CN201820135U - Vehicle control device of single-axle parallel hybrid power system - Google Patents
Vehicle control device of single-axle parallel hybrid power system Download PDFInfo
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- CN201820135U CN201820135U CN2010205452638U CN201020545263U CN201820135U CN 201820135 U CN201820135 U CN 201820135U CN 2010205452638 U CN2010205452638 U CN 2010205452638U CN 201020545263 U CN201020545263 U CN 201020545263U CN 201820135 U CN201820135 U CN 201820135U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The utility model relates to a vehicle control device of a single-axle parallel hybrid power system. The vehicle control device comprises a circuit board and a shell, wherein the circuit board is arranged in the shell; the circuit board contains a single chip microcomputer (SCM), a clock reset circuit, a power module, a digital input processing circuit, a digital output processing circuit, an electromagnetic valve control circuit, an analog output processing circuit, an A/D analog signal conditioning circuit module, a CAN bus preprocessing circuit and a pulse signal interface circuit; and the SCM is connected with the clock reset circuit, the power module, the digital input processing circuit, the digital output processing circuit, the electromagnetic valve control circuit, the analog output processing circuit, the A/D analog signal conditioning circuit module, the CAN bus preprocessing circuit and the pulse signal interface circuit respectively. Compared with the prior art, the vehicle control device in the utility model realizes optimal control to the hybrid vehicle and has the advantages of versatile functions, abundant interfaces, high engineering degree, great industrialization potential and the like.
Description
Technical field
The utility model relates to a kind of automobile controller, especially relates to a kind of single shaft parallel connection type hybrid power system car load control device.
Background technology
Automobile has become the mainstay industry of most countries as the sign of human civilization and social progress; for advancing national economy and social development to play an important role; but automobile has also brought serious energy crisis and problem of environmental pollution bring the huge while easily to the mankind.Studies show that in a large number, because the limitation of conventional engines self-technique development, attempt to wait and improve automobile fuel consumption and discharging, be difficult to reach and alleviate oil crisis and satisfy harsh day by day laws and regulations requirement by the overall efficiency that improves the orthodox car power system.Under this background, various countries motor corporation carries out the technical research and development of efficient energy-saving cleaning vehicle one after another, and wherein hybrid vehicle obtains the extensive approval and the fast development of society owing to have the remarkable and feasible high double dominant of industrialization of effects of energy saving and emission reduction.
The hybrid power entire car controller is the core key of hybrid vehicle, bear coordination control action to automobile and engine and power-driven system, mainly be based on the current operation information of automobile, the automobile of needs is driven energy distribution to each power source, realize the best controlled target of fuel consumption and car load discharging.At present there are many family units to develop multi-form hybrid power entire car controller both at home and abroad, but all be to use basically at specific hybrid power system, because the restriction of function and interface, have that versatility is strong, insufficiency face, shortcoming that the product engineering degree is not high, particularly at single shaft parallel type hybrid dynamic automobile, in case power-driven system lost efficacy, vehicle can't continue starting and travel, and exist car load to run out of steam and risk out of service.
Summary of the invention
The purpose of this utility model is exactly to provide a kind of complete function, rich interface, through engineering approaches degree height and industrialization potential good single shaft parallel connection type hybrid power system car load control device for the defective that overcomes above-mentioned prior art existence.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of single shaft parallel connection type hybrid power system car load control device, it is characterized in that, comprise circuit board, housing, described circuit board is located in the housing, described circuit board comprises single-chip microcomputer, the clock-reset circuit, power module, the numeral input processing circuit, the numeral output processing circuit, solenoid valve control circuit, the simulation output processing circuit, A/D analog signal conditioner circuit module, CAN bus pre-process circuit, pulse signal interface circuit, described single-chip microcomputer respectively with the clock-reset circuit, power module, the numeral input processing circuit, the numeral output processing circuit, solenoid valve control circuit, the simulation output processing circuit, A/D analog signal conditioner circuit module, CAN bus pre-process circuit, the pulse signal interface circuit connects.
Described housing comprises connector, upper cover plate, lower cover, described connector be connected with circuit board the back by screw retention on upper cover plate, described upper cover plate and lower cover are tightly connected.
