CN207670347U - A kind of low-speed pure electric automobile entire car controller of single motor driving - Google Patents
A kind of low-speed pure electric automobile entire car controller of single motor driving Download PDFInfo
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- CN207670347U CN207670347U CN201721526806.XU CN201721526806U CN207670347U CN 207670347 U CN207670347 U CN 207670347U CN 201721526806 U CN201721526806 U CN 201721526806U CN 207670347 U CN207670347 U CN 207670347U
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Abstract
The utility model discloses a kind of low-speed pure electric automobile entire car controllers of single motor driving; including microcontroller main control module, the power supply and circuit protection module that are connect with microcontroller main control module, CAN communication module, digital signal input module, analog signal input module, power drive output module, 485 communication modules；Power supply and circuit protection module use LM2596 5V chips, and Vehicular accumulator cell 12V voltages are converted to the 5V voltages of smd controller needs, and CAN communication module is equipped with singlechip chip MC9S12XEP100MEG；Digital signal input module is connected with microcontroller MC9S12XEP100MEG chip input pins；Analog signal input module realizes analog acquisition；Power drive output module is 8 tunnel power drive output modules, realizes driving control signal output；485 communication modules are 1 tunnel, 485 communication module, and respective pins are connected with microcontroller MC9S12XEP100MEG chip serial ports input and output pins, realize communication.
Description
Technical field
The present invention relates to controllers, are exactly a kind of low-speed pure electric automobile entire car controllers of single motor driving.
Background technology
Pure electric automobile is considered as the following alleviation energy source of car shortage and the most effective scheme of environmental pollution two large problems
One of.Entire car controller is the core component of vehicle control system of pure electric vehicle, it is safe to the normally travel of electric vehicle
Property, Way of Regenerating Energy Feedback, network management, fault diagnosis filter, the functions such as monitoring of the state of vehicle play a key role.
The entire car controller of pure electric automobile is generally used on distributed driving vehicle at present, the driving of traditional single motor
Low-speed pure electric automobile (except the mechanical-electric coupling configuration of motor+AMT), is made of motor, retarder and differential mechanism etc., does not have
Clutch and speed changer, it is not only simple in structure, the volume and quality of transmission device, mainly some minis electricity can also be reduced
Electrical automobile, this kind of typically no entire car controller, function is simple, and electric machine controller is in addition to realizing that it is whole that motor control function is also taken into account
Vehicle controller function.
It is mainly used for complicated four-wheel drive pure electric vehicle and wheel hub in external pure electric vehicle controller
In motor pure electric automobile, effect is to coordinate 2 or 2 or more electric machine controller synchronous workings.And for simple in structure
The pure electric automobile of single motor driving is usually realized the functions such as moment of torsion control and regenerative braking control by electric machine controller, is not had
Design entire car controller.At home, the typically no special entire car controller of low-speed pure electric automobile of single motor driving, in state
The production and selling of the few pure electric vehicle controller products of pure electric automobile of interior market single motor driving, mainly by
A small number of colleges and universities and Corporation R ＆ D, small lot produce and sell entire car controller product.
With the raising required whole pure electric vehicle control stability, safety and comfort, control function quantity
It is greatly increased with functional component, or even is mounted with the components such as battery management system, air conditioner motor and its controller, therefore to single electricity
The low-speed pure electric automobile of machine driving also gradually requires have entire car controller, and various signals are acquired by entire car controller,
The driving intention of comprehensive analysis driver simultaneously makes corresponding judgement, calculates the parameters such as the required motor output torque of operation,
Data transfer is carried out by CAN bus, to coordinate the movement of each power part.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of low-speed pure electric automobile vehicle controls of single motor driving
Device processed, it can be achieved that pure electric automobile full-vehicle control.
