discomfort and safety caused by abnormal transition of the torque of the vehicle, and solves the problem of abnormal motor damage caused by the output of the motor controller. Compared with the prior art, the method has the following advantages that:

compared with the traditional independent torque monitoring safety chip, the torque safety monitoring strategy is set in the electric control system, the complexity of the vehicle wire harness and the controller is reduced, and the whole vehicle cost is also reduced.

The torque is required to be collected from the wheel end by the traditional scheme, so that the real-time performance of torque safety monitoring can be affected. According to the scheme, the judgment basis is directly collected from the motor control system, so that the instantaneity and the driving safety of signals are better ensured.

In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. An electric automobile torque safety monitoring system, characterized by comprising: peripheral hardware, a whole vehicle controller, a motor controller and a motor,

the peripheral hardware is used for acquiring a torque control signal of a user;

the whole vehicle controller is used for analyzing the torque demand from the torque control signal, judging whether the torque demand is reasonable or not and outputting the reasonable torque demand; the torque feedback signal is used for judging whether the torque following is normal or not according to the torque feedback signal and the torque demand;

the motor controller is used for analyzing the torque demand into a torque execution signal, judging whether the torque execution signal is reasonable or not, and driving the motor to execute torque change according to the reasonable torque execution signal; and also for outputting a torque feedback signal.

2. The electric vehicle torque security monitoring system of claim 1, wherein the peripheral hardware comprises: the vehicle control system comprises an accelerator pedal, a brake pedal and/or a cruise button, wherein a sensor of peripheral hardware is connected with a vehicle controller through a hard wire and used for transmitting a driving demand signal of a user, and the driving demand signal comprises a torque control signal.

3. The electric vehicle torque safety monitoring system according to claim 1, wherein the whole vehicle controller is in bidirectional communication connection with the motor controller through a CAN bus, and is used for realizing that the whole vehicle controller outputs a torque demand to the motor controller and is also used for realizing that the motor controller outputs a torque feedback signal to the whole vehicle controller.

4. The electric vehicle torque security monitoring system of claim 1, wherein the determining whether the torque demand is reasonable and outputting a reasonable torque demand; comprising the following steps:

judging whether the current torque demand is within the rated range of the required torque or not: if the torque demand is not within the rated range of the demand torque, performing torque demand fault alarm and sending a torque demand fault zone bit of the whole vehicle controller;

if the current period of the current torque demand is within the rated range of the required torque, the current period of the current torque demand is required to have the torque D _n With the last cycle demand torque D _n-1 Making a difference, judging whether the absolute value of the obtained difference value of the required torque is larger than the rated maximum change value delta 1 of the required torque or not: if the torque demand is larger than the rated maximum change value delta 1 of the required torque, reporting the abnormal jump fault of the required torque of the whole vehicle controller, and sending a torque demand jump fault flag bit of the whole vehicle controller;

and if the torque demand is not greater than the rated maximum change value delta 1 of the demand torque, judging that the current torque demand is a reasonable torque demand, and outputting the current torque demand.

5. The system of claim 1, wherein the analyzing the torque demand into a torque execution signal, determining whether the torque execution signal is reasonable, and driving a motor to execute torque change according to the reasonable torque execution signal; comprising the following steps:

analyzing the torque demand into a torque execution signal, and judging whether the current torque execution signal is within a signal rated range delta:

if the torque is not within the signal rated range delta, reporting that the torque executed by the motor controller is out of range and fault, and sending a torque abnormality flag bit executed by the motor controller;

if the torque is within the rated range delta of the signal, the torque E is executed in the present period of the torque execution signal _n And the last cycle execution torque E _n-1 Making a difference, judging whether the absolute value of the obtained execution torque variation is larger than the execution torque rated maximum variation delta 2 or not:

if the torque value is not greater than the maximum variation value delta 2 of the torque rating, reporting the fault of the torque jump abnormality of the motor controller, and sending a torque abnormality flag bit of the motor controller;

and if the torque is larger than the maximum variation value delta 2 of the execution torque rating, controlling three-phase alternating current input into the motor according to the current torque execution signal so as to drive the motor to execute torque variation.

