CN108248598B - 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
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- CN108248598B CN108248598B CN201810016426.4A CN201810016426A CN108248598B CN 108248598 B CN108248598 B CN 108248598B CN 201810016426 A CN201810016426 A CN 201810016426A CN 108248598 B CN108248598 B CN 108248598B
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- 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
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- 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
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- 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
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- 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 characteristic parameter corresponding to different failure of removal, a variety of message signals being 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 Engine-Generator and distributed hub motor drive system fault 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 hub motor drive system；Two-stage that finally failure of removal occurred is alerted and alarmed according to severity classification, is handled respectively by rank.Failure of removal between each system is judged and is handled as parallel configurations, it cooperates between each other, is capable of the control strategy of active accommodation distribution hub motor drive system under the premise of guaranteeing vehicle driving safety to guarantee riding stability of vehicle when in face of failure of removal.
Description
Technical field
The invention belongs to 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 technique
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, 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 line.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 carries out vehicle Redundant Control, designs preferable control system framework to be vehicle failure of removal control system
One of key technology of system.
Compared with centralization drives electric car, distributed In-wheel motor driving automobile can individually be carried 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, vehicle of the generation meeting of remaining thrashing failure of vehicle directly to each wheel
Riding stability has an impact.Therefore, how to make the failure of removal processing module and hub motor drive system of each system
Co-ordination is to guarantee that vehicle run stability and safety are one of the difficult points of vehicle failure of removal control system.
Meanwhile the failure of removal of multiple hub motor drive systems, there are many assembled state, different assembled states needs
Different processing methods is used to guarantee the travel safety under various driving cycles.Therefore, based on the wheel of automobile dynamics
The design of hub motor driven systems failure of removal processing module is one of the difficult point of vehicle failure of removal control system.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of hybrid electric vehicle driven by wheel hub Failure Control system
And method, to guarantee riding stability of vehicle when in face of failure of removal.
A kind of technical solution taken by the invention to solve the above technical problem are as follows: In-wheel motor driving hybrid power vapour
Vehicle Failure Control method, it is characterised in that: it the following steps are included:
S1, the identification of failure of removal trend: according to characteristic parameter corresponding to different failure of removal, a variety of messages is selected to believe
Number trend identification or judgement are carried out to failure of removal；It specifically includes:
The identification of electronic pedal failure of removal: according to the opening amount signal of electronic pedal, the mistake that electronic pedal system has been occurred
It imitates failure and carries out logic judgment and identification；
Power battery-high pressure management system failure identification: system feedback is managed to the energy table of entire car controller according to high pressure
The message information for levying power battery and vehicle high-voltage safety system failure of removal sends out power battery, vehicle high-voltage security system
The type and possibility of raw failure of removal carry out the identification of failure of removal trend, and pacify to the power battery, the vehicle high-voltage that have occurred
The type of total 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 the message information of motor and power failure failure, in conjunction with 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
The identification of row failure of removal trend, and the type of the generator, power failure failure that have occurred is identified；
Distributed hub motor drive system: it is each that capable of characterizing for entire car controller is fed back to according to hub motor drive system
The message information of a hub motor drive system failure of removal, in conjunction with the busbar voltage of each hub motor, bus current, wheel hub electricity
To each hub motor drive system failure event occurs for machine revolving speed, hub motor stator temperature and hub motor control device temperature
The type and possibility of barrier carry out the identification of failure of removal trend, and to each hub motor drive system failure of removal occurred
Type identified；
S2, failure of removal pretreatment: according to failure of removal trend recognition result, pass through active accommodation distribution 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: pass through limitation vehicle demand power, control sound-light alarm
Device prompts driver, guarantees that vehicle safety slows down；
The direct-connected thrashing failure pretreatment of Engine-Generator: pass through limitation vehicle demand power, control sound-light alarm
Device prompts driver, guarantees that vehicle safety slows down；
