CN109484387B - Control method and system for vacuum pump of electric vehicle - Google Patents
Control method and system for vacuum pump of electric vehicle Download PDFInfo
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- CN109484387B CN109484387B CN201811554832.2A CN201811554832A CN109484387B CN 109484387 B CN109484387 B CN 109484387B CN 201811554832 A CN201811554832 A CN 201811554832A CN 109484387 B CN109484387 B CN 109484387B
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/24—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being gaseous
- B60T13/46—Vacuum systems
- B60T13/52—Vacuum systems indirect, i.e. vacuum booster units
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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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/72—Electrical control in fluid-pressure brake systems in vacuum systems or vacuum booster units
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention provides a control method and a system of an electric automobile vacuum pump, wherein the method comprises the following steps: presetting a relation corresponding table of ambient atmospheric pressure and vacuum cavity pressure, acquiring external ambient atmospheric pressure, and determining required vacuum cavity pressure according to the relation corresponding table; acquiring the current vacuum cavity pressure, and controlling the vacuum pump to operate to increase the pressure of the vacuum cavity when the current vacuum cavity pressure is less than the required vacuum cavity pressure until the current vacuum cavity pressure reaches the required vacuum cavity pressure; and acquiring the pressure of a brake pedal, calculating the brake output pressure of the vacuum booster according to the pressure of the brake pedal, and controlling the vacuum pump to operate until the pressure of the vacuum cavity is gradually increased to the brake output pressure if the brake output pressure is greater than the current vacuum cavity pressure. The invention can improve the intelligence of vacuum pump control and improve the safety and convenience of electric automobile.
Description
Technical Field
The invention relates to the technical field of electric automobile brake control, in particular to a control method and a control system for an electric automobile vacuum pump.
Background
Electric automobile is because there is not the engine, can't provide the vacuum source for vacuum booster among the braking system, and the scheme is through a vacuum pump at present, connects vacuum tank and vacuum booster, and installation pressure switch on the vacuum tank, vacuum pump pass through vacuum pump controller control, and when the vacuum degree is not enough, pressure switch jumps, and vacuum pump controller receives this signal control vacuum pump and begins work, and the evacuation is in order to realize the braking helping hand. However, the scheme has certain disadvantages, on one hand, the pressure switch is easy to damage due to a mechanical structure, and cannot meet the requirement of frequent braking of the automobile, and when the pressure switch is damaged, the automobile loses the braking capability, so that great danger is caused. On the other hand, the jumping pressure of the pressure switch is a fixed value, when the altitude is increased and the air pressure is reduced, the pressure difference between the vacuum cavity of the booster and the outside is reduced, the braking assistance is weakened, and the braking force of the human foot is increased. At present, manufacturers do not have good treatment measures for the problem that an automobile vacuum power-assisted system fails, when the fact that the power-assisted system has vacuum leakage is detected under general conditions, only the warning is displayed on an instrument, a driver cannot know that the system fails in advance before stepping on a brake pedal, and great potential safety hazards exist. Meanwhile, the existing vacuum boosting system can not well exert boosting effect under different atmospheric pressures in different environments, and a brake pedal can be changed heavily, so that driving feeling and safety are affected.
Disclosure of Invention
The invention provides a control method and a control system for a vacuum pump of an electric automobile, which solve the problems that the existing electric automobile is easy to damage due to the fact that a pressure switch is adopted to obtain a control signal of the vacuum pump, and the power assisting effect cannot be controlled under different atmospheric environments, can improve the intelligence of vacuum pump control, and improve the safety and the convenience of the use of the electric automobile.
In order to achieve the above purpose, the invention provides the following technical scheme:
a control method of an electric vehicle vacuum pump comprises the following steps:
presetting a relation corresponding table of ambient atmospheric pressure and vacuum cavity pressure, acquiring external ambient atmospheric pressure, and determining required vacuum cavity pressure according to the relation corresponding table;
acquiring the current vacuum cavity pressure, and controlling the vacuum pump to operate to increase the pressure of the vacuum cavity when the current vacuum cavity pressure is less than the required vacuum cavity pressure until the current vacuum cavity pressure reaches the required vacuum cavity pressure;
and acquiring the pressure of a brake pedal, calculating the brake output pressure of the vacuum booster according to the pressure of the brake pedal, and controlling the vacuum pump to operate until the pressure of the vacuum cavity is gradually increased to the brake output pressure if the brake output pressure is greater than the current vacuum cavity pressure.
Preferably, the method further comprises the following steps:
and acquiring the vacuum degree of the vacuum booster, and controlling the vacuum pump to operate to increase the vacuum degree of the vacuum booster when the vacuum degree is smaller than a first set threshold value until the vacuum degree reaches a set shutdown threshold value.
