CN113885481A - Control method and control system for distributed driving electric control - Google Patents
Control method and control system for distributed driving electric control Download PDFInfo
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- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides a control method and a control system for distributed driving electric control, wherein the control method comprises the following steps: the motor controllers are interconnected through a communication bus to form a local area sharing network; each motor controller performs self-checking, and sends self-checking results to a vehicle control unit and other motor controllers; judging the electric control state of the vehicle electric control combination according to the self-checking result; when the electric control state comprises that any motor controller fails, but the vehicle is still in a controllable state, the rest motor controllers which do not fail transmit the control instruction received from the vehicle control unit to the motor controllers which have faults with the vehicle control unit through the local area sharing network; when the electric control state comprises that any motor controller has a fault and the vehicle is in an uncontrollable state due to the fault, all the motor controllers rapidly and synchronously enter a safe state through a local area sharing network. After the technical scheme is adopted, the safe operation of the system is ensured, and the usability is improved.
Description
Technical Field
The invention relates to the field of motor control, in particular to a control method and a control system for distributed driving electric control.
Background
With the increasing severity of environmental problems and oil crises, countries have developed policy and regulations, so that on one hand, traditional automobiles using oil and gasoline as fuel are limited and impacted, and on the other hand, new energy automobiles become research hotspots of universities and universities, scientific research institutions and large-scale vehicle enterprises in the present countries due to the dual requirements of energy conservation and environmental protection. The electric automobile is taken as the most promising important branch of new energy automobiles, the energy is renewable, and no pollution is caused, so that the electric automobile is determined as the final strategic target of the current automobile industrial transformation in China.
The pure electric vehicle is driven by a motor, and the integral driving system is driven by one motor, so that the size and the volume of the motor are greatly increased due to a larger load, and the mounting difficulty is increased; on the other hand, under different road conditions and working conditions, the electric automobile needs different powers for the motors, and the motor characteristics cannot be utilized to the maximum extent by only adopting front driving, rear driving or four-wheel driving, so that the motor efficiency is reduced. Therefore, a design of distributed drive electric control is formed, and a motor controller, or a Micro Control Unit (MCU), is arranged beside each vehicle wheel.
When the MCUs distributed and arranged work, if serious faults occur (including the fact that the MCUs cannot communicate with a vehicle control unit), the MCUs enter a safety state, such as an ASC (active short circuit)/SPO (safety pulse off) state, and therefore the MCUs are protected. In this way, the best processing mode cannot be made according to the actual operation condition, and the operability of the system is poor.
Therefore, a novel control method and a novel control system for distributed driving electric control are needed, and an optimal processing result can be obtained after comprehensive judgment according to the fault position, the number and the condition.
Disclosure of Invention
In order to overcome the technical defects, the invention aims to provide a control method and a control system for distributed driving electric control, which not only ensure the safe operation of the system, but also improve the usability.
The invention discloses a control method for distributed driving electric control, which comprises the following steps:
a plurality of motor controllers distributed in vehicle electric control combinations at different positions of a vehicle are interconnected through a communication bus to form a local area sharing network among the vehicle electric control combinations, and the local area sharing network is in communication connection with a vehicle control unit;
each motor controller performs self-checking, sends a self-checking result to a vehicle control unit connected with the motor controller through communication connection with the vehicle control unit, and sends the self-checking result to any other motor controller and any vehicle control unit through a local area sharing network;
each motor controller judges the electric control state of the vehicle electric control combination according to the self-checking result and the self-checking result of any other motor controller;
when the electric control state comprises that any motor controller fails, but the vehicle is still in a controllable state, the other motor controllers which do not fail forward fault information of the motor controller with the communication fault to the vehicle controller unit through the local area sharing network, and forward a control instruction received from the vehicle control unit to the motor controller with the vehicle control unit with the fault;
and when the electric control state comprises that any motor controller fails and the vehicle is in an uncontrollable state, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network.
