Self-adaptive power supply power management method and system for EMB system

Abstract

The invention discloses a self-adaptive power supply power management method and system for an EMB system. The method comprises the following steps: looking up a table to obtain a torque instruction basic value; calculating a minimum available voltage and a voltage error value; processing the voltage error value, and sending the voltage error value into a PI controller for calculation to obtain a first torque command compensation value; looking up the table to obtain a power supply current preset value; calculating to obtain a real-time power supply current value; calculating a current error value, processing the current error value, and finally sending the current error value into the PI controller for calculation to obtain a second torque instruction compensation value; and adding the torque command basic value, the first torque command compensation value and the second torque command compensation value to obtain a final torque command limit value. According to the self-adaptive power supply power management method and system for the EMB system, a closed-loop adjustment method is introduced to carry out self-adaptive adjustment on power output, the output power of the power supply can be maintained within the preset value all the time, and stable output of the system is ensured.

Description

Technical Field

[0001] The present invention belongs to the field of power supply management, and in particular relates to an adaptive power supply management method and system for an EMB system. Background Art

[0002] As a new generation of wire-controlled braking technology, the electromechanical braking system (EMB) directly drives the brake caliper through an electric motor. Compared with traditional hydraulic braking systems, it has core advantages such as lightweight structure, fast response speed (millisecond level) and intelligent control potential. It can significantly improve the endurance of electric vehicles and the collaborative performance of autonomous driving.

[0003] However, EMB technology requires four independent wheel-end actuators to operate simultaneously to generate braking force, significantly increasing power consumption. Existing solutions, if motor output power is not properly managed, can significantly increase wiring voltage drop, reducing the available power supply voltage. This, in turn, further increases the power supply current, creating a vicious cycle. In severe cases (such as when powered by a battery), this can even cause the motor-end voltage to drop to the minimum available voltage, rendering the system unusable and posing a serious safety risk.

[0004] Existing motor power management methods are relatively simple. They typically first impose a fixed torque limit on the motor speed at a 12V power supply. The torque command is then compensated based on the power supply voltage, with lower voltages increasing the torque limit. The final torque command is then calculated to implement power limiting. While this method can achieve certain power management objectives, it operates only according to a pre-set power limit curve and cannot achieve adaptive control.

[0005] Therefore, the above problems need to be solved urgently. Summary of the Invention

[0006] Purpose of the invention: In order to overcome the above shortcomings, the purpose of the present invention is to provide an adaptive power management method and system for an EMB system, propose an innovative power management method, introduce a closed-loop regulation method to adaptively adjust the power output, and maintain the output power of the power supply within a preset value at all times, thereby ensuring stable output of the system.

[0007] Technical Solution: To achieve the above objectives, the present invention provides an adaptive power management method for an EMB system, comprising: S1): Call the first motor power limit module, and obtain the torque command base value by looking up the table according to the motor speed and power supply voltage; the torque command base value is obtained by looking up the table according to the motor speed and power supply voltage, and the motor's operating state and power supply state are comprehensively considered to ensure that the initial value of the torque command is more in line with actual needs; S2): Call the second motor power limit module to calculate the first torque command compensation to prevent the voltage from being lower than the minimum available voltage; S201): Calculate the minimum available voltage; S202): Calculate the voltage error value; S203): Process the voltage error value, S204): Send the voltage error value to the PI controller for calculation to obtain the first torque command compensation value; By avoiding unnecessary compensation for the power supply voltage, the power supply voltage can be prevented from being too high, thereby protecting the electronic components in the system from damage, which helps to improve the safety and reliability of the system; The PI controller can dynamically adjust the first torque command compensation value according to the voltage error value. This dynamic adjustment method can quickly respond to changes in the system and ensure the stability and reliability of the system; S3): Call the power supply current calculation module and the third motor power limiting module to calculate the second torque command compensation value; S301): Obtain the power supply current preset value according to the power supply voltage lookup table; S302): Calculate the real-time power supply current value in combination with the motor's torque, speed and power supply voltage; S303): Calculate the current error value between the power supply current preset value and the real-time power supply current value, process the current error value, and finally send the current error value to the PI controller for calculation to obtain the second torque command compensation value; By avoiding unnecessary compensation for the power supply current, the power supply current can be prevented from being too high, thereby protecting the electronic components in the system from damage, and helping to improve the safety and reliability of the system; The PI controller can dynamically adjust the second torque command compensation value according to the current error value. This dynamic adjustment method can quickly respond to changes in the system and ensure the stability and reliability of the system; S4): Call the final torque command calculation module, add the torque command base value, the first torque command compensation value and the second torque command compensation value to obtain the final torque command limit value; through the dual protection mechanism of voltage and current, the system can effectively avoid failures caused by power supply voltage and current problems, thereby improving the safety and reliability of the system.