Preferably, the method further comprises the following steps:
and controlling the vacuum pump to operate until the pressure difference is smaller than a third set threshold value according to the pressure difference between the current vacuum cavity pressure and the required vacuum cavity pressure if the pressure difference is larger than the second set threshold value.
Preferably, the method further comprises the following steps:
and when the vacuum pump continuously operates, if the current vacuum cavity pressure is gradually reduced, judging that the vacuum booster has a vacuum leakage fault, and reporting a fault message through a CAN bus.
Preferably, the method further comprises the following steps:
and acquiring the braking deceleration sent by the electronic stability control system, and determining to increase or decrease the running speed of the vacuum pump according to the braking deceleration so as to gradually adjust the braking output pressure.
The invention also provides a control system of the vacuum pump of the electric automobile, which comprises the following components:
the atmospheric pressure sensor is used for acquiring external ambient atmospheric pressure;
the first pressure sensor is used for acquiring the current vacuum cavity pressure;
the second pressure sensor is used for acquiring the pressure of the brake pedal;
the vacuum pump controller is used for presetting a relation corresponding table of the ambient atmospheric pressure and the vacuum cavity pressure; determining the required vacuum cavity pressure according to the relation corresponding table;
the vacuum pump controller controls the vacuum pump to operate to increase the pressure of the vacuum chamber when the current vacuum chamber pressure is less than the required vacuum chamber pressure until the current vacuum chamber pressure reaches the required vacuum chamber pressure,
the vacuum pump controller also calculates the brake output pressure of the vacuum booster according to the brake pedal pressure, and controls the vacuum pump to operate until the pressure of the vacuum chamber is gradually increased to the brake output pressure if the brake output pressure is greater than the current vacuum chamber pressure.
Preferably, the method further comprises the following steps:
the vacuum degree sensor is used for acquiring the vacuum degree of the vacuum booster;
and when the vacuum degree is smaller than a first set threshold value, the vacuum pump controller controls the vacuum pump to operate to increase the vacuum degree of the vacuum booster until the vacuum degree reaches a set shutdown threshold value.
Preferably, the vacuum pump controller is further configured to control the vacuum pump to operate until the pressure difference is smaller than a third set threshold value, if the pressure difference is larger than a second set threshold value, according to the pressure difference between the current vacuum chamber pressure and the required vacuum chamber pressure.
Preferably, the vacuum pump controller is further configured to determine that a vacuum leakage fault exists in the vacuum booster if the current vacuum chamber pressure is gradually reduced when the vacuum pump continuously operates, and report a fault message through the CAN bus.
Preferably, the vacuum pump controller is further configured to obtain a braking deceleration sent by the electronic stability control system, and determine to increase or decrease the operating speed of the vacuum pump according to the braking deceleration so as to gradually adjust the braking output pressure.
The invention provides a control method and a control system of an electric automobile vacuum pump. The problem of current electric automobile adopt pressure switch to acquire vacuum pump control signal, have the fragile, and the unable control of helping hand effect under different atmospheric environment is solved, can improve the intelligence of vacuum pump control, improves security and convenience that electric automobile used.
Drawings
In order to more clearly describe the specific embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below.
FIG. 1: the invention provides a schematic diagram of a control method of an electric automobile vacuum pump;
FIG. 2: the invention provides a structure diagram of a control system of an electric automobile vacuum pump.
Detailed Description
In order to make the technical field of the invention better understand the scheme of the embodiment of the invention, the embodiment of the invention is further described in detail with reference to the drawings and the implementation mode.
The vacuum booster system aims at the problem that the vacuum booster cannot effectively boost power easily caused by the fact that the current automobile vacuum booster system is under different atmospheric environment pressures. The invention provides a control method and a control system of an electric automobile vacuum pump. The problem of current electric automobile adopt pressure switch to acquire vacuum pump control signal, have the fragile, and the unable control of helping hand effect under different atmospheric environment is solved, can improve the intelligence of vacuum pump control, improves security and convenience that electric automobile used.
As shown in fig. 1, a method for controlling a vacuum pump of an electric vehicle includes:
s1: presetting a relation corresponding table of ambient atmospheric pressure and vacuum cavity pressure, acquiring external ambient atmospheric pressure, and determining required vacuum cavity pressure according to the relation corresponding table;
s2: and acquiring the current vacuum cavity pressure, and controlling the vacuum pump to operate to increase the pressure of the vacuum cavity when the current vacuum cavity pressure is less than the required vacuum cavity pressure until the current vacuum cavity pressure reaches the required vacuum cavity pressure.
S3: and acquiring the pressure of a brake pedal, calculating the brake output pressure of the vacuum booster according to the pressure of the brake pedal, and controlling the vacuum pump to operate until the pressure of the vacuum cavity is gradually increased to the brake output pressure if the brake output pressure is greater than the current vacuum cavity pressure.
In practical application, a qualified brake output pressure interval is set according to the pressure of a brake pedal, the qualified brake output pressure interval can be composed of a highest brake output pressure curve and a lowest brake output pressure curve, when the brake pedal is stepped, the generated theoretical brake output pressure is in the qualified brake output pressure interval, the vacuum booster works normally, the vacuum booster is also failed due to the difference of atmospheric pressures in different areas, and under the condition, the working performance of the vacuum booster is required to be adjusted by adjusting the starting threshold value and the stopping threshold value of the electric vacuum pump. The method for setting the starting threshold and the shutdown threshold according to the required vacuum cavity pressure can improve the intelligence of the control of the vacuum pump and improve the safety and the convenience of the use of the electric automobile.
The method further comprises the following steps:
s4: and acquiring the vacuum degree of the vacuum booster, and controlling the vacuum pump to operate to increase the vacuum degree of the vacuum booster when the vacuum degree is smaller than a first set threshold value until the vacuum degree reaches a set shutdown threshold value.
The method further comprises the following steps:
s5: and controlling the vacuum pump to operate until the pressure difference is smaller than a third set threshold value according to the pressure difference between the current vacuum cavity pressure and the required vacuum cavity pressure if the pressure difference is larger than the second set threshold value.
In practical application, the vacuum pump controller detects an atmospheric pressure signal output by the atmospheric pressure sensor and a pressure difference signal between the atmospheric pressure output by the relative pressure sensor chip and the vacuum pump controller, and the range value of the pressure difference signal is regulated according to a brake strategy. When the brake pedal is stepped on, the vacuum degree in the vacuum booster is insufficient, the vacuum pump controller detects that the pressure difference is smaller than the range, the vacuum pump controller controls the vacuum pump to work, and when the vacuum degree in the vacuum booster reaches the range value, the vacuum pump stops working. The atmospheric pressure value under different altitudes is different, and the vacuum pump controller detects the atmospheric pressure signal, and according to the vacuum pump controller strategy, corresponding adjustment is made to F2 differential pressure value under different atmospheric pressure F1, gives consideration to the vacuum pumping ability of vacuum pump simultaneously, under the condition of guaranteeing that the vacuum servo system does not lose efficacy under different altitudes, satisfies the brake pedal sensation as far as possible.
The method further comprises the following steps:
s6: and when the vacuum pump continuously operates, if the current vacuum cavity pressure is gradually reduced, judging that the vacuum booster has a vacuum leakage fault, and reporting a fault message through a CAN bus.
The method further comprises the following steps:
s7: and acquiring the braking deceleration sent by the electronic stability control system, and determining to increase or decrease the running speed of the vacuum pump according to the braking deceleration so as to gradually adjust the braking output pressure.
In practical application, the existing system of the electronic stability control system is integrated with the control of the vacuum boosting, so that the utilization of an electronic system can be effectively increased, and meanwhile, the electronic stability control system and the control of the vacuum boosting can be combined, so that the automobile brake is more intelligent and convenient.
The invention provides a control method of an electric automobile vacuum pump, which is characterized in that the current vacuum cavity pressure and the required vacuum cavity pressure are determined through a preset corresponding table of the relationship between the ambient atmospheric pressure and the required vacuum cavity pressure, and the vacuum pump is further controlled to operate, so that the vacuum cavity pressure is gradually increased. The problem of current electric automobile adopt pressure switch to acquire vacuum pump control signal, have the fragile, and the unable control of helping hand effect under different atmospheric environment is solved, can improve the intelligence of vacuum pump control, improves security and convenience that electric automobile used.
As shown in fig. 2, the present invention further provides a control system for a vacuum pump of an electric vehicle, including: and the atmospheric pressure sensor is used for acquiring the external ambient atmospheric pressure. And the first pressure sensor is used for acquiring the current vacuum cavity pressure. And the second pressure sensor is used for acquiring the brake pedal pressure. And the vacuum pump controller is used for presetting a relation corresponding table of the ambient atmospheric pressure and the vacuum cavity pressure. And determining the required vacuum cavity pressure according to the relation corresponding table. And the vacuum pump controller controls the vacuum pump to operate to increase the pressure of the vacuum cavity when the current vacuum cavity pressure is less than the required vacuum cavity pressure until the current vacuum cavity pressure reaches the required vacuum cavity pressure. The vacuum pump controller also calculates the brake output pressure of the vacuum booster according to the brake pedal pressure, and controls the vacuum pump to operate until the pressure of the vacuum chamber is gradually increased to the brake output pressure if the brake output pressure is greater than the current vacuum chamber pressure.
Further, still include: and the vacuum degree sensor is used for acquiring the vacuum degree of the vacuum booster. And when the vacuum degree is smaller than a first set threshold value, the vacuum pump controller controls the vacuum pump to operate to increase the vacuum degree of the vacuum booster until the vacuum degree reaches a set shutdown threshold value.
Furthermore, the vacuum pump controller is further configured to control the vacuum pump to operate until the pressure difference is less than a third set threshold value, if the pressure difference is greater than a second set threshold value, according to the pressure difference between the current vacuum chamber pressure and the required vacuum chamber pressure.
And the vacuum pump controller is also used for judging that the vacuum booster has a vacuum leakage fault if the current vacuum cavity pressure is gradually reduced when the vacuum pump continuously operates, and reporting a fault message through a CAN bus.
The vacuum pump controller is also used for acquiring the braking deceleration sent by the electronic stability control system and determining to increase or decrease the running speed of the vacuum pump according to the braking deceleration so as to gradually adjust the braking output pressure.
The control system determines the current vacuum cavity pressure and the required vacuum cavity pressure through a preset corresponding table of the relationship between the ambient atmospheric pressure and the required vacuum cavity pressure in the vacuum pump controller, and further controls the vacuum pump to operate so as to gradually increase the vacuum cavity pressure. The problem of current electric automobile adopt pressure switch to acquire vacuum pump control signal, have the fragile, and the unable control of helping hand effect under different atmospheric environment is solved, can improve the intelligence of vacuum pump control, improves security and convenience that electric automobile used.
The construction, features and functions of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the embodiments shown in the drawings, and all equivalent embodiments modified or modified by the spirit and scope of the present invention should be protected without departing from the spirit of the present invention.
Claims (8)
1. A control method of an electric vehicle vacuum pump is characterized by comprising the following steps:
presetting a relation corresponding table of ambient atmospheric pressure and vacuum cavity pressure, acquiring external ambient atmospheric pressure, and determining required vacuum cavity pressure according to the relation corresponding table;
acquiring the current vacuum cavity pressure, and controlling the vacuum pump to operate to increase the pressure of the vacuum cavity when the current vacuum cavity pressure is less than the required vacuum cavity pressure until the current vacuum cavity pressure reaches the required vacuum cavity pressure;
acquiring brake pedal pressure, calculating brake output pressure of a vacuum booster according to the brake pedal pressure, and controlling a vacuum pump to operate until the pressure of a vacuum cavity is gradually increased to the brake output pressure if the brake output pressure is greater than the current vacuum cavity pressure;
according to the pressure difference between the current vacuum cavity pressure and the required vacuum cavity pressure, if the pressure difference is larger than a second set threshold, controlling the vacuum pump to operate until the pressure difference is smaller than a third set threshold, and correspondingly adjusting the corresponding pressure difference under different atmospheric pressures;
setting a qualified brake output pressure interval, and forming a qualified pressure interval by a highest brake output pressure curve and a lowest brake output pressure curve;
when the brake pedal is pressed down, the brake output pressure is generated within a qualified interval, and the vacuum booster is indicated to work normally.
2. The control method of the vacuum pump of the electric vehicle according to claim 1, further comprising:
and acquiring the vacuum degree of the vacuum booster, and controlling the vacuum pump to operate to increase the vacuum degree of the vacuum booster when the vacuum degree is smaller than a first set threshold value until the vacuum degree reaches a set shutdown threshold value.
3. A control method of the vacuum pump of the electric vehicle according to claim 2, further comprising:
and when the vacuum pump continuously operates, if the current vacuum cavity pressure is gradually reduced, judging that the vacuum booster has a vacuum leakage fault, and reporting a fault message through a CAN bus.
4. A control method of the vacuum pump of the electric vehicle according to claim 3, further comprising:
and acquiring the braking deceleration sent by the electronic stability control system, and determining to increase or decrease the running speed of the vacuum pump according to the braking deceleration so as to gradually adjust the braking output pressure.
5. A control system of an electric vehicle vacuum pump, comprising:
the atmospheric pressure sensor is used for acquiring external ambient atmospheric pressure;
the first pressure sensor is used for acquiring the current vacuum cavity pressure;
the second pressure sensor is used for acquiring the pressure of the brake pedal;
the vacuum pump controller is used for presetting a relation corresponding table of the ambient atmospheric pressure and the vacuum cavity pressure; determining the required vacuum cavity pressure according to the relation corresponding table;
the vacuum pump controller controls the vacuum pump to operate to increase the pressure of the vacuum chamber when the current vacuum chamber pressure is less than the required vacuum chamber pressure until the current vacuum chamber pressure reaches the required vacuum chamber pressure,
the vacuum pump controller also calculates the brake output pressure of the vacuum booster according to the brake pedal pressure, and controls the vacuum pump to operate until the pressure of the vacuum cavity is gradually increased to the brake output pressure if the brake output pressure is greater than the current vacuum cavity pressure;
the vacuum pump controller is also used for controlling the vacuum pump to operate until the pressure difference is smaller than a third set threshold value according to the pressure difference between the current vacuum cavity pressure and the required vacuum cavity pressure, and the corresponding pressure difference under different atmospheric pressures is correspondingly adjusted;
setting a qualified brake output pressure interval, and forming a qualified pressure interval by a highest brake output pressure curve and a lowest brake output pressure curve;
when the brake pedal is pressed down, the brake output pressure is generated within a qualified interval, and the vacuum booster is indicated to work normally.
6. The control system of an electric vehicle vacuum pump as claimed in claim 5, further comprising:
the vacuum degree sensor is used for acquiring the vacuum degree of the vacuum booster;
and when the vacuum degree is smaller than a first set threshold value, the vacuum pump controller controls the vacuum pump to operate to increase the vacuum degree of the vacuum booster until the vacuum degree reaches a set shutdown threshold value.
7. The control system of claim 6, wherein the vacuum pump controller is further configured to determine that the vacuum booster has a vacuum leakage fault if the current vacuum chamber pressure decreases gradually while the vacuum pump continues to operate, and report a fault message through the CAN bus.
8. A control system for an electric vehicle vacuum pump as set forth in claim 7, wherein said vacuum pump controller is further configured to obtain a brake deceleration sent by the electronic stability control system, and to determine whether to increase or decrease the operating speed of the vacuum pump based on said brake deceleration to gradually adjust said brake output pressure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811554832.2A CN109484387B (en) | 2018-12-19 | 2018-12-19 | Control method and system for vacuum pump of electric vehicle |
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| CN201811554832.2A CN109484387B (en) | 2018-12-19 | 2018-12-19 | Control method and system for vacuum pump of electric vehicle |
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| CN109484387A CN109484387A (en) | 2019-03-19 |
| CN109484387B true CN109484387B (en) | 2021-02-02 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111497810B (en) * | 2020-04-19 | 2021-04-27 | 东风汽车集团有限公司 | Control method of electric automobile brake vacuum pump control system |
| CN111959472A (en) * | 2020-08-31 | 2020-11-20 | 安徽江淮汽车集团股份有限公司 | Electric automobile vacuum pump redundancy control system and method and electric automobile |
| CN112924107A (en) * | 2021-01-29 | 2021-06-08 | 江铃汽车股份有限公司 | Method and system for detecting sealing performance of vacuum booster |
| CN113635883B (en) * | 2021-08-30 | 2022-10-11 | 中国第一汽车股份有限公司 | Environmental pressure detection system and method for vacuum boosting system of electric automobile |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201721440U (en) * | 2010-07-14 | 2011-01-26 | 清华大学 | Vacuum pump brake system for self-adaptive electric vehicle |
| CN201816579U (en) * | 2010-09-25 | 2011-05-04 | 阿尔特(中国)汽车技术有限公司 | Brake assist system for electric automobile |
| CN102069787A (en) * | 2010-12-20 | 2011-05-25 | 奇瑞汽车股份有限公司 | Pipeline structure of vacuum power-assisted system of electric vehicle |
| CN102416941B (en) * | 2011-10-29 | 2014-01-01 | 北京长安汽车工程技术研究有限责任公司 | Method and device for matching pure electric vehicle and braking vacuum pump |
| CN103318165B (en) * | 2013-06-27 | 2015-09-23 | 奇瑞新能源汽车技术有限公司 | Vacuum boost system method of inspection and system, electronlmobil and fault detection method |
| CN103723137A (en) * | 2013-12-30 | 2014-04-16 | 重庆长安铃木汽车有限公司 | Brake assisting power control method for electric vehicle |
| CN107031457B (en) * | 2017-03-15 | 2020-11-27 | 北京长城华冠汽车科技股份有限公司 | Vacuum system fault detection method and system for electric automobile |
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