WO2006024447A1 - Gestion d'energie basee sur un anneau logique - Google Patents

Gestion d'energie basee sur un anneau logique Download PDF

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Publication number
WO2006024447A1
WO2006024447A1 PCT/EP2005/009161 EP2005009161W WO2006024447A1 WO 2006024447 A1 WO2006024447 A1 WO 2006024447A1 EP 2005009161 W EP2005009161 W EP 2005009161W WO 2006024447 A1 WO2006024447 A1 WO 2006024447A1
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WO
WIPO (PCT)
Prior art keywords
energy management
communication structure
consumers
logical
ring
Prior art date
Application number
PCT/EP2005/009161
Other languages
German (de)
English (en)
Inventor
Konstantin Demidov
Bernd Heintel
Original Assignee
Daimlerchrysler Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimlerchrysler Ag filed Critical Daimlerchrysler Ag
Publication of WO2006024447A1 publication Critical patent/WO2006024447A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J1/00—Circuit arrangements for dc mains or dc distribution networks
    • H02J1/14—Balancing the load in a network
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
    • H02J13/00016—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using a wired telecommunication network or a data transmission bus

Definitions

  • an electrical energy management is required.
  • the primary goal of demand-based energy production is the reduction of fuel consumption.
  • An overload of the electrical system can often not be prevented by the need-based energy production due to the response times of the energy management.
  • the energy management is preferably implemented in the onboard power supply control unit as a central node.
  • Such energy management has serious disadvantages if this central onboard power supply control unit fails.
  • the motor vehicle remains operational with its most important functions, therefore emergency power levels have been introduced in the past for energy management systems.
  • a known energy management system of the aforementioned type is known, for example, from German patent application DE 102 11 970 A1.
  • This method for adjusting the power consumption of several electrical consumers in a motor vehicle is used to control the power consumption
  • Each of these consumers constantly provided information about the entire available electrical power available.
  • the respective consumer adjusts his power requirement in accordance with this information and according to his power requirements in such a way that the total consumed power does not exceed the total available power. If the energy management fails, the system goes into emergency mode. In emergency, not necessarily necessary consumers are switched off and the vital consumers for further operation of the motor vehicle is assigned a minimum energy requirement. This minimum requirement can also be set variably depending on the energy still available in the electrical system.
  • the solution succeeds mainly with an energy management system whose control software is distributed to several control devices within the on-board network, and the individual participants in the energy management communicate with each other via a communication structure based on a logical ring.
  • the decision-making authority is thus distributed to the individual control units in the network and the redundancy in the central control unit can be omitted.
  • the communication structure of a logical ring exchanges the data required for energy management between the individual participants in the energy management.
  • the two most important ring messages here are a consumer registration and a status message with status information about the registered consumers.
  • the logical structure of the logical ring is determined and it will be announced to all participants in the energy management within the logical ring the identifications of the participating ECUs and the required performance of the individual control units.
  • the status message informs the current status of the consumers (on / off) and the current status of the energy management to all participating control units in the logical ring.
  • the functions of the energy management of a central control unit preferably the onboard power supply control unit, taken. If the central control unit fails, the control units which continue to participate in the logical ring take over the functions of energy management. For this purpose, all control units participating in the energy management have their own module for decentralized energy management.
  • the main advantages to be achieved with decentralized energy management are the reliability of energy management versus the failure of individual control units that participate in energy management. Failure of one controller is detected by the failure of the status message from all other remaining controllers within the logical ring. All control units can therefore incorporate this information into their decentralized energy management module and evaluate it accordingly.
  • the communication structure of the logical ring ensures that the failure of a ring participant can be detected and a reinitialization of the ring can be triggered.
  • a control unit preferably the onboard power supply control unit, takes over the coordination of the communication within the logical ring, for example by cyclic messages received by all subscribers. If just this control unit fails, then the remaining control units within the logical ring recognize that no cyclical messages are being sent.
  • the logical ring is formed on the basis of a CAN bus.
  • the protocol for a CAN bus already knows the use of so-called identifiers, with which the message is identified and with their help, the communication of the bus participants is controlled each other.
  • the design of a CAN identifier is great freedom for the network programmer. This freedom allows in connection with the invention in the Identiefier or more precisely in the header of a CAN message to introduce a coding, by means of which a logical ring can be constructed.
  • the header of a CAN message is extended by two blocks each with four bits. Then in this extended header
  • Encoded communication information needed to send the message to a logical ring are a reduced base identifier, which still identifies the message, and now additionally contains a coding or an identification of the sender and an identification of the recipient. This defines in the header of each CAN message, who the message came from and to whom it should be addressed.
