CN107168289A - A kind of entire car controller of pure electronic equation motorcycle race - Google Patents
A kind of entire car controller of pure electronic equation motorcycle race Download PDFInfo
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- CN107168289A CN107168289A CN201710408741.7A CN201710408741A CN107168289A CN 107168289 A CN107168289 A CN 107168289A CN 201710408741 A CN201710408741 A CN 201710408741A CN 107168289 A CN107168289 A CN 107168289A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of entire car controller of pure electronic equation motorcycle race, including hardware components and software section；Hardware components include micro controller module, power supply interface module, AD sampling modules, CAN interface module, relay driving module, accelerator pedal acquisition module, brake pedal acquisition module, main switch state of a control acquisition module, safety return circuit and battery status acquisition module；Software section includes battery status monitoring modular, pedal state monitoring modular, motor status monitoring modular, drag evaluation module, battery SOC computing module, vehicle rule control module, protection control module and output control module；Hardware components and software section modularized processing had both been facilitated developer to carry out daily operation by the present invention, were timely and accurately found out guilty culprit when breaking down, were easy to maintenance；Integrated security loop and BMS hardware and softwares, save vehicle space and hardware cost, improve vehicle electric-control system stability, optimize overall wire sheaves arrangement.
Description
Technical field
The present invention relates to Control of Electric Vehicles field, more particularly to a kind of entire car controller of electronic equation motorcycle race.
Background technology
With the rise of pure electronic equation motorcycle race match, pure electronic equation motorcycle race is with its remarkable dynamic property, economy
Property and the feature of environmental protection receive much concern.As a kind of prototype vehicle under electric automobile concept, electronic equation motorcycle race is on dynamic structure
There is huge difference with conventional fuel oil equation motorcycle race, so the control strategy and method of conventional fuel oil equation motorcycle race are no longer
It is applicable.The application of the current existing electric-control system of domestic pure electronic equation motorcycle race, general composition has motor, electric machine controller, moved
Power battery and BMS, accelerator pedal, brake pedal and safety return circuit part control panel etc..Control program is generally that entire car controller leads to
Cross collection pedal signal, outside BMS data and carry out further controlled motor rotation, driving force is provided for vehicle.But existing scheme
There is following distinct disadvantage：It is substantial amounts of that the separation of entire car controller, BMS control panels and safety return circuit partial circuit occupies vehicle
Space, result in complicated overall wire sheaves arrangement, poor reliability and hardware cost is high.
The content of the invention
In consideration of it, it is an object of the invention to provide a kind of entire car controller of pure electronic equation motorcycle race, to solve tradition
Entire car controller is not suitable for equation motorcycle race, and traditional entire car controller and BMS control panels, safety return circuit control panel are each other
The problem of separation expends a large amount of interior spaces and hardware cost, influence vehicle electric-control system stability and wire harness difficult arrangement.
The purpose of the present invention is achieved through the following technical solutions, a kind of full-vehicle control of pure electronic equation motorcycle race
Device, including hardware components and software section；Hardware components include micro controller module, power supply interface module, AD sampling modules,
CAN interface module, relay driving module, accelerator pedal acquisition module, brake pedal acquisition module, main switch control shape
State acquisition module, safety return circuit and battery status acquisition module；Software section, which includes battery status monitoring modular, pedal state, supervises
Survey module, motor status monitoring modular, drag evaluation module, battery SOC computing module, vehicle rule control module, protection control
Molding block and output control module；
Power supply interface module is used to be connected with external power source, is that entire car controller is powered；
AD sampling modules are connected with outside sensor, gather the working condition of external sensor；
CAN interface module accesses the CAN of vehicle, and carrying out networking with electric machine controller, instrument CAN nodes leads to
Letter；
Relay driving module will control electric signal to carry out Magnetic isolation with driving electric signal；
Accelerator pedal acquisition module is by two displacement transducer signals of accelerator pedal and microcontroller two-way ADC sampling channels
Connection；
Brake pedal acquisition module is by two switching signals of brake pedal and braking oil pressure sensor signal and microcontroller
Three road ADC sampling channels connections；
Main switch state of a control acquisition module is connected with microcontroller ADC sampling channels, gathers racing car high and low voltage switch shape
State；
Safety return circuit includes safety return circuit high-pressure section, safety return circuit low-pressure section and by safety return circuit high-voltage section, safety
