CN205854135U - Pure electric automobile integrated form control system - Google Patents
Pure electric automobile integrated form control system Download PDFInfo
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- CN205854135U CN205854135U CN201620430947.0U CN201620430947U CN205854135U CN 205854135 U CN205854135 U CN 205854135U CN 201620430947 U CN201620430947 U CN 201620430947U CN 205854135 U CN205854135 U CN 205854135U
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Abstract
The utility model discloses a kind of pure electric automobile integrated form control system, including battery management system, electric machine controller, entire car controller；Described entire car controller connects battery management system, electric machine controller by data/address bus；Described entire car controller includes signal acquisition module, communication check module, complete vehicle fault alarm module, Full Vehicle System monitoring module, car load coordinating control module.This utility model is by battery management system, electric machine controller, the entire car controller these three system integration to controller, the most all of data interaction is all greatly improved interaction capabilities and the real-time of control of data in internal system, improve convenience and the space availability ratio of installation, enhance the motility of system design aspect, reduce to realize the hardware cost required for identical function simultaneously.
Description
Technical field
This utility model belongs to electric vehicle engineering field, be specifically related to a kind of pure electric automobile integrated form control system and
Control method.
Background technology
In today that the energy, environment situation are increasingly serious, electric automobile, because of its cleaning, energy-conservation significant advantage, becomes generation
The new industry that various countries of boundary the most extraordinarily pay attention to area.China is populous nation, Ye Shi resource consumption big country.In urbanization and work
Today that industry process is accelerated, energy problem has become as the bottleneck limiting China's rapid and healthy.Owing to having joint
Can be with the advantage of environmental protection, electric automobile meets sustainable development view and Resources for construction intensive style, the environment that China adheres at present very much
The theory of friendly society.At present the Chinese government steps up its investment dynamics, support dynamics, is not hard to predict, the coming years China or
The electric automobile market maximum by becoming the whole world.
Battery management system (BMS) is to connect vehicle mounted dynamic battery and the important tie of electric automobile, its major function bag
Include: battery physical parameter is monitored in real time；Battery status is estimated；Inline diagnosis and early warning；Charge and discharge control with preliminary filling；Equalizer line
Reason and heat management etc..Electric machine controller be used to control motor in electric automobile startup, run, retreat, speed, the function such as stopping
Core controller.Entire car controller (VMS, vehicle management Syetem), i.e. power assembly controller, is whole
The core control part of individual automobile, it gathers accelerator pedal signal, brake pedal signal and other component signal, and makes corresponding
After judgement, control the action of each Parts Controller of lower floor, drive automobile normal running.Three above system is all electric automobile
Vitals, and be at present the respective task that is respectively completed that three systems are independently opened in industry, can cause the most unavoidably and be
Communication data volume between system is big, control the problems such as sequential is sluggish.
Utility model content
In order to solve above-mentioned technical problem, this utility model provides a kind of pure electric automobile integrated form control system, this collection
Battery management system, electric machine controller and entire car controller are concentrated on one by accepted way of doing sth control system, substantially increase data
Interaction capabilities and the real-time of control, improve convenience and the space availability ratio of installation, enhance the spirit of system design aspect
Activity, reduce further the manufacturing cost of car load.
To achieve these goals, this utility model provides techniques below scheme: a kind of pure electric automobile integrated form controls
System, including battery management system, electric machine controller, entire car controller；Described entire car controller connects electricity by data/address bus
Pond management system, electric machine controller；Described entire car controller includes signal acquisition module, communication check module, complete vehicle fault report
Alert module, Full Vehicle System monitoring module, car load coordinating control module；Described signal acquisition module is for adopting from vehicle all parts
Collection signal；Described communication check module is used for gathering electric machine controller, battery management system, AMT control unit and vehicle body master control
The life signal of unit processed, by the comparison with vital values last time, it is judged that communicate the most normal；Described complete vehicle fault warning mould
Block, for comparing with preset value according to the signal collected, it is judged that the state that vehicle is current；Described Full Vehicle System monitoring module,
For communication, executor and controller self are monitored in real time；Described car load coordinating control module, including execution level, association
Adjust layer, organized layer.
In pure electric automobile integrated form control system described in the utility model, described data/address bus is CAN.
In pure electric automobile integrated form control system described in the utility model, described control system also includes that car load is soft
Part system, described car load software system is capable of realtime curve, BMS data show and warning message, Insulation monitoring and
Warning message, motor data show and warning message, entire car controller data show and warning message, historical data curve and therefore
Barrier playback, parameter calibration, communication protocol online modification function.