Distributed hub motor drive system failure of removal pretreatment: speed, body gesture signal, limited target wheel are calculated
The demand power of hub motor and coaxial opposite side hub motor, control acoustic-optic alarm prompt driver, guarantee vehicle safety
Slow down；
S3, the failure of removal occurred classification post-processing: the failure of removal occurred is alerted according to severity
With alarm two-stage classification, handled respectively by rank；It specifically includes:
The processing of electronic pedal system: when the opening amount signal of only certain electronic pedal all the way is faulty, then it is warning, then uses
Normal opening amount signal is all the way to convey driver intention, and the torque command for being sent to each hub motor drive system is subtracted
Half；If two-way opening amount signal is faulty, for alarm, then the output power of all hub motor drive systems is limited, entered
Limping mode；
Power battery-high pressure management system processing: warning, then power battery voluntarily limits charge-discharge electric power, and limitation is all
The output power of hub motor drive system, into limping mode；Alarm, then cutting overall height pressure, vehicle are operated by driver
Brake pedal slows down until parking；
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 hub motor drive system；Alarm, then the direct-connected system of Engine-Generator, which enters, unloads
Protected mode work is carried, generator idle running limits the output power of all hub motor drive systems, into limping mode；
Distributed hub motor drive system processing: warning, then hub motor drive system voluntarily limits output power, whole
Vehicle controller synchronizes limited target hub motor drive system with the torque command of coaxial opposite side hub motor drive system to keep away
Exempt from the generation of additional yaw moment；Alarm, then hub motor drive system unloading idle running, limit vehicle demand power, vehicle into
Enter the mode of priority that brakes, driver passes through power steering, brake assist system secure parking.
According to the above method, this method further includes that high pressure power-on self-test is surveyed: power on link in high pressure is to each system of vehicle
No there are failure of removal to test, if it exists failure of removal or CAN line communication issue, then entire car controller judges that high pressure powers on
It is unsuccessful, it can not drive a vehicle.
According to the above method, 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, exports 2 tunnels in stroke with the one high and one low digital signal of 2 times of proportionate relationships.
According to the above method, electronics is stepped on change rate limit value diagnostic module using the one high and one low digital signal
The failure of removal of plate system is divided into two kinds of mutation and stagnation；
The change rate limit value diagnostic module is specifically judged in the following manner: if Pedal_H or Pedal_L are twice
Sample magnitude is constant and frequency more than n times or recurs n times in 2N sampling, then it is assumed that electronic pedal occurs and stops
Stagnant failure；If the difference of Pedal_H or Pedal_L double sampling numerical value is more than n times more than frequency in threshold value and 2N sampling
Or recur n times, then it is assumed that electronic pedal mutation failure occur；N is preset sampling number.
According to the above method, 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.
According to the above method, 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.
According to the above method, the aperture for the electronic pedal system being calculated is compared with the aperture threshold value prestored, judgement
Signal line shorted to earth, to the failure of removal of power supply short circuit and open circuit.
According to the above method, in the S3, sound-light alarm also 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, hub motor, hub motor control device
And memory；Wherein,
The driving signal input of generator, status feedback signal output end respectively with the driving signal of engine controller
Output end, the connection of Generator Status feedback signal input terminal, the control signal input of engine controller, status feedback signal
Output end is connect with the control signal output of entire car controller, status feedback signal input terminal respectively；
Power battery-high pressure management system control signal input, status feedback signal output end respectively with vehicle control
The control signal output of device processed, the connection of status feedback signal input terminal；
Electronic pedal system includes electronic brake pedal and electronic accelerator pedal, electronic brake pedal and electronic accelerator pedal
Simulation opening amount signal is exported by rotary angle transmitter respectively, is changed into digital signal, digital signal output by a/d conversion device
End is connect with the status feedback signal input terminal of entire car controller；
The driving signal input of hub motor, the driving with hub motor control device respectively of status feedback signal output end
Signal output end, the connection of hub motor status feedback signal input terminal, control signal input, the state of hub motor control device
Feedback signal output is connect with the control signal output of entire car controller, status feedback signal input terminal respectively；
When four hub motors are under driving condition, power battery pack and generator cooperation, driving load are lower
When, power battery receives the extra electric energy of generator, and when driving load is higher, power battery is together with generator to hub motor
Electric energy is provided；
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, to complete the In-wheel motor driving mixing
Power vehicle Failure Control method.
