CN106657435A - Automatic addressing method and system for electric automobile cell management system - Google Patents
Automatic addressing method and system for electric automobile cell management system Download PDFInfo
- Publication number
- CN106657435A CN106657435A CN201611067600.5A CN201611067600A CN106657435A CN 106657435 A CN106657435 A CN 106657435A CN 201611067600 A CN201611067600 A CN 201611067600A CN 106657435 A CN106657435 A CN 106657435A
- Authority
- CN
- China
- Prior art keywords
- control module
- address
- main control
- area network
- pulse width
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L2101/00—Indexing scheme associated with group H04L61/00
- H04L2101/60—Types of network addresses
- H04L2101/618—Details of network addresses
- H04L2101/627—Controller area network [CAN] identifiers
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L61/00—Network arrangements, protocols or services for addressing or naming
- H04L61/50—Address allocation
- H04L61/5038—Address allocation for local use, e.g. in LAN or USB networks, or in a controller area network [CAN]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L61/00—Network arrangements, protocols or services for addressing or naming
- H04L61/50—Address allocation
- H04L61/5046—Resolving address allocation conflicts; Testing of addresses
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Small-Scale Networks (AREA)
Abstract
The embodiment of the invention discloses an automatic addressing method and system for an electric automobile cell management system. The method comprises the steps: enabling a main control module to transmit a PWM signal with the duty ratio being a preset value to a controlled module in series connection with the main control module, and transmitting a CAN message comprising a unique coding address through a CAN bus; obtaining the unique coding address from the CAN message when the controlled module in series connection with the main control module determines that the duty ratio of the received PWM signal is the preset value, setting the coding address based on the obtained unique coding address, transmitting an address setting finishing message to the main control module so that the main control module retransmits a CAN bus comprising another unique coding address, and transmitting the PWM signal with the duty ratio being the preset value to a next controlled module in a series loop; and sequentially setting the coding address of the remaining (n-1) controlled modules. The method achieves the automatic addressing, and reduces the workload and the error probability.
Description
Technical field
The present invention relates to electric vehicle engineering field, more particularly to a kind of automatic addressing of cell management system of electric automobile
Method and system.
Background technology
Energy shortage, oil crisis and environmental pollution grow in intensity, and the life for giving people brings tremendous influence, direct relation
To the sustainable development of national economy and society.Countries in the world are all in active development new energy technology.Electric automobile is used as one kind
Reduce consumption of petroleum, low stain, the new-energy automobile of low noise, it is considered to be solve the important way of energy crisis and environmental degradation
Footpath.Hybrid vehicle takes into account the advantage of pure electric automobile and traditional combustion engine automobile simultaneously, is meeting vehicle dynamic quality requirement
On the premise of requiring with continual mileage, be effectively improved fuel economy, reduce discharge, it is considered to be current energy-conservation with subtract
One of active path of row.
Battery management system (Battery Management System, BMS) is the core component of electric automobile.BMS is
The important tie of connection vehicle mounted dynamic battery and electric automobile, its major function includes：Battery physical parameter real-time monitoring；Battery
State estimation；Inline diagnosis and early warning；Discharge and recharge is controlled with preliminary filling；Balanced management and heat management etc..Battery management system is produced
The test of product is design, the important process of production phase needs development.
BMS is mainly made up of three parts：It is one main control module, multiple from control module and a high-pressure modular.Currently for
From the addressing work of control module mainly by being accomplished manually.
However, because number of batteries is numerous, physical distribution is complex, it is big to manually being addressed workload from control module
And easily error.
The content of the invention
In view of this, it is an object of the invention to provide a kind of automatic addressing method of cell management system of electric automobile and being
System, so as to reduce workload and error probability.
The technical scheme of embodiment of the present invention includes：
A kind of automatic addressing method of cell management system of electric automobile, the cell management system of electric automobile includes master
Control module and n are individual from control module, and the pulse width modulating signal line of main control module is believed with the n pulse width modulation from control module
Number line collectively forms the series loop of closing；Main control module and n is also respectively connected to Controller Area Network BUS from control module,
Wherein n is the positive integer more than or equal to 2；The method includes：
Main control module to series connection with it sends pulse width modulating signal of the dutycycle for predetermined value from control module, and leads to
Cross Controller Area Network BUS and send the controller local area network message comprising unique encodings address；
Judge the dutycycle of the pulse width modulating signal for receiving as predetermined from control module when connecting with main control module
During value, unique encodings address is obtained from controller local area network message, the volume of itself is arranged based on the unique encodings address for obtaining
Code address, to the main control module message that sends that setting completed for address to be retransmited comprising other unique encodings address by main control module
Controller local area network message, and to the next one in series loop from control module send dutycycle for predetermined value pulse width
Modulated signal；
Each in remaining (n-1) individual module from control is based respectively on successively the control of main control module offer from control module
Upper one in general ability domain processed network packet and series loop arranges the volume of itself from the pulse width modulating signal that control module sends
Code address, behind setting completed the coded address of itself to main control module send address setting completed message with by main control module again
The controller local area network message comprising other unique encodings addresses is sent, and is sent out from control module to the next one in series loop
The pulse width modulating signal that dutycycle is predetermined value is sent, the coded address of itself has all been set from control module until whole n.
In one embodiment, the method also includes：
The coded address of itself is reported to main control module by each by Controller Area Network BUS respectively from control module；
When main control module finds that disappearance occurs in the coded address reported from control module, again to series connection with it from control mould
Block sends pulse width modulating signal of the dutycycle for predetermined value, and sends comprising unique again through Controller Area Network BUS
The controller local area network message of coded address；
Judge the dutycycle of the pulse width modulating signal for receiving as predetermined from control module when connecting with main control module
During value, unique encodings address is obtained from controller local area network message again, arranged based on the unique encodings address for obtaining again
The coded address of itself, again to the main control module message that sends that setting completed for address to be retransmited comprising other by main control module
The controller local area network message of unique encodings address, and again to the next one in series loop from control module send dutycycle be
The pulse width modulating signal of predetermined value；
Each in remaining (n-1) individual module from control is distinguished provided based on main control module again successively from control module
Controller local area network message and series loop in upper one from control module send pulse width modulating signal itself is set
Coded address, to main control module send address setting completed message with by leading again behind setting completed the coded address of itself
Control module resends again the controller local area network message comprising other unique encodings addresses, and again in series loop
It is next to send pulse width modulating signal of the dutycycle for predetermined value from control module, all weigh from control module until whole n
The coded address of itself is newly set.
