JP4425883B2 - Vehicle control system - Google Patents

Description

  The present invention relates to a vehicle control system in which a plurality of control devices are connected to each other to perform a cooperative operation.

Conventionally, for example, an in-vehicle LAN in which a plurality of electronic control devices mounted on a vehicle are connected to each other is known (see Patent Document 1).
In this in-vehicle LAN, a plurality of electronic control units (ECUs) send sensor data to one control calculation communication unit, and the control calculation communication unit performs calculation based on the received data and controls each electronic control unit. A so-called server / client-related network for returning signals is formed.
Japanese Patent Laid-Open No. 7-7504

By the way, in the in-vehicle LAN according to the above-described prior art, when an electrical component such as an actuator that is a control target connected to a plurality of electronic control devices is changed, it is output to instruct the operation of the control target. The type of operation command value may also be changed.
Along with this, when changing the processing contents of each electronic control device, especially when a plurality of electronic control devices are controlled so as to operate cooperatively, other electronic controls whose control targets are not changed There is a possibility that the processing contents of the apparatus must be changed.
In addition, since the control signal for controlling the operation of the control target is calculated by the control arithmetic communication unit, the control arithmetic communication unit receives the various data output from the changed control target for reading. Also, it is necessary to newly provide conversion means for converting received data into a predetermined variable format used for control calculations, or it is necessary to change the contents of control calculations according to the format of received data May occur.

In particular, in a system in which the types of control signals transmitted and received between the control arithmetic communication unit and the plurality of electronic control devices and the control target are large, such as a fuel cell vehicle, the control target is changed. When the types of control signals are changed, there arises a problem that it takes time and trouble to update and improve the control system.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle control system capable of easily making changes such as system updates and improvements.

In order to solve the above-described problems and achieve the object, a vehicle control system according to a first aspect of the present invention includes a control device having a plurality of subsystems (for example, a motor control ECU 22 in the present embodiment described later). , A reactive gas supply control ECU 23, a power distribution control ECU 24, a cell voltage detection control ECU 25) and a cooperative control device (for example, a cooperative control ECU 21 in the present embodiment to be described later) that operates the plurality of control devices in a coordinated manner (for example, A fuel cell comprising a solid polymer electrolyte membrane between an air electrode and a hydrogen electrode, and connected to each other via a network 51) in the present embodiment to be described later. the vehicle control system for driving the traveling motor by the generated power, wherein one of said control device of the plurality of control apparatus, the reaction gas to the fuel cell Reactive gas control means for controlling supply, and the control device is a control target (for example, a traveling motor drive unit 11, a fuel cell 12, a reactive gas supply unit 13, a power storage device 14, a power distribution unit in this embodiment described later) Unit 15 and cooling units 16 and 16), and input / output control means for performing input / output processing on signals transmitted / received between the cooperative control device and the control target (for example, in this embodiment described later) The cooperative control device calculates a control signal for controlling operations of the plurality of control devices and the control target based on reception signals received from the plurality of control devices. control operation means (e.g., MPU 61 in the present embodiment to be described later) with a pressure of the air supplied from the air compressor and the air compressor supplying air to the air electrode The control device at a pressure corresponding with the reaction gas supply means and a hydrogen supply means for supplying hydrogen gas to the hydrogen electrode, comprising the reaction gas control means, said plurality of control devices and the cooperative control unit communication system or abnormal of the coordination control device between, by the reaction gas control means independently of the cooperative control unit, and the prevention of sudden increase in the rotational speed of the air compressor the reaction gas supplying means, The exhaust valve that discharges the reaction gas to the outside from the air electrode and the hydrogen electrode is prevented from being suddenly closed, and an abnormal pressure is prevented from acting on the solid polymer electrolyte membrane. And the hydrogen electrode is prevented from becoming abnormal, and then the hydrogen gas is kept ventilated to prevent the hydrogen gas from accumulating inside. Supplied to the battery It is characterized by comprising autonomous control means (for example, an autonomous control unit 71b in the present embodiment described later) for reducing the pressure of the reactive gas and then stopping the traveling motor .

