阅读说明：本技术 一种氢燃料电池汽车的电机控制信息处理方法 (motor control information processing method for hydrogen fuel cell automobile ) 是由 程飞 郝义国 陈华明 于 2019-08-21 设计创作，主要内容包括：本发明提供了一种氢燃料电池汽车的电机控制信息处理方法,基于整车控制器VCU、电机控制器MCU、电机Motor和减速器实现；VCU与MCU之间通过CAN通讯网络进行信息交互,其中VCU为控制器件,MCU为执行器件；该电机控制方法包括：MCU接收VCU发送的控制信息,并根据VCU下发的控制指令控制Motor完成车辆行驶工作；所述控制信息包括生命呼吸帧和检验码,且所述生命呼吸帧及检验码与目标扭矩和目标转速相关联。本发明的有益效果是：提高电机控制的安全性和可靠性,校验算法简单可靠,具有较强的实用性。(The invention provides a Motor control information processing method of a hydrogen fuel cell automobile, which is realized based on a vehicle control unit VCU, a Motor controller MCU, a Motor and a reducer; the information interaction is carried out between the VCU and the MCU through a CAN communication network, wherein the VCU is a control device, and the MCU is an execution device; the motor control method comprises the following steps: the MCU receives control information sent by the VCU and controls the Motor to finish the running work of the vehicle according to a control instruction issued by the VCU; the control information includes a life breathing frame and a check code, and the life breathing frame and the check code are associated with a target torque and a target rotational speed. The invention has the beneficial effects that: the safety and the reliability of motor control are improved, the calibration algorithm is simple and reliable, and the method has strong practicability.)

1. A Motor control information processing method of a hydrogen fuel cell automobile is realized based on a VCU (vehicle control unit), a MCU (micro control unit), a Motor and a reducer; the information interaction is carried out between the VCU and the MCU through a CAN communication network, wherein the VCU is a control device, and the MCU is an execution device; the method is characterized in that: the motor control method comprises the following steps:

The VCU is used for collecting an accelerator opening signal, a brake opening signal and the state information of the whole vehicle and outputting a target torque or a target rotating speed;

The MCU receives control information sent by the VCU and controls the Motor to finish the running work of the vehicle according to a control instruction issued by the VCU; the control information comprises a life breathing frame and a check code, and the life breathing frame and the check code are associated with a target torque and a target rotating speed;

The MCU judges whether the life breathing frames are continuous or not; if so, the MCU executes target torque or target rotating speed control according to the instruction issued by the VCU; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; if the MCU is in the rotating speed control mode, unloading the rotating speed of the MCU to 0;

The MCU judges whether the check value sent by the VCU is equal to the check value calculated by the MCU; if so, the MCU executes target torque or target rotating speed control according to the instruction issued by the VCU; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; and if the MCU is in the rotating speed control mode, unloading the rotating speed of the MCU to 0.

2. The motor control information processing method of a hydrogen fuel cell vehicle according to claim 1, characterized in that: when the life breathing frame is discontinuous, the MCU judges that the VCU is abnormal and the execution torque is 0.

3. the motor control information processing method of a hydrogen fuel cell vehicle according to claim 1, characterized in that: the life respiration frame is a counter which counts in a circulating way between 0 and 15, the starting initial value of the life respiration frame is 0, 1 is added to the starting value every time a sending period is reached, and after the value is added to 15, the value is returned to 0 after 1 is added, and the counting is carried out in a circulating and reciprocating way; the transmission period is a certain preset time.

4. the motor control information processing method of a hydrogen fuel cell vehicle according to claim 1, characterized in that: the check value is related to the life respiration frame, the target torque and the target rotating speed, and the life respiration frame is an input value of a check value algorithm and is used for ensuring real-time property and timely denaturation of data and reliability of information check.

5. The motor control information processing method of a hydrogen fuel cell vehicle according to claim 4, characterized in that: the algorithm of the check value is a check value Byte6XOR Byte5XOR Byte4XOR Byte3XOR Byte2XORByte1XOR Byte0, XOR is an exclusive OR logic algorithm, the first seven bytes all participate in the operation, other control information including a life breathing frame except the check value in a frame of message all participate in the operation, and the integrity and the reliability of the control information are ensured.