In pure electric automobile integrated form control system described in the utility model, described control system also includes regeneration system
Autocontrol system.
In pure electric automobile integrated form control system described in the utility model, described battery management system includes display
Module, central processing module, terminal module, described central processing module connects display module, terminal module by CAN.
In pure electric automobile integrated form control system described in the utility model, the letter that described signal acquisition module gathers
Number include: drive pedal useful signal, drive pedal travel signal, brake pedal useful signal, brake-pedal travel signal, D
Gear signal, N gear signal, R gear signal, force neutral signal, automatic catch signal, force 1 gear signal, force neutral signal, automatically
Gear signal, force 1 gear signal, force 2 gear signals, high voltage connector close commands signal, air-break close commands signal,
Air-break ON-and OFF-command signal.
Compared with prior art, this utility model has the beneficial effect that this utility model pure electric automobile integrated form
Control system is that the most all of data interaction all carries significantly in internal system by the these three system integration a to controller
Having risen the interaction capabilities of data and the real-time of control, improve convenience and the space availability ratio of installation, the system of enhancing sets
Motility in terms of meter, reduces to realize the hardware cost required for identical function simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of this utility model pure electric automobile integrated form control system.
Fig. 2 is the structural representation of electric automobile hierarchy control system.
Fig. 3 is regenerative brake control system structure chart.
Fig. 4 is the functional schematic of battery management system.
Fig. 5 is the motor torque speed curvilinear characteristic figure with change in voltage.
Fig. 6 is the curvilinear characteristic figure that motor torque speed changes with frequency.
Fig. 7 is the top layer frame structural representation of drive system.
Fig. 8 is the torque of induction machine, rotating speed envelope curve figure.
Fig. 9 is the circuit diagram of rectification circuit.
Figure 10 is the circuit diagram that DC side uses chopper.
Figure 11 is Direct Current Governor System dynamic response curve figure under unit step gives control signal effect.
Figure 12 is system dynamic response curve under impact step disturbance effect.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and the clearest, below in conjunction with accompanying drawing and enforcement
Example, is described in further details this utility model.Should be appreciated that specific embodiment described herein is only in order to explain this
Utility model, is not used to limit this utility model.
As it is shown in figure 1, be the structural representation of this utility model pure electric automobile integrated form control system embodiment.This reality
The pure electric automobile integrated form control system executed in example includes battery management system, electric machine controller, entire car controller；Described whole
Vehicle controller connects battery management system, electric machine controller by data/address bus；Preferably, described data/address bus is CAN；
The signal collected is transferred to entire car controller by described battery management system and electric machine controller, and entire car controller is according to collection
The signal arrived judges vehicle-state, and then transmission control signal is to electric machine controller, motor controller controls motor, is used for driving
Automobile；Described entire car controller includes that signal acquisition module, communication check module, complete vehicle fault alarm module, Full Vehicle System are supervised
Control module, car load coordinating control module.
The signal of described signal acquisition module collection includes: drives pedal useful signal, drive pedal travel signal, braking
Pedal useful signal, brake-pedal travel signal, D gear signal, N gear signal, R gear signal, pressure neutral signal, automatic catch letter
Number, force 1 gear signal, force neutral signal, automatic catch signal, force 1 gear signal, force 2 gear signals, high voltage connector Guan Bi
Command signal, air-break close commands signal, air-break ON-and OFF-command signal.
Described communication check module gathers electric machine controller, battery management system, AMT control unit and vehicle body main control list
The life signal of unit, by the comparison with vital values last time, it is judged that CAN communication is the most normal, if communication abnormality, then occurs logical
Letter abnormal alarm signal；If communication is normal, then it is the most normal to detect the state of node in bus, if abnormal state, then occurs
Communication abnormality is reported to the police；When node state is normal, enter fault diagnosis and processing links.
Described complete vehicle fault alarm module, for comparing with preset value according to the signal collected, it is judged that vehicle is current
State, concrete default value such as table 1.
The work of described Full Vehicle System monitoring module specifically includes that to be carried out in fact CAN communication, executor and controller self
Time monitoring.First thrashing pattern and consequence are analyzed, have assessed rear design error failure diagnosis algorithm and carried out prison in real time
Data are also judged by control.If discovery fault, then isolate fault message according to built-in algorithm, according to certain form and
Fault is stored and manages by order, carries out if desired exporting control.This controller uses the structure of hierarchical control, the most logical
Cross data exchange layer exchange data, if there being abnormal signal, then carried out the confirmation of fault by fault management layer, managed and process.
