Electric tractor control system fault diagnosis and processing method

Abstract

The invention provides a fault diagnosis and processing method for an electric tractor control system. The method comprises the following steps that 1, faults of the control system of an electric tractor are classified according to all functional modules; 2, the system fault level is set to be four levels, namely the zero-level fault, the first-level fault, the second-level fault and the third-level fault; 3, the control system calculates and judges the fault level; 4, the vehicle control unit detects the faults of the vehicle control unit in real time, receives the fault types and the fault levels of other subsystems in real time, and makes corresponding processing methods according to the specific functions of all the subsystems; modularized grading fault processing of faults of the whole tractor is achieved, and safety and high efficiency of the pure electric tractor during field operation are guaranteed to the maximum extent.

Description

Technical Field

[0001] The invention relates to the technical field of electric tractor fault detection, and in particular to a fault diagnosis and processing method for an electric tractor control system. Background Art

[0002] With the development of agricultural modernization in my country, higher demands for industrial upgrading have been put forward for the technical upgrading of agricultural machinery products and the transformation of agricultural development mode. Accelerating the transformation of agricultural machinery equipment from mechanization to electrification and intelligence is of great significance to the development of modern agriculture. With the development of tractor electrification, the electronic control system is also developing continuously, which plays a key role in the performance, safety and reliability of electric vehicles. However, due to the complexity of various field operation conditions of tractors, the electronic control system is complex and diverse, which increases the difficulty of fault diagnosis and affects the safety of tractors working in farmland.

[0003] Therefore, there is an urgent need for an electric tractor control system fault diagnosis and processing method that can combine field operation conditions and the complexity of the vehicle control system to develop a safe and efficient tractor fault diagnosis and processing device to ensure that electric tractors can safely and reliably complete unmanned field operation tasks. Summary of the invention

[0004] The purpose of the present invention is to provide a method for diagnosing and processing faults of an electric tractor control system to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a method for diagnosing and processing faults of an electric tractor control system, comprising the following steps:

[0007] Step 1: Classify the control system faults of the electric tractor according to each functional module;

[0008] Step 2: Set the system fault level to four levels, namely level 0 fault, level 1 fault, level 2 fault, and level 3 fault;

[0009] Step 3: The control system calculates and determines the fault level;

[0010] Step 4: The vehicle controller detects its own faults in real time, and receives the fault types and fault levels of other subsystems in real time, and makes corresponding processing methods according to the specific functions of each subsystem.

[0011] Preferably, the classification in step one includes: low-voltage circuit fault diagnosis, BMS\PDU\MCU\DCDC\DCAC heartbeat signal abnormal fault, walking motor MCU fault, working motor MCU fault, BMS fault, high-voltage insulation fault, relay adhesion fault, DCAC control system fault, DCDC control system fault, fan and water pump drive fault.

[0012] Preferably, in step 2, level 0 fault of the whole vehicle means no fault, and the whole vehicle is normal; level 1 fault means a minor fault, level 2 fault means a moderate fault, and level 3 fault means a severe emergency fault.

[0013] Preferably, in step three, the low-voltage battery voltage is lower than the minimum limit, or higher than the maximum limit, which is a level 3 fault; the battery voltage is lower than the normal value but can maintain system power supply, which is a level 1 fault; when the low-voltage battery voltage is within the normal range, it is a level 0 fault.

[0014] Preferably, in the fault handling method in step 4: when the fault level is level 0, the tractor is controlled to travel normally; when the fault level is level 1 or level 2, the tractor is controlled to limit torque; when the fault level is level 3, the tractor is shut down and powered off.

[0015] Compared with the prior art, the present invention has achieved the following beneficial technical effects:

[0016] The present invention provides a method for diagnosing and processing faults of an electric tractor control system, comprising the following steps: step one: classifying control system faults of an electric tractor according to each functional module; step two: setting the system fault level to four levels, namely, level 0 fault, level 1 fault, level 2 fault, and level 3 fault; step three: the control system calculates and determines the fault level; step four: a whole vehicle controller detects its own faults in real time, and simultaneously receives the fault types and fault levels of other subsystems in real time, and makes corresponding processing methods according to the specific functions of each subsystem; modular hierarchical fault processing of whole vehicle faults is realized, and the safety and efficiency of the pure electric tractor during field operations are guaranteed to the greatest extent. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0018] The purpose of the present invention is to provide a method for diagnosing and processing faults of an electric tractor control system to solve the problems existing in the prior art.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with specific implementation methods.

