CN202219736U - Controller for pure electric automobile - Google Patents

Abstract

The utility model discloses a controller for a pure electric automobile. The controller comprises sensors, a voltage sensor, a current sensor, a temperature sensor, a rotating speed sensor, a vehicle speed sensor and a controller, wherein the sensors are arranged on an accelerator pedal and a brake pedal, the voltage sensor, the current sensor, the temperature sensor and the rotating speed sensor are arranged on a motor, and the vehicle speed sensor is arranged on a fly wheel casing; a single chip, an analog quantity conditioning module, a switching value conditioning module, a data communication interface circuit, a PWM (Pulse Width Modulation) output circuit and a drive circuit are arranged in the controller; the analog quantity conditioning module and the switching value conditioning module are arranged on the single chip, the PWM output circuit and the drive circuit are connected with the single chip through optical isolation, the PWM output circuit is connected with the drive circuit, and the data communication interface circuit is connected with an intelligent instrument and an upper computer respectively.

Description

A kind of pure electric automobile controller

Technical field

The utility model belongs to pure electric automobile control field; Relate to a kind of pure electric automobile controller based on Freescale 9S12 micro controller system; This controller is the core control part of pure electric automobile; It passes through to gather acceleration pedal signal, brake pedal signal and other parts signals, and makes corresponding judgment, and the action of controlling each Parts Controller of lower floor then drives the electronlmobil cruising.

Background technology

Get into 21 century, automobile has become the important vehicle of modern humans's life.The present automobile pollution of China surpasses 7,000 ten thousand, and with the speed increment above 15% every year.But, along with rapid development of automobile industry, the rapid increase of automobile pollution, caused environmental pollution of traditional fuel-engined vehicle and energy shortage problem are serious day by day, and the mankind have realized that the seriousness of the problem that it brings.Human recognized progressively that the clean energy resource automobile will become the development tendency of following automobile, national governments do not stint and drop into a large amount of human and material resources, financial resources research and development clean energy resource automobile.

And electronlmobil can address the above problem as a kind of clean energy resource automobile effectively, and electronlmobil has unrivaled advantage at more traditional fuel-engined vehicle aspect energy-conservation and the environmental protection: noise is low, efficiency is high, it is little or the like to pollute.Especially pure electric automobile more and more receives people's attention as a kind of green traffic instrument of tail gas zero-emission.

The pure electric automobile controller is the pith in the pure electric automobile control system, is core control part, and it is a major part of weighing the vehicle control system performance, and its performance quality directly has influence on the control effect of a whole set of control system.And the pure electric automobile controller is different from other controllers, and its power is high, and electric current is big, can reach the hundreds of peace.Thereby to design and develop complete function performance better controlling device be one of gordian technique in the pure electric automobile development process, designs and develops out requirement that complete function performance better controlling device can either satisfy the electronlmobil development and can fill the domestic gaps again and have crucial meaning.

Summary of the invention

The purpose of the utility model is, a kind of controller that is used to drive the pure electric automobile cruising is provided, and this pure electric automobile controller is applicable to multiple electronlmobil, and especially pure electric automobile has good commonality.

In order to realize above-mentioned task, the utility model is taked following technical solution:

A kind of pure electric automobile controller; It is characterized in that, comprise the sensor that is arranged on acceleration pedal, brake pedal, be arranged on voltage, electric current, temperature and tachogen on the motor; And the car speed sensor on the clutch bell; Also comprise a controller, a micro controller system, analog quantity conditioning module, switching value conditioning module, data communication interface circuit, PWM output circuit and driver module are arranged in the controller, analog quantity conditioning module, switching value conditioning module are connected on the micro controller system; The PWM output circuit is isolated through photoelectricity with driving circuit and is connected with micro controller system; Described PWM output circuit is connected with motor-drive circuit, and driver module links to each other with digital display module with relay, and the data communication interface circuit links to each other with upper computer with intelligence instrument respectively.

Other characteristics of the utility model are:

Said micro controller system is selected Freescale MC9S12DG128 micro controller system.

Described data communication interface circuit comprises RS232 communication module and CAN bus communication module.

Two IGBT controlling and driving motors of described PWM output circuit output two-way pwm signal control.