After troubleshooting completes, explain that the operation of driver is intended to, enter the energy management layer of car load, the final operation controlling vehicle.
Described car load coordinating control module, including execution level, cooperation layer, organized layer.The parts of power system of electric automobile
There is the controller of oneself, control to provide the foundation for distributed layer.Distributed layer controls to realize control system
Topological separation separates with function.Topological separation makes physically subsystems control system be distributed on diverse location,
Thus decreasing electromagnetic interference, function separates and makes each subassembly complete relatively independent function, such that it is able to reduce sub-portion
The influencing each other and improve fault-tolerant ability of part.
Electric automobile hierarchy control system is as shown in Figure 2.The bottom is carried out layer, Parts Controller hold with some
Row unit forms, and its task is correctly to perform the instruction that intermediate layer sends, and these instructions are interacted by CAN, and
There are certain self adaptation and limit protection function；Intermediate layer is cooperation layer, namely entire car controller (VMS), and the main of it is appointed
On the one hand the intention of driver is explained in business according to the state that the various operations of driver and automobile are current, on the other hand according to execution
The current state of layer, the coordination making optimum controls；Top is organized layer, driver or braking pilot realize car
Control closed loop.
One as this utility model pure electric automobile integrated form control system is supplemented, and described control system also includes whole
Car software system.Perfect host computer condition monitoring and fault diagnosis software coordinate, and can monitor whole vehicle state in real time.Host computer is originally
Ground record data and data logger record data, it is possible to analyze whole system performance.Historic state playback can reproduce fault
On-the-spot.Above-mentioned car load software system is capable of realtime curve, BMS data show and warning message, Insulation monitoring and report
Alarming information, motor data show and warning message, entire car controller data show and warning message, historical data curve and fault
The functions such as playback, parameter calibration, communication protocol online modification.
One as this utility model pure electric automobile integrated form control system is supplemented, and described control system also includes again
Raw braking control system.New-energy automobile regenerative brake control system can save the energy, improves to continue and drives mileage, has significantly
Economic worth and social benefit.Regenerative braking can also reduce the abrasion of brake(-holder) block, reduces vehicle trouble rate and use cost.Figure
3 show electric automobile regenerative brake control system structure chart.This system is made up of super capacitor or flywheel and controller thereof, profit
With super capacitor or flywheel absorption and regeneration braking energy, there is very prominent advantage.When car braking, motor works in be sent out
Motor operating mode, by a part of kinetic energy or transform gravitational energy be electrical power storage in super capacitor or flywheel, due to super capacitor
Or the power density of flywheel is big, can more rapid, be efficiently absorbed motor feedback energy.When vehicle launch and acceleration, utilize
The energy of storage is discharged by two-way DC/DC, assists battery to power to motor, not only adds new-energy automobile and once charge
Distance travelled, and avoid the heavy-current discharge of accumulator, reached the saving energy, reduced brake(-holder) block abrasion and improving and store
The purpose of battery life.
Fig. 4 is battery management system (BMS) functional schematic in this utility model pure electric automobile integrated form control system.
Described battery management system includes display module, central processing module, terminal module, and described central processing module is total by CAN
Line connects display module, terminal module；The function that described battery management system has is as follows.
1.1 acquisition function
1.1.1 batteries monomer voltage acquisition, total voltage calculates
Gather all monomer battery voltages, calculate monomer ceiling voltage and draw sequence number and monomer minimum voltage and draw sequence
Number, calculate battery total voltage by the monomer voltage gathered.By display screen by all monomer voltages, monomer ceiling voltage and sequence
Number, monomer minimum voltage and sequence number, battery total voltage show.
1.1.2 temperature acquisition in battery case
This module possesses 6 road temperature acquisitions, can gather Battery case internal upper part, middle part, temperature of lower and inlet and outlet
Temperature, and temperature is sent to screen shows.
1.1.3 total current collection
Battery power feeds electric current is acquired, and controls screen display total current, measure current range-300A ~+300A
(can be according to the different range current sensor of customer demand apolegamy).