In order to solve the above technical problems, the utility model uses following technological means：
A kind of low-speed pure electric automobile entire car controller of single motor driving, including microcontroller main control module, with microcontroller
The power supply and circuit protection module of main control module connection, CAN communication module, digital signal input module, analog signal input mould
Block, power drive output module, 485 communication modules；The microcontroller main control module by signal wire respectively with power module,
CAN communication module, digital input and output modules, analogue collection module, power drive output module, 485 communication modules are connected
It connects；The power supply and circuit protection module uses LM2596-5V chips, and Vehicular accumulator cell 12V voltages are converted to controller
The 5V voltages that component needs are each function module power supply of entire car controller；The CAN communication module is equipped with singlechip chip
MC9S12XEP100MEG；The digital signal input module is connected with microcontroller MC9S12XEP100MEG chip input pins
It connects；After the analog signal input module carries out impedance transformation by voltage follower, with microcontroller MC9S12XEP100MEG
Chip AD functional pins are connected, and realize analog acquisition；The power drive output module is that 8 tunnel power drives export mould
Block is connected with microcontroller MC9S12XEP100MEG chip output pins, realizes driving control signal output；Described 485
Communication module is 1 tunnel, 485 communication module, respective pins and microcontroller MC9S12XEP100MEG chip serial ports input and output pins
It is connected, realizes communication.
Microcontroller MC9S12XEP100MEG cake cores are a automotive grade special chips.Possess the RAM of 64KB, 8 roads are asynchronous
Serial communication interface (SCI), 3 road serial process interface interfaces (SPI), 1 tunnel, 8 channel ECT interfaces, 2 tunnel, 12,16 channel modulus
Translation interface, the PWM module in 1 tunnel, 8 channel, 5 tunnels are compatible with the channels CAN etc. of CAN2.0 standards, and rich interface meets full-vehicle control
Needs.
Vehicular accumulator cell 12V voltages are converted to control by the power supply and circuit protection module using LM2596-5V chips
The 5V voltages that device component processed needs are each function module power supply of entire car controller, have short circuit, overvoltage, overcurrent, temperature overload
The functions such as protection.Battery feed voltage first passes around diode D2, D3.Wherein diode D2 uses IN5408, plays counnter attack
Connect protective effect；D3 is 12V voltage-stabiliser tubes, primarily serves the effect of voltage stabilizing.L2, C6, C7 form low-and high-frequency filter circuit, play filter
Wave acts on, and prevents the transient voltage for occurring excessive in input terminal, while providing transient current in each switch for LM2596.It inhales
The diode D5 that receives plays a protective role in the case of overload or output short-circuit.Output capacitance C8 is used for that output is filtered and carried
For the stability of adjuster loop, in order to ensure lower ESR and the lower output voltage of ripple, the pressure resistance of the capacitance is at least answered
It is 1.5 times of output voltage.
CAN communication module is equipped with singlechip chip MC9S12XEP100MEG and built-in CAN bus protocol controller is external
Bus driver chip and anti-jamming circuit appropriate.It, can be very using the TJA1050T CAN bus drivers of PHILIP companies
Easily establish a CAN bus Intelligent Testing and Control Node.TJA1050T drivers CANRX0 and the ports CANTX0 with
137, No. 136 pins of MC9S12XEP100MEG built-in chip type CAN modules pin are connected, CANRX1 and the ports CANTX1 and monolithic
Machine MC9S12XEP100MEG built-in chip type CAN modules 135, No. 134 pins of pin are connected, TJA1050T driver output ends
CANH, CANL bus series connection ZJYS81R5 types common mode inductance are connected with external CAN bus.The ZJYS81R5 types common mode inductance carries
The high Electro Magnetic Compatibility of circuit.The CAN controller and external CAN that CAN communication module is embedded by singlechip chip are received and dispatched
Device realizes CAN network communication.
485 communication modules, using SP485R cake cores, with host computer by using 485 buses realize parameter calibration and
The real time monitoring of data, SP485R respective pins are connected with microcontroller MC9S12XEP100MEG chip serial ports input and output pins
It connects, realizes communication.No. 119 pins of 1 receiving terminal RX of pin and MC9S12XEP100MEG chips connect in the SP485R cake cores
It connects, 4 transmitting terminal TX of pin is connect with No. 120 pins.6, No. 7 pin serial connection ZJYS81R5 types common mode electricity of the SP485R cake cores
Sense is connected with connector port.
