New energy loader control model creation method and device

Abstract

The present application relates to model creation method technical field, especially to a kind of new energy loader control model creation method and device.Its method includes the following steps: creating each electric device corresponding analog input module;Look-up table module carries out look-up table conversion for analog quantity to digital quantity;Output module transmits data to various operation modules;The input data is operated by logic operation module, and output flag bit;Use Switch module to merge multiple signals into one signal;Data signal is adjusted by PID operation;For the value of Out module output, use state machine module to carry out logic sequential output operation, trigger through flag bit and time step judgment, control signal is output to signal output module, signal is output to CAN Write Msg, CAN Write Msg signal is output from the output pin of VCU control module.Solve the problem that new energy loader handles fault with difficulty, driver knows little about new energy vehicle, overload working time is long, and do not understand the problem of operation mode switching.

Description

Technical Field

[0001] This invention relates to the field of model creation methods, and in particular to a method and apparatus for creating a control model for a new energy loader. Background Technology

[0002] The existing large screen displays and alarms for some basic parameters of the loader, such as: vehicle speed, motor speed, fuel level, motor torque, operating time, GPS alarm, transmission pressure, transmission oil temperature, remaining battery power, and other basic alarm indicators such as oil pressure alarm and low fuel alarm.

[0003] 1. With the emergence of new energy loaders, the existing large screen interface cannot display many electrical component faults of loaders, such as faults of PDU, BMS, VCU, TMS, motor controller, RCU, ECU, GCU and other electrical components. The existing large screen does not provide convenience for fault diagnosis and repair of loader vehicles.

[0004] 2. The existing large screen does not have a vehicle overload warning, nor does it provide any warning reminders for vehicle overload. This causes the entire vehicle to operate under overload for extended periods, which can damage the battery and significantly reduce its lifespan.

[0005] 3. The existing large screen lacks a working mode switching function, and the vehicle needs to connect other devices to switch working modes, which increases costs.

[0006] Therefore, in order to address the above problems, a method and device for creating a control model for a new energy loader is proposed. Summary of the Invention

[0007] This invention addresses the shortcomings of existing technologies by developing a method and device for creating a control model for new energy loaders, thereby promoting the optimization and development of new energy loaders.

[0008] The technical solution of this invention to solve the technical problem is as follows:

[0009] A method for creating a control model for a new energy loader includes the following steps:

[0010] S1. Based on the different input pin addresses of the vehicle controller, create analog input modules corresponding to each electrical component. Use this module to read the analog ADC conversion value from the PowerECU interface. For digital quantities, use the CAN Read Msg module to collect and read the fault codes and status parameters issued by each electrical component.

[0011] S2. The lookup module converts analog quantities into digital quantities by looking up a table, performs matrix operations through an M-file, performs matrix operations on up to n inputs, and sets the output type, maximum and minimum values ​​of the data, and outputs the corresponding data to the output module.

[0012] S3. The output module is aggregated to the Out1 module via the bus, and the data in the Out1 module is transferred to various computing modules in the model via In1;

[0013] S4. The logic operation module performs operations on the input data and outputs a flag bit;

[0014] S5. Use the Switch module to merge multiple signals into one signal, and output the corresponding data signal through the received flag bit. This logic can perform calculations to determine whether the operation is overpowered.

[0015] S6. The data signal is adjusted through PID calculation to make the output data approach the desired value, and the output value is limited within the dynamic saturation range through Saturation Dynamic. The data is output by the Out module. This logic can control the whole vehicle to enter different state modes.

[0016] S7. For the value output by the Out module, the state machine module performs logical sequential output operations. By triggering the flag bit and judging the time step, the control signal is output to the signal output module, which outputs the signal to CAN Write Msg. CAN Write Msg outputs the signal from the output pin of the VCU control module.

[0017] The preferred scheme for creating a control model for a new energy loader, the calculation and judgment process for overpower operation is as follows:

[0018] Read the vehicle's current power status and its operating status stored over a period of time;

[0019] Perform current power analysis, compare it with the rated power, and send out signals exceeding the power as flag bits;

[0020] The system performs cumulative calculations of overpower operation time and number of operations. If the number of operations exceeds a certain value, the current state is output as a flag.

[0021] The preferred scheme of the new energy loader control model creation method further includes the construction of a multi-functional display screen page. The specific process is as follows: Select the required buttons and display modules in the visualization toolbox, define the display text, unit and size of the buttons, and associate the buttons with the logical operations in the commonFuncs module; the text displayed on the page is defined through the TEXTS attribute, and the selected association logic is selected in the Text variable; finally, arrange the defined buttons according to the desired display position.

