CN206394448U - A kind of EMB of electric automobile is from control system - Google Patents
A kind of EMB of electric automobile is from control system Download PDFInfo
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Abstract
The utility model provides a kind of EMB of electric automobile from control system, it is intended to solve traditional braking using air-liquid, mechanical mixture mode of braking, the problem of brake response is slow.A kind of EMB of electric automobile is from control system, including CAN, first nodes control system and four two-level node control systems, and four two-level node control systems are respectively used to control the braking of four wheels.First nodes control system includes electronic brake pedal, signal acquisition module, one-level microcontroller and one-level CAN transceiver.Two-level node control system includes two grades of CAN transceivers, two grades of microcontrollers, driver element and performer motor；Two grades of CAN transceivers receive the control signal that one-level CAN transceiver is sent by CAN.Using the utility model power drive system controllability is good, fast response time, the active safety performance of automobile can be significantly improved.
Description
Technical field
The utility model is related to intelligent braking system used for electric vehicle, more particularly to a kind of EMB of electric automobile is from control
System.
Background technology
At present, in terms of automotive safety lifting is main to be solved by actively and passively two kinds of safe practices.Passive security skill
Art is for the purpose of reducing injury.Active safety technologies are, to prevent as core, when unstable state occurs in vehicle, vehicle to be entered
Row stability control；Or when the phenomenons such as maloperation occurs in driver, driver's true intention is recognized, and in different traveling rings
In border (such as coarse or smooth earth), it can be run according to the intention of driver.So, the development of active safety technologies is increasingly
It is taken seriously.
At present, automobile active safety technology mainly has vision enhancement system, distance warning system, PRE-SAFE security protections
System, anti-lock braking system (ABS), the warning system of deviation travel route, vehicle stability control system (ESP), electronic brake force point
Distribution system (EBD), deceleration of electrons accessory system (EBA) etc. more than ten is planted.
Traditional brakes more use air-liquid, mechanical mixture mode of braking, its shortcoming mainly have number of elements it is many, make
Dynamic reaction is slow, security performance is low.For example, common most of cars use vacuum assisted hydraulic brake system.It is main
By：Replenishing valve, accumulator, mechanical braking pedal, clipper disk brake and braking taillight switch, the composition such as pressure switch.Hydraulic pressure
Oil is via replenishing valve to after accumulator fuel feeding, and all the way into foot valve, foot valve is actually the proportional reversing valve that a pin is stepped on,
Then the brake entered back into by tire.As can be seen here, in whole braking procedure, hydraulic oil comes out through oil pump, must pass through compared with
Long hydraulic pipeline is passed in master cylinder again, braking effect can be made delayed.Due to being limited by its structure and principle, one existed
A little inherent shortcomings can not be solved by technological means, and such as hydraulic pressure sets up and eliminated sluggish, Stress control inaccurately wait, it is necessary to
Further improve braking effect very difficult, therefore, be difficult to promote automobile braking safety further to be lifted using conventional art.
Traditional hydraulic-driven brakes, there is also problem, is using these brakes in terms of ergonomics
When, if ABS works, driver can feel the pressure vibration on mechanical braking pedal, such vibration be due to
Pressure change is larger caused in hydraulic circuit, in fact, what hydraulic-driven brakes was connected to mechanical braking pedal, because
This, their action can be influenceed by driver's pedal, and they are overlapped mutually together.
Utility model content
The utility model provides a kind of EMB of electric automobile from control system, it is intended to solve traditional brakes many
Using air-liquid, mechanical mixture mode of braking, the problem of brake response is slow.
In order to solve the above technical problems, the utility model is achieved through the following technical solutions：
A kind of EMB of electric automobile is saved from control system, including CAN, first nodes control system and four two grades
Point control system, four two-level node control systems are respectively used to control the braking of four wheels.
It is total that first nodes control system includes electronic brake pedal, signal acquisition module, one-level microcontroller and one-level CAN
Line transceiver；Signal acquisition module is used to gather engine rotational speed signal, wheel wheel speed signal, electronic brake pedal stroke signal
With electronic brake pedal rate signal；The signal of collection is sent to one-level microcontroller by signal acquisition module；One-level microcontroller
The signal of collection is converted to control signal by device, and one-level microcontroller sends control signal to one-level CAN transceiver.
Two-level node control system includes two grades of CAN transceivers, two grades of microcontrollers, driver element and actuator electricity
Machine；Two grades of CAN transceivers receive the control signal that one-level CAN transceiver is sent, two grades of microcontrollers by CAN
Device receives the control signal sent from two grades of CAN transceivers；The control signal that two grades of microcontrollers are received passes through driving
Unit sends performer motor to, and performer motor controls the braking of wheel.