Preferably, the step of judging the electric control state of the vehicle electric control combination by each motor controller according to the self-checking result and the self-checking result of any other motor controller includes:
combining self-checking results of all the motor controllers and the positions of the motors controlled by the motor controllers to form position information;
when the position information at least comprises that motor controllers for controlling motors on the same side of the vehicle break down simultaneously along the driving direction of the vehicle, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network;
and when the position information does not include the motor controller which controls the motor on the same side of the vehicle and fails at the same time along the running direction of the vehicle, and the motor controller has communication failure with the vehicle control unit and has normal communication with other motor controllers and the vehicle control unit, the motor controller receives and executes the control command forwarded by the motor controller which has no communication failure with the vehicle control unit.
Preferably, each vehicle electric control combination is provided with a plurality of motor controllers, and each motor controller controls at least one motor; the motor controllers in the same electric control combination are connected through a CAN bus, a LIN bus or an Ethernet;
and is
Each electric control module is provided with an interface connected with an internal motor controller, and the interfaces of different electric control modules are connected through a communication bus to form a local area sharing network;
when the electric control state further comprises one or more of bus voltage, current, temperature and motor rotating speed of any motor controller is abnormal, the rest motor controllers which are not abnormal forward the control instruction received from the vehicle control unit to the motor controllers which are abnormal with the vehicle control unit.
Preferably, when the position information does not include that the motor controllers controlling the motors on the same side of the vehicle are failed at the same time in the driving direction of the vehicle, and the motor controllers are failed in communication with the vehicle control unit and are normally communicated with the vehicle control unit through other motor controllers, the motor controllers receive control instructions forwarded by the motor controllers which are not failed in communication with the vehicle control unit, and the steps are executed as follows:
when the position information includes a communication failure of the motor controller beside the wheel of the vehicle, the motor controller in the same row with the communication failure enters a safe state along with the motor controller with the communication failure.
The invention also discloses a distributed driving electric control system, which comprises a plurality of motor controllers distributed in the electric control module beside the vehicle wheel,
a plurality of motor controllers distributed in vehicle electric control assemblies at different positions of a vehicle are interconnected through a communication bus to form a local area sharing network, and the local area sharing network is in communication connection with a vehicle control unit;
each motor controller performs self-checking, sends a self-checking result to a vehicle control unit connected with the motor controller through communication connection with the vehicle control unit, and sends the self-checking result to any other motor controller and any vehicle control unit through a local area sharing network;
each motor controller judges the electric control state of the vehicle electric control combination according to the self-checking result and the self-checking result of any other motor controller;
when the electric control state comprises that any motor controller fails, but the vehicle is still in a controllable state, the other motor controllers which do not fail forward fault information of the motor controller with the communication fault to the vehicle controller unit through the local area sharing network, and forward a control instruction received from the vehicle control unit to the motor controller with the vehicle control unit with the fault;
and when the electric control state comprises that any motor controller fails and the vehicle is in an uncontrollable state, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network.
Preferably, combining the self-checking results of the motor controllers and the positions of the motors controlled by the motor controllers to form position information;
when the position information at least comprises that motor controllers for controlling motors on the same side of the vehicle break down simultaneously along the driving direction of the vehicle, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network;
and when the position information does not include the motor controller which controls the motor on the same side of the vehicle and fails at the same time along the running direction of the vehicle, and the motor controller has communication failure with the vehicle control unit and has normal communication with other motor controllers and the vehicle control unit, the motor controller receives and executes the control command forwarded by the motor controller which has no communication failure with the vehicle control unit.
Preferably, each vehicle electric control combination is provided with a plurality of motor controllers, and each motor controller controls at least one motor; the motor controllers in the same electric control combination are connected through a CAN bus, a LIN bus or an Ethernet;
and is
Each electric control module is provided with an interface connected with an internal motor controller, and the interfaces of different electric control modules are connected through a communication bus to form a local area sharing network;
when the electric control state further comprises one or more of bus voltage, current, temperature and motor rotating speed of any motor controller is abnormal, the rest motor controllers which are not abnormal forward the control instruction received from the vehicle control unit to the motor controllers which are abnormal with the vehicle control unit.