Further optimal technical scheme is as follows：
The digital signal input module is 12 railway digital signal input modules, 12 railway digital signal input modules pair
ON position signals, START position signals, R gear signals, D gear signals, cold air-conditioning A/C switching signals, charging confirm switch letter
Number, ptc heater switching signal, B/P signals, vacuum degree low signal, vacuum degree high RST, accelerator pedal switch signal, braking
The 12 railway digital signal such as pedal switch signal is acquired.
It has connected per modulate circuit all the way current-limiting resistance, filter capacitor, by the electricity of pull-up resistor and diode composition
Flat conversion circuit, filters using output capacitance, finally improves into the Transistor-Transistor Logic level of standard, into microcontroller
MC9S12XEP100MEG chip input pins complete the acquisition of digital signal.
The analog signal input module, gas pedal aperture 1, gas pedal aperture 2, brake pedal aperture, electric power storage
The 4 tunnel analog signal such as cell voltage is after voltage follower carries out impedance transformation, with microcontroller MC9S12XEP100MEG chip AD work(
Energy pin is connected, and realizes analog acquisition.
Enter after partial pressure, filter circuit per analog signal all the way and impedance change is carried out by the voltage follower that LM324 is constituted
It changes.On the one hand, input impedance is become very high, very little can be accomplished for the influence of input signal in this way；On the other hand, it exports
Impedance becomes very low, and influence of the AD input impedance to input signal can accomplish very little.
It is high that the power drive output module connection controls air conditioning contact, motor pre-charge contactor, charge circuit
It is the high positive pressure contactor of positive pressure contactor, DC/DC contactors, electric machine controller, PTC contactors, water tank wind turbine on off controller, true
Sky pump on off controller.
The power drive output module waits 8 tunnel power drive digital output modules, is driven using ULN2803 Darlington transistors
Dynamic device, controls HFKC012-H relays, input terminal and the microcontroller MC9S12XEP100MEG chip output pin phases of ULN2803
Driving control signal output is realized in connection.The high positive pressure contactor of air conditioning contact, motor pre-charge contactor, charge circuit,
The high positive pressure contactor of DC/DC contactors, electric machine controller, PTC contactors, water tank wind turbine on off controller, vacuum pump start and stop control
Device ULN2803 chips processed are reversed output types, and the design of ULN2803 is compatible with standard TTL series, defeated when input low level
Outlet ON operation.Relay coil drive signal, using high-side driver mode.When low-side drive signal is high level, after
Electric apparatus coil is powered, relay contact closure.
The entire car controller is controlled using torque control pattern, and the corresponding output of gas pedal of automobile is torque
Instruction, during full-vehicle control, makees relevant treatment to throttle signal, meets the requirement of response of the driver to torque；Not
Under same gas pedal depth, corresponding torque exports different；In conjunction with motor characteristic curve and work the characteristics of, vehicle
Control is divided into two kinds of situations of driving and braking；Driving strategy includes constant moment of force control and power limitation control, when motor speed is in volume
When determining rotating speed or less, the output torque of motor is controlled by constant moment of force mode；When motor speed is more than rated speed, by permanent work(
Rate mode controls the output torque of motor；It is made a decision according to the current maximum moment capacity of speed and motor, realizes that throttle is stepped on
Plate corresponds to the output of torque, and braking strategy includes conventional brake and the braking with energy regenerating.
The control method of the low-speed pure electric automobile entire car controller of single motor driving, comprises the steps of：
(1) entire car controller charge mode, entire car controller acquires effective charge permission signal and charger when charging
CAN bus message, then determine whether to charge；If vehicle remains static, gear is neutral gear, throttle is zeroed,
Electric machine controller main contactor close, battery management system fault-free, then entire car controller to battery management system send allow
Charge CAN message；After allowing charging, charging contactor etc. is opened, vehicle is forbidden to enter other patterns, until charging terminates；
(2) entire car controller start-up mode, entire car controller carries out relevant action according to key position under the pattern, if setting
In the positions ON, system carries out self-test, and correlation precharge work is completed, is closed pre-charge contactor, then can enter start-up mode；
(3) entire car controller drive mode, electric vehicle is in non-charged state under the pattern, and key is placed in START
It sets to 0 .5 seconds or more, driving condition can be entered if dynamical system is without emergency；Into after drive mode, entire car controller root
Currently it is expected according to accelerator pedal position information, brake pedal information, gear information, speed and the state computation of battery and motor
Torque, by sending the driving for it is expected that torque information realizes vehicle to electric machine controller；It is full-vehicle control after into drive mode
Device component controls pattern controls the start and stop of vacuum pressure pump according to vacuum servo pressure sensor information, is believed according to air conditioner operation
Breath control compressor of air conditioner or PTC；
(4) entire car controller troubleshooting pattern, entire car controller is according to the abnormal operation and failure of vehicle under the pattern
Information controls vehicle running state.
