Control systems, electric working machinery or electric vehicles

Abstract

The present invention provides a control system, an electric working machine or an electric vehicle, wherein the system includes: a controller, a signal acquisition module, a drive module, a power management module and a bus communication module; the signal acquisition module is connected to each instrument in the fuel cell system and the whole vehicle control system; the drive module is connected to each control device in the fuel cell system and the whole vehicle control system; the power management module is connected to each instrument in the fuel cell system and the whole vehicle control system; the bus communication module is connected to the power CAN bus and the whole vehicle CAN bus respectively; the controller is used to control the fuel cell system and the whole vehicle control system. The control system, electric working machine or electric vehicle provided by the present invention improves the integration of the working machine or electric vehicle control system, effectively reduces the wiring harness, reduces the complexity of the system, and reduces the workload of control system inspection and maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical engineering, and in particular to a control system, an electric working machine or an electric vehicle. Background Art

[0002] Existing electric working machines all use discrete controllers, that is, each controller corresponds to a specific function. These controllers are then connected through hard wiring or bus networks such as CAN and LIN, making the vehicle electronic architecture very complex. There are many wiring harnesses and controller types, which makes it difficult for electric working machines to face problems such as wiring harness design, system troubleshooting, and adding new functions, greatly increasing the workload and working time.

[0003] The control systems of existing electric operating machinery have low integration, high complexity, and require a large workload for overhaul and maintenance. Summary of the invention

[0004] The present invention provides a control system, an electric working machine or an electric vehicle, which are used to solve the technical problems of low integration and high complexity of the control system of the working machine in the prior art.

[0005] The present invention provides a control system, including a controller, a signal acquisition module, a drive module, a power management module and a bus communication module;

[0006] The signal input end of the signal acquisition module is connected to various instruments in the fuel cell system and the vehicle control system, and the signal output end is connected to the signal input end of the controller;

[0007] The signal input end of the driving module is connected to the control output end of the controller, and the signal output end is connected to the signal input end of each control device in the fuel cell system and the vehicle control system;

[0008] The power input end of the power management module is connected to the fuel cell system, the power output end is connected to the fuel cell system in the operating machine and various instruments in the vehicle control system, and the communication end is connected to the SPI bus communication end of the controller;

[0009] The signal input end of the bus communication module is connected to the power CAN bus and the vehicle CAN bus respectively, and the signal output end is connected to the CAN bus communication end of the controller;

[0010] The controller is used to control the fuel cell system and the vehicle control system.

[0011] According to the control system provided by the present invention, the load of the controller is determined based on the sum of the calculation amount of the fuel cell system control program and the calculation amount of the whole vehicle control system control program, the memory of the controller is determined based on the sum of the code amount of the fuel cell system control program and the code amount of the whole vehicle control system control program; the input and output pins of the controller are determined based on the sum of the number of input and output signals of the fuel cell system and the number of input and output signals of the whole vehicle control system.

[0012] According to the control system provided by the present invention, the fuel cell system control program and the vehicle control system control program both adopt a layered architecture and share a basic software layer in the layered architecture.

[0013] According to the control system provided by the present invention, the layered architecture is an AUTOSAR architecture.

[0014] According to the control system provided by the present invention, the driving module includes a high-side driving module and a low-side driving module.

[0015] According to the control system provided by the present invention, the controller, the signal acquisition module, the driving module, the power management module and the bus communication module are integrated in the same circuit board.

[0016] According to the control system provided by the present invention, the driving module is arranged in the heat dissipation area of ​​the circuit board.

[0017] According to the control system provided by the present invention, the circuit board adopts a four-layer board structure; the first and fourth layers of the circuit board are signal layers, the second layer is a power layer, and the third layer is a ground layer.

[0018] According to the control system provided by the present invention, the power output power of the power management module is determined based on the sum of the rated powers of the fuel cell system and the various instruments in the vehicle control system.

[0019] According to the control system provided by the present invention, the controller includes a first core processor and a second core processor; the first core processor includes a lock-step core processor;

[0020] The first core processor runs the functional safety program in the fuel cell system control program and the vehicle control system control program.

[0021] The present invention also provides an electric working machine, comprising the control system.