Preferably, when the position information includes a communication failure of the motor controller beside the wheel of the vehicle, the motor controller in the same row as the communication failure enters a safe state together with the communication failed motor controller.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. the judgment mode of whether the motor controller needs to enter the safe state is richer, and the usability is increased on the basis of ensuring the safe operation of the system;
2. when the motor controller is required to enter the safe state, the fault processing time is short, and the motor controller can enter the safe state more quickly.
Drawings
Fig. 1 is a flow chart illustrating a control method of distributed driving electric control according to a preferred embodiment of the present invention.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
Referring to fig. 1, a flow chart of a control method for distributed driving electric control according to a preferred embodiment of the present invention is shown, in which the control method includes the following steps:
s100: a plurality of motor controllers distributed in vehicle electric control combinations at different positions of a vehicle are interconnected through a communication bus to form a local area sharing network among the vehicle electric control combinations, and the local area sharing network is in communication connection with a vehicle control unit;
the vehicle wheels are arranged on the vehicle in an even number arrangement, such as 4 or other even numbers. A plurality of vehicle electric control combinations, such as electric control modules, are arranged beside the vehicle wheels or at other positions of the vehicle, and are used for forming control connection media of the vehicle wheels and a vehicle control unit. The electronic control module can be placed beside the wheels of the vehicle or among the wheels of the vehicle in a row. A plurality of motor controllers are arranged in each vehicle electric control combination, and each motor controller is used for controlling each vehicle wheel. In order to realize the purpose that when a certain motor controller has a fault, the motor controller CAN still issue commands to the motor controller and execute the commands, all the motor controllers are interconnected through a communication bus, such as a CAN bus and a LIN bus, so as to form a local area shared network. The local area sharing network is communicatively coupled to the vehicle control unit. Specifically, taking the original communication connection of the electric control module and the vehicle control unit through the CAN bus as an example, a new path of communication bus is added to connect the motor controllers in a communication manner to form a shared link, so that the respective states CAN be shared with each other without being forwarded or issued through the vehicle control unit.
S200: each motor controller performs self-checking, and the communication connection between the self-checking result and the vehicle control unit is sent to the vehicle control unit connected with the motor controller, and the self-checking result is sent to any other motor controller and any vehicle control unit through a local area sharing network;
when the vehicle runs, the motor controller periodically performs self-checking to check the working state of the motor controller, for example, whether the communication state with the vehicle control unit is normal or not and whether the running state is normal or not, and the self-checking result is sent to other motor controllers and the vehicle control unit through the local area shared network regardless of the self-checking result. That is, each motor controller has no master-slave part, and each motor controller will receive and know the states of other motor controllers and the communication states of other motor controllers and the vehicle control unit.
S300: each motor controller judges the electric control state of the vehicle electric control combination according to the self-checking result and the self-checking result of any other motor controller;
and all the motor controllers judge the electric control state of the vehicle electric control combination according to self-checking results and self-checking results of any other motor controllers. Such as whether the motor controller itself has failed, whether other motor controllers have failed, whether there is a need to assist the other motor controllers in coordination with obtaining commands from the vehicle control unit, etc.
S400: when the electric control state includes that any motor controller has a fault but the vehicle is in a controllable state, the other motor controllers which do not have the fault transmit fault information of the motor controller with the communication fault to the vehicle controller unit through the local area sharing network, and transmit a control instruction received from the vehicle control unit to the motor controller with the fault.
If any motor controller fails in the electric control state, the motor controller may be defined as an out-of-control MCU, which may not receive instructions from the vehicle control unit. Therefore, whether the fault occurs can be further judged whether the vehicle is still controllable under the condition that the local area sharing network is established (namely whether the vehicle control unit can control all the motor controllers by means of the local area sharing network so that the vehicle is in a controllable state or a non-controllable state), and the motor controller which has the communication fault with the vehicle control unit in the controllable state can forward the control instruction received from the vehicle control unit to the out-of-control MCU so that the MCU can still receive the control instruction and can still normally work without entering a safety state.