[0020] Embodiment 1:

[0021] This embodiment provides a method for diagnosing and processing faults of an electric tractor control system, comprising the following steps:

[0022] Step 1: Classify the control system faults of the electric tractor according to each functional module; the classification includes: low-voltage circuit fault diagnosis, BMS\PDU\MCU\DCDC\DCAC heartbeat signal abnormality fault, travel motor MCU fault, working motor MCU fault, BMS fault, high-voltage insulation fault, relay adhesion fault, DCAC control system fault, DCDC control system fault, fan and water pump drive fault

[0023] Step 2: Set the system fault level to four levels, namely level 0 fault, level 1 fault, level 2 fault, and level 3 fault; level 0 fault of the whole vehicle means no fault, and the whole vehicle is normal; level 1 fault means minor fault, level 2 fault means moderate fault, and level 3 fault means severe emergency fault.

[0024] Step 3: The control system calculates and determines the fault level; when the low-voltage battery voltage is lower than the minimum limit or higher than the maximum limit, it is a level 3 fault; when the battery voltage is lower than the normal value but can maintain system power supply, it is a level 1 fault; when the low-voltage battery voltage is within the normal range, it is a level 0 fault;

[0025] Step 4: The vehicle controller detects its own faults in real time, and receives the fault types and fault levels of other subsystems in real time, and makes corresponding processing methods according to the specific functions of each subsystem; Fault processing method: When the fault level is level 0, the tractor drives normally; when the fault level is level 1 or level 2, the tractor is torque-limited; when the fault level is level 3, the tractor stops and cuts off power.

[0026] The present invention provides an electric tractor control system fault diagnosis and processing method, which adopts a vehicle controller for overall control and management, and communicates and cooperates with a battery management system, a drive motor controller, a PTO motor controller, and a steering brake DC / DC three-in-one motor controller to diagnose the fault of the electric tractor. The electric tractor classifies the control system faults according to each functional module, including low-voltage circuit fault diagnosis, BMS\PDU\MCU\DCDC\DCAC heartbeat signal abnormality fault, travel motor MCU fault, working motor MCU fault, BMS fault, high-voltage insulation fault, relay adhesion fault, DCAC control system fault, DCDC control system fault, fan and water pump drive fault; calculates the fault level range to determine the fault level, and makes corresponding torque limiting, shutdown and power-off controls on the tractor. The fault categories and processing methods are detailed in Table 1; modular hierarchical fault processing of vehicle faults is realized, and the safety and efficiency of the pure electric tractor in field operations are guaranteed to the greatest extent.

[0027] Table 1 Fault categories and solutions

[0028]

[0029] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for diagnosing and processing faults in an electric tractor control system, characterized in that: The following steps are involved: Step 1: Classify the control system faults of the electric tractor according to each functional module; Step 2: Set the system fault level to four levels, namely level 0 fault, level 1 fault, level 2 fault, and level 3 fault; Step 3: The control system calculates and determines the fault level; Step 4: The vehicle controller detects its own faults in real time, and receives the fault types and fault levels of other subsystems in real time, and makes corresponding processing methods according to the specific functions of each subsystem.

2. The electric tractor control system fault diagnosis and processing method according to claim 1 is characterized in that: The categories in step one include: low-voltage circuit fault diagnosis, BMS\PDU\MCU\DCDC\DCAC heartbeat signal abnormality fault, travel motor MCU fault, working motor MCU fault, BMS fault, high-voltage insulation fault, relay adhesion fault, DCAC control system fault, DCDC control system fault, fan and water pump drive fault.

3. The electric tractor control system fault diagnosis and processing method according to claim 1, characterized in that: In step 2, the vehicle level 0 fault means there is no fault and the vehicle is normal; Level 1 faults are minor faults, Level 2 faults are moderate faults, and Level 3 faults are severe emergency faults.

4. The electric tractor control system fault diagnosis and processing method according to claim 1, characterized in that: In step three, if the low-voltage battery voltage is lower than the minimum limit or higher than the maximum limit, it is a level 3 fault; if the battery voltage is lower than the normal value but can maintain system power supply, it is a level 1 fault; when the low-voltage battery voltage is within the normal range, it is a level 0 fault.

5. The electric tractor control system fault diagnosis and processing method according to claim 1, characterized in that: Fault handling method in step 4: When the fault level is level 0, the tractor is under normal driving control; when the fault level is level 1 or 2, the tractor is under torque limit control; when the fault level is level 3, the tractor is shut down and the power is cut off.

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