CN110936821B - Automobile motor controller, control system and automobile - Google Patents
Automobile motor controller, control system and automobile Download PDFInfo
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- CN110936821B CN110936821B CN201911175665.5A CN201911175665A CN110936821B CN 110936821 B CN110936821 B CN 110936821B CN 201911175665 A CN201911175665 A CN 201911175665A CN 110936821 B CN110936821 B CN 110936821B
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
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Abstract
The invention discloses an automobile motor controller, a control system and an automobile, comprising: the power supply module comprises an integrated power supply chip, an internal main relay, a discrete power supply chip and an intelligent high-end driving chip; the microprocessor performs enabling control on the integrated power supply chip, the internal main relay, the discrete power supply chip and the intelligent high-end driving chip through each IO pin, and performs state control and state diagnosis on the integrated power supply chip through the first SPI pin; the microprocessor carries out state diagnosis on an internal main relay, a discrete power supply chip and an intelligent high-end driving chip according to the output voltage of each chip and each relay, all power supply circuits can carry out energy and acquisition diagnosis through the microprocessor, the microprocessor can close the power supply when overvoltage and undervoltage occur, hardware is guaranteed not to be damaged, and the safety and the reliability of the controller are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to an automobile motor controller, a control system and an automobile.
Background
With the gradual importance and popularization of new energy automobiles and new energy technologies in China, more and more whole automobile factories begin to research and develop and produce new energy automobiles. The motor is used as a power source of a new energy automobile and is a core component of a power system, and the control effect of the motor has very important influence on the performance of the whole automobile.
The permanent magnet synchronous motor has the advantages of fast torque dynamic response, high power factor, small volume, light weight, strong reliability and the like, and becomes the mainstream of new energy automobiles in China. The traditional DSP-based motor controller has high cost and poor expandability; the motor controller based on STM32F series cannot be applied to automobile motor controller products in a large scale because the reliability and safety of a processor are not good enough.
Disclosure of Invention
The invention provides an automobile motor controller, a control system and an automobile, which are used for realizing acquisition and diagnosis of input signals and improving the safety and reliability of a controller.
In a first aspect, an embodiment of the present invention provides an automotive motor controller, including: the power supply module comprises an integrated power supply chip, an internal main relay, a discrete power supply chip and an intelligent high-end driving chip; wherein,
the microprocessor performs enable control on the integrated power supply chip through a first input/output (IO) pin, and performs state control and state diagnosis on the integrated power supply chip through a first Serial Peripheral Interface (SPI) pin;
a first output voltage of the internal main relay is input to a first analog-to-digital converter (ADC) channel of the microprocessor through a first ADC pin, and the microprocessor performs enable control and state diagnosis on the internal main relay through a second IO pin according to the first output voltage;
a second output voltage of the discrete power supply chip is input into a second ADC channel of the microprocessor through a second ADC pin, and the microprocessor performs enable control and state diagnosis on the discrete power supply chip through a third IO pin according to the second output voltage;
and a third output voltage of the intelligent high-side driving chip is input to a third ADC channel of the microprocessor through a third ADC pin, the output current of the intelligent high-side driving chip is input to the third ADC channel of the microprocessor after being converted into a fourth voltage, and the microprocessor controls the intelligent high-side driving chip to enable and diagnose states through a fourth IO pin according to the third output voltage and the fourth voltage.
In a second aspect, an embodiment of the present invention further provides an automobile control system, where the automobile control system includes: the control system comprises a vehicle control unit, an IGBT unit, a driving motor, a rotary transformer, an airbag controller, a motor temperature sensor, a Hall current sensor and the vehicle motor controller according to the first aspect; wherein,
the vehicle controller is connected with a microprocessor in the vehicle motor controller through the vehicle controller area network CAN and the calibration CAN respectively;
the IGBT unit is respectively connected with a CPLD and a microprocessor in the automobile motor controller;
the driving motor is respectively connected with the IGBT unit, the microprocessor and the rotary transformer;
the rotary transformer is connected with the rotary transformer decoding chip;
the safety air bag controller is connected with the microprocessor;
the motor temperature sensor is connected with the microprocessor;
and the Hall current sensor is connected with the microprocessor and the CPLD.