  • each ring participant can now specify by overwriting the recipient identification to which next ring participant the message is sent. If every ring participant his logical predecessor and its logical successor, so can by appropriate overwriting the
  • Sender identifications and the receiver identifications a logical ring topology for the communication of the control units in the electrical system are built.
  • the communication structure according to the invention contains, based on an extended message header of a CAN message, in the message header a further coding which makes it possible to make a plurality of ring messages functionally distinguishable.
  • the control units participating in the logical ring can distinguish how the data field following the message header is to be interpreted and read.
  • the one ring message is needed when building the logical ring.
  • this designated as a consumer application ring message to register the control units that are connected to the CAN bus of the electrical system, associated consumers with their consumer identification and their required power at the onboard power supply control unit.
  • the control units distribute the status information of the individual consumers within the logical ring to all participating consumers.
  • This message is used as a token in the logical ring.
  • This status message enables each ECU to identify which consumers are active within the logical ring or not.
  • the on-board control unit or the ring master also receives and processes these ring messages and sends the energy management instructions with a cyclical message to all subscribers. In particular, this cyclic message allows the participants in the energy management to detect whether the onboard power supply control unit or the ring master has failed or not.
  • FIG. 1 is a schematic representation of an electrical system in a motor vehicle
  • Fig. 2 is a graphic representation of a
  • Fig. 6 shows a special communication structure of
  • FIG. 7 shows another special communication structure of the
  • FIG. 1 a per se known electrical system in a motor vehicle is shown schematically.
  • Vl For the power supply of the electrical system connected in the electrical system Vl, V2, V3 ..., VN, VN + 1, VN + 2, a vehicle electrical system generator 1 and a motor vehicle battery 2 are pulled up.
  • the electrical system generator is usually driven by the internal combustion engine 3 of the motor vehicle.
  • Via electrical supply lines 4 the consumers located in the electrical system are supplied with energy.
  • the power regulation of the energy delivered to the electrical system is regulated by the onboard power supply generator with power electronics 5 and corresponding power actuators.
  • a charge controller 6 Between motor vehicle battery 2 and vehicle electrical system generator 1 is a charge controller 6, which may also be designed as a charge balance calculator, interposed.
  • the power consumption of the consumers connected in the electrical system is set via control units.
  • each consumer can be assigned a separate, separate control unit SG1, SG2, SG3, or several consumers can also be controlled only by a control unit SGN responsible for all consumers.
  • the control units in the motor vehicle are usually networked together via a bus system 7, which is often designed as a CAN bus.
  • a bus system 7 which is often designed as a CAN bus.
  • an electrical system control unit BSG is connected, which also with the charge balance calculator in a module can be executed. Task of the electrical system control unit, this is usually to prevent the overload of the electrical system.
  • Energy distribution and overload protection is usually carried out with an energy management system that is implemented as a software program in the microelectronics computer of the onboard power supply control unit.
  • the Control units 5 of the electrical system generator and the charge balance calculator 6 for the motor vehicle battery also via a bus system 7 with the electrical system control unit in communication.
  • the task of energy management is the control and monitoring of the states of the electrical consumers or functions in the vehicle involved in energy management.
  • the consumers are thereby deactivated or released by the energy management while the driver activates and deactivates them by actuating corresponding switches.
  • all functions or consumers involved in energy management must have a unique priority level.
  • the energy management can prevent overloading of the on-board network in the case of inadequate service offering, based on the current system state, in which, taking into account the priorities, a degraded system state is clearly determined and defined by the energy management.
  • the energy management accesses to the battery management and the charge balance calculator determined and made available condition data of the battery.
  • the control units provide information about the state of the consumers they are driving.
  • the information required for the energy management is here via a Communication system between the control units and the onboard power supply control unit exchanged.
  • the electrical system control unit provides only the information about the current electrical system state for all control units and takes over the task of monitoring.
  • the states of the power supply as well as the states of the individual control devices and the individual consumers connected to the control devices are monitored. All other tasks, such as the evaluation of this information and decision-making in the sense of energy management are carried out in the individual control units with their own program modules of the distributed energy management system. For this reason, monitoring of the control units by the on-board power supply control unit is limited to monitoring the information exchanged via the BUS system.
  • the invention solves this problem by an energy management based on a logical ring and on the basis of a communication structure, which makes it possible to determine the failure of the electrical system control unit participating in another energy management control unit to the new electrical system control unit or decentralized energy management by a Continue to limit the total power consumed.
  • the communication concept of a so-called logical ring (also token ring) is known per se from computer networks.
  • the logical ring is realized here by a token circulation.
  • the so-called token 8 is in each case forwarded from the logical predecessor to the logical successor within the logical ring.
