WO2018090655A1 - 控制***以及控制方法 - Google Patents

控制***以及控制方法 Download PDF

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Publication number
WO2018090655A1
WO2018090655A1 PCT/CN2017/093155 CN2017093155W WO2018090655A1 WO 2018090655 A1 WO2018090655 A1 WO 2018090655A1 CN 2017093155 W CN2017093155 W CN 2017093155W WO 2018090655 A1 WO2018090655 A1 WO 2018090655A1
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WO
WIPO (PCT)
Prior art keywords
signal
control
control signal
event
state
Prior art date
Application number
PCT/CN2017/093155
Other languages
English (en)
French (fr)
Inventor
李双
张洪涛
张露露
叶葳
张斌
Original Assignee
杭州三花研究院有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201611010424.1A external-priority patent/CN108073103B/zh
Priority claimed from CN201611009708.9A external-priority patent/CN108073101A/zh
Priority claimed from CN201611010014.7A external-priority patent/CN108073102B/zh
Application filed by 杭州三花研究院有限公司 filed Critical 杭州三花研究院有限公司
Priority to US16/348,140 priority Critical patent/US10989187B2/en
Priority to EP17870917.6A priority patent/EP3543533B1/en
Publication of WO2018090655A1 publication Critical patent/WO2018090655A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B17/00—Pumps characterised by combination with, or adaptation to, specific driving engines or motors
    • F04B17/03—Pumps characterised by combination with, or adaptation to, specific driving engines or motors driven by electric motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
    • G01R19/16533—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values characterised by the application
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0202—Voltage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0205—Temperature
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0209—Rotational speed

Definitions

  • the present invention relates to a control system, and more particularly to a control system and control method for controlling communication.
  • the electric pump is mainly used in the refrigeration cycle of the vehicle.
  • the operation of the electric pump is realized by the control system of the electric pump.
  • the electric pump includes a motor and a rotor.
  • the motor drives the rotor to rotate, and the motor control system controls the rotation of the motor.
  • the control system of the electric pump includes The main controller, the micro controller and the communication control, the main controller sends control commands to the microprocessor through the communication system, the microprocessor parses the control commands and controls the rotation of the motor, and the microprocessor passes the running state of the electric pump through the communication feedback. Give the master.
  • the main controller is a controller of the vehicle
  • the microprocessor is integrated on the electric control board of the electric pump
  • the control information and feedback information are transmitted between the main controller and the microprocessor through the communication system
  • the communication system is in the main controller and A communication protocol is formed between the microprocessors.
  • control information and feedback information are usually transmitted through one signal line, which makes the connection of the control system relatively complicated.
  • a control system a control system, and a control system that controls operation of an execution component
  • the control system including a main controller, a microprocessor and a signal line
  • the master issuing a control signal, the control signal being transmitted to the microprocessor through the signal line, the microprocessor transmitting the control signal to the executing component
  • the executing component is driven to operate; and the microprocessor collects a feedback signal representing an operating state of the executing component for a certain period of time and transmits the feedback signal to the signal line, and the master collects a location at the signal line Deriving a feedback signal
  • the main controller determines a state of the executing component according to the feedback signal and issues a corresponding control signal.
  • Embodiments of the present invention also disclose a control method, the control method being controlled by a control system, the control system including a main controller and a microprocessor, the control method including the main controller issuing a certain duty a PWM waveform control signal, the duty ratio is set corresponding to a target rotational speed of the executing component, the microprocessor receiving the control signal and parsing the control signal to generate a driving signal, the driving signal driving the execution component motion;
  • the control method further includes an event processing step, the event processing step pre-storing an event list, the event list includes a plurality of sets of event information representing an event state, and the microprocessor collects a current running state of the executing component at a certain time interval;
  • the microprocessor determines whether the current running state matches the event state corresponding to the event information of the event list, and activates or closes event information in the event list according to the event processing step and feeds back to the master control Device.
  • the main controller and the microprocessor are connected by a single signal line
  • the microprocessor includes a communication module and a control module
  • the main controller sends the control signal to the communication module through the signal line
  • the control module collects the feedback information.
  • the signal is sent to the signal line through the communication module, and the main controller collects the feedback information on the signal line.
  • Figure 1 is a schematic block diagram of a system of a control system
  • Figure 2 is a schematic block diagram of the system of the main controller and the microcontroller of Figure 1;
  • Figure 3 is a schematic block diagram of the main controller and the microprocessor of Figure 1 communicating through a communication circuit;
  • FIG. 4 is a schematic diagram showing the connection of the first embodiment of the communication circuit of FIG. 3;
  • Figure 5 is a schematic diagram showing the connection of the second embodiment of the communication circuit of Figure 3;
  • FIG. 6 is a schematic diagram of a control flow of a control system
  • FIG. 7 is a schematic flow chart of the transmission mode in FIG. 6;
  • FIG. 8 is a schematic flow chart of the feedback mode in FIG. 6.
  • the electric pump in this embodiment is applied to an automotive thermal management system, and the electric pump includes a motor, and the control system controls the operation of the electric pump by controlling the operation of the motor.
  • the control system comprises a main controller ECU, a microprocessor MCU and a signal line BUS, the main controller ECU sends a control signal, the control signal is transmitted to the microprocessor MCU through the signal line BUS, and the microprocessor MCU sends the control signal to the electric pump;
  • the microprocessor MCU collects a feedback signal representing the operating state of the electric pump at a certain time interval and transmits it to the signal line BUS.
  • the main controller ECU collects a feedback signal located on the signal line BUS, and the main controller ECU performs the state of the electric pump according to the feedback signal. Make a judgment and issue a corresponding control signal.
  • the main controller ECU includes a first communication module 10 and a first control module 20, and the microprocessor MCU includes a second communication module 30 and a second control module 40, and the main controller ECU issues a control signal.
  • the control signal is transmitted to the second communication module 30 through the signal line BUS.
  • the control signal forms a first control signal through the second communication module 30, and the second control module 40 acquires a first control signal, and the first control signal is formed by the second control module 40.
  • a second control signal the second control module 40 sends the second control signal to the electric pump; and the second control module 40 collects a first feedback signal representing the operating state of the electric pump at a predetermined time interval, and the first feedback signal passes through the second control.
  • the module 40 forms a second feedback signal
  • the second feedback signal forms a third feedback signal through the second communication module 30 and is transmitted to the signal line BUS
  • the main controller ECU collects a third feedback signal
  • the main controller ECU according to the third feedback signal pair The operating state of the electric pump is judged and a corresponding control signal is issued.
  • the signal transmission and feedback are performed between the microprocessor MCU and the main controller ECU through a single signal line BUS.
  • Such a control system reduces the interface end, is simpler in construction, and has a feedback system, and the main controller performs the components. The control is more timely and accurate.
  • the actuator in this embodiment is an electric pump; of course, the actuator may also be an electronic expansion valve, an electronic water valve, or the like including other electronic components of the motor; the motor in this embodiment includes a stator assembly and a rotation.
  • the subassembly, the feedback signal can be obtained by detecting the stator assembly and/or the rotor assembly or by the stator assembly and/or the rotor assembly.