1.2 battery charge states (SOC) are estimated
Use higher sample frequency to carry out the omnidistance whole cell set capacity of calculating in real time, and show (more smart at screen homepage
Accurate display battery electric quantity).
1.3 Insulation monitoring
High tension loop thoroughly being isolated with low tension loop, traditional method is continued to use in low tension loop, and automotive frame is publicly.Naked
The technical parts exposed outside all is connected with crossbeam.Specifying according to electric automobile standard, insulation resistance have to be larger than 100 Ω/V
Qualified.As long as surveyed insulation resistance keeps certain precision around the warning threshold of national regulation, other scopes do not have
Necessity does required precision.
1.4 control charger function
Control the break-make of external charger flexibly, prevent battery overcharge.
1.5 protections control
Over-charging of battery, cross put, cross stream, overheated when, controller or charger break-make are controlled.
1.6 temperature control
Temperature probe is placed on the Wiring nose of voltage acquisition line, when battery temperature exceedes safe temperature range, starts wind
Fan or heating system.
1.7 balance control function
Equilibrium condition meets, and opens equilibrium.Use the mode of equalization discharge, the monomer of overtension is discharged, equilibrium knot
Bundle closes time-delay relay.
1.8 system alarm
By display screen to monomer low pressure, monomer high pressure, total voltage high pressure, total voltage low pressure, low temperature, high temperature, cross stream etc.
Carry out classifying alarm.
1.9 screen parameter typings
By touch screen, systematic parameter can be configured, be divided into three major types: screen alarm parameters is arranged, security control
Parameter is arranged, cell equalization parameter setting.The parameter that wherein screen alarm parameters is arranged includes: total voltage is too high, always electric
Press through low, monomer voltage is too high, monomer voltage is too low, discharge current is too high, charging current is too high, temperature is too high, temperature is too low
The setting of these parameters.The parameter that security control parameter is arranged includes: control the setting of charger parameter, control fan parameter sets
Put, control controller parameter setting.Monomer equalization parameter setting includes: monomer mends electrical quantity setting, monomer discharge parameter is arranged.
Screen main page display system clock.
Described electric machine controller can take different coping strategys according to vehicle state in which, is respectively as follows: overload energy
Power strategy, torque response strategy, speed adjustable range strategy, efficient operation strategy.
2.1 overload capacity strategies
For ensureing that power performance is good, it is desirable to motor has preferable torque overload and power overload ability, peak torque
Generally more than 2 times of nominal torque, and peak power are generally more than 1.5 times of rated power, and peak torque and peak value
The working time of power typically requires more than 5min.In electric automobile output characteristics one timing, the selection of electric automobile gear ratio
Depend on the power performance index request of car load, i.e. should meet automobile best expectation speed, max. climb slope and to acceleration
The requirement of time.
1) upper limit of drive line ratio: the upper limit of drive line ratio is sailed speed by motor maximum speed and highest line and determined.
In formula, io is final driver ratio；Ig is transmission ratio；Nmax is the maximum speed of motor；Vmax is
Max. speed；Rd is wheel effective radius.
The lower limit of drive line ratio: the transmission system speed ratio that the lower limit of drive line ratio is calculated by following two kinds of methods is
Big value determines.
The running resistance corresponding with maximum speed of operation by the maximum output torque that motor in electric automobile maximum speed is corresponding
Determine that drive line ratio lower limit is
In formula, Fvmax is running resistance corresponding under max. speed；Mvmax is that the output that motor maximum speed is corresponding turns
Square；η is the transmission efficiency of system.
The speed ratio lower limit being determined power train by the running resistance that the maximum output torque of motor is corresponding with max. climb slope is
In formula, Fimax is the running resistance that max. climb slope is corresponding；Mimax is motor maximum output torque.
2.2 torque response strategies
Motor typically uses low speed permanent torque and high speed constant power control mode, it is desirable to torque response is fast, it is little to fluctuate, stably
Property is good.The rotating speed of induction machine can be changed by following two method:
(1) terminal voltage of stator is changed.
(2) frequency of stator is changed.The output torque of electric vehicle motor can change with the terminal voltage of stator and change.Note
Meaning, the change of voltage will not change the speed discrepancy corresponding to motor torque capacity.
Controlling motor speed by changing its operating frequency, its principle is the relational expression based on frequency and synchronous rotational speed:
ω e=4 π/p, ω e changes with f.Fig. 5 and Fig. 6 represents the change along with voltage and frequency respectively, and motor torque speed is bent
Line characteristic pattern.Electric power electric changer drives induction machine to rotate, and this conversion equipment, will according to motor torque and the requirement of rotating speed
The extraneous variable voltage that constant voltage is converted into amplitude, frequency is different provided.
