CN112631260B - Time lag analysis method for composite structure loop of networked motion control system of electric automobile - Google Patents
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Abstract
The invention belongs to the field of electric automobile networked motion control technology and system, and particularly relates to a loop time-delay analysis method of a composite structure of an electric automobile networked motion control system. The invention can accurately obtain the upper bound of network induced delay in the electric automobile networked control system loop as a system loop time-lag analysis method, and provides technical method support for designing a highly reliable vehicle motion controller, ensuring vehicle motion control stability and further improving vehicle operation safety.
Description
Technical Field
The invention belongs to the field of electric automobile networked control technology and system, and particularly relates to a time lag analysis method for a composite structure loop of an electric automobile networked motion control system.
Background
Automobile motion control is a classic topic of automobile technology development. In recent years, with the rapid development of electric vehicles, how to realize stable and efficient electric vehicle motion control becomes a focus problem of the development of the automobile industry. The traditional mechanical and hydraulic structure has the problems of large volume, slow response, difficult arrangement and the like, and can not meet the increasingly severe requirements of the motion control system of the electric automobile; on the other hand, with the development of semiconductor integration technology and industrial field bus technology, the networked motion control system of the electric automobile becomes possible due to the system on chip and the vehicle-mounted network which have excellent performance and low price.
The automobile networked motion control system uses a line control technology and a vehicle-mounted network to acquire vehicle state signals and send control commands, replaces the traditional mechanical and hydraulic transmission devices, has the characteristics of small volume, flexible arrangement, good controllability, high response speed and the like, and provides possibility for realizing accurate and rapid vehicle dynamics control.
On the other hand, the use of the on-board network will inevitably introduce signal transmission delays. The delay directly affects the real-time performance and the system stability of vehicle motion control, and further affects the vehicle operation safety, and becomes a new challenge for the development of the networked motion control technology of the electric vehicle. The existing time lag analysis methods, such as a network deduction theory and a Markov time delay model, mostly focus on time delay analysis of partial links of a system, so that the estimation of an upper time delay bound is inaccurate, and the time delay upper bound has certain limitations, and cannot meet the real-time application requirements of a networked motion control system of an electric vehicle, so that the real-time performance of a controller and the stability of the system are reduced, and further the running safety of the vehicle is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the existing network time lag analysis method, provides a composite structure loop time lag analysis method of an electric automobile networked motion control system, can obtain the maximum time delay of the control loop of the electric automobile networked motion control system, and provides data support for the design of a network time lag down control algorithm, so that the real-time performance and the system stability of a controller are improved, and the running safety of an electric automobile is further improved.
The invention is realized by the following specific steps:
the time lag analysis method for the composite structure loop of the networked motion control system of the electric automobile comprises the following steps:analyzing related concepts and definitions in a time delay manner;analyzing the type of a delay system;and (4) loop delay envelope analysis. Wherein the stepsTime-lapse analysis phaseThe concept and definition are stepsDelayed system type identification and procedureThe loop delay envelope analysis provides conceptual support; step (ii) ofUtilizing the stepsThe related concepts are subjected to the statistics of the type of the delay system and are stepsProviding a delayed envelope analysis object; step (ii) ofDelay loop envelope utilization stepRelated concepts and stepsAnd analyzing the object and deducing to obtain the mathematical expression of the upper limit of the loop delay of the system.
Step (ii) ofThe method comprises four concept definitions which are respectively a network node delay component, a control loop delay chain, a delay chain type analysis and a delay boundary envelope analysis. The network node delay component is used for describing the composite delay time of one network node; the control loop delay chain is used for describing the composite delay time of one control loop; the type analysis of the delay chain is about the description of the type classification of various control loop delay chains consisting of network nodes with different trigger modes; time-delayed boundary envelopeAnalyzing, namely finding the description of the delay upper bound of the delay chain of the control loop; the network node delay assembly consists of delay element task queuing time, task execution time, communication queuing time and communication execution time.
