CN103926852A - Vehicle control unit for driving electric vehicle through hub motor - Google Patents
Vehicle control unit for driving electric vehicle through hub motor Download PDFInfo
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- CN103926852A CN103926852A CN201410157595.1A CN201410157595A CN103926852A CN 103926852 A CN103926852 A CN 103926852A CN 201410157595 A CN201410157595 A CN 201410157595A CN 103926852 A CN103926852 A CN 103926852A
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Abstract
The invention belongs to the technical field of electric vehicle control, and particularly relates to a vehicle control unit for driving an electric vehicle through a hub motor. Due to the fact that a vehicle control unit based on a single-core MCU cannot process more and more signals, the vehicle control unit is provided. The vehicle control unit comprises a central processing module, an input signal processing circuit and a communication circuit, wherein the central processing module comprises a three-core MCU and a peripheral circuit of the three-core MCU, the input signal processing circuit comprises a switching signal processing circuit, a magnetic electricity signal processing circuit, an analogue signal processing circuit, a pulse signal processing circuit and a digital signal processing circuit, and the communication circuit comprises a CAN communication circuit, an RS232 communication circuit and a FlexRay communication circuit. By means of the vehicle control unit, signal processing can be rapidly and effectively carried out, and the operation speed can be increased; meanwhile, a FlexRay communication module with the higher communication rate is provided, the vehicle control unit can be suitable for the rapid development of automotive electronics, and function extensions in the future are easily carried out.
Description
Technical field
The invention belongs to Control of Electric Vehicles technical field, especially relate to a kind of entire car controller for In-wheel motor driving electric automobile.
Background technology
In vehicle traveling process, electric-control system often can run into the situation that a plurality of tasks need to be carried out simultaneously.This situation is different from traditional E CU(Electronic Control Unit, electronic control unit) multi-job operation processing.It is in fact that each task timesharing takies MCU(Micro Control Unit that multi-job operation is processed, micro-control unit) resource, management of process is partly responsible for each process of scheduling and thread to CPU(Central Processing Unit, central processing unit) control, distributes to each process and thread timeslice in turn according to the priority level of setting.Thus, from the angle of time period, these tasks are completed seemingly simultaneously.And in fact, be ceaselessly handed over service object of CPU, thereby reached concurrent effect.This concurrent mechanism expends many costs, because CPU needs certain expense when management and dispatching process or thread, and monokaryon epoch parallel in fact, is what to sacrifice certain CPU efficiency be prerequisite.
Conventional electric automobile is all the entire car controller based on monokaryon MCU adopting, in vehicle traveling process, for electric automobile ECU nowadays, need to process increasing signal, the processing of signal of interest is had to certain delaying unavoidably, driving safety is brought to hidden danger.
Summary of the invention
The object of the invention is to, for the entire car controller based on monokaryon MCU not competent electric automobile need to process the work of more and more signals, propose a kind of entire car controller for In-wheel motor driving electric automobile, described entire car controller 1 comprises central processing module 2 and the input signal processing circuit 3 being connected with central processing module 2 and communicating circuit 4; Wherein, described central processing module 2 comprises three core MCU5 and the peripheral circuit 6 being connected with three core MCU5; Described peripheral circuit 6 comprises reverse connection prevention protection circuit 7, power circuit 8, clock circuit 9, reset circuit 10, OCDS1-Debug interface card 11, is connected with two MCU5; Described input signal processing circuit 3 comprises switching signal processing circuit 14, magnetoelectricity signal processing circuit 15, analog signal processing circuit 16, pulse signal treatment circuit 17 and digital signal processing circuit 18, is connected with two MCU5; Described communicating circuit 4 comprises that CAN communicating circuit 19, RS232 communicating circuit 20, FlexRay communicating circuit 21 and external communication module are connected.
Described three core MCU5 adopt is that TC1767 in the multinuclear MCU of AUTO Future series of company of Infineon is as the core MCU of entire car controller.
Described reverse connection prevention protection circuit 7 is selected NMOS field effect transistor AOS4100, and NMOS pipe is serially connected with between power supply and load by S pin and D pin, and resistance R 11 provides voltage bias for NMOS pipe.