According to the vehicle control system having the above configuration, in each of a plurality of control devices controlled to perform a cooperative operation, a part that performs a control calculation for calculating a control signal for the operation to be controlled, and the plurality of control devices and the cooperation The input / output control means for performing input / output processing (I / O processing) of control signals transmitted and received between the control device and the controlled object is separated. And the part which performs each control calculation of a some control apparatus is collectively stored in a server apparatus, ie, a cooperative control apparatus, and only the input / output control means is left in each subsystem which constitutes a client apparatus, ie, a plurality of control apparatuses. For example, it arrange | positions in the vicinity of a control object.
Thereby, for example, even if the part corresponding to the control calculation of any of the subsystems is changed, only the processing contents in the cooperative control device need be changed. Even if the input / output control means is changed due to a change in the control target, etc., it is only necessary to change the input / output control means of the target control device, and the change to other control devices is suppressed. Thus, the vehicle control system can be easily updated or improved.
In addition, for example, even when a communication system is stopped or an abnormality such as a malfunction of the cooperative control device occurs, it is possible to prevent erroneous control on the control target, It is possible to prevent the controlled object from being damaged. In particular, when the occurrence of an abnormal state such as a stop of a communication system such as a network is detected, it is possible to prevent an abnormal pressure from acting on the solid polymer electrolyte membrane of the fuel cell.

Furthermore, in the vehicle control system according to a second aspect of the present invention, the control calculation unit of the cooperative control device uses the plurality of control devices and the plurality of control signals as control signals for controlling operations of the control target. The control physical quantity to be achieved by the operation of the control device and the control target (for example, a logical value in the present embodiment described later, for example, a required torque value, a motor output, a flow rate or a pressure of a reactive gas, etc.) is calculated, and the control The input / output control means of the apparatus is an operation command value (for example, a control value in the present embodiment described later, which directly instructs the operation of the control apparatus and the control target, the control physical quantity received from the cooperative control apparatus. For example, an AC voltage command value output to the PDU 32 that controls the driving of the traveling motor 31, a control signal for ensuring a desired rotation speed in the air compressor 41, and the exhaust pressure valve 46 Control signal for controlling the valve opening, etc.), the cooperative control device transmits the flow rate and pressure of the reaction gas as the control physical quantity to the control device comprising the reaction gas control means, The reactive gas control means receives the flow rate and the pressure , calculates and outputs a current value and a voltage value as the operation command values of the reactive gas supply means and the exhaust pressure valve.

According to the vehicle control system having the above-described configuration, the control signal transmitted and received between the cooperative control device, the plurality of control devices, and the control target is, for example, a control physical quantity including a general-purpose physical quantity or an abstract control value. For example, even when an appropriate control target is changed, the control physical quantity output from the cooperative control device is not changed, and only the input / output control means of the control device to which the control target is connected is changed. It ’s fine. In other words, the input / output control means converts the control physical quantity received from the cooperative control device into an operation command value corresponding to each control object.
Thereby, it is possible to easily change or update the vehicle control system without changing the content of the control calculation in the cooperative control device.

As described above, according to the vehicle control system of the first aspect of the present invention, for example, even if the portion corresponding to the control calculation of any subsystem is changed, the processing content in the cooperative control device You only need to change it. Even if the input / output control means is changed due to a change in the control target, etc., it is only necessary to change the input / output control means of the target control device, and the change to other control devices is suppressed. Thus, the vehicle control system can be easily updated or improved.
In addition, for example, even when a communication system is stopped or an abnormality such as a malfunction of the cooperative control device occurs, it is possible to prevent erroneous control on the control target, It is possible to prevent the controlled object from being damaged. Then, it prevents the sudden increase in the rotation speed of the air compressor and prevents the sudden closing of the exhaust pressure valve that discharges the reaction gas from the air electrode and the hydrogen electrode to the solid polymer electrolyte membrane of the fuel cell. Abnormal pressure can be prevented from acting.
Further, according to the vehicle control system of the second aspect, the cooperative control device finally transmits the flow rate and pressure of the reactive gas to the reactive gas control means as the control physical quantity required in the system. It is possible to easily change or update the vehicle control system without changing the content of the control calculation in the apparatus.

  Hereinafter, an embodiment of a vehicle control system of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a configuration diagram of a vehicle control system 10 according to an embodiment of the present invention, FIG. 2 is a configuration diagram of a fuel cell vehicle 1 including the vehicle control system 10 shown in FIG. 1, and FIG. 4 is a functional block diagram of the cooperative control ECU 21, and FIG. 4 is a functional block diagram of each of the ECUs 22,.