It is the double-core single-chip microcomputer of 40MHz that described single-chip microcomputer adopts bus frequency, and this single-chip microcomputer comprises 512kflash, 4K EEPROM, 32K RAM, 5 road CAN bus interface, and supports online programming.
Described clock-reset circuit is connected with CPU12X interface in the single-chip microcomputer, for single-chip microcomputer provides work clock.
Described digital input processing circuit comprises spike and clutter processing module, the default conditions determination module, filtering and anti-shake processing module, described spike and clutter processing module, the default conditions determination module, filtering is connected successively with anti-shake processing module, described digital input processing circuit is gathered the first brake switch signal, the second brake switch signal, the 3rd brake switch signal, the Plugin switching signal, SOC increases the adjustment signal, SOC reduces the adjustment signal, the gear shift request switching signal, the air-conditioning request signal, the firing key signal, solenoid valve A feedback signal, solenoid valve B feedback signal, solenoid valve C feedback signal, the first clutch switching signal, the second clutch switching signal, the EV enable signal, switching signal is played on the slope, and is transferred to single-chip microcomputer by the PORT interface.
Described digital signal processing module comprises driving amplification module, current-limiting protection module; described driving amplification module is connected with the current-limiting protection module; described digital output processing circuit to the output control information of the SPI0 interface of single-chip microcomputer drive amplification, current-limiting protection is delivered to each topworks respectively after handling, topworks comprises malfunction indicator lamp, clutch coupling indication lamp, motor, cooling-water pump, shutdown relay, electric clutch, cooling fan relay, electric motor fan relay, lubricated delayed relay, motor cavity cooling fan.
Described solenoid valve control circuit is carried out the output control signal of single-chip microcomputer PORTP interface, realizes driving solenoid valve A and solenoid valve B.
Described simulation output processing circuit comprises Analog Output Chip, Signal Spacing module, anti-tampering processing module, described Analog Output Chip, Signal Spacing module, anti-tampering processing module connect successively, and described simulation output processing circuit is adjusted the output throttle signal and the idle signal of single-chip microcomputer SPI1 interface.
Described A/D analog signal conditioner circuit comprises spike and clutter processing module, filtering and anti-shake processing module, the voltage division processing module, described spike and clutter processing module, filtering and anti-shake processing module, the voltage division processing module connects successively, described A/D analog signal conditioner circuit is gathered and is sent into single-chip microcomputer by the ATD interface of single-chip microcomputer after simulating signal is handled, and wherein simulating signal comprises the throttle input signal, throttle input idle signal, the brake pedal signal, the battery tension signal, output throttle feedback signal, output throttle idling feedback signal, 5V voltage output feedback signal.
Described CAN bus pre-process circuit comprises CAN transmission circuit, photoelectric isolating circuit, battery filtering circuit, and described CAN transmission circuit, photoelectric isolating circuit, battery filtering circuit connect successively.
Compared with prior art, the utlity model has following advantage:
1, She Ji hybrid power entire car controller complete function, rich interface, the integrated level height.Based on intelligent double-core single-chip microcomputer and powerful peripheral processes circuit module thereof, gather the car load operation information comprehensively, control algolithm and program by complexity, engine, motor, power accumulator and Full Vehicle System are coordinated control, realize comprehensive torque distribution and energy-optimised, braking energy feedback, clutch coupling control automatically and control strategy such as light gear shift, fault diagnosis and inefficacy, Stop-go, EV, Plugin.
2, possess power accumulator SOC balance self study strategy and function.The self study strategy can be adjusted the SOC of accumulator automatically at most of road conditions, be further to improve various adaptability for working condition simultaneously, the function of performance driver active adjustment, specialized designs accumulator SOC adjust switch, contain " SOC+ " and " SOC-" two switches.When the driver returns the vehicle to the garage and knock off every day, low excessively as finding SOC, can press " SOC+ ", the in service suitable increasing charge volume that system can be afterwards is to improve SOC.As find that SOC is too high, then presses " SOC-" when returning the vehicle to the garage and knock off.By so avoiding the difference owing to road condition, driving habits, the situation that the accumulator appearance in the hybrid vehicle excessively discharges and recharges causes the accumulator reduction even the damage in serviceable life.