Described power circuit 8 is connected with three core MCU5, reverse connection prevention protection circuit 7, communicating circuit 4, mainly comprises voltage conversion circuit 12 and the normal indicating circuit 13 of voltage based on TLE7368G; Wherein voltage conversion circuit 12 is that the on-vehicle battery voltage of 12V or 24V is changed into required 5V and 3.3V voltage, power to TC1767 single-chip microcomputer, communicating circuit and sensor, whether 5V or 3.3V voltage that the normal indicating circuit 13 of voltage transforms for detection of TLE7368G voltage conversion circuit is normal.
Described switching signal processing circuit 14 is connected with three core MCU5 initiation key switch 24, charge switch 25 and driving switch 26; Wherein driving switch signal comprise the gear signal of advancing, retreat gear signal, neutral gear signal, brake signal and relay control signal; The method that switching signal has been adopted to photoelectricity isolation, reduces phase mutual interference, and in circuit design, has adopted voltage stabilizing, rectification to process, and adopts anti-shake processing on software, makes signal become more stable.
Described magnetoelectricity signal processing circuit 15 is connected with accelerator pedal Hall element 27, adopts LM331 integrated circuit that square-wave pulse signal is converted to digital signal.
Described analog signal processing circuit 16 and battery voltage signal 28, battery current signal 29, battery temperature signal 30, motor voltage signal 31, motor current signal 32, motor temperature signal 33, brake fluid pressure signal 34, yaw velocity signal 35 and longitudinally, lateral acceleration signal 36 is connected, ADC0808 is as A/D converter in employing.
Described pulse signal treatment circuit 17 is connected with motor speed sensor 37 with the speed of a motor vehicle; Described digital signal processing circuit 18 is connected with steering wheel angle sensor 38.
Described CAN communicating circuit 19 is connected with hub motor control device 39, adopts TLE6250GV33 transceiver; The transmission of the CAN interface of MCU, receiving end are connected with TXD, the RXD of TJA1050 transceiver by photoelectric isolating device respectively.
Described RS232 communicating circuit 20 is connected with wireless telecommunications GPRS module 40, adopt MAX232CPE chip, by wireless telecommunications GPRS module, the control parameter of entire car controller is monitored and demarcated, support the control node of other RS232 communications in same car to carry out communication simultaneously.
Described FlexRay communicating circuit 21 comprises for supporting controller circuitry 22 and the converter circuit 23 of FlexRay communication, wherein controller circuitry 22 adopts SAKCIC310 chip, converter circuit 23 adopts TJA1080 chip, be connected with wireless telecommunications GPRS module 40, control parameter to entire car controller is monitored and is demarcated, and supports the control node of other RS232 communications in same car to carry out communication simultaneously.
Beneficial effect of the present invention is: for nowadays electric automobile need signal to be processed is more and more, entire car controller based on monokaryon MCU is not competent work, can produce the problem of potential safety hazard, the present invention has adopted the entire car controller based on three core MCU can carry out more rapidly and effectively signal processing, greatly accelerated travelling speed, in addition aspect communication, also possessed nowadays communication speed FlexRay communication module faster, can adapt to the fast development of automotive electronics, be easy to Function Extension from now on.
Accompanying drawing explanation
Fig. 1 NMOS field effect transistor AOS4100 reverse connection prevention protection circuit;
Fig. 2 TLE7368G voltage conversion circuit;
The normal indicating circuit of Fig. 3 voltage;
Figure 42 0MHz clock circuit;
Fig. 5 reset circuit;
Fig. 6 OCDS1-Debug interface circuit;
Fig. 7 switching signal processing circuit;
Fig. 8 pedal signal treatment circuit;
Fig. 9 analog signal processing circuit;
Figure 10 CAN communication interface circuit;
Figure 11 RS232 communicating circuit;
The controller circuitry of Figure 12 FlexRay communication;
The converter circuit of Figure 13 FlexRay communication.
Each functional circuit of Figure 14 entire car controller forms schematic diagram.