The fuel cell vehicle 1 according to the present embodiment is a hybrid power source configured by, for example, a fuel cell 12, a reactive gas supply unit 13, and a power storage device 14 as a power supply device that supplies power to the traveling motor drive unit 11. The driving force of the drive motor drive unit 11 to which power is supplied from these power supply devices via the power distribution unit 15 is driven through a transmission (not shown) made of an automatic transmission or a manual transmission. Transmitted to W.
Further, when the driving force is transmitted from the driving wheel W side to the traveling motor driving unit 11 side during deceleration of the fuel cell vehicle 1, the traveling motor driving unit 11 functions as a generator and generates a so-called regenerative braking force. The kinetic energy of the car body is recovered as electric energy.

The vehicle control system 10 according to the present embodiment includes, for example, a traveling motor drive unit 11, a fuel cell 12, a reactive gas supply unit 13, a power storage device 14, a power distribution unit 15, and cooling units 16 and 16. The ECU 17 is provided.
Further, the ECU 17 includes a cooperative control ECU 21 that forms a so-called server device, and a plurality of subsystems that form a so-called client device, such as a motor control ECU 22, a reactive gas supply control ECU 23, a power distribution control ECU 24, and a cell voltage detection control ECU 25. It is configured with.

As shown in FIG. 2, the traveling motor drive unit 11 includes a traveling motor 31 that forms a permanent magnet type three-phase AC synchronous motor that uses a permanent magnet as a field magnet, for example, and a PDU 32. The motor 31 is driven and controlled by three-phase AC power supplied from the PDU 32.
The PDU 32 includes a PWM inverter formed of a switching element such as an IGBT, and is output from the fuel cell 12 and the power storage device 14 via the power distribution unit 15 based on a switching command output from the motor control ECU 22. DC power is converted into three-phase AC power and supplied to the traveling motor 31.

  The fuel cell 12 is composed of a stack formed by laminating a plurality of cells with respect to a cell formed by sandwiching a solid polymer electrolyte membrane made of, for example, a solid polymer ion exchange membrane between the anode and the cathode from both sides, A hydrogen electrode supplied with hydrogen gas as a fuel and an air electrode supplied with air containing oxygen as an oxidant are provided. Then, hydrogen ions generated by the catalytic reaction at the anode pass through the solid polymer electrolyte membrane and move to the cathode, causing an electrochemical reaction with oxygen at the cathode to generate electric power.

The reactive gas supply unit 13 includes an air supply unit 13a that supplies air to the air electrode of the fuel cell 12 and a hydrogen supply unit 13b that supplies hydrogen gas to the hydrogen electrode. Further, the air supply unit 13 a includes an air compressor 41, a motor 42 that drives the air compressor 41, and a driver 43 for the motor 42.
Further, the hydrogen supply unit 13b controls the pressure of the pressure control valve 44 that supplies hydrogen gas at a pressure corresponding to the pressure of air supplied as a signal pressure from the air compressor 41, and the exhaust gas discharged from the fuel cell 11, for example. And an ejector 45 that is mixed with the hydrogen gas supplied through the valve 44 and recirculated.

Each of the air electrode side and the hydrogen electrode side of the fuel cell 12 is provided with exhaust pressure valves 46 and 46 for discharging each exhaust gas discharged from the fuel cell 12, that is, air and hydrogen gas, to the outside. A pressure gauge 47 for detecting the pressure of air is provided on the air electrode side of the fuel cell 12, and a pressure gauge 47 for detecting the pressure of hydrogen gas and a flow meter 48 for detecting the flow rate are provided on the hydrogen electrode side of the fuel cell 12. Is provided.
Then, for example, the reaction gas supply control ECU 23 receives each detection value detected by each of the pressure gauges 47 and 47 and the flow meter 48, performs an I / O process described later, and outputs it to the cooperative control ECU 21. . Further, as will be described later, the reactive gas supply control ECU 23 controls the air compressor 41 to ensure a desired rotational speed according to the reactive gas control amount received from the cooperative control ECU 21, that is, the flow rate and pressure of the reactive gas. A signal is output, and a command signal for instructing the opening / closing operation of the exhaust pressure valves 46 and 46 is output.