In one embodiment, the method also includes：
The coded address of itself is reported to main control module by each by Controller Area Network BUS respectively from control module；
When main control module finds that the coded address reported from control module duplicates, again to series connection with it from control mould
Block sends pulse width modulating signal of the dutycycle for predetermined value, and sends comprising unique again through Controller Area Network BUS
The controller local area network message of coded address；
Judge the dutycycle of the pulse width modulating signal for receiving as predetermined from control module when connecting with main control module
During value, unique encodings address is obtained from controller local area network message again, arranged based on the unique encodings address for obtaining again
The coded address of itself, again to the main control module message that sends that setting completed for address to be retransmited comprising other by main control module
The controller local area network message of unique encodings address, and again to the next one in series loop from control module send dutycycle be
The pulse width modulating signal of predetermined value；
Each in remaining (n-1) individual module from control is distinguished provided based on main control module again successively from control module
Controller local area network message and series loop in upper one from control module send pulse width modulating signal itself is set
Coded address, to main control module send address setting completed message with by leading again behind setting completed the coded address of itself
Control module resends again the controller local area network message comprising other unique encodings addresses, and again in series loop
It is next to send pulse width modulating signal of the dutycycle for predetermined value from control module, all weigh from control module until whole n
The coded address of itself is newly set.
In one embodiment, controller local area network message includes identifier and the data for carrying coded address
Domain.
A kind of automatic addressing system of cell management system of electric automobile, including main control module and n from control module, master control
The pulse width modulating signal line of module collectively forms connecting back for closing with the n pulse width modulating signal line from control module
Road；Main control module and n is also respectively connected to Controller Area Network BUS from control module, and wherein n is just whole more than or equal to 2
Number；
Main control module, believes for sending the pulse width modulation that dutycycle is predetermined value from control module to series connection with it
Number, and the controller local area network message comprising unique encodings address is sent by Controller Area Network BUS；And for receiving
The control general ability comprising other unique encodings address is sent by Controller Area Network BUS to after setting completed for address message
Domain network packet；
Connect with main control module from control module, for when the dutycycle of pulse width modulating signal that judge to receive as
During predetermined value, unique encodings address is obtained from controller local area network message, itself is arranged based on the unique encodings address for obtaining
Coded address, to the main control module message that sends that setting completed for address, and send from control module to the next one in series loop
Dutycycle is the pulse width modulating signal of predetermined value；
Each in remaining (n-1) individual module from control is provided from control module for being based respectively on main control module successively
Controller local area network message and series loop in upper one from control module send pulse width modulating signal itself is set
Coded address, send address setting completed message to main control module behind setting completed the coded address of itself, and to series connection
The next one in loop sends pulse width modulating signal of the dutycycle for predetermined value from control module, until whole n from control mould
Block has all arranged the coded address of itself.
In one embodiment, each is also respectively used to the coded address of itself by controlling general ability from control module
Area network bus are reported to main control module；
Main control module, is additionally operable to when disappearance occurs in the coded address for finding to be reported from control module, again to series connection with it
From control module send dutycycle for predetermined value pulse width modulating signal, and again through Controller Area Network BUS send
Controller local area network message comprising unique encodings address；
Connect with main control module from control module, for when the dutycycle of pulse width modulating signal that judge to receive as
During predetermined value, unique encodings address is obtained from controller local area network message again, again based on the unique encodings address for obtaining
The coded address of itself is set, again to the main control module message that sends that setting completed for address to be retransmited comprising another by main control module
The controller local area network message of outer unique encodings address, and again to the next one in series loop from control module transmission duty
Than for the pulse width modulating signal of predetermined value；
Each in remaining (n-1) individual module from control is additionally operable to distinguish successively and be based on again master control mould from control module
Upper one in controller local area network message and series loop that block is provided sets from the pulse width modulating signal that control module sends
The coded address of itself is put, to main control module address is sent setting completed message again behind setting completed the coded address of itself
To resend the controller local area network message comprising other unique encodings addresses again by main control module, and again to connecting back
The next one in road sends pulse width modulating signal of the dutycycle for predetermined value from control module, until whole n from control module
The coded address of itself has all been reset.
In one embodiment, each is additionally operable to respectively by the coded address of itself by controlling general ability from control module
Area network bus are reported to main control module；
Main control module, is additionally operable to when the coded address for finding to be reported from control module duplicates, again to series connection with it
From control module send dutycycle for predetermined value pulse width modulating signal, and again through Controller Area Network BUS send
Controller local area network message comprising unique encodings address；
Connect with main control module from control module, be additionally operable to when the dutycycle of pulse width modulating signal for judging to receive
For predetermined value when, unique encodings addresses is obtained from controller local area network message again, again based on the unique encodings ground for obtaining
Location arranges the coded address of itself, and message is included with being retransmited by main control module to send that setting completed for address to main control module again
The controller local area network message of other unique encodings address, and again to the next one in series loop from control module send account for
Sky ratio is the pulse width modulating signal of predetermined value；
Each in remaining (n-1) individual module from control is additionally operable to distinguish successively and be based on again master control mould from control module
Upper one in controller local area network message and series loop that block is provided sets from the pulse width modulating signal that control module sends
The coded address of itself is put, to main control module address is sent setting completed message again behind setting completed the coded address of itself
To resend the controller local area network message comprising other unique encodings addresses again by main control module, and again to connecting back
The next one in road sends pulse width modulating signal of the dutycycle for predetermined value from control module, until whole n from control module
The coded address of itself has all been reset.
In one embodiment, controller local area network message includes identifier and the data for carrying coded address
Domain.