  • the ring participant who has the token has authorization to send on the underlying BUS system. Therefore, independent of the physical structure of the underlying BUS system, logical rings can be basically established with any BUS system. For a distributed energy management system in a motor vehicle, however, the sole circulation of a token is not sufficient.
  • the token In a distributed energy management system, the token must be replaced by suitable ring messages, as will be presented in connection with FIGS. 4 to 7.
  • Each control unit that participates in the energy management must receive the ring messages of all other control units in order to monitor them and to know the system status.
  • the ring messages are received by the onboard power supply control unit, which evaluates the collected data.
  • the circulation of the ring messages can be controlled by a delay time, the passes between sending two ring messages. By shortening this delay time, the response time of the energy management can be shortened in emergency situations at the expense of a higher BUS utilization.
  • the logical ring 9 is built up dynamically in the initialization phase during startup of the on-board network.
  • the respective control device is registered as a participant in the logical ring and integrated into the logical ring topology.
  • the consumers connected to the control unit are registered with the energy management.
  • the logical order within the logical ring depends on the order of receipt of the consumer applications in the energy management. According to this registration order, the order of the ECUs is determined in the form of logical predecessor and logical successor.
  • the onboard power supply control unit initially has a prominent position, since firstly all control units have to log on to the energy management module of the onboard power supply control unit, so that this module can collect the consumer data and implement the energy management on the basis of this data.
  • the logical ring is thus in the
  • each controller receives its logical address and the logical addresses of the predecessor and successor in the ring. Additional ECUs can also be integrated into the ring at a later date.
  • FIG. 2 illustrates the flow of communication in the concept of the logical ring.
  • the onboard power supply control unit or the energy management module in the onboard power supply control unit, sends so-called status messages.
  • the status message is sent cyclically and received by all controllers.
  • the status message here represents the token 8 at the same time.
  • the status message ' is passed on from one control unit to the next, which is symbolized in FIG. 2 by broken arrows.
  • the individual control units are monitored in this concept by all integrated in the ring control units.
  • each control unit must receive all ring messages. If the message of the logical successor remains after a certain time after receiving a ring message, then this failure can be detected and thus a reinitialization of the system can be initiated.
  • failure of the electrical system control unit of the logical ring is still functional and it is possible to implement a decentralized fallback level for energy management.
  • from the distributed energy management after failure of the on-board power supply control unit another participating in the ring topology control unit to the new onboard power supply control unit must be determined and take over its function. In general, this will be in the sequence next to the on-board power supply control unit next and not failed control unit within the logical ring.
  • a purely decentralized emergency operation strategy can be implemented without the functionalities of the onboard supply control unit, in which the participants of the logical ring limit the total power consumed by their consumers to a fixed predetermined value. This eliminates the need to integrate the complex function modules of the on-board power supply control unit into one or more further control units.
  • the number of ECUs grouped into a logical ring must not be arbitrarily large as this would lead to very long energy management response times. Too long reaction times of the energy management can be avoided, however, by grouping the control units into several partitions or several logical rings. In the entire energy management then run several messages, one per ring. The distribution of the control units on the individual rings also takes place during the initialization phase of the system.
  • a logical ring is first set up, ECUs that log in with a consumer registration in energy management, are so long integrated into this first logical ring until a statically defined maximum number of participants of the ring is reached. The next registering controller then begins to construct another logical ring. The process continues until all ECUs have registered for energy management.
  • FIG. 3 shows schematically the structure of a control device, as it is suitable for operation in a logical ring and for the application of distributed energy management.
  • the control unit is on a suitable
  • Microcomputer platform implemented at least one software module 10 of the energy management system.
  • the energy management After evaluation of the ring messages, in particular the incoming ring messages by the power management module, the energy management corresponding further messages to the controlled by the control unit consumers or applications resent.
  • the energy management module and the downstream applications each have corresponding data interfaces.
  • the data interfaces are shown in FIG. 3 with communication arrows 12. In particular, if several applications are controlled by a control unit, it may be useful to have on the side of
  • Energy management module to provide a data buffer 13, which allows the simultaneous exchange of information between energy management and the subsequently connected applications or consumers.
  • the current state data of the applications associated with the controller are again written back to the data buffer of the energy management, from where they are further processed by the energy management and written to an outgoing ring message.
  • the outgoing ring message of the energy management is then sent in response to a trigger message or in response to a time out to the logical successor of the control unit.
  • the remaining participants in the logical ring of energy management have a similar structure.
  • Each ring message of the energy management contains the payload and the identifiers of the sender and the recipient. This data is then encoded into the header and the data field of the ring message.