  • the third feedback signal is in the form of a combination of the duration of the current control signal and the duration of the low-level signal;
  • the first control module 20 includes the first storage module 3, and the first storage module 3 is pre-stored. a plurality of sets of combinations of the durations of the control signals representing the operating states of the electric pump and the duration of the low level signals and forming a combined list, the main controller ECU aligning the acquired third feedback signals with the pre-stored combination list of the first storage module 3 The combination is compared to determine the current operating state of the electric pump.
  • the combination of the duration of the control signal and the duration of the low-level signal as the third feedback signal is advantageous for improving the versatility and portability of the control system and the microprocessor.
  • the operating state of the electric pump includes a normal state and an event state.
  • the normal state refers to a state in which the electric pump operates according to a control signal sent by the main controller ECU
  • the event state refers to a state in which the electric pump does not operate according to a control signal sent by the main controller ECU.
  • the second control module 40 collects the first feedback signal; the second control module 40 includes the second storage module 4, the second storage module 4 prestores the running state, and the second control module collects the first feedback of the current motion state.
  • the signal, the current motion state is the same as one of the pre-stored motion states, and determines that the running state of the currently executing component is a corresponding operating state and generates a second feedback signal including event information.
  • the first feedback signal includes an operating current of the motor, and the microprocessor MCU collects the operating current, and the microprocessor MCU determines the operating state of the executing component according to the operating current, and the monitored operating state of the executing component includes an overcurrent state and a stalling state. And event status such as dry transition status.
  • the first feedback signal further includes a voltage value of the three phases of the motor, and the microprocessor MCU collects the voltage value of the three phases of the motor, and monitors whether the execution component is in an event state such as an overvoltage state or an undervoltage state.
  • the first feedback signal further includes an NTC (Negative Temperature Coefficient) thermistor voltage value, and the microprocessor MCU collects the NTC thermistor voltage value and monitors whether the execution component is in an over-temperature state or the like.
  • the second control module 40 diagnoses the current state of the electric pump through the collected feedback information, forms a second feedback signal, and generates a third feedback signal through the second communication module, and the main controller ECU collects the first Three feedback signals.
  • the main controller ECU sends a corresponding control signal through the third feedback signal, thereby adjusting the operating state of the executing component.
  • the third feedback signal mainly represents the operating state of the executing component in the form of a combination of the duration of the current control signal on the signal line BUS and the duration of the low level signal.
  • the combination of the duration of the signal is 4.5s and the duration of the low-level signal is 0.5s is defined as the normal state; when the third feedback signal is the duration of the control signal is 1.5s and the duration of pulling the low-level signal is 1s
  • the combination is defined as the stalled state; when the third feedback signal is the duration of the control signal is 1 s and the duration of pulling the low level signal is 1 s, the combination is defined as the dry transition state; when the third feedback signal is the duration of the control signal
  • the combination of 2s and the low-level signal with a duration of 1s is defined as an over-temperature state; when the third feedback signal is a combination of the duration of the control signal being 3s and the pulling of the low-level signal being 1s, the combination is defined as an overcurrent state.
  • the main controller ECU includes an output unit 1 and an input unit 2.
  • the control signal outputted by the main controller ECU is output through the output unit 1, and the output control signal is transmitted to the signal line BUS, and the signal line BUS is collected through the input unit 2.
  • the third feedback signal is generated by the main controller ECU.
  • the output unit 1 includes an output interface 11 and an input circuit.
  • the input unit 2 includes an input interface 22 and an input circuit.
  • the output circuit includes a first transistor Q1.
  • the base of the first transistor Q1 is a control signal input pole.
  • the emitter of a transistor Q1 is grounded through a first resistor R1, and the collector of the first transistor is connected to the output interface 11.
  • the output circuit thus arranged is advantageous for improving the driving capability of the control signal; wherein the input circuit includes the second and third The base of the second transistor Q2 is connected to the input interface 22, the main controller ECU collects the third feedback signal through the input interface 22, the emitter of the second transistor Q2 is grounded, and the second transistor The collector of Q2 is connected to the power supply through the second resistor R2, and the second resistor R2 thus disposed is advantageous for pulling up the voltage of the collector of the second transistor Q2.
  • the control system includes a transmitting system and a feedback system.
  • the control signal controls the operation of the electric pump through the transmitting system, and the feedback signal is fed back to the main controller through the feedback system.
  • the second communication module 30 includes a transmission sub-module 31 and a feedback sub-module 32.
  • the sending sub-module 31 includes a signal identifying module 5 and a signal storage module 9;
  • the feedback sub-module 32 includes an event adding module 6 and an event storage module 7, wherein the transmitting sub-module is part of a transmitting system, and the feedback sub-module is part of a feedback system .
  • the signal identification module 5 is configured to receive the control signal from the main controller ECU and identify whether the received control signal is a PWM (Pulse Width Modulation) waveform signal; if the control signal is not a PWM waveform signal, it is an abnormal signal. Assigning an abnormal signal, at which time the feedback system does not work, the microprocessor MCU generates a first control signal that drives the motor to operate at a maximum speed; If the control signal is a signal of a PWM waveform, the signal recognition module 5 parses the control signal, the signal recognition module 5 parses the duty ratio and frequency of the control signal, and the duty ratio refers to the high level of the control signal within one cycle.
  • PWM Pulse Width Modulation
  • the ratio of time to time, the frequency refers to the number of times the control signal completes the periodic change in unit time, and detects whether the duty cycle and frequency of the control signal are correct; if the duty cycle and frequency of the PWM signal are correct, the control The signal is stored in the signal storage module 9 for extraction by the second control module 40.
  • Incorrect duty cycle includes duty cycle of 0, duty cycle of 100%, and duty cycle error.
  • a duty cycle of 0 means that the control signal is always in a low state
  • a duty cycle of 100% means a control signal.
  • the duty cycle error includes the continuous six control signals through the second communication module, the maximum value of the duty cycle minus the minimum value of the duty ratio is greater than 1%, and the duration of the process is greater than or equal to 2 seconds or through the continuous 6 control signals of the second communication module, the maximum value of the duty ratio minus the minimum value of the duty ratio is greater than 1%, and the duration of the process is greater than 1 second and less than or equal to 2 seconds;
  • the ratio is 0 and the duty ratio is 100% and the maximum value of the duty ratio minus the duty ratio is greater than 1%, and the duration of the process is greater than or equal to 2 seconds.
  • the control signal is an abnormal signal.
  • the abnormal signal is assigned, and the feedback system does not work.
  • the second communication module generates a first control signal for driving the motor to operate at a maximum speed.
  • the first control signal is stored in the signal storage module 9 for extraction by the second control module.
  • the maximum value of the duty ratio minus the minimum value of the duty ratio is greater than 1%, and the duration of the process is greater than 1 second and less than or equal to 2 seconds, at which time the control signal is The abnormal signal, at this time, the abnormal signal is assigned, and the feedback system does not work at this time, the second communication module 30 generates a first control signal for driving the speed corresponding to the previous control signal of the driving motor, and the first control signal is stored in the signal storage module 9 In preparation for the extraction of the second control module 40.
  • the incorrect frequency refers to the continuous six control signals passing through the second communication module.
  • the maximum value of the control frequency minus the minimum value of the frequency the ratio of the difference to the maximum value is greater than 1%, and the duration of the process is greater than or equal to 2 seconds.
  • the frequency of the control signal is not correct, the control signal is an abnormal signal at this time, and the abnormal signal is assigned at this time, and the feedback system does not work at this time, and the second communication module generates a first control signal for driving the motor to operate at the maximum speed, the first The control signal is stored in the signal storage module 9 for extraction by the second control module.
  • the feedback sub-module 32 includes an event adding module 6 and an event storage module 7; wherein the event adding module 6 is configured to add event information, and the added event information forms an event list and is stored in the event storage. Module 7, such that the event storage module 7 pre-stores an event list; and may further include an event running module 8 for receiving the second feedback signal and extracting current event information included in the second feedback signal, when the current When the event information is the same as one of the event information of the event list, the corresponding event information is fired or turned off and a corresponding third feedback signal is generated.
  • the event information includes an event number, a priority level, an enable bit, a minimum number of times of reporting, a duration of the control signal, and a duration of the pull voltage; wherein the event number refers to a number of an operating state of the execution component represented by the second feedback signal, such as: a normal state
  • the number is 1, the number of the blocked state is 2, the number of the dry state is 3, the number of the overvoltage state is 4, and the number of the undervoltage state is 5.
  • the priority is that when a plurality of second feedback signals appear at the same time, the second feedback signal with the highest priority first generates a third feedback signal.
  • the corresponding event information When the enable bit refers to the enable position of the corresponding event information, the corresponding event information is Excitation; when the corresponding event information enables position 0, the corresponding event information is turned off.
  • the minimum number of times of reporting refers to the number of times the third feedback signal is generated and sent to the signal line when a second feedback signal is generated.
  • the duration of the control signal refers to the duration of the control signal on the signal line in the feedback system.
  • the duration of the pull voltage is the length of the low voltage on the signal line in the feedback system.
  • the communication circuit further includes a communication circuit, and the communication circuit may be disposed between the main controller ECU and the microprocessor MCU, or may be integrated in the second communication module, where the communication circuit includes a sending unit and a feedback unit, where the sending unit For a part of the transmission system, the feedback unit is part of the feedback system.
  • the communication circuit comprises a wide voltage input module, a first connection end 101, a second connection end 102 and a third connection end 103, the first connection end The 101 is connected to the main control ECU, and the second connection terminal 102 and the third connection end 103 are connected to the microprocessor MCU; the wide voltage input module is disposed adjacent to the first connection end 101.
  • the control signal enters the communication circuit through the wide voltage input module.
  • the input voltage is 0-2.5V
  • the voltage after the wide voltage input module is 0V, which is beneficial to the influence of the filter voltage fluctuation on the PWM signal.
  • the transmitting unit includes a third resistor R3, a fourth resistor R4, a fifth resistor R5, and a third transistor Q3; wherein the wide voltage input module includes a series connection
  • the three resistor R3 and the fourth resistor R4 realize a wide voltage input function by setting the resistance values of the third resistor R3 and the fourth resistor R4; the signal line BUS is connected to the first connection terminal 101, and the control signal passes through the third resistor R3 and the fourth The resistor R4 is divided and then connected through the fifth resistor R5.
  • the transmitting unit further includes a sixth resistor R6, the sixth resistor R6 is a collector pull-up resistor of the third transistor Q3, and the power source VCC supplies power to the third transistor Q3 through the sixth resistor R6.
  • the third resistor R3 and the fourth resistor R4 form a wide voltage input module as follows: when the control signal is low, its low level is in the range of 0-2V, and is divided by the third resistor R3 and the fourth resistor R4. To the base of the third transistor Q3, the voltage of the base of the third transistor Q3 is set to be smaller than the voltage of the third transistor Q3, so that the third transistor Q3 is in an off state, so that The collector output of the triode Q3 is at a high level, which realizes the control signal input low-level wide voltage input function.
  • the working process of the transmitting unit is as follows: when the control signal is high, its high level is in the range of 7V-20V, and is divided by the third resistor R3 and the fourth resistor R4 to the base of the third transistor Q3.
  • the third transistor Q3 When the voltage of the base of the third transistor Q3 is greater than the conduction voltage of the third transistor Q3, the third transistor Q3 is turned on, and the collector output of the third transistor Q3 is at a low level, that is, The output first control signal is 0; when the voltage of the base of the third transistor Q3 is lower than the conduction voltage of the third transistor Q3, the third transistor Q3 is not conducting, and the third transistor Q3 is The collector output is at a high level, that is, the output first control signal is at a high level.
  • the communication circuit further includes a seventh resistor R7 and a diode D1.
  • the seventh resistor R7 is a pull-up resistor of the output interface of the main controller ECU.
  • the diode D1 is used to prevent the feedback signal from being output to the power source and affecting the level of the signal on the bus.
  • the microprocessor MCU includes a PWM interface and a second interface I/O.
  • the second interface I/O is connected to the third connection end 103 of the communication circuit, and sends a second feedback signal to the third connection end 103.
  • the feedback unit includes Eight resistor R8, ninth resistor R9, tenth resistor R10 and fourth transistor Q4, wherein the eighth resistor R8 is a current limiting resistor, and the ninth resistor R9 is a pull-down resistor of the base of the fourth transistor Q4,
  • the ten resistor R10 is a collector pull-up resistor of the fourth transistor Q4, and the power source VCC supplies power to the fourth transistor Q4 through the tenth resistor R10.
  • the working process of the feedback unit is as follows: when the second feedback signal is at a high level, the fourth transistor Q4 is turned on, the signal output to the signal line BUS is low, and when the second feedback signal is low, the fourth Transistor Q4 is turned off and the signal output to BUS is high.
  • the feedback unit is the same as the first embodiment; the transmission unit includes a comparator 10, an eleventh resistor R11, a twelfth resistor R12, and a thirteenth Resistor R13, the comparator 10 includes a forward port + and a negative port -, the twelfth resistor R12 and the thirteenth resistor R13 form an input reference voltage Vi for the voltage dividing resistor, and the twelfth electric rent R12 is connected to the forward port + , that is, the input reference voltage Vi is connected to the forward port +, the control signal is connected to the negative port of the comparator through the eleventh resistor R11, and the eleventh resistor R11 is a current limiting resistor, when the input control signal is higher than the input reference When the voltage is Vi, the comparator outputs a low level, and when the input control signal is lower than the input reference voltage Vi, the output is high.
  • the value of the input reference voltage Vi is set to 2.5V
  • the control method includes a control system power-on step, the main controller sends a control signal of a PWM waveform having a certain duty ratio, the duty ratio represents a target rotational speed of the executing component, and the microprocessor receives the control signal and analyzes The control signal generates a driving signal, and the driving signal drives the movement of the executing component;
  • the communication method further includes an event processing step, the event processing step pre-stores an event list, the event list includes a plurality of sets of event information representing the event state, and the event information in the event list is preset
  • the microprocessor collects the current running state of the executing component for a certain period of time. When the current running state is the same as one of the event states corresponding to the event information of the event list, the microprocessor activates or deactivates according to the event processing step. The event information in the event list is fed back to the master.
  • the event information includes an event number, event feedback information, and an enable bit; each event number corresponds to an operational state of the execution component; the event feedback information includes a set of high and low voltage combinations corresponding to the generated feedback to the master; the enable position 1
  • the event information is activated; when the position 0 is enabled, the event information is turned off.
  • the event information further includes an event priority and an event feedback number; when the microprocessor simultaneously collects multiple current running states of the execution component, the event information with high priority is fed back to the main controller prior to the event information with low priority, the event The number of feedbacks refers to the minimum number of times event information is fed back to the master.
  • the control method further includes: a control system initialization step, the initialization step includes hardware initialization, software initialization, and adding event information and forming an event list.
  • the initialization step is set after the control system power-on step, and the added event information is set after the software initialization is completed.
  • the control method further includes a state machine processing step, the state machine processing step is set after the main controller issues a control signal, and the state machine processing step is configured to collect the control signal for a certain period of time to determine the control The state of the signal and initiate different operating modes.
  • the operation mode includes a normal operation mode, an error shutdown mode, and an error operation mode.
  • the microprocessor drives the drive unit to drive the drive signal according to the target speed; in the wrong operation mode, the microprocessor generates the drive.
  • the drive unit executes a drive signal that operates at a maximum speed; in the error-closed mode, the microprocessor stops inputting a drive signal to the actuator to cause the actuator to operate in accordance with the original operating state.
  • the state of the control signal includes the control signal having the correct duty cycle and frequency, the duty cycle of the control signal is incorrect, and/or the frequency of the control signal is incorrect, wherein the control signal has the correct duty cycle and frequency, state
  • the machine processing step initiates the normal operation mode, the duty cycle of the control signal is incorrect, and/or the frequency of the control signal is incorrect, the state machine processing step initiates the error shutdown mode or the error operation mode.
  • the duty cycle is incorrect, including the duty cycle is 0 and the duty cycle is 100%.
  • the state machine processing step starts the wrong operation mode; the duty cycle is incorrect, including the duty cycle error, and the duty cycle error includes In the control signals of the six consecutive PWM waveforms of the processor, the maximum value of the duty ratio minus the minimum value of the duty ratio is greater than 1%, and the duration of the process is greater than or equal to 2 seconds, at which time the state machine processing step is started.
  • the duty cycle error further includes a control signal of consecutive 6 PWM waveforms of the microprocessor, a maximum value of the duty ratio minus a minimum value of the duty ratio greater than 1%, and the process The duration is greater than 1 second and less than 2 seconds, at which point the state machine processing step initiates an error shutdown mode.
  • the frequency is incorrect.
  • the ratio of the maximum value of the frequency minus the minimum value of the frequency to the maximum value of the frequency is greater than 1%, and the duration of the process is greater than or equal to 2 seconds, at this time, the state machine processing step starts the wrong operation mode; the incorrect frequency also includes the difference between the maximum value of the frequency and the minimum value of the frequency through the control signals of the six consecutive PWM waveforms of the second communication module.
  • the ratio of the maximum value of the frequencies is greater than 1%, and the duration of the process is greater than 1 second and less than 2 seconds, at which time the state machine processing step initiates the error shutdown mode.
  • each module and sub-module refer to a corresponding function of the main controller ECU and the microprocessor MCU, and the modular identification is performed for describing the situation.

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Abstract

一种控制***，控制执行部件的运行，包括主控器（ECU）、微处理器（MCU）以及信号线（BUS），主控器（ECU）发出控制信号，控制信号通过信号线（BUS）传递至微处理器（MCU），微处理器（MCU）将控制信号发送给执行部件，执行部件被驱动运行；同时微处理器（MCU）间隔一定时长采集代表执行部件的运行状态的反馈信号并传递到信号线（BUS），主控器（ECU）采集位于信号线（BUS）的反馈信号，主控器（ECU）根据反馈信号对执行部件的运行状态进行判断并发出对应的控制信号；这样***减少了接口端，构造更加简单。

Description

控制***以及控制方法
本申请要求于2016年11月17日提交中国专利局、申请号为201611009708.9、发明名称为“通信控制***”的中国专利申请，以及2016年11月17日提交中国专利局、申请号为201611010424.1、发明名称为“通信控制***”的中国专利申请，以及2016年11月17日提交中国专利局、申请号为201611010014.7、发明名称为“通信***的通信方法以及通信控制***”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种控制***，尤其涉及一种用于控制通信的控制***以及控制方法。
背景技术
目前，电动泵主要应用于车辆的制冷循环中，电动泵的运行通过电动泵的控制***实现，电动泵包括电机和转子，电机带动转子转动，电机控制***控制电机转动；电动泵的控制***包括主控器、微控器以及通信控制，主控器发送控制命令通过通信***传递给微处理器，微处理器解析控制命令并控制电机转动，同时微处理器将电动泵的运行状态通过通信反馈给主控器。
通常，主控器为车辆的控制器，微处理器集成于电动泵的电控板上，主控器和微处理器之间通过通信***传递控制信息和反馈信息，通信***在主控器和微处理器之间形成通信协议，为了防止信号相互干涉，通常将控制信息和反馈信息分别通过一根信号线进行传递，这样使得控制***的连接相对复杂。
因此，有必要对现有的技术进行改进，以解决以上技术问题。
发明内容
本发明的目的在于提供一种控制***以及控制方法，使得***连接简单，控制更精确。
为实现上述目的，本发明的实施方式采用如下技术方案：一种控制***，控制***，所述控制***控制执行部件的运行，所述控制***包括主控器、 微处理器以及信号线，所述主控器发出控制信号，所述控制信号通过所述信号线传递至所述微处理器，所述微处理器将所述控制信号发送给所述执行部件，所述执行部件被驱动运行；同时所述微处理器间隔一定时长采集代表所述执行部件的运行状态的反馈信号并传递到所述信号线，所述主控器采集位于所述信号线的所述反馈信号，所述主控器根据所述反馈信号对所述执行部件进行状态进行判断并发出对应的所述控制信号。
本发明的实施方式还公开了一种控制方法，所述控制方法通过控制***控制，所述控制***包括主控器和微处理器，所述控制方法包括所述主控器发出具有一定占空比的PWM波形控制信号，所述占空比与执行部件的目标转速对应设置，所述微处理器接收所述控制信号并解析所述控制信号生成驱动信号，所述驱动信号驱动执行部件运动；所述控制方法还包括事件处理步骤，所述事件处理步骤预存事件列表，所述事件列表包括多组代表事件状态的事件信息，所述微处理器间隔一定时长采集执行部件的当前运行状态；所述微处理器判断所述当前运行状态是否与所述事件列表的事件信息对应的事件状态相符，并根据所述事件处理步骤激活或关闭所述事件列表中的事件信息并反馈给所述主控器。
与现有技术相比，主控器和微处理器通过单根信号线连接，微处理器包括通信模块和控制模块，主控器将控制信号通过信号线发送至通信模块，控制模块采集反馈信息，通过通信模块发送至信号线，主控器采集信号线上的反馈信息，这样的***减少了接口端，构造更加简单，带有反馈***，控制更加及时、精确。
附图说明
图1是控制***的一种***示意框图；
图2是图1中主控器和微控制器的***示意框图；
图3是图1中主控器和微处理器通过通信电路通信的示意框图；
图4是图3中通信电路的第一种实施方式连接示意图；
图5是图3中通信电路的第二种实施方式连接示意图；
图6是控制***的控制流程示意图；
图7为图6中的发送模式的流程示意图；
图8为图6中的反馈模式的流程示意图。
具体实施方式
下面结合附图和具体实施例对本发明作进一步说明：
本实施例中的电动泵应用于汽车热管理***，电动泵包括电机，控制***通过控制电机的运行进而控制电动泵的运行。控制***包括主控器ECU、微处理器MCU以及信号线BUS，主控器ECU发出控制信号，控制信号通过信号线BUS传递至微处理器MCU，微处理器MCU将控制信号发送给电动泵；微处理器MCU间隔一定时长采集代表电动泵的运行状态的反馈信号并传递到信号线BUS，主控器ECU采集位于信号线BUS的反馈信号，主控器ECU根据反馈信号对电动泵的进行状态进行判断并发出对应的控制信号。
结合参见图1和图2，主控器ECU包括第一通信模块10和第一控制模块20，微处理器MCU包括第二通信模块30和第二控制模块40，主控器ECU发出控制信号，控制信号通过信号线BUS传递至第二通信模块30，控制信号经过第二通信模块30形成第一控制信号，第二控制模块40采集第一控制信号，第一控制信号经过第二控制模块40形成第二控制信号，第二控制模块40将第二控制信号发送给电动泵；同时第二控制模块40间隔预定时长采集代表电动泵的运行状态的第一反馈信号，第一反馈信号经过第二控制模块40形成第二反馈信号，第二反馈信号通过第二通信模块30形成第三反馈信号并传递到信号线BUS，主控器ECU采集第三反馈信号，主控器ECU根据第三反馈信号对电动泵的运行状态进行判断并发出对应的控制信号。这样，微处理器MCU与主控器ECU之间通过单根信号线BUS完成信号发送和反馈，这样的控制***减少了接口端，构造更加简单，并且带有反馈***，主控器对执行部件的控制更加及时、精确。
本实施例中的执行部件为电动泵；当然，执行部件也可以为电子膨胀阀、电子水阀等包括电机的其他电子部件；本实施例中的电机包括定子组件和转 子组件，反馈信号可以通过检测定子组件和/或转子组件获得或者通过定子组件和/或转子组件获得。
参见图2，本实施例中，第三反馈信号为当前控制信号的时长与低电平信号的时长的组合的形式；第一控制模块20包括第一存储模块3，第一存储模块3预存有多组代表电动泵的运行状态的控制信号的时长与低电平信号的时长的组合并形成组合列表，主控器ECU将获取的第三反馈信号与第一存储模块3预存的组合列表中的组合进行比较，判断当前的电动泵的运行状态。这样，将控制信号的时长与低电平信号的时长的组合作为第三反馈信号，有利于提高控制***以及微处理器的通用性和可移植性。
电动泵的运行状态包括正常状态和事件状态，正常状态是指电动泵按照主控器ECU发出的控制信号运行的状态，事件状态是指电动泵未按照主控器ECU发出的控制信号运行的状态
本实施例中，第二控制模块40采集第一反馈信号；第二控制模块40包括第二存储模块4，第二存储模块4预存有运行状态，第二控制模块采集当前运动状态的第一反馈信号，当前运动状态与预存运动状态之一相同，判定当前执行部件的运行状态为对应的运行状态并生成包括事件信息的第二反馈信号。第一反馈信号包括电机的运转电流，微处理器MCU采集该运转电流，微处理器MCU根据该运转电流，判断执行部件运行状态，此时监测的执行部件运行状态包括过流状态，堵转状态以及干转状态等事件状态。第一反馈信号还包括电机三相的电压值，微处理器MCU采集到电机三相的电压值，监测执行部件是否为过压状态或欠压状态等事件状态。第一反馈信号还包括NTC(Negative Temperature Coefficient)热敏电阻电压值，微处理器MCU采集NTC热敏电阻电压值，监测执行部件是否为过温状态等事件状态。第二控制模块40通过采集到的反馈信息，诊断出电动泵当前状态，形成第二反馈信号，并将将第二反馈信号通过第二通信模块生成第三反馈信号，主控器ECU采集该第三反馈信号。主控器ECU通过第三反馈信号，发出相应的控制信号，进而调整执行部件的运行状态。
第三反馈信号主要是以信号线BUS上的当前控制信号的时长与低电平信号的时长的组合的形式表现执行部件的运行状态。如：当第三反馈信号为控 制信号的持续时间为4.5s和拉低电平信号的时长为0.5s的组合定义为正常状态；当第三反馈信号为控制信号的持续时间为1.5s和拉低电平信号的时长为1s的组合定义为堵转状态；当第三反馈信号为控制信号的持续时间为1s和拉低电平信号的时长为1s的组合定义为干转状态；当第三反馈信号为控制信号的持续时间为2s和拉低电平信号的时长为1s的组合定义为过温状态；当第三反馈信号为控制信号的持续时间为3s和拉低电平信号的时长为1s的组合定义为过流状态；当第三反馈信号为控制信号的持续时间为2.5s和拉低电平信号的时长为1s的组合定义为欠压或过压状态。
参见图3，主控器ECU包括输出单元1和输入单元2，主控器ECU输出的控制信号通过输出单元1输出，输出的控制信号传送至信号线BUS，通过输入单元2采集信号线BUS上的第三反馈信号。
其中，输出单元1包括输出接口11和输出电路，输入单元2包括输入接口22和输入电路，其中输出电路包括第一三极管Q1，第一三极管Q1的基极为控制信号输入极，第一三极管Q1的射极通过第一电阻R1接地，第一三极管的集电极与输出接口11连接，这样设置的输出电路有利于提高控制信号的驱动能力；其中输入电路包括第二三极管Q2，第二三极管Q2的基极与输入接口22连接，主控器ECU通过输入接口22采集第三反馈信号，第二三极管Q2的射极接地设置，第二三极管Q2的集电极通过第二电阻R2与电源连接，这样设置的第二电阻R2有利于拉高第二三极管Q2的集电极的电压。
控制***包括发送***和反馈***，控制信号通过发送***控制电动泵的运行，反馈信号通过反馈***反馈至主控器。
参见图2，第二通信模块30包括发送子模块31和反馈子模块32。其中，发送子模块31包括信号识别模块5和信号存储模块9；反馈子模块32包括事件添加模块6和事件存储模块7，其中发送子模块为发送***的一部分，反馈子模块为反馈***的一部分。
信号识别模块5用于接收到的来自主控器ECU的控制信号并识别接收的控制信号是否为PWM(Pulse Width Modulation)波形的信号；如果控制信号不是PWM波形的信号，为异常信号，此时将异常信号赋值，此时反馈***不工作，微处理器MCU生成驱动电机以最大转速运行的第一控制信号；如 果控制信号是PWM波形的信号，信号识别模块5解析该控制信号，信号识别模块5解析出控制信号的占空比和频率，占空比是指控制信号的高电平在一个周期之内所占的时间比率，频率是指控制信号在单位时间内完成周期性变化的次数，同时检测控制信号的占空比和频率是否均正确；如果PWM信号的占空比和频率都正确，将该控制信号存储于信号存储模块9，以备第二控制模块40的提取。
占空比不正确包括占空比为0、占空比为100％以及占空比错误，占空比为0是指控制信号一直处于低电平状态，占空比为100％是指控制信号一直处于高电平状态，占空比错误包括通过第二通信模块的连续6个控制信号中，占空比的最大值减去占空比的最小值大于1％，且该过程持续时间大于等于2秒或者通过第二通信模块的连续6个控制信号中，占空比的最大值减去占空比的最小值大于1％，且该过程持续时间大于1秒小于等于2秒；其中占空比为0和占空比为100％以及占空比的最大值减去占空比的最小值大于1％，且该过程持续时间大于等于2秒，此时控制信号为异常信号，此时将异常信号赋值，此时反馈***不工作，第二通信模块生成驱动电机以最大转速运行的第一控制信号，该第一控制信号存储于信号存储模块9，以备第二控制模块的提取。通过第二通信模块的连续6个控制信号中，占空比的最大值减去占空比的最小值大于1％，且该过程持续时间大于1秒小于等于2秒时，此时控制信号为异常信号，此时将异常信号赋值，此时反馈***不工作，第二通信模块30生成驱动电机以上次控制信号对应的速度运行的第一控制信号，该第一控制信号存储于信号存储模块9，以备第二控制模块40的提取。
频率不正确是指通过第二通信模块的连续6个控制信号，当控制频率的最大值减去频率的最小值的差值与最大值的比值大于1％，且该过程持续时间大于等于2秒。如果控制信号的频率不正确，此时控制信号为异常信号，此时将异常信号赋值，此时反馈***不工作，第二通信模块生成驱动电机以最大转速运行的第一控制信号，该第一控制信号存储于信号存储模块9，以备第二控制模块的提取。
反馈子模块32包括事件添加模块6和事件存储模块7；其中，事件添加模块6用于添加事件信息，添加的事件信息形成事件列表并存储于事件存储 模块7，这样事件存储模块7预存有事件列表；还可以包括事件运行模块8，事件运行模块8用于接收第二反馈信号，并提取第二反馈信号包括的当前的事件信息，当所述当前的事件信息与事件列表的事件信息之一相同时，对应的事件信息被激发或被关闭并生成对应的第三反馈信号。
事件信息包括事件编号、优先级、使能位、最少上报次数、控制信号的时长和拉电压的时长；其中事件编号是指第二反馈信号代表的执行部件的运行状态的编号，比如：正常状态的编号为1、堵转状态的编号为2、干转状态的编号为3、过压状态的编号为4、欠压状态的编号为5等。优先级是指当多个第二反馈信号同时出现时，优先级最高的第二反馈信号首先生成第三反馈信号，使能位是指对应事件信息的使能位置1时，对应的事件信息被激发；对应事件信息使能位置0时，对应事件信息被关闭。最少上报次数是指当出现一个第二反馈信号产生时，生成第三反馈信号并发送至信号线的次数。控制信号时长是指在反馈***中，信号线上控制信号持续的时长。拉电压的时长是指在反馈***中，信号线上低电压的时长。
本实施例中，还包括通信电路，该通信电路可以设置在主控器ECU和微处理器MCU之间，也可以集成在第二通信模块中，通信电路包括发送单元、反馈单元，其中发送单元为发送***的一部分，反馈单元为反馈***的一部分，参考图4所示，通信电路包括宽电压输入模块，第一连接端101、第二连接端102以及第三连接端103，第一连接端101与主控制ECU连接，第二连接端102和第三连接端103与微处理器MCU连接；宽电压输入模块靠近第一连接端101设置。
控制信号通过宽电压输入模块进入通信电路使得输入电压在0-2.5V时，经过宽电压输入模块后的电压均为0V，这样有利于过滤电压波动对PWM信号的影响。
参见图4是通信电路的第一种实施方式连接示意图；发送单元包括第三电阻R3、第四电阻R4、第五电阻R5以及第三三极管Q3；其中宽电压输入模块包括串联设置的第三电阻R3和第四电阻R4，通过设置第三电阻R3和第四电阻R4的阻值实现宽电压输入功能；信号线BUS与第一连接端101连接，控制信号通过第三电阻R3和第四电阻R4分压，再经过第五电阻R5连 接到第三三极管Q3的基极，控制第三三极管Q3的导通或者关断，进而控制第二连接端102是否输出第一控制信号到微处理器MCU的PWM引脚。发送单元还包括第六电阻R6，第六电阻R6是第三三极管Q3的集电极上拉电阻，电源VCC通过第六电阻R6给第三三极管Q3供电。
第三电阻R3和第四电阻R4形成宽电压输入模块的作用过程如下：当控制信号为低电平时，其低电平在0-2V范围内，通过第三电阻R3和第四电阻R4分压到第三三极管Q3基极，通过设置分压到第三三极管Q3基极的电压小于第三三极管Q3的导通电压，使第三三极管Q3处于截止状态，这样第三三极管Q3的集电极输出端为高电平，实现控制信号输入低电平宽电压输入功能。
发送单元的工作过程如下：当控制信号为高电平时，其高电平在7V-20V范围内，通过第三电阻R3和第四电阻R4分压到第三三极管Q3的基极，当第三三极管Q3的基极的电压大于第三三极管Q3的导通电压时，第三三极管Q3导通，第三三极管Q3的集电极输出端为低电平，即输出第一控制信号为0；当第三三极管Q3的基极的电压小于第三三极管Q3的导通电压时，第三三极管Q3不导通，第三三极管Q3的集电极输出端为高电平，即输出的第一控制信号为高电平。
通信电路还包括第七电阻R7和二极管D1，第七电阻R7是主控器ECU的输出接口的上拉电阻，二极管D1用于防止反馈信号输出到电源，影响总线上信号的电平。
微处理器MCU包括PWM接口和第二接口I/O，第二接口I/O与通信电路的第三连接端103连接，并将第二反馈信号发送到第三连接端103，反馈单元包括第八电阻R8、第九电阻R9、第十电阻R10以及第四三极管Q4，其中第八电阻R8为限流电阻，第九电阻R9为第四三极管Q4的基极的下拉电阻，第十电阻R10是第四三极管Q4的集电极上拉电阻，电源VCC通过第十电阻R10给第四三极管Q4供电。
反馈单元的工作过程如下：当第二反馈信号为高电平时，第四三极管Q4导通，输出到信号线BUS的信号为低电平，当第二反馈信号为低电平时，第四三极管Q4截止，输出到BUS的信号为高电平。
图5为通信电路的连接结构的第二种实施方式，与第一种实施方式相比较，反馈单元相同；发送单元包括比较器10、第十一电阻R11、第十二电阻R12以及第十三电阻R13，比较器10包括正向端口+和负向端口-，第十二电阻R12和第十三电阻R13为分压电阻形成输入参考电压Vi，第十二电租R12与正向端口+连接，即输入参考电压Vi与正向端口+连接，控制信号通过第十一电阻R11与比较器的负向端口-连接，第十一电阻R11为限流电阻，当输入的控制信号高于输入参考电压Vi时，比较器输出低电平，当输入控制信号低于输入参考电压Vi时，输出高电平。当输入参考电压Vi的值设置为2.5V，便可以实现0-2.5V的宽电压范围。
参见图6至图8，控制方法包括控制***上电步骤，主控器发出具有一定占空比的PWM波形的控制信号，占空比代表执行部件的目标转速，微处理器接收控制信号并解析控制信号生成驱动信号，驱动信号驱动执行部件运动；通信方法还包括事件处理步骤，事件处理步骤预存有事件列表，事件列表包括多组代表事件状态的事件信息，事件列表中的事件信息通过预设程序激活或关闭，微处理器间隔一定时长采集执行部件的当前运行状态，当当前运行状态与事件列表的事件信息对应的事件状态之一相同时，微处理器根据事件处理步骤激活或关闭所述事件列表中的事件信息并反馈给主控器。
事件信息包括事件编号、事件反馈信息以及使能位；每一个事件编号对应执行部件的一种运行状态；事件反馈信息包括对应生成的反馈给主控器的一组高低电压组合；使能位置1时，事件信息被激活；使能位置0时，事件信息被关闭。
事件信息还包括事件优先级和事件反馈次数；当微处理器同时采集到执行部件的多个当前运行状态时，优先级高的事件信息先于优先级低的事件信息反馈至主控器，事件反馈次数是指事件信息反馈至主控器的最少次数。
控制方法还包括：控制***初始化步骤，初始化步骤包括硬件初始化、软件初始化以及添加事件信息并形成事件列表，初始化步骤设置于控制***上电步骤之后，添加事件信息设置于软件初始化完成之后。
控制方法还包括状态机处理步骤，状态机处理步骤设置于主控器发出控制信号之后，状态机处理步骤用于间隔一定时长采集控制信号判断所述控制 信号的状态，并启动不同的运行模式。
运行模式包括正常运行模式、错误关闭模式以及错误运行模式，在正常运行模式下，微处理器驱动所述执行部件按照目标转速运行的驱动信号；在错误运行模式下，微处理器生成驱动所述执行部件按照最大转速运行的驱动信号；在错误关闭模式下，微处理器停止输入驱动信号给所述执行部件，使得所述执行部件按照原有的运行状态运行。
控制信号的状态包括控制信号具有正确的占空比和频率，控制信号的占空比不正确和/或所述控制信号的频率不正确，其中控制信号具有正确的占空比和频率时，状态机处理步骤启动正常运行模式，控制信号的占空比不正确和/或所述控制信号的频率不正确时，状态机处理步骤启动所述错误关闭模式或所述错误运行模式。
其中占空比不正确包括占空比为0和占空比为100％，此时状态机处理步骤启动错误运行模式；占空比不正确还包括占空比错误，占空比错误包括通过微处理器的连续6个PWM波形的控制信号中，占空比的最大值减去所述占空比的最小值大于1％，且该过程持续时间大于等于2秒，此时状态机处理步骤启动错误运行模式；占空比错误还包括通过所述微处理器的连续6个PWM波形的控制信号中，占空比的最大值减去所述占空比的最小值大于1％，且该过程持续时间大于1秒小于2秒，此时状态机处理步骤启动错误关闭模式。
频率不正确包括通过微处理器的连续6个PWM波形的控制信号中，频率的最大值减去频率的最小值所得差值与频率的最大值的比大于1％，且该过程持续时间大于等于2秒，此时状态机处理步骤启动错误运行模式；述频率不正确还包括通过第二通信模块的连续6个PWM波形的控制信号中，频率的最大值减去频率的最小值所得差值与频率的最大值的比大于1％，且该过程持续时间大于1秒小于2秒，此时状态机处理步骤启动所述错误关闭模式。
本实施例中，各模块以及子模块是指主控器ECU以及微处理器MCU具有的对应的功能，为了描述情况而进行的模块化标识。
需要说明的是：以上实施例仅用于说明本发明而并非限制本发明所描述的技术方案，尽管本说明书参照上述的实施例对本发明已进行了详细的说明， 但是，本领域的普通技术人员应当理解，所属技术领域的技术人员仍然可以对本发明进行修改或者等同替换，而一切不脱离本发明的精神和范围的技术方案及其改进，均应涵盖在本发明的权利要求范围内。

Claims (20)

  1. 一种控制***，所述控制***控制执行部件的运行，所述控制***包括主控器、微处理器以及信号线，所述主控器发出控制信号，所述控制信号通过所述信号线传递至所述微处理器，所述微处理器将所述控制信号发送给所述执行部件，所述执行部件被驱动运行；同时所述微处理器间隔一定时长采集代表所述执行部件的运行状态的反馈信号并传递到所述信号线，所述主控器采集位于所述信号线的所述反馈信号，所述主控器根据所述反馈信号对所述执行部件进行状态进行判断并发出对应的控制信号。
  2. 根据权利要求1所述控制***，其特征在于：所述主控器包括第一通信模块和第一控制模块，所述微处理器包括第二通信模块和第二控制模块，所述主控器发出控制信号，所述控制信号通过所述信号线传递至所述第二通信模块，所述控制信号经过所述第二通信模块形成第一控制信号，所述第二控制模块采集所述第一控制信号，所述第一控制信号经过所述第二控制模块形成第二控制信号，所述第二控制模块将所述第二控制信号发送给所述执行部件；同时所述第二控制模块间隔一定时长采集代表所述执行部件的运行状态的第一反馈信号，所述第一反馈信号经过第二控制模块形成所述第二反馈信号，所述第二反馈信号通过所述第二通信模块形成第三反馈信号并传递到所述信号线，所述主控器采集所述第三反馈信号，所述主控器根据所述第三反馈信号对所述执行部件的运行状态进行判断并发出对应的所述控制信号。
  3. 根据权利要求1所述控制***，其特征在于：所述第一控制模块包括第一存储模块，所述第一存储模块预存有第一组合列表，所述第一组合列表包括多组所述控制信号的时长与低电平信号的时长的组合，所述第三反馈信号为一组控制信号时长与低电平时长的组合，所述主控器根据所述第三反馈信号是否与所述第一组合列表中的控制信号的时长与低电平信号的时长的组合之一相同，确定所述执行部件的运行状态并发出的所述控制信号。
  4. 根据权利要求3所述控制***，其特征在于：所述执行部件的运行状态包括正常状态和事件状态，所述正常状态是指所述执行部件按照所述主控器发出的控制信号运行的状态，所述事件状态是指所述执行部件未按照所述主控器发出的控制信号运行的状态，所述第二控制模块包括第二存储模块， 所述第二存储模块预存有运行状态列表，所述第二控制模块采集当前运动状态，当前运动状态与预存运动状态之一相同，判定当前运动状态对应的预存运行状态，并对应预存运行状态生成当前事件信息，并将所述当前事件信息形成对应的所述第二反馈信号。
  5. 根据权利要求4所述控制***，其特征在于：所述事件状态包括堵转状态、干转状态、过温状态、过压状态以及欠压状态，所述堵转状态、干转状态通过对采集所述电机的运转电流或所述电机三相的电压值进行判断而确定，此时所述第一反馈信号为所述电机的运转电流所述电机三相的电压值；所述过温状态通过采集温度传感器的信号并进行判断而确定，所述第一反馈信号为传感器信号；所述过压状态和欠压状态通过对采集所述电机三相的电压值进行判断而确定，此时所述第一反馈信号为所述电机的三相电压值。
  6. 根据权利要求4所述控制***，其特征在于：所述第二通信模块包括事件添加模块和事件存储模块，其中所述事件添加模块用于添加事件信息进而形成事件列表，所述事件列表存储于所述事件存储模块；所述第二通信模块接收所述第二反馈信号，并提取所述第二反馈信号包括的当前事件信息，所述当前事件信息与所述事件存储模块的事件信息之一相同时，所述第二通信模块激发或关闭所述对应的事件信息并生成对应的所述第三反馈信号。
  7. 根据权利要求6所述控制***，其特征在于：所述事件存储模块的事件信息包括拉低电压的时长和使能位，所述拉低电压的时长为当前控制信号的时长与低电平信号的时长的组合中的低电平信号的时长；所述使能位置1时，所述事件信息被激发；所述使能位置0时，所述事件信息被关闭。
  8. 根据权利要求7所述控制***，其特征在于：所述事件信息还包括事件编号和优先级；所述事件编号是指当前所述执行部件的运行状态；所述优先级是指当所述执行部件的当前运行状态有多个并对应多个事件信息时，优先级最高的事件信息首先生成所述第三反馈信号。
  9. 根据权利要求3所述控制***，其特征在于：所述第二通信模块还包括信号识别模块，所述信号识别模块用于接收所述控制信号并识别接收的所述控制信号是否为由高低电平组成的PWM波形的信号。
  10. 根据权利要求9所述控制***，其特征在于：所述信号识别模块还 用于判断所述控制信号的占空比和频率是否正确；当所述占空比和所述频率都正确时，所述控制信号通过第二通信模块形成与所述控制信号一致的所述第一控制信号；当所述占空比和所述频率不正确时，所述控制信号为异常信号，此时反馈***不工作，所述第二通信模块通过所述第二控制模块驱动电机以最大转速运行或者按照原来的速度运行。
  11. 根据权利要求10所述控制***，其特征在于：所述占空比不正确包括占空比为0、占空比为100％以及占空比错误，所述占空比错误包括通过所述第二通信模块的连续6个PWM波形的控制信号中，所述占空比的最大值减去所述占空比的最小值大于1％，且该过程持续时间大于等于2秒，此时反馈***不工作，所述第二通信模块通过所述第二控制模块驱动所述电机以最大转速运行；所述占空比错误还包括通过第二通信模块的连续6个PWM波形的控制信号中，所述占空比的最大值减去所述占空比的最小值大于1％，且该过程持续时间大于1秒小于2秒，此时反馈***不工作，所述第二通信模块通过所述第二控制模块驱动所述电机按照原来的速度运行；
    所述频率不正确包括通过所述第二通信模块的连续6个PWM波形的所述控制信号中，所述频率的最大值减去频率的最小值所得差值与所述频率的最大值的比大于1％，且该过程持续时间大于等于2秒，此时反馈***不工作，所述第二通信模块通过所述第二控制模块驱动所述电机以最大转速运行；所述述频率不正确还包括通过第二通信模块的连续6个PWM波形的控制信号中，所述频率的最大值减去频率的最小值所得差值与所述频率的最大值的比大于1％，且该过程持续时间大于1秒小于2秒，此时反馈***不工作，所述第二通信模块通过所述第二控制模块驱动所述电机按照原来的速度运行。
  12. 一种控制方法，所述控制方法通过控制***控制，所述控制***包括主控器和微处理器，所述控制方法包括：所述主控器发出具有一定占空比的PWM波形控制信号，所述占空比与执行部件的目标转速对应设置，所述微处理器接收所述控制信号并解析所述控制信号生成驱动信号，所述驱动信号驱动执行部件运动；所述微处理器间隔一定时长采集执行部件的当前运行状态并形成事件状态；所述微处理器判断所述当前运行状态是否与预存的事件列表的事件信息对应的事件状态相符，并根据所述事件处理步骤激活或关 闭所述事件列表中的事件信息并反馈给所述主控器，所述预存的时间列表包括多组代表事件状态的事件信息。
  13. 根据权利要求12所述控制方法，其特征在于：所述事件信息包括事件编号、事件反馈信息以及事件使能位；每一个所述事件编号对应执行部件的一种运行状态；所述事件反馈信息包括一组高低电压组合，所述高低电压组合反馈给所述主控器；所述使能位置1时，所述事件信息被激活；所述使能位置0时，所述事件信息被关闭。
  14. 根据权利要求13所述控制方法，其特征在于：所述事件信息还包括事件优先级和事件反馈次数；当所述微处理器同时采集到执行部件的多个当前运行状态时，优先级高的事件信息先于优先级低的事件信息反馈至所述主控器，所述事件反馈次数是指事件信息反馈至所述主控器的最少次数。
  15. 根据权利要求12至14中任一项所述控制方法，其特征在于：所述控制方法还包括初始化步骤，所述初始化步骤包括硬件初始化、软件初始化以及添加事件信息并形成事件列表，所述初始化步骤设置于所述控制***的上电步骤之后，所述添加事件信息在完成硬件初始化和软件初始化之后。
  16. 根据权利要求15所述控制方法，其特征在于：在所述主控器发出控制信号之后，还包括状态机处理步骤，在所述状态机处理步骤中，间隔一定时长采集所述控制信号并判断所述控制信号的状态，而后启动不同的运行模式。
  17. 根据权利要求16所述控制方法，其特征在于：所述运行模式包括正常运行模式、错误关闭模式以及错误运行模式，在正常运行模式下，所述微处理器驱动所述执行部件按照目标转速运行的驱动信号；在所述错误运行模式下，所述微处理器生成驱动所述执行部件按照最大转速运行的驱动信号；在所述错误关闭模式下，所述微处理器停止输入驱动信号给所述执行部件，使得所述执行部件按照原有的运行状态运行。
  18. 根据权利要求17所述控制方法，其特征在于：所述控制信号的状态包括所述控制信号具有正确的占空比和频率，所述控制信号的占空比不正确和/或所述控制信号的频率不正确，其中所述控制信号具有正确的占空比和频率时，所述状态机处理步骤启动正常运行模式，所述控制信号的占空比不正 确和/或所述控制信号的频率不正确时，所述状态机处理步骤启动所述错误关闭模式或所述错误运行模式。
  19. 根据权利要求18所述控制方法，其特征在于：其中所述占空比不正确包括占空比为0和占空比为100％，此时所述状态机处理步骤启动错误运行模式；所述占空比不正确还包括占空比错误，所述占空比错误包括通过所述微处理器的连续6个PWM波形的控制信号中，所述占空比的最大值减去所述占空比的最小值大于1％，且该过程持续时间大于等于2秒，此时所述状态机处理步骤启动错误运行模式；所述占空比错误还包括通过所述微处理器的连续6个PWM波形的控制信号中，所述占空比的最大值减去所述占空比的最小值大于1％，且该过程持续时间大于1秒小于2秒，此时所述状态机处理步骤启动所述错误关闭模式。
  20. 根据权利要求18所述控制方法，其特征在于：所述频率不正确包括通过所述微处理器的连续6个PWM波形的所述控制信号中，所述频率的最大值减去频率的最小值所得差值与所述频率的最大值的比大于1％，且该过程持续时间大于等于2秒，此时所述状态机处理步骤启动所述错误运行模式；所述述频率不正确还包括通过第二通信模块的连续6个PWM波形的控制信号中，所述频率的最大值减去频率的最小值所得差值与所述频率的最大值的比大于1％，且该过程持续时间大于1秒小于2秒，此时所述状态机处理步骤启动所述错误关闭模式。
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