From above-mentioned technical proposal as can be seen that it is predetermined value that main control module sends dutycycle to series connection with it from control module
Pulse width modulating signal, and by Controller Area Network BUS send comprising unique encodings address controller local area network report
Text；When judging the dutycycle of the pulse width modulating signal for receiving as predetermined value from control module when connecting with main control module,
Unique encodings address is obtained from controller local area network message, the coding ground of itself is arranged based on the unique encodings address for obtaining
Location, to the main control module message that sends that setting completed for address to retransmit the control comprising other unique encodings address by main control module
General ability domain processed network packet, and send pulse width modulation of the dutycycle for predetermined value from control module to the next one in series loop
Signal；Each in remaining (n-1) individual module from control is based respectively on successively the controller of main control module offer from control module
Upper one in local network packet and series loop arranges the coding ground of itself from the pulse width modulating signal that control module sends
Location, address is sent setting completed message to be retransmited by main control module behind setting completed the coded address of itself to main control module
Controller local area network message comprising other unique encodings addresses, and account for from control module transmission to the next one in series loop
Sky ratio is the pulse width modulating signal of predetermined value, and the coded address of itself has all been arranged from control module until whole n.Cause
This, embodiment of the present invention is addressed using the pulse width modulating signal increment type of fixed duty cycle, need not be adjusted from control module
Whole pulse width modulated duty cycle, software and hardware structure is simple, reduce workload and error probability,
And, embodiment of the present invention carries out address check using controller local area network communication, it is found that addressing repeats, lacks
Or during the newly-increased module from control, can quickly re-start automatic addressing.
Description of the drawings
The following drawings only does schematic illustration and explanation to the present invention, not delimit the scope of the invention.
Fig. 1 is the automatic addressing method flow diagram of cell management system of electric automobile of the present invention.
Fig. 2 is the demonstrative structure figure from control module automatic addressing system of batteries of electric automobile of the present invention.
Fig. 3 is the demonstrative structure figure of the standard frame with extension frame of electronic CAN message of the invention.
Specific embodiment
In order to be more clearly understood to the technical characteristic invented, purpose and effect, now control description of the drawings is of the invention
Specific embodiment, in the various figures identical label represent identical part.
Herein, " schematic " expression " serving as example, example or explanation ", will should not be described herein as " showing
Any diagram of meaning property ", embodiment are construed to a kind of preferred or more advantageous technical scheme.
To make simplified form, part related to the present invention is only schematically show in each figure, and do not represent it
As the practical structures of product.In addition, so that simplified form is readily appreciated, the portion with identical structure or function in some figures
Part, only symbolically depicts one of those, or has only marked one of those.
Cell management system of electric automobile generally includes main control module, from control module and high-pressure modular.High-pressure modular is general
For one, it is generally used for gathering total voltage, pre-charge pressure, total current and the insulating resistance value of whole battery bag.From control module one
As be multiple (at least two), be respectively used to gather respective battery modules battery parameter.Battery parameter includes：In battery module
Monomer string number；Monomer and number in battery module；Temperature sampled point number in battery module；Battery types；Battery module total voltage；
From control inside modules temperature；All monomer battery voltage information；All temperature acquisition point temperature informations；Highest monomer battery voltage
Value；Maximum temperature value；The corresponding cell sequence number of highest monomer battery voltage value；The corresponding temperature acquisition point of maximum temperature value
Sequence number；Minimum monomer battery voltage value；Lowest temperature angle value；The corresponding cell sequence number of minimum monomer battery voltage value；It is minimum
The corresponding temperature acquisition point sequence number of temperature value；Software version number；Hardware version numbers；Monomer battery voltage acceptability limit；Temperature is closed
Lattice scope；Monomer battery voltage testing result display lamp state；Temperature detection result display lamp state, etc..
Main control module is generally one, for from high-pressure modular and from control module collection data, and perform generation battery control
System order etc. is processed.
Pulse width modulation (PWM) is the wide variety of control mode of automotive electronics, and electric automobile is no exception.The present invention
Embodiment is to perform increment type automatic addressing from control module using PWM mode, and is communicated using controller local area network (CAN)
Mode carries out address check, it is not necessary to artificial operation, significantly improves battery management system production and service efficiency.
Fig. 1 is the automatic addressing method flow diagram of cell management system of electric automobile of the present invention.
In embodiments of the present invention, cell management system of electric automobile includes that main control module and n are individual from control module, master control
The pwm signal line of module collectively forms the series loop of closing with the n pwm signal line from control module；Main control module and n from
Control module is also respectively connected in CAN, and wherein n is the positive integer more than or equal to 2.
As shown in figure 1, the method includes：
Step 101：Main control module to series connection with it sends pwm signal of the dutycycle for predetermined value from control module, and leads to
Cross CAN and send the CAN message comprising unique encodings address.
Step 102：Judge the dutycycle of the pwm signal for receiving as predetermined value from control module when connecting with main control module
When, unique encodings address is obtained from CAN message, the coded address of itself is arranged based on the unique encodings address for obtaining, to master
Message that control module sends that setting completed for address by main control module to retransmit the control general ability comprising other unique encodings address
Domain network packet, and send pwm signal of the dutycycle for predetermined value from control module to the next one in series loop.
Step 103：Each in remaining (n-1) individual module from control is based respectively on successively main control module from control module
Upper one in the CAN message and series loop of offer arranges the coded address of itself from the pwm signal that control module sends, and is setting
Put behind the coded address for finishing itself to the main control module message that sends that setting completed for address to be retransmited comprising it by main control module
The CAN message of his unique encodings address, and to the next one in series loop dutycycle is sent for predetermined value from control module
Pwm signal, the coded address of itself has all been arranged until whole n from control module.
It can be seen that, all access battery management system networks are to connect from the module pwm signal line mode of connection is controlled, Er Qiechu
Beginning pwm signal is sent by main control module, is eventually returned to main control module and is constituted series loop.Such as, main control module sends and initially accounts for
The pwm signal of empty ratio, main control module sends addressing instruction 1 by CAN, and from control module 1 the PWM letters of initial duty cycle are received
Self address setting is carried out according to addressing instruction 1 after number, then pwm signal is exported to the next one from control module (i.e. from control mould
Block 2), main control module stops sending the pwm signal of initial duty cycle, while main control module change addressing instruction is addressing instruction 2；
Receive from control module 2 and carry out Self address setting according to addressing instruction 2 after the pwm signal ripple of initial duty cycle, then believe PWM
Number export to the next one from control module (i.e. from control module 3), stop sending the pwm signal of initial duty cycle from control module 2, while
Main control module change addressing instruction is 3, and by that analogy, after last completes address from control module sets, all addressings are grasped
Complete, the module exports the pwm signal of initial duty cycle to main control module.Main control module is received after the signal, judges to compile
Whether system instruction is n+1, if it is, n addresses successfully from control module；If it is not, then addressing failure, needs to compile again
Location.