The isolated part that loop low-pressure section is isolated；
Battery status acquisition module is made up of cell voltage, electric current and temperature signal sampling sensor module, passes through distribution
Sensing data is gathered in the transport module of battery-end, with microcontroller by CAN group-net communication, makes entire car controller collection
Into BMS functions；
Battery status detection module is by obtaining the voltage, electric current and temperature initial data of battery status acquisition module, warp
Current battery level, electric current, state of temperature actual value are converted to after processing；
Pedal state monitoring modular gathers the initial data of displacement transducer differential signal at pedal by AD sampling modules,
Corresponding pedal travel size is obtained after calibration and calculating；
Motor status monitoring modular receives the CAN message initial data that electric machine controller is transmitted in bus by CAN protocol,
Rotating speed, the electric current of current motor, the actual value of moment of torsion are converted to after processing；
Drag evaluation module combination Current vehicle transport condition and vehicle inherent parameters, calculate Current vehicle traveling resistance
Power, calculates for target torque and provides reference；
Battery initial data estimation present battery SOC of the battery SOC computing module processing from battery status acquisition module；
Vehicle rule control module combination racing car rule is sent into row constraint to last instruction；
Protection control mould is applied to troubleshooting during to racing car high-speed cruising and the monitoring and limitation of output control parameter；
Output control module considers the current running situation of vehicle, by controlling CAN module to carry out CAN networking
Communication, control PWM outputs are controlled to corresponding electric machine actuating mechanism, control data signal output switch amount executing agency
It is controlled；
Micro controller module is drawn by the collection to initial data, analysis and transmits current desired control parameter.
Further, present battery SOC is estimated using ampere-hour method and open circuit voltage method weighting method.
By adopting the above-described technical solution, the present invention has the advantage that：
The present invention is different from the design of domestic service on buses or trains car in design, meets the particular/special requirement of race；In technology hand
By hardware components and software section modularized processing in section, developer had both been facilitated to carry out daily operation, when breaking down
Guilty culprit is timely and accurately found out, is easy to maintenance, can easily add again or modification function；In addition, integrated security is returned
Road and BMS hardware and softwares, save vehicle space and hardware cost, improve vehicle electric-control system stability, optimize whole
Vehicle wire harness is arranged.
Brief description of the drawings
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
The detailed description of one step, wherein：
Fig. 1 is the hardware system block diagram of entire car controller；
Fig. 2 is the operation principle schematic diagram of entire car controller；
Fig. 3 is the flow chart that program realizes startup of blowing a whistle；
Fig. 4 is the flow chart that program judges accelerator pedal displacement transducer；
Fig. 5 is the flow chart of application power limitation；
Fig. 6 is for the flow chart of driver's custom program.
Embodiment
Below with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail；It should be appreciated that preferred embodiment
Only for the explanation present invention, the protection domain being not intended to be limiting of the invention.
Fig. 1 illustrates the hardware system block diagram of entire car controller, mainly including micro controller module, power supply interface module,
AD sampling modules, CAN interface module, relay driving module, accelerator pedal acquisition module, brake pedal acquisition module,
Main switch state of a control acquisition module, safety return circuit and battery status acquisition module；Software section includes battery status and monitors mould
Block, pedal state monitoring modular, motor status monitoring modular, drag evaluation module, battery SOC computing module, vehicle rule control
Molding block, protection control module and output control module；
Micro controller module is the core of entire car controller data processing and analysis of strategies, by being adopted to initial data
Collection, analysis draw and transmit current desired control parameter.
Power supply interface module is connected with external power source, is that entire car controller is powered, it is ensured that its normal work.
AD sampling modules are connected with outside sensor, gather the working condition of external sensor.
CAN interface module accesses the CAN of vehicle, and carrying out networking with the CAN nodes such as electric machine controller, instrument leads to
Letter
Control electric signal in chip is carried out Magnetic isolation by relay driving module with driving electric signal, realizes microcontroller
Control of the device module to outside switching value executing agency.
Accelerator pedal acquisition module samples two linear movement pick-up signals of accelerator pedal and microcontroller two-way ADC logical
Road is connected, by being acquired progress sensor failure analysis and control-Strategy analysis to accelerator pedal two paths of differential signals.
Brake pedal acquisition module is by two switching signals of brake pedal and braking oil pressure sensor signal and microcontroller
Three road ADC sampling channels connections, by being acquired progress sensor failure analysis and control to brake pedal two paths of differential signals
Analysis of strategies processed.
Main switch state of a control acquisition module is connected with microcontroller ADC channel, gathers racing car high and low voltage switch state.
Safety return circuit is the guarantee of vehicle safety reliability service, including safety return circuit high pressure, three parts of low pressure and isolation,
Wherein isolated part is isolated using optocoupler.The integrated security loop in entire car controller, had both facilitated microcontroller to peace
The monitoring of full loop working condition, also saves interior space.
Battery status acquisition module is made up of the signal sampling sensor assembly such as cell voltage, electric current and temperature, by dividing
The transport module collection sensing data of battery-end is distributed in, with microcontroller by CAN group-net communication, makes entire car controller
It is integrated with BMS functions.
Micro controller module employs the TMS320F28035 chips of TI companies, and TMS320F28035 is that TI companies release
Flash in a C2000 Series of MCU, built-in 64K pieces, 12 ADCs, enhanced PWM module and enhanced CAN moulds
Block, with higher execution speed and perfect system protection function.TMS320F28035 provide all the way CAN2.0B passages and
Up to 16 road ADC channels, support JTAG on-line debuggings.It can be worked under -40 DEG C~125 DEG C environment, meet the need of auto industry
Ask.
Power supply interface module is connected with outside 3.3V working power, for being powered to TMS320F28035.
AD sampling modules contain two ADC converters totally 16 ADC ALT-CH alternate channels, and some reserved general purpose I/Os
Mouthful, the module is mainly used in gathering the displacement stroke analog quantity of the displacement transducer at pedal, by the first of displacement transducer
Beginning position and extreme position calibrated, the size of i.e. available pedal displacement in practice after linear process.In addition, to electricity
Cell voltage, battery current and temperature sensor simulation input are acquired, and are estimated present battery SOC states using ampere-hour method, are entered
And control is managed to battery.
The CAN that CAN interface module only needs 3.3V to power receives and dispatches driving chip SN65HVD230, and there is provided to bus
Differential send and receive function.
Relay driving module will control electric signal to carry out Magnetic isolation with driving electric signal；
Due to TMS320F28035 operating voltages 3.3V, it is impossible to directly drive external hardware such as 12V blow a whistle with 5V after
Electrical work, therefore corresponding external interface is devised in relay drive circuit.In terms of level conversion, optic coupling element is utilized
Isolate the low-voltage platform and of a relatively high external voltage platform of chip power supply, protect dsp system from external voltage
The influence of fluctuation, improves the stability of system overall work.
The initial data such as voltage, electric current and temperature of the battery status detection module by obtaining battery status acquisition module,
The actual values such as current battery level, electric current, state of temperature are converted to after processing.
Motor status monitoring modular receives the CAN message initial data that electric machine controller is transmitted in bus by CAN protocol,
Rotating speed, the electric current of current motor, the actual value of moment of torsion are converted to after processing.
Pedal state monitoring modular gathers the initial data of displacement transducer differential signal at pedal by AD sampling modules,
Corresponding pedal travel size is obtained after calibration and calculating.
Drag evaluation module combination Current vehicle transport condition and vehicle inherent parameters, calculate Current vehicle traveling resistance
Power, calculates for target torque and provides reference.
Battery SOC computing module handles the battery initial data from battery status acquisition module, using ampere-hour method and opening
Road voltage method weighting estimation present battery SOC.
Vehicle rule control module combination racing car rule is sent to last instruction into row constraint, including power limit, biography
Sensor Failure Control, the startup of vehicle, logic control of throttle and brake signal etc.
Protection control mould is applied to troubleshooting during to racing car high-speed cruising and the monitoring and limitation of output control parameter,
Power output, overheat protector and output thresholding etc. are cut off during including sensor failure.
Output control module considers the current running situation of vehicle, by controlling CAN module to carry out CAN networking
Communication, control PWM outputs are controlled to corresponding electric machine actuating mechanism, control data signal output switch amount executing agency
It is controlled.For example, in the case of motor status exception or battery status exception, motor control can be given by CAN protocol
Device processed sends instruction, cuts off all power resources；Driver according to logic is operated to racing car as defined in contest when, can root
Corresponding response is made according to the operation of driver.
Fig. 3 illustrates the operation principle schematic diagram of entire car controller, and switch detection module is to safety return circuit main switch state
Detected, can further detect vehicle current operating state.AD sampling modules gather accelerator pedal sensor and braking
Pedal sensor signal obtains driver's driving intention, and with reference to race rule, electric machine controller direct torque is sent after logic analysis
Message is controlled to vehicle traveling；The signals such as cell voltage, electric current and the temperature of the transmission of battery detecting module sensors are gathered,
Using the weighted calculation battery SOC of ampere-hour method and open circuit voltage method, corresponding battery management executing agency such as safety return circuit is controlled
Electric discharge to battery carries out conservative management, the running resistance currently calculated with reference to SOC, vehicle in addition and driver's current driving meaning
Figure optimizes output to torque.
Next the function of software section is explained in detail with reference to specific rules.
Driver step on brake pedal and meanwhile pressed in cabin driving switch requirement start blow a whistle.Fig. 4 is to realize this work(
The program flow diagram of energy.Trailing edge is produced when pressing switch to interrupt, brake signal is detected inside interruption, is 1 in brake signal
When output high level start blow a whistle.
When two displacement transducer errors at accelerator pedal are more than 10%, it is desirable to cut off all power outputs.Fig. 5 is
Realize the program flow diagram of this function.If error is more than 10% after the calibrated processing of numerical value of two displacement transducer AD samplings
When, error1 set, entire car controller is sent to electric machine controller by CAN and instructed, and disconnects institute dynamic.
Big tournament rules requirement, steps on brake pedal accelerator pedal displacement simultaneously and is more than 25%, disconnect dynamic in the process of moving
Power is exported, and only accelerator pedal recovers to 15% to step on again just to have power output.Therefore, setting special mark in program
Position, when throttle signal more than 25% and brake pedal just can set, up to braking reset and throttle returns to 15%
Within could remove.
When any one sensor failure on car, it is desirable to disconnect all outputs.Set in program for each sensor
Double passage differential signal sampling has been put, when meeting failure condition, error3 set.
Power cannot exceed 80kW during big tournament rules requirement, traveling.Fig. 6 is the program circuit for realizing this function
Figure.Moment coefficient is provided with inside program, 1 is defaulted as, entire car controller is communicated with electric machine controller in real time by CAN protocol,
The electric current and rotating speed message of motor are gathered, when close to or up critical power, moment coefficient, torque-limiting output is reduced.
Above-mentioned entire car controller can meet power demand of the driver to different pedal travels on control strategy, control plan
Slightly flexibly, output logic, the method that Fig. 6 illustrates program customization can be easily customized in program；One in ins and outs
Aspect is reduced accidental error, on the other hand realized using bit field structure using the method pretreatment sampled data of mean filter
CANopen message datas form is changed, and improves program work efficiency.
The present invention is with race rule for basic control law design premises, and integrated BMS and safety return circuit partial circuit is saved
Vehicle space and cost, improve vehicle electric-control system stability, and optimization overall wire sheaves arrangement is easy to entire car controller directly right
Battery carries out protection control, main switch state is acquired.
In the present invention, battery status acquisition module is independently of entire car controller, and battery status acquisition module is by battery electricity
The signal sampling sensor assemblies such as pressure, electric current and temperature composition, sensor number is gathered by the transport module for being distributed in battery-end
It is believed that number by vehicle CAN interface module connect entire car controller, further, during utilization pacify method and open-circuit voltage hair plus
Power calculating obtains battery SOC, further, performs BMS software control management function, independent BMS controls are also saved in addition
Space and cost shared by plate.
In the present invention, circuit part is integrated with the partial circuit of safety return circuit, is subject to high-low pressure isolation and ensures vehicle control
The reliability of device processed, is the state-detection that main switch and module switch can be achieved by internal cabling further, in addition,
The interior space of safety return circuit control panel occupancy is saved, further, vehicle operating status can be detected, analyze vehicle trouble
Reason etc..
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, it is clear that those skilled in the art
Member can carry out various changes and modification to the present invention without departing from the spirit and scope of the present invention.So, if the present invention
These modifications and variations belong within the scope of the claims in the present invention and its equivalent technologies, then the present invention is also intended to include these
Including change and modification.
Claims (2)
1. a kind of entire car controller of pure electronic equation motorcycle race, it is characterised in that：Including hardware components and software section；Hardware
Part include micro controller module, power supply interface module, AD sampling modules, CAN interface module, relay driving module,
Accelerator pedal acquisition module, brake pedal acquisition module, main switch state of a control acquisition module, safety return circuit and battery status are adopted
Collect module；Software section includes battery status monitoring modular, pedal state monitoring modular, motor status monitoring modular, resistance gauge
Calculate module, battery SOC computing module, vehicle rule control module, protection control module and output control module；
Power supply interface module is used to be connected with external power source, is that entire car controller is powered；
AD sampling modules are connected with outside sensor, gather the working condition of external sensor；
CAN interface module accesses the CAN of vehicle, and group-net communication is carried out with electric machine controller, instrument CAN nodes；After
Electrical equipment drive module will control electric signal to carry out Magnetic isolation with driving electric signal；
Accelerator pedal acquisition module connects two displacement transducer signals of accelerator pedal and microcontroller two-way ADC sampling channels
Connect；
Brake pedal acquisition module is by two switching signals of brake pedal and braking oil pressure sensor signal and the tunnel of microcontroller three
ADC sampling channels are connected；
Main switch state of a control acquisition module is connected with microcontroller ADC sampling channels, gathers racing car high and low voltage switch state；
Safety return circuit includes safety return circuit high-pressure section, safety return circuit low-pressure section and by safety return circuit high-voltage section, safety return circuit
The isolated part that low-pressure section is isolated；
Battery status acquisition module is made up of cell voltage, electric current and temperature signal sampling sensor module, by being distributed in electricity
Chi Duan transport module collection sensing data, with microcontroller by CAN group-net communication, is integrated with entire car controller
BMS functions；
Battery status detection module is by obtaining the voltage, electric current and temperature initial data of battery status acquisition module, through processing
After be converted to current battery level, electric current, state of temperature actual value；
Pedal state monitoring modular gathers the initial data of displacement transducer differential signal at pedal by AD sampling modules, passes through
Corresponding pedal travel size is obtained after calibration and calculating；
Motor status monitoring modular receives the CAN message initial data that electric machine controller is transmitted in bus by CAN protocol, through place
Rotating speed, the electric current of current motor, the actual value of moment of torsion are converted to after reason；
Drag evaluation module combination Current vehicle transport condition and vehicle inherent parameters, calculate Current vehicle running resistance,
Calculated for target torque and reference is provided；
Battery initial data estimation present battery SOC of the battery SOC computing module processing from battery status acquisition module；
Vehicle rule control module combination racing car rule is sent into row constraint to last instruction；
Protection control mould is applied to troubleshooting during to racing car high-speed cruising and the monitoring and limitation of output control parameter；
Output control module considers the current running situation of vehicle, is led to by controlling CAN module to carry out CAN networking
Letter, control PWM outputs are controlled to corresponding electric machine actuating mechanism, and control data signal output switch amount executing agency enters
Row control；
Micro controller module is drawn by the collection to initial data, analysis and transmits current desired control parameter.
2. a kind of entire car controller of pure electronic equation motorcycle race according to claim 1, it is characterised in that：Using ampere-hour
Method and open circuit voltage method weighting method estimate present battery SOC.
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| CN201710408741.7A CN107168289B (en) | 2017-06-02 | 2017-06-02 | A kind of entire car controller of pure electric vehicle equation motorcycle race |
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Cited By (2)
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| CN112026672A (en) * | 2020-08-21 | 2020-12-04 | 东南大学 | Electricelectric moves whole car electrical system of equation motorcycle race |
| CN112078561A (en) * | 2020-08-25 | 2020-12-15 | 浙江工业大学 | Driving control method for FSEC racing car |
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| Publication number | Publication date |
|---|---|
| CN107168289B (en) | 2019-10-01 |
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