The invention has the benefit that electronic pedal, power battery-high pressure management system, the direct-connected system of Engine-Generator
Failure of removal between system, distributed hub motor drive system judge 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 guaranteeing vehicle driving safety
The control strategy of active accommodation distribution hub motor drive system is to guarantee driving stability of vehicle when in face of failure of removal
Property, and classification processing is carried out to the failure of removal occurred.
Detailed description of the invention
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 architecture diagram.
Fig. 3 is that power battery-high pressure manages system level failure of removal processing method architecture diagram.
Fig. 4 is the direct-connected system level failure of removal processing method architecture diagram of Engine-Generator.
Fig. 5 is that distributed hub motor drive system is classified failure of removal processing method architecture diagram.
Specific embodiment
Below 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, hub motor, wheel hub electricity
Machine controller and memory carry out communication by CAN line from each other or transmit electric energy by high-tension cable.Wherein, vehicle
Controller plays the role of judgement identification, transfers other systems collaborative work.Wherein,
The driving signal input of generator, status feedback signal output end respectively with the driving signal of engine controller
Output end, the connection of Generator Status feedback signal input terminal, the control signal input of engine controller, status feedback signal
Output end is connect with the control signal output of entire car controller, status feedback signal input terminal respectively；
Power battery-high pressure management system control signal input, status feedback signal output end respectively with vehicle control
The control signal output of device processed, the connection of status feedback signal input terminal；
Electronic pedal system includes electronic brake pedal and electronic accelerator pedal, electronic brake pedal and electronic accelerator pedal
Simulation opening amount signal is exported by rotary angle transmitter respectively, is changed into digital signal, digital signal output by a/d conversion device
End is connect with the status feedback signal input terminal of entire car controller；
The driving signal input of hub motor, the driving with hub motor control device respectively of status feedback signal output end
Signal output end, the connection of hub motor status feedback signal input terminal, control signal input, the state of hub motor control device
Feedback signal output is connect with the control signal output of entire car controller, status feedback signal input terminal respectively；
When four hub motors are under driving condition, power battery pack and generator cooperation, driving load are lower
When, power battery receives the extra electric energy of generator, and when driving load is higher, power battery is together with generator to hub motor
Electric energy is provided；
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, to complete In-wheel motor driving hybrid power vapour
Vehicle Failure Control method.
The hybrid electric vehicle driven by wheel hub Failure Control method, it the following steps are included:
S1, the identification of failure of removal trend: according to characteristic parameter corresponding to different failure of removal, a variety of messages is selected to believe
Number trend identification or judgement are carried out to failure of removal；It specifically includes:
The identification of electronic pedal failure of removal: according to the opening amount signal of electronic pedal, the mistake that electronic pedal system has been occurred
It imitates failure and 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, is filtered with the digital signal that mean filter technology exports electronic pedal, 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: Pedal_Input_H simultaneously
And Pedal_Input_L, two paths of signals have 2 times of proportionate relationships: Pedal_Input_H ≈ Pedal_Input_L* in stroke
2, binary channels setting serious forgiveness compared with single channel setting is higher, fault identification effect 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 route is to power supply short circuit failure and electronic pedal open lines failure.
The digital signal of electronic pedal is parsed after filtering by specific resolution ratio, and acceleration, brake pedal are made
The digital signal of output indicates the real-time aperture of pedal, the intention of preferable reflection driver in the form of percentage, and then whole
Vehicle controller according to drive mode (hybrid power driving/pure electric vehicle) calculate dynamical system peak values in real time output power and with electricity
It is to obtain entire car controller to be sent to hub motor drive in real time that the real-time aperture of pedal (percentage) of sub- accelerator pedal output, which is multiplied,
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 load 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 above situation, according to the obtained electronic pedal two-way output letter by filtering 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 two kinds of stagnation.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 there is electronic pedal mutation failure.