In a third aspect, embodiments of the present invention further provide an automobile, where the automobile includes the automobile control system as described in the second aspect.
According to the embodiment of the invention, the microprocessor performs enable control on the integrated power supply chip through the first IO pin, and performs state control and state diagnosis on the integrated power supply chip through the first SPI pin; a first output voltage of the internal main relay is input into a first ADC channel of the microprocessor through a first ADC pin, and the microprocessor performs enable control and state diagnosis on the internal main relay through a second IO pin according to the first output voltage; a second output voltage of the discrete power supply chip is input into a second ADC channel of the microprocessor through a second ADC pin, and the microprocessor performs enable control and state diagnosis on the discrete power supply chip through a third IO pin according to the second output voltage; and the third output voltage of the intelligent high-end driving chip is input into a third ADC channel of the microprocessor through a second ADC pin, the output current of the intelligent high-end driving chip is input into the third ADC channel of the microprocessor after being converted into a fourth voltage, and the microprocessor performs enable control and state diagnosis on the intelligent high-end driving chip through a fourth IO pin according to the third output voltage and the fourth voltage. All power supply circuits can be enabled and diagnosed through the microprocessor, when overvoltage and undervoltage occur, the microprocessor can close the power supply, hardware is guaranteed not to be damaged, and safety and reliability of the controller are improved.
Drawings
Fig. 1 is a schematic structural diagram of a microprocessor and a power module in an automotive motor controller according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a power module according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a complex programmable logic device in a motor controller according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a second filter circuit and a diagnostic circuit according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a three-phase current signal input microprocessor according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a rotation decoding chip according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a follower circuit according to a second embodiment of the present invention;
fig. 8 is a schematic structural diagram of a CPLD according to a second embodiment of the present invention;
FIG. 9 is a schematic diagram of the flow direction of the PWM signal provided by the second embodiment of the present invention;
fig. 10 is a schematic structural diagram of an automobile control system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a microprocessor and a power module in an automobile motor controller according to an embodiment of the present invention, which is applicable to a motor control situation in a new energy automobile,
as shown in fig. 1, the automotive motor controller provided by the embodiment of the present invention mainly includes a microprocessor 11 and a power module 12, wherein the power module 12 includes an integrated power chip 121, an internal main relay 122, a discrete power chip 123, and an intelligent high-side driver chip 124.
In the present embodiment, the power module 12 includes a TLF35584 integrated power chip 121, an internal main relay 122, a discrete power chip 123, an intelligent high-side driver chip 124, and the like. The power module 12 is responsible for powering the entire motor controller system, including powering the logic power supply, powering the sensors, and powering the IGBT units. Wherein logic power supply and sensor power supply are provided by integrated power chip 121 and discrete power chip 123. The power supply used by the IGBT unit is provided by a microprocessor controlled internal main relay 122 and is controlled and diagnosed by an intelligent high-side driver chip 124.
The microprocessor 11 adopts a TC277 multi-core processing chip which has abundant hardware resource interfaces and strong pin multiplexing capability. Abundant peripheral resources are used for communication, signal input and output management, system management, safety management and the like. 200MHz dominant frequency, 3-core processor provides powerful computing power, provides accurate GTM control and DSADC function.
A first Input/Output (IO) pin IO1 of the microprocessor 11 is connected to an enable pin of the integrated power chip 121, and a first Serial Peripheral Interface (SPI) pin SPI1 is connected to a diagnostic pin of the integrated power chip 121. The second IO pin IO2 of the microprocessor 11 is connected to an enable pin of the internal main relay 122, and the first Analog-to-Digital Converter (ADC) pin ADC1 is connected to a diagnostic pin of the internal main relay 122. The third IO pin IO3 of the microprocessor 11 is connected to an enable pin of the discrete power chip 123, and the second ADC pin ADC2 is connected to a diagnostic pin of the discrete power chip 123. The fourth IO pin IO4 of the microprocessor 11 is connected to an enable pin of the intelligent high-side driver chip 124, and the third ADC pin ADC3 of the microprocessor 11 is connected to a diagnostic pin of the intelligent high-side driver chip 124.
Further, the microprocessor 11 performs enable control on the integrated power chip 121 through the first IO pin IO1, and performs state control and state diagnosis on the integrated power chip 121 through the first SPI pin SPI.