6. the motor control information processing method of a hydrogen fuel cell vehicle according to claim 1, characterized in that: only when the check value sent by the VCU is equal to the check value calculated by the MCU according to the same algorithm after the MCU receives the data of the life breathing frame, the signal sent by the VCU is valid, the MCU responds to the control instruction of the VCU, otherwise, the data is considered to be abnormal, the MCU does not respond to the control instruction of the VCU any more, and the vehicle is stopped in a safe mode.

Technical Field

The invention relates to the field of hydrogen fuel cell automobiles, in particular to a motor control information processing method of a hydrogen fuel cell automobile.

Background

with the popularization of new energy vehicles, motors and controllers thereof are increasingly used in various hydrogen fuel cell vehicles, and safe and reliable control of the motors becomes an extremely important issue.

In the current state of the art, there are many technical solutions for motor control; however, the solutions have some disadvantages, which results in low motor control efficiency and poor safety and reliability of the motor control.

Disclosure of Invention

In order to solve the problems, the invention provides a Motor control information processing method of a hydrogen fuel cell automobile, which is realized based on a vehicle control unit VCU, a Motor controller MCU, a Motor and a reducer; the information interaction is carried out between the VCU and the MCU through a CAN communication network, wherein the VCU is a control device, and the MCU is an execution device; the motor control method comprises the following steps:

The VCU is used for collecting an accelerator opening signal, a brake opening signal and the state information of the whole vehicle and outputting a target torque or a target rotating speed;

The MCU receives control information sent by the VCU and controls the Motor to finish the running work of the vehicle according to a control instruction issued by the VCU; the control information comprises a life breathing frame and a check code, and the life breathing frame and the check code are associated with a target torque and a target rotating speed;

The MCU judges whether the life breathing frames are continuous or not; if so, the MCU executes target torque or target rotating speed control according to the instruction issued by the VCU; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; if the MCU is in the rotating speed control mode, unloading the rotating speed of the MCU to 0;

The MCU judges whether the check value sent by the VCU is equal to the check value calculated by the MCU; if so, the MCU executes target torque or target rotating speed control according to the instruction issued by the VCU; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; and if the MCU is in the rotating speed control mode, unloading the rotating speed of the MCU to 0.

further, when the life breathing frame is not continuous, the MCU judges that VCU is abnormal and the execution torque is 0.

furthermore, the life respiration frame is a counter which counts in a cycle of 0-15, the starting initial value of the life respiration frame is 0, 1 is added to the starting value every time a sending period is reached, and after the value is added to 15, the value is returned to 0 after 1 is added, and the counting is carried out in a reciprocating cycle; the transmission period is a certain preset time.

Furthermore, the check value is related to the life respiration frame, the target torque and the target rotating speed, and the life respiration frame is an input value of a check value algorithm and is used for ensuring real-time property and timely denaturation of data and ensuring reliability of information check.

furthermore, the algorithm of the check value is a check value of Byte6XOR Byte5XORByte4XOR Byte3XORByte2XORByte1XORByte0, XOR is an exclusive or logic algorithm, and the first seven bytes all participate in operation, so that other control information including a life breathing frame in a frame of message except the check value does not participate in operation, and the integrity and reliability of the control information are ensured.

Furthermore, only when the check value sent by the VCU is equal to the check value calculated by the MCU according to the same algorithm after the MCU receives the data of the life breathing frame, the signal sent by the VCU is valid, the MCU can respond to the control instruction of the VCU, otherwise, the data is considered to be abnormal, the MCU does not respond to the control instruction of the VCU any more, and the vehicle is stopped in a safe mode.

The technical scheme provided by the invention has the beneficial effects that: the safety and the reliability of motor control are improved, the calibration algorithm is simple and reliable, and the method has strong practicability.

Drawings

the invention will be further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic block diagram of a method for processing motor control information of a hydrogen fuel cell vehicle according to an embodiment of the present invention;

FIG. 2 is a flow chart of a life breathing frame in an embodiment of the invention;

FIG. 3 is a flow chart of checking check codes according to an embodiment of the present invention.