  • the principle of this coding is shown in FIG. Such coding is possible in principle for all common BUS systems.
  • the protocols of the known BUS systems from the energy management another protocol layer is set up, which converts the BUS system related message formats in a message format, as it is suitable for energy management.
  • a particularly widespread BUS system in motor vehicles and also a BUS system particularly suitable for the invention is the CAN-BUS.
  • a CAN-BUS is already identifier-oriented in its messages and therefore makes it possible, especially during the initialization phase of the energy management and in the construction of the logical ring, to uniquely identify the ECUs that register with the energy management, even before the logical ring has been established.
  • FIG. 5 shows an example of the conversion of a general CAN message into a ring message for the energy management.
  • a known CAN message consists of a so-called CAN identifier with a length of eleven bits, a so-called Controlfield with a length of four bits, and a data field with a maximum length of 64 bits. The identifier is used to identify the message, while the Controlfield controls how many bytes of data are appended to the data field of the CAN message.
  • the message format of a CAN message is converted into a special communication structure of the energy management.
  • the conversion essentially involves an extension of the addressing field, the so-called header at the expense of the maximum length of the data field.
  • the addressing field of the communication structure according to the invention comprises a so-called base identifier of length 7 bits, a transmitter identifier of length 4 bits, furthermore the control field of the original CAN message with a length of 4 bits, a receiver identifier of length 4 bits, as well as a so-called operation code with also a length of 4 bits. This reduces the maximum available data field of the original CAN message at the
  • Communication structure for the energy management system to a maximum length of 56 bits.
  • the operation code of the communication structure according to the invention or the ring message according to the invention a distinction can be made between different types of ring messages.
  • the operation code is mainly an encoding of what structure the data field of the ring message has.
  • the operation code is thus a control option for the energy management system as to how data must be written to the ring message or how read data from the data field of the ring message is to be interpreted.
  • FIG. 6 shows, for the general communication structure according to FIG. 5, the closer breakdown in the message types of the consumer application.
  • the breakdown is carried out as already described with the operation code from the addressing field of the general communication structure.
  • the operation code encodes the
  • Consumer application The consumer declaration itself is included in the data field of the consumer declaration. If the respective control device with the associated consumer has the same identifier, the information in the data field of the consumer application can be limited to the information on the performance of each consumer. However, it is also possible to control a plurality of consumers or multiple applications with one control device. In this case, transmitter identifier and receiver identifier of the control unit can not be identical to the consumer identifiers.
  • a general data format for the consumer application therefore contains for each consumer both a consumer identifier V_ID of length 5 bits, which is followed by an 11-bit data field for each consumer, which contains the user data for the consumer's performance. In the consumer application, this means that each consumer is encoded with a total of 16 bits. Thus, with each consumer registration a maximum of three consumers per message can be registered. If more than three consumers are controlled by a control unit, then they must several consumer applications are sent to register all consumers in the energy management.
  • a status message according to FIG. 7 contains status information for the energy management itself as well as status information for all consumers participating in the energy management in the data field of the general communication structure for the energy management.
  • the status message is classified via the operation code from the header of the general communication structure. In Figure 7, this operation code is exemplified with status. In the data field of the status message is then first coded with 5 bits information about the status of the energy management itself.
  • the consumer states are coded here only in the form of active and non-active or switched on and off.
  • Performance data does not need to be transmitted with the status message, since the performance data has already been reported to the energy management with the consumer application.
  • For checking the condition of the entire vehicle electrical system with the aid of the status message it is of primary interest to receive feedback from individual consumers as to which consumers are currently connected to the grid are.
  • the 5-bit coded status information about the state of the energy management itself the current status of the energy management, that is, if necessary, its degradation level is communicated to all consumers.
  • the full power of the connected energy sources is available or to what extent the current power consumption of the consumers must be restricted in order to prevent an overload of the vehicle electrical system.
  • the electrical system control unit In the event of a failure of the electrical system control unit is known by the absence of status messages from the onboard power supply control unit for the other participating in energy management control units or implemented in these control modules modules of energy management that another participating in the energy management control unit must now take over the role of the electrical system control unit ,
  • the status information informs all connected control units which control unit has now taken over its role after failure of the onboard power supply control unit.
  • the energy management messages are in each case sent by the active on-board network control unit within the logical circuit for the energy management or are no longer sent in a purely decentralized emergency operation strategy.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Remote Monitoring And Control Of Power-Distribution Networks (AREA)