Communication between the microprocessor 11 and the chip in the controller is mainly realized through the SPI, and the communication is performed with the integrated power chip 121 through the first SPI pin SPI, thereby completing functions such as register data reading and state control of the integrated power chip 121.
The first output voltage of the internal main relay 122 is input to the first ADC channel of the microprocessor 11 through the first ADC pin ADC1, and the microprocessor performs enable control and status diagnosis on the internal main relay 122 through the second IO pin IO2 according to the first output voltage.
A second output voltage of the discrete power chip 123 is input to a second ADC channel of the microprocessor 11 through the second ADC pin ADC2, and the microprocessor 11 performs enable control and status diagnosis on the discrete power chip 123 through the third IO pin IO3 according to the second output voltage;
the third output voltage of the intelligent high-side driver chip 124 is input to the third ADC channel of the microprocessor 11 through the third ADC pin ADC3, the output current of the intelligent high-side driver chip 124 is converted into the fourth voltage and then is input to the third ADC channel of the microprocessor 11, and the microprocessor 11 performs enable control and status diagnosis on the intelligent high-side driver chip 124 through the fourth IO pin IO4 according to the third output voltage and the fourth voltage.
In this embodiment, the state diagnosis may be understood as that whether the output voltages of each power chip and the relay have an over-voltage or under-voltage condition is not determined, and when the over-voltage or under-voltage condition occurs, the microprocessor controls the power supply to be turned off, so as to prevent system hardware from being damaged.
In the embodiment of the invention, the microprocessor performs enable control on the integrated power supply chip through the first IO pin, and performs state control and state diagnosis on the integrated power supply chip through the first SPI pin; a first output voltage of the internal main relay is input into a first ADC channel of the microprocessor through a first ADC pin, and the microprocessor performs enable control and state diagnosis on the internal main relay through a second IO pin according to the first output voltage; a second output voltage of the discrete power supply chip is input into a second ADC channel of the microprocessor through a second ADC pin, and the microprocessor performs enable control and state diagnosis on the discrete power supply chip through a third IO pin according to the second output voltage; and the third output voltage of the intelligent high-end driving chip is input into a third ADC channel of the microprocessor through a second ADC pin, the output current of the intelligent high-end driving chip is input into the third ADC channel of the microprocessor after being converted into a fourth voltage, and the microprocessor performs enable control and state diagnosis on the intelligent high-end driving chip through a fourth IO pin according to the third output voltage and the fourth voltage. All power supply circuits can be enabled and diagnosed through the microprocessor, when overvoltage and undervoltage occur, the microprocessor can close the power supply, hardware is guaranteed not to be damaged, and safety and reliability of the controller are improved.
Fig. 2 is a schematic structural diagram of a power module according to an embodiment of the present invention, and on the basis of the above embodiment, the power module 11 further includes: a guard circuit 125 and a first filter circuit 126.
As shown in fig. 2, one end of the protection circuit 125 is externally connected to a low voltage battery, the other end of the protection circuit passes through the first filter circuit and then 126 to be respectively connected to one end of the integrated power chip 121 and the first end of the internal main relay 122, the second end of the internal main relay 122 is connected to the discrete power chip 123, and the third end of the internal main relay 122 is connected to the intelligent high-end driver chip 124.
The electric energy provided by the low-voltage battery is supplied to the integrated power chip 121 and the internal main relay 122 through the protection circuit 125 and the first filter circuit 126, the integrated power chip 121 supplies power to a Complex Programmable Logic Device (CPLD) and a sensor, and the internal main relay 122 supplies power to the discrete power chip 123 and the intelligent high-end driver chip 124 according to a control signal of the microprocessor 11. The intelligent high-end driving chip 124 is used for supplying power to a driving board of the IGBT driving unit according to the control signal, and the discrete power supply chip 123 is used for supplying power to the rotary transformer circuit according to the control signal.
In this embodiment, the protection circuit 125 is externally connected to a low voltage battery, and receives the electric energy input by the low voltage battery. The protection circuit 125 is used to prevent the reverse connection of the positive and negative electrodes of the battery and perform electrostatic protection. In this embodiment, the protection circuit is not limited, and a suitable protection circuit may be selected or designed according to actual design requirements.