3, this design of Controller brake switch signal and brake pedal simulating signal, can be according to different hybrid power systems user's request and the road spectrum of unifying, customize and select different energy feedback control strategies for use, carry out from the energy feedback to greatest extent.
4, can realize that clutch coupling controls automatically.According to clutch switch signal, neutral signal, gear shift request switching signal, engine speed and vehicle speed signal etc., engine and motor are carried out intelligent speed-regulating, simultaneously solenoid control is adopted the close-loop feedback control mode, when having reduced clutch coupling work, the automatic control that has realized clutch coupling, prolonged the serviceable life of clutch disc to the impact of car load.This function is applicable to the MT/AMT system.Under the ungratified condition of the automatic controlled condition of clutch coupling, can also switch to the manual control model of clutch coupling in addition.
5, in conjunction with clutch switch, gear shift request switch, throttle, engine speed and vehicle speed signal etc., design the intelligent shift control strategy, realized light gear shift, greatly reduced car steering intensity.
6, the car load throttle is carried out seamless link control, can directly gather throttle signal reflection driver intention and give engine and electric machine controller with analog signaling respectively with suitable throttle signal, also can give engine and electric machine controller by the mode of CAN bus according to the result of determination of the energy control strategy in the controller.Throttle Opening Control adopts close-loop control mode, to reach accurate control and energy-optimised purpose.
7, can be according to the hybrid power system state, the employing drive motor is piloted engine or is adopted starter motor to pilot engine, but guarantees that automobile is in running status at any time.
8, have motor water cooling and air-cooled control model simultaneously, at utmost reduce the working temperature of motor, improve efficiency of motor, guarantee giving full play to of power of motor
9, according to air-conditioning request switch and car load operating condition, judge whether air-conditioning can be enabled, and, reduce the wearing and tearing of air-conditioning system in conjunction with the control of lubricating delayed relay, prolong the life-span of air-conditioning system.
10, design has EV enable switch signal, slope to work open the light signal, Plugin switching signal, realizes corresponding pure electronic, uphill starting and Plugin function under specific operating mode.
11,5 road CAN buses adopt photoelectricity to isolate and the em filtering circuit design, but terminal resistance software mates simultaneously, and antijamming capability is strong, coupling dirigibility height.Realization is based on CCP, J1939 and reliable and stable demarcation, communication and diagnosis and the car load EOL function of ISO15765.
12, power circuit has that short circuit stops automatically and recovery, self diagnosis defencive function, and simultaneously strong according to hybrid power electromagnetic interference (EMI) characteristics have been carried out special EMC technical design, makes the total system good reliability, working stability.
13, controller architecture compactness, the integrated level height, in light weight, based on the symmetric design principle, designed the controller mounting structure of being convenient to regulate, wherein the mounting hole of a side; Upper cover plate surface radiating fin is combined type in length and breadth, not only increases area of dissipation but also strengthened structural strength.Lower cover adopts the layer-stepping design proposal, helps improving the crush resistance strength and the anticollision deformability of controller.
14, the characteristics according to connector have designed special-purpose band and structure at upper cover plate, guarantee the waterproof and dustproof performance.In order to satisfy the vibration requirement of running car, the welding and the technique for fixing of components and parts etc. carried out special processing.
Description of drawings
Fig. 1 is a board structure of circuit synoptic diagram of the present utility model;
Fig. 2 is the structural representation of digital input processing circuit of the present utility model;
Fig. 3 is the structural representation of simulation output processing circuit of the present utility model;
Fig. 4 is the structural representation of A/D analog signal conditioner circuit of the present utility model;
Fig. 5 is the circuit diagram of A/D analog signal conditioner circuit of the present utility model.
Embodiment
Below in conjunction with the drawings and specific embodiments the utility model is elaborated.