[0022] A new energy loader control model creation device, comprising:

[0023] The analog input module collects and reads fault codes and status parameters issued by various electrical components.

[0024] The lookup module converts analog quantities into digital quantities by looking up a table.

[0025] The logic operation module performs operations on the input data and outputs flag bits;

[0026] The switch module combines multiple signals into one signal;

[0027] The PID control module adjusts the data signals to control the vehicle into different state modes.

[0028] The effects described in the invention are merely those of the embodiments, and not all the effects of the invention. The above technical solution has the following advantages or beneficial effects: it solves the problems of new energy loaders struggling to handle faults, drivers having little understanding of new energy vehicles, long overload operation time, and lack of understanding of operation mode switching; overload reminders enable drivers to optimize their working habits and improve battery utilization; the PID calculation module can control the stability and response speed of the system. Detailed Implementation

[0029] To clearly illustrate the technical features of this solution, the invention will be described in detail below through specific embodiments. The following disclosure provides many different embodiments or examples for implementing different structures of the invention. To simplify the disclosure of the invention, the components and arrangements of specific examples are described below.

[0030] Example 1

[0031] The components required for the control of the new energy loader include various electrical components, a large screen, a vehicle control unit (VCU), CAN signal lines, and MATLAB and CODSYS software programming tools. Fault code display for each electrical component involves transmitting fault signals to the VCU, integrating the fault codes through VCU programming, transmitting them to the large screen via the CAN line, and finally displaying the fault codes on the large screen. Operating mode switching involves first programming the large screen to display and switch function buttons, then programming the VCU to receive commands from the large screen on one end and send commands to the vehicle's motor controller, BMS, and RCU on the other end, thereby controlling the charging of the motor, engine, and battery.

[0032] Signal transmission is via CAN communication. VCU programming requires MATLAB software, and large screen programming requires CODSYS. Displayed fault codes include: BMS fault codes, PDU fault codes, TMS fault codes, RCU fault codes, MCU fault codes, VCU fault codes, OLP fault codes, DC-DC fault codes, and multi-functional heat sink fault codes, etc.

[0033] The mode selection page has two areas: working mode and charging mode. In the working mode area, you can select the pure electric mode button or the range extender mode button. After clicking the range extender button, the standard mode and power mode buttons will appear, thus controlling the vehicle's working mode. In the charging mode area, you can select the charging pile charging mode button or the range extender charging mode button to achieve different charging methods.

[0034] The English abbreviations mentioned in the document are explained as follows: VCU: Vehicle Controller; CAN: Communication Method; MATLAB: Programming Software Name; CODSYS: Programming Software Name; BMS: Battery Management System Module Name; RCU: Engine Control Module Name; PDU: High Voltage Distribution Box Name; TMS: Battery Thermal Management Unit Name; OLP: Variable Speed ​​Pump; DCDC: Voltage Transformer Module; These are conventional technical terms in this field and will not be elaborated further here.

[0035] A method for creating a control model for a new energy loader includes the following steps:

[0036] S1. Based on the different input pin addresses of the vehicle controller, create corresponding analog input modules for each electrical component. Use this module to read the analog ADC conversion value from the PowerECU interface. For digital signals, use the CAN Read Msg module (digital signal reading module) to collect and read the fault codes and status parameters issued by each electrical component. PowerECU is a rapid prototyping controller developed based on an automotive-grade processor.

[0037] S2. The lookup module converts analog quantities to digital quantities using a lookup table. It then performs matrix operations on multiple n input matrices, setting the output type, maximum and minimum values, and outputting the corresponding data to the output module. For example, two matrices can be input into the lookup module: Torque_Data (torque) is entered into Table data 1 (signal value), and Speed_Data (speed) is entered into Table data 2 (signal value). The matrix formula is as follows: C=AB, where A is the torsion matrix, B is the speed matrix, and C is the output matrix. ;

[0038] S3. The output module is aggregated to the Out1 module via the bus, and the data in the Out1 module is transferred to various computing modules in the model via In1;

[0039] S4. The logic operation module performs operations on the input data and outputs a flag bit;

[0040] S5. Use the Switch module to merge multiple signals into one signal, and output the corresponding data signal through the received flag bit. This logic can perform calculations to determine whether the operation is overpowered.