S400': when the electric control state comprises that any motor controller fails and the vehicle is in an uncontrollable state, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network
On the contrary, if the number of the faults is too large or the communication faults are serious, so that the vehicle electric control combination is in an uncontrollable state, the motor controller with the faults can enter a safe state.
With the above configuration, the motor controller having a fault can receive the forwarded control command although it cannot directly receive the control command, and still performs corresponding cooperative control (i.e., does not need to enter a safe state) with the control command of the vehicle control unit as the first step.
In a preferred embodiment, step S300 includes:
s310: combining self-checking results of all the motor controllers and the positions of the motors controlled by the motor controllers to form position information;
when the fault is a communication fault, the whole electric control module is judged to be in a controllable condition or an uncontrollable condition according to the position of the motor controller with the communication fault. The vehicle can still work normally under the controllable condition, namely the current condition; the uncontrollable condition means that the vehicle cannot work normally under the current condition and needs to enter a safe state. Position information is formed based on the faulty motor controller and the position of the respective controlled motor.
S320: when the position information at least comprises that motor controllers for controlling motors on the same side of the vehicle break down simultaneously along the driving direction of the vehicle, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network;
when a row of vehicle wheels in the vehicle driving direction means that the front and rear wheels in the row have communication failure at the same time, the motor controller automatically enters a safe state (even if other motor controllers can still transmit control commands at the same time), the safety state can be executed with higher priority than the control commands of the vehicle control unit, and the vehicle control unit can respond to the driving condition more quickly. Meanwhile, the local area sharing network sends the electric control state of the motor controller to the motor controller which is not in communication fault with the vehicle control unit, so that other motor controllers can also know the states of the out-of-control MCU. While other motor controllers may de-rate or allocate different torque treatments to deal with situations where, while normal, a fault actually occurs.
S330: when the position information does not include that the motor controllers controlling the motors on the same side of the vehicle simultaneously break down along the driving direction of the vehicle and the motor controllers have communication faults with the vehicle control unit and normally communicate with other motor controllers and the vehicle control unit, the motor controllers receive control instructions forwarded by the motor controllers which do not have communication faults with the vehicle control unit and execute the control instructions
On the contrary, when the communication fault only occurs in the motor controller beside the front wheel or the rear wheel, the whole vehicle is still in a controllable state, and the internal logic of the motor controller is that the priority of the control instruction formed by the vehicle control unit is higher, and the control instruction is still executed according to the priority.
Preferably, step S330 may further include:
s331: when the position information includes a communication failure of the motor controller beside the wheel of the vehicle, the motor controller in the same row with the communication failure enters a safe state along with the motor controller with the communication failure
If one motor controller has a communication fault, preferably, the motor controllers parallel to the motor controller (in the same row) can be put into a safe state (even if the parallel motor controllers operate normally) so as to realize balanced control on two sides, and a better control effect is achieved on the safe operation of the system.
In a preferred embodiment, two or more motors are arranged in each vehicle electric control combination (or become an electric control board), so that each motor controller controls at least one motor (namely, each single motor controller controls one motor, or each motor controller controls two motors), the motor controllers in the same electric control module are connected through a CAN bus, a LIN bus or an ethernet, and a safety resistor CAN be added between the CAN buses by taking the CAN bus as an example. And each electric control module is provided with a CAN bus interface connected with an internal motor controller CAN bus, and the CAN bus interfaces of different electric control modules are connected through the CAN bus to form a local area sharing network. Further, in addition to the communication failure mentioned in the above embodiment, when the electric control state further includes one or more of the bus voltage, the current, the temperature, and the motor rotation speed of any of the motor controllers is abnormal, the remaining motor controllers in which no abnormality occurs will forward the control command received from the vehicle control unit to the motor controller in which an abnormality occurs with the vehicle control unit.