The control method of the low-speed pure electric automobile entire car controller of single motor driving, at the entire car controller failure
Reason pattern, entire car controller are detected by bus message etc., and the fault state of vehicle is detected and is judged, including：
Sensor fault detection, gas pedal fault detect, the inspection of charger failure, battery management system and battery failures detection, motor event
Barrier detection detection content mainly has：Sensor fault detection, gas pedal fault detect, the inspection of charger failure, battery management system
With battery failures detection and electrical fault detection.
Entire car controller uses torque control pattern, and the corresponding output of gas pedal of automobile is torque command.In vehicle
It during control, needs to make relevant treatment to throttle signal, to meet the requirement of response of the driver to torque.In different oil
Under door tread depths, corresponding torque exports different.In conjunction with motor characteristic curve and work the characteristics of, full-vehicle control point
To drive and braking two kinds of situations.Driving strategy includes constant moment of force control and power limitation control.When motor speed is in rated speed
When following, the output torque of motor is controlled by constant moment of force mode；When motor speed is more than rated speed, by invariable power mode
Control the output torque of motor.To realize that gas pedal corresponds to the output of torque, need maximum according to current speed and motor
Moment capacity make a decision, move strategy include conventional brake and the braking with energy regenerating.
Description of the drawings
Fig. 1 is entire car controller electric signal connection figure.
Fig. 2 is entire car controller module composition figure.
Fig. 3 is vehicle control unit controls flow chart.
Fig. 4 is monolithic microcomputer kernel circuit diagram.
Fig. 5 is voltage-stabilized power supply circuit figure.
Fig. 6 is CAN communication processing circuit figure.
Fig. 7 is analog signal processing circuit figure.
Fig. 8 is digital signal processing circuit figure.
Fig. 9 is power driving circuit figure.
Figure 10 is 485 communication processing circuit figures.
Reference sign：1-CAN communication modules；2- power supplys and circuit protection module；3- digital signal input modules；4-
Microcontroller main control module；5- analog signal input modules；6- power drive output modules；7-485 communication modules.
Specific implementation mode
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.
In conjunction with Fig. 1-Figure 10, it can be seen that a kind of low-speed pure electric automobile full-vehicle control of single motor driving of the invention
Device, including microcontroller main control module 4, the power supply being connect with microcontroller main control module 4 and circuit protection module 2, CAN communication module
1, digital signal input module 3, analog signal input module 5, power drive output module 6,485 communication modules 7；The list
Piece machine main control module 4 by signal wire respectively with power module, CAN communication module, digital input and output modules, analog acquisition
Module, power drive output module 6,485 communication modules 7 are connected；The power supply and circuit protection module 2 use
Vehicular accumulator cell 12V voltages are converted to the 5V voltages of smd controller needs by LM2596-5V chips, are entire car controller
Each function module power supply；The CAN communication module 1 is equipped with singlechip chip MC9S12XEP100MEG；The digital signal
Input module 3 is connected with microcontroller MC9S12XEP100MEG chip input pins；The analog signal input module 5 is logical
After overvoltage follower carries out impedance transformation, it is connected with microcontroller MC9S12XEP100MEG chip AD functional pins, realizes mould
Analog quantity acquires；The power drive output module 6 is 8 tunnel power drive output modules, with microcontroller
MC9S12XEP100MEG chip output pins are connected, and realize driving control signal output；485 communication modules 7 are 1
485 communication module of road, respective pins are connected with microcontroller MC9S12XEP100MEG chip serial ports input and output pins, realize
Communication.