The power storage device 14 is, for example, a capacitor composed of an electric double layer capacitor, an electrolytic capacitor, or the like. The fuel cell 12 and the power storage device 14 are connected in parallel to the traveling motor 31 that is an electrical load.
The power distribution unit 15 is, for example, a high-voltage distributor, and controls a current value supplied to an electrical load such as the travel motor 31 based on a command signal from the power distribution control ECU 24.
The cooling unit 16 forms a water circulation system that cools, for example, the driving motor 31, the motor 42 that drives the air compressor 41, the fuel cell 12, and the like, and includes a water pump that supplies cooling water. Yes.

The ECU 17 includes a plurality of ECUs 21,..., 25 connected to each other via a network 51.
The coordinated control ECU 21 constituting the server device controls the coordinated operations of a plurality of subsystems constituting the client device, for example, the motor control ECU 22, the reaction gas supply control ECU 23, the power distribution control ECU 24, and the cell voltage detection control ECU 25. Yes.
Here, as will be described later, the ECUs 22,..., 25 constituting each subsystem are in an abnormal state such as an I / O process for a control signal transmitted / received to / from the cooperative control ECU 21 or a control target, or when the network is stopped. The cooperative control ECU 21 controls the ECUs 22,..., 25 based on the control signals obtained by the I / O processing in the ECUs 22,. Perform control calculations.

For example, as shown in FIG. 3, the cooperative control ECU 21 includes an MPU 61, a communication controller 62, and a program writing control unit 63.
The MPU 61 receives the control signals after the I / O processing from the ECUs 22,..., 25 constituting a plurality of subsystems via the communication controller 62, and sends the ECUs 22,. Performs control calculations for cooperative operation.
Further, the program writing control unit 63 writes when the contents of the cooperative operation of the ECUs 22,..., 25 are changed, and the appropriate program writing device 65 changes the calculation contents of the MPU 61 from the outside. Control the behavior.

For example, as shown in FIG. 4, each of the ECUs 22,..., 25 constituting a plurality of subsystems includes an MPU 71, a communication controller 72, a program write control unit 73, an input circuit 74, and an output circuit 75. It is configured.
The MPU 71 performs I / O including predetermined conversion processing on a signal received from the external sensor switch 76 or the like via the input circuit 74 or a control signal received from the cooperative control ECU 21 via the communication controller 72. An I / O processing unit 71 a that performs processing is provided. A signal from the input circuit 74 is transmitted to the cooperative control ECU 21 via the communication controller 72, and a control signal from the cooperative control ECU 21 is transmitted to the actuator 77 via the output circuit 75. Output to.
Furthermore, the MPU 71 includes an autonomous control unit 71b that independently controls the control object retreat operation of the reaction gas supply unit 13 and the like, the protection operation of the fuel cell 12, and the like, for example, when an abnormality occurs such as when the network 51 stops A control signal is output to the actuator 77.
The program writing control unit 73 controls a writing operation when processing contents such as I / O processing in the MPU 71 are changed, for example.

Hereinafter, functions of the cooperative control ECU 21 and the ECUs 22,..., 25 constituting a plurality of subsystems will be described.
The motor control ECU 22 controls the power conversion operation of the PWM inverter provided in the PDU 32, and refers to a predetermined control map based on a motor control amount received from the cooperative control ECU 21, such as a required torque value or a motor output. As a switching command, for example, the AC voltage command values for the U phase, the V phase, and the W phase are output to the PDU 32. Then, the U-phase current, the V-phase current, and the W-phase current corresponding to each voltage command value are output from the PDU 32 to each phase of the traveling motor 31.

  The reaction gas supply control ECU 23 refers to a predetermined control map based on the reaction gas control amount received from the cooperative control ECU 21, for example, the flow rate and pressure of the reaction gas, that is, hydrogen gas and air supplied to the fuel cell 12. A control signal for ensuring a desired rotation speed is output to the compressor 41, or a control signal for controlling the valve opening degree of the exhaust pressure valve 46 that can be adjusted by, for example, a stepping motor is output.

  For example, the power distribution control ECU 24 performs predetermined I / O processing on the output current and output voltage signals output from the fuel cell 12, the output current and inter-terminal voltage and temperature signals output from the power storage device 14, and the like. The power supply switching control is performed based on a power distribution control signal received from the cooperative control ECU 21, for example, a control signal for instructing an operation of the high voltage distributor or the like.