Embodiment
As shown in Figure 1, a kind of single shaft parallel connection type hybrid power system car load control device, comprise circuit board, housing, described circuit board is located in the housing, described circuit board comprises single-chip microcomputer 1, clock-reset circuit 2, power module 3, numeral input processing circuit 4, numeral output processing circuit 5, solenoid valve control circuit 6, simulation output processing circuit 7, A/D analog signal conditioner circuit module 9, CAN bus pre-process circuit 8, pulse signal interface circuit 10, described single-chip microcomputer 1 respectively with clock-reset circuit 2, power module 3, numeral input processing circuit 4, numeral output processing circuit 5, solenoid valve control circuit 6, simulation output processing circuit 7, A/D analog signal conditioner circuit module 9, CAN bus pre-process circuit 8, pulse signal interface circuit 10 connects.
Described housing comprises connector, upper cover plate, lower cover, described connector be connected with circuit board the back by screw retention on upper cover plate, described upper cover plate and lower cover are tightly connected.Upper cover plate, lower cover based on the symmetric design principle, have designed the controller mounting structure of being convenient to regulate, two mounting holes of every side, the wherein mounting hole of a side according to the characteristics of connector and circuit board and components and parts thereof; Upper cover plate surface radiating fin is combined type in length and breadth, not only increases area of dissipation but also strengthened structural strength.Lower cover adopts the layer-stepping design proposal, helps improving the crush resistance strength and the anticollision deformability of controller.Characteristics according to connector have designed special-purpose band and structure at upper cover plate, guarantee the waterproof and dustproof performance.In order to satisfy the vibration requirement of running car, the welding and the technique for fixing of components and parts etc. carried out special processing.The entire controller housing adopts special aluminum alloy materials, has intensity height, lightweight advantage.
It is the double-core single-chip microcomputer of 40MHz that described single-chip microcomputer 1 adopts bus frequency, and this single-chip microcomputer comprises 512kflash, 4K EEPROM, 32K RAM, 5 road CAN bus interface, and supports online programming.Control algolithm and control program to complexity carry out quick computing, have realized functions such as the speed governing of automatic control, engine and the motor of clutch coupling, light gear shift; Comprehensively the input processing circuit module is gathered the car load operation information by sensor and switch, to car load and the monitoring in real time of energy stream.Described clock-reset circuit 2 is connected with CPU12X interface in the single-chip microcomputer, for single-chip microcomputer provides work clock.
The function of described power module 3 is to single-chip microcomputer 1 and the power supply of each functional circuit module.Consider the requirement of input voltage range, power supply ripple, electromagnetic interference (EMI), cost performance and stability, the mode that adopts Switching Power Supply and linear power supply to combine has designed the power module of secondary buck, has broad vehicle power adaptability.Supply voltage is too high to cause damage to controller in order to prevent to insert, and in the power input design transient voltage suppressing circuit is arranged, thereby reaches the effect of effective protection power module.
As shown in Figure 2, described digital input processing circuit 4 comprises spike and clutter processing module, the default conditions determination module, filtering and anti-shake processing module, described spike and clutter processing module, the default conditions determination module, filtering is connected successively with anti-shake processing module, described digital input processing circuit 4 is gathered the first brake switch signal, the second brake switch signal, the 3rd brake switch signal, the Plugin switching signal, SOC increases the adjustment signal, SOC reduces the adjustment signal, the gear shift request switching signal, the air-conditioning request signal, the firing key signal, solenoid valve A feedback signal, solenoid valve B feedback signal, solenoid valve C feedback signal, the first clutch switching signal, the second clutch switching signal, the EV enable signal, switching signal is played on the slope, and is transferred to single-chip microcomputer by the PORT interface.Gather the car load operation information by sensor and switch, to car load and the monitoring in real time of energy stream.
The output control information of the SPI0 interface of 5 pairs of single-chip microcomputers of described digital output processing circuit drives amplification, current-limiting protection is delivered to each topworks respectively after handling, and topworks comprises malfunction indicator lamp, clutch coupling indication lamp, motor, cooling-water pump, shutdown relay, electric clutch, cooling fan relay, electric motor fan relay, lubricated delayed relay, motor cavity cooling fan.Numeral 5 pairs of peripheral actuators of output processing circuit and system control in real time, have realized every whole vehicle functions and scientific and reasonable distribution and the utilization of each power source energy, and engine, motor and power accumulator machine are protected.