Microcontroller MC9S12XEP100MEG cake cores are a automotive grade special chips.Possess the RAM of 64KB, 8 roads are asynchronous
Serial communication interface (SCI), 3 road serial process interface interfaces (SPI), 1 tunnel, 8 channel ECT interfaces, 2 tunnel, 12,16 channel modulus
Translation interface, the PWM module in 1 tunnel, 8 channel, 5 tunnels are compatible with the channels CAN etc. of CAN2.0 standards, and rich interface meets full-vehicle control
Needs.
Vehicular accumulator cell 12V voltages are converted to control by the power supply and circuit protection module 2 using LM2596-5V chips
The 5V voltages that device component processed needs are each function module power supply of entire car controller, have short circuit, overvoltage, overcurrent, temperature overload
The functions such as protection.Battery feed voltage first passes around diode D2, D3.Wherein diode D2 uses IN5408, plays counnter attack
Connect protective effect；D3 is 12V voltage-stabiliser tubes, primarily serves the effect of voltage stabilizing.L2, C6, C7 form low-and high-frequency filter circuit, play filter
Wave acts on, and prevents the transient voltage for occurring excessive in input terminal, while providing transient current in each switch for LM2596.It inhales
The diode D5 that receives plays a protective role in the case of overload or output short-circuit.Output capacitance C8 is used for that output is filtered and carried
For the stability of adjuster loop, in order to ensure lower ESR and the lower output voltage of ripple, the pressure resistance of the capacitance is at least answered
It is 1.5 times of output voltage.
CAN communication module 1 is equipped with outside singlechip chip MC9S12XEP100MEG and built-in CAN bus protocol controller
Connect bus driver chip and anti-jamming circuit appropriate.It, can be with using the TJA1050T CAN bus drivers of PHILIP companies
Easily establish a CAN bus Intelligent Testing and Control Node.TJA1050T drivers CANRX0 and the ports CANTX0 with
137, No. 136 pins of MC9S12XEP100MEG built-in chip type CAN modules pin are connected, CANRX1 and the ports CANTX1 and monolithic
Machine MC9S12XEP100MEG built-in chip type CAN modules 135, No. 134 pins of pin are connected, TJA1050T driver output ends
CANH, CANL bus series connection ZJYS81R5 types common mode inductance are connected with external CAN bus.The ZJYS81R5 types common mode inductance carries
The high Electro Magnetic Compatibility of circuit.The CAN controller and external CAN that CAN communication module 1 is embedded by singlechip chip are received
Hair device realizes CAN network communication.
485 communication modules 7, using SP485R cake cores, with host computer by using 485 buses realize parameter calibration and
The real time monitoring of data, SP485R respective pins are connected with microcontroller MC9S12XEP100MEG chip serial ports input and output pins
It connects, realizes communication.No. 119 pins of 1 receiving terminal RX of pin and MC9S12XEP100MEG chips connect in the SP485R cake cores
It connects, 4 transmitting terminal TX of pin is connect with No. 120 pins.6, No. 7 pin serial connection ZJYS81R5 types common mode electricity of the SP485R cake cores
Sense is connected with connector port.
The digital signal input module is 12 railway digital signal input modules, 12 railway digital signal input modules pair
ON position signals, START position signals, R gear signals, D gear signals, cold air-conditioning A/C switching signals, charging confirm switch letter
Number, ptc heater switching signal, B/P signals, vacuum degree low signal, vacuum degree high RST, accelerator pedal switch signal, braking
The 12 railway digital signal such as pedal switch signal is acquired.
It has connected per modulate circuit all the way current-limiting resistance, filter capacitor, by the electricity of pull-up resistor and diode composition
Flat conversion circuit, filters using output capacitance, finally improves into the Transistor-Transistor Logic level of standard, into microcontroller
MC9S12XEP100MEG chip input pins complete the acquisition of digital signal.