And, embodiment of the present invention carries out address check using CAN communication, find addressing repeat, disappearance or it is newly-increased from
During control module, automatic addressing can be quickly re-started.
In addition, embodiment of the present invention does not increase hardware cost, it is simple to operation.
In one embodiment, the method also includes：
The coded address of itself is reported to main control module by each by CAN respectively from control module；
When main control module finds that disappearance occurs in the coded address reported from control module, again to series connection with it from control mould
Block sends pwm signal of the dutycycle for predetermined value, and sends the CAN message comprising unique encodings address again through CAN；
When judging the dutycycle of the pwm signal for receiving as predetermined value from control module when connecting with main control module, again from CAN message
Middle acquisition unique encodings address, arranges the coded address of itself, again to master control mould based on the unique encodings address for obtaining again
Message that block sends that setting completed for address is laid equal stress on retransmiting the CAN message comprising other unique encodings address by main control module
It is new to send pwm signal of the dutycycle for predetermined value from control module to the next one in series loop；
Each in remaining (n-1) individual module from control is distinguished provided based on main control module again successively from control module
CAN message and series loop in upper one from control module send pwm signal the coded address of itself is set, setting up
Again to the main control module message that sends that setting completed for address to resend bag again by main control module behind the coded address of Bi Zishen
CAN message containing other unique encodings addresses, and again to the next one in series loop from control module send dutycycle be
The pwm signal of predetermined value, the coded address of itself has all been reset until whole n from control module.
In one embodiment, the method also includes：
The coded address of itself is reported to main control module by each by CAN respectively from control module；
When main control module finds that the coded address reported from control module duplicates, again to series connection with it from control mould
Block sends pwm signal of the dutycycle for predetermined value, and sends the CAN message comprising unique encodings address again through CAN；
When judging the dutycycle of the pwm signal for receiving as predetermined value from control module when connecting with main control module, again
Unique encodings address is obtained from CAN message, again the coded address of itself is arranged based on the unique encodings address for obtaining, again
To the main control module message that sends that setting completed for address to be retransmited the reports of the CAN comprising other unique encodings address by main control module
Text, and again to the next one in series loop from the pwm signal that control module transmission dutycycle is predetermined value；
Each in remaining (n-1) individual module from control is distinguished provided based on main control module again successively from control module
CAN message and series loop in upper one from control module send pwm signal the coded address of itself is set, setting up
Again to the main control module message that sends that setting completed for address to resend bag again by main control module behind the coded address of Bi Zishen
CAN message containing other unique encodings addresses, and again to the next one in series loop from control module send dutycycle be
The pwm signal of predetermined value, the coded address of itself has all been reset until whole n from control module.
In one embodiment, CAN message includes identifier and the data field for carrying coded address.
Fig. 2 is the demonstrative structure figure from control module automatic addressing system of batteries of electric automobile of the present invention.
As shown in Fig. 2 the system includes main control module and n from control module, the pwm signal line of main control module with n from
The pwm signal line of control module collectively forms the series loop of closing；Main control module and n is also respectively connected to CAN from control module
In bus, wherein n is the positive integer more than or equal to 2.
Specifically, the pwm signal output end of main control module is connected to the pwm signal input from control module 1, main control module
Pwm signal input be connected to from control module n pwm signal output end；It is connected to from the pwm signal output end of control module 1
From the pwm signal input of control module 2；The pwm signal input from control module 3 is connected to from the pwm signal output end of control module 2
End；The pwm signal input from control module 4 is connected to from the pwm signal output end of control module 3；By that analogy, until from control mould
The pwm signal output end of block (n-1) is connected to the pwm signal input from control module n, and from the pwm signal of control module n
Output end is connected to the pwm signal input of main control module.Therefore, main control module collectively forms pwm signal with n from control module
Series loop.It is, main control module series connection is from control module 1；Connect from control module 2 from control module 1；Connect from control module 2
From control module 3 ... from control module n series connection main control module.
In addition, main control module and n is also respectively connected in CAN from control module.
It is assumed that the predetermined value of main control module and the n initial duty cycle that all prestores from control module is 50%, and arrange addressing
It is 0x200 that instruction obtains address.
Main control module sends the pwm signal ripple that initial duty cycle is 50% to what it was connected from control module 1, and by CAN
Bus sends addressing 1 (address is 0x200) of instruction, and the first character section of the data field of the addressing instruction 1 is 1.
Receive from control module 1 and carry out dutycycle verification after pwm signal ripple.After being 50% from the control confirmation dutycycle of module 1,
The addressing that analysis is received instructs 1 (0x200), and the first character section for finding the director data domain is 1, then be set as Self address
1, by CAN to the main control module message that sends that setting completed for address, generate pwm signal that dutycycle is 50% and export to
From control module 2.
Now, address successfully from control module 1, main control module receives address setting completed after message, stops to from control module 1
Pwm signal is sent, and addressing 2 (address is 0x200) of instruction are sent by CAN, the addressing instructs the first of 2 data field
Individual byte is 2.
Receive from control module 2 and carry out dutycycle verification after the pwm signal sent from control module 1.When from control module 2 confirm
Dutycycle is after 50%, to analyze the addressing that receives and instruct 2 (0x200), and the first character section for finding the director data domain is 2, then
Self address is set as into 2, by CAN to the main control module message that sends that setting completed for address, it is 50% to generate dutycycle
Pwm signal and export to from control module 3.
Now, address successfully from control module 2, main control module receives address setting completed after message, is sent by CAN
Addressing 3 (address is 0x200) of instruction, the first character section of the data field of the addressing instruction 3 is 3.
Receive from control module 3 and carry out dutycycle verification after the pwm signal sent from control module 2.When from control module 3 confirm
Dutycycle is after 50%, to analyze the addressing that receives and instruct 3 (0x200), and the first character section for finding the director data domain is 3, then
Self address is set as into 3, by CAN to the main control module message that sends that setting completed for address, it is 50% to generate dutycycle
Pwm signal and export to from control module 4.
By that analogy, last (that is, n-th) complete after the setting of address from control module, all addressing operations are completed, should
Module exports 50% dutycycle pwm signal to main control module.If main control module receives the signal, current addressing instruction the is judged
Whether one byte value is (n+1), if it is, n addresses successfully from control module；If it is not, then addressing failure, needs
Re-mapping.