The top layer frame of this drive system is as shown in Figure 7.First generation Induction Motor Drive controller used for electric vehicle passes through
Control speed discrepancy (constant voltage constant frequency control) with reference to speed discrepancy torque indicator, carry out motor control.Due to constant voltage constant frequency control
Theory is that steady-state equivalent circuit based on motor gets, so vehicle uses this control method less effective.Use vector controlled
Method, the dynamic property effect of motor is obviously improved.
Fig. 8 show the torque of induction machine, rotating speed envelope curve.By using power electronic controller, it is possible to achieve
The constant high-revolving dynamic trait of induction machine, this performance can meet the characteristic requirements of driving motor for electric automobile.
2.3 speed adjustable range strategies
Motor has wider speed adjustable range, and maximum torque is more than 2 times of base speed, and motor is wanted can four-quadrant operation.Hand over
When stream motor is operated by inverter power supply, the ratio of inverter output voltage U1 to be controlled and output frequency f is generally
Certain value, the magnetic flux i.e. keeping motor is constant, so that the torque capacity of motor in electric automobile is the most constant during frequency control.
The control of output voltage can be divided into two big classes, i.e. PAM (Pulse Amplitude Modulation) control with
PWM (PulseWidth Modulation) controls.PAM is pulse-amplitude modulation, i.e. by changing the amplitude of inverter output voltage
Change output voltage；PWM is that the amplitude of pulsewidth modulation, i.e. output voltage is constant, regulates flat by changing its time width
All sizes of voltage.Certainly, also have and use two kinds of methods of PAM Yu PWM to regulate voltage simultaneously.
In frequency conversion speed-adjusting system, conventional converter is indirect converter, i.e. by commutator, wave filter and inverter
The converter that three parts are formed.PAM is a kind of to be controlled the amplitude of output voltage at rectifier circuit portion, and inverse
Become the control mode that output frequency is controlled by circuit part.In this control mode, in inverter, change of current device opens
Closing frequency and be the output frequency of converter, this is a kind of synchronous variable-speed mode.
Output voltage amplitude is controlled by rectification circuit, mostly uses the phase controlling of silicon controlled rectifier.Smooth
DC source uses direct current reactor and big capacity electrolyte capacitor device, as shown in Figure 9.
Inverter in PAM mode is frequently with 120 ° of conducting systems and six bat inverters of 180 ° of conducting systems.About three contraries
Become interlock circuit and the operation principle of device, refer to the relevant content in Power Electronic Technique.
Loop is simple, be prone to high capacity owing to controlling for PAM control mode, accounts for dominant position for a long time.Its shortcoming is
Owing to there being large bulk capacitance, Control of Voltage low-response, it is unsuitable for the system that requirement acceleration, deceleration are fast.Further, since employing current transformer
Phase controlling regulate voltage, the power factor of exchange input side degenerates, and is particularly particularly acute in the scope that voltage is low.
In order to improve power factor, can take with diode rectifier bridge, alternating current power supply is carried out all wave rectification, use at DC side and cut
The method of ripple device regulation voltage, as shown in Figure 10, at this moment input power factor will become fairly good.
It is the control mode being simultaneously controlled amplitude and the frequency of output voltage in inverter circuit part that PWM controls.
In this control mode, with upper frequency, the semiconductor switch components and parts of inverter circuit are carried out opening/closing, and defeated by changing
The width going out pulse reaches to control the purpose of voltage.In order to enable asynchronous motor carry out speed governing operating time more flat
Sliding, many employing sinusoidal wave PWM control modes in converter at present.So-called sinusoidal wave PWM control mode, refers to by changing
The pulse width of PWM output, makes the meansigma methods of output voltage be bordering on sine wave.Sinusoidal wave PWM is also referred to as SPVVM control.
2.4 efficient operation strategies
Motor driven systems requires there is wide speed range efficacious workaround, and the system effectiveness rotating speed district more than 80% is more than
75%。
Dynamic performance index refers under given control signal and disturbing signal effect, and control system exports at dynamic response
In indices.Preferably the change of given control signal should can the most accurately be followed the tracks of by control system, has
Well followability；Disturbing signal is had the strongest vulnerability to jamming, undisturbed impact simultaneously.Therefore, dynamic performance index
It is divided under given control signal and disturbing signal effect these two classes performance indications.