[0022] The control system, electric working machine or electric vehicle provided by the present invention is applied to a fuel cell system and a whole vehicle control system, and includes a controller, a signal acquisition module, a drive module, a power management module and a bus communication module; the signal acquisition module, the drive module, the power management module and the bus communication module are respectively connected to the controller; the controller is connected to each instrument in the fuel cell system and the whole vehicle control system through the signal acquisition module and performs signal acquisition, and is connected to each control device in the fuel cell system and the whole vehicle control system through the drive module and performs functional control, and two control systems are controlled by one controller, and the power management module and the bus communication module are also shared, thereby improving the integration of the control system of the working machine or electric vehicle, effectively reducing the wiring harness, reducing the complexity of the system, and reducing the workload of control system inspection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the structure of a control system provided by the present invention;

[0025] Figure 2 This is a hardware principle structure diagram of the FCU and VCU integrated control system provided by the present invention.

[0026] Reference numerals:

[0027] 110: controller; 120: signal acquisition module;

[0028] 130: driving module; 140: power management module;

[0029] 150: Bus communication module. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Figure 1 A schematic diagram of the structure of the control system provided by the present invention, such as Figure 1As shown, the control system includes a controller 110, a signal acquisition module 120, a drive module 130, a power management module 140 and a bus communication module 150;

[0032] The signal input end of the signal acquisition module 120 is connected to various instruments in the fuel cell system and the vehicle control system, and the signal output end is connected to the signal input end of the controller 110;

[0033] The signal input end of the driving module 130 is connected to the control output end of the controller 110, and the signal output end is connected to the signal input end of each control device in the fuel cell system and the vehicle control system;

[0034] The power input terminal of the power management module 140 is connected to the fuel cell system, the power output terminal is connected to the fuel cell system and various instruments in the vehicle control system, and the communication terminal is connected to the SPI bus communication terminal of the controller 110;

[0035] The signal input end of the bus communication module 150 is connected to the power CAN bus and the vehicle CAN bus respectively, and the signal output end is connected to the CAN bus communication end of the controller 110;

[0036] The controller 110 is used to control the fuel cell system and the vehicle control system.

[0037] Specifically, the working machinery in the embodiment of the present invention is a machine that uses a fuel cell as a power source or one of the power sources to perform construction work, such as a concrete pump truck, a crane, and an excavator. The type of fuel cell can be a hydrogen fuel cell, a methanol fuel cell, and an ethanol fuel cell. The fuel cell system is used to control the output power of the fuel cell, and the vehicle control system is used to control the daily driving of the working machinery.

[0038] The embodiment of the present invention uses a controller 110 to control the fuel cell system and the vehicle control system in the operating machine. The control system where the controller 110 is located also includes a signal acquisition module 120, a drive module 130, a power management module 140 and a bus communication module 150.

[0039] The signal acquisition module 120 is used to collect analog signals, digital signals and frequency signals in the fuel cell system and the vehicle control system. Its signal input end is connected to various instruments in the fuel cell system and the vehicle control system in the operating machine, such as the air flow meter and hydrogen concentration meter in the fuel cell system, and its signal output end is connected to the signal input end of the controller 110 to send the collected signals to the controller 110 to participate in the control logic operation.

[0040] The driving module 130 is used to generate a corresponding driving signal according to the control signal output of the controller 110. For example, the weak signal output by the controller 110 can be amplified into a strong electric signal suitable for an external device to drive the external device. Its signal input end is connected to the control output end of the controller 110, and the signal output end is connected to the signal input end of each control device in the fuel cell system and the vehicle control system in the working machine.

[0041] The power management module 140 is used to provide power to various components in the control system and various instruments connected to the control system. The power management module 140 can obtain power from the fuel cell system, and then convert and distribute it. The power input end of the power management module 140 is connected to the fuel cell system in the operating machine, and the power output end is connected to the fuel cell system in the operating machine and various instruments in the vehicle control system. The communication end of the power management module 140 is connected to the SPI bus communication end of the controller 110, and SPI (Serial Peripheral Interface) can be used to communicate with the controller 110. SPI is a high-speed, full-duplex, synchronous communication bus, and only occupies four wires on the chip pins, which saves the chip pins and saves space for the circuit board layout.

[0042] The signal input end of the bus communication module 150 is connected to the power CAN bus and the vehicle CAN bus respectively, and the signal output end is connected to the CAN bus communication end of the controller 110. The controller 110 can obtain the communication information on the power CAN bus and the vehicle CAN bus according to the bus communication module 150.

