CN108248598A - A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method - Google Patents
A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method Download PDFInfo
- Publication number
- CN108248598A CN108248598A CN201810016426.4A CN201810016426A CN108248598A CN 108248598 A CN108248598 A CN 108248598A CN 201810016426 A CN201810016426 A CN 201810016426A CN 108248598 A CN108248598 A CN 108248598A
- Authority
- CN
- China
- Prior art keywords
- failure
- removal
- pedal
- generator
- wheel hub
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention provides a kind of hybrid electric vehicle driven by wheel hub Failure Control method, first parallel failure of removal trend identification：According to the characteristic parameter corresponding to different failure of removal, a variety of message signals is selected to carry out trend identification or judgement to failure of removal；Specifically include electronic pedal, power battery high pressure management system, the direct-connected system of generator of engine and distributed In-wheel motor driving system failure identification；Then according to failure of removal trend recognition result, failure of removal pretreatment is carried out by the control strategy of active accommodation distribution In-wheel motor driving system；Two-stage that finally failure of removal occurred is alerted and alarmed according to severity is classified, and is handled respectively by rank.Failure of removal between each system is judged and handled as parallel configurations, it cooperates between each other, the control strategy of active accommodation distribution In-wheel motor driving system is capable of under the premise of vehicle driving safety is ensured to ensure riding stability of vehicle when in face of failure of removal.
Description
Technical field
The invention belongs to wheel hub motor distributions to drive technical field of automobile control, and in particular to a kind of In-wheel motor driving
Hybrid vehicle Failure Control system and method.
Background technology
As shown in Figure 1, hybrid electric vehicle driven by wheel hub Failure Control system is mainly direct-connected by Engine-Generator
System, power battery-high pressure management system, wheel hub motor-hub motor control device drive system, electronic pedal system, vehicle
Controller forms, and carries out energy transmission by high-tension cable between each system, carries out information exchange by low pressure CAN lines.With
Conventional truck is compared, and system complexity is big, each system status information is numerous and jumbled, therefore, how actively to judge that failure of removal is sent out
Raw trend, reasonably to carry out vehicle Redundant Control, design preferable control system framework be vehicle failure of removal control system
One of key technology of system.
Compared with centralization drives electric vehicle, distributed In-wheel motor driving automobile can individually carry out each wheel
Accurate control.On the one hand vehicle can be improved in dynamic property, passability, Anti-slip regulation, intact stability, vehicle efficiency optimization side
The control effect in face；On the other hand, driving condition, the vehicle that the generation of remaining thrashing failure of vehicle can be directly to each wheel
Riding stability has an impact.Therefore, how to make the failure of removal processing module of each system and In-wheel motor driving system
Co-ordination is to ensure that vehicle run stability and safety are one of difficult points of vehicle failure of removal control system.
Meanwhile the failure of removal of multiple In-wheel motor driving systems, there are many assembled state, different assembled states needs
Different processing methods is used to ensure the travel safety under various driving cycles.Therefore, the wheel based on automobile dynamics
The design of hub motor driven systems failure of removal processing module is one of difficult point of vehicle failure of removal control system.
Invention content
The technical problem to be solved by the present invention is to：A kind of hybrid electric vehicle driven by wheel hub Failure Control system is provided
And method, to ensure riding stability of vehicle when in face of failure of removal.
The technical solution taken by the invention to solve the above technical problem is：A kind of In-wheel motor driving hybrid power vapour
Vehicle Failure Control method, it is characterised in that：It includes the following steps：
S1, the identification of failure of removal trend：According to the characteristic parameter corresponding to different failure of removal, a variety of message signals pair are selected
Failure of removal carries out trend identification or judgement；It specifically includes：
Electronic pedal failure of removal identifies：According to the opening amount signal of electronic pedal, the failure event that electronic pedal system has occurred
Barrier carries out logic judgment and identification；
Power battery-high pressure management system failure identification：It is dynamic to characterizing for entire car controller that system feedback is managed according to high pressure
The message information of power battery and vehicle high-voltage safety system failure of removal loses power battery, vehicle high-voltage security system
It imitates the type of failure and possibility carries out failure of removal trend identification, and the power battery to having occurred, vehicle high-voltage are safely
The type of system failure of removal is identified；
The direct-connected system failure identification of Engine-Generator：Hair can be characterized according to what generator, engine fed back to entire car controller
The message information of motor and power failure failure, with reference to the busbar voltage of generator, bus current, generator speed, power generation
Machine stator temperature and engine controller temperature occur the type of failure of removal to generator, engine and possibility are lost
Fault trend identification is imitated, and the generator to having occurred, the type of power failure failure are identified；
Distributed In-wheel motor driving system：Each wheel can be characterized to entire car controller according to In-wheel motor driving system feedback
The message information of hub motor driven systems failure of removal turns with reference to the busbar voltage of each wheel hub motor, bus current, wheel hub motor
To each In-wheel motor driving system failure of removal occurs for speed, wheel hub motor stator temperature and hub motor control device temperature
Type and possibility carry out failure of removal trend identification, and the class of each In-wheel motor driving thrashing failure to having occurred
Type is identified；
S2, failure of removal pretreatment：According to failure of removal trend recognition result, pass through active accommodation distribution In-wheel motor driving
The control strategy of system carries out failure of removal pretreatment；It specifically includes：
Power battery-high pressure management thrashing failure pretreatment：By limiting vehicle demand power, control acoustic-optic alarm
To prompt driver, guarantee vehicle safety deceleration；
The direct-connected thrashing failure pretreatment of Engine-Generator：By limiting vehicle demand power, control acoustic-optic alarm
To prompt driver, guarantee vehicle safety deceleration；
Distributed In-wheel motor driving thrashing failure pretreatment：Calculate speed, body gesture signal, limited target wheel hub electricity
The demand power of machine and coaxial offside wheel hub motor, control acoustic-optic alarm prompt driver, ensure that vehicle safety slows down；
S3, the failure of removal occurred classification post processing：The failure of removal occurred is alerted and reported according to severity
Alert two-stage classification, is handled respectively by rank；It specifically includes：
The processing of electronic pedal system：Then it is warning, then using all the way when the opening amount signal of only certain electronic pedal all the way is faulty
Normal opening amount signal is halved the torque command for being sent to each In-wheel motor driving system with conveying driver intention；
If two-way opening amount signal is faulty, for alarm, then the output power of all In-wheel motor driving systems is limited, into limping
Pattern；
Power battery-high pressure management system processing：Warning, then power battery voluntarily limits charge-discharge electric power, limits all wheel hubs
The output power of motor driven systems, into limping pattern；Alarm, then cutting overall height pressure, vehicle operate brake by driver
Pedal slows down until parking；
The direct-connected system processing of Engine-Generator：Warning, then Engine-Generator system voluntarily limits output power, same to time limit
System is sent to the torque command of each In-wheel motor driving system；Alarm, then the direct-connected system of Engine-Generator, which enters, unloads guarantor
Shield pattern works, generator idle running, the output power of all In-wheel motor driving systems is limited, into limping pattern；
Distributed In-wheel motor driving system processing：Warning, then In-wheel motor driving system voluntarily limits output power, vehicle control
Device processed synchronizes limited target In-wheel motor driving system with the torque command of coaxial offside In-wheel motor driving system to avoid attached
Add the generation of yaw moment；Alarm, then In-wheel motor driving system uninstallation idle running, limits vehicle demand power, and vehicle enters brake
Vehicle mode of priority, driver pass through power steering, brake assist system secure parking.
As stated above, this method further includes the survey of high pressure power-on self-test：Powering on link in high pressure, each system is to vehicle
No there are failure of removal to test, if there are failure of removal or CAN line communication issues, entire car controller to judge that high pressure powers on
It is unsuccessful, it can not drive a vehicle.
As stated above, the opening amount signal of the electronic pedal is acquired by rotary angle transmitter, is led to after AD conversion
It crosses mean filter technology to be filtered, 2 tunnels of output have the one high and one low digital signal of 2 times of proportionate relationships in stroke.
As stated above, using the one high and one low digital signal, with change rate limit value diagnostic module, electronics is stepped on
The failure of removal of plate system is divided into mutation with stagnating two kinds；
The change rate limit value diagnostic module is specifically judged in the following manner：If Pedal_H or Pedal_L double samplings
Numerical value is constant and frequency is more than n times or recurs n times in 2N sampling, then it is assumed that electronic pedal occurs and stagnates event
Barrier；If the difference of Pedal_H or Pedal_L double sampling numerical value is more than n times or company more than frequency in threshold value and 2N sampling
Supervention gives birth to n times, then it is assumed that electronic pedal mutation failure occurs；N is preset sampling number.
As stated above, when carrying out the judgement of failure of removal of electronic pedal system, one high and one low digital signal is deposited
Sporadic failure and interference in short-term be filtered, the sporadic failure and in short-term interference are that failure or digital signal are done
The time is disturbed less than scheduled number of seconds.
As stated above, the aperture that high digital signal of being subject to carries out electronic pedal system calculates, and low digital signal is used for
Compared with high digital signal, digital signal reasonability breakdown judge is carried out.
As stated above, the aperture of electronic pedal system being calculated is compared with the aperture threshold value to prestore, is judged
Signal line shorted to earth, the failure of removal to power supply short circuit and open circuit.
As stated above, in the S3, also sound-light alarm is carried out by rank.
A kind of hybrid electric vehicle driven by wheel hub Failure Control system, it is characterised in that：Including engine controller,
Generator, power battery-high pressure management system, entire car controller, electronic pedal system, wheel hub motor, hub motor control device
And memory；Wherein,
The driving signal input of generator, status feedback signal output terminal export respectively with the drive signal of engine controller
End, the connection of Generator Status feedback signal input terminal, the control signal input of engine controller, status feedback signal output
End is connect respectively with the control signal output of entire car controller, status feedback signal input terminal；
The control signal input of power battery-high pressure management system, status feedback signal output terminal respectively with entire car controller
Control signal output, status feedback signal input terminal connection；
Electronic pedal system includes electronic brake pedal and electronic accelerator pedal, electronic brake pedal and electronic accelerator pedal difference
Simulation opening amount signal is exported by rotary angle transmitter, is changed into digital signal by a/d conversion device, digital signal output end with
The status feedback signal input terminal connection of entire car controller；
The driving signal input of wheel hub motor, status feedback signal the output terminal drive signal with hub motor control device respectively
Output terminal, the connection of wheel hub motor status feedback signal input terminal, control signal input, the feedback of status of hub motor control device
Signal output end is connect respectively with the control signal output of entire car controller, status feedback signal input terminal；
When four wheel hub motors are under driving condition, power battery pack and generator cooperation when driving load is relatively low, are moved
The extra electric energy of power battery receptacle generator, when driving load is higher, power battery provides together with generator to wheel hub motor
Electric energy；
Using mechanical connection, driven by engine electrical power generators between generator and engine system；
Have director demon in memory to call for entire car controller, so as to complete the In-wheel motor driving hybrid power
Automobile Failure Control method.
Beneficial effects of the present invention are：Electronic pedal, power battery-high pressure management system, the direct-connected system of Engine-Generator
Failure of removal between system, distributed In-wheel motor driving system judges and handles as parallel configurations, respectively to will occur with
The failure of removal having occurred and that is judged, is cooperated between each other, can under the premise of vehicle driving safety is ensured
The control strategy of active accommodation distribution In-wheel motor driving system is to ensure driving stability of vehicle when in face of failure of removal
Property, and the failure of removal to having occurred carries out classification processing.
Description of the drawings
Fig. 1 is the parallel-connection structure figure of vehicle failure of removal processing module.
Fig. 2 is electronic pedal system level failure of removal processing method Organization Chart.
Fig. 3 manages system level failure of removal processing method Organization Chart for power battery-high pressure.
Fig. 4 is the direct-connected system level failure of removal processing method Organization Chart of Engine-Generator.
Fig. 5 is distributed In-wheel motor driving system level failure of removal processing method Organization Chart.
Specific embodiment
With reference to specific example and attached drawing, the present invention will be further described.
The present invention provides a kind of hybrid electric vehicle driven by wheel hub Failure Control system, as shown in Figure 1, including power generation
Machine controller, generator, power battery-high pressure management system, entire car controller, electronic pedal system, wheel hub motor, wheel hub electricity
Machine controller and memory are communicated by CAN lines from each other or transmit electric energy by high-tension cable.Wherein, vehicle
Controller plays the role of judging identification, transfers other systems collaborative work.Wherein,
The driving signal input of generator, status feedback signal output terminal export respectively with the drive signal of engine controller
End, the connection of Generator Status feedback signal input terminal, the control signal input of engine controller, status feedback signal output
End is connect respectively with the control signal output of entire car controller, status feedback signal input terminal；
The control signal input of power battery-high pressure management system, status feedback signal output terminal respectively with entire car controller
Control signal output, status feedback signal input terminal connection；
Electronic pedal system includes electronic brake pedal and electronic accelerator pedal, electronic brake pedal and electronic accelerator pedal difference
Simulation opening amount signal is exported by rotary angle transmitter, is changed into digital signal by a/d conversion device, digital signal output end with
The status feedback signal input terminal connection of entire car controller；
The driving signal input of wheel hub motor, status feedback signal the output terminal drive signal with hub motor control device respectively
Output terminal, the connection of wheel hub motor status feedback signal input terminal, control signal input, the feedback of status of hub motor control device
Signal output end is connect respectively with the control signal output of entire car controller, status feedback signal input terminal；
When four wheel hub motors are under driving condition, power battery pack and generator cooperation when driving load is relatively low, are moved
The extra electric energy of power battery receptacle generator, when driving load is higher, power battery provides together with generator to wheel hub motor
Electric energy；
Using mechanical connection, driven by engine electrical power generators between generator and engine system；
There is director demon in memory to call for entire car controller, be lost so as to complete hybrid electric vehicle driven by wheel hub
Imitate control method.
The hybrid electric vehicle driven by wheel hub Failure Control method, it includes the following steps：
S1, the identification of failure of removal trend：According to the characteristic parameter corresponding to different failure of removal, a variety of message signals pair are selected
Failure of removal carries out trend identification or judgement；It specifically includes：
Electronic pedal failure of removal identifies：According to the opening amount signal of electronic pedal, the failure event that electronic pedal system has occurred
Barrier carries out logic judgment and identification.
When electronic pedal works, the rotary angle transmitter assembled on pedal can export analog signal, and after collection of simulant signal
Inevitably there are impulse disturbances, the digital signal exported with mean filter technology to electronic pedal is filtered, and effectively increases number
The smoothness of word signal；The two-way output digit signals of electronic pedal are set as high and low two-way simultaneously：Pedal_Input_H
And Pedal_Input_L, two paths of signals have 2 times of proportionate relationships in stroke：Pedal_Input_H≈Pedal_Input_L*
2, binary channels setting serious forgiveness higher, fault identification effect compared with single channel is set is more preferable.The failure of removal includes number
Word sign mutation failure, digital signal stuck fault, digital signal reasonability failure, electronic pedal line-to-ground short circuit failure,
Electronic pedal circuit is to power supply short circuit failure and electronic pedal open lines failure.
It is parsed after the digital signal of electronic pedal is filtered by specific resolution ratio, makes acceleration, brake pedal
The digital signal of output represents the real-time aperture of pedal, the intention of preferable reflection driver in the form of percentage, and then whole
Vehicle controller is according to drive mode（Hybrid power driving/pure electric vehicle）Calculate dynamical system peak values in real time output power and with electricity
The real-time aperture of pedal of sub- accelerator pedal output（Percentage）Be multiplied is to obtain entire car controller to be sent to wheel hub motor drive in real time
The power request of dynamic system, while also there are many Redundant Controls in the Real Time Effect power request, such as Anti-slip regulation control, driving
Force adaptive control, generator Loading Control, power battery charge-discharge electric power self adaptive control etc..But turn when electronic pedal
When angle transducer breaks down, the problem of digital signal will appear distortion, vehicle cannot respond to driver intention or even can be serious
Influence the driving safety of vehicle；For the above situation, exported and believed according to the electronic pedal two-way of obtained filtered processing
Number Pedal_Input_H, Pedal_Input_L diagnose with change rate limit value, the failure of removal of digital signal are divided into mutation
With stagnating two kinds.If Pedal_H or Pedal_L double sampling numerical value is constant and frequency is more than predetermined in 200 samplings
Sampling number（Such as 100 times）Or recur scheduled sampling number（Such as 100 times）, then it is assumed that there is electronic pedal
Stuck fault；If the difference of Pedal_H or Pedal_L double sampling numerical value is more than threshold value and scheduled sampling number（Such as 200
It is secondary）Frequency is more than half or recurs a demidegree in sampling, then it is assumed that electronic pedal mutation failure occurs.
Double-channel signal is there are sporadic failure and interferes in short-term, thus can in short-term, suddenly trigger electronic pedal system
Failure of removal classification processing module, and then influence electronic pedal system to the continuity of Driver intention recognition, cause to travel
Ride comfort is greatly negatively affected；For the above situation, disappear the technology of trembling with failure, it will be accidental existing for double-channel signal
Property failure or in short-term interference effectively filtered, avoid the triggering in short-term of fail safe program.
Pedal aperture meter is carried out according to obtained electronic pedal two-way output signal Zhong Gao road signal Pedal_Input_H
It calculates, while uses binary channels comparative approach, the low path signal in the electronic pedal two-way output signal obtained according to step 2-1
Pedal_Input_L monitors high railway digital signal in real time and whether there is reasonability failure.
It, will be filtered using threshold diagnostic/limiting value diagnostic method according to obtained electronic pedal two-way output signal
Acceleration/brake pedal signal is compared with the threshold value being pre-stored in entire car controller, can be with efficient diagnosis signal line over the ground
Short circuit, to failures such as power supply short circuit and open circuits.
Power battery-high pressure management system failure identification：System is managed according to high pressure（BMS）Feed back to entire car controller
The message information of power battery and vehicle high-voltage safety system failure of removal can be characterized, is safely to power battery, vehicle high-voltage
The type of failure of removal occurs for system and possibility carries out failure of removal trend identification, and the power battery to having occurred, vehicle are high
The type of pressure security system failure of removal is identified.
The direct-connected system failure identification of Engine-Generator：The energy table of entire car controller is fed back to according to generator, engine
Levy motor and the message information of power failure failure, with reference to the busbar voltage of generator, bus current, generator speed,
Generator unit stator temperature and engine controller temperature, to generator, engine occur failure of removal type and possibility into
Row failure of removal trend identifies, and the generator to having occurred, the type of power failure failure are identified.
Distributed In-wheel motor driving system：It is each to characterizing for entire car controller according to In-wheel motor driving system feedback
The message information of a In-wheel motor driving thrashing failure, with reference to the busbar voltage of each wheel hub motor, bus current, wheel hub electricity
Each In-wheel motor driving system occurs for machine rotating speed, wheel hub motor stator temperature and hub motor control device temperature failure event
The type and possibility of barrier carry out failure of removal trend identification, and each In-wheel motor driving thrashing failure to having occurred
Type be identified.
S2, failure of removal pretreatment：According to failure of removal trend recognition result, pass through active accommodation distribution wheel hub motor
The control strategy of drive system carries out failure of removal pretreatment；It specifically includes：
Power battery-high pressure management thrashing failure pretreatment：Identify power battery occur failure of removal trend or
After vehicle high-pressure system has security risk, gas pedal resolution ratio is halved, controls acoustic-optic alarm by entire car controller, makes to drive
The person of sailing cooperates with power battery-high pressure management thrashing fault processing module, in the premise for ensureing vehicle safety deceleration
Under, failure of removal is controlled in non-triggering state as much as possible.
The direct-connected thrashing failure pretreatment of Engine-Generator：Identify that generator, engine occur failure of removal
Trend after, gas pedal resolution ratio is halved, controls acoustic-optic alarm by entire car controller, makes driver and engine-hair
Motor direct-connected thrashing fault processing module cooperates, and under the premise of ensureing that vehicle safety slows down, will lose as much as possible
Fault Control is imitated in non-triggering state.
Distributed In-wheel motor driving thrashing failure pretreatment：Identify some or multiple wheel hub motors-wheel hub electricity
After machine controller system occurs the trend of failure of removal, COMPREHENSIVE CALCULATING speed, body gesture signal obtain torque command adjusting
Measure △ T, under the premise of riding stability is ensured, entire car controller according to △ T synchronize reduce be sent to target wheel hub motor and
The torque command of coaxial offside wheel hub motor, control acoustic-optic alarm, make driver and distributed In-wheel motor driving system
Failure of removal processing module cooperates, and under the premise of ensureing that vehicle safety slows down, as much as possible controls failure of removal
Non- triggering state.
S3, the failure of removal occurred classification post processing：The failure of removal occurred is alerted according to severity
" warning " and alarm " alarm " two-stage classification, is handled respectively by rank.It is whole after vehicle has the tendency that occurring failure of removal
Vehicle controller is by active accommodation vehicle demand power and coordinates driver's deceleration-operation that vehicle safety is made to slow down, if vehicle reduction of speed
Afterwards, failure of removal occurrence tendency fails effectively to be contained, failure of removal then occurs for vehicle, and each parallel operation module starts
Carry out the classification post processing of failure of removal.It specifically includes：
The processing of electronic pedal system：Then it is warning, then using all the way when the opening amount signal of only certain electronic pedal all the way is faulty
Normal opening amount signal is halved the torque command for being sent to each In-wheel motor driving system with conveying driver intention；
If two-way opening amount signal is faulty, for alarm, then the output power of all In-wheel motor driving systems is limited, into limping
Pattern.Specifically, processing electronic pedal system " warning " early warning failure：Entire car controller is using normal pedal letter all the way
Number to convey driver intention, and the torque command for being sent to each In-wheel motor driving system is halved, so as to transport vehicle
Row is in comparatively safe low power state, entire car controller triggering " warning " alarm signal.Handle electronic pedal system
" alarm " early warning failure：Entire car controller limits all wheel hub motors according to the power of the running resistance at a slow speed severe being calculated
Vehicle max. speed is limited within 5km/h by the output power of drive system, i.e., into limping pattern, entire car controller touches
Send out " alarm " alarm signal.
Power battery-high pressure management system processing：It alerts, then power battery voluntarily limits charge-discharge electric power, and limitation is all
The output power of In-wheel motor driving system, into limping pattern；Alarm, then cutting overall height pressure, vehicle are operated by driver
Brake pedal slows down until parking.Specifically, processing power battery-high pressure management system " warning " early warning failure：Power electric
Pond voluntarily limits charge-discharge electric power, it is contemplated that if failure level continues to upgrade, vehicle high pressure will be cut off, and be lost brake, be turned to
Power-assisted, driver can not safety operation control vehicle parking, thus entire car controller is according to the running resistance power at a slow speed being calculated
Severe limits the output power of all In-wheel motor driving systems, vehicle max. speed is limited within 5km/h, i.e., into lame
Row pattern, while trigger " warning " signal.Handle power battery-high pressure management system " alarm " early warning failure：Power electric
Pond-high-pressure system cutting overall height pressure, vehicle operate brake pedal by driver and slow down until stopping, while trigger " alarm "
Signal.
The direct-connected system processing of Engine-Generator：Warning, then Engine-Generator system voluntarily limits output power, together
When limitation be sent to the torque command of each In-wheel motor driving system；Alarm, then the direct-connected system of Engine-Generator, which enters, unloads
Protected mode work is carried, generator dallies, and the output power of all In-wheel motor driving systems is limited, into limping pattern.Tool
Body, handle the direct-connected system of Engine-Generator " warning " early warning failure：Engine-Generator system voluntarily limits output
Power, while entire car controller is according to the defeated of all In-wheel motor driving systems of resistance power limit of driving at moderate speed being calculated
Go out power, vehicle max. speed is limited within 30km/h, is i.e. limitation is sent to the torque of each In-wheel motor driving system
It orders and triggers " warning " pre-warning signal.Handle the direct-connected system of Engine-Generator " alarm " alarm failure：Engine-
The direct-connected system of generator enters the work of unloading protecting pattern, generator idle running, to prevent generator system from irreversible damage occurs
Bad, entire car controller limits the output of all In-wheel motor driving systems according to the power of the running resistance at a slow speed severe being calculated
Vehicle max. speed is limited within 5km/h by power, i.e., pure electric limping pattern, while triggers " alarm " signal.
Distributed In-wheel motor driving system processing：Warning, then In-wheel motor driving system voluntarily limits output power, whole
Vehicle controller synchronizes the torque command of limited target In-wheel motor driving system and coaxial offside In-wheel motor driving system to keep away
Exempt from the generation of additional yaw moment；Alarm, then In-wheel motor driving system uninstallation dally, limit vehicle demand power, vehicle into
Enter the mode of priority that brakes, driver passes through power steering, brake assist system secure parking.Specifically, the distributed wheel hub of processing
Motor driven systems " warning " early warning failure：In-wheel motor driving system voluntarily limits output power, and entire car controller synchronizes
The torque command of limited target In-wheel motor driving system and coaxial offside In-wheel motor driving system is to avoid additional sideway power
The generation of square, while trigger " warning " signal.Distributed In-wheel motor driving system " alarm " alarm failure of processing：Wheel hub
Motor driven systems unloading idle running, to prevent wheel hub motor system from irreversible damage occurs, and ensures the driving stability of vehicle
Property, vehicle demand power is reduced to zero, vehicle enters brake mode of priority, and driver passes through power steering, brake assist system
Secure parking, while trigger " alarm " signal.
This method further includes the survey of high pressure power-on self-test：Powering on link in high pressure, each system whether there is failure event to vehicle
Barrier is tested, if there are failure of removal or CAN line communication issues, it is unsuccessful that entire car controller judges that high pressure powers on, can not
Driving.
The vehicle failure of removal processing module of the present invention is not only applicable to serial mixed power wheel hub electricity shown in FIG. 1
Machine distribution driving automobile can use the present invention to vehicle failure event using the new energy vehicle of Electric Motor Wheel distribution driving
Barrier is identified and handles, and ensures that the distributed driving vehicle of height motorized is powering on, coping with high pressure in driving process safely
The failure of removal that driving part, high-voltage energy storage component and motorized attachment occur.
Above example is merely to illustrate the design philosophy and feature of the present invention, and its object is to make technology in the art
Personnel can understand present disclosure and implement according to this, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
The equivalent variations made according to disclosed principle, mentality of designing or modification, within protection scope of the present invention.
Claims (9)
- A kind of 1. hybrid electric vehicle driven by wheel hub Failure Control method, it is characterised in that：It includes the following steps：S1, the identification of failure of removal trend：According to the characteristic parameter corresponding to different failure of removal, a variety of message signals pair are selected Failure of removal carries out trend identification or judgement；It specifically includes：Electronic pedal failure of removal identifies：According to the opening amount signal of electronic pedal, the failure event that electronic pedal system has occurred Barrier carries out logic judgment and identification；Power battery-high pressure management system failure identification：It is dynamic to characterizing for entire car controller that system feedback is managed according to high pressure The message information of power battery and vehicle high-voltage safety system failure of removal loses power battery, vehicle high-voltage security system It imitates the type of failure and possibility carries out failure of removal trend identification, and the power battery to having occurred, vehicle high-voltage are safely The type of system failure of removal is identified；The direct-connected system failure identification of Engine-Generator：Hair can be characterized according to what generator, engine fed back to entire car controller The message information of motor and power failure failure, with reference to the busbar voltage of generator, bus current, generator speed, power generation Machine stator temperature and engine controller temperature occur the type of failure of removal to generator, engine and possibility are lost Fault trend identification is imitated, and the generator to having occurred, the type of power failure failure are identified；Distributed In-wheel motor driving system：Each wheel can be characterized to entire car controller according to In-wheel motor driving system feedback The message information of hub motor driven systems failure of removal turns with reference to the busbar voltage of each wheel hub motor, bus current, wheel hub motor To each In-wheel motor driving system failure of removal occurs for speed, wheel hub motor stator temperature and hub motor control device temperature Type and possibility carry out failure of removal trend identification, and the class of each In-wheel motor driving thrashing failure to having occurred Type is identified；S2, failure of removal pretreatment：According to failure of removal trend recognition result, pass through active accommodation distribution In-wheel motor driving The control strategy of system carries out failure of removal pretreatment；It specifically includes：Power battery-high pressure management thrashing failure pretreatment：By limiting vehicle demand power, control acoustic-optic alarm To prompt driver, guarantee vehicle safety deceleration；The direct-connected thrashing failure pretreatment of Engine-Generator：By limiting vehicle demand power, control acoustic-optic alarm To prompt driver, guarantee vehicle safety deceleration；Distributed In-wheel motor driving thrashing failure pretreatment：Calculate speed, body gesture signal, limited target wheel hub electricity The demand power of machine and coaxial offside wheel hub motor, control acoustic-optic alarm prompt driver, ensure that vehicle safety slows down；S3, the failure of removal occurred classification post processing：The failure of removal occurred is alerted and reported according to severity Alert two-stage classification, is handled respectively by rank；It specifically includes：The processing of electronic pedal system：Then it is warning, then using all the way when the opening amount signal of only certain electronic pedal all the way is faulty Normal opening amount signal is halved the torque command for being sent to each In-wheel motor driving system with conveying driver intention； If two-way opening amount signal is faulty, for alarm, then the output power of all In-wheel motor driving systems is limited, into limping Pattern；Power battery-high pressure management system processing：Warning, then power battery voluntarily limits charge-discharge electric power, limits all wheel hubs The output power of motor driven systems, into limping pattern；Alarm, then cutting overall height pressure, vehicle operate brake by driver Pedal slows down until parking；The direct-connected system processing of Engine-Generator：Warning, then Engine-Generator system voluntarily limits output power, same to time limit System is sent to the torque command of each In-wheel motor driving system；Alarm, then the direct-connected system of Engine-Generator, which enters, unloads guarantor Shield pattern works, generator idle running, the output power of all In-wheel motor driving systems is limited, into limping pattern；Distributed In-wheel motor driving system processing：Warning, then In-wheel motor driving system voluntarily limits output power, vehicle control Device processed synchronizes limited target In-wheel motor driving system with the torque command of coaxial offside In-wheel motor driving system to avoid attached Add the generation of yaw moment；Alarm, then In-wheel motor driving system uninstallation idle running, limits vehicle demand power, and vehicle enters brake Vehicle mode of priority, driver pass through power steering, brake assist system secure parking.
- 2. hybrid electric vehicle driven by wheel hub Failure Control method according to claim 1, it is characterised in that：We Method further includes the survey of high pressure power-on self-test：Powering on link in high pressure, each system is tested with the presence or absence of failure of removal to vehicle, If there are failure of removal or CAN line communication issues, it is unsuccessful that entire car controller judges that high pressure powers on, and can not drive a vehicle.
- 3. hybrid electric vehicle driven by wheel hub Failure Control method according to claim 1, it is characterised in that：It is described The opening amount signal of electronic pedal acquired by rotary angle transmitter, be filtered after AD conversion by mean filter technology, Export 2 tunnels has the one high and one low digital signal of 2 times of proportionate relationships in stroke.
- 4. hybrid electric vehicle driven by wheel hub Failure Control method according to claim 3, it is characterised in that：It utilizes One high and one low digital signal, that is, the Pedal_H and Pedal_L, with change rate limit value diagnostic module, by electronic pedal system The failure of removal of system is divided into mutation with stagnating two kinds；The change rate limit value diagnostic module is specifically judged in the following manner：If Pedal_H or Pedal_L double samplings Numerical value is constant and frequency is more than n times or recurs n times in 2N sampling, then it is assumed that electronic pedal occurs and stagnates event Barrier；If the difference of Pedal_H or Pedal_L double sampling numerical value is more than n times or company more than frequency in threshold value and 2N sampling Supervention gives birth to n times, then it is assumed that electronic pedal mutation failure occurs；N is preset sampling number.
- 5. hybrid electric vehicle driven by wheel hub Failure Control method according to claim 4, it is characterised in that：Into During the judgement of the failure of removal of row electronic pedal system, interfere failure sporadic existing for one high and one low digital signal and in short-term It is filtered, the sporadic failure and in short-term interference are less than scheduled number of seconds for failure or digital signal interference time.
- 6. hybrid electric vehicle driven by wheel hub Failure Control method according to claim 3, it is characterised in that：With height The aperture that electronic pedal system is carried out subject to digital signal calculates, and low digital signal is used for compared with high digital signal, into line number Word signal reasonability breakdown judge.
- 7. hybrid electric vehicle driven by wheel hub Failure Control method according to claim 6, it is characterised in that：It calculates The obtained aperture of electronic pedal system is compared with the aperture threshold value to prestore, judges signal line shorted to earth, to power supply Short circuit and the failure of removal of open circuit.
- 8. hybrid electric vehicle driven by wheel hub Failure Control method according to claim 1, it is characterised in that：It is described S3 in, also by rank carry out sound-light alarm.
- 9. a kind of hybrid electric vehicle driven by wheel hub Failure Control system, it is characterised in that：Including engine controller, hair Motor, power battery-high pressure management system, entire car controller, electronic pedal system, wheel hub motor, hub motor control device and Memory；Wherein,The driving signal input of generator, status feedback signal output terminal export respectively with the drive signal of engine controller End, the connection of Generator Status feedback signal input terminal, the control signal input of engine controller, status feedback signal output End is connect respectively with the control signal output of entire car controller, status feedback signal input terminal；The control signal input of power battery-high pressure management system, status feedback signal output terminal respectively with entire car controller Control signal output, status feedback signal input terminal connection；Electronic pedal system includes electronic brake pedal and electronic accelerator pedal, electronic brake pedal and electronic accelerator pedal difference Simulation opening amount signal is exported by rotary angle transmitter, is changed into digital signal by a/d conversion device, digital signal output end with The status feedback signal input terminal connection of entire car controller；The driving signal input of wheel hub motor, status feedback signal the output terminal drive signal with hub motor control device respectively Output terminal, the connection of wheel hub motor status feedback signal input terminal, control signal input, the feedback of status of hub motor control device Signal output end is connect respectively with the control signal output of entire car controller, status feedback signal input terminal；When four wheel hub motors are under driving condition, power battery pack and generator cooperation when driving load is relatively low, are moved The extra electric energy of power battery receptacle generator, when driving load is higher, power battery provides together with generator to wheel hub motor Electric energy；Using mechanical connection, driven by engine electrical power generators between generator and engine system；Have director demon in memory to call for entire car controller, so as to complete in claim 1 to 8 described in any one Hybrid electric vehicle driven by wheel hub Failure Control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016426.4A CN108248598B (en) | 2018-01-08 | 2018-01-08 | A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810016426.4A CN108248598B (en) | 2018-01-08 | 2018-01-08 | A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108248598A true CN108248598A (en) | 2018-07-06 |
| CN108248598B CN108248598B (en) | 2019-08-27 |
Family
ID=62726122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810016426.4A Active CN108248598B (en) | 2018-01-08 | 2018-01-08 | A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108248598B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159669A (en) * | 2018-07-24 | 2019-01-08 | 中国第汽车股份有限公司 | A kind of protection system and method for power drive system |
| CN110386149A (en) * | 2019-07-15 | 2019-10-29 | 武汉理工大学 | The fault tolerant control method of distribution driving vehicle high tension distribution system |
| CN111688718A (en) * | 2019-03-15 | 2020-09-22 | 郑州宇通客车股份有限公司 | Fault identification method of vehicle speed reducer, vehicle control method and device |
| CN112733887A (en) * | 2020-12-24 | 2021-04-30 | 浙江大学 | Method for detecting fault of hub motor of electric vehicle driven by supervision data |
| WO2021218277A1 (en) * | 2020-04-27 | 2021-11-04 | 湖南大学 | Analysis and test method for fault diagnosis of vehicle control unit of electric vehicle |
| CN116022227A (en) * | 2021-10-26 | 2023-04-28 | 上海集度汽车有限公司 | Emergency method and device for steer-by-wire fault, vehicle and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000240481A (en) * | 1999-02-24 | 2000-09-05 | Nissan Motor Co Ltd | Vehicle control device |
| CN101428611A (en) * | 2007-11-08 | 2009-05-13 | 通用汽车环球科技运作公司 | Shutdown path performance test for permanent magnet AC motor in hybrid powertrain |
| US20100312441A1 (en) * | 2009-06-05 | 2010-12-09 | Long Charles F | Main modulation calibration using control main valve |
| CN105246731A (en) * | 2013-06-03 | 2016-01-13 | 加特可株式会社 | Malfunction determination device and malfunction determination method for hybrid vehicle |
| CN105291887A (en) * | 2015-11-20 | 2016-02-03 | 南车株洲电力机车研究所有限公司 | Double-motor torque distribution control method for rubber wheel low-floor intelligent rail train |
| CN105523034A (en) * | 2014-09-29 | 2016-04-27 | 重庆长安汽车股份有限公司 | Control method and system for limping running of pure electric automobile |
-
2018
- 2018-01-08 CN CN201810016426.4A patent/CN108248598B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000240481A (en) * | 1999-02-24 | 2000-09-05 | Nissan Motor Co Ltd | Vehicle control device |
| CN101428611A (en) * | 2007-11-08 | 2009-05-13 | 通用汽车环球科技运作公司 | Shutdown path performance test for permanent magnet AC motor in hybrid powertrain |
| US20100312441A1 (en) * | 2009-06-05 | 2010-12-09 | Long Charles F | Main modulation calibration using control main valve |
| CN105246731A (en) * | 2013-06-03 | 2016-01-13 | 加特可株式会社 | Malfunction determination device and malfunction determination method for hybrid vehicle |
| CN105523034A (en) * | 2014-09-29 | 2016-04-27 | 重庆长安汽车股份有限公司 | Control method and system for limping running of pure electric automobile |
| CN105291887A (en) * | 2015-11-20 | 2016-02-03 | 南车株洲电力机车研究所有限公司 | Double-motor torque distribution control method for rubber wheel low-floor intelligent rail train |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159669A (en) * | 2018-07-24 | 2019-01-08 | 中国第汽车股份有限公司 | A kind of protection system and method for power drive system |
| CN111688718A (en) * | 2019-03-15 | 2020-09-22 | 郑州宇通客车股份有限公司 | Fault identification method of vehicle speed reducer, vehicle control method and device |
| CN111688718B (en) * | 2019-03-15 | 2022-02-18 | 郑州宇通客车股份有限公司 | Fault identification method of vehicle speed reducer, vehicle control method and device |
| CN110386149A (en) * | 2019-07-15 | 2019-10-29 | 武汉理工大学 | The fault tolerant control method of distribution driving vehicle high tension distribution system |
| CN110386149B (en) * | 2019-07-15 | 2020-08-18 | 武汉理工大学 | Fault-tolerant control method of high-voltage power distribution system for distributed driving vehicle |
| WO2021218277A1 (en) * | 2020-04-27 | 2021-11-04 | 湖南大学 | Analysis and test method for fault diagnosis of vehicle control unit of electric vehicle |
| CN112733887A (en) * | 2020-12-24 | 2021-04-30 | 浙江大学 | Method for detecting fault of hub motor of electric vehicle driven by supervision data |
| CN116022227A (en) * | 2021-10-26 | 2023-04-28 | 上海集度汽车有限公司 | Emergency method and device for steer-by-wire fault, vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108248598B (en) | 2019-08-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108248598B (en) | A kind of hybrid electric vehicle driven by wheel hub Failure Control system and method | |
| CN109484392B (en) | Integrated fault diagnosis method for multi-wheel distributed hybrid power system | |
| CN107020957B (en) | Fault processing method and system of pure electric vehicle and pure electric vehicle | |
| CN107117067B (en) | A kind of electric sanitation vehicle control | |
| CN104816640B (en) | The fault handling method and system of a kind of electric automobile | |
| CN104590267A (en) | Torque safe control method of new-energy automobile | |
| CN103072576B (en) | Based on the chaufeur requested torque security architecture of parallel organization | |
| CN105774557A (en) | Intelligent high-voltage management system of electric car | |
| CN109895787A (en) | A kind of control method and control device of vehicle drive | |
| CN104097586A (en) | Integral controller of electric automobile | |
| JP2002200948A (en) | Vehicular power distribution device | |
| CN108790827A (en) | A kind of pure electric vehicle vehicle high-voltage interlocking control method | |
| CN110803030B (en) | Failure limping control device and failure limping control method of pure electric vehicle | |
| Kong et al. | Comprehensive fault diagnosis and fault-tolerant protection of in-vehicle intelligent electric power supply network | |
| CN105711423B (en) | A kind of electric automobile high-voltage safety control system | |
| CN109302852A (en) | Managing device and power-supply system | |
| CN109130863A (en) | A kind of electric car is intelligent from prompt system electric under vehicle and its reminding method | |
| CN108749579B (en) | Grounding self-inspection method and device for high-voltage system, high-voltage system and automobile | |
| CN104052367B (en) | Control strategy for the motor in vehicle | |
| Yi et al. | Functional Safety Design for Torque Control of a Pure Electric Vehicle | |
| CN105867229A (en) | Embedded management system for power supply of on-vehicle equipment | |
| CN115257404A (en) | Vehicle torque distribution method and device, electronic equipment, storage medium and automobile | |
| CN115009248A (en) | Method for operating a brake device | |
| CN114274900A (en) | Dual-power redundancy backup architecture and control method | |
| Yongqiang et al. | Development of the safety diagnosis system for VCU of pure electric vehicle |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |