TWI786928B - Electric vehicle motor load reduction control system - Google Patents
Electric vehicle motor load reduction control system Download PDFInfo
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- TWI786928B TWI786928B TW110141164A TW110141164A TWI786928B TW I786928 B TWI786928 B TW I786928B TW 110141164 A TW110141164 A TW 110141164A TW 110141164 A TW110141164 A TW 110141164A TW I786928 B TWI786928 B TW I786928B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
本發明揭露一種電動車馬達降載控制系統,包含油門位置感知器、整車控制器、馬達控制器以及馬達。油門位置感知器產生油門訊號。整車控制器連接油門位置感知器,包含類比/數位轉換器及處理單元。類比/數位轉換器連接接收油門訊號,並轉換油門訊號為數位控制訊號。處理單元連接類比/數位轉換器與馬達控制器,並接收數位控制訊號。馬達控制器通過訊號線連接整車控制器,以及通過資料匯流排連接整車控制器。馬達連接馬達控制器的馬達連接端,其中,整車控制器透過資料匯流排傳送數位控制訊號給馬達控制器,並於當資料匯流排發生異常狀態時,轉換油門訊號為降載控制訊號,並傳送降載控制訊號到馬達控制器,以控制馬達運轉。The invention discloses a motor load reduction control system for an electric vehicle, which includes an accelerator position sensor, a vehicle controller, a motor controller and a motor. The throttle position sensor generates a throttle signal. The vehicle controller is connected to the accelerator position sensor, including an analog/digital converter and a processing unit. The analog/digital converter is connected to receive the throttle signal and convert the throttle signal into a digital control signal. The processing unit is connected with the analog/digital converter and the motor controller, and receives digital control signals. The motor controller is connected to the vehicle controller through a signal line, and connected to the vehicle controller through a data bus. The motor is connected to the motor connection end of the motor controller, wherein the vehicle controller transmits a digital control signal to the motor controller through the data bus, and when an abnormal state occurs in the data bus, the throttle signal is converted into a load reduction control signal, and Send the load reduction control signal to the motor controller to control the operation of the motor.
Description
本發明係有關於一種馬達降載控制系統,特別是有關於一種電動車馬達降載控制系統。 The invention relates to a motor load reduction control system, in particular to an electric vehicle motor load reduction control system.
傳統的車輛控制系統係藉由油門位置感測器(TPS)傳送訊號至馬達控制器進行馬達的控制。由於油門位置感測器係以硬體線路連接馬達控制器,因而車廠會針對馬達控制器的油門響應進行微調,但馬達控制器的製造商並不了解車輛的油門控制,因而造成馬達控制器韌體多次的修正,導致無法有效縮短馬達控制器開發的日程,影響到車輛的量產時間。 A traditional vehicle control system uses a throttle position sensor (TPS) to send a signal to a motor controller to control the motor. Since the throttle position sensor is connected to the motor controller with a hard circuit, the car factory will fine-tune the throttle response of the motor controller. However, the manufacturer of the motor controller does not know the throttle control of the vehicle, resulting in a tough Due to multiple revisions of the body, the development schedule of the motor controller cannot be effectively shortened, which affects the mass production time of the vehicle.
目前的車輛都是先將油門位置感測器的控制訊號線路連接到整車控制器(VCU),再由整車控制器控制馬達控制器運轉。目前包含兩種作法,第一種作法是藉由整車控制器讀取油門位置感測器的控制訊號後,再以類比訊號的方式提供控制訊號給馬達控制器。但由於控制訊號的轉換需要藉由硬體的數位類比轉換器,因而增加硬體的設置成本。第二種做法是整車控制器直接藉由控制器區域網路(Controller Area Network;CAN)通訊的方式對馬達控制器下命令。 In current vehicles, the control signal line of the accelerator position sensor is first connected to the vehicle controller (VCU), and then the vehicle controller controls the operation of the motor controller. Currently, there are two methods. The first method is to use the vehicle controller to read the control signal from the accelerator position sensor, and then provide the control signal to the motor controller in the form of an analog signal. However, since the conversion of the control signal requires a digital-to-analog converter of the hardware, the cost of setting up the hardware is increased. The second approach is that the vehicle controller directly issues commands to the motor controller through Controller Area Network (CAN) communication.
承上所述,整車控制器使用控制器區域網路對馬達控制器下命令,此種方式固然可以降低硬體開發成本、縮短機種開發時間和提升整車控制策略的可移植性,但由於控制器區域網路的通訊是多個車輛部件共同使用,因 此容易產生控制器區域網路通訊失效的問題,使得使用者在控制器區域網路產生通訊異常時,造成車輛的失控和人員、財產的損傷。 Based on the above, the vehicle controller uses the controller area network to issue commands to the motor controller. This method can certainly reduce hardware development costs, shorten model development time, and improve the portability of vehicle control strategies. However, due to The communication of the controller area network is shared by multiple vehicle components, so This is likely to cause the problem of communication failure of the controller area network, so that when the user has a communication abnormality in the controller area network, it will cause loss of control of the vehicle and damage to personnel and property.
據此,如何提供一種電動車馬達降載控制系統已成為目前急需研究的課題。 Accordingly, how to provide a motor load reduction control system for an electric vehicle has become an urgent research topic.
解決控制器區域網路容易產生通訊失效的問題。 Solve the problem that the controller area network is prone to communication failure.
鑑於上述問題,本發明揭露一種電動車馬達降載控制系統,包含一油門位置感知器(Throttle position sensor;TPS)、一整車控制器、一馬達控制器以及一馬達。油門位置感知器檢測一油門訊號。整車控制器連接該油門位置感知器,接收該油門訊號。馬達控制器通過一訊號線連接該整車控制器,以及通過一資料匯流排連接該整車控制器。馬達連接該馬達控制器,其中,該整車控制器透過該資料匯流排傳送該數位控制訊號給該馬達控制器;當該馬達控制器判斷出該資料匯流排發生一異常狀態時,該馬達控制器透過該訊號線接收該油門訊號,並根據該油門訊號產生一降載控制訊號,以根據該降載控制訊號控制該馬達運轉。 In view of the above problems, the present invention discloses a motor load reduction control system for an electric vehicle, which includes a throttle position sensor (TPS), a vehicle controller, a motor controller and a motor. The accelerator position sensor detects an accelerator signal. The vehicle controller is connected to the accelerator position sensor to receive the accelerator signal. The motor controller is connected to the vehicle controller through a signal line, and connected to the vehicle controller through a data bus. The motor is connected to the motor controller, wherein the vehicle controller transmits the digital control signal to the motor controller through the data bus; when the motor controller determines that an abnormal state occurs on the data bus, the motor control The device receives the throttle signal through the signal line, and generates a load reduction control signal according to the throttle signal, so as to control the operation of the motor according to the load reduction control signal.
本發明揭露一種電動車馬達降載控制系統,包含一油門位置感知器(Throttle position sensor;TPS)、一整車控制器、一馬達控制器以及一馬達。油門位置感知器檢測一油門訊號。整車控制器連接該油門位置感知器,接收該油門訊號。馬達控制器通過一訊號線連接該整車控制器,以及通過一資料匯流排連接該整車控制器。馬達連接該馬達控制器,其中,該整車控制器透過該資料匯流排傳送該數位控制訊號給該馬達控制器;當該整車控制器判斷出該資料 匯流排發生一異常狀態時,該整車控制器轉換該油門訊號為一降載控制訊號,並藉由該資料匯流排傳送該降載控制訊號到該馬達控制器,該馬達控制器根據該降載控制訊號控制該馬達運轉。 The invention discloses a motor load reduction control system for an electric vehicle, which includes a throttle position sensor (TPS), a vehicle controller, a motor controller and a motor. The accelerator position sensor detects an accelerator signal. The vehicle controller is connected to the accelerator position sensor to receive the accelerator signal. The motor controller is connected to the vehicle controller through a signal line, and connected to the vehicle controller through a data bus. The motor is connected to the motor controller, wherein the vehicle controller transmits the digital control signal to the motor controller through the data bus; when the vehicle controller determines that the data When an abnormal state occurs on the bus, the vehicle controller converts the throttle signal into a load reduction control signal, and transmits the load reduction control signal to the motor controller through the data bus, and the motor controller The load control signal controls the operation of the motor.
本發明透過整車控制器或者馬達控制器判斷資料匯流排所傳送的數位控制訊號是否產生錯誤、遺漏或者週期改變的狀態,並於異常狀態發生,以降載模式繼續運行,使用者可以在馬達為較低功率下進行電動車的行駛,避免資料匯流排之通訊出現異常時,車輛無法行駛或失控。此外,透過本發明電動車馬達降載控制系統可降低產品開發成本和韌體發展時間,並可減少實體配線的數量。 The present invention judges whether the digital control signal transmitted by the data bus has errors, omissions, or periodic changes through the vehicle controller or the motor controller, and when an abnormal state occurs, it continues to run in the load reduction mode. The electric vehicle is driven at a lower power to prevent the vehicle from being unable to drive or out of control when the communication of the data bus is abnormal. In addition, the product development cost and firmware development time can be reduced through the electric vehicle motor load reduction control system of the present invention, and the quantity of physical wiring can be reduced.
1:電動車馬達降載控制系統 1: Electric vehicle motor load reduction control system
11:油門位置感知器 11: Throttle position sensor
12:整車控制器 12: Vehicle controller
121:類比/數位轉換器 121:Analog/digital converter
122:處理單元 122: Processing unit
12A:輸入端 12A: input terminal
12B:第一傳輸端 12B: the first transmission end
12C:第二傳輸端 12C: the second transmission end
13:馬達控制器 13: Motor controller
13A:第三傳輸端 13A: the third transmission end
13B:第四傳輸端 13B: the fourth transmission end
13C:馬達連接端 13C: Motor connection end
14:馬達 14: Motor
15:緩衝器 15: buffer
15A:第一連接端 15A: the first connection end
15B:第二連接端 15B: the second connection end
W:訊號線 W: signal line
B:資料匯流排 B: data bus
圖1A係為本發明電動車馬達降載控制系統的方塊示意圖;以及圖1B係為本發明電動車馬達降載控制系統包含緩衝器的方塊示意圖。 FIG. 1A is a schematic block diagram of the electric vehicle motor load reduction control system of the present invention; and FIG. 1B is a block schematic diagram of the electric vehicle motor load reduction control system of the present invention including a buffer.
請參閱圖1A,其係為本發明電動車馬達降載控制系統的方塊示意圖。電動車馬達降載控制系統1包含一油門位置感知器(Throttle position sensor;TPS)11、一整車控制器12、一馬達控制器13以及一馬達14。油門位置感知器11產生類比的一油門訊號。整車控制器12具有一輸入端12A、一第一傳輸端12B與一第二傳輸端12C。輸入端12A連接第一傳輸端12B與油門位置感知器11,整車控制器12包含一類比/數位轉換器121及一處理單元122。類比/數位轉換器121連接輸入端12A,以接收油門訊號,並轉換油門訊號為一數位控制訊
號。處理單元122可為中央處理器(CPU)之積體電路晶片,其連接類比/數位轉換器121與第二傳輸端12C,並接收數位控制訊號。馬達控制器13具有一第三傳輸端13A、一第四傳輸端13B與一馬達連接端13C,第三傳輸端13A通過一訊號線W連接整車控制器12的第一傳輸端12B,第四傳輸13B端通過一資料匯流排B連接整車控制器12的第二傳輸端12C,其中,該資料匯流排B可為控制器區域網路匯流排(CAN bus)。馬達14連接馬達控制器13的馬達連接端13C,其中,整車控制器12透過資料匯流排B傳送數位控制訊號給馬達控制器13,本發明的第一實施例中,於當整車控制器12的處理單元122判斷出資料匯流排B發生一異常狀態時,處理單元122轉換油門訊號為一降載控制訊號,並藉由資料匯流排B傳送降載控制訊號到馬達控制器13,馬達控制器13根據降載控制訊號控制馬達14運轉。
Please refer to FIG. 1A , which is a schematic block diagram of the electric vehicle motor load reduction control system of the present invention. The electric vehicle motor load
請參閱圖1B,其係為本發明電動車馬達降載控制系統第一實施例包含緩衝器的方塊示意圖。於此實施例中,整車控制器12更包含一緩衝器15(buffer),緩衝器15包含一第一連接端15A及一第二連接端15B,第一連接端15A連接輸入端12A及類比/數位轉換器121,第二連接端15B連接第一傳輸端12B。換句話說,油門位置感知器11透過整車控制器12的輸入端12A、緩衝器15的第一連接端15A、第二連接端15B及第一傳輸端12B,將油門訊號傳送到馬達控制器13的第三傳輸端13A。
Please refer to FIG. 1B , which is a schematic block diagram including a buffer according to the first embodiment of the electric vehicle motor load reduction control system of the present invention. In this embodiment, the
於本發明中,所述異常狀態包含三種狀況,分別於以下內容描述。第一種異常狀態的情況為資料匯流排B傳送數位控制訊號的封包錯誤率超過預設值的狀態,例如可透過循環冗餘校驗手段(Cyclic Redundancy Check,CRC)進行封包錯誤率偵測。進一步而言,在資料傳輸中,位元錯誤(bit errors)的數量就是接收到的頻道中資料流由於雜訊、干擾、失真或位元同步錯誤而更改的位元的數量。位元錯誤率(bit error rate,BER)是指單位時間差錯
位元的數量。由於油門訊號已透過類比/數位轉換器121轉換為數位控制訊號,並透過資料匯流排B傳送,因此,透過檢查資料匯流排B傳送數位控制訊號的封包錯誤率,可確認資料匯流排B傳送數位控制訊號的準確性。例如,當數位控制訊號中包含128個封包時,若128個封包中超過70個封包產生錯誤時,表示資料匯流排B發生異常狀態,則處理單元122轉換油門訊號為降載控制訊號,並藉由資料匯流排B傳送降載控制訊號到馬達控制器13,馬達控制器13根據降載控制訊號控制馬達14運轉。
In the present invention, the abnormal state includes three situations, which are described in the following content respectively. The first abnormal state is when the packet error rate of the digital control signal transmitted by the data bus B exceeds a preset value. For example, the packet error rate can be detected by means of Cyclic Redundancy Check (CRC). Further, in data transmission, the number of bit errors is the number of bits in the received channel data stream that have been changed due to noise, interference, distortion, or bit synchronization errors. Bit error rate (BER) refers to the error per unit time
The number of bits. Since the throttle signal has been converted into a digital control signal by the analog/
第二種異常狀態的情況為資料匯流排B傳送數位控制訊號的封包遺失率超過一預設值時的狀態。相似地,透過檢查資料匯流排B傳送數位控制訊號中的封包數量遺失比例是否超過一預設值判斷是否產生異常狀態。例如,當傳送數位控制訊號的128個封包中,遺失50個封包時,表示資料匯流排B發生異常狀態,則處理單元122轉換油門訊號為降載控制訊號,並藉由資料匯流排B傳送降載控制訊號到馬達控制器13,馬達控制器13根據降載控制訊號控制馬達14運轉。
The second abnormal state is the state when the packet loss rate of the digital control signal transmitted by the data bus B exceeds a preset value. Similarly, it is determined whether an abnormal state occurs by checking whether the packet loss ratio in the digital control signal transmitted by the data bus B exceeds a preset value. For example, when 50 packets are lost among the 128 packets of the digital control signal, it means that the data bus B has an abnormal state, and the
第三種異常狀態的情況為資料匯流排B傳送數位控制訊號的封包週期變化大於一預設值時的狀態。由於封包的傳送係為一固定週期,因此,當封包傳送的週期大於一預設值時,表示資料匯流排B發生異常狀態。例如,若傳送數位控制訊號的封包週期為每秒50個,當傳送封包的週期變化為每秒60個時,表示資料匯流排B發生異常狀態,則處理單元122轉換油門訊號為降載控制訊號,並藉由資料匯流排B傳送降載控制訊號到馬達控制器13,馬達控制器13根據降載控制訊號控制馬達14運轉。
The third abnormal state is the state when the packet period of the data bus B transmitting the digital control signal changes more than a preset value. Since the packet transmission is a fixed period, when the packet transmission period is greater than a preset value, it indicates that the data bus B is in an abnormal state. For example, if the packet cycle of transmitting the digital control signal is 50 per second, when the cycle of transmitting the packet changes to 60 per second, it means that the data bus B has an abnormal state, and the
於本發明中,當資料匯流排B未發生異常狀態時,馬達控制器13根據由資料匯流排B傳送的數位控制訊號控制馬達14運轉。
In the present invention, when the data bus B is not abnormal, the
前述第一實施例是由該整車控制器12判斷資料匯流排B是否發生異常,於本發明第二實施例中,是由該馬達控制器13判斷資料匯流排B是否發生異常,並於當馬達控制器13判斷出資料匯流排B發生一異常狀態時,透過訊號線W接收油門訊號,並根據油門訊號產生一降載控制訊號,以根據降載控制訊號控制馬達14運轉,也就是說,當該馬達控制器13判斷出資料匯流排B發生異常時,對於從資料匯流排B收到的數位控制訊號不進行處理。
In the aforementioned first embodiment, the
前述第一實施例是由該整車控制器12判斷資料匯流排B是否發生異常,前述第二實施例是由該馬達控制器13判斷資料匯流排B是否發生異常,於本發明第三實施例中,是由該整車控制器12和該馬達控制器13同時判斷匯流排B是否發生異常,詳細的內容如上所述,於此不再贅述。
In the aforementioned first embodiment, the
據此,本發明透過整車控制器或者馬達控制器判斷資料匯流排所傳送的數位控制訊號是否產生錯誤、遺漏或者週期改變的狀態,並於異常狀態發生,以降載模式繼續運行,使用者可以在馬達為較低功率下進行電動車的行駛,避免資料匯流排之通訊出現異常時,車輛無法行駛或失控。此外,透過本發明電動車馬達降載控制系統可降低產品開發成本和韌體發展時間,並可減少實體配線的數量。 Accordingly, the present invention judges whether the digital control signal transmitted by the data bus has an error, omission, or periodic change through the vehicle controller or the motor controller, and when an abnormal state occurs, it continues to run in the load reduction mode, and the user can The electric vehicle is driven with a relatively low motor power to prevent the vehicle from being unable to drive or out of control when the communication of the data bus is abnormal. In addition, the product development cost and firmware development time can be reduced through the electric vehicle motor load reduction control system of the present invention, and the quantity of physical wiring can be reduced.
綜上所述,乃僅記載本發明為呈現解決問題所採用的技術手段之實施方式或實施例而已,並非用來限定本發明專利實施之範圍。即凡與本發明專利申請範圍文義相符,或依本發明專利範圍所做的均等變化與修飾,皆為本發明專利範圍所涵蓋。 To sum up, what is described above is only a description of the implementation or examples of the technical means adopted by the present invention to solve the problems, and is not intended to limit the scope of the patent implementation of the present invention. That is, all equivalent changes and modifications that are consistent with the scope of the patent application of the present invention, or made according to the scope of the patent of the present invention, are covered by the scope of the patent of the present invention.
1:電動車馬達降載控制系統 1: Electric vehicle motor load reduction control system
11:油門位置感知器 11: Throttle position sensor
12:整車控制器 12: Vehicle controller
121:類比/數位轉換器 121:Analog/digital converter
122:處理單元 122: Processing unit
12A:輸入端 12A: input terminal
12B:第一傳輸端 12B: the first transmission end
12C:第二傳輸端 12C: the second transmission end
13:馬達控制器 13: Motor controller
13A:第三傳輸端 13A: the third transmission end
13B:第四傳輸端 13B: the fourth transmission end
13C:馬達連接端 13C: Motor connection end
14:馬達 14: Motor
W:訊號線 W: signal line
B:資料匯流排 B: data bus
Claims (7)
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TW110141164A TWI786928B (en) | 2021-11-04 | 2021-11-04 | Electric vehicle motor load reduction control system |
CN202211103703.8A CN116061701A (en) | 2021-11-04 | 2022-09-09 | Load-reducing control system for motor of electric vehicle |
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TW110141164A TWI786928B (en) | 2021-11-04 | 2021-11-04 | Electric vehicle motor load reduction control system |
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TW200817857A (en) * | 2006-08-08 | 2008-04-16 | Siemens Energy & Automat | Devices, systems, and methods for communicating with a PLC |
CN102923127A (en) * | 2012-10-17 | 2013-02-13 | 重庆长安汽车股份有限公司 | Calibration system of machine controller and hybrid electric vehicle |
CN107364439A (en) * | 2016-05-12 | 2017-11-21 | 上海汽车集团股份有限公司 | Dynamical system handover scheme based on double CAN |
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US20210139039A1 (en) * | 2019-11-12 | 2021-05-13 | Hyundai Motor Company | Device and method for controlling sudden unintended acceleration |
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TW200817857A (en) * | 2006-08-08 | 2008-04-16 | Siemens Energy & Automat | Devices, systems, and methods for communicating with a PLC |
CN102923127A (en) * | 2012-10-17 | 2013-02-13 | 重庆长安汽车股份有限公司 | Calibration system of machine controller and hybrid electric vehicle |
US10447195B2 (en) * | 2013-07-23 | 2019-10-15 | Atieva, Inc. | Electric vehicle motor torque safety monitor |
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