Wherein, a-3.3V mu balanced circuit, the normal indicating circuit of b-3.3V voltage, the normal indicating circuit of c-5V voltage in Fig. 3;
A-CAN2 channel circuit, b-CAN1 channel circuit in Figure 10;
A-RS232 interface one circuit, b-RS232 interface two circuit in Figure 11;
A-FlexRay communication A channel circuit, b-FlexRay communication B channel circuit in Figure 13;
1-entire car controller in Figure 14, 2-central processing module, 3-input signal processing circuit, 4-communicating circuit, 5-tri-core MCU, 6-peripheral circuit, 7-reverse connection prevention protection circuit, 8-power circuit, 9-clock circuit, 10-reset circuit, 11-OCDS1-Debug interface card, 12-voltage conversion circuit, the normal indicating circuit of 13-voltage, 14-switching signal processing circuit, 15-magnetoelectricity signal processing circuit, 16-analog signal processing circuit, 17-pulse signal treatment circuit, 18-digital signal processing circuit, 19-CAN communicating circuit, 20-RS232 communicating circuit, 21-FlexRay communicating circuit, 22-controller circuitry, 23-converter circuit, 24-initiation key switch, 25-charge switch, 26-driving switch, 27-accelerator pedal Hall element, 28-battery voltage signal, 29-battery current signal, 30-battery temperature signal, 31-motor voltage signal, 32-motor current signal, 33-motor temperature signal, 34-brake fluid pressure signal, 35-yaw velocity signal, 36-is longitudinal, lateral acceleration signal, the 37-speed of a motor vehicle and motor speed sensor, 38-steering wheel angle sensor, 39-hub motor control device, 40-wireless telecommunications GPRS module.
Embodiment
A kind of entire car controller for In-wheel motor driving electric automobile that the present invention proposes, below in conjunction with accompanying drawing, elaborates to preferred embodiment.
As shown in Figure 14, entire car controller 1 mainly comprises central processing module 2 and the input signal processing circuit 3 being connected with central processing module 2 and communicating circuit 4.
Central processing module 2, mainly comprises three core MCU5 and the peripheral circuit 6 being connected with three core MCU5.Wherein, three core MCU5 adopt is that TC1767 in the multinuclear MCU of AUTO Future series of company of Infineon is as the core MCU of entire car controller; Peripheral circuit 6 mainly comprises reverse connection prevention protection circuit 7, power circuit 8, clock circuit 9, reset circuit 10, OCDS1-Debug interface card 11.
Reverse connection prevention protection circuit 7 is selected NMOS field effect transistor AOS4100; as shown in Figure 1; NMOS pipe is serially connected with between power supply and load by S pin and D pin; resistance R 11 provides voltage bias for NMOS pipe; utilize conducting and the disconnection of the switching characteristic control circuit of metal-oxide-semiconductor, thereby prevent that reverse power connection from bringing damage to load.When just connecing, R11 provides VGS voltage, NMOS saturation conduction.In the time of reversal connection, MOS can not conducting, so play anti-reverse effect.The Rds of power MOS pipe (on) only has 20m Ω, active loss is very little, and when electric current is 2A, power consumption is (2 * 2) * 0.02=0.08W, do not need outer radiation fin, can solve well the pressure drop and the excessive problem of power consumption that adopt the anti-reverse scheme of diode power source to exist.
Power circuit 8 and three core MCU5, reverse connection prevention protection circuit 7, communicating circuit 4 is connected, mainly comprise voltage conversion circuit 12 and the normal indicating circuit 13 of voltage based on TLE7368G, the Main Function of the voltage conversion circuit 12 of TLE7368G is that the on-vehicle battery voltage of 12V or 24V is changed into required 5V and 3.3V voltage, give TC1767 single-chip microcomputer, communicating circuit and sensor are powered, whether 5V or 3.3V voltage that the normal indicating circuit 13 of voltage transforms for detection of TLE7368G voltage conversion circuit is normal, designed circuit as shown in Figures 2 and 3, wherein a in Fig. 3 is 3.3V mu balanced circuit, b is the normal indicating circuit of 3.3V voltage, c is the normal indicating circuit of 5V voltage.
Clock circuit 9 is connected with the XTAL pin of three core MCU5, employing be that frequency is the crystal oscillator of 20MHz.The XTAL1 pin of TC1767 single-chip microcomputer and XTAL2 pin provide one and external crystal oscillator or cmos compatible clock interface, drive internal clocking to produce circuit.XTAL1 pin connects the driver output pin of crystal oscillator, and XTAL2 pin connects the input pin of crystal oscillator.As shown in Figure 4, wherein the C203 in Fig. 4 and C204 are the filter capacitors of crystal oscillator to clock circuit, and XT201 is 20MHz crystal oscillator.
Reset circuit 10 adopts hand-resets, button one end ground connection wherein, and one end is connected with the reset pin of three core MCU5, and the circuit of its design is as shown in Figure 5.
OCDS1-Debug interface card 11 is connected with three core MCU5, is in order to complete debugging and the programming work of the software program of entire car controller.In OCDS1-Debug circuit, X401 is 16 pin Debug interfaces, and 1 pin is connected with the TMS pin of single-chip microcomputer, and it is test pattern option interface; 2 pin are 3.3V power supply interface; 3 pin are connected with the TDO pin of single-chip microcomputer, and it is test data output; 4 pin and 6 pin ground connection; 7 pin are connected with the TDI pin of single-chip microcomputer, and it is test data input; 8 pin and single-chip microcomputer /PORST, be power reset key; 9 pin and single-chip microcomputer /TRST pin is connected, and it is test reset key; 10 pin single-chip microcomputers /BRKOUT pin is connected, and it is the output of single-chip microcomputer breakpoint; The TCK pin of 11 pin single-chip microcomputers is connected, and it is test clock pin; 13 pin single-chip microcomputers /BRKIN pin is connected, and it is inputted for single-chip microcomputer breakpoint, and 5,14,15 and 16 pin are empty.Its circuit diagram as shown in Figure 6.
Input signal processing circuit 3 is connected with central processing module 2, mainly comprises switching signal processing circuit 14, magnetoelectricity signal processing circuit 15, analog signal processing circuit 16, pulse signal treatment circuit 17 and digital signal processing circuit 18.
Switching signal processing circuit 14 is connected with three core MCU5 initiation key switch 24, charge switch 25 and driving switch 26.Driving switch signal comprises the gear signal of advancing, retreats gear signal, neutral gear signal, brake signal and relay control signal.Switching signal is represented by 5V low and high level, can directly enter MCU, but for the phase mutual interference between anti-stop signal, the present invention has adopted the method for photoelectricity isolation to switching signal, make each signal separate, reduces interference each other.And in the design of circuit, adopted voltage stabilizing, rectification to process, made signal become more stable.In addition, on Software for Design, for switching signal, can adopt the anti-shake method of software further to improve the stability of signal.As shown in Figure 7, GND is power supply ground to switching signal processing circuit, and GND1 is signal ground, and power supply ground and signal ground separate, and can improve the anti-interference of system.
Magnetoelectricity signal processing circuit 15 is connected with accelerator pedal Hall element 27, sensor sender wave pulse signal, and the aperture of pedal is different, produces the pulse signal of different frequency.The pedal signal that entire car controller MCU processes should be digital signal, and A/D module can be converted to digital signal by d. c. voltage signal.Magnetoelectricity signal processing circuit as shown in Figure 8.LM331 has 8 pins, and 1 pin is DC voltage output end, is connected with the A/D switched pins of MCU; 6 pins are pulse signal input terminal, connect pedal signal; 8 pins are power input, connect 5V power supply; 2 pins are adjusted end for gain, by adjusting R17, pedal signal are mated, and while making pedal maximum opening, the output voltage of 1 pin is 5V; 3 pins are pulse signal output end, ground connection; 4 pins are power supply ground, ground connection; 5 pins be timing ratio compared with normal phase input end, 7 pins are input comparator normal phase input end.Electric capacity in circuit plays the effect of filtering, mentions the anti-interference of circuit.
Analog signal processing circuit 16 and battery voltage signal 28, battery current signal 29, battery temperature signal 30, motor voltage signal 31, motor current signal 32, motor temperature signal 33, brake fluid pressure signal 34, yaw velocity signal 35 and longitudinally, lateral acceleration signal 36 is connected.The present invention adopts ADC0808 as A/D converter, 8 CMOS successive approximation type a/d converters of 8 passage, ADC0808 has 8 precision, with single supply 5V, work, do not need outside 0 and gamut to regulate, dependence latch and decode multiplexer address input, and latch TTL ternary output, the analog signal processing circuit based on ADC0808 converter design is as shown in Figure 9.