  The cell voltage detection control ECU 25 monitors the voltage values of a plurality of cells constituting the fuel cell 12, and calculates, for example, the average value, deviation, maximum value, minimum value, etc. of the detected voltage values for the plurality of cells. To the cooperative control ECU 21.

  The vehicle control system 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle control system 10 will be described with reference to the accompanying drawings. FIG. 5 is a flowchart showing the operation of the cooperative control ECU 21, FIG. 6 is a flowchart showing the operation of each of the ECUs 22,..., 25 forming a plurality of subsystems, particularly an input process, and FIG. 3 is a flowchart showing the operation of each ECU 22,.

Below, operation | movement of cooperation control ECU21 is demonstrated.
First, in step S01 shown in FIG. 5, as a system initialization process, for example, an appropriate control value, constant, or the like is set to a predetermined value.
Next, in step S02, it is determined whether or not a packet as a control signal has been received from each of the ECUs 22,..., 25 forming a plurality of subsystems via the network 15.
If this determination is “NO”, the flow proceeds to step S 02.
On the other hand, if the determination is “YES”, the flow proceeds to step S03.

In step S03, a logical value is extracted from the received packet.
The logical value is, for example, a highly versatile physical quantity or abstract control value that forms a control signal transmitted / received between the cooperative control ECU 21 and each of the ECUs 22,..., 25. Even if it is, the value is set so as not to be affected. For example, when the air compressor 41 is controlled to a predetermined rotational speed, the actually required operation command value is a voltage value or a current value supplied to the motor 42, but is finally required in the system. This is a flow rate value of the reaction gas, and for example, even when the air compressor 41 or the motor 42 is changed to another device, it becomes an invariable control value.

In step S04, a control operation is performed based on the extracted logical value, and a control logical value including a highly versatile physical quantity, an abstract control value, or the like is calculated.
Next, in step S05, a control logic value for controlling each ECU 22,..., 25 constituting a plurality of subsystems is packetized.
In step S06, a packet is transmitted to each of the ECUs 22,..., 25 forming a plurality of subsystems, and a series of processes is terminated.

For example, in the fuel cell vehicle 1 according to the present embodiment, first, the value of the accelerator opening is read into the cooperative control ECU 21.
The cooperative control ECU 21 calculates a necessary motor control amount, for example, a required torque value, a motor output, and the like from the value of the accelerator opening, and transmits the required torque value, the motor output, and the like to the motor control ECU 22.
Further, the cooperative control ECU 21 calculates an amount of electric power corresponding to the calculated required torque value, motor output, etc., and a reactive gas control amount required for outputting this electric energy, for example, hydrogen gas and air flow rates and The pressure is calculated and transmitted to the reaction gas supply control ECU 23.
Further, the cooperative control ECU 21 transmits a power distribution control signal to the power distribution control ECU 24 in accordance with the operation state of the fuel cell vehicle 1, such as an idle operation state.
Further, the cooperative control ECU 21 determines whether or not the fuel cell 12 is normal based on detected values such as an average value and deviation, a maximum value and a minimum value of the voltage values for a plurality of cells received from the cell voltage detection control ECU 25. Determine.

Below, the input processing of each ECU22, ..., 25 which comprises a some subsystem is demonstrated.
First, in step S11 shown in FIG. 6, an A / D conversion value such as a detection signal received from an external sensor switch 76 or the like is read via the input circuit 74.
Next, in step S12, the A / D conversion value is converted into a logical value.
Next, in step S13, a transmission packet is created from the logical value.
In step S14, a packet is transmitted to the cooperative control ECU 21, and the series of processes ends.

Below, the output process of each ECU22, ..., 25 which comprises a some subsystem is demonstrated.
First, in step S21 shown in FIG. 7, a logical value is extracted from the packet received from the cooperative control ECU 21.
Next, in step S22, the extracted logical value is converted into a control value of the actuator 77.
Next, in step S23, the control value of the actuator 77 is output via the output circuit 75, and the series of processes is terminated.

  For example, in the fuel cell vehicle 1 according to the present embodiment, the motor control ECU 22 that has received a required torque value, motor output, etc. (logical value in step S21) as a motor control amount from the cooperative control ECU 21 performs a predetermined control map. Referring to, for example, U-phase, V-phase, and W-phase AC voltage command values (control values in step S22) in PDU 32 as switching commands for controlling the power conversion operation of the PWM inverter or the like provided in PDU 32. Output.