[0008] Furthermore, the calculation process of S201 is: Define the system's minimum operating voltage and, based on this, add the minimum operating voltage to the preset reserve voltage to arrive at the minimum available voltage. This minimum available voltage buffer helps the system better cope with power supply voltage fluctuations and interference, improving system robustness and ensuring proper operation under various complex operating conditions.

[0009] Furthermore, the calculation formula of the voltage error value in S202 is as follows: Voltage error value = lowest available voltage - power supply voltage feedback value; In embedded systems, the voltage error calculation logic can be implemented by an ordinary microcontroller without the need for complex algorithms or high-performance processors, making this method widely applicable to various resource-constrained environments, such as the braking systems of small vehicles and industrial automation equipment.

[0010] Furthermore, the voltage error value processing in S203 is specifically as follows: if the voltage error value is greater than 0, the voltage error value is set to 0; otherwise, the voltage error value remains unchanged. By preventing the voltage from being too high, power waste due to overcompensation can be avoided. Compensation is only performed when the voltage is below the preset value, thereby optimizing power efficiency.

[0011] Furthermore, the calculation formula of the current error value in S303 is as follows: Current error value = real-time power supply current value - power supply current preset value; The current error value can intuitively reflect the deviation. At the same time, the calculation method is simple, the requirements for hardware and software are low, and it is easy to implement in various control systems.

[0012] Furthermore, the current error value processing in S303 is specifically as follows: if the current error value is greater than 0, the second torque command compensation value is set to 0; otherwise, the current error value remains unchanged. This eliminates the need for complex calculations on the current error value, resulting in a fast and efficient calculation process that can more quickly respond to current changes and reduces the complexity of the control system.

[0013] The present invention also provides an adaptive power management system for an EMB system, comprising: a first motor power limiting module, a second motor power limiting module, a third motor power limiting module, a power current calculation module, and a final torque command calculation module; The first motor power limit module is connected to the final torque command calculation module to transmit the torque command base value; the second motor power limit module is connected to the final torque command calculation module to calculate and transmit the first torque command compensation value; the power supply current calculation module, the third motor power limit module, and the final torque command calculation module are connected in sequence to calculate and transmit the second torque command compensation value. The modular design makes the system easy to expand and upgrade, and new functional modules can be easily added to the existing system without redesigning the entire system. At the same time, the second motor power limit module and the third motor power limit module respectively calculate the first torque command compensation value and the second torque command compensation value, further optimizing the final torque command limit value. Through dimensional data processing, the torque command can be more accurately adjusted to ensure stable operation of the motor under various operating conditions.

[0014] It can be seen from the above technical solution that the present invention has the following beneficial effects: 1. The present invention provides an adaptive power management method and system for an EMB system, which introduces a closed-loop control method into the field of power management, realizes adaptive control of power supply, and can maximize the operational stability of power supply; 2. The present invention provides an adaptive power management method and system for an EMB system, which implements power management through closed-loop regulation. Compared with the traditional open-loop table lookup solution, it reduces the workload and achieves better control. 3. The present invention provides an adaptive power management method and system for an EMB system, which sets the system's minimum operating voltage, thereby preventing the power supply voltage from being continuously pulled down to the system's minimum operating voltage due to insufficient power limitation when the battery is feeding power, thereby avoiding safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of an adaptive power management method for an EMB system according to the present invention; Figure 2 This is a schematic diagram of the architecture of an adaptive power management system for an EMB system according to the present invention; Figure 3 This is a flow chart for calculating the first torque command compensation value in the adaptive power management method for an EMB system according to the present invention; Figure 4 This is a flow chart for calculating the second torque command compensation value in the adaptive power management method for an EMB system according to the present invention. DETAILED DESCRIPTION

[0016] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention. Example

[0017] In this embodiment, Figure 1 、 Figure 3 and Figure 4 The present invention discloses an adaptive power management method for an EMB system, comprising: S1): calling a first motor power limiting module, and obtaining a torque instruction base value by looking up a table according to the motor speed and power supply voltage; generally, the lower the power supply voltage, the more serious the power supply, and the smaller the allowable current output preset value.

[0018] In this embodiment, an adaptive power management method for an EMB system also includes S2): calling a second motor power limiting module to calculate a first torque command compensation to prevent the voltage from being lower than the minimum available voltage; S201): calculating the minimum available voltage; S202): calculating a voltage error value; S203): processing the voltage error value, S204): sending the voltage error value to a PI controller for calculation to obtain a first torque command compensation value.