[0043] The control system provided by the embodiment of the present invention is applied to a fuel cell system and a whole vehicle control system, and includes a controller, a signal acquisition module, a drive module, a power management module and a bus communication module; the signal acquisition module, the drive module, the power management module and the bus communication module are respectively connected to the controller; the controller is connected to various instruments in the fuel cell system and the whole vehicle control system in the operating machinery through the signal acquisition module and performs signal acquisition, and is connected to various control devices in the fuel cell system and the whole vehicle control system through the drive module and performs functional control, and two control systems are controlled by one controller, and the power management module and the bus communication module are also shared, thereby improving the integration of the operating machinery control system, effectively reducing the wiring harness, reducing the complexity of the system, and reducing the workload of control system inspection and maintenance.

[0044] Based on the above embodiments, the load of the controller is determined based on the sum of the computing amount of the fuel cell system control program and the computing amount of the vehicle control system control program, and the memory of the controller is determined based on the sum of the code amount of the fuel cell system control program and the code amount of the vehicle control system control program; the input and output pins of the controller are determined based on the sum of the number of input and output signals of the fuel cell system and the number of input and output signals of the vehicle control system.

[0045] Specifically, when one controller is used to implement the function of controlling two systems, it is necessary to determine the load, memory, and number of input and output pins of the controller.

[0046] Generally, in order to ensure the real-time performance of the fuel cell system control program and the vehicle control system control program during operation, the controller load rate is required to be no more than 85% of the design load. Therefore, during the control program development phase, the calculation amount of the fuel cell system control program and the calculation amount of the vehicle control system control program can be tested, and then the corresponding controller can be selected based on the sum of the calculation amounts.

[0047] The controller's memory size is required to be no more than 80% of the designed memory. Therefore, the sum of the code size of the fuel cell system control program and the vehicle control system control program can be determined first, and then the corresponding memory can be determined. The fuel cell system control program and the vehicle control system control program can also be split according to the software structure of the bottom layer and the application layer, and the bottom layer software in the two control programs can be shared to reduce memory.

[0048] The input and output pins are interfaces for information exchange between the controller and external instruments or devices. The number of pins can be determined based on the sum of the number of input and output signals of the fuel cell system and the number of input and output signals of the vehicle control system. In order to add instruments or control devices later, a certain number of input and output pins can be reserved.

[0049] Based on any of the above embodiments, the fuel cell system control program and the vehicle control system control program both adopt a layered architecture and share the basic software layer in the layered architecture.

[0050] Specifically, both the fuel cell system control program and the vehicle control system control program can adopt a layered architecture, with each layer representing a function of the control program. The basic software layer is the bottom layer in the layered architecture, which is used for communication with the external operating environment, memory management, and driving hardware. The fuel cell system control program and the vehicle control system control program run in the same controller and can share the basic software layer in the layered architecture, thereby reducing memory usage and improving program operation efficiency.

[0051] Based on any of the above embodiments, the layered architecture is an AUTOSAR architecture.

[0052] Specifically, the AUTOSAR layered architecture is used to support the independence of complete software and hardware modules. The intermediate RTE (Runtime Environment) is used as the implementation of the virtual functional bus VFB (Virtual Functional Bus), which isolates the upper application software layer (Application Layer) from the lower basic software (Basic Software), and gets rid of the previous ECU (Electronic Control Unit) software development and verification dependence on the hardware system.

[0053] The AUTOSAR layered architecture is divided into three software layers at the highest level of abstraction: the application layer, the runtime environment layer, and the basic software layer (BSW) running on the microcontroller. The basic software layer can be further divided into the complex driver layer, the microcontroller abstraction layer, the ECU abstraction layer, and the service layer.

[0054] The layered design with software and hardware separation improves the integration capability of the fuel cell system and the vehicle control system. In particular, the definition of standardized interactive interfaces and software component models improves the software reuse capability of each layer, thereby reducing development costs and greatly speeding up system integration and product launch. By sharing the basic software layer, the memory requirements of the controller can be reduced.

[0055] Based on any of the above embodiments, the signal acquisition module includes an analog quantity acquisition module, a frequency quantity acquisition module and a digital quantity acquisition module.

[0056] Specifically, according to the type of signal collected, the signal collection module may include an analog quantity collection module, a frequency quantity collection module and a digital quantity collection module.

[0057] The analog quantity acquisition module is mainly used to collect analog quantity signals in the fuel cell system and the vehicle control system, such as accelerator pedal signal, pressure signal, temperature signal, etc. The frequency quantity acquisition module is mainly used to collect frequency quantity signals in the fuel cell system and the vehicle control system, such as vehicle speed signal, air flow signal and hydrogen concentration signal, etc. The digital quantity acquisition module is mainly used to collect digital quantity signals in the fuel cell system and the vehicle control system, such as activation wake-up signal, brake switch signal and relay diagnosis signal, etc.

[0058] Based on any of the above embodiments, the driving module includes a high-side driving module and a low-side driving module.

[0059] Specifically, considering the driving types of various control devices in the fuel cell system and the whole vehicle control system, a high-side driving module and a low-side driving module may be provided.

[0060] Here, high side refers to power supply, low side refers to ground, high side driver and low side driver are used to adjust power to drive load. High side driver is suitable for instruments or equipment with precision devices and complex drive. Low side driver is suitable for simple circuits.

[0061] High-side driving refers to enabling the drive device by closing a switch on the power line directly before the electrical appliance or drive device, while low-side driving refers to enabling the drive device by closing the ground line after the electrical appliance or drive device.

[0062] In the fuel cell system and vehicle control system, the ATS fan, buzzer, steering control, air compressor and circulation pump can be connected to the high-side driver module; the reversing lights, air pump fan, hydrogen inlet valve, etc. can be connected to the low-side driver module.

[0063] Based on any of the above embodiments, the controller, the signal acquisition module, the drive module, the power management module and the bus communication module are integrated in the same circuit board.

[0064] Specifically, the controller, the signal acquisition module, the driving module, the power management module and the bus communication module can be integrated into the same circuit board and then packaged in a metal casing.

[0065] Due to the adoption of a highly shared integration model, the size of the circuit board can be compressed to the same size as an independent fuel cell system controller or an independent vehicle control system controller.

[0066] Based on any of the above embodiments, the driving module is arranged in the heat dissipation area of ​​the circuit board.

[0067] Specifically, the driver module generates a large amount of heat, so a special heat dissipation area can be set on the circuit board to make full contact with the metal shell of the control system, and set special heat dissipation holes. Each component in the driver module is surface-mounted and soldered on the surface of the circuit board. The heat generated by the component when working is transferred to the bottom of the electric heating plate through the copper coating and heat dissipation holes of the circuit board. The lower surface of the heat dissipation area can be coated with heat-absorbing materials and thermally conductive silicone, and the heat is transferred to the metal shell of the controller through the thermally conductive silicone.

[0068] The heat dissipation area should be set at the edge of the circuit board as much as possible to shorten the heat transfer path.

[0069] Based on any of the above embodiments, the circuit board adopts a four-layer board structure; the first and fourth layers of the circuit board are signal layers, the second layer is a power layer, and the third layer is a ground layer.

[0070] Specifically, in order to improve the integration of the control system and improve the electromagnetic compatibility (EMC) performance, the circuit board can adopt a four-layer board structure, the first and fourth layers are used to set the signal line, the second layer is used to set the power line, and the third layer is used to set the ground line.

[0071] In the control system provided by the embodiment of the present invention, the circuit board adopts a four-layer board structure, which can significantly improve the electromagnetic compatibility performance of the control system.

[0072] Based on any of the above embodiments, the following layout design may also be adopted for the circuit board:

[0073] 1) The crystal oscillator element on the circuit board is set close to the controller;

[0074] 2) The analog quantity acquisition module and the digital quantity acquisition module are arranged in different areas of the circuit board;

[0075] 3) The frequency acquisition module is arranged at the edge of the circuit board;

[0076] 4) Fill the blank area in the circuit board with ground wire;

[0077] 5) The analog quantity acquisition module can use a dedicated line;

[0078] 6) The clock signal wiring should be kept away from the signal acquisition module to avoid affecting the sampling accuracy;

[0079] 7) For crosstalk of long parallel traces, increase their spacing or add a ground wire between the traces;

[0080] 8) Avoid right angles on high-speed lines;

[0081] 9) Separate strong and weak signal lines.