And, embodiment of the present invention can carry out address check using CAN communication.Repeat or lack when finding to address
When, can be with re-mapping.
For example, n is 12.It is 2 from control module 1-12, there are two module's address, or it is 2 from control to lack address
Module, then main control module resends the initial p WM signal of 50% dutycycle and addressing instruction 1 is addressed and repeated above-mentioned
Flow process, so as to all 12 are realized recompiling from control module.
In addition, the present invention can also realize automatic addressing to change after failure from control module.Illustrate：Such as address
For 5 from control module failure, after being replaced by the new module from control, battery management system main control module finds that address 5 lacks, then weigh
The new initial p WM signal for sending 50% dutycycle and addressing instruction 1 are addressed and are repeated above-mentioned flow process, so as to all 12
Realize recompiling from control module.
Fig. 3 is the demonstrative structure figure of the standard frame with extension frame of electronic CAN message of the invention.As shown in figure 3, can be
Carry to be set in coded address, and identifier in the standard frame of CAN message and the data field of extension frame and refer to for differentiation
The identifier of order.
In sum, main control module sends pulse width modulation of the dutycycle for predetermined value to series connection with it from control module
Signal, and the controller local area network message comprising unique encodings address is sent by Controller Area Network BUS；When with master control mould
Block series connection from control module judge the dutycycle of the pulse width modulating signal for receiving as predetermined value when, from controller local area network
Unique encodings address is obtained in message, the coded address of itself is arranged based on the unique encodings address for obtaining, sent out to main control module
Address is sent setting completed message to retransmit the controller local area network message comprising other unique encodings address by main control module,
And send pulse width modulating signal of the dutycycle for predetermined value from control module to the next one in series loop；Remaining (n-
1) each in the individual module from control is based respectively on successively the controller local area network message and string of main control module offer from control module
Connection loop in upper one from control module send pulse width modulating signal the coded address of itself is set, setting completed from
To the main control module message that sends that setting completed for address to be retransmited comprising other unique by main control module behind the coded address of body
The controller local area network message of coded address, and to the next one in series loop dutycycle is sent for predetermined value from control module
Pulse width modulating signal, the coded address of itself has all been arranged until whole n from control module.Therefore, embodiment party of the present invention
Formula is addressed using the pulse width modulating signal increment type of fixed duty cycle, need not be adjusted pulse width modulation from control module and be accounted for
Sky ratio, software and hardware structure is simple, reduce workload and error probability,
And, embodiment of the present invention carries out address check using controller local area network communication, it is found that addressing repeats, lacks
Or during the newly-increased module from control, can quickly re-start automatic addressing.
Herein, " one " is not offered as being limited to the quantity of relevant portion of the present invention " only this ", and " one
It is individual " do not indicate that the situation of the quantity " more than one " for excluding relevant portion of the present invention.
Herein, " on ", D score, "front", "rear", "left", "right", " interior ", " outward " etc. be only used for representing relevant portion
Between relative position relation, and the absolute position of non-limiting these relevant portions.
The a series of detailed description of those listed above is only for the feasibility embodiment of the present invention specifically
It is bright, and and be not used to limit the scope of the invention, all equivalent embodiments made without departing from skill spirit of the present invention or
Combination, segmentation or the repetition of change, such as feature, should be included within the scope of the present invention.
Claims (8)
1. a kind of automatic addressing method of cell management system of electric automobile, it is characterised in that the batteries of electric automobile management
System includes that main control module and n are individual from control module, the pulse width modulating signal line of main control module and the n pulse from control module
Bandwidth modulation signals line collectively forms the series loop of closing；Main control module and n is also respectively connected to controller from control module
Local area network bus, wherein n are the positive integer more than or equal to 2；The method includes：
Main control module to series connection with it sends pulse width modulating signal of the dutycycle for predetermined value from control module, and by control
General ability area network bus processed send the controller local area network message comprising unique encodings address；
When judging the dutycycle of the pulse width modulating signal for receiving as predetermined value from control module when connecting with main control module,
Unique encodings address is obtained from controller local area network message, the coding ground of itself is arranged based on the unique encodings address for obtaining
Location, to the main control module message that sends that setting completed for address to retransmit the control comprising other unique encodings address by main control module
General ability domain processed network packet, and send pulse width modulation of the dutycycle for predetermined value from control module to the next one in series loop
Signal；
Each in remaining (n-1) individual module from control is based respectively on successively the controller of main control module offer from control module
Upper one in local network packet and series loop arranges the coding ground of itself from the pulse width modulating signal that control module sends
Location, address is sent setting completed message to be retransmited by main control module behind setting completed the coded address of itself to main control module
Controller local area network message comprising other unique encodings addresses, and account for from control module transmission to the next one in series loop
Sky ratio is the pulse width modulating signal of predetermined value, and the coded address of itself has all been arranged from control module until whole n.
2. the automatic addressing method of cell management system of electric automobile according to claim 1, it is characterised in that the method
Also include：
The coded address of itself is reported to main control module by each by Controller Area Network BUS respectively from control module；
When main control module finds that disappearance occurs in the coded address reported from control module, send out from control module to series connection with it again
The pulse width modulating signal that dutycycle is predetermined value is sent, and is sent comprising unique encodings again through Controller Area Network BUS
The controller local area network message of address；
When judging the dutycycle of the pulse width modulating signal for receiving as predetermined value from control module when connecting with main control module,
Again unique encodings address is obtained from controller local area network message, again itself is arranged based on the unique encodings address for obtaining
Coded address, again to the main control module message that sends that setting completed for address to be retransmited comprising other unique volume by main control module
The controller local area network message of code address, and it is predetermined value to send dutycycle from control module to the next one in series loop again
Pulse width modulating signal；
Each in remaining (n-1) individual module from control distinguishes successively the control for providing based on main control module again from control module
Upper one in general ability domain processed network packet and series loop arranges the volume of itself from the pulse width modulating signal that control module sends
Code address, to main control module address is sent setting completed message with by master control mould behind setting completed the coded address of itself again
Block resends again the controller local area network message comprising other unique encodings addresses, and again to next in series loop
It is individual to send pulse width modulating signal of the dutycycle for predetermined value from control module, all set again from control module until whole n
Put the coded address of itself.