(1) the dynamic main performance index under given control signal effect.For Direct Current Governor System, typically use list
Under the Step reference control signal effect of position, rise time tr, the regulating time tT(of system output response are also referred to as settling time)
System is weighed to the dynamic performance index under given control signal effect with overshoot σ.System is in the given control of unit step
Dynamic response curve under signal function is as shown in figure 11.
1. rise time tr.Rise time is also called response time, is that to play system from the moment plus Step reference defeated
Output reaches the time needed for steady-state value for the first time.
2. regulating time tT.Regulating time is also referred to as settling time, is to play from the moment plus Step reference to be
System output enter (and no longer exceeding) its steady-state value ± (2% ~ 5%) allowable error within the scope of required shortest time.
3. overshoot σ.Overshoot σ refers to that system output exceedes the maximum deviation of its steady-state value with steady in dynamic process
The ratio of state value, generally represents with percent:
Overshoot σ is for characterizing the relative stability of system, the little good stability meaning that system of overshoot σ.Tr is used for
Characterizing the rapidity of system dynamic course, tr the least expression system rapidity is the best.Both is the most conflicting, reduces
Overshoot σ, resulting in tr increases, and the most just extends settling time.Otherwise, accelerate transient process, reduce the tr time, but
Add again overshoot σ.In actual applications, suitable parameters index should be selected according to the requirement of technique.
(2) the dynamic main performance index under disturbing signal effect.For Direct Current Governor System, general employing impact rank
The maximum dynamic velocity drop of the system under perturbation action that jumps output response, ts recovery time are to weigh dynamic to disturbance response of system
Performance indications.System dynamic response curve under impact step disturbance effect is as shown in figure 12.
1. maximum dynamic velocity drop.Maximum dynamic velocity drop is under impact step disturbance effect, and the output of system responds
Larger Dynamic prompt drop, conventional percent represents
2. ts recovery time.Recovery time, ts was to play system output from the moment plus impact step disturbance to enter former
Shortest time needed for difference ± (2% ~ 5%) of steady-state value [i.e. with] in the range of the 95% ~ 98% of the Y (0) of steady-state value.
Maximum dynamic velocity drop is the least, and recovery time, ts was the least, illustrated that the interference rejection ability of system is the strongest.
Described entire car controller can take different coping strategys according to vehicle state in which, is respectively as follows: electric current
Journey strategy, uphill starting strategy, Shifting.
3.1 power on flow process strategy
A. ACC shelves: low tension on the equipment such as entire car controller, BMS, instrument, start to start self-check program, full-vehicle control
Device determines that the component signal such as throttle, handle, brake are the most normal；Whether the battery datas such as BMS determines battery electric quantity, monomer voltage
Normally；Insulation tester guarantees that high-pressure section the most reliably insulate；Instrument determines whether cubicle switch, vacuum pump etc. just work
Often；Electric machine controller determines that motor controller itself is the most working properly；Self-detection result is sent by each parts by CAN communication
To entire car controller and instrument；Entire car controller collect determine whether warning need use exception handles；Instrument is responsible for
Display alarm state；
B. after self-inspection terminates, entire car controller sends preliminary filling instruction, waits that preliminary filling completes signal；Simultaneously monitor preliminary filling shape
State timing, preliminary filling mistake or time-out, then stop preliminary filling and report to the police to instrument；
C. sending preliminary filling to entire car controller after electric machine controller starts preliminary filling and carry out state, preliminary filling sends pre-after completing
Charge into signal；Entire car controller receives preliminary filling and completes signal and then close main discharge catalyst, and sends Ready letter to instrument
Number, instrument lights signal lights；
D. ON shelves: after main discharge catalyst Guan Bi, entire car controller does not monitor under error situation, can be with normal row
Car；Before main tactile non-normally closed, push ON shelves and then wouldn't respond ON shelves, until self-inspection complete main discharge catalyst can after closing
Driving.