The reaction gas supply control ECU 23 that has received the control signal of the flow rate and pressure of the reaction gas (the logical value in step S21) as the reaction gas control amount from the cooperative control ECU 21 sets the flow rate of the reaction gas supplied to the fuel cell 12. By controlling, a predetermined output is obtained, and a differential pressure between the hydrogen electrode and the air electrode of the fuel cell 12 is set to a predetermined pressure to ensure a desired power generation efficiency. That is, referring to a predetermined control map, for example, a current value and a voltage value (control value in step S22) for ensuring a desired rotation speed for the air compressor 41 are calculated and output, and the exhaust pressure valve A current value and a voltage value (control value in step S22) for ensuring a desired valve opening degree are calculated and output to 46 stepping motors and the like.
Further, the power distribution control ECU 24 that has received the power distribution control signal (the logical value in step S21) from the cooperative control ECU 21 outputs a control signal (the control value in step S22) for controlling the high voltage distributor and the like of the power distribution unit 15. To do.

Hereinafter, as an operation of the vehicle control system 10, a process of a retreat operation of each ECU 22, ..., 25 when the network 15 is stopped will be described with reference to the accompanying drawings.
FIG. 8 is a flowchart showing the operation of each of the ECUs 22,..., 25 forming a plurality of subsystems, particularly the saving process when an abnormal state occurs such as when the network is stopped.

First, the occurrence of an abnormal state such as a stop of the network 51 is detected by determining whether or not a communication state can be established within a predetermined time between the cooperative control ECU 21 and each ECU 22,. Then, in step S31 shown in FIG. 8, the reactive gas supply control ECU 23 performs a process for maintaining the differential pressure between the electrodes. That is, for example, an abnormal pressure acts on the solid polymer electrolyte membrane of the fuel cell 12 by preventing the exhaust pressure valve 46 from closing suddenly or the rotational speed of the air compressor 41 from increasing suddenly. To prevent that.
Next, in step S32, the power supply voltage for driving the auxiliary machinery is maintained, and the system stop operation is started.
Next, in step S33, the reaction gas supply control ECU 23 maintains the hydrogen gas ventilation operation to prevent the hydrogen gas from accumulating inside the system.
Next, in step S <b> 34, the reaction gas supply control ECU 23 opens the exhaust pressure valve 46 on the cathode side of the fuel cell 12. As a result, the pressure of the reaction gas supplied to the fuel cell 12 is reduced.
Next, in step S35, devices such as the traveling motor 31 and the air compressor 41 are stopped, and a series of processing ends.

As described above, according to the vehicle control system 10 according to the present embodiment, when the ECUs 22,..., 25 that form a plurality of subsystems are cooperatively controlled by the cooperative control ECU 21 that forms the server device, .., 25 controls only the I / O processing for the control signal transmitted / received to / from the cooperative control ECU 21 and the retreat operation of the controlled object at the time of abnormality, and the cooperative control ECU 21 controls each ECU 22,. The control calculation for determining the operation of each control object subordinate to 25 is performed.
Thereby, for example, when the control method of the vehicle control system 10 is changed, it is only necessary to change the processing contents in the cooperative control ECU 21, and the processing contents in the respective ECUs 22,. However, it is possible to save the troublesome trouble of adjusting and changing.
Further, for example, when the actuator 77 connected to each ECU 22,..., 25 is changed, only the contents of the I / O processing in each ECU 22,. The vehicle control system 10 can be easily updated.
Moreover, even when an abnormality occurs in the network 51 and the cooperative control of the ECUs 22,..., 25 by the cooperative control ECU 21 becomes impossible, the ECUs 22,. It is possible to prevent the control target from being erroneously controlled when the network 51 is abnormal.

In the present embodiment, the vehicle control system 10 is mounted on the fuel cell vehicle 1. However, the present invention is not limited to this, and the vehicle control system 10 may be mounted on another vehicle such as a hybrid vehicle.
In the present embodiment, the power storage device 14 is a capacitor. However, the present invention is not limited to this, and may be, for example, a battery. In this case, the power distribution control ECU 24 may perform power distribution control while controlling the remaining capacity of the battery.

