CN105522935B - The application drive formula switching at runtime control based on network device of electric automobile - Google Patents

The application drive formula switching at runtime control based on network device of electric automobile Download PDF

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CN105522935B
CN105522935B CN201510929010.8A CN201510929010A CN105522935B CN 105522935 B CN105522935 B CN 105522935B CN 201510929010 A CN201510929010 A CN 201510929010A CN 105522935 B CN105522935 B CN 105522935B
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module
strategy
control
task
application drive
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CN105522935A (en
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曹万科
林程
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Beijing Institute of Technology BIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Small-Scale Networks (AREA)

Abstract

The present invention relates to the control device of electric automobile, the specially application drive formula switching at runtime control based on network device of electric automobile, including comparison module, application drive module, handover module, each task strategy storehouse and integration module, each task strategy storehouse includes controller module and Scheduler module again；Comparison module is connected by the sensor of CAN protocol network and vehicle, is also connected with handover module；Application drive module is connected by the sensor of CAN protocol network and vehicle, and application drive module is also connected with handover module；Handover module is connected with task strategy storehouse；Controller module is connected with integration module；Scheduler module is connected with integration module；Integration module is connected by the actuator of CAN protocol network and vehicle.The application drive formula switching at runtime control based on network device of electric automobile provided by the invention, can meet the different real-times and data transmission frequencies demand of multiple-task, total volume of transmitted data is also reduced while systematic function is ensured.

Description

The application drive formula switching at runtime control based on network device of electric automobile
Technical field
The present invention relates to the application drive formula switching at runtime networking of the control device of electric automobile, specially electric automobile Control device.
Background technology
The development of current electric automobile has caused the attention of people with promoting, but its continual mileage, traffic safety and The problem of cost etc., still needs further to be solved.As automobile integrates control theory, electric machines control technology, automotive electronics skill The development of art and In-vehicle networking technology, one kind are directed to improving electric automobile energy efficiency, traffic safety and comprehensive cost performance The integrated control class technical research of multitask suitching type obtain very fast development.There is faster response energy by means of electric system Power and higher control accuracy, the integrated control class technology of these new multitask suitching types obtain greater advance in the recent period. C.Tseng etc. is in document (advanced shifting control of synchronizer mechanisms for clutchless automatic manual transmission in an electric vehicle,Mechanism and Machine Theory, 2015.) a kind of clutchless type motor-gearbox integration control technology used for electric vehicle is proposed in, By rationally controlling the torque and rotating speed of motor output, according to different control strategies, it is possible to achieve the warp of electric automobile The switching of a variety of application functions such as mode activated of helping control, the control of dynamic mode drive control, automatic shift control, vehicle cruise Formula integrated operation, improve automotive comprehensive performance and cost performance.
In order to realize the integrated control of a variety of application function suitching types of electric automobile, interconnected by CAN protocol In-vehicle networking Each control unit be in current engineering frequently with technological means.CAN protocol In-vehicle networking is integrated class control using one side System provides easily data exchange capability, but can also introduce the problem of new, such as because network bandwidth is limited, network data passes Throughput rate Networked-induced delay caused greatly, system extended capability difference problem etc..X.Zhu etc. is in document (Speed synchronization control for integrated automotive motor-transmission power- Train system with random delays, Mechanical Systems and Signal Processing, 2015) pointed out in：CAN protocol Networked-induced delay will cause clutchless type motor-speed changer integrated system control performance drop Low, even unstability.The document is directed to Networked-induced delay problem, it is proposed that using the method for robust control, carries to a certain extent The high stability of system.But robust control has larger conservative, it is impossible to is effectively improved the dynamic property of system control；Together Shi Shangshu is not concerned with based on the method for robust control to the reduction problem of network delay suppression in itself and network data transmission amount, So the improvement for Control of Electric Vehicles performance is limited, also it is unfavorable for the extension of vehicle network networked control systems.It is existing its The electrical vehicle network control method that it solves Networked-induced delay and influenceed also has dynamic priority method and model prediction, though Can so improve to a certain extent system control real-time, but be all not concerned with transmission volume reduce and system extended capability ask Topic, especially model prediction also needs to establish the accurate model of system in advance, therefore all has certain limitation, can not also expire Sufficient electric automobile is actually needed.
For electric automobile, on the one hand the benefit that the integrated control of suitching type of a variety of application functions is brought is to improve system Combination property, on the other hand also take full advantage of various sensors, controller and actuator resource, particularly when a variety of applications When function is using same actuator, controller or sensor hardware, and the switching of application function operation mainly passes through tune Realized with different software strategies.It is worth noting that, although used same hardware system, but different application function pair State sample frequency, control frequency in system is different with the requirement of real-time etc..Integrated with clutchless type motor-gearbox Exemplified by system control, normal driving, cruise control and self shifter control three kinds of application functions to be required for turning speed and motor Speed sampling is simultaneously realized by adjusting motor output torque, but three is controlled speed, motor speed signal sampling and motor torque The real-time of effect and the requirement for performing the cycle have bigger difference.Traditional fixed cycle formula sampling and control process method In order to meet requirement of real-time highest task in task, generally have to use shorter transmission cycle, this is for networking For control system, it will cause the high enterprise of resource occupying rate, volume of transmitted data is huge, message queue's delay is long etc. asks Topic；And when running the relatively low other tasks of real-time so frequently sampling be it is unnecessary, a large amount of sampled datas and The frequent transmission of control command signal is the serious waste to Internet resources.Therefore the sampling processing pattern of fixed cycle can not expire The demand of the integrated control of sufficient electric automobile multitask suitching type.
And existing other variable period formulas sampling and control process method, generally contribute to solve single task system control The method of performance improvement, such as the varying sampling period method based on control performance feedback, are not particularly suited for such multitask suitching type Integrated processing system.
Existing electrical vehicle network control method all has certain limitation, can not meet electric automobile multitask application The application requirement of function switch formula integrated network control.
The content of the invention
For above-mentioned technical problem, the present invention proposes a kind of application drive suitching type dynamic regulation networking used for electric vehicle Control device, it is limited especially suitable for network bandwidth, the integrated processing of multitask suitching type, suppresses Networked-induced delay to multitask The influence of application control performance, while reduce network data transmission amount, improve the extended capability of system.
Specifically technical scheme is：
The application drive formula switching at runtime control based on network device of electric automobile, including comparison module, application drive module, Handover module, each task strategy storehouse and integration module, wherein each task strategy storehouse includes controller module and scheduler again Module；
Comparison module, is connected by the sensor of CAN protocol network and vehicle, and comparison module is also connected with handover module； For realizing that the comparison of target component and actual parameter produces control performance parameter；
Application drive module, connected by the sensor of CAN protocol network and vehicle, application drive module is also with switching mould Block connects, for detecting or being completed according to corresponding strategy the identification and management of application function request.Application drive module is born Duty identification and the request of management different application function, the request of application function include the function command directly assigned by driver, Such as manual shift switch order, function command that the state of also with good grounds sensor output automatically generates according to corresponding strategy, As automatic transmission sends shifting commands automatically when speed reaches the gearshift moment.
Handover module, it is connected with task strategy storehouse, the triggering control task switch of response application drive module, selection is specific Task strategy storehouse, the selection in each task strategy storehouse is managed by handover module dynamic, and the operation of handover module is driven by application Application application result triggers caused by dynamic model block.
Controller module, it is connected with integration module, production is calculated according to corresponding strategy and algorithm process according to control performance Raw control command；
Scheduler module, it is connected with integration module, produces corresponding transmission cycle and priority scheduling order；
Integration module, connected by the actuator of CAN protocol network and vehicle, realize control command and the group of traffic order Close, and realize that the network of information is sent.Actuator is using event triggering pattern reception processing and performs order.
The application drive formula switching at runtime control based on network device of electric automobile provided by the invention, by application drive, Tactful switch mode, the different real-times and data transmission frequencies demand of multiple-task can be met, ensure systematic function Total volume of transmitted data can also be reduced simultaneously, is very beneficial for the extension of network control system；Application drive is cut simultaneously Change formula method, it is only necessary to gather the state being readily available and input instruction parameter, not establish the accurate model of system, it is not necessary to Carry out theory deduction under substantial amounts of line to analyze, algorithm is simple, practical.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is that the driving of embodiment electric automobile performs analysis diagram；