3. the automatic addressing method of cell management system of electric automobile according to claim 1, it is characterised in that the method
Also include：
The coded address of itself is reported to main control module by each by Controller Area Network BUS respectively from control module；
When main control module finds that the coded address reported from control module duplicates, send out from control module to series connection with it again
The pulse width modulating signal that dutycycle is predetermined value is sent, and is sent comprising unique encodings again through Controller Area Network BUS
The controller local area network message of address；
When judging the dutycycle of the pulse width modulating signal for receiving as predetermined value from control module when connecting with main control module,
Again unique encodings address is obtained from controller local area network message, again itself is arranged based on the unique encodings address for obtaining
Coded address, again to the main control module message that sends that setting completed for address to be retransmited comprising other unique volume by main control module
The controller local area network message of code address, and it is predetermined value to send dutycycle from control module to the next one in series loop again
Pulse width modulating signal；
Each in remaining (n-1) individual module from control distinguishes successively the control for providing based on main control module again from control module
Upper one in general ability domain processed network packet and series loop arranges the volume of itself from the pulse width modulating signal that control module sends
Code address, to main control module address is sent setting completed message with by master control mould behind setting completed the coded address of itself again
Block resends again the controller local area network message comprising other unique encodings addresses, and again to next in series loop
It is individual to send pulse width modulating signal of the dutycycle for predetermined value from control module, all set again from control module until whole n
Put the coded address of itself.
4. the automatic addressing method of cell management system of electric automobile according to claim 1, it is characterised in that controller
Local network packet includes identifier and the data field for carrying coded address.
5. the automatic addressing system of a kind of cell management system of electric automobile, it is characterised in that including main control module and n from control
Module, the pulse width modulating signal line of main control module collectively forms envelope with the n pulse width modulating signal line from control module
The series loop closed；Main control module and n is also respectively connected to Controller Area Network BUS from control module, wherein n be more than etc.
In 2 positive integer；
Main control module, for sending pulse width modulating signal of the dutycycle for predetermined value from control module to series connection with it, and
Controller local area network message comprising unique encodings address is sent by Controller Area Network BUS；And for receiving address
The controller local area network report comprising other unique encodings address is sent by Controller Area Network BUS after message that setting completed
Text；
Connect with main control module from control module, for when the dutycycle of pulse width modulating signal that judges to receive is to make a reservation for
During value, unique encodings address is obtained from controller local area network message, the volume of itself is arranged based on the unique encodings address for obtaining
Code address, to the main control module message that sends that setting completed for address, and sends duty to the next one in series loop from control module
Than for the pulse width modulating signal of predetermined value；
Remaining (n-1) is individual from each controlled in module from control module, for being based respectively on the control of main control module offer successively
Upper one in general ability domain processed network packet and series loop arranges the volume of itself from the pulse width modulating signal that control module sends
Code address, address is sent setting completed message behind setting completed the coded address of itself to main control module, and to series loop
In the next one send pulse width modulating signal of the dutycycle for predetermined value from control module, until whole n from control module all
The coded address of itself has been set.
6. the automatic addressing system of cell management system of electric automobile according to claim 5, it is characterised in that
Each is also respectively used to for the coded address of itself to be reported to master control mould by Controller Area Network BUS from control module
Block；
Main control module, is additionally operable to when finding disappearance occur from the coded address that reports of control module, again to series connection with it from
Control module sends pulse width modulating signal of the dutycycle for predetermined value, and includes again through Controller Area Network BUS transmission
The controller local area network message of unique encodings address；
Connect with main control module from control module, for when the dutycycle of pulse width modulating signal that judges to receive is to make a reservation for
During value, unique encodings address is obtained from controller local area network message again, arranged based on the unique encodings address for obtaining again
The coded address of itself, again to the main control module message that sends that setting completed for address to be retransmited comprising other by main control module
The controller local area network message of unique encodings address, and again to the next one in series loop from control module send dutycycle be
The pulse width modulating signal of predetermined value；
Each in remaining (n-1) individual module from control is additionally operable to carry based on main control module again respectively successively from control module
For controller local area network message and series loop in upper one from control module send pulse width modulating signal arrange from
The coded address of body, behind setting completed the coded address of itself again to main control module send address setting completed message with by
Main control module resends again the controller local area network message comprising other unique encodings addresses, and again in series loop
The next one send pulse width modulating signal of the dutycycle for predetermined value from control module, until whole n from control module all
Reset the coded address of itself.
7. the automatic addressing system of cell management system of electric automobile according to claim 5, it is characterised in that
Each is additionally operable to respectively the coded address of itself is reported into master control mould by Controller Area Network BUS from control module
Block；
Main control module, is additionally operable to when finding from the coded address that reports of control module to duplicate, again to series connection with it from
Control module sends pulse width modulating signal of the dutycycle for predetermined value, and includes again through Controller Area Network BUS transmission
The controller local area network message of unique encodings address；
Connect with main control module from control module, be additionally operable to when the dutycycle of pulse width modulating signal that judges to receive is as in advance
During definite value, unique encodings address is obtained from controller local area network message again, set based on the unique encodings address for obtaining again
The coded address of itself is put, again to the main control module message that sends that setting completed for address to be retransmited comprising in addition by main control module
Unique encodings address controller local area network message, and again to the next one in series loop from control module send dutycycle
For the pulse width modulating signal of predetermined value；
Each in remaining (n-1) individual module from control is additionally operable to carry based on main control module again respectively successively from control module
For controller local area network message and series loop in upper one from control module send pulse width modulating signal arrange from
The coded address of body, behind setting completed the coded address of itself again to main control module send address setting completed message with by
Main control module resends again the controller local area network message comprising other unique encodings addresses, and again in series loop
The next one send pulse width modulating signal of the dutycycle for predetermined value from control module, until whole n from control module all
Reset the coded address of itself.