The network node types comprise sensor nodes, controller nodes and actuator nodes, wherein for the sensor nodes, under a time trigger mode, the delay components comprise task execution time, communication queuing time and communication execution time; in the event trigger mode, the delay assembly comprises task execution time, communication queuing time and communication execution time; for the controller node, in a time trigger mode, the delay assembly comprises task queuing time, task execution time, communication queuing time and communication execution time; in the event trigger mode, the delay assembly comprises task execution time, communication queuing time and communication execution time; for an actuator node, under a time trigger mode, a delay assembly of the actuator node comprises task queuing time and task execution time; in the event trigger mode, the delay component comprises task execution time.
The delay chain of the control loop is generally formed by connecting network node delay components through channels among nodes, wherein the network nodes comprise sensor nodes, controller nodes and actuator nodes. The inter-node path includes a forward path and a feedback path. The control loop delay chain length formula is as follows:
whereinIndicating the first in the control loopThe length of the delay element of a network node,indicating the number of network nodes in the control loop,。
step (ii) ofThe delay system type analysis process refers to the induction and classification of the delay chain of the control loop based on the node driving mode, and the number of types of the delay chain meets the following formula:
The classification result is described by using the following delay chain classification table.
The classification result is described by using the following delay chain classification table.
Delay chain class table
Step (ii) ofThe loop delay envelope analysis means that a delay upper bound function is utilized to determine the delay upper bound of a control loop delay chain of the networked motion control system of the electric automobile. The delay upper bound function comprises a local delay upper bound function and a global delay upper bound function, the local delay upper bound function is used for analyzing the delay upper bound of a control loop delay chain of a specific networked motion control system of the electric automobile, and the expression of the delay upper bound function is as follows:
wherein,is a supremum operator;respectively representing the number of network nodes in a single control loop and the number of delay chains corresponding to all control loops;a local delay upper bound is indicated,indicates a particular delay chain length;indicating the first in the control loopEach network node delays the component length.
The global delay upper bound function is the maximum value of the delay chain delay upper bound of all networked motion control system control loops of the electric automobile, and the expression is as follows:
wherein,is a supremum operator;respectively representing the number of network nodes in a single control loop and the number of delay chains corresponding to all control loops;respectively representing a local delay upper bound and a global delay upper bound,represents a maximum value of a specific delay chain length;indicating the first in the control loopEach network node delays the component length.
The invention has the beneficial effects that:
the invention provides a time delay analysis method for a network composite structure loop of a networked motion control system of an electric automobile, which is used as a set of complete control system time delay analysis methodology and can accurately analyze the maximum time delay in a control loop of a specific networked motion control system or all networked motion control systems in the electric automobile and provide theoretical support for analysis and design of a network time delay dynamic control system of the electric automobile, thereby providing technical support for improving the real-time property and the system stability of a controller and further improving the running safety of the automobile.
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FIG. 1 is a schematic diagram of a networked motion control system for an electric vehicle according to the present invention;
FIG. 2 is a control schematic diagram of the networked power train motion control system of the electric vehicle according to the present invention;
FIG. 3 is a diagram of a networked power train motion control system of an electric vehicle according to the present invention;
FIG. 4 is a schematic diagram of a delay cell according to the present invention;
FIG. 5 is a schematic view of a delay assembly of the present invention;
FIG. 6 is a schematic diagram of a delay chain of the networked power chain motion control system of the electric vehicle according to the present invention;
FIG. 7 is a schematic diagram of the delay upper bound of the networked power chain motion control system of the electric vehicle according to the present invention.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1, the networked motion control system for the electric vehicle adopts a line control technology and a vehicle-mounted network to acquire sensor signals and send control signals, replaces the traditional mechanical and hydraulic devices, has the characteristics of small volume, flexible arrangement, good controllability, high response speed and the like, and can realize good motion control performance of the electric vehicle.
As shown in fig. 2, the application of the method for analyzing the time lag in the composite structure loop of the networked motion control system of the electric vehicle is described by taking the networked power train motion control of the electric vehicle as an example.
In order to improve the smoothness and stability of the vehicle power chain, a networked power chain motion control system of the electric vehicle is constructed based on a line control technology and a vehicle-mounted network, as shown in fig. 2. The principle is as follows: the method comprises the steps that 4 sensors including a wheel speed sensor acquire state information of the wheel speed and the like of a vehicle, the state information is fed back to a power chain control unit through a vehicle-mounted network, the power chain control unit calculates a motor torque control command based on the feedback state information, the motor torque control command is sent to a motor control unit through the vehicle-mounted network, the motor torque is adjusted, and electric drive system vibration is restrained, so that the power chain control system becomes a typical networked motion control system.
As shown in fig. 3, the networked control system includes a power chain control unit, a motor output shaft corner sensor node, a transmission half-shaft corner sensor node, a wheel speed sensor node, and a motor rotation speed sensor node, wherein the motor output shaft corner sensor node, the transmission half-shaft corner sensor node, the wheel speed sensor node, the motor rotation speed sensor node, and the power chain control unit are connected through a vehicle-mounted network to form a feedback channel; the power chain control unit is connected with the motor control unit through a vehicle-mounted network to form a forward channel. According to a networked control theory, the use of a vehicle-mounted network inevitably introduces signal delay, and the signal delay directly influences the real-time performance of the motion control of a power chain of the electric automobile, so that the torsional vibration instability of a system is caused, the motion safety of the automobile is further influenced, and the method becomes a new challenge of the development of the high-performance transmission technology of the electric automobile.
To address the above challenges, it is a key technical challenge to accurately estimate the delay upper bound. The existing time delay analysis methods, such as a network deduction theory and a Markov time delay model, mostly focus on time delay analysis of partial links of a system, so that the estimation of an upper time delay bound is inaccurate, and the existing time delay analysis methods have certain limitations. Therefore, the invention provides a time-lag analysis method for a composite structure loop of a networked motion control system of an electric automobile, which can be used for analyzing the maximum time delay of the control loop of the networked motion control system of the electric automobile.
The method comprises the following three steps:analyzing related concepts and definitions in a time delay manner;analyzing the type of a delay system;and (4) loop delay envelope analysis. Wherein the stepsThe related concepts and definitions of the time delay analysis are stepsDelayed system type identification and procedureThe loop delay envelope analysis provides conceptual support; step (ii) ofUtilizing the stepsThe related concepts are subjected to the statistics of the type of the delay system and are stepsProviding a delayed envelope analysis object; step (ii) ofDelay loop envelope utilization stepRelated concepts and stepsAnd analyzing the object and deducing to obtain the mathematical expression of the upper limit of the loop delay of the system.
First, to analyze the loop maximum delay, a concept is defined: the method comprises the steps of a network node delay component, a control loop delay chain, delay chain type analysis and delay boundary envelope analysis.
The network node delay component is a description of a composite delay time of a network node.
The control loop delay chain is a description of the composite delay time of one control loop.
The type analysis of the delay chain is about the description of the type classification of various control loop delay chains composed of network nodes with different trigger modes.
The delay boundary envelope analysis is to find the description of the delay upper bound of the delay chain of the control loop.
As shown in fig. 4, to analyze the maximum delay of the control loop, a delay element definition is introduced: communication queue time, task execution time, communication queue time, and communication execution time are expressed by CQ, CI, TQ, and TI, respectively.
As shown in fig. 5, each network node delay component is composed of a task queuing time, a task execution time, a communication queuing time, and a communication execution time.
For the sensor node, in the time trigger mode, as shown in fig. 5 (1), its delay components include task execution time TI, communication queuing time CQ and communication execution time CI; in the event triggered mode, as shown in fig. 5 (2), the delay elements include a task execution time TI, a communication queuing time CQ, and a communication execution time CI.
For the controller node, in the time-triggered mode, as shown in fig. 5 (3), its delay elements include task queuing time TQ, task execution time TI, communication queuing time CQ, and communication execution time CI; in the event triggered mode, as shown in fig. 5 (4), the delay elements include a task execution time TI, a communication queuing time CQ, and a communication execution time CI.
For the executor node, in the time-triggered mode, as shown in fig. 5 (5), its delay components include task queuing time TQ and task execution time TI; in the event triggered mode, as shown in fig. 5 (6), the delay component includes a task execution time TI.