Be connected with power supply on the described controller.

The pure electric automobile controller of the utility model through collection acceleration pedal signal, brake pedal signal and other parts signals, and is made corresponding judgment, and the action of controlling each parts of lower floor then drives the electronlmobil cruising.Have the following advantages:

(1) controller can be gathered each road incoming signal, and can correctly export control signal in time.

(2) be prone to debug, can expand, have EEPROM, be convenient to stores system parameters.

(3) reliability is high, has electromagnetic compatibility preferably, can bear vibrations, noise, humidity, impact simultaneously.

(4) with low cost, various devices and material that controller adopted are common type, on common market, all can buy, and cost of manufacture is low, if carry out batch manufacturing, cost can be lower.

(5) commonality is good, and this controller is applicable to multiple electronlmobil.

(6) integrated level is high, and this controller has used a large amount of chips, has very high integration, and light weight, profile are more succinct cuboids.

(7) easy to operate, it is basic identical with the traditional fuel automobile to operate after the Installation and Debugging.

Description of drawings

Fig. 1 is that the pure electric automobile controller totally constitutes block diagram;

Fig. 2 is power system structure figure;

Fig. 3 is PWM output signal schematic circuit diagram;

Fig. 4 is voltage, current sensor signal modulate circuit schematic diagram;

Fig. 5 is acceleration pedal and temperature sensor signal modulate circuit schematic diagram;

Fig. 6 is a speed sensor signal modulate circuit schematic diagram;

Fig. 7 is a RS232 interface circuit schematic diagram;

Fig. 8 is CAN communication module schematic circuit diagram;

Fig. 9 is that software module is divided scheme drawing;

Figure 10 is a software control flow chart;

Figure 11 is a fuzzy self-adaption Tuning PID Controller constructional drawing;

Figure 12 is a self adaptation Tuning PID Controller workflow diagram;

Below in conjunction with accompanying drawing and embodiment the utility model is done further to specify.

The specific embodiment

It is as shown in Figure 1 that the pure electric automobile controller of the utility model totally constitutes block diagram; Comprise the sensor that is arranged on acceleration pedal, brake pedal; Be arranged on voltage, electric current, temperature and tachogen on the motor, and the car speed sensor on the clutch bell, also comprise a controller; One micro controller system, analog quantity conditioning module, switching value conditioning module, data communication interface circuit, PWM output circuit and driver module are arranged in the controller; Analog quantity conditioning module, switching value conditioning module are connected on the micro controller system, and the PWM output circuit is isolated through photoelectricity with driving circuit and is connected with micro controller system, and described PWM output circuit is connected with motor-drive circuit; Driver module links to each other with digital display module with relay, and the data communication interface circuit links to each other with upper computer with intelligence instrument respectively.

Be connected with power supply in the control.

This controller passes through to gather acceleration pedal signal, brake pedal signal and other parts signals, and makes corresponding judgment, and the action of controlling each Parts Controller of lower floor then drives the electronlmobil cruising.

Micro controller system in the present embodiment is selected Freescale MC9S12DG128 micro controller system; The data communication interface circuit is made up of RS232 communication and CAN bus communication; PWM output circuit output two-way pwm signal is controlled two IGBT controlling and driving motors; Both be suitable for motor drive mode, be suitable for the regenerative brake pattern again.

The analog quantity conditioning module is used for the sensor acceleration pedal, the sensor of brake pedal, the normal voltage signal that the analog signal conversion of the voltage on the motor, electric current, temperature sensor becomes micro controller system to discern.

The switching value conditioning module is used for converting the signal of tachogen on the motor and the car speed sensor on the clutch bell to normal voltage signal that controller can be discerned.

Freescale MC9S12DG128 micro controller system is a kind of of 16 series monolithics of Motorola Inc., and this micro controller system has 512K Flash flash memory, 12K RAM and 4K EEPROM; 91 I/O pins; 88 road of standards or 16 are 4 road PWM; 28 tunnel 10 Precision A convs; 16 basic counters, 7 divide ratios; 8 input capture passages or output is passage relatively; 48 or 2 16 digit pulse counting machines; 2 asynchronous serial communication interfaces (SCI); 3 synchronous serial communication interfaces (SPI); 5 controller local area networks (CAN) module.