[0019] Specifically, when extreme situations occur (such as power supply failure), the torque command is adaptively reduced to reduce power consumption, ensuring that the voltage does not fall below the minimum available voltage, thereby reducing the safety risk of the system; at the same time, the proportional and integral parameters of the PI controller can be adjusted through experiments and simulations to optimize the response speed and steady-state accuracy.

[0020] In this embodiment, an adaptive power supply power management method for an EMB system also includes S3): calling a power supply current calculation module and a third motor power limiting module to calculate a second torque command compensation value; S301): obtaining a power supply current preset value according to a power supply voltage table lookup; S302): obtaining a real-time power supply current value by combining the motor's torque, speed and power supply voltage; S303): calculating a current error value between the power supply current preset value and the real-time power supply current value, processing the current error value, and finally sending the current error value to a PI controller for calculation to obtain a second torque command compensation value.

[0021] Specifically, while the vehicle is driving, the power supply voltage may drop due to insufficient battery power or generator failure; through voltage error processing and compensation by the PI controller, the system can adjust the torque command in a timely manner to ensure that the power supply voltage and current remain within a safe range, thereby improving system stability.

[0022] In this embodiment, an adaptive power management method for an EMB system further includes S4): calling a final torque instruction calculation module, adding a torque instruction base value, a first torque instruction compensation value, and a second torque instruction compensation value to obtain a final torque instruction limit value.

[0023] Specifically, on the basis of the fixed torque limit of the torque command base value, a closed-loop control of the power supply current consumption is added. If the power supply current consumption exceeds the preset value, the torque command is adaptively reduced to reduce power consumption, ensuring that the power supply power consumption will not exceed the preset value under any working conditions.

[0024] In this embodiment, the calculation process of S201 is: The system minimum operating voltage is defined, and based on the system minimum operating voltage, the minimum available voltage is obtained by adding the system minimum operating voltage and the preset reserved voltage.

[0025] Specifically, the system's minimum operating voltage depends on the system's hardware topology. The following is an exemplary case, for example, if the system's minimum operating voltage is 6V, the reserved voltage can be preset to 1V, and the calculated minimum available voltage is 7V.

[0026] In this embodiment, the calculation formula of the voltage error value in S202 is as follows: Voltage error value = lowest available voltage - power supply voltage feedback value.

[0027] Specifically, in embedded systems, the voltage error value calculation logic can be implemented by an ordinary microcontroller without the need for complex algorithms or high-performance processors, making this method widely applicable to various resource-constrained environments, such as the braking systems of small vehicles and industrial automation equipment.

[0028] In this embodiment, the voltage error value is processed in S203 as follows: if the voltage error value is greater than 0, the voltage error value is set to 0; otherwise, the voltage error value remains unchanged.

[0029] Specifically, when the voltage feedback value is greater than the lowest available voltage, that is, the voltage error value is greater than 0, which means that the lowest available voltage limit is not triggered, so the compensation is expected to be 0; at this time, the error is limited to 0 through error processing.

[0030] In this embodiment, the calculation formula of the current error value in S303 is as follows: Current error value = real-time power supply current value - power supply current preset value.

[0031] Specifically, as a preferred embodiment, a data acquisition card can be used to acquire the output signal of the current sensor in real time to obtain the real-time power supply current value.

[0032] In this embodiment, the current error value is processed in S303 as follows: if the current error value is greater than 0, the second torque command compensation value is set to 0; otherwise, the current error value remains unchanged.

[0033] Specifically, when the real-time power supply current value is greater than the power supply current preset value, that is, the current error value is greater than 0, that is, it has not reached the power supply current preset value, so the compensation does not need to take effect at this time; at this time, the error is limited to 0 through error processing.

[0034] In this embodiment, Figure 2The present invention also discloses an adaptive power management system for an EMB system, comprising: a first motor power limiting module, a second motor power limiting module, a third motor power limiting module, a power current calculation module, and a final torque instruction calculation module; the first motor power limiting module is connected to the final torque instruction calculation module for transmitting a torque instruction base value; the second motor power limiting module is connected to the final torque instruction calculation module for calculating and transmitting a first torque instruction compensation value; the power current calculation module, the third motor power limiting module, and the final torque instruction calculation module are connected in sequence for calculating and transmitting a second torque instruction compensation value.

[0035] Specifically, redundant units can be added to key modules such as the first, second, and third motor power limiting modules as a preferred option. For example, a spare first motor power limiting module can be added. When the first motor power limiting module in use fails, it automatically switches to the spare