8. the automatic addressing system of cell management system of electric automobile according to claim 5, it is characterised in that controller
Local network packet includes identifier and the data field for carrying coded address.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611067600.5A CN106657435A (en) | 2016-11-29 | 2016-11-29 | Automatic addressing method and system for electric automobile cell management system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611067600.5A CN106657435A (en) | 2016-11-29 | 2016-11-29 | Automatic addressing method and system for electric automobile cell management system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106657435A true CN106657435A (en) | 2017-05-10 |
Family
ID=58812503
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611067600.5A Pending CN106657435A (en) | 2016-11-29 | 2016-11-29 | Automatic addressing method and system for electric automobile cell management system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106657435A (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107493217A (en) * | 2017-07-05 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Data transmission method, device, battery management system and vehicle |
| CN107505576A (en) * | 2017-08-24 | 2017-12-22 | 阿尔特汽车技术股份有限公司 | Module automatic recognition system and method in distributed system |
| CN107508930A (en) * | 2017-09-15 | 2017-12-22 | 上海炙云新能源科技有限公司 | ID distribution methods and system |
| CN109085503A (en) * | 2018-06-29 | 2018-12-25 | 重庆长安汽车股份有限公司 | X -ray inspection X automatic numbering method and system under battery |
| CN109116238A (en) * | 2018-06-05 | 2019-01-01 | 安徽锐能科技有限公司 | Automatic addressing method for battery management system |
| CN109889627A (en) * | 2019-03-26 | 2019-06-14 | 常州索维尔电子科技有限公司 | A kind of CAN bus node ID auto-allocation method and device |
| CN111190850A (en) * | 2020-01-06 | 2020-05-22 | 盐城国投中科新能源科技有限公司 | BMS automatic addressing method |
| CN111509308A (en) * | 2019-01-31 | 2020-08-07 | 北京新能源汽车股份有限公司 | Control method, device and system for coding of daughter board of battery management system |
| CN111586205A (en) * | 2020-05-13 | 2020-08-25 | 贵州浙储***科技有限公司 | Method and device for automatically allocating slave addresses in battery management system |
| CN111787128A (en) * | 2019-04-03 | 2020-10-16 | 郑州宇通集团有限公司 | Automatic addressing method, system and main control module thereof |
| CN111835877A (en) * | 2019-04-15 | 2020-10-27 | 町洋企业股份有限公司 | Control system with multiple function modules and function module addressing method thereof |
| CN112255556A (en) * | 2020-04-30 | 2021-01-22 | 蜂巢能源科技有限公司 | Battery pack offline detection method and system |
| CN112565483A (en) * | 2020-12-28 | 2021-03-26 | 四川凯迈新能源有限公司 | Battery management system and address allocation and disconnection reconnection method |
| CN112824137A (en) * | 2019-11-20 | 2021-05-21 | 广州汽车集团股份有限公司 | Slave plate ID distribution method for battery management system, battery management system and electric vehicle |
| CN112866117A (en) * | 2021-02-01 | 2021-05-28 | 盐城国投中科新能源科技有限公司 | Slave automatic closed-loop addressing based on BMS (Battery management System) master-slave architecture of new energy automobile |
| CN112904757A (en) * | 2021-01-13 | 2021-06-04 | 深圳市科列技术股份有限公司 | Slave control module address automatic coding system and method for battery management system |
| WO2021168629A1 (en) * | 2020-02-24 | 2021-09-02 | 东莞新能安科技有限公司 | Battery management system and addressing method |
| CN113467300A (en) * | 2021-06-30 | 2021-10-01 | 上海重塑能源科技有限公司 | Fuel cell voltage monitoring controller, automatic numbering method and system thereof, and storage medium |
| CN114745220A (en) * | 2022-03-22 | 2022-07-12 | 潍柴动力股份有限公司 | Automatic addressing control method and system for master-slave distributed battery management system |
| CN114844742A (en) * | 2022-07-04 | 2022-08-02 | 广东采日能源科技有限公司 | Battery management system and control method thereof |
| CN115242752A (en) * | 2022-07-19 | 2022-10-25 | 中航锂电（洛阳）有限公司 | Address allocation method, device, equipment and medium for battery management system |
| CN117289720A (en) * | 2023-11-22 | 2023-12-26 | 黑龙江惠达科技股份有限公司 | Unmanned aerial vehicle control method and system and unmanned aerial vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101371523A (en) * | 2005-12-15 | 2009-02-18 | 欧陆汽车有限责任公司 | Method for the transmission of data using self-diagnostic pulse width modulation |
| CN103336486A (en) * | 2012-12-19 | 2013-10-02 | 惠州市亿能电子有限公司 | Method for battery module address assignment of battery energy storage system |
| CN105847463A (en) * | 2016-04-07 | 2016-08-10 | 深圳市沃特玛电池有限公司 | Automatic addressing system of electric car single cell acquisition module and addressing method thereof |
-
2016
- 2016-11-29 CN CN201611067600.5A patent/CN106657435A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101371523A (en) * | 2005-12-15 | 2009-02-18 | 欧陆汽车有限责任公司 | Method for the transmission of data using self-diagnostic pulse width modulation |
| CN103336486A (en) * | 2012-12-19 | 2013-10-02 | 惠州市亿能电子有限公司 | Method for battery module address assignment of battery energy storage system |
| CN105847463A (en) * | 2016-04-07 | 2016-08-10 | 深圳市沃特玛电池有限公司 | Automatic addressing system of electric car single cell acquisition module and addressing method thereof |
Cited By (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107493217B (en) * | 2017-07-05 | 2020-11-13 | 宝沃汽车（中国）有限公司 | Data transmission method and device, battery management system and vehicle |
| CN107493217A (en) * | 2017-07-05 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Data transmission method, device, battery management system and vehicle |
| CN107505576A (en) * | 2017-08-24 | 2017-12-22 | 阿尔特汽车技术股份有限公司 | Module automatic recognition system and method in distributed system |
| CN107508930A (en) * | 2017-09-15 | 2017-12-22 | 上海炙云新能源科技有限公司 | ID distribution methods and system |
| CN109116238A (en) * | 2018-06-05 | 2019-01-01 | 安徽锐能科技有限公司 | Automatic addressing method for battery management system |
| CN109085503A (en) * | 2018-06-29 | 2018-12-25 | 重庆长安汽车股份有限公司 | X -ray inspection X automatic numbering method and system under battery |
| CN111509308A (en) * | 2019-01-31 | 2020-08-07 | 北京新能源汽车股份有限公司 | Control method, device and system for coding of daughter board of battery management system |