Double-channel signal is interfered there are sporadic failure and in short-term, thus can in short-term, suddenly trigger electronic pedal system
Failure of removal be classified 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 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 opening meter is carried out according to obtained electronic pedal two-way output signal Zhong Gao road signal Pedal_Input_H
It calculates, while using binary channels comparative approach, the low path signal in electronic pedal two-way output signal obtained according to step 2-1
Pedal_Input_L, which monitors high railway digital signal in real time, 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: entire car controller is fed back to according to high pressure management system (BMS)
The message information that power battery and vehicle high-voltage safety system failure of removal can be characterized, to power battery, vehicle high-voltage safety system
The type of failure of removal occurs for system and possibility carries out the identification of failure of removal trend, and high to the power battery, vehicle that have occurred
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 the message information of motor and power failure failure, in conjunction with 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
The identification of row failure of removal trend, and the type of the generator, power failure failure that have occurred is identified.
Distributed hub motor drive system: it is each that capable of characterizing for entire car controller is fed back to according to hub motor drive system
The message information of a hub motor drive system failure of removal, in conjunction with the busbar voltage of each hub motor, bus current, wheel hub electricity
To each hub motor drive system failure event occurs for machine revolving speed, hub motor stator temperature and hub motor control device temperature
The type and possibility of barrier carry out the identification of failure of removal trend, and to each hub motor drive system failure of removal occurred
Type identified.
S2, failure of removal pretreatment: according to failure of removal trend recognition result, pass through active accommodation distribution 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 that power battery occurs becoming for failure of removal
After gesture or vehicle high-pressure system have security risk, gas pedal resolution ratio is halved, controls acoustic-optic alarm by entire car controller,
So that driver and power battery-high pressure management thrashing fault processing module is cooperated, is guaranteeing what vehicle safety slowed down
Under the premise of, 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 guaranteeing that vehicle safety slows down, will lose as much as possible
Fault Control is imitated in non-triggering state.
Distributed hub motor drive system failure of removal pretreatment: some or multiple hub motors-wheel hub electricity are identified
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 guaranteeing riding stability, entire car controller according to △ T it is synchronous reduce be sent to target hub motor and
The torque command of coaxial opposite side hub motor, control acoustic-optic alarm, make driver and distributed hub motor drive system
Failure of removal processing module cooperates, and under the premise of guaranteeing 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 cooperates 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: when the opening amount signal of only certain electronic pedal all the way is faulty, then it is warning, then uses
Normal opening amount signal is all the way to convey driver intention, and the torque command for being sent to each hub motor drive system is subtracted
Half；If two-way opening amount signal is faulty, for alarm, then the output power of all hub motor drive systems is limited, entered
Limping mode.Specifically, processing electronic pedal system " warning " early warning failure: entire car controller is used and is normally stepped on all the way
Partitioned signal is halved the torque command for being sent to each hub motor drive system with conveying driver intention, to make vehicle
Comparatively safe low power state is operated in, entire car controller triggers " warning " alarm signal.Handle electronic pedal system
" alarm " early warning failure: entire car controller limits all hub motors according to the power severe of running resistance at a slow speed being calculated
Vehicle max. speed is limited within 5km/h by the output power of drive system, that is, enters limping mode, entire car controller touching
Send out " alarm " alarm signal.
Power battery-high pressure management system processing: warning, then power battery voluntarily limits charge-discharge electric power, and limitation is all
The output power of hub motor drive system, into limping mode；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 hub motor drive systems, and vehicle max. speed is limited within 5km/h, that is, enters lame
Row mode, while triggering " 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 triggering " 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 hub motor drive system；Alarm, then the direct-connected system of Engine-Generator, which enters, unloads
Protected mode work is carried, generator idle running limits the output power of all hub motor drive systems, into limping mode.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 hub motor drive systems of resistance power limit that drive at moderate speed being calculated
Vehicle max. speed is limited within 30km/h by power out, that is, limits the torque for being sent to each hub motor drive 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 mode, generator idle running, to prevent generator system from irreversible damage occurs
Bad, entire car controller limits the output of all hub motor drive systems according to the power severe of running resistance at a slow speed being calculated
Vehicle max. speed is limited within 5km/h by power, i.e., pure electric limping mode, while triggering " alarm " signal.