Fig. 3 is that embodiment control based on network performs analysis diagram.
Embodiment
According to electric automobile multifunctional unit demand for control, using application drive suitching type dynamic regulation scheme, by answering The startup applied with drive module based on driver's operational order and state recognition of system, and handover module work is triggered, then Handover module realizes the selection of specific tasks control strategy and scheduling strategy, ensures that each task has quick response characteristic, together When reduce total network data transmission amount.
With reference to accompanying drawing, the implementation to the present invention is described in detail.
As shown in figure 1, including vehicle speed sensor, motor speed sensor and driver command input, vehicle control device, Electric machine controller, CAN network and other nodes, vehicle control device are the application drive formula of electric automobile provided by the invention Switching at runtime control based on network device.Driver command input directly by wagon control locally gather, speed, speed probe with Electric machine controller is connected by CAN with vehicle control device.Vehicle control device can use and be internally integrated the 16 of CAN module in engineering 8-digit microcontroller chip is realized；Electric machine controller can realize the collection of motor speed sensor, and pass through CAN and wagon control Device interacts；Vehicle speed sensor then typically interconnects with car body controller module, and passes through CAN and vehicle control device by car body controller Interaction.It should be noted that because the mass inertia of automobile is larger, the change of GES is many slowly with respect to motor speed, Therefore it is general to speed that the relatively large sampling period is set, it is generally false in prior art especially in shift process It is constant to determine speed.Driving machinery system configuration such as Fig. 2 of the electric automobile, including motor, change gear box, driver Structure, driving moment, shift motor, gearshift transmission mechanism and shift handle, starting switch, pedal input etc..Using so matching somebody with somebody Conventional driving, cruise and the drive integrated without three kinds of task application functions of clutch automatic speed changing of electric automobile can be realized by putting Dynamic process.
As shown in Fig. 2 when being in certain gear when change-speed gearing normally engages, vehicle control device will collect pedal Input, motor speed and speed information, which calculate, obtains motor torque command signal, realizes and inputs driving car according to driver pedal Purpose, this drives drive pattern to be conventional, and now the control task of vehicle control device is the pedal of main reply driver Manipulate.Because the person's development time is more slowly relative to vehicle control device, now vehicle control device can use relatively long Process cycle, such as setting the sampling period, and the transmission delay of require information is by moderate control between 200-100ms.
When vehicle control device detects cruise button starting switch signal enabling, vehicle control device will collect current vehicle Speed, motor speed and real-time speed information, which calculate, obtains motor torque command signal, realizes working as when starting according to cruise switch Preceding speed is target vehicle speed driving vehicle, and this is cruise control drive pattern, and now the control task of vehicle control device is mainly Ensure that real-time speed is maintained near target vehicle speed, although now vehicle control device reaction is very fast, typically have in view of vehicle Have that the change of larger mass inertia, speed is relatively unhappy, vehicle control device can use relatively short process cycle, such as set The sampling period is put between 50-20ms, and the transmission delay of require information by relatively stringent suppresses.
When vehicle control device detects gearshift input, or detects that speed, motor speed reach gearshift speed annex, Vehicle control device will in real time, rapidly collect motor speed and speed information, calculate and obtain motor torque command signal, realize nothing Clutch self shifter operates, and this is that now the control task of vehicle control device is mainly to protect without clutch automatic speed changing drive pattern Rapidity, the ride comfort of shift process are demonstrate,proved, now vehicle control device needs quickly to realize motor unloading within the 1-2s times, plucked Gear, gear selecting, motor loading, motor unloading, synchronization, gearshift, motor such as reload at the control of up to 8 links, therefore are The real-time and ride comfort, vehicle control device for ensureing gearshift need to use relatively very short process cycle, such as set sampling Cycle is between 10-5ms, and the transmission delay of require information is strictly suppressed.
Based on above-mentioned analysis, conventional driving driving, cruise drive and fluid drive driving can be defined as 3 applications, For application drive condition and task control strategy and task scheduling strategy, wherein application drive corresponding to each application formulation Condition includes input command request or the gearshift command request calculated based on speed, rotating speed according to Shifting；Task control Tactful then according to task particular content is formulated；Task scheduling strategy then includes transmission cycle adjustable strategies and priority adjustment plan Slightly, the former is used for the process cycle requirement for meeting task control, is handled after can selecting suitable process cycle using the fixed cycle Pattern, the latter are used to meet requirement of the information transfer to real-time, can both have been used after suitable priority is selected fixed preferential Level scheduling can also use the change priority scheduling based on control performance.
On the premise of above-mentioned application drive condition and each task strategy storehouse is formulated, vehicle control device will basis should online The switching of multiple tasks strategy is realized with driving, while each task response real-time is ensured, reduces total volume of transmitted data.
The driving of setting normal driving, cruise drive and fluid drive drive the process cycle of three tasks be respectively 100ms, 50ms and 5ms, priority are respectively set to 8 grades, 4 grades and 2 grades, wherein 8 grades to 1 grade priority incrementally improve, are realized using CAN The details that 8 grades of priority are set specifically refers to CAN protocol.Then network execution will be as shown in figure 3, wherein t during each task switchingk+1 The time marking in units of time step is represented, time step sets 5ms, τk+1For Networked-induced delay.From the figure 3, it may be seen that [tk,tk+20] during, task 1 is performing, process cycle 100ms, and information priorities are 8 grades, although information priorities are very low, But because transmission cycle is larger, volume of transmitted data is small, so when Networked-induced delay appropriateness be τk+1If properly increase information Priority, and be now not suitable for using limit priority, then Networked-induced delay can further shorten to τk+20； [tk+40,tk+60] during, task 2 is performing, process cycle 50ms, and information priorities are 4 grades, and transmission cycle diminishes, and data pass Throughput rate increase, information priorities are more slightly higher than task 1, so when Networked-induced delay be τk+1Slightly reduced than task 1, if suitable When the priority for improving information, and now It is not necessary to use limit priority, then Networked-induced delay can further shorten For τk+50；But in [tk+60,τk+62] during, task 3 is performing, process cycle 5ms, and information priorities are 2 grades, transmission cycle Become smaller, volume of transmitted data will largely increase, and information priorities are more slightly higher than task 2, so when Networked-induced delay τk+60 Reduced again than task 2, if improving the priority of information, be now necessary to use limit priority according to system control performance, then Networked-induced delay can further shorten to τk+64, now control system will be realized under high frequency, real-time mode gearshift control, Ensure rapidity, the ride comfort of gearshift control.Once gearshift is completed, system will automatically switch to task 2 or task 1, now single For this control system, 10%, 5% when network traffic data and bandwidth occupancy will be reduced to execution task 3 respectively.And change Gear behavior is during whole driving driving, and the time was both of short duration, and frequency is also relatively limited, especially in the preferable area of road conditions Domain, such as expressway, through street, therefore substantial amounts of network bandwidth will be saved, can be more multi-functional or system for realizing It is integrated.
To sum up, institute's extracting method can meet the requirement of real-time of each task quick response, while reduce total network data Transmission quantity.
The foregoing is only example of the present invention, the present invention be not limited solely to it is above-mentioned realize embodiment, it is all The locality change done in the institute of the spirit and principles in the present invention, equivalent substitution, improvement etc. should be included in the guarantor of the present invention Within the scope of shield.