[0082] Based on any of the above embodiments, the power output power of the power management module is determined based on the sum of the rated powers of the fuel cell system and the various instruments in the vehicle control system.

[0083] Specifically, the power output power of the power management module mainly considers the power supply requirements of each instrument in the fuel cell system and the vehicle control system. The sum of the rated power of each instrument can be used as the power output power of the power management module.

[0084] For example, the power supply voltage of each instrument in the fuel cell system and the vehicle control system is 5V. By calculating the number of instruments that require 5V power supply, the total power supply demand is calculated, and the PMIC (power management chip) is selected. For example, each instrument generally consumes a maximum current of 15mA. Before the merger, the vehicle control system has 4 instruments that require 5V power supply, and the fuel cell system has 8 instruments that require 5V power supply. Then the total demand after the merger is (4+8)*15=180mA. If the PMIC of the fuel cell system or the vehicle control system itself has a power supply capacity of more than 180mA (for example, MC33CFS6500 has a total 5V current output capacity of 250mA), there is no need to re-determine.

[0085] Based on any of the above embodiments, the controller includes a first core processor and a second core processor; the first core processor includes a lock-step core processor;

[0086] The first core processor runs the functional safety program in the fuel cell system control program and the vehicle control system control program.

[0087] Specifically, the controller may use a dual-core processor, wherein the task scheduling between the two core processors may be determined by software.

[0088] The first core processor includes a lock-step core processor. The functional safety program in the fuel cell system control program and the vehicle control system control program can be placed in the first core processor for processing.

[0089] For example, the controller is MCU Infineon TC265, which has dual cores (such as A core and B core), and only one of the cores (A core) has a built-in lock-step core. Therefore, some functions in the vehicle control system or fuel cell system that require safety (such as ASILC), such as the accelerator pedal handler (vehicle control system), throttle position sensor (fuel cell system air path), intake pressure sensor (fuel cell system), etc., are placed in the A core for operation. Because the A core has its own lock-step core, these functions will automatically run again in its attached lock-step core, and finally compare whether the result values ​​of the two paths are the same. If they are not the same, the next defined safety mechanism will be adopted, such as prohibiting the sending of safety-related CAN bus messages and cutting off the enable output of key actuators (hydrogen injectors, etc.) to ensure the safe operation of the car. At the vehicle level, the driver will be notified of a first-level fault and the vehicle will be stopped immediately or driven at limited power.

[0090] Based on any of the above embodiments, the present invention provides an electric working machine or electric vehicle, including the above control system.

[0091] Specifically, electric working machinery is a working machinery powered by a fuel cell, such as an electric concrete pump truck, an electric crane, and an electric excavator. Electric vehicles can be vehicles powered by a fuel cell, such as an electric heavy truck. The types of fuel cells can be hydrogen fuel cells, methanol fuel cells, and ethanol fuel cells.

[0092] Based on any of the above embodiments, Figure 2 The hardware principle structure diagram of the FCU (fuel cell system) and VCU (vehicle control system) integrated control system provided by the present invention is as follows: Figure 2 As shown, it includes a main microcontroller, a power management chip, a bus communication chip, a driver chip, an analog signal conditioning circuit, a frequency signal conditioning circuit, and a logic signal conditioning circuit.

[0093] The selection of the main microcontroller mainly considers three aspects of risk: CPU saturation risk (load rate 85%), memory saturation risk (80%) and I / O saturation risk. The dual-core is selected to prevent the problem of excessive CPU single-core running load rate. Because the VCU was running on a single core and the FCU was running on a single core before, there may be a risk of CPU saturation if the program is still running on a single core after merging. The CPU load can be determined by testing the load rate of each CPU core through a multi-core test tool during the development phase. The memory (Flash) size is determined entirely by the size of the last program written. In principle, the size of the merged Flash must be smaller than the sum of the size of the previous single VCU program and the size of the FCU. Because the modules of the application layer software can be simply superimposed after the merger, but the underlying software can be shared to a large extent, so in theory the total software size (application layer + underlying layer) will be reduced after the merger. From the outside of the merged controller, the I / O (input and output) of the original single FCU and VCU are simply superimposed, the network interface is directly shared (the network load will not increase, because the number of messages is still the original, and the network throughput will not increase), and the power supply and wake-up interface are shared (the total power consumption will not increase, so there will be no impact on the original vehicle electrical architecture). Therefore, the total number of pins is less than the sum of the number of pins of the original single VCU and single FCU.

[0094] Choose a main chip. This chip can be the same as the main chip of the previous FCU controller or the same as the VCU. Keep an overall principle in mind: according to the complexity of the FCU and VCU systems on the actual vehicle, the selected main chip must meet two main indicators. One is that the CPU load cannot be too high (preferably not more than 85%), and the other is that the Flash size cannot be too small (although most of the underlying software is shared after integration, theoretically the total software size after integration will be smaller than the simple sum of the previous VCU and FCU software sizes, but it is still recommended that the Flash size should be at least equal to the sum of the VCU software and the FCU software). The selection of the main chip is, for example: Infineon Aurix TC265. This chip is dual-core, one of which has lockstep. Its OS scheduling can be divided into three types: 1. VCU and FCU functions can be run in one core, which is the simplest for the underlying development. 2. If the load is too high in one core, the VCU function and FCU function can be run in one core respectively, and dual-core support is required at the bottom layer. 3. If there is a requirement for functional safety, this part can be run in a lockstep core.

[0095] The changes in the power management module compared to the previous one are mainly to consider the power supply capacity of its 5V sensors, because the number of sensors has increased after the FCU and VCU are merged; the network management module does not need to be changed, because both VCU and FCU are connected to the vehicle network, and can share the network interface after the merger; the drive module mainly considers its output current capability, because after the VCU and FCU are merged, the number of actuators it needs to drive has increased; the input processing circuit only needs simple addition, of course, the number of input channels must be less than the number of ADC and GPIO interfaces supported by the main chip; the wake-up interface is directly used.

[0096] The control system provided by the embodiment of the present invention integrates the VCU and the FCU while occupying almost the same space, thereby optimizing costs and improving performance.

[0097] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0098] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of commands to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control system, characterized in that: It includes a controller, a signal acquisition module, a drive module, a power management module and a bus communication module; The signal input end of the signal acquisition module is connected to various instruments in the fuel cell system and the vehicle control system, and the signal output end is connected to the signal input end of the controller; The signal input end of the driving module is connected to the control output end of the controller, and the signal output end is connected to the signal input end of each control device in the fuel cell system and the vehicle control system; The power input end of the power management module is connected to the fuel cell system, the power output end is connected to the fuel cell system and various instruments in the vehicle control system, and the communication end is connected to the SPI bus communication end of the controller; The signal input end of the bus communication module is connected to the power CAN bus and the vehicle CAN bus respectively, and the signal output end is connected to the CAN bus communication end of the controller; The controller is used to control the fuel cell system and the vehicle control system; The controller includes a first core processor and a second core processor; the first core processor includes a lockstep core processor; The first core processor runs the fuel cell system control program and the functional safety program in the vehicle control system control program; The load of the controller is determined based on the sum of the computing amount of the fuel cell system control program and the computing amount of the vehicle control system control program; the memory of the controller is determined based on the sum of the code amount of the fuel cell system control program and the code amount of the vehicle control system control program; the input and output pins of the controller are determined based on the sum of the number of input and output signals of the fuel cell system and the number of input and output signals of the vehicle control system.

2. The control system according to claim 1, characterized in that: The fuel cell system control program and the vehicle control system control program both adopt a layered architecture and share a basic software layer in the layered architecture.

3. The control system according to claim 2, characterized in that: The layered architecture is the AUTOSAR architecture.

4. The control system according to claim 1, characterized in that: The driving module includes a high-side driving module and a low-side driving module.

5. The control system according to claim 1, characterized in that: The controller, the signal acquisition module, the driving module, the power management module and the bus communication module are integrated in the same circuit board.

6. The control system according to claim 5, characterized in that: The driving module is arranged in a heat dissipation area of ​​the circuit board.

7. The control system according to claim 5, characterized in that: The circuit board adopts a four-layer board structure; the first layer and the fourth layer of the circuit board are signal layers, the second layer is a power layer, and the third layer is a ground layer.

8. The control system according to claim 1, characterized in that: The power output power of the power management module is determined based on the sum of the rated powers of the fuel cell system and the various instruments in the vehicle control system.

9. An electric working machine or electric vehicle, characterized in that: A control system comprising any one of claims 1 to 8.

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