Distributed hub motor drive system processing: warning, then hub motor drive system voluntarily limits output power, whole
Vehicle controller synchronizes limited target hub motor drive system with the torque command of coaxial opposite side hub motor drive system to keep away
Exempt from the generation of additional yaw moment；Alarm, then hub motor drive system unloading idle running, limit vehicle demand power, vehicle into
Enter the mode of priority that brakes, driver passes through power steering, brake assist system secure parking.Specifically, handling distributed wheel hub
Motor driven systems " warning " early warning failure: hub motor drive system voluntarily limits output power, and entire car controller is synchronous
The torque command of limited target hub motor drive system and coaxial opposite side hub motor drive system is to avoid additional sideway power
The generation of square, while triggering " warning " signal.Handle distributed hub motor drive system " alarm " alarm failure: wheel hub
Motor driven systems unloading idle running, to prevent wheel hub motor system from irreversible damage occurs, and guarantees 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 triggering " alarm " signal.
This method further includes that high pressure power-on self-test is surveyed: powering on link to each system of vehicle with the presence or absence of failure event in high pressure
Barrier is tested, if it exists failure of removal or CAN line communication issue, then it is unsuccessful to judge that high pressure powers on for entire car controller, can not
Driving.
Vehicle failure of removal processing module of the invention is not only applicable to serial mixed power wheel hub electricity shown in FIG. 1
Machine distribution driving automobile, can be with the present invention to vehicle failure event using the new energy vehicle of Electric Motor Wheel distribution driving
Barrier is identified and is handled, and guarantees 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 embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (9)
1. a kind of hybrid electric vehicle driven by wheel hub Failure Control method, it is characterised in that: it the following steps are included:
S1, the identification of failure of removal trend: according to 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:
The identification of electronic pedal failure of removal: according to the opening amount signal of electronic pedal, the failure event that electronic pedal system has been occurred
Barrier carries out logic judgment and identification；
Power battery-high pressure management system failure identification: it is dynamic to capable of 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 and vehicle high-voltage security system
The type and possibility for imitating failure carry out the identification of failure of removal trend, and are safely to the power battery and vehicle high-voltage occurred
The type of system failure of removal is identified；
The direct-connected system failure identification of Engine-Generator: capable of characterizing for entire car controller is fed back to according to generator and engine
The message information of generator and power failure failure, in conjunction with the busbar voltage of generator, bus current, generator speed, hair
Motor stator temperature and engine controller temperature, to generator and engine occur failure of removal type and possibility into
The identification of row failure of removal trend, and the type of the generator, power failure failure that have occurred is identified；
Distributed hub motor drive system: each wheel can be characterized according to what hub motor drive system fed back to entire car controller
The message information of hub motor driven systems failure of removal turns in conjunction with the busbar voltage of each hub motor, bus current, hub motor
To each hub motor drive system failure of removal occurs for speed, hub motor stator temperature and hub motor control device temperature
Type and possibility carry out the identification of failure of removal trend, and to the class of each hub motor drive system failure of removal 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: pass through limitation vehicle demand power and control sound-light alarm dress
It sets to prompt driver, guarantees that vehicle safety slows down；
The direct-connected thrashing failure pretreatment of Engine-Generator: pass through limitation vehicle demand power and control sound-light alarm dress
It sets to prompt driver, guarantees that vehicle safety slows down；
Distributed hub motor drive system failure of removal pretreatment: speed and body gesture signal, limited target wheel hub are calculated
The demand power and control acoustic-optic alarm of motor and coaxial opposite side hub motor prompts driver, guarantees that vehicle safety subtracts
Speed；
S3, the failure of removal occurred classification post-processing: the failure of removal occurred is alerted and is reported according to severity
Alert two-stage classification, is handled respectively by rank；It specifically includes:
The processing of electronic pedal system: being then 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 hub motor drive system with conveying driver intention；