The main speed of a motor vehicle of processing of pulse signal treatment circuit 17 is connected with motor speed sensor 37; Digital signal processing circuit 18 is connected with steering wheel angle sensor 38.
Communicating circuit 3 is connected with central processing module 2, comprises CAN communicating circuit 19, RS232 communicating circuit 20 and FlexRay communicating circuit 21.
CAN communicating circuit 19 is connected with hub motor control device 39, is mainly used in the communication between entire car controller and hub motor control device.CAN communication adopts TLE6250GV33 transceiver to complete the design of the CAN communication interface circuit of entire car controller.As shown in figure 10, wherein a is CAN2 channel circuit to CAN communication interface circuit, and b is CAN1 channel circuit.The transmission of the CAN interface of MCU, receiving end are connected with TXD, the RXD of TJA1050 transceiver by photoelectric isolating device respectively.CAN bus generally adopts twisted-pair feeder, considers the linear topology structure defining in ISO11898, and bus two ends all will connect the rated resistance of 120 Ω.
RS232 communicating circuit 20 is connected with wireless telecommunications GPRS module 40, be mainly used in the communication of entire car controller and wireless telecommunications GPRS module, by wireless telecommunications GPRS module, the control parameter of entire car controller is monitored and demarcated, also can other support the control node of RS232 communication to carry out communication with Che Chenei.RS232 adopts MAX232CPE chip to complete the two-way level converting of TTL ← → EIA.RS232 interface circuit as shown in figure 11, U3 and U4 are level transferring chip MAX232CPE, totally 16 pins, can external two-way RS232 interface, 9～12 pins are connected with the SCI interface pin of single-chip microcomputer, and DB9 is only used three pins, 13,14 and 5 represent respectively RxD, TxD and GND, electric capacity in circuit plays the effect of filtering, and wherein a is RS232 interface one circuit, and b is RS232 interface two circuit.
FlexRay communicating circuit 21 is connected with wireless telecommunications GPRS module 40, after being mainly, set up Flexray bus ready, can further improve the communication speed of the equipment such as entire car controller and electric machine controller, battery management system, the present invention designs Liao Yi road FlexRay communication interface, it comprises for supporting controller circuitry 22 and the converter circuit 23 of FlexRay communication, respectively as shown in Figure 12 and Figure 13, wherein a in Figure 13 is FlexRay communication A channel circuit, and b is FlexRay communication B channel circuit.Wherein, the controller circuitry of FlexRay communication is based on chip SAKCIC310, and the converter circuit of FlexRay communication is based on chip TJA1080.By wireless telecommunications GPRS module, the control parameter of entire car controller is monitored and demarcated, also can be with in car, other support the control node of RS232 communication to carry out communication.
The above; be only the present invention's embodiment preferably, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (11)
1. the entire car controller for In-wheel motor driving electric automobile, it is characterized in that, described entire car controller (1) comprises central processing module (2) and the input signal processing circuit (3) being connected with central processing module (2) and communicating circuit (4); Wherein, described central processing module (2) comprises three core MCU(5) and with three core MCU(5) peripheral circuit (6) that is connected; Described peripheral circuit (6) comprises reverse connection prevention protection circuit (7), power circuit (8), clock circuit (9), reset circuit (10), OCDS1-Debug interface card (11), with two MCU(5) be connected; Described input signal processing circuit (3) comprises switching signal processing circuit (14), magnetoelectricity signal processing circuit (15), analog signal processing circuit (16), pulse signal treatment circuit (17) and digital signal processing circuit (18), with two MCU(5) be connected; Described communicating circuit (4) comprises that CAN communicating circuit (19), RS232 communicating circuit (20), FlexRay communicating circuit (21) are connected with external communication module.
2. entire car controller according to claim 1, is characterized in that, described three core MCU(5) what adopt is that TC1767 in the multinuclear MCU of AUTO Future series of company of Infineon is as the core MCU of entire car controller.