1, hardware design

Hardware design mainly comprises power system design, PWM designing circuitry, sensor and signal conditioning circuit design, data communication interface circuit layout etc.In order to be that controller has good electromagnetic compatibility, when carrying out controller PCB Layout design, anti-interference process is carried out in the Layout design of MCU minimum system and the design of controller ground wire simultaneously.

1,1 power supply design

Power supply is the power system of pure electric automobile entire controller, and power supply should design according to the power demands of each several part hardware circuit, and guarantees reliable and stable power supply.The CPU of controller, op amp, external sensor, optocoupler, relay etc. are all supplied with power supply and have been proposed different requirement, need different voltages with different to join.Through analyzing total total+15V ,-15V ,+12V ,+5V ,-these five kinds of magnitudes of voltage of 5V; In order to be suitable for the automobile wide input voltage range; Guarantee the work that power supply can be reliable and stable; The power supply of controller adopt the battery of two 12V connect 24V, obtain required power supply through the DC-DC of wide input range module and three-terminal voltage-stabilizing module, concrete structure is seen Fig. 2.

1,2PWM designing circuitry

Controller sends two IGBT of two-way pwm signal (PWM11, PWM12) control and comes the controlling and driving motor.The control output that two control ends of design of Controller (ZFXH0, ZFXL0) are accomplished signal causes the driving main loop problem of short-circuit to avoid two IGBT to open simultaneously.Descend the applicable combination decision circuit to realize the control of PWM output signal in working order, its truth table is as shown in table 1.Table 1: motor-drive circuit control signal truth table

ZFXH0	ZFXL0	PWM11	PWM12
				0	0	0	0
0	1	PWM	0
				1	0	0	PWM
1	1	0	0

The logical expression that can obtain PWM11 and PWM12 through truth table is:

$\mathrm{<figure-callout\; id="11"\; label="PWM"\; filenames="HDA0000095835510000021.png,HDA0000095835510000032.png"\; state="\{\{state\}\}">PWM</figure-callout>}11=\mathrm{PWM}\&CenterDot;\mathrm{ZFXL}0\&CenterDot;\stackrel{\&OverBar;}{\mathrm{ZFXH}0}---\left(1\right)$

$\mathrm{<figure-callout\; id="12"\; label="PWM"\; filenames="HDA0000095835510000021.png,HDA0000095835510000032.png"\; state="\{\{state\}\}">PWM</figure-callout>}12=\mathrm{PWM}\&CenterDot;\mathrm{ZFXH}0\&CenterDot;\stackrel{\&OverBar;}{\mathrm{ZFXL}0}---\left(2\right)$

Adopt the combinational logic circuit of forming by joint denial gate as shown in Figure 3 to realize exporting PWM11 and PWM12 according to the logical expression controller by control end ZFXH0, ZFXL0 control.

1.3 sensor and signal conditioning circuit design

The sensor relevant with the pure electric automobile signal conditioning circuit mainly contains armature voltage sensor, armature current sensor, temperature sensor, E-gas (acceleration pedal), brake pedal and speed sensor; The amplitude of the signal of these sensor outputs and character is disunity all, has the modulate circuit of controller to become 0～5V voltage signal of standard or TTL impulse singla to import the MC9SDG128 micro controller system to guarantee safety and precise ground these signal conditions.According to used sensor; The circuit theory of voltage, current sensor signal conditioning module is as shown in Figure 4; The circuit theory of acceleration pedal and temperature sensor signal conditioning module is as shown in Figure 5, and the circuit theory of speed sensor signal conditioning module is as shown in Figure 6.

1.4 data communication interface circuit layout

The data communication interface of pure electric automobile controller mainly contains two kinds, RS232 communication and CAN bus communication.The RS232 communication system that is mainly used in detects and debugging, and the CAN bus communication is mainly used in the transmission of internal system real time data.

1) on the RS232 communication MC9S12DG128 micro controller system dual serial mouth is arranged, convert Transistor-Transistor Logic level to the RS232 level, communicate through 9 core serial cables and PC then through the RS232 level transferring chip MAX232 in the serial port drive circuit.Its schematic circuit diagram are as shown in Figure 7.