3.2 uphill starting strategies
3.2.1 activation condition judges
Uphill starting ancillary control function acquiescence is closed, if driver's brake pedal vehicle is the most quiet
After Zhi, not drawing and open parking brake and gear is in drive shift, entire car controller meeting " thinks " that slipping by slope likely occurs in vehicle, thus enters
Entering to " waiting state ", in this state, entire car controller can't revise driving motor target torque value, drives motor as usual
Output " creep torque ".If now vehicle is positioned on abrupt slope, after driver loosens the brake, due to " creep torque " mistake
Little, vehicle starts to slip by slope, and drives motor to be reversely rotated by wheel towing astern.In order to avoid owing to driving motor speed signal to measure by mistake
Difference, when reverse is more than 2rpm, entire car controller confirms that vehicle slips by slope, and uphill starting ancillary control function is swashed
Live.Using 2rpm as the motor reversing rotating speed threshold values of activation ramp ancillary control function, it is to consider the single-stage of electric automobile
In the case of decelerator transmission speed ratio and driving motor speed measurement precision, obtained by the actual demarcation of vehicle, this threshold values
Should re-scale according to the concrete condition of different vehicle, 2rpm can use as initial value.
3.2.2, after ramp miscellaneous function activates, entire car controller recalculates driving motor target torque value
A. torque increases: the forward drive torque that vehicle is required when starting to walk on abrupt slope, significantly larger than drives car on level land
Advance " creep torque ".Therefore after ramp miscellaneous function is activated, increase sharply driving motor torque, makes vehicle stop slipping
Slope；If but drive motor torque moment to increase, and the easy preshoot of vehicle, the rate of change therefore wanting torque-limiting to increase, examine simultaneously
Consider to the torque maximum rate of change driven achieved by motor, torque need to be set and rise the limit value of rate of change.Additionally in view of driving
Galvanic electricity machine output external characteristic and drive safety, set the creep torque that motor torque threshold limit value is as 3 times.
B. torque keeps: along with driving motor torque to increase sharply with the speed of threshold limit value, vehicle can stop slipping by slope,
It is in of short duration resting state, and starts that advance trend occurs.If now continuing quickly to increase motor driving torque, vehicle is just
Can accelerate to advance, the most accidents caused, therefore when vehicle, advance trend occurs, but when not starting mobile, increase to be stopped is driven
Dynamic motor torque, and maintain current torque a period of time, make vehicle maintain resting state.When motor forward rotational speed is more than 3rpm
Time, entire car controller " think " vehicle will start to walk advance, torque is not further added by.3rpm is as judging that vehicle starts the electricity advanced
Machine rotating speed threshold values, is to consider the single reduction gear transmission speed ratio of electric automobile and driving the feelings of motor speed measurement precision
Under condition, being obtained by the actual demarcation of vehicle, this threshold values should re-scale according to the concrete condition of different vehicle, and 3rpm can
Use as initial value.
C. exit criteria judges: under torque hold mode, if driver has stepped on again brake pedal or acceleration is stepped on
Plate, or carried out gear-change operation, ramp assist control can automatically exit from.Operating if not done by other, torque keeps super
After crossing 1s, ramp ancillary control function also will move out.In the case of normally exiting, count torque increase in and torque keeps two steps
Suddenly, in the 2s after loosening the brake, vehicle will not slip by slope, during this period of time in driver can at leisure by foot by brake pedal
Move on to accelerator pedal.In addition for vehicle driving safety, may be configured as when motor forward rotational speed is more than 30rpm, it is believed that vehicle is
Through sailing out of ramp, it is no longer necessary to more torque, ramp miscellaneous function automatically exits from.After exiting, drive motor target torque value extensive
Multiple to " creep torque ".
3.3 Shifting
This module, by gathering the information such as speed, motor speed, different gear lever handle signals, formulates different treatment measures
And it is sent to AMT controller and electric vehicle motor controller, send motor peak power value and to electric machine controller simultaneously
Big regenerative brake power Value Data, finally returns to the CAN module communication check link of main flow.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model
Protection domain within.
Claims (6)
1. a pure electric automobile integrated form control system, it is characterised in that: include battery management system, electric machine controller, whole
Vehicle controller；Described entire car controller connects battery management system, electric machine controller by data/address bus；Described entire car controller
Coordinate to control including signal acquisition module, communication check module, complete vehicle fault alarm module, Full Vehicle System monitoring module, car load
Module；Described signal acquisition module is for gathering signal from vehicle all parts；Described communication check module is used for gathering motor
Controller, battery management system, AMT control unit and the life signal of vehicle body main control unit, by with vital values last time
Relatively, it is judged that communicate the most normal；Described complete vehicle fault alarm module, for comparing with preset value according to the signal collected,
Judge the state that vehicle is current；Described Full Vehicle System monitoring module, for carrying out communication, executor and controller self in real time
Monitoring；Described car load coordinating control module, including execution level, cooperation layer, organized layer.