Example two
Fig. 3 is a schematic structural diagram of a complex programmable logic device in a motor controller according to a second embodiment of the present invention, and based on the above embodiment, the motor controller of an automobile is further optimized according to the second embodiment of the present invention. As shown in fig. 3, a motor controller according to a second embodiment of the present invention further includes: CPLD 13.
The first reset pin of the integrated power chip 121 is connected to the first reset pin of the microprocessor 11 and the first reset pin of the CPLD13, respectively. When the microprocessor 11 is powered on, or when the integrated power chip 121 is in the first abnormal state, the integrated power chip 121 sends a first reset signal to the microprocessor 11 and the CPLD13 through the first reset pin.
The interrupt pin of the integrated power chip 121 is connected to the interrupt pin of the microprocessor 11 and the interrupt pin of the CPLD13, respectively. When the integrated power chip 121 is in the second abnormal state, the integrated power chip 121 sends an interrupt request to the microprocessor 11 and the CPLD13 through the interrupt pin; the microprocessor 11 and the CPLD13 perform corresponding processing according to the interrupt request.
The first safety output pin of the integrated power supply chip 121 is connected to the first enable driving pin of the microprocessor 11 and the first enable driving pin of the CPLD13, respectively, and the second safety output pin of the integrated power supply chip 121 is connected to the second enable driving pin of the microprocessor 11 and the second enable driving pin of the CPLD13, respectively. When the third abnormal state occurs in the integrated power chip 121, the integrated power chip 121 respectively sends third abnormal information to the microprocessor 11 and the CPLD13 through the first safety output pin and the second safety output pin, so that the microprocessor 11 and the CPLD13 perform corresponding protection actions according to the third abnormal information.
The second reset pin of the microprocessor 11 is connected to the second reset pin of the CPLD13, and when the CPLD13 has the fourth abnormal state, the microprocessor 11 sends a second reset signal to the second reset pin of the CPLD13, so that the CPLD13 performs reset processing according to the second reset signal.
Further, in this embodiment, the key gate signal and the CAN wake-up signal may be logically ored to enable the integrated power chip 121. Wherein the key door signal is output by the vehicle control unit. The CAN wake-up signal is provided by the microprocessor 11.
Further, fig. 4 is a schematic structural diagram of a second filter circuit and a diagnostic circuit provided in the embodiment of the present invention. As shown in fig. 4, the motor controller for a vehicle further includes: a second filter circuit 14 and a diagnostic circuit 15.
Wherein, the first analog signal sampled by the sensor is input to the microprocessor 11 after passing through the second filter circuit 14; the second analog signal sampled by the sensor is input to the CPLD13 after passing through the second filter circuit 14 and the diagnostic circuit 15.
The first analog signal is a general analog signal, and enters the ADC module of the microprocessor 11 for sampling after being filtered by the second circuit.
The second analog signal is a vital analog signal comprising: three-phase current signals, bus voltage signals, motor temperature signals, and the like. Besides entering the microprocessor 11 through the second filter circuit 14 for sampling, the detection is performed through the diagnostic circuit 15 with adjustable threshold, and the detection result of the diagnostic circuit 15 directly enters the CPLD13 to participate in logic control. The diagnostic circuit 15 is preferably a hardware built diagnostic circuit.
The diagnostic circuit 15 may be, but not limited to, set up by a comparator, and the threshold value for comparison may be set by way of resistance voltage division. In order to avoid the influence of the diagnostic circuit 15 on the original analog signal and the sampling distortion, a voltage follower circuit is used for isolation at the entrance of the diagnostic circuit 15.
Further, fig. 5 is a schematic structural diagram of a three-phase current signal input microprocessor according to a second embodiment of the present invention, as shown in fig. 5, U-phase current signals in the three-phase current signals are respectively input to a fourth ADC pin ADC4 and a fifth ADC pin ADC5 of the microprocessor 11, V-phase current signals in the three-phase current signals are respectively input to a fourth ADC pin ADC4 and a fifth ADC pin ADC5 of the microprocessor 11, and W-phase current signals in the three-phase current signals are respectively input to a fourth ADC pin ADC4 and a fifth ADC pin ADC5 of the microprocessor 11.
For the UVW three-phase current signals, when sampling is carried out, each phase signal enters the two ADC channel synchronous sampling channels of the microprocessor 11, synchronous sampling of the three-phase current is guaranteed, meanwhile, sampling results of the two channels can be mutually verified, and sampling precision and accuracy are improved.
Further, the digital signal or frequency quantity is not identified by entering the microprocessor 11 or the CPLD 13. And a pull-up resistor or a pull-down resistor is connected to the input circuit, so that when the input signal is not accessed, the system diagnoses in time and takes corresponding action.
Further, if the signal is active at a low level, a pull-up resistor is connected to the input circuit to indicate an error state, so that if the signal is not connected to the circuit due to loose connector, the microprocessor 11 or CPLD13 recognizes the high level generated by the pull-up resistor, determines that the signal is a fault, and performs a corresponding action.
Further, the controller further includes: and the rotary transformer decoding chip 17 is externally connected with the rotary transformer, and is used for acquiring and decoding sine and cosine signals of the rotary transformer, and inputting the decoded sine and cosine signals into the microprocessor 11 through a parallel port, an SPI serial port and an ABZ mode respectively.
Fig. 6 is a schematic structural diagram of a rotation decoding chip according to a second embodiment of the present invention. As shown in fig. 6, the rotary transformer decoding chip 17 self-diagnosis function outputs failure information to the CPLD13, and when an error occurs, the CPLD13 may directly turn off the driving signal of the IGBT unit.
The decoding signal of the rotary transformer decoding chip 17 is designed to be redundantly collected, the decoding signal is input into the microprocessor 11 through three modes, namely a parallel port, an SPI (serial peripheral interface) serial port and an ABZ (analog-to-digital converter), the microprocessor 11 can be flexibly used, the three modes are used simultaneously, the purpose of redundancy check is achieved, and the accuracy of angle data can be ensured.
Fig. 7 is a schematic structural diagram of a follower circuit according to a second embodiment of the present invention, and as shown in fig. 7, the resolver excitation signal is isolated by a voltage follower and is divided by a resistor into a voltage range that can be identified by a microprocessor, and then enters a DSADC interface of the microprocessor to perform fast analog sampling, and a peak-to-peak value and a frequency of the analog signal are read and compared with a design, so as to determine whether the excitation signal is normal.
Fig. 8 is a schematic structural diagram of a CPLD according to a second embodiment of the present invention, as shown in fig. 8, the CPLD determines whether a system fault signal exists in the controller according to the input signal and the internal control logic; the input signals comprise a three-phase current diagnosis result, a bus voltage overvoltage diagnosis result, a motor over-temperature diagnosis result, a driving unit ready signal and a driving unit fault signal; if it is determined that the controller has a system fault signal, the sending of the pulse width modulated PWM drive signal to the transistor IGBT unit is stopped.
Further, the CPLD is also used for sending a fault system signal to the microprocessor so as to enable the microprocessor to stop sending the PWM driving signal; and outputting a disabling signal to the switch chip so as to turn off a PWM driving signal transmission channel between the CPLD and the IGBT unit.
The fault signal reported by the IGBT unit indicates the IGBT overcurrent, supersaturation, thermal turn-off and other faults detected by the driving chip, and the self-diagnosis and self-protection functions of the IGBT driving unit report the fault signal to the CPLD while the driving signal is turned off.
The ready signal reported by the IGBT unit indicates whether the secondary side is under-voltage, and when a fault occurs, the IGBT driving unit reports the fault signal to the CPLD while turning off the driving signal
The three-phase current overcurrent signals and the phase current overcurrent can cause serious faults such as uncontrolled motor torque, uncontrolled acceleration of an automobile, overheating and even burnout of an IGBT and the like. The phase current signals enter a microprocessor for ADC acquisition, and also enter a diagnostic circuit to generate over-current signals, and the over-current signals enter a CPLD to participate in logic control.
Bus overvoltage signals and bus overvoltage can cause IGBT damage, bus capacitor damage and other serious consequences. The bus voltage not only enters the microprocessor for sampling, but also can directly enter the CPLD for logic control through generating an overvoltage signal by the diagnostic circuit.
The IGBT drives the undervoltage signal, is sent out by the intelligent high-end chip switch, and simultaneously enters the microprocessor and the CPLD to participate in logic control.
And the rotation change fault signal is sent out by a rotation change decoding chip when the rotation change decoding is abnormal, and simultaneously enters the microprocessor and the CPLD to participate in logic control.
The microprocessor sends out reset signal, emergency stop signal and active short circuit signal to the CPLD for logic control.
Fig. 9 is a schematic diagram of the flow direction of the PWM signal according to the embodiment of the present invention. Based on the event triggering the turn-off of the driving signal PWM, the CPLD, as the core of hardware processing, can recognize and latch the fault signal. The function of quickly and reliably turning off the IGBT driving signal is realized, the function is realized without depending on a microprocessor, and the method is simple and effective. When a fault occurs, the microprocessor can access the CPLD internal register through the SPI bus to confirm the reason of the turn-off of the driving signal, and the diagnosis and the removal of the fault are facilitated.
And the CPLD adopts a multi-stage turn-off measure when the driving signal PWM is turned off, so that the safety of the system is ensured. And sending a turn-off signal to the microprocessor to enable the microprocessor not to continuously send the PWM driving signal. The CPLD turns off the transmission channel of the driving signal PWM and does not continuously output the driving signal. The CPLD outputs a disable signal to the buffer to turn off signal transmission. Through the three-stage turn-off, the system can be effectively prevented from outputting a driving signal in a fault state, and the motor driving is ensured to be in a controlled state.
EXAMPLE III
On the basis of the foregoing embodiment, a third embodiment of the present invention further provides an automobile control system, fig. 10 is a schematic structural diagram of the automobile control system provided in the embodiment of the present invention, and as shown in fig. 10, the automobile control system includes: a vehicle control unit 101, an IGBT unit 102, a drive motor 103, a resolver 104, an airbag controller 105, and a vehicle motor controller 106 as described in the above embodiments.
The vehicle controller 101 is connected with a microprocessor in the vehicle motor controller 106 through a vehicle controller area network CAN and a calibration CAN respectively; the IGBT unit 102 is respectively connected with a CPLD and a microprocessor in the automobile motor controller 106; the driving motor 103 is respectively connected with the IGBT unit 102, the microprocessor 106, and the resolver 104; the rotary transformer 104 is connected with the rotary transformer decoding chip; the airbag controller 105 is connected to a microprocessor 106.
The integrated power chip in the microprocessor 106 is enabled and controlled by a key door signal, a vehicle CAN wake-up signal and a wake-up signal sent by the microprocessor through OR logic.
The microprocessor feeds the integrated power supply chip with a dog through a WDI (dog feeding input signal) or an SPI (serial peripheral interface) serial signal, and when the dog feeding fails or other errors occur in the integrated power supply chip, the integrated power supply chip informs the microprocessor and controls the CPLD to carry out processing such as turning off a driving signal by sending signals such as resetting, interruption and the like.
The CAN communication comprises a finished automobile CAN and a calibration CAN which are connected with a finished automobile controller to complete different control and calibration functions. The whole CAN uses a chip with a wake-up function, and CAN wake up the system in a dormant state by waking up the integrated power chip.
The communication between the microprocessor and the chip in the board is mainly realized through SPI: the SPI is communicated with a power chip to complete the functions of reading a register of the power chip, controlling the state and the like; the SPI is connected with the EEPROM storage chip to realize the writing and reading of fault information; communicating with the CPLD through an SPI (serial peripheral interface) to finish the reading of the fault code; communicating with a driving unit through the SPI to complete the power-on initialization configuration of the driving board; and the SPI is connected with the rotary transformer decoding chip to read rotary transformer information or perform the configuration function of the decoding chip.
An ADC (analog to digital converter) of the microprocessor acquires UVW three-phase current signals of the current sensor processed by the circuit, temperature signals of a driving plate fed back by the driving unit, temperature signals returned by the motor temperature sensor and bus voltage signals fed back by the driving unit; the timing input module processes IGBT temperature signals fed back by the IGBT driving unit and collision signals sent by the airbag controller; the rotary transformer decoding chip sends an angle signal to the microprocessor through the SPI/parallel port/ABZ, and the microprocessor combines the information of the input signals and sends an IGBT driving signal PWM with proper duty ratio to the CPLD through the GPTA module according to control software and logic stored in the microprocessor.
And when the CPLD receives the IGBT driving PWM signal sent by the microprocessor, the UVW three-phase current diagnosis result, the bus voltage overvoltage diagnosis result, the motor over-temperature diagnosis result, the driving unit ready signal, the fault signal and the like input by the diagnosis logic on the composite board are combined, and whether the IGBT driving signal PWM is output to the IGBT driving unit or not is selected according to the internal control logic.
The CPLD receives the reset control of the power module and the microprocessor at the same time.
The rotary-change decoding chip uses an AU6805 chip, and the chip has decoding output forms of three forms of SPI, parallel port and ABZ signals, and is multiple in selection and flexible. In this embodiment, three types are adopted to achieve the purpose of redundancy check. The ABZ signal refers to the a-phase, B-phase, Z-phase signals of the encoder, wherein the A, B two channel signals are generally orthogonal (i.e. 90 degrees apart) pulse signals, and the Z-phase is a zero pulse signal.
The excitation signal is subjected to voltage type gain amplification by adopting an NJW77903 high-power operational amplifier, so that the effect of simplifying a circuit can be realized, and meanwhile, the voltage type gain amplification circuit of the excitation circuit ensures the stability and controllability of the design. Can carry out comparatively simple swift adaptation to the resolver of different models.
The functions of signal butt joint and CAN communication between the control panel and the whole vehicle, sampling and diagnosis of analog signals of the sensor, acquisition and diagnosis of digital signals, acquisition and diagnosis of frequency signals, acquisition and decoding of motor angles and the like are realized, and PWM signals are controlled and output to the IGBT unit to drive the IGBT. And acquiring a corner signal, a rotating speed signal and a driving current signal of the permanent magnet synchronous motor, controlling the IGBT driving unit to drive the IGBT, and performing closed-loop control on the rotating speed of the motor.
On the basis of the above embodiment, an embodiment of the present invention further provides an automobile, which includes the automobile control system described in the above embodiment.
The automobile control system provided by the embodiment of the invention comprises the automobile motor controller provided by any embodiment of the invention, and has the functional modules and beneficial effects of the automobile motor controller.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An automotive motor controller, comprising: the power supply module comprises an integrated power supply chip, an internal main relay, a discrete power supply chip and an intelligent high-end driving chip; wherein,
the microprocessor performs enable control on the integrated power supply chip through a first input/output (IO) pin, and performs state control and state diagnosis on the integrated power supply chip through a first Serial Peripheral Interface (SPI) pin;
a first output voltage of the internal main relay is input to a first analog-to-digital converter (ADC) channel of the microprocessor through a first ADC pin, and the microprocessor performs enable control and state diagnosis on the internal main relay through a second IO pin according to the first output voltage;
a second output voltage of the discrete power supply chip is input into a second ADC channel of the microprocessor through a second ADC pin, and the microprocessor performs enable control and state diagnosis on the discrete power supply chip through a third IO pin according to the second output voltage;
and a third output voltage of the intelligent high-side driving chip is input to a third ADC channel of the microprocessor through a third ADC pin, the output current of the intelligent high-side driving chip is input to the third ADC channel of the microprocessor after being converted into a fourth voltage, and the microprocessor controls the intelligent high-side driving chip to enable and diagnose states through a fourth IO pin according to the third output voltage and the fourth voltage.
2. The controller of claim 1, wherein the power module further comprises: a guard circuit and a first filter circuit, wherein,
one end of the protection circuit is externally connected with a low-voltage battery, the other end of the protection circuit is respectively connected with one end of the integrated power chip and the first end of the internal main relay after passing through the first filter circuit, the second end of the internal main relay is connected with the discrete power chip, and the third end of the internal main relay is connected with the intelligent high-end driving chip;
the electric energy provided by the low-voltage battery is respectively supplied to the integrated power chip and the internal main relay after passing through the protection circuit and the first filter circuit, the integrated power chip supplies power to the complex programmable logic device CPLD and the sensor, and the internal main relay supplies power to the discrete power chip and the intelligent high-end driving chip according to the control signal of the microprocessor.
3. The controller of claim 2, further comprising: a CPLD;
when the microprocessor is powered on or the integrated power chip is in a first abnormal state, the integrated power chip sends a first reset signal to the microprocessor and the CPLD respectively through a first reset pin;
when the integrated power chip is in a second abnormal state, the integrated power chip sends interrupt requests to the microprocessor and the CPLD respectively through interrupt pins;
when a third abnormal state occurs to the integrated power supply chip, the integrated power supply chip respectively sends third abnormal information to the microprocessor and the CPLD through the first safe output pin and the second safe output pin so that the microprocessor and the CPLD perform corresponding protection actions according to the third abnormal information;
and when the CPLD is in a fourth abnormal state, the microprocessor sends a second reset signal to a second reset pin of the CPLD.
4. The controller of claim 3,
the CPLD determines whether a system fault signal exists in the controller according to the input signal and the internal control logic; the input signals comprise a three-phase current diagnosis result, a bus voltage overvoltage diagnosis result, a motor over-temperature diagnosis result, a driving unit ready signal and a driving unit fault signal;
and if the controller is determined to have a system fault signal, stopping sending the Pulse Width Modulation (PWM) driving signal to the IGBT unit.
5. The controller of claim 4, wherein the CPLD is further configured to send the system fault signal to the microprocessor, so that the microprocessor controls the PWM to stop outputting the driving signal according to the internal control logic; and outputting a disabling signal to a switch chip so as to turn off a PWM driving signal transmission channel between the CPLD and the IGBT unit.
6. The controller of claim 4, further comprising: a second filtering circuit, and a diagnostic circuit, wherein,
after passing through the second filter circuit, a first analog signal sampled by the sensor is input to the microprocessor;
and a second analog signal sampled by the sensor passes through a second filter circuit and the diagnosis circuit and then is input to the CPLD.
7. The controller of claim 6, wherein the second analog signal comprises: three-phase current signals, bus voltage signals, motor temperature signals, wherein,
the current signals of the U-phase in the three-phase current signals are respectively input to a fourth ADC pin and a fifth ADC pin of the microprocessor, the current signals of the V-phase in the three-phase current signals are respectively input to the fourth ADC pin and the fifth ADC pin of the microprocessor, and the current signals of the W-phase in the three-phase current signals are respectively input to the fourth ADC pin and the fifth ADC pin of the microprocessor.
8. The controller of claim 4, further comprising: a rotating-transform decoding chip, wherein,
the rotary transformer decoding chip is externally connected with a rotary transformer and used for acquiring sine and cosine signals of the rotary transformer, decoding the sine and cosine signals, and inputting the decoded sine and cosine signals into the microprocessor through a parallel port, an SPI serial port and an ABZ mode.
9. A vehicle control system, characterized by comprising: a vehicle control unit, an IGBT unit, a drive motor, a rotary transformer, an airbag controller, a motor temperature sensor, a hall current sensor, and an automotive motor controller as claimed in claims 1 to 8; wherein,
the vehicle controller is connected with a microprocessor in the vehicle motor controller through the vehicle controller area network CAN and the calibration CAN respectively;
the IGBT unit is respectively connected with a CPLD and a microprocessor in the automobile motor controller;
the driving motor is respectively connected with the IGBT unit, the microprocessor and the rotary transformer;
the rotary transformer is connected with the rotary transformer decoding chip;
the safety air bag controller is connected with the microprocessor;
the motor temperature sensor is connected with the microprocessor;
and the Hall current sensor is connected with the microprocessor and the CPLD.
10. A vehicle, characterized in that the vehicle comprises a vehicle control system as claimed in claim 9.
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| CN112751521A (en) * | 2020-12-31 | 2021-05-04 | 安徽工程大学 | Controller system applied to motor |
| CN113014152B (en) * | 2021-04-08 | 2023-06-20 | 中国第一汽车股份有限公司 | Dual-motor control system and method |
| CN113246887B (en) * | 2021-06-09 | 2022-11-22 | 中国第一汽车股份有限公司 | Sequential circuit control method and device, electronic equipment and storage medium |
| CN114684037B (en) * | 2022-03-30 | 2023-10-31 | 中国第一汽车股份有限公司 | Controller, control system and vehicle |
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| JP5029900B2 (en) * | 2007-11-20 | 2012-09-19 | アイシン・エィ・ダブリュ株式会社 | Motor control device |
| CN201708765U (en) * | 2010-05-07 | 2011-01-12 | 江苏常隆客车有限公司 | Automobile motor controller |
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