Abstract

La présente invention concerne un système de gestion d'énergie dont le logiciel de commande est réparti sur plusieurs dispositifs de commande dans le réseau de bord, les participants individuels à la gestion d'énergie, communiquant entre eux par une structure de communication basée sur un anneau logique. La compétence de décision est ainsi répartie sur les dispositifs de commande individuels dans le réseau, et la redondance dans le dispositif de commande central, peut être supprimée. La structure de communication d'un anneau logique permet aux données nécessaires à la gestion d'énergie, d'être échangées entre les participants individuels à la gestion d'énergie. Les deux messages d'anneau les plus importants sont un message consommateur et un message de statut comprenant des informations de statut relatives aux consommateurs demandeurs. Le message consommateur permet de fixer la structure logique de l'anneau logique, et les identifications des dispositifs de commande participants et les puissances nécessaires des dispositifs de commande individuels de tous les participants à la gestion d'énergie, sont connues dans le circuit logique. Le message de statut permet d'informer tous les dispositifs de commande participants dans l'anneau logique, du statut courant respectif de la gestion d'énergie.
PCT/EP2005/009161 2004-08-31 2005-08-25 Gestion d'energie basee sur un anneau logique WO2006024447A1 (fr)

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Application Number Priority Date Filing Date Title
DE102004042004.1 2004-08-31
DE102004042004A DE102004042004A1 (de) 2004-08-31 2004-08-31 Energiemanagement auf der Basis eines logischen Rings

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DE102018212512A1 (de) * 2018-07-26 2020-01-30 Robert Bosch Gmbh Anwendungsspezifischer Schaltkreis zur Sicherstellung der Integrität eines Energiebordnetzes
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CN103003105A (zh) * 2010-04-30 2013-03-27 能源客车有限公司 模块化交通工具系统
US9514588B2 (en) 2010-04-30 2016-12-06 Energybus E.V. Modular vehicle system, electric vehicle and module for connecting to an electric vehicle

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