Pure electric automobile integrated form control system the most according to claim 1, it is characterised in that: described data/address bus is
CAN.
Pure electric automobile integrated form control system the most according to claim 1 and 2, it is characterised in that: described control system
Also including car load software system, described car load software system is capable of realtime curve, BMS data show and alarm signal
Breath, Insulation monitoring and warning message, motor data shows and warning message, entire car controller data show and warning message, go through
History data and curves and fault recurrence, parameter calibration, communication protocol online modification function.
Pure electric automobile integrated form control system the most according to claim 1 and 2, it is characterised in that: described control system
Also include regenerative brake control system.
Pure electric automobile integrated form control system the most according to claim 1 and 2, it is characterised in that: described battery management
System includes display module, central processing module, terminal module, and described central processing module connects display mould by CAN
Block, terminal module.
Pure electric automobile integrated form control system the most according to claim 1, it is characterised in that: described signal acquisition module
The signal gathered includes: drives pedal useful signal, drive pedal travel signal, brake pedal useful signal, brake pedal row
Journey signal, D gear signal, N gear signal, R keep off signal, pressure neutral signal, automatic catch signal, pressure 1 gear signal, force neutral to be believed
Number, automatic catch signal, force 1 gear signal, force 2 gear signals, high voltage connector close commands signal, air-break Guan Bi life
Make signal, air-break ON-and OFF-command signal.
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| CN201620430947.0U CN205854135U (en) | 2016-05-13 | 2016-05-13 | Pure electric automobile integrated form control system |
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| CN201620430947.0U CN205854135U (en) | 2016-05-13 | 2016-05-13 | Pure electric automobile integrated form control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105936269A (en) * | 2016-05-13 | 2016-09-14 | 合肥中航新能源技术研究院有限责任公司 | Electric vehicle integrated control system and control method |
| CN106843115A (en) * | 2017-03-20 | 2017-06-13 | 浙江农业商贸职业学院 | For the long distance control system and method for electric automobile |
| CN109193045A (en) * | 2018-08-01 | 2019-01-11 | 深圳市普兰德储能技术有限公司 | Electrochemical energy storage system and its control method |
| CN109656127A (en) * | 2018-12-31 | 2019-04-19 | 郑州嘉晨电器有限公司 | A kind of actuation redundancy design method suitable for electric forklift controller |
| CN110109437A (en) * | 2019-02-15 | 2019-08-09 | 北京车和家信息技术有限公司 | Closed loop test system method for building up, device and the equipment of entire car controller |
| CN110733358A (en) * | 2018-07-03 | 2020-01-31 | 郑州宇通客车股份有限公司 | integrated motor control module and system |
| CN112398114A (en) * | 2020-10-26 | 2021-02-23 | 宁波大学 | High-power-density and high-reliability energy storage and current transformation integrated system |
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2016
- 2016-05-13 CN CN201620430947.0U patent/CN205854135U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105936269A (en) * | 2016-05-13 | 2016-09-14 | 合肥中航新能源技术研究院有限责任公司 | Electric vehicle integrated control system and control method |
| CN106843115A (en) * | 2017-03-20 | 2017-06-13 | 浙江农业商贸职业学院 | For the long distance control system and method for electric automobile |
| CN110733358A (en) * | 2018-07-03 | 2020-01-31 | 郑州宇通客车股份有限公司 | integrated motor control module and system |
| CN109193045A (en) * | 2018-08-01 | 2019-01-11 | 深圳市普兰德储能技术有限公司 | Electrochemical energy storage system and its control method |
| CN109656127A (en) * | 2018-12-31 | 2019-04-19 | 郑州嘉晨电器有限公司 | A kind of actuation redundancy design method suitable for electric forklift controller |
| CN109656127B (en) * | 2018-12-31 | 2022-03-01 | 河南嘉晨智能控制股份有限公司 | Drive redundancy design method suitable for electric forklift controller |
| CN110109437A (en) * | 2019-02-15 | 2019-08-09 | 北京车和家信息技术有限公司 | Closed loop test system method for building up, device and the equipment of entire car controller |
| CN112398114A (en) * | 2020-10-26 | 2021-02-23 | 宁波大学 | High-power-density and high-reliability energy storage and current transformation integrated system |
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