The invention also discloses a distributed driving electric control system, which comprises a plurality of motor controllers distributed in the electric control modules beside the wheels of the vehicle, wherein the motor controllers distributed in the vehicle electric control assemblies at different positions of the vehicle are interconnected through a communication bus to form a local area sharing network, and the local area sharing network is in communication connection with the vehicle control unit; each motor controller performs self-checking, sends a self-checking result to a vehicle control unit connected with the motor controller through communication connection with the vehicle control unit, and sends the self-checking result to any other motor controller and any vehicle control unit through a local area sharing network; each motor controller judges the electric control state of the vehicle electric control combination according to the self-checking result and the self-checking result of any other motor controller; when the electric control state comprises that any motor controller fails, but the vehicle is still in a controllable state, the other motor controllers which do not fail forward fault information of the motor controller with the communication fault to the vehicle controller unit through the local area sharing network, and forward a control instruction received from the vehicle control unit to the motor controller with the vehicle control unit with the fault; and when the electric control state comprises that any motor controller fails and the vehicle is in an uncontrollable state, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network.
Preferably or optionally, combining self-checking results of the motor controllers and the positions of the motors controlled by the motor controllers to form position information; when the position information at least comprises that motor controllers for controlling motors on the same side of the vehicle break down simultaneously along the driving direction of the vehicle, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network; and when the position information does not include the motor controller which controls the motor on the same side of the vehicle and fails at the same time along the running direction of the vehicle, and the motor controller has communication failure with the vehicle control unit and has normal communication with other motor controllers and the vehicle control unit, the motor controller receives and executes the control command forwarded by the motor controller which has no communication failure with the vehicle control unit.
Preferably or optionally, each vehicle electric control combination is provided with a plurality of motor controllers, and each motor controller controls at least one motor; the motor controllers in the same electric control combination are connected through a CAN bus, a LIN bus or an Ethernet; each electric control module is provided with an interface connected with an internal motor controller, and the interfaces of different electric control modules are connected through a communication bus to form a local area shared network; when the electric control state further comprises one or more of bus voltage, current, temperature and motor rotating speed of any motor controller is abnormal, the rest motor controllers which are not abnormal forward the control instruction received from the vehicle control unit to the motor controllers which are abnormal with the vehicle control unit.
Preferably or alternatively, when the position information includes a communication failure of the motor controller beside the wheel of the vehicle, the motor controller in the same row as the communication failure enters a safe state together with the communication failed motor controller.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.
Claims (8)
1. A control method for distributed driving electric control is characterized by comprising the following steps:
a plurality of motor controllers distributed in vehicle electric control combinations at different positions of a vehicle are interconnected through a communication bus to form a local area sharing network among the vehicle electric control combinations, and the local area sharing network is in communication connection with a vehicle control unit; each motor controller performs self-checking, sends a self-checking result to a vehicle control unit connected with the motor controller through communication connection with the vehicle control unit, and sends the self-checking result to any other motor controller and any vehicle control unit through a local area sharing network;
each motor controller judges the electric control state of the vehicle electric control combination according to the self-checking result and the self-checking result of any other motor controller;
when the electric control state comprises that any motor controller fails, but the vehicle is still in a controllable state, the other motor controllers which do not fail forward fault information of the motor controller with the communication fault to the vehicle controller unit through the local area sharing network, and forward a control instruction received from the vehicle control unit to the motor controller with the vehicle control unit with the fault;
and when the electric control state comprises that any motor controller fails and the vehicle is in an uncontrollable state, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network.
2. The control method according to claim 1, wherein the step of judging the electric control state of the vehicle electric control combination by each motor controller according to the self-test result and the self-test result of any other motor controller comprises the following steps:
combining self-checking results of all the motor controllers and the positions of the motors controlled by the motor controllers to form position information;
when the position information at least comprises that motor controllers for controlling motors on the same side of the vehicle break down simultaneously along the driving direction of the vehicle, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network;
and when the position information does not include the motor controller which controls the motor on the same side of the vehicle and fails at the same time along the running direction of the vehicle, and the motor controller has communication failure with the vehicle control unit and has normal communication with other motor controllers and the vehicle control unit, the motor controller receives and executes the control command forwarded by the motor controller which has no communication failure with the vehicle control unit.
3. The control method according to claim 1,
each vehicle electric control combination is provided with a plurality of motor controllers, and each motor controller controls at least one motor; the motor controllers in the same electric control combination are connected through a CAN bus, a LIN bus or an Ethernet;
and is
Each electric control module is provided with an interface connected with an internal motor controller, and the interfaces of different electric control modules are connected through a communication bus to form the local area sharing network;
when the electric control state further comprises one or more of bus voltage, current, temperature and motor rotating speed of any motor controller is abnormal, the rest motor controllers which are not abnormal forward the control instruction received from the vehicle control unit to the motor controllers which are abnormal with the vehicle control unit.
4. The control method according to claim 2, wherein when the position information does not include that the motor controllers controlling the motors on the same side of the vehicle in the vehicle traveling direction are malfunctioning at the same time, and the motor controllers are malfunctioning in communication with the vehicle control unit while the motor controllers are communicating with the vehicle control unit normally with the other motor controllers, the motor controllers receive the control instructions forwarded from the motor controllers that are not malfunctioning in communication with the vehicle control unit, and the steps of performing include:
when the position information includes that the motor controller beside the wheel of the vehicle has communication fault, the motor controller in the same row with the communication fault enters a safe state along with the motor controller with the communication fault.
5. A distributed driving electric control system comprises a plurality of motor controllers which are distributed in electric control modules arranged beside wheels of a vehicle,
a plurality of motor controllers distributed in vehicle electric control assemblies at different positions of a vehicle are interconnected through a communication bus to form a local area sharing network, and the local area sharing network is in communication connection with a vehicle control unit;
each motor controller performs self-checking, sends a self-checking result to a vehicle control unit connected with the motor controller through communication connection with the vehicle control unit, and sends the self-checking result to any other motor controller and any vehicle control unit through a local area sharing network;
each motor controller judges the electric control state of the vehicle electric control combination according to the self-checking result and the self-checking result of any other motor controller;
when the electric control state comprises that any motor controller fails, but the vehicle electric control combination is still in a controllable state, the other motor controllers which do not fail forward fault information of the motor controller with the communication fault to the vehicle controller unit through the local area sharing network, and forward a control instruction received from the vehicle control unit to the motor controller with the vehicle control unit with the fault;
and when the electric control state comprises that any motor controller fails and the vehicle is in an uncontrollable state, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network.
6. The control system of claim 5,
combining self-checking results of all the motor controllers and the positions of the motors controlled by the motor controllers to form position information;
when the position information at least comprises that motor controllers for controlling motors on the same side of the vehicle break down simultaneously along the driving direction of the vehicle, all the motor controllers in the vehicle electric control combination enter a safe state through a local area sharing network;
and when the position information does not include the motor controller which controls the motor on the same side of the vehicle and fails at the same time along the running direction of the vehicle, and the motor controller has communication failure with the vehicle control unit and has normal communication with other motor controllers and the vehicle control unit, the motor controller receives and executes the control command forwarded by the motor controller which has no communication failure with the vehicle control unit.
7. The control system of claim 6,
each vehicle electric control combination is provided with a plurality of motor controllers, and each motor controller controls at least one motor; the motor controllers in the same electric control combination are connected through a CAN bus, a LIN bus or an Ethernet;
and is
Each electric control module is provided with an interface connected with an internal motor controller, and the interfaces of different electric control modules are connected through a communication bus to form the local area sharing network;
when the electric control state further comprises one or more of bus voltage, current, temperature and motor rotating speed of any motor controller is abnormal, the rest motor controllers which are not abnormal forward the control instruction received from the vehicle control unit to the motor controllers which are abnormal with the vehicle control unit.
8. The control system of claim 6,
when the position information includes that the motor controller beside the wheel of the vehicle has communication fault, the motor controller in the same row with the communication fault enters a safe state along with the motor controller with the communication fault.
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