2) CAN bus communication MC9S12DG128CPU is built-in with the CAN communication controller, considers the antijamming capability of CAN bus, and the power isolation module that the power supply of CAN bus adopts 5V to change 5V adopts insulating power supply can further improve the antijamming capability of module.CAN communication module schematic circuit diagram are as shown in Figure 8.

2, software design

The Control Software of pure electric automobile controller is the core of control system of electric automobile, and the Control Software design is a Control of Electric Vehicles key for design problem.The universal law that the application software design engineering is followed in a kind of software design of pure electric automobile controller adopts modular design method, guarantees software design-calculated quality, guarantees the maintainability and the reliability of system operation of software.

2.1 controller software general design

1) software structure design pure electric automobile controller software adopts the modular architecture of layering, and the software of pure electric vehicle controller from up to down is divided into management level, execution level, interface layer.Constructional drawing and each layer action are as shown in Figure 9.

2) software control process controller software control flow process is shown in figure 10; After system powers at first to system implementation initialization and self check; Management level are according to the operation of chaufeur then; In conjunction with after but vehicle condition and environmental aspect are accomplished operating mode and judged,, and accomplish work such as real-time communication to the control of pure electric automobile divided working status.

2.2 controller software control policy

Controller is that divided working status is controlled pure electric automobile in real time, and the pure electric automobile driving cycle mainly contains: start, at the uniform velocity go, give it the gun, five kinds of Reduced Speed Now, braking.Controller adopts the Different control strategy to different driving cycles.

1) braking of Control Strategy for Regenerative Braking pure electric automobile is divided into electric braking and mechanical braking; Accomplish regenerative brake by electric braking; The Control Strategy for Regenerative Braking factors such as receiving capability and energy recovery efficiency that to be controller combine the requirement of vehicle safety, traveling comfort and take into full account the dynam battery according to the series of parameters such as position, the speed of a motor vehicle and battery condition of brake pedal and acceleration pedal realize the reasonable distribution of mechanical braking and electric braking, the control of braking strategy of pure electric automobile constant braking electric current.

2) drive controlling strategy pure electric automobile controller adopts method-fuzzy self-adaption Tuning PID Controller that PID control and fuzzy control are combined to speed, utilizes promptly that fuzzy control rule is online makes amendment to pid parameter, and control structure figure is shown in figure 11.

Self adaptation Tuning PID Controller workflow diagram is shown in figure 12; E among the figure (k), ec (k) are respectively k sum of errors error rate constantly; R (k), y (k) are respectively k export target value and actual value constantly; The thought of self adaptation Tuning PID Controller is to find out three parameters of PID and the fuzzy relation between error e and the error rate ec earlier; Be in operation through continuous detection e and ec, come three running parameters are carried out online modification satisfying different e and the ec demands of different to controller parameter according to fuzzy control principle again, and make controlled object that the good dynamic and static performance arranged.

Claims (5)

1. pure electric automobile controller; It is characterized in that, comprise the sensor that is arranged on acceleration pedal, brake pedal, be arranged on voltage, electric current, temperature and tachogen on the motor; And the car speed sensor on the clutch bell; Also comprise a controller, a micro controller system, analog quantity conditioning module, switching value conditioning module, data communication interface circuit, PWM output circuit and driving circuit are arranged in the controller, analog quantity conditioning module, switching value conditioning module are connected on the micro controller system; The PWM output circuit is isolated through photoelectricity with driving circuit and is connected with micro controller system; Described PWM output circuit is connected with motor-drive circuit, and driving circuit links to each other with digital display module with relay, and the data communication interface circuit links to each other with upper computer with intelligence instrument respectively.

2. pure electric automobile controller as claimed in claim 1 is characterized in that, the model of described micro controller system is selected Freescale MC9S12DG128 micro controller system for use.

3. pure electric automobile controller as claimed in claim 1 is characterized in that, described data communication interface circuit comprises RS232 communication module and CAN bus communication module.

4. pure electric automobile controller as claimed in claim 1 is characterized in that, two IGBT controlling and driving motors of described PWM output circuit output two-way pwm signal control.

5. pure electric automobile controller as claimed in claim 1 is characterized in that, is connected with power supply on the described controller.

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