3. entire car controller according to claim 1 and 2; it is characterized in that; described reverse connection prevention protection circuit (7) is selected NMOS field effect transistor AOS4100, and NMOS pipe is serially connected with between power supply and load by S pin and D pin, and resistance (R11) provides voltage bias for NMOS pipe.
4. entire car controller according to claim 1 and 2, it is characterized in that, described power circuit (8) and three core MCU(5), reverse connection prevention protection circuit (7), communicating circuit (4) be connected, and mainly comprises voltage conversion circuit (12) and the normal indicating circuit of voltage (13) based on TLE7368G; Wherein voltage conversion circuit (12) is that the on-vehicle battery voltage of 12V or 24V is changed into required 5V and 3.3V voltage, power to TC1767 single-chip microcomputer, communicating circuit and sensor, whether 5V or 3.3V voltage that the normal indicating circuit of voltage (13) transforms for detection of TLE7368G voltage conversion circuit is normal.
5. entire car controller according to claim 1, is characterized in that, described switching signal processing circuit (14) and three core MCU(5) be connected have initiation key switch (24), charge switch (25) and a driving switch (26); Wherein driving switch signal comprise the gear signal of advancing, retreat gear signal, neutral gear signal, brake signal and relay control signal; The method that switching signal has been adopted to photoelectricity isolation, reduces phase mutual interference, and in circuit design, has adopted voltage stabilizing, rectification to process, and adopts anti-shake processing on software, makes signal become more stable.
6. entire car controller according to claim 1, is characterized in that, described magnetoelectricity signal processing circuit (15) is connected with accelerator pedal Hall element (27), adopts LM331 integrated circuit that square-wave pulse signal is converted to digital signal.
7. entire car controller according to claim 1, it is characterized in that, described analog signal processing circuit (16) and battery voltage signal (28), battery current signal (29), battery temperature signal (30), motor voltage signal (31), motor current signal (32), motor temperature signal (33), brake fluid pressure signal (34), yaw velocity signal (35) and longitudinally, lateral acceleration signal (36) is connected, ADC0808 is as A/D converter in employing.
8. entire car controller according to claim 1, is characterized in that, described pulse signal treatment circuit (17) is connected with motor speed sensor (37) with the speed of a motor vehicle; Described digital signal processing circuit (18) is connected with steering wheel angle sensor (38).
9. entire car controller according to claim 1, is characterized in that, described CAN communicating circuit (19) is connected with hub motor control device (39), adopts TLE6250GV33 transceiver; The transmission of the CAN interface of MCU, receiving end are connected with TXD, the RXD of TJA1050 transceiver by photoelectric isolating device respectively.
10. entire car controller according to claim 1, it is characterized in that, described RS232 communicating circuit (20) is connected with wireless telecommunications GPRS module (40), adopt MAX232CPE chip, by wireless telecommunications GPRS module, the control parameter of entire car controller is monitored and demarcated, support the control node of other RS232 communications in same car to carry out communication simultaneously.
11. entire car controllers according to claim 1, it is characterized in that, described FlexRay communicating circuit (21) is connected with wireless telecommunications GPRS module (40), comprise controller circuitry (22) and converter circuit (23) for supporting FlexRay communication, wherein controller circuitry (22) adopts SAKCIC310 chip, converter circuit (23) adopts TJA1080 chip, control parameter to entire car controller is monitored and is demarcated, and supports the control node of other RS232 communications in same car to carry out communication simultaneously.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410157595.1A CN103926852A (en) | 2014-04-17 | 2014-04-17 | Vehicle control unit for driving electric vehicle through hub motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410157595.1A CN103926852A (en) | 2014-04-17 | 2014-04-17 | Vehicle control unit for driving electric vehicle through hub motor |
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| CN201410157595.1A Pending CN103926852A (en) | 2014-04-17 | 2014-04-17 | Vehicle control unit for driving electric vehicle through hub motor |
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| CN107544365A (en) * | 2017-10-24 | 2018-01-05 | 南京越博动力***股份有限公司 | A kind of pure electronic entire car controller based on three core processors |
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Application publication date: 20140716 |