After handling, the output control signal of 6 couples of single-chip microcomputer PORTP of described solenoid valve control circuit interface is used to drive solenoid valve A and solenoid valve B.
As shown in Figure 3, described simulation output processing circuit 7 comprises that Analog Output Chip, Signal Spacing module, anti-tampering processing module, described Analog Output Chip, Signal Spacing module, anti-tampering processing module connect successively, and the output throttle signal and the idle signal of 7 couples of single-chip microcomputer SPI1 of described simulation output processing circuit interface are adjusted.
As Fig. 4, shown in Figure 5, described A/D analog signal conditioner circuit 9 comprises spike and clutter processing module, filtering and anti-shake processing module, the voltage division processing module, described spike and clutter processing module, filtering and anti-shake processing module, the voltage division processing module connects successively, described A/D analog signal conditioner circuit 9 is gathered and is sent into single-chip microcomputer by the ATD interface of single-chip microcomputer after simulating signal is handled, and wherein simulating signal comprises the throttle input signal, throttle input idle signal, the brake pedal signal, the battery tension signal, output throttle feedback signal, output throttle idling feedback signal, 5V voltage output feedback signal.
Described CAN bus pre-process circuit 8 comprises CAN transmission circuit, photoelectric isolating circuit, battery filtering circuit, and described CAN transmission circuit, photoelectric isolating circuit, battery filtering circuit connect successively.
The utlity model has multichannel CAN bus system and made up powerful car load communication network, finish information sharing and mutual control; The power supply that has anti-reverse and anti-short circuit stops to have self-diagnostic function with the restoring circuit module automatically, guarantees controller and car load traffic safety; From structure, sealing, waterproof, heat radiation, damping, insulation, EMC equal angles, guaranteeing under the controller stable and reliable operation prerequisite, fully take into account compact conformation, factor such as elegant in appearance, designed the structure of controller.Based on above technical characterstic, the controller of this programme is realized eight kinds of operational modes: electric motor starting engine, pure engine start and travel, pure motor driving, braking energy feedback, starting power-assisted, quicken power-assisted, driving charging, Plugin, applicable to the MT/AMT system, improve driving, comfortableness, reliability and the security of automobile simultaneously.
Claims (9)
1. single shaft parallel connection type hybrid power system car load control device, it is characterized in that, comprise circuit board, housing, described circuit board is located in the housing, described circuit board comprises single-chip microcomputer, the clock-reset circuit, power module, the numeral input processing circuit, the numeral output processing circuit, solenoid valve control circuit, the simulation output processing circuit, A/D analog signal conditioner circuit module, CAN bus pre-process circuit, pulse signal interface circuit, described single-chip microcomputer respectively with the clock-reset circuit, power module, the numeral input processing circuit, the numeral output processing circuit, solenoid valve control circuit, the simulation output processing circuit, A/D analog signal conditioner circuit module, CAN bus pre-process circuit, the pulse signal interface circuit connects.
2. a kind of single shaft parallel connection type hybrid power system car load control device according to claim 1, it is characterized in that, described housing comprises connector, upper cover plate, lower cover, described connector be connected with circuit board the back by screw retention on upper cover plate, described upper cover plate and lower cover are tightly connected.
3. a kind of single shaft parallel connection type hybrid power system car load control device according to claim 1, it is characterized in that, it is the double-core single-chip microcomputer of 40MHz that described single-chip microcomputer adopts bus frequency, and this single-chip microcomputer comprises 512kflash, 4K EEPROM, 32K RAM, 5 road CAN bus interface.
4. a kind of single shaft parallel connection type hybrid power system car load control device according to claim 1 is characterized in that, described clock-reset circuit is connected with CPU12X interface in the single-chip microcomputer.
5. a kind of single shaft parallel connection type hybrid power system car load control device according to claim 1, it is characterized in that, described digital input processing circuit comprises spike and clutter processing module, default conditions determination module, filtering and anti-shake processing module, and described spike is connected with anti-shake processing module successively with clutter processing module, default conditions determination module, filtering.