Claims (3)

1. the application drive formula switching at runtime control based on network device of electric automobile, it is characterised in that：Including comparison module, application Drive module, handover module, each task strategy storehouse and integration module, wherein each task strategy storehouse includes controller module again And Scheduler module；
Comparison module, is connected by the sensor of CAN protocol network and vehicle, and comparison module is also connected with handover module, is used for Realize that the comparison of target component and actual parameter produces control performance parameter；
Application drive module, connected by the sensor of CAN protocol network and vehicle, application drive module also connects with handover module Connect, for detecting or being completed according to corresponding strategy the identification and management of application function request；
Handover module, it is connected with task strategy storehouse, the triggering control task switch of response application drive module, selection is specific to appoint Business policy library；
Controller module, it is connected with integration module, is calculated according to control performance according to corresponding strategy and algorithm process and produce control System order；
Scheduler module, it is connected with integration module, produces corresponding transmission cycle and priority scheduling order；
Integration module, connected by the actuator of CAN protocol network and vehicle, realize the combination of control command and traffic order, And realize that the network of information is sent.
2. the application drive formula switching at runtime control based on network device of electric automobile according to claim 1, its feature exist In：Described application drive module is responsible for identifying and manages the request of different application function, and the request of application function is included by driving The function command that the person of sailing directly assigns, the state of also with good grounds sensor output refer to according to the function that corresponding strategy automatically generates Order.
3. the application drive formula switching at runtime control based on network device of electric automobile according to claim 1 or 2, its feature It is：Wherein each task strategy storehouse is formulated according to specific application function, and any one application function is all provided simultaneously with accordingly Control strategy and scheduling strategy；Wherein scheduling strategy had both included sending period generation strategy, included priority policy again；Send the cycle Strategy is sent using fixed cycle, and priority policy is using fixed priority strategy or the regulation plan of the change priority based on control performance Slightly.
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