  In the present embodiment, the plurality of subsystems constituting the client device in the ECU 17 include a motor control ECU 22, a reaction gas supply control ECU 23, a power distribution control ECU 24, and a cell voltage detection control ECU 25. However, the present invention is not limited to this, and another control ECU may be provided. In short, each control ECU mutually connected with the cooperative control ECU 21 via the network 51 performs an I / O process for converting a control value transmitted to and received from the cooperative control ECU 21 into a logical value, for example, a network In the case of an abnormality such as when the engine 51 is stopped, the protection operation such as the evacuation process may be controlled independently without relying on other ECUs.

  In the present embodiment, each of the ECUs 22,..., 25 constituting a plurality of subsystems operates independently when the network 51 is stopped, but is not limited to this. When a signal is transmitted, the control signal may be ignored and the operation may be performed independently.

It is a lineblock diagram of the control system for vehicles concerning one embodiment of the present invention. It is a block diagram of the fuel cell vehicle provided with the vehicle control system shown in FIG. It is a functional block diagram of cooperative control ECU. It is a functional block diagram of each ECU which makes a plurality of subsystems. It is a flowchart which shows operation | movement of cooperative control ECU. It is a flowchart which shows operation | movement of each ECU which makes | forms a some subsystem, especially input processing. It is a flowchart which shows operation | movement of each ECU which makes | forms a some subsystem, especially an output process. It is a flowchart which shows operation | movement of each ECU which makes | forms a some subsystem, especially input processing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle control system 11 Traveling motor drive part (control object)
12 Fuel cell (control target)
13 Reaction gas supply unit (control target)
14 Power storage device (control target)
15 Power Distribution Unit (Controlled)
16 Cooling unit (control target)
21 Cooperative control ECU (cooperative control device)
22 Motor control ECU (control device)
23 Reaction gas supply control ECU (control device)
24 Distribution control ECU (control device)
25 Cell voltage detection control ECU (control device)
51 Network (communication line)
61 MPU (control calculation means)
71a I / O processing unit (input / output control means)
71b Autonomous control unit (autonomous control means)

Claims (2)

A solid polymer that is configured by connecting a control device that forms a plurality of subsystems and a cooperative control device that operates the plurality of control devices in a coordinated manner via a communication line, and between the air electrode and the hydrogen electrode A vehicle control system comprising a fuel cell comprising an electrolyte membrane and driving a travel motor with power generated by the fuel cell,
Wherein one of said control device of the plurality of control apparatus includes a reaction gas control means for controlling the supply of reaction gas to the fuel cell,
The control device includes an input / output control unit that performs input / output processing on a signal that is connected to a control target and is transmitted / received between the cooperative control device and the control target,
The cooperative control device includes a control calculation unit that calculates a control signal for controlling the operations of the plurality of control devices and the control target based on reception signals received from the plurality of control devices.
A reaction gas supply means comprising: an air compressor for supplying air to the air electrode; and a hydrogen supply means for supplying hydrogen gas to the hydrogen electrode at a pressure corresponding to the pressure of the air supplied from the air compressor.
The control device comprising the reactive gas control means is configured to control the reactive gas independently of the cooperative control device when an abnormality occurs in a communication system between the plurality of control devices and the cooperative control device or the cooperative control device. by means, wherein the prevention of sudden increase in the rotational speed of the air compressor of the reaction gas supplying means, and a prevention of sudden closing of the exhaust valve for discharging the reaction gas to the outside from the air electrode and the hydrogen electrode And preventing abnormal pressure from acting on the solid polymer electrolyte membrane, preventing the differential pressure between the air electrode and the hydrogen electrode from becoming abnormal, and then the hydrogen gas Autonomous control means for preventing the hydrogen gas from accumulating inside, maintaining the ventilation of the fuel, then reducing the pressure of the reaction gas supplied to the fuel cell, and then stopping the travel motor To have The vehicle control system and butterflies. The control calculation unit of the cooperative control device calculates a control physical quantity to be achieved by the operation of the plurality of control devices and the control target as the control signal for controlling operations of the plurality of control devices and the control target. And
The input / output control means of the control device converts the control physical quantity received from the cooperative control device into an operation command value that directly instructs the operation of the control device and the control target,
The cooperative control device transmits the flow rate and pressure of the reaction gas as the control physical quantity to the control device including the reaction gas control means,
The reaction gas control means receives the flow rate and the pressure , calculates and outputs a current value and a voltage value as the operation command values of the reaction gas supply means and the exhaust pressure valve. The vehicle control system according to claim 1.

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