[0041] S6. The data signal is adjusted through PID calculation to make the output data approach the desired value, and the output value is limited within the dynamic saturation range through Saturation Dynamic. The data is output by the Out module. This logic can control the whole vehicle to enter different state modes. When the vehicle battery is lower than a certain value, it has the conditions to trigger a reminder. When the vehicle is operating at overpower, the operator is reminded that the working method has caused the fuel consumption to deviate from the economic range, and the operator should adjust their working habits. If the fuel consumption deviates from the economic range for a long time, the system will intervene to control the vehicle speed. When the vehicle is operating at overpower for a long time, the operator is reminded that the fuel consumption has deviated from the economic range for a long time, and the system will intervene to control the vehicle speed.

[0042] S7. For the value output by the Out module, the state machine module performs logical sequential output operations. Through the triggering of the flag bit and the judgment of the time step, the control signal is output to the signal output module, which outputs the signal to CAN Write Msg. CAN Write Msg outputs the signal from the output pin of the VCU control module. This process is performed step by step by the Switch. First, it judges whether it is ">1". If it is, the flag bit flg1 is sent. If it is not, it judges whether it is "=0". If it is 0, the flag bit flg2 is output. If it is not, and the second judgment is not 0, the flag bit flg3 is output. Logical operations are performed in the chart model after (5000, tick). After this state lasts for 5 steps, the flag bit flg is output.

[0043] PID control is a feedback control algorithm that adjusts the controller output by changing the proportional, integral, and derivative terms to make it as close as possible to the desired value. The proportional term reflects the magnitude of the current error, the integral term considers the accumulation of error, and the derivative term reflects the rate of change of error. The proportional action reacts instantaneously to the deviation; once a deviation occurs, the controller immediately takes action, changing its control quantity in the direction of reducing the deviation. The strength of the control action depends on the proportional coefficient; a larger proportional coefficient results in a stronger control action and a smaller static deviation in the control process. However, a larger coefficient also makes it more prone to oscillations, disrupting system stability. Therefore, the proportional coefficient must be appropriately chosen to achieve a short transition time, small static error, and stable performance. The integral action increases the control action to eliminate the system deviation as long as it exists. While the integral action eliminates static error, it also reduces the system's response speed and increases overshoot. The strength of the integral action is related to the integral constant. The derivative action prevents changes in the deviation, controlling based on the trend of deviation changes. By adjusting the values ​​of these three parameters, the stability and response speed of the system can be controlled.

[0044] In this embodiment, the calculation and judgment process for overpower operation is as follows:

[0045] Read the vehicle's current power status and its operating status stored over a period of time;

[0046] Perform current power analysis, compare it with the rated power, and send out signals exceeding the power as flag bits;

[0047] The system performs cumulative calculations of overpower operation time and number of operations. If the number of operations exceeds a certain value, the current state is output as a flag.

[0048] In this embodiment, the fault code receiving and sending process is as follows: The VCU compares the operating parameters of each electrical component with the calibrated values ​​to specify different fault codes and fault levels. The VCU collects the fault codes of each electrical component and sends the fault codes to the multi-functional large screen. The multi-functional large screen receives the fault codes sent by the VCU, labels them with names, and displays them on the screen.

[0049] In this embodiment, the fault code display process is as follows:

[0050] 1) BMS fault codes are transmitted to VCU via the CAN communication line. VCU receives the fault codes from BMS via CAN Read Msgby MBox and sends them to the CAN Unpack module. The CAN Unpack module needs to be modified with a communication protocol for interpretation. The communication protocol is as follows:

[0051]

[0052] The fault code is converted to (120, decimal) by CAN Unpack, and the decimal fault code is transmitted to the OUT output module through BUSCreator;

[0053] 2) The output BMS decimal fault code 120 is transmitted to the Chart model through the In module. Logical operations are performed in the chart model. After (5, tick), this fault lasts for 5 steps. Then, it is sent from the Chart model to the Switch model. The switch selects the logic "u2~=0". When the input fault code 12 is received, the fault code 120 is output. Otherwise, the output is 0.

[0054] 3) Send the output fault code 120 to the CAN PACK module. Note that a trigger module needs to be added. A Chart state machine can be used, after (10, tick), to make this fault be sent to the CAN WriteMsg module at a frequency of 50ms.

[0055] 4) The CAN WriteMsg module sends fault code 120 to the multi-function display via the CAN twisted-pair communication line. The multi-function display then processes the signal through the program, using the command "dwHandle<>bms#18013020…". Note that the address must match to ensure signal reception.