6. The electric vehicle torque safety monitoring system according to claim 1, wherein the determining whether the torque follow-up is normal according to the torque feedback signal and the torque demand comprises:

the required torque expressed by the torque requirement is differenced with the execution torque expressed by the torque feedback signal, and the absolute value of the obtained difference is calculated at a time constant t _c And (3) performing integration, and judging whether the integrated value is larger than a difference threshold value a:

if the difference value is larger than the difference value threshold value a, reporting the abnormal fault of the torque following executed by the motor controller, and sending the abnormal flag bit of the torque following executed by the motor controller;

if the difference value is not greater than the difference value threshold value a, continuing to control the motor torque, and outputting a normal working zone bit.

7. The method for safely monitoring the torque of the electric automobile is characterized by comprising the following steps of:

s1, acquiring a torque control signal of a user;

s2, analyzing a torque demand from a torque control signal, judging whether the torque demand is reasonable or not, and outputting a reasonable torque demand;

s3, analyzing the torque demand into a torque execution signal, judging whether the torque execution signal is reasonable, and driving a motor to execute torque change according to the reasonable torque execution signal;

and S4, acquiring a torque feedback signal, and judging whether the torque following is normal or not according to the torque feedback signal and the torque demand.

8. The method for safely monitoring the torque of the electric automobile according to claim 7, wherein the step S2 comprises:

judging whether the current torque demand is within the rated range of the required torque or not: if the torque demand is not within the rated range of the demand torque, performing torque demand fault alarm and sending a torque demand fault zone bit;

if the current period of the current torque demand is within the rated range of the required torque, the current period of the current torque demand is required to have the torque D _n With the last cycle demand torque D _n-1 Making a difference, judging whether the absolute value of the obtained difference value of the required torque is larger than the rated maximum change value delta 1 of the required torque or not: if the torque is larger than the rated maximum change value delta 1 of the required torque, reporting the abnormal jump fault of the required torque, and sending a torque required jump fault flag bit;

and if the torque demand is not greater than the rated maximum change value delta 1 of the demand torque, judging that the current torque demand is a reasonable torque demand, and outputting the current torque demand.

9. The method for safely monitoring the torque of the electric automobile according to claim 7, wherein the step S3 comprises:

analyzing the torque demand into a torque execution signal, and judging whether the current torque execution signal is within a signal rated range delta:

if the execution torque is not in the signal rated range delta, reporting that the execution torque is not in-range fault, and sending an execution torque abnormal flag bit;

if the torque is within the rated range delta of the signal, the torque E is executed in the present period of the torque execution signal _n And the last cycle execution torque E _n-1 Making a difference, judging whether the absolute value of the obtained execution torque variation is larger than the execution torque rated maximum variation delta 2 or not:

if the torque jump abnormality is not greater than the maximum variation value delta 2 of the execution torque rating, reporting the fault of the execution torque jump abnormality, and sending an execution torque abnormality flag bit;

and if the torque is larger than the maximum variation value delta 2 of the execution torque rating, controlling three-phase alternating current input into the motor according to the current torque execution signal so as to drive the motor to execute torque variation.

10. The method for safely monitoring the torque of the electric automobile according to claim 7, wherein the step S4 comprises:

acquiring a torque feedback signal, differencing the required torque expressed by the torque requirement and the execution torque expressed by the torque feedback signal, and setting the absolute value of the obtained difference value at a time constant t _c And (3) performing integration, and judging whether the integrated value is larger than a difference threshold value a:

if the difference value is larger than the difference value threshold value a, reporting the abnormal fault of the follow-up execution torque, and sending a flag bit of the follow-up abnormality of the follow-up execution torque;

if the difference value is not greater than the difference value threshold value a, continuing to control the motor torque, and outputting a normal working zone bit.