The analog signal input module, gas pedal aperture 1, gas pedal aperture 2, brake pedal aperture, electric power storage
The 4 tunnel analog signal such as cell voltage is after voltage follower carries out impedance transformation, with microcontroller MC9S12XEP100MEG chip AD work(
Energy pin is connected, and realizes analog acquisition.
Enter after partial pressure, filter circuit per analog signal all the way and impedance change is carried out by the voltage follower that LM324 is constituted
It changes.On the one hand, input impedance is become very high, very little can be accomplished for the influence of input signal in this way；On the other hand, it exports
Impedance becomes very low, and influence of the AD input impedance to input signal can accomplish very little.
It is high that the connection of power drive output module 6 controls air conditioning contact, motor pre-charge contactor, charge circuit
It is the high positive pressure contactor of positive pressure contactor, DC/DC contactors, electric machine controller, PTC contactors, water tank wind turbine on off controller, true
Sky pump on off controller.
The power drive output module 6 waits 8 tunnel power drive digital output modules, is driven using ULN2803 Darlington transistors
Dynamic device, controls HFKC012-H relays, input terminal and the microcontroller MC9S12XEP100MEG chip output pin phases of ULN2803
Driving control signal output is realized in connection.The high positive pressure contactor of air conditioning contact, motor pre-charge contactor, charge circuit,
The high positive pressure contactor of DC/DC contactors, electric machine controller, PTC contactors, water tank wind turbine on off controller, vacuum pump start and stop control
Device processed.ULN2803 chips are reversed output types, and the design of ULN2803 is compatible with standard TTL series, defeated when input low level
Outlet ON operation.Relay coil drive signal, using high-side driver mode.When low-side drive signal is high level, after
Electric apparatus coil is powered, relay contact closure.
The entire car controller is controlled using torque control pattern, and the corresponding output of gas pedal of automobile is torque
Instruction, during full-vehicle control, makees relevant treatment to throttle signal, meets the requirement of response of the driver to torque；Not
Under same gas pedal depth, corresponding torque exports different；In conjunction with motor characteristic curve and work the characteristics of, vehicle
Control is divided into two kinds of situations of driving and braking；Driving strategy includes constant moment of force control and power limitation control, when motor speed is in volume
When determining rotating speed or less, the output torque of motor is controlled by constant moment of force mode；When motor speed is more than rated speed, by permanent work(
Rate mode controls the output torque of motor；It is made a decision according to the current maximum moment capacity of speed and motor, realizes that throttle is stepped on
Plate corresponds to the output of torque, and braking strategy includes conventional brake and the braking with energy regenerating.
The control method of the low-speed pure electric automobile entire car controller of single motor driving, comprises the steps of：
(1) entire car controller charge mode, entire car controller acquires effective charge permission signal and charger when charging
CAN bus message, then determine whether to charge；If vehicle remains static, gear is neutral gear, throttle is zeroed,
Electric machine controller main contactor close, battery management system fault-free, then entire car controller to battery management system send allow
Charge CAN message；After allowing charging, charging contactor etc. is opened, vehicle is forbidden to enter other patterns, until charging terminates；
(2) entire car controller start-up mode, entire car controller carries out relevant action according to key position under the pattern, if setting
In the positions ON, system carries out self-test, and correlation precharge work is completed, is closed pre-charge contactor, then can enter start-up mode；
(3) entire car controller drive mode, electric vehicle is in non-charged state under the pattern, and key is placed in START
It sets to 0 .5 seconds or more, driving condition can be entered if dynamical system is without emergency；Into after drive mode, entire car controller root
Currently it is expected according to accelerator pedal position information, brake pedal information, gear information, speed and the state computation of battery and motor
Torque, by sending the driving for it is expected that torque information realizes vehicle to electric machine controller；It is full-vehicle control after into drive mode
Device component controls pattern controls the start and stop of vacuum pressure pump according to vacuum servo pressure sensor information, is believed according to air conditioner operation
Breath control compressor of air conditioner or PTC；
(4) entire car controller troubleshooting pattern, entire car controller is according to the abnormal operation and failure of vehicle under the pattern
Information controls vehicle running state.
The control method of the low-speed pure electric automobile entire car controller of single motor driving, at the entire car controller failure
Reason pattern, entire car controller are detected by bus message etc., and the fault state of vehicle is detected and is judged, including：
Sensor fault detection, gas pedal fault detect, the inspection of charger failure, battery management system and battery failures detection, motor event
Barrier detection detection content mainly has：Sensor fault detection, gas pedal fault detect, the inspection of charger failure, battery management system
With battery failures detection and electrical fault detection.
Entire car controller uses torque control pattern, and the corresponding output of gas pedal of automobile is torque command.In vehicle
It during control, needs to make relevant treatment to throttle signal, to meet the requirement of response of the driver to torque.In different oil
Under door tread depths, corresponding torque exports different.In conjunction with motor characteristic curve and work the characteristics of, full-vehicle control point
To drive and braking two kinds of situations.Driving strategy includes constant moment of force control and power limitation control.When motor speed is in rated speed
When following, the output torque of motor is controlled by constant moment of force mode；When motor speed is more than rated speed, by invariable power mode
Control the output torque of motor.To realize that gas pedal corresponds to the output of torque, need maximum according to current speed and motor
Moment capacity make a decision, move strategy include conventional brake and the braking with energy regenerating.
Entire car controller is each to vehicle by acquiring external analog signal, pin signal and processing bus message realization
The coordination and control of function module.Entire car controller electric signal connection figure is as shown in Figure 1.Fig. 2 is entire car controller module group
Cheng Tu.
Entire car controller collection vehicle status information, such as：Key position, accelerator pedal position, brake pedal position and sky
The analog quantity informations such as air duct position, the logical signals such as charge switch are adjusted, and other status informations transmitted by CAN network,
Integrated vehicle control tactics are according to the work of driving intention, vehicle of the collected information to driver current transport condition and each assembly
Judged as state, realizes that the control of vehicle driving/braking, fault diagnosis functions, power battery charging control, are high/low respectively
Press the control models such as up/down electric control, Air-condition system control, cooling system control and vacuum boost system control.Control stream
Journey is as described in Figure 3.Fig. 4 to Figure 10 is entire car controller hardware design circuit figure.
Charging module is for the control of the judgement whether allowed and charging process to vehicle-state of charging.It is filled when detecting
After electricity confirms switching signal, whether detection vehicle-state allows to charge.During charging, vehicle is forbidden to enter starting state, i.e.,
When key is placed in the positions ON and returns again to the positions START, vehicle cannot be introduced into starting state.Break when detecting that charging confirms to switch
It opens, charged state terminates.
When key is placed in the positions ON, vehicle is in self-test state, after key goes to the positions START by the positions ON, vehicle into
Enter starting state, if power battery normally exports, and vehicle is not charging, then carries out drive control to vehicle.Entire car controller
Using torque control pattern.
Entire car controller is by controlling control of the vacuum servo pump relay realization to vacuum booster pump.After vehicle launch,
The vacuum pressure that entire car controller is measured according to vacuum pressure sensor judges and sends drive signal, controls vacuum pump
It enables and disables.Entire car controller judges air-conditioning input switch, by controlling control of the AIR COND RLY Air Conditioner Relay realization to air-conditioning.It is cooling
System module realizes the control strategy to cooling fan.It is controlled according to motor temperature and motor inverter temperature design cooling fan
Algorithm controls cooling fan.
Entire car controller is detected by bus message etc., and the fault state of vehicle is detected and is judged.Detection
Content mainly has：Sensor fault detection, gas pedal fault detect, the inspection of charger failure, battery management system and battery failures
Detection, electrical fault detection.