| CN109889627A (en) * | 2019-03-26 | 2019-06-14 | 常州索维尔电子科技有限公司 | A kind of CAN bus node ID auto-allocation method and device |
| CN111787128B (en) * | 2019-04-03 | 2023-03-17 | 郑州宇通集团有限公司 | Automatic addressing method, system and main control module thereof |
| CN111787128A (en) * | 2019-04-03 | 2020-10-16 | 郑州宇通集团有限公司 | Automatic addressing method, system and main control module thereof |
| CN111835877A (en) * | 2019-04-15 | 2020-10-27 | 町洋企业股份有限公司 | Control system with multiple function modules and function module addressing method thereof |
| CN111835877B (en) * | 2019-04-15 | 2023-08-15 | 町洋企业股份有限公司 | Control system comprising a plurality of functional modules and method for addressing functional modules |
| CN112824137B (en) * | 2019-11-20 | 2022-10-25 | 广汽埃安新能源汽车有限公司 | Slave board ID distribution method for battery management system, battery management system and electric vehicle |
| CN112824137A (en) * | 2019-11-20 | 2021-05-21 | 广州汽车集团股份有限公司 | Slave plate ID distribution method for battery management system, battery management system and electric vehicle |
| CN111190850A (en) * | 2020-01-06 | 2020-05-22 | 盐城国投中科新能源科技有限公司 | BMS automatic addressing method |
| WO2021168629A1 (en) * | 2020-02-24 | 2021-09-02 | 东莞新能安科技有限公司 | Battery management system and addressing method |
| CN112255556A (en) * | 2020-04-30 | 2021-01-22 | 蜂巢能源科技有限公司 | Battery pack offline detection method and system |
| CN112255556B (en) * | 2020-04-30 | 2023-06-02 | 蜂巢能源科技有限公司 | Battery pack offline detection method and system |
| CN111586205B (en) * | 2020-05-13 | 2021-01-15 | 贵州浙储***科技有限公司 | Method for automatically allocating slave machine address in battery management system |
| CN111586205A (en) * | 2020-05-13 | 2020-08-25 | 贵州浙储***科技有限公司 | Method and device for automatically allocating slave addresses in battery management system |
| CN112565483A (en) * | 2020-12-28 | 2021-03-26 | 四川凯迈新能源有限公司 | Battery management system and address allocation and disconnection reconnection method |
| CN112904757A (en) * | 2021-01-13 | 2021-06-04 | 深圳市科列技术股份有限公司 | Slave control module address automatic coding system and method for battery management system |
| CN112866117A (en) * | 2021-02-01 | 2021-05-28 | 盐城国投中科新能源科技有限公司 | Slave automatic closed-loop addressing based on BMS (Battery management System) master-slave architecture of new energy automobile |
| CN113467300B (en) * | 2021-06-30 | 2022-07-15 | 上海重塑能源科技有限公司 | Fuel cell voltage monitoring controller, automatic numbering method and system thereof, and storage medium |
| CN113467300A (en) * | 2021-06-30 | 2021-10-01 | 上海重塑能源科技有限公司 | Fuel cell voltage monitoring controller, automatic numbering method and system thereof, and storage medium |
| CN114745220A (en) * | 2022-03-22 | 2022-07-12 | 潍柴动力股份有限公司 | Automatic addressing control method and system for master-slave distributed battery management system |
| CN114844742B (en) * | 2022-07-04 | 2022-10-21 | 广东采日能源科技有限公司 | Battery management system and control method thereof |
| CN114844742A (en) * | 2022-07-04 | 2022-08-02 | 广东采日能源科技有限公司 | Battery management system and control method thereof |
| CN115242752A (en) * | 2022-07-19 | 2022-10-25 | 中航锂电（洛阳）有限公司 | Address allocation method, device, equipment and medium for battery management system |
| CN115242752B (en) * | 2022-07-19 | 2024-04-12 | 中航锂电（洛阳）有限公司 | Address allocation method, device, equipment and medium of battery management system |
| CN117289720A (en) * | 2023-11-22 | 2023-12-26 | 黑龙江惠达科技股份有限公司 | Unmanned aerial vehicle control method and system and unmanned aerial vehicle |
| CN117289720B (en) * | 2023-11-22 | 2024-02-23 | 黑龙江惠达科技股份有限公司 | Unmanned aerial vehicle control method and system and unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106657435A (en) | Automatic addressing method and system for electric automobile cell management system | |
| CN106450518B (en) | A kind of automatic addressing method and apparatus of cell management system of electric automobile | |
| CN109466365A (en) | A kind of charging conversion method, device, system, computer equipment and storage medium | |
| CN106740190A (en) | A kind of personal identification method of charging electric vehicle | |
| CN108092288A (en) | Load control unit, AC charging system and control method | |
| CN102637352B (en) | Remote meter reading method and system, primary electric energy meter and secondary electric energy meter | |
| CN106515498A (en) | Personal identity verification device for electric car charging | |
| CN104916048A (en) | Charging control system and method based on Internet thinking, cloud platform and APP payment | |
| CN101417636A (en) | Pure electric motor coach communication system and method based on three CAN bus | |
| CN105161784A (en) | Vehicle-mounted charging method and system | |
| CN106809041A (en) | A kind of multi-functional street lamp charging pile | |
| CN111884776A (en) | Charging pile protocol consistency testing method | |
| CN109509239B (en) | SCD configuration-free generation method for secondary circuit configuration file of in-place protection device | |
| CN107203197A (en) | A kind of vehicle-state Monitoring Data collector and its acquisition method based on OBD | |
| CN209627389U (en) | Charging pile communication compatibility detection device | |
| CN103731324B (en) | Multichannel real-time concurrent charging data simulation generation method and device | |
| CN106302855B (en) | A kind of automatic addressing method and apparatus of cell management system of electric automobile | |
| CN208135892U (en) | A kind of fuel pump against payment evasion system | |
| CN205017073U (en) | Electric automobile flexibility machine that charges | |
| CN109979183A (en) | Signaling method, method of reseptance and signal transmission apparatus based on current carrier | |
| CN102338861B (en) | Method and system for evaluating performance of power supply system of automobile | |
| CN109245226A (en) | The charging unit and charging method of power battery based on cloud | |
| CN112187582B (en) | Intelligent substation process layer switch port flow monitoring pre-warning system and method | |
| CN106849349B (en) | A kind of sun square formation simulator developing Of Remote Control Power frame system | |
| CN110191435B (en) | Vehicle-mounted heterogeneous network testing system and method based on heterogeneous network controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |