CN110576754B - Motor control information processing method for hydrogen fuel cell automobile - Google Patents
Motor control information processing method for hydrogen fuel cell automobile Download PDFInfo
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- CN110576754B CN110576754B CN201910772167.2A CN201910772167A CN110576754B CN 110576754 B CN110576754 B CN 110576754B CN 201910772167 A CN201910772167 A CN 201910772167A CN 110576754 B CN110576754 B CN 110576754B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Fuel Cell (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a Motor control information processing method of a hydrogen fuel cell automobile, which is realized based on a vehicle control unit VCU, a Motor controller MCU, a Motor and a reducer; the information interaction is carried out between the VCU and the MCU through a CAN communication network, wherein the VCU is a control device, and the MCU is an execution device; the motor control method comprises the following steps: the MCU receives control information sent by the VCU and controls the Motor to finish the running work of the vehicle according to a control instruction issued by the VCU; the control information includes a life breathing frame and a check code, and the life breathing frame and the check code are associated with a target torque and a target rotational speed. The invention has the beneficial effects that: the safety and the reliability of motor control are improved, the calibration algorithm is simple and reliable, and the method has strong practicability.
Description
Technical Field
The invention relates to the field of hydrogen fuel cell automobiles, in particular to a motor control information processing method of a hydrogen fuel cell automobile.
Background
With the popularization of new energy vehicles, motors and controllers thereof are increasingly used in various hydrogen fuel cell vehicles, and safe and reliable control of the motors becomes an extremely important issue.
In the current state of the art, there are many technical solutions for motor control; however, the solutions have some disadvantages, which results in low motor control efficiency and poor safety and reliability of the motor control.
Disclosure of Invention
In order to solve the problems, the invention provides a Motor control information processing method of a hydrogen fuel cell automobile, which is realized based on a vehicle control unit VCU, a Motor controller MCU, a Motor and a reducer; the information interaction is carried out between the VCU and the MCU through a CAN communication network, wherein the VCU is a control device, and the MCU is an execution device; the motor control method comprises the following steps:
the VCU is used for collecting an accelerator opening signal, a brake opening signal and the state information of the whole vehicle and outputting a target torque or a target rotating speed;
the MCU receives control information sent by the VCU and controls the Motor to finish the running work of the vehicle according to a control instruction issued by the VCU; the control information comprises a life breathing frame and a check code, and the life breathing frame and the check code are associated with a target torque and a target rotating speed;
the MCU judges whether the life breathing frames are continuous or not; if so, the MCU executes target torque or target rotating speed control according to the instruction issued by the VCU; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; if the MCU is in the rotating speed control mode, unloading the rotating speed of the MCU to 0;
the MCU judges whether the check value sent by the VCU is equal to the check value calculated by the MCU; if so, the MCU executes target torque or target rotating speed control according to the instruction issued by the VCU; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; and if the MCU is in the rotating speed control mode, unloading the rotating speed of the MCU to 0.
Further, when the life breathing frame is not continuous, the MCU judges that VCU is abnormal and the execution torque is 0.
Furthermore, the life respiration frame is a counter which counts in a cycle of 0-15, the starting initial value of the life respiration frame is 0, 1 is added to the starting value every time a sending period is reached, and after the value is added to 15, the value is returned to 0 after 1 is added, and the counting is carried out in a reciprocating cycle; the transmission period is a certain preset time.
Furthermore, the check value is related to the life respiration frame, the target torque and the target rotating speed, and the life respiration frame is an input value of a check value algorithm and is used for ensuring real-time property and timely denaturation of data and ensuring reliability of information check.
Furthermore, the algorithm of the check value is a check value of Byte6XOR Byte5XORByte4XOR Byte3XORByte2XORByte1XORByte0, XOR is an exclusive or logic algorithm, and the first seven bytes all participate in operation, so that other control information including a life breathing frame in a frame of message except the check value does not participate in operation, and the integrity and reliability of the control information are ensured.
Furthermore, only when the check value sent by the VCU is equal to the check value calculated by the MCU according to the same algorithm after the MCU receives the data of the life breathing frame, the signal sent by the VCU is valid, the MCU can respond to the control instruction of the VCU, otherwise, the data is considered to be abnormal, the MCU does not respond to the control instruction of the VCU any more, and the vehicle is stopped in a safe mode.
The technical scheme provided by the invention has the beneficial effects that: the safety and the reliability of motor control are improved, the calibration algorithm is simple and reliable, and the method has strong practicability.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic block diagram of a method for processing motor control information of a hydrogen fuel cell vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a life breathing frame in an embodiment of the invention;
FIG. 3 is a flow chart of checking check codes according to an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a schematic diagram illustrating a method for processing control information of a motor of a hydrogen fuel cell vehicle according to an embodiment of the present invention, fig. 2 is a flowchart illustrating a life respiration frame according to an embodiment of the present invention, and fig. 3 is a flowchart illustrating check code checking according to an embodiment of the present invention; the embodiment of the invention provides a Motor control information processing method of a hydrogen fuel cell automobile, which is realized based on components in the control and processing processes of a vehicle control unit VCU, a Motor controller MCU, a Motor, a reducer and the like; the VCU and the MCU carry out information interaction through a CAN communication network, wherein the VCU is used as a control device, the MCU is used as an execution device, the VCU and the MCU jointly complete corresponding control and information processing, and finally reasonable control of a Motor is realized.
The VCU obtains a target torque or a target rotating speed of the MCU through information such as an accelerator opening signal, a brake opening signal and a finished automobile state, and sends the target torque or the target rotating speed with a life breathing frame and a check code to the MCU, and the MCU controls a Motor to finish automobile driving through certain information processing and information check according to an instruction of the VCU; the whole vehicle is a hydrogen fuel cell vehicle, and the state information of the whole vehicle comprises: the state of an auxiliary energy system in the whole vehicle, the state of an electric drive system, the state of a hydrogen fuel cell system and the state of a braking and steering system of the whole vehicle.
The VCU adds a life breathing frame in the sending control information, and the MCU receives the life breathing frame sent by the VCU;
the MCU judges whether the life breathing frames are continuous or not; if so, the MCU executes target torque or target rotating speed control according to a command issued by the VCU of the vehicle controller; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; if the speed control mode is in, the MCU unloads the speed to 0 in a proper mode;
when the life breathing frame is not continuous, the MCU judges that the VCU signal is abnormal, the VCU instruction is invalid, and the execution torque is 0 NM. A life respiration frame sending mode, wherein the life respiration frame is a counter which circularly counts between 0 and 15, the starting initial value of the life respiration frame is 0, the starting value is added with 1 when reaching a sending period and is added to 15, and then the value is returned to 0 when adding 1, and the counting is circularly and repeatedly carried out by taking the starting value as the reference; the transmission period is a certain preset time.
The VCU adds check code in the control information, MCU receives the check code sent by VCU;
the MCU judges whether the check value (namely the acceptance value) sent by the VCU is equal to the check value calculated by the MCU; the check value is a check code; if so, the MCU executes target torque or target rotating speed control according to the instruction issued by the VCU; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; if the speed control mode is in, the MCU unloads the speed to 0 in a proper mode;
the check code information is associated with the life respiration frame, the torque control information, the rotating speed control information and the like. The algorithm of the check code is that the check value is Byte6XOR Byte5XOR Byte4XORByte3XOR Byte2XOR Byte1XOR Byte0, the XOR is an exclusive-or logic algorithm, the first seven bytes all participate in the operation, except that the check code information does not participate in the operation, other information including the breathing frame all participate in the operation, and the integrity and the reliability of the information are ensured. Meanwhile, the life breathing frame is used as an input value of a check code algorithm, so that the real-time property and the time-varying property of data are ensured, and the reliability of information check is ensured.
Only when the check code sent by the VCU is equal to the check code calculated by the MCU according to the same algorithm after the data is received by the MCU, the MCU considers that the signal of the VCU is effective, the MCU responds to the control instruction of the VCU, otherwise, the data is considered to be abnormal, the MCU does not respond to the control instruction of the VCU any more, and the vehicle is stopped in a safe mode.
The invention has the beneficial effects that: the safety and the reliability of motor control are improved, the calibration algorithm is simple and reliable, and the method has strong practicability.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A Motor control information processing method of a hydrogen fuel cell automobile is realized based on a VCU (vehicle control unit), a MCU (micro control unit), a Motor and a reducer; the information interaction is carried out between the VCU and the MCU through a CAN communication network, wherein the VCU is a control device, and the MCU is an execution device; the method is characterized in that: the motor control method comprises the following steps:
the VCU is used for collecting an accelerator opening signal, a brake opening signal and the state information of the whole vehicle and outputting a target torque or a target rotating speed;
the MCU receives control information sent by the VCU and controls the Motor to finish the running work of the vehicle according to a control instruction issued by the VCU; the control information comprises a life breathing frame and a check code, and the life breathing frame and the check code are associated with a target torque and a target rotating speed;
the MCU judges whether the life breathing frames are continuous or not; if so, the MCU executes target torque or target rotating speed control according to the instruction issued by the VCU; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; if the MCU is in the rotating speed control mode, unloading the rotating speed of the MCU to 0;
the MCU judges whether the check value sent by the VCU is equal to the check value calculated by the MCU; if so, the MCU executes target torque or target rotating speed control according to the instruction issued by the VCU; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; if the MCU is in the rotating speed control mode, unloading the rotating speed of the MCU to 0;
the check value is associated with a life respiration frame, a target torque and a target rotating speed, and the life respiration frame is an input value of a check value algorithm and is used for ensuring real-time property and timely denaturation of data and reliability of information check;
the algorithm of the check value is a check value Byte6XOR Byte5XOR Byte4XOR Byte3XOR Byte2XOR Byte1XOR Byte0, XOR is an exclusive OR logic algorithm, the first seven bytes all participate in operation, so that except that the check value does not participate in operation in a frame of message, other control information including a life breathing frame all participate in operation, and the integrity and reliability of the control information are ensured;
only when the check value sent by the VCU is equal to the check value calculated by the MCU according to the same algorithm after the MCU receives the data of the life breathing frame, the signal sent by the VCU is valid, the MCU responds to the control instruction of the VCU, otherwise, the data is considered to be abnormal, the MCU does not respond to the control instruction of the VCU any more, and the vehicle is stopped in a safe mode.
2. The motor control information processing method of a hydrogen fuel cell vehicle according to claim 1, characterized in that: when the life breathing frame is discontinuous, the MCU judges that the VCU is abnormal and the execution torque is 0.
3. The motor control information processing method of a hydrogen fuel cell vehicle according to claim 1, characterized in that: the life respiration frame is a counter which counts in a circulating way between 0 and 15, the starting initial value of the life respiration frame is 0, 1 is added to the starting value every time a sending period is reached, and after the value is added to 15, the value is returned to 0 after 1 is added, and the counting is carried out in a circulating and reciprocating way; the transmission period is a certain preset time.
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| JPH10257603A (en) * | 1997-03-14 | 1998-09-25 | Mitsubishi Motors Corp | Electric vehicle |
| DE102008008536A1 (en) * | 2008-02-11 | 2009-08-13 | Robert Bosch Gmbh | Method for controlling an electric machine and control device |
| WO2012042528A2 (en) * | 2010-09-28 | 2012-04-05 | Tvs Motor Company Limited | A vehicle speed control system |
| US10040447B2 (en) * | 2012-10-05 | 2018-08-07 | Ford Global Technologies, Llc | Control strategy for an electric machine in a vehicle |
| CN103856288B (en) * | 2012-12-04 | 2017-06-06 | 北汽福田汽车股份有限公司 | For the CAN communication signal checking and transmission method and system of automobile |
| US10447195B2 (en) * | 2013-07-23 | 2019-10-15 | Atieva, Inc. | Electric vehicle motor torque safety monitor |
| JP2015144517A (en) * | 2014-01-31 | 2015-08-06 | 株式会社デンソー | Electronic control device |
| CN106335370B (en) * | 2016-08-31 | 2019-09-10 | 浙江宝成机械科技有限公司 | Whole pure electric vehicle control method |
| CN107472077B (en) * | 2016-11-30 | 2019-11-22 | 宝沃汽车（中国）有限公司 | Control method, device and the vehicle with it of drive system |
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Effective date of registration: 20210524 Address after: 046000 7th floor, block a, Yuecheng financial service center, No.36 zhuomaxi street, Changzhi City, Shanxi Province Patentee after: Zhongji hydrogen energy automobile (Changzhi) Co.,Ltd. Address before: Room 101, 1 / F, building 13, phase I, industrial incubation base, east of future third road and south of Keji fifth road, Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee before: WUHAN LUOGEFU HYDROGEN ENERGY AUTOMOBILE Co.,Ltd. |
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