As shown in fig. 6, the control loop delay chain is generally composed of network node delay components connected by inter-node channels, wherein the types of network nodes include sensor nodes, controller nodes and actuator nodes. The inter-node path includes a forward path and a feedback path. The loop delay chain length formula is as follows:
whereinIndicating the first in the control loopThe length of the delay element of each network node,indicating the number of network nodes in the control loop,。
the delay system type analysis process refers to the induction and classification of the delay chain of the control loop based on the node driving mode, and the number of types of the delay chain meets the following formula:
whereinThe number of the types of the delay chains,is the node class number. As shown in fig. 6, the network nodes of the case system include three types: sensor nodes, controller nodes and actuator nodes, i.e.Then, thenThe classification result can be described by using a delay chain classification table as follows:
delay chain class table
The loop delay envelope analysis means that a delay upper bound function is utilized to determine the delay upper bound of a control loop delay chain of the networked motion control system of the electric automobile. The delay upper bound function comprises a local delay upper bound function and a global delay upper bound function.
The local delay upper bound function is used for analyzing the delay upper bound of a control loop delay chain of a specific networked motion control system of the electric automobile, and the expression of the local delay upper bound function is as follows:
wherein,is a supremum operator;respectively representing the number of network nodes in a single control loop and the number of delay chains corresponding to all control loops;a local delay upper bound is indicated,indicates a particular delay chain length;indicating the first in the control loopEach network node delays the component length.
The global delay upper bound function is the maximum value of the delay chain delay upper bound of all networked motion control system control loops of the electric automobile, and the expression is as follows:
wherein,is a supremum operator;respectively representing the number of network nodes in a single control loop and the number of delay chains corresponding to all control loops;respectively representing a local delay upper bound and a global delay upper bound,represents a maximum value of a specific delay chain length;indicating the first in the control loopLength of delay element of network node
To analyze the control loop maximum delay, the following assumptions are made: (1) the time triggers the sampling of the sensor node and sends the sampling result to the controller node through the CAN; (2) the time trigger controller node calculates a motor torque command according to a sampling result from the sensor node and periodically sends the motor torque command to the motor controller node; (3) when the event trigger motor controller node receives the motor torque command information, the event trigger motor controller node immediately controls the driving motor to execute corresponding actions.
Based on the concepts and assumptions above, the analysis of the upper bound of delay of the control loop of the networked power train control system of the electric vehicle is as follows: as shown in fig. 7, the loop delay of the composite structure can be expressed by the following formula:
the upper delay bound can be calculated by the following formula:
wherein,represents the time delay of the composite structure loop of the networked power chain control system of the electric automobile,the number of network nodes in the networked power chain control system of the electric automobile is shown,indicating the first in the control loopThe length of the delay element of each network node,indicates the length of the sensor task execution time TI,representing the sum of the sensor communication queuing time CQ and the communication execution time CI length,indicating the length of the controller task queue time TQ,indicating the length of the controller task execution time TI,representing the sum of the lengths of the controller communication queuing time CQ and the communication execution time CI,indicating the length of the executor task execution time TI,representing the system cycle.
The above description is only an example of the present invention, and the present invention is not limited to the above embodiment, and all the modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The time lag analysis method for the composite structure loop of the networked motion control system of the electric automobile comprises the following steps:
(1) analyzing related concepts and definitions in a time delay manner;
(2) analyzing the type of a delay system;
(3) loop delay envelope analysis;
wherein, the related concepts and definitions of the delay analysis in the step (1) provide concept support for the type analysis of the delay system in the step (2) and the loop delay envelope analysis in the step (3);
step (2) carrying out delay system type statistics by utilizing the delay analysis related concepts in the step (1) and providing a delay envelope analysis object for the step (3);
step (3) the delay loop envelope utilizes the delay analysis related concept in the step (1) and the analysis object in the step (2) to derive the mathematical expression of the system loop delay upper bound;
the method is characterized in that: the related concepts and definitions of the delay analysis in the step (1) comprise four concepts, namely a network node delay component, a control loop delay chain, delay chain type analysis and delay boundary envelope analysis;
the network node delay component is used for describing the composite delay time of one network node;
the control loop delay chain is used for describing the composite delay time of one control loop;
the type analysis of the delay chain is about the description of the type classification of various control loop delay chains composed of network nodes with different trigger modes;
the delay boundary envelope analysis is to find the description of the delay upper bound of the delay chain of the control loop.
2. The electric vehicle networked motion control system composite structure loop time lag analysis method according to claim 1, characterized in that: the network node delay component;
the system consists of task queuing time, task execution time, communication queuing time and communication execution time; the task queuing time, the task execution time, the communication queuing time and the communication execution time are delay elements.
3. The electric vehicle networked motion control system composite structure loop time lag analysis method according to claim 2, characterized in that: the network node delay assembly comprises a sensor node, a controller node and an actuator node, wherein the network node type comprises the following types:
for the sensor node, in the time trigger mode, the delay component comprises task execution time, communication queuing time and communication execution time; in the event trigger mode, the delay assembly comprises task execution time, communication queuing time and communication execution time;
for the controller node, in a time trigger mode, the delay assembly comprises task queuing time, task execution time, communication queuing time and communication execution time; in the event trigger mode, the delay assembly comprises task execution time, communication queuing time and communication execution time;
for an actuator node, under a time trigger mode, a delay assembly of the actuator node comprises task queuing time and task execution time; in the event trigger mode, the delay component comprises task execution time.
4. The electric vehicle networked motion control system composite structure loop time lag analysis method according to claim 1, characterized in that: the control loop delay chain is formed by connecting network node delay components through channels among nodes, wherein the network nodes comprise sensor nodes, controller nodes and actuator nodes; the inter-node path includes a forward path and a feedback path.
5. The electric vehicle networked motion control system composite structure loop time lag analysis method according to claim 4, characterized in that: the control loop delay chain length formula is as follows:
wherein t isdelay_compount,iThe length of the delay component of the ith network node in the control loop is represented, n represents the number of the network nodes in the control loop, and i is 1, 2.
6. The electric vehicle networked motion control system composite structure loop time lag analysis method according to claim 1, characterized in that: the type analysis of the delay system in the step (2) refers to induction and classification of the delay chain of the control loop based on a node driving mode;
the number of types of the control loop delay chains meets the following formula:
N=2n-1
wherein N is the number of types of delay chains, and N is the number of types of nodes;
and the classification result is described by adopting a delay chain classification table:
trigger mode class 1, sensor node: time-triggered, controller node: time triggering, an actuator node: triggering time;
trigger mode class 2, sensor node: time-triggered, controller node: time triggering, an actuator node: triggering an event;
trigger mode class 3, sensor node: time-triggered, controller node: event triggering, an actuator node: triggering time;
trigger mode class 4, sensor node: time-triggered, controller node: event triggering, an actuator node: and triggering an event.
7. The electric vehicle networked motion control system composite structure loop time lag analysis method according to claim 1, characterized in that: the loop delay envelope analysis in the step (3) is to determine the delay upper bound of a control loop delay chain of the networked motion control system of the electric automobile by using a delay upper bound function; the delay upper bound function comprises a local delay upper bound function and a global delay upper bound function.
8. The electric vehicle networked motion control system composite structure loop time lag analysis method according to claim 7, characterized in that: the local delay upper bound function is used for analyzing the delay upper bound of a delay chain of a control loop of a specific networked motion control system of the electric automobile, and the expression of the local delay upper bound function is as follows:
wherein sup is an infimum operator; n, N respectively represents the number of network nodes in a single control loop and the number of delay chains corresponding to all control loops;indicating a local delay upper bound, tdelay_chainIndicates a particular delay chain length; t is tdelay_compount,iIndicating the length of the delay element of the ith network node in the control loop.
9. The electric vehicle networked motion control system composite structure loop time lag analysis method according to claim 7, characterized in that: the global delay upper bound function is the maximum value of the delay upper bound of the delay chain of the control loop of the networked motion control system for analyzing the electric automobile, and the expression is as follows:
wherein sup is an infimum operator; n, N respectively represents the number of network nodes in a single control loop and the number of delay chains corresponding to all control loops;respectively representing the local and global delay upper bounds, tmax_special,jRepresents a maximum value of a specific delay chain length; t is tdelay_compount,iIndicating the length of the delay element of the ith network node in the control loop.
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