Detailed Description

For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

referring to fig. 1, fig. 2 and fig. 3, fig. 1 is a schematic diagram illustrating a method for processing control information of a motor of a hydrogen fuel cell vehicle according to an embodiment of the present invention, fig. 2 is a flowchart illustrating a life respiration frame according to an embodiment of the present invention, and fig. 3 is a flowchart illustrating check code checking according to an embodiment of the present invention; the embodiment of the invention provides a Motor control information processing method of a hydrogen fuel cell automobile, which is realized based on components in the control and processing processes of a vehicle control unit VCU, a Motor controller MCU, a Motor, a reducer and the like; the VCU and the MCU carry out information interaction through a CAN communication network, wherein the VCU is used as a control device, the MCU is used as an execution device, the VCU and the MCU jointly complete corresponding control and information processing, and finally reasonable control of a Motor is realized.

The VCU obtains a target torque or a target rotating speed of the MCU through information such as an accelerator opening signal, a brake opening signal and a finished automobile state, and sends the target torque or the target rotating speed with a life breathing frame and a check code to the MCU, and the MCU controls a Motor to finish automobile driving through certain information processing and information check according to an instruction of the VCU; the whole vehicle is a hydrogen fuel cell vehicle, and the state information of the whole vehicle comprises: the state of an auxiliary energy system in the whole vehicle, the state of an electric drive system, the state of a hydrogen fuel cell system and the state of a braking and steering system of the whole vehicle.

The VCU adds a life breathing frame in the sending control information, and the MCU receives the life breathing frame sent by the VCU;

The MCU judges whether the life breathing frames are continuous or not; if so, the MCU executes target torque or target rotating speed control according to a command issued by the VCU of the vehicle controller; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; if the speed control mode is in, the MCU unloads the speed to 0 in a proper mode;

When the life breathing frame is not continuous, the MCU judges that the VCU signal is abnormal, the VCU instruction is invalid, and the execution torque is 0 NM. A life respiration frame sending mode, wherein the life respiration frame is a counter which circularly counts between 0 and 15, the starting initial value of the life respiration frame is 0, the starting value is added with 1 when reaching a sending period and is added to 15, and then the value is returned to 0 when adding 1, and the counting is circularly and repeatedly carried out by taking the starting value as the reference; the transmission period is a certain preset time.

the VCU adds check code in the control information, MCU receives the check code sent by VCU;

The MCU judges whether the check value (namely the acceptance value) sent by the VCU is equal to the check value calculated by the MCU; the check value is a check code; if so, the MCU executes target torque or target rotating speed control according to the instruction issued by the VCU; if not, the command issued by the VCU is invalid, and whether the current mode is in a torque control mode or a rotating speed control mode is judged; if the torque control mode is in, unloading the torque of the MCU to 0; if the speed control mode is in, the MCU unloads the speed to 0 in a proper mode;

The check code information is associated with the life respiration frame, the torque control information, the rotating speed control information and the like. The algorithm of the check code is that the check value is Byte6XOR Byte5XOR Byte4XORByte3XOR Byte2XOR Byte1XOR Byte0, the XOR is an exclusive-or logic algorithm, the first seven bytes all participate in the operation, except that the check code information does not participate in the operation, other information including the breathing frame all participate in the operation, and the integrity and the reliability of the information are ensured. Meanwhile, the life breathing frame is used as an input value of a check code algorithm, so that the real-time property and the time-varying property of data are ensured, and the reliability of information check is ensured.

only when the check code sent by the VCU is equal to the check code calculated by the MCU according to the same algorithm after the data is received by the MCU, the MCU considers that the signal of the VCU is effective, the MCU responds to the control instruction of the VCU, otherwise, the data is considered to be abnormal, the MCU does not respond to the control instruction of the VCU any more, and the vehicle is stopped in a safe mode.

The invention has the beneficial effects that: the safety and the reliability of motor control are improved, the calibration algorithm is simple and reliable, and the method has strong practicability.

the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.