Electromechanical braking system (Electro-Mechanical Braking, abbreviation EMB).EMB systems eliminate institute
There are hydraulic pressure, baric systerm, it is a kind of system of pure electric component composition, and traditional actuator is replaced with electric-motor drive unit,
Brake force is produced by motor.When detecting electronic brake pedal and being operated, electronic brake pedal stroke value, electricity according to collection
Sub- brake pedal, trample speed, vehicle wheel rotational speed and engine speed, the maximum electricity for controlling the rotating speed of performer motor and flowing through
Stream, then generation braking moment is converted into brake block translation and brake disc, reach the purpose of braking.The data of first nodes
Four two-level nodes are transferred to by CAN.
Further, one-level microcontroller and two grades of microcontrollers are STM32 microcontrollers, one-level microcontroller and two grades
Microcontroller is integrated with bxCAN controllers.
BxCAN controllers meet CAN2.0B standards, and relevant all protocol processes are sent and received by the control with data
Device processed is completed, and automobile CAN-bus J1939 protocol realization network services can be used.It is preferred that STM32F103 embedded chips,
STM32F103 embedded chips have been internally integrated bxCAN controllers.
Further, signal acquisition module includes counter pulse collecting unit, displacement transducer and velocity sensor；Count
Device pulse collection unit is used to gather the rotating speed of engine and the wheel speed of wheel；Displacement transducer is used to gather electronic brake pedal
Stroke signal；What velocity sensor was used to gathering electronic brake pedal tramples rate signal.
Further, first nodes control system also includes AD converter, and displacement transducer and velocity sensor are by collection
Signal sends one-level microcontroller to after being changed by AD converter.Pedal travel change is tested by AD conversion and its speed becomes
Rate.
Further, counter pulse collecting unit includes magnetoelectric transducer, optoisolator and voltage comparator；Optoisolator
The wheel wheel speed electric signal that magnetoelectric transducer is gathered switchs to optical signal, and optical signal is converted to pulse by voltage comparator to be believed
Number；First nodes control system also includes potentiometer, and potentiometer is connected with the reverse input end of voltage comparator.
Further, signal isolator is provided between the one-level microcontroller and one-level CAN transceiver.Signal isolation
The optional photoelectrical coupler of device.
Further, EMB also includes being used for signal and the one-level microcontroller that Regulate signal acquisition module is gathered from control system
The different level translator of device voltage.
In circuit design process, due to control chip STM32 and input conditioned signal voltage differ, count pulse
Signal is 5V, and STM32 is 3V.The output of 3V devices is can not reliably to drive 5V cmos device, in the worst case, when
Required VIH is at least 3.85V (70%VDD) during VDD=5.5V, and 3V device is inaccessiable.Therefore, this
, it is necessary to carry out logic level transition in the complicated, digital display circuit of high speed.
Level translator can use one kind in following two schemes：
The first scheme：Level translator is the level translator of dual power supply.
Level translator uses 74LVC4245,74LVC4245 to be a kind of level translators of dual power supply.74LVC4245 is adopted
With two power supplies, high power supply (5V) meets VCCA, and low power supply (3V) meets VCCB, then the level of 5V devices and 3V devices can be achieved
Conversion.74LVC4245 level shift is carried out inside it.Dual power supply can guarantee that both sides port output voltage swing is attained by full electricity
Source amplitude, and have good noise suppressed performance.
Realize that level conversion can produce additional delay in signal transmission using 74LVC4245, and needed in use
The transmission direction of control signal.During wheel velocity signal capturing, collection signal transmission direction is unidirectional, and passes through regulation
Pulse width, during can effectively reducing level conversion, the influence of additional delay, therefore in wheel speed sampling process, circuit is set
Meter realizes level conversion using 74LVC4245.
Second scheme：Level translator is high-speed cmos bus switch.
CMOS bus switch is QS3384, and the level shifting circuit constituted using QS3384 can not only realize that zero transmission is prolonged
The slow time, and do not need the transmission direction of control signal.
Compared with prior art the utility model has the advantages that：
The utility model instead of conventional hydraulic or air-pressure brake executing agency using electric driving element, due to control for brake
Driving with executing agency uses electronic technology, is easy to implement brake-by-wire (BBW：brake-by-wire).Electric mechanical system
Dynamic system can save substantial amounts of installing space for vehicle interior, make vehicle structure simply compact；And line control brake system is equal
Using electronic-controlled installation, it is easier to incorporate the electronic communications network (ECN) of vehicle, with anti-lock braking system (ABS), electronic stability
The control technology of the others active safety such as system (ESP) is mutually connected, and power drive system controllability is good, fast response time,
The active safety performance of automobile can be significantly improved.
In addition, EMB is compared with conventional hydraulic brakes, EMB can allow brake force accurately to continuously adjust, even if ABS
Just operationally, electronic brake pedal is also not in pressure vibration, due to using electrical interface, with other active control systems
Integrated seamless connection, and environmental pollution will not be caused due to brake fluid such as hydraulic oil.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, it will use below required in embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not see
Work is the restriction to scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other related accompanying drawings are obtained according to these accompanying drawings.
During Fig. 1 is the utility model embodiment one, the EMB of electric automobile is from control system schematic diagram；
Fig. 2 be the utility model embodiment one in, the systematic schematic diagram of first nodes control system；
Fig. 3 be the utility model embodiment one in, the systematic schematic diagram of two-level node control system；
Fig. 4 be the utility model embodiment two in, STM32 chip circuit structure schematic diagrames；
Fig. 5 be the utility model embodiment two in, CAN interface electrical block diagram；
Fig. 6 be the utility model embodiment three in, the structural representation of optically coupled isolation circuit；
Fig. 7 be the utility model embodiment three in, the structural representation of count pulse Acquisition Circuit；
Fig. 8 be the utility model example IV in, the structural representation of level shifting circuit；
Fig. 9 be the utility model embodiment five in, the structural representation of level shifting circuit；
Figure 10 be the utility model embodiment five in, the structural representation of CAN signal level shift circuit；
Figure 11 be the utility model embodiment six in, the structural representation of switch main circuit；
Figure 12 be the utility model embodiment six in, the structural representation of drive circuit；
Figure 13 be the utility model embodiment six in, Hall sensor structure scheme of installation；
Figure 14 be the utility model embodiment six in, the structure principle chart of rotor-position coding cycle；
Figure 15 be the utility model embodiment six in, modulation and steering controling circuit structural representation；
Figure 16 be the utility model embodiment six in, the structural representation of overcurrent sensing circuit；
Figure 17 is the control method flow chart of this practical EMB first nodes control system from control system；
Figure 18 is the control method flow chart of this practical EMB two-level node control system from control system.
Embodiment
In description of the present utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " company
Connect ", the term such as " fixation " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；
Can be mechanical connection or electrical connection；Can be directly connected to or be indirectly connected to by intermediary, can
To be connection or the interaction relationship of two elements of two element internals.For those of ordinary skills, may be used
To understand concrete meaning of the above-mentioned term in the utility model as the case may be.
Embodiment one：
Refering to Fig. 1, Fig. 2 and Fig. 3, a kind of EMB of electric automobile is controlled from control system, including CAN, first nodes
System and four two-level node control systems, four two-level node control systems are respectively used to control the braking of four wheels.
First nodes control system include electronic brake pedal, signal acquisition module, AD converter, one-level microcontroller and
One-level CAN transceiver.
Signal acquisition module includes counter pulse collecting unit, displacement transducer and velocity sensor.Counter pulse
Collecting unit is used to gather the rotating speed of engine and the wheel speed of wheel.Displacement transducer is used for the stroke for gathering electronic brake pedal
Signal；What velocity sensor was used to gathering electronic brake pedal tramples rate signal.
The signal of collection is sent to one-level microcontroller by signal acquisition module, and one-level microcontroller turns the signal of collection
Control signal is changed to, one-level microcontroller sends control signal to one-level CAN transceiver.Wherein, displacement transducer and
Velocity sensor sends one-level microcontroller to after the signal of collection is changed by AD converter.
Two-level node control system includes two grades of CAN transceivers, two grades of microcontrollers, driver element and actuator electricity
Machine；Two grades of CAN transceivers receive the control signal that one-level CAN transceiver is sent, two grades of microcontrollers by CAN
Device receives the control signal sent from two grades of CAN transceivers；The control signal that two grades of microcontrollers are received passes through driving
Unit sends performer motor to, and performer motor controls the braking of wheel.
In Fig. 1, pedal travel velocity sensor refers to displacement transducer and velocity sensor.Displacement transducer is adopted
The pedal of pedal travel and the velocity sensor collection of collection tramples speed, and pedal travel change and its speed are tested by AD conversion
Rate of change, the technology such as controls by fuzzy algorithmic approach, sends brake control signal, and be transferred to two grades of sections by CAN bus system
Point control system.
In Fig. 1, driver element mainly includes drive circuit, and drive circuit represents driver element here.
In Fig. 1, main controlled node refers to one-level CAN transceiver and one-level microcontroller in first nodes control system
Device.Two grades of CANs transmitting-receiving of four two-level node control systems is represented from node 1, from node 2, from node 3 and from node 4
Device and two grades of microcontrollers.
Embodiment two：
On the basis of embodiment one, embodiment two further optimizes restriction to the content in embodiment one：
One-level microcontroller and two grades of microcontrollers use STM32 microcontrollers, one-level microcontroller and two grades of micro-controls
Device processed is using the STM32F103 embedded chips for being internally integrated bxCAN controllers, and STM32 chip circuit structures are refering to figure
4。
Refering to Fig. 5, the architecture of CAN is broadly divided into three layers of application layer, data link layer and physical layer.Wherein,
Physical layer is to realize the circuit that ECU (vehicle-mounted single-chip microcomputer, electronic control unit) is connected with bus, and ECU sum depends on bus
Electrical load.
CAN interface circuit design is designed mainly for physical layer, and its controller mainly realizes CAN agreement
The work of middle data link layer, because STM32F103 embedded chips have been internally integrated bxCAN controllers, the controller meets
CAN2.0B standards, send and receive relevant all protocol processes with data and are completed by the controller, and automobile can be used
CAN J1939 protocol realization network services.
CAN transceiver is that interface conversion effect is played between CAN controller and CAN.In CAN design process
In, firsts and seconds CAN transceiver uses TJA1050, and it is the follow-up of PCA82C250 high-speed CAN bus transceivers
Product, speed is up to 1Mbaud.CAN protocol control module in STM32 passes through serial data out line (TX) and serial data
Input line (RX) connects transceiver.Transceiver is by there is differential two bus terminations CANH and CANL for sending and receiving function to connect
It is connected to bus cable.
TJA1050 has two kinds of mode of operations, and one kind is fast mode, and one kind is silent mode.It is main to be drawn by control the 8th
Pin S ends select two kinds of working methods.When S ends are grounded, as fast mode；When meeting power supply VCC, as silent mode is quiet
Sound pattern is to forbid transmitter, causes network to block up in reception state, during mainly for preventing that CAN controller is uncontrolled
Plug.In the design process, the 8th pin S must be terminated GND, selects fast mode.
In order that signal is not interfere with each other between controller area network protocol controller and physical bus, in STM32 insertions
Between formula control chip and TJA1050 transceivers, signal isolation device --- high-speed photoelectric coupler 6N137 is added.
Embodiment three：
On the basis of above-described embodiment, embodiment three further optimizes restriction to the content in above-described embodiment：
Refering to Fig. 6, counter pulse collecting unit includes magnetoelectric transducer, optoisolator and voltage comparator；It is optically isolated
The wheel wheel speed electric signal that magnetoelectric transducer is gathered is switched to optical signal by device, and optical signal is converted to pulse by voltage comparator to be believed
Number；First nodes control system also includes potentiometer, and potentiometer is connected with the reverse input end of voltage comparator.
In vehicle wheel rotational speed sampling process is carried out, output signal must be nursed one's health by magnetoelectric transducer.Modulate circuit
The sinusoidal signal for being mainly used in exporting magnetoelectric transducer is adjusted to the external counting pulse that STM32 can be recognized, by light every
Electric signal is switched into optical signal from device 6N137, the isolation of signal is realized.Pulse is being converted to by voltage comparator LM239
Signal.
Optically coupled isolation circuit design method during measuring wheel speed and the design side in the CAN transmission circuits in embodiment two
Formula is identical, and the electric signal through photoelectric coupler isolation is converted to pulse signal by voltage comparator LM239, in design process
In, potentiometer RW1 is connected to the reverse input end of voltage comparator, by adjusting potentiometer, changes the pulse of output signal
Width, increases the detection accuracy of signal；And increase pull-up resistor in output end, improve driving force.
Refering to Fig. 7, the rotating speed of four wheels is sampled by magnetoelectric transducer, through Phototube Coupling, after signal condition, will be counted
Number pulse signal is transmitted by tetra- I/O ports of OUT1~OUT4 to control chip STM32.
Example IV：
On the basis of above-described embodiment, example IV further optimizes restriction to the content in above-described embodiment：Due to
Control chip STM32 is differed with the conditioned signal voltage inputted, and counting pulse signal is 5V, and STM32 is 3V.3V devices it is defeated
It is that can not reliably drive 5V cmos device to go out, and in the worst case, as VDD=5.5V, required VIH is at least
3.85V (70%VDD), and 3V device is inaccessiable.Therefore, it is necessary to enter in this complicated, digital display circuit of high speed
Row logic level transition.EMB also includes being used for signal and the one-level microcontroller that Regulate signal acquisition module is gathered from control system
The different level translator of device voltage.
Refering to Fig. 8, level translator is the level translator of dual power supply.Level translator is using dual power supply
74LVC4245.74LVC4245 meets VCCA using two power supplies, high power supply (5V), and low power supply (3V) meets VCCB, then can be real
The level conversion of existing 5V devices and 3V devices.74LVC4245 level shift is carried out inside it.Dual power supply can guarantee that two side ends
Mouth output voltage swing is attained by full power supply amplitude, and has good noise suppressed performance.
Realize that level conversion can produce additional delay in signal transmission using 74LVC4245, and needed in use
The transmission direction of control signal.During wheel velocity signal capturing, collection signal transmission direction is unidirectional, and passes through regulation
Pulse width, during can effectively reducing level conversion, the influence of additional delay, therefore in wheel speed sampling process, circuit is set
Meter realizes level conversion using 74LVC4245.
Embodiment five：
It is with the difference of example IV：
Refering to Fig. 9, the level translator uses high-speed cmos bus switch --- QS3384, and it can easily be realized
Voltage between 5V and 3.3V is changed at any time.It is made up of QS3384 10 enhanced NMOS tubes for being divided into two groups, every group of difference
Corresponding NMOS tube conducting situation is controlled by two pins of BEA and BEB.
What the NMOS tube inside QS3384 was made of high performance CMOS technology.It is internal when BEA is low level
CMOS inverter output high level VDD (5V), therefore, the gate voltage of NMOS tube is 5V, and pipe is in the conduction state.When A ends
Input voltage Vi rise when, output voltage Vo is also with rise.When input voltage reaches about 4V, output voltage has reached most
Big output valve 4V.Continue to increase input voltage, it is constant that output voltage will be maintained at 4V.Above-mentioned analysis shows, if supply voltage
For VDD, then output end maximum output voltage is about (VDD-1V).Change supply voltage, so that it may change output end maximum output electricity
Pressure value.If supply voltage is set as 4.3V, output end maximum output voltage is 3.3V, it is achieved thereby that by 5V voltages to 3V
The transformation of voltage.In order to obtain 4.3V supply voltage, one only need to be concatenated between 5V power supplys and device power source input
1N4148 diode.The resistance of the negative electrode of diode and an indirect 10k Ω on ground, is led to the electric current for providing diode
Road.
The level shifting circuit constituted using QS3384 can not only realize the zero transmission delay time, and need not control
The transmission direction of signal.
Refering to Figure 10, in CAN communication process, signal isolation device --- high-speed photoelectric coupler 6N137 electricity
Source voltage range is 4.5~5.5V, and it is a transmitted in both directions process, the transmission directivity control to control signal to transmit signal
Require very high in system, therefore the level shifting circuit for using QS3384 to constitute, realize zero transmission delay.The circuit is used as CAN
Level conversion between transmission circuit and embedded chip STM32 is connected circuit.Because it has 10 tunnel level conversions, therefore, 4
The CAN communication of road two-level node can be changed by the circuit.
Embodiment six：
On the basis of above-described embodiment, example IV further optimizes restriction to the content in above-described embodiment：
Two-level node control system, the main control signal for being responsible for receiving one-level control node system by CAN network,
Realized by the drive circuit of two-level node and the brshless DC motor in each actuator is controlled, reach flexibly control driving system
Dynamic purpose.
Two-level node control system is mainly made up of 4 parts, and it mainly includes switch main circuit (i.e. inverter circuit), driving
Modular circuit, control circuit for pulse-width modulation and the CAN transmission circuit communicated with first nodes control system.
Wherein, CAN transmission circuit is identical with one-level control node mode, is had been described in embodiment two,
Here no longer repeat.Below for switch main circuit (i.e. inverter circuit), drive module circuit, control circuit for pulse-width modulation 3
Part is described.
Refering to Figure 11, switch main circuit (i.e. inverter circuit) is by rectification circuit, filter circuit, buffer circuit and inverter circuit
Four parts are constituted.The power unit of this onboard system uses storage battery power supply, and rectifying part circuit is omitted.In inverter circuit portion
Power switch pipe T1~the T6 divided generally selects GTR, power MOSFET, IGBT, GTO and MCT constant power electronic device, also may be used
Think that power integrated circuit PIC or intelligent power module are constituted, the system selection uses MOSFET power tubes；Diode
D1~D6 is fly-wheel diode.
Refering to Figure 12, drive circuit is that the output signal for controlling circuit is carried out into power amplification, and is sent to each switching tube
Make the drive signal of its saturation conduction or reliable turn-off.
IR2132 (driving chip) 1 pin VCC is power input；12 pin VSS are power supply；2~7 pins
HIN1, HIN2, HIN3 are bridge arm driving signal input on inverter, and LIN1, LIN2, LIN3 are the driving of bridge arm under inverter
Signal input part；8 pin FALUT are the protection output ends such as excessively stream, overvoltage, under-voltage；9 pin ITRIP are that over-current signal detection is defeated
Enter end, overcurrent protection can be completed by input current signal；CAO is current amplifier output end, and CA- is that current amplifier is anti-
To input, VSO is drivingly, CAO, CA-, VSO 3 pin can be used to complete the detection of current signal；VB1, VB2, VB3 are
Suspended power supply earth terminal, internal suspended power supply is provided by bootstrap capacitor for the driver of 3 upper bridge arm power tubes；VS1、VS2、
VS3 is its corresponding suspended power supply ground terminal；LO1, LO2, LO3 are three road downside outputs；HO1, HO2, HO3 are three tunnel high side outputs
End.
When IR2132 drives high speed normal work, 6 tunnel input signals enter driving through HIN1~HIN3, LIN1~LIN3 and collected
Into circuit, 6 tunnel pulses are exported from LO1~LO3, HO1~HO3 ports.
When over-current phenomenon avoidance occurs in the three-phase inverter bridge circuit, by current feedback circuit, current signal is changed into electricity
Feedback signal is pressed, the 9th pin Itrip is transmitted to, made comparisons with internal voltage comparator, end is compared in the inside of voltage comparator
For 0.5V, therefore as being higher than during the value, comparator is overturn rapidly, the 8th pin is exported fault indication signal, and output is all low
Level, allows all MOSFET pipes to end, to reach the purpose of protection main switch circuit.
Electric capacity C1~C3 is bootstrap capacitor, and the output driving that three roads drive high-pressure side MOSFET pipes is obtained by internal circuit
The power supply of device；When D1~D3 is to prevent that upper bridge arm from turning on, direct current voltage bus voltage is added on IR2132 power supplys and makes device
Damage, therefore D1~D3 should select fast recovery diode.MOSFET pipes grid and IR2132 outlet chamber series connection 1/4W,
100 Ω noninductive resistance, such as R1, R3, R5, R7~R9, the resistance are the gate-drive resistance of MOSFET pipes, mainly due to
6 driver output impedances inside IR2132 are relatively low, direct drive MOSFET pipes can cause MOSFET pipes it is quick open and
Shut-off, is so likely to result in the concussion of the drain-source voltage across poles of MOSFET pipes, by the gate-drive resistance, can not only reduce and penetrate
Frequency is disturbed, and avoids MOSFET pipes by too high du/dt.R10, R13 and R14 constitute over-current detection circuit, and wherein R10 is
It is used as the adjustable resistance of partial pressure.Bootstrap capacitor is 0.1 μ F, and fast recovery diode selects FR107.
For modulation and course changing control hardware circuit.3 hall position sensing elements inside brshless DC motor are in 60 °
Angle is fixed on electric machine stand, and 7 pins are unified feeder ear, and 8 pins are common, and the induction of signal of 3 sensors is defeated
Going out end, numbering is Ha, Hb, Hc respectively.Its structure of its Hall sensor installs as shown in figure 13.
Refering to Figure 14, when machine shaft is moved, the magnetic line of force of rotor permanent magnet block aligns with Hall element, is output as " 0 ",
Conversely, being " 1 ".Rotor is in rotary course, and 3 Hall sensors can export different status signals, and the combination of the signal is
It may make up the coding for determining rotor-position.By taking rotate counterclockwise as an example, when rotor is prepared to enter into, then respectively 100, turn with motor
Dynamic, rotor enters, then is output as 110, position encoded is circulated successively according to this.
Refering to Figure 15, Ha, Hb, Hc signal are isolated through photoelectric coupled device, then through Schmidt circuit shaping.Phototube Coupling
Device uses 6N137 high speed optoelectronic isolators, and Schmidt trigger shaping is constituted using 74LS04 phase inverters, when input signal is high
When certain is with trigger bit, output signal is high level, and when input signal is less than certain with trigger bit, output signal is low level,
By two phase inverters, trigger signal is overturn by two-stage, the pulse signal phase invariant after shaping.After Ha, Hb, Hc are shaped
Signal H1, H2, H3 points of two-way feeding control chip STM32.It is used to test the speed all the way, another road is used to determine phase sequence.
In order to obtain the dynamic property of motor speed, speed must not only be fed back, also need to main circuit current signal
Sampling feedback is carried out, to reach double-closed-loop control purpose.
As shown in figure 16, operation amplifier circuit uses LM741CN to over-current detection circuit.By R61 and two resistance strings of R62
It is coupled between supply voltage, because the end i+ in the same direction of discharge circuit is 0, therefore terminal voltage is determined by R61 with R62 in the same direction, is used as limit
The maximum of voltage is flowed, when tested electric current flows through resistance SR, voltage can be produced on resistance SR, and because discharge circuit is reverse
It is 0 to hold i-, then the magnitude of voltage of backward end is equal with voltage on resistance SR.
When the electric current of inflow is bigger, the voltage detected on resistance is bigger, and the magnitude of voltage of backward end and resistance
The upper voltages of SR are equal, if reversely terminal voltage is higher than terminal voltage in the same direction, and amplifier is output as 0, photoelectrical coupler conducting, excessively stream inspection
Survey end and be output as 0, then low level signal is fed back into STM32 control chips, detect electric current excessive.Allow to flow through size of current
Standard main determined by resistance SR, R61 and R62.
Refering to Figure 17 and Figure 18, a kind of electric automobile EMB of use above-described embodiment from the control method of control system, according to
It is secondary to comprise the following steps：
A, signal acquisition module collection engine rotational speed signal, wheel wheel speed signal, electronic brake pedal stroke signal and
Electronic brake pedal rate signal, judges whether electronic brake pedal is stepped on；
If B, electronic brake pedal are stepped on, performer motor is rotated forward at full speed；If electronic brake pedal is not operated return step
Rapid A；
C, collection electronic brake pedal stroke, judge whether electronic brake pedal lifts；If electronic brake pedal is not lifted,
Into step D to N；If electronic brake pedal is lifted, into step D1 to E1；
D1, by CAN control performer motor to invert at full speed, gather pedal travel, and judge whether pedal is stepped on；
If E1, stepping on, into step B；If not stepping on, one-level microcontroller judges whether that leaving distance finishes；If leaving
Distance is finished, return to step A；If not leaving distance to finish, return to step D1；
D, one-level microcontroller judge whether electronic brake pedal gap eliminates and finished；If electronic brake pedal gap is eliminated
Finish, into step E；Finished if electronic brake pedal gap is not eliminated, return to step C；
E, collection electronic brake pedal stroke, judge whether electronic brake pedal lifts；If electronic brake pedal is not lifted,
Return to step D；If electronic brake pedal is lifted, into step F；
F, one-level microcontroller set PWM according to collection value, and are transferred to four two-level node control systems by CAN
System；
G, four two-level node control systems receive the CAN data of CAN, and set PWM according to CAN data；
H, judge CAN data whether controlled motor rotate forward；If CAN data controlled motor is rotated forward, motor rotating forward value is set simultaneously
Into step K；If the non-controlled motor of CAN data is rotated forward, into step I；
I, judge CAN data whether controlled motor rotate forward；If CAN data controlled motor is rotated forward, motor reversal value is set simultaneously
Into step K；If the non-controlled motor of CAN data is rotated forward, into step J；
J, judge CAN data whether controlled motor rotate forward；If CAN data controlled motor is rotated forward, motor is set to stop going forward side by side
Enter step K；If the non-controlled motor of CAN data is rotated forward, into step K；
K, read feedback current and feed back to step G.
Specific embodiment of the utility model is the foregoing is only, but technical characteristic of the present utility model is not limited to
This, any those skilled in the art is in field of the present utility model, and the change or modification made all are covered new in this practicality
Among the scope of the claims of type.
Claims (10)
1. a kind of EMB of electric automobile is from control system, it is characterized in that：Including CAN, first nodes control system and four
Two-level node control system, four two-level node control systems are respectively used to control the braking of four wheels；
First nodes control system includes electronic brake pedal, signal acquisition module, one-level microcontroller and one-level CAN and received
Send out device；Signal acquisition module is used to gather engine rotational speed signal, wheel wheel speed signal, electronic brake pedal stroke signal and electricity
Sub- brake pedal rate signal；The signal of collection is sent to one-level microcontroller by signal acquisition module；One-level microcontroller will
The signal of collection is converted to control signal, and one-level microcontroller sends control signal to one-level CAN transceiver；
Two-level node control system includes two grades of CAN transceivers, two grades of microcontrollers, driver element and performer motor；
Two grades of CAN transceivers receive the control signal that one-level CAN transceiver is sent, two grades of microcontrollers by CAN
Receive the control signal sent from two grades of CAN transceivers；The control signal that two grades of microcontrollers are received is single by driving
Member sends performer motor to, and performer motor controls the braking of wheel.
2. a kind of EMB of electric automobile according to claim 1 is from control system, it is characterized in that：One-level microcontroller and
Two grades of microcontrollers are STM32 microcontrollers, and one-level microcontroller and two grades of microcontrollers are integrated with bxCAN controls
Device.
3. a kind of EMB of electric automobile according to claim 1 is from control system, it is characterized in that：Signal acquisition module bag
Include counter pulse collecting unit, displacement transducer and velocity sensor；Counter pulse collecting unit is used to gather engine
Rotating speed and wheel wheel speed；Displacement transducer is used for the stroke signal for gathering electronic brake pedal；Velocity sensor is used to adopt
Set electron brake pedal tramples rate signal.
4. a kind of EMB of electric automobile according to claim 3 is from control system, it is characterized in that：First nodes control system
System also includes AD converter, and displacement transducer and velocity sensor send one to after the signal of collection is changed by AD converter
Level microcontroller.
5. a kind of EMB of electric automobile according to claim 4 is from control system, it is characterized in that：Counter pulse is gathered
Unit includes magnetoelectric transducer, optoisolator and voltage comparator；The wheel wheel speed electricity that optoisolator gathers magnetoelectric transducer
Signal switchs to optical signal, and optical signal is converted to pulse signal by voltage comparator.
6. a kind of EMB of electric automobile according to claim 5 is from control system, it is characterized in that：First nodes control system
System also includes potentiometer, and potentiometer is connected with the reverse input end of voltage comparator.
7. a kind of EMB of electric automobile according to claim 1 is from control system, it is characterized in that：The one-level microcontroller
Signal isolator is provided between device and one-level CAN transceiver.
8. a kind of EMB of electric automobile according to claim 1 is from control system, it is characterized in that：EMB from control system also
Including the signal gathered for Regulate signal acquisition module the level translator different from one-level microcontroller voltage.
9. a kind of EMB of electric automobile according to claim 8 is from control system, it is characterized in that：The level translator
For the level translator of dual power supply.
10. a kind of EMB of electric automobile according to claim 8 is from control system, it is characterized in that：The level translator
For high-speed cmos bus switch.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476631A (en) * | 2016-11-18 | 2017-03-08 | 四川城市职业学院 | A kind of EMB control system of electric automobile and its control method |
| CN111308919A (en) * | 2018-12-12 | 2020-06-19 | 广州汽车集团股份有限公司 | Wheel speed signal transmission method, device, terminal and computer readable storage medium |
| CN111402663A (en) * | 2020-04-17 | 2020-07-10 | 李力 | Semi-physical simulation vehicle-mounted bus system teaching and fault diagnosis training platform |
| CN113682147A (en) * | 2021-09-16 | 2021-11-23 | 航天重型工程装备有限公司 | Method and device for controlling electro-hydraulic composite pedal |
-
2016
- 2016-11-18 CN CN201621250393.2U patent/CN206394448U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476631A (en) * | 2016-11-18 | 2017-03-08 | 四川城市职业学院 | A kind of EMB control system of electric automobile and its control method |
| CN106476631B (en) * | 2016-11-18 | 2019-02-26 | 四川城市职业学院 | A kind of the EMB control system and its control method of electric car |
| CN111308919A (en) * | 2018-12-12 | 2020-06-19 | 广州汽车集团股份有限公司 | Wheel speed signal transmission method, device, terminal and computer readable storage medium |
| CN111308919B (en) * | 2018-12-12 | 2021-07-27 | 广州汽车集团股份有限公司 | Wheel speed signal transmission method, device, terminal and computer readable storage medium |
| CN111402663A (en) * | 2020-04-17 | 2020-07-10 | 李力 | Semi-physical simulation vehicle-mounted bus system teaching and fault diagnosis training platform |
| CN113682147A (en) * | 2021-09-16 | 2021-11-23 | 航天重型工程装备有限公司 | Method and device for controlling electro-hydraulic composite pedal |
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