Bottom mainly completes the acquisition of analog quantity, the acquisition of digital quantity, CAN bus bottom layer driving and SCI bottom layer drivings, is
The separation layer of hardware and application layer, is designed for hardware, is called for application layer.The function of each function module of bottom code
For：1. analog acquisition.Entire car controller needs to be acquired the analog signals such as brake signal, accelerator pedal signal, passes through
The value of these analog signals provides reference and basis for estimation to drive control application.The AD work(that the acquisition of analog quantity passes through microcontroller
It can realize.Analog acquisition includes that the initialization of AD and AD sample underlying programs.After completing AD samplings, certain filtering is carried out
Processing, the value of the analog quantity needed are supplied to application layer.2. digital data acquisition.The height that the value of digital data acquisition is 0 and 1
Low level, MC9S12XEP100MEG microcontrollers are internally provided with hysteresis loop comparator, need not filter, directly to the data volume of input
It reads.The digital quantities such as the detection level such as switch, brake switch, which are acquired, to be confirmed to charging in entire car controller.3. CAN bus
Bottom layer driving.CAN bus bottom layer driving includes bus module initialization, bus bottom transmission program, and bus bottom receives program.
CAN module 0 and 1 baud rate of module are respectively 500K and 250K.4. SCI bottom layer drivings.SCI bottom layer drivings include that module is initial
Change, data receiver and transmission program.
Since the foregoing is merely specific embodiment of the present utility model, but the protection of the utility model is without being limited thereto,
Any those skilled in the art it is contemplated that the equivalent variation or replacement of the technical program technical characteristic, all covers
Within the scope of protection of the utility model.
Claims (4)
1. a kind of low-speed pure electric automobile entire car controller of single motor driving, including microcontroller main control module, with monolithic owner
Control module connection power supply and circuit protection module, CAN communication module, digital signal input module, analog signal input module,
Power drive output module, 485 communication modules；
The microcontroller main control module by signal wire respectively with power module, CAN communication module, digital IO mould
Block, analogue collection module, power drive output module, 485 communication modules are connected；
The power supply and circuit protection module uses LM2596-5V chips, and Vehicular accumulator cell 12V voltages are converted to controller
The 5V voltages that component needs are each function module power supply of entire car controller；
The CAN communication module is equipped with singlechip chip MC9S12XEP100MEG；
The digital signal input module is connected with microcontroller MC9S12XEP100MEG chip input pins；
After the analog signal input module carries out impedance transformation by voltage follower, with microcontroller
MC9S12XEP100MEG chip AD functional pins are connected, and realize analog acquisition；
The power drive output module is 8 tunnel power drive output modules, defeated with microcontroller MC9S12XEP100MEG chips
Go out pin to be connected, realizes driving control signal output；
485 communication modules are 1 tunnel, 485 communication module, respective pins and microcontroller MC9S12XEP100MEG chip serial ports
Input and output pin is connected, and realizes communication.
2. the low-speed pure electric automobile entire car controller of single motor driving according to claim 1, it is characterised in that：It is described
Digital signal input module, be 12 railway digital signal input modules, 12 railway digital signal input modules to ON position signals,
START position signals, R gear signals, D gear signals, cold air-conditioning A/C switching signals, charging confirm switching signal, PTC heating
Device switching signal, B/P signals, vacuum degree low signal, vacuum degree high RST, accelerator pedal switch signal, brake pedal switch letter
Number equal 12 railway digital signals are acquired.
3. the low-speed pure electric automobile entire car controller of single motor driving according to claim 1, it is characterised in that：It is described
Analog signal input module, the 4 road mould such as gas pedal aperture 1, gas pedal aperture 2, brake pedal aperture, battery tension
Quasi- signal is connected after voltage follower carries out impedance transformation with microcontroller MC9S12XEP100MEG chip AD functional pins,
Realize analog acquisition.
4. the low-speed pure electric automobile entire car controller of single motor driving according to claim 1, it is characterised in that：It is described
Power drive output module connection control air conditioning contact, motor pre-charge contactor, the high positive pressure contactor of charge circuit,
The high positive pressure contactor of DC/DC contactors, electric machine controller, PTC contactors, water tank wind turbine on off controller, vacuum pump start and stop control
Device processed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107738623A (en) * | 2017-11-16 | 2018-02-27 | 聊城大学 | A kind of motor-driven low-speed pure electric automobile entire car controller of list and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107738623A (en) * | 2017-11-16 | 2018-02-27 | 聊城大学 | A kind of motor-driven low-speed pure electric automobile entire car controller of list and its control method |
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