If two-way opening amount signal is faulty, for alarm, then the output power of all hub motor drive systems is limited, into limping
Mode；
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 mode；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 hub motor drive system；Alarm, then the direct-connected system of Engine-Generator enters unloading and protects
Shield mode work, generator idle running, limits the output power of all hub motor drive systems, into limping mode；
Distributed hub motor drive system processing: warning, then hub motor drive system voluntarily limits output power, vehicle control
Device processed synchronizes limited target hub motor drive system with the torque command of coaxial opposite side hub motor drive system to avoid attached
Add the generation of yaw moment；Alarm, then hub motor drive system unloading idle running, limits vehicle demand power, and vehicle enters brake
Vehicle mode of priority, driver pass through power steering and 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 that high pressure power-on self-test is surveyed: link, which powered on, in high pressure tests to each system of vehicle with the presence or absence of failure of removal,
Failure of removal or CAN line communication issue if it exists, then it is unsuccessful to judge that high pressure powers on for entire car controller, 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: described
Electronic pedal opening amount signal by rotary angle transmitter acquire, be filtered after AD conversion by mean filter technology,
2 tunnels are exported in stroke with the one high and one low digital signal of 2 times of proportionate relationships, wherein high digital signal is low number letter
Number 2 times.
4. hybrid electric vehicle driven by wheel hub Failure Control method according to claim 3, it is characterised in that: utilize
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 two kinds of mutation and stagnation；
The change rate limit value diagnostic module is specifically judged in the following manner: if Pedal_H or Pedal_L double sampling
Numerical value is constant and frequency 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
When the judgement of the failure of removal of row electronic pedal system, interfere by sporadic failure 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 failure or digital signal interference time to be less than scheduled number of seconds.
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, is counted
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: calculate
The aperture of obtained electronic pedal system is compared with the aperture threshold value prestored, judges signal line shorted to earth, to power supply
The failure of removal of short circuit and open circuit.
8. hybrid electric vehicle driven by wheel hub Failure Control method according to claim 1, it is characterised in that: 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, hub motor, hub motor control device and
Memory；Wherein,
The driving signal input of generator, status feedback signal output end are exported with the driving signal of engine controller respectively
End, the connection of Generator Status feedback signal input terminal, the control signal input of engine controller, status feedback signal output
End is connect with the control signal output of entire car controller, status feedback signal input terminal respectively；
Power battery-high pressure management system control signal input, status feedback signal output end 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, and electronic brake pedal and electronic accelerator pedal are distinguished
Export simulation opening amount signal by rotary angle transmitter, be changed into digital signal by a/d conversion device, digital signal output end with
The status feedback signal input terminal of entire car controller connects；
The driving signal input of hub motor, status feedback signal the output end driving signal with hub motor control device respectively
Output end, the connection of hub motor status feedback signal input terminal, control signal input, the state feedback of hub motor control device
Signal output end is connect with the control signal output of entire car controller, status feedback signal input terminal respectively；
When four hub motors are under driving condition, power battery pack and generator cooperation when driving load is lower, are moved
The extra electric energy of power battery receptacle generator, when driving load is higher, power battery is provided together with generator to 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, to complete described in any one of claim 1 to 8
Hybrid electric vehicle driven by wheel hub Failure Control method.
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| CN109159669B (en) * | 2018-07-24 | 2021-08-06 | 中国第一汽车股份有限公司 | Protection system and method for electric drive system |
| 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 |
| 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 |
| CN111483469B (en) * | 2020-04-27 | 2021-08-03 | 湖南大学 | Analysis and test method for fault diagnosis of electric vehicle controller |
| 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 |
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