[0056] "errCode:=16#10000120,SPN-FMI:='BMS:120',DTC:='',ERRMSGStr:=Thermal Management System Fault"

[0057] It was displayed on the multi-functional large screen as "BMS, 120, Thermal Management System Failure";

[0058] 5) The display logic for fault codes is consistent with that of BMS fault codes. Note that different fault codes have different communication addresses (IDs) and communication protocols. The RCU controls the generator to charge the battery to 85% power. The communication protocol is as follows:

[0059]

[0060] In this embodiment, it also includes the construction of a multi-functional display screen page, the specific process of which is as follows: select the required buttons and display modules in the visualization toolbox, define the display text, unit and size of the buttons, and associate the buttons with the logical operations in the commonFuncs module; the text displayed on the page is defined through the TEXTS attribute, and the selected association logic is selected in the Text variable; finally, the desired display positions of the defined buttons are arranged.

[0061] Example 2

[0062] A new energy loader control model creation device, comprising:

[0063] The analog input module collects and reads fault codes and status parameters issued by various electrical components.

[0064] The lookup module converts analog quantities into digital quantities by looking up a table.

[0065] The logic operation module performs operations on the input data and outputs flag bits;

[0066] The switch module combines multiple signals into one signal;

[0067] The PID calculation module adjusts the data signal to control the vehicle to enter different state modes;

[0068] While the specific embodiments of the invention have been described above, they are not intended to limit the scope of protection of the invention. Based on the technical solutions of the invention, various modifications or variations that can be made by those skilled in the art without creative effort are still within the scope of protection of the invention.

Claims

1. A method for creating a control model for a new energy loader, characterized by: Includes the following steps: S1. Based on the different input pin addresses of the vehicle controller, create analog input modules corresponding to each electrical component. Use this module to read the analog ADC conversion value from the PowerECU interface. For digital quantities, use the CAN Read Msg module to collect and read the fault codes and status parameters issued by each electrical component. S2. The lookup module converts analog quantities into digital quantities by looking up a table. It performs matrix operations on n inputs and sets the output type, maximum value, and minimum value of the data, and outputs the corresponding data to the output module. S3. The output module is aggregated to the Out1 module via the bus, and the data in the Out1 module is transferred to various computing modules in the model via In1; S4. The logic operation module performs operations on the input data and outputs a flag bit; S5. Use the Switch module to merge multiple signals into one signal, and output the corresponding data signal through the received flag bit to perform calculations to determine whether it is operating at overpower. S6. The data signal is adjusted through PID calculation to make the output data approach the desired value, and the output value is limited within the dynamic saturation range through SaturationDynamic. The data is output by the Out module. This logic can control the whole vehicle to enter different state modes. S7. For the value output by the Out module, the state machine module performs logical sequential output operations. By triggering the flag bit and judging the time step, the control signal is output to the signal output module, which outputs the signal to CAN Write Msg. CANWrite Msg outputs the signal from the output pin of the VCU control module.

2. The method for creating a control model for a new energy loader according to claim 1, characterized in that: The calculation and judgment process for overpower operation is as follows: Read the vehicle's current power status and its operating status stored over a period of time; Perform current power analysis, compare it with the rated power, and send out signals exceeding the power as flag bits; The system performs cumulative calculations of overpower operation time and number of operations. If the number of operations exceeds a certain value, the current state is output as a flag.

3. The method for creating a control model for a new energy loader according to claim 1, characterized in that: It also includes the construction of multi-functional display screen pages, the specific process of which is as follows: select the required buttons and display modules in the visualization toolbox, define the display text, unit and size of the buttons, and associate the buttons with the logical operations in the commonFuncs module; the text displayed on the page is defined through the TEXTS attribute, and the selected association logic is selected in the Text variable; finally, arrange the defined buttons according to the desired display position.

4. A device for creating a control model for a new energy loader, using the method for creating a control model for a new energy loader as described in any one of claims 1 to 3, characterized in that, include: The analog input module collects and reads fault codes and status parameters issued by various electrical components. The lookup module converts analog quantities into digital quantities by looking up a table. The logic operation module performs operations on the input digital values ​​and outputs flag bits; The switch module combines multiple signals into one signal and outputs the corresponding data signal through the received flag bit; The PID control module adjusts the data signals to control the vehicle into different state modes.

Images