6. a kind of single shaft parallel connection type hybrid power system car load control device according to claim 1 is characterized in that, described digital signal processing module comprises driving amplification module, current-limiting protection module, and described driving amplification module is connected with the current-limiting protection module.
7. a kind of single shaft parallel connection type hybrid power system car load control device according to claim 1, it is characterized in that, described simulation output processing circuit comprises Analog Output Chip, Signal Spacing module, anti-tampering processing module, and described Analog Output Chip, Signal Spacing module, anti-tampering processing module connect successively.
8. a kind of single shaft parallel connection type hybrid power system car load control device according to claim 1, it is characterized in that, described A/D analog signal conditioner circuit comprises spike and clutter processing module, filtering and anti-shake processing module, voltage division processing module, and described spike is connected with anti-shake processing module, voltage division processing module successively with clutter processing module, filtering.
9. a kind of single shaft parallel connection type hybrid power system car load control device according to claim 1, it is characterized in that, described CAN bus pre-process circuit comprises CAN transmission circuit, photoelectric isolating circuit, battery filtering circuit, and described CAN transmission circuit, photoelectric isolating circuit, battery filtering circuit connect successively.
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| CN2010205452638U CN201820135U (en) | 2010-09-28 | 2010-09-28 | Vehicle control device of single-axle parallel hybrid power system |
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| CN2010205452638U CN201820135U (en) | 2010-09-28 | 2010-09-28 | Vehicle control device of single-axle parallel hybrid power system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102419561A (en) * | 2010-09-28 | 2012-04-18 | 上海海能汽车电子有限公司 | Single-shaft parallel type hybrid power system whole vehicle controller |
| CN102537316A (en) * | 2012-01-11 | 2012-07-04 | 北京经纬恒润科技有限公司 | Prototype controller used for automatic speed-change control and complete power distribution |
| CN103359106A (en) * | 2012-03-29 | 2013-10-23 | 北京九州华海科技有限公司 | New-energy hybrid electric vehicle controller and analog signal output method thereof |
| CN104500717A (en) * | 2014-09-04 | 2015-04-08 | 厦门大学 | Engineering vehicle gear-shift control device |
| CN104554252A (en) * | 2014-12-25 | 2015-04-29 | 重庆恒通电动客车动力系统有限公司 | GPS (Global Positioning System)-based hybrid power vehicle control method |
| CN108663968A (en) * | 2018-04-28 | 2018-10-16 | 北京航天控制仪器研究所 | A kind of unmanned boat multifunction dynamic system control method, apparatus and system |
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2010
- 2010-09-28 CN CN2010205452638U patent/CN201820135U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102419561A (en) * | 2010-09-28 | 2012-04-18 | 上海海能汽车电子有限公司 | Single-shaft parallel type hybrid power system whole vehicle controller |
| CN102419561B (en) * | 2010-09-28 | 2013-07-31 | 上海海能汽车电子有限公司 | Single-shaft parallel type hybrid power system whole vehicle controller |
| CN102537316A (en) * | 2012-01-11 | 2012-07-04 | 北京经纬恒润科技有限公司 | Prototype controller used for automatic speed-change control and complete power distribution |
| CN102537316B (en) * | 2012-01-11 | 2015-06-10 | 北京经纬恒润科技有限公司 | Prototype controller used for automatic speed-change control and complete power distribution |
| CN103359106A (en) * | 2012-03-29 | 2013-10-23 | 北京九州华海科技有限公司 | New-energy hybrid electric vehicle controller and analog signal output method thereof |
| CN103359106B (en) * | 2012-03-29 | 2015-12-02 | 北京九州华海科技有限公司 | New forms of energy whole car controller of hybrid electric car and analog signal output method thereof |
| CN104500717A (en) * | 2014-09-04 | 2015-04-08 | 厦门大学 | Engineering vehicle gear-shift control device |
| CN104554252A (en) * | 2014-12-25 | 2015-04-29 | 重庆恒通电动客车动力系统有限公司 | GPS (Global Positioning System)-based hybrid power vehicle control method |
| CN108663968A (en) * | 2018-04-28 | 2018-10-16 | 北京航天控制仪器研究所 | A kind of unmanned boat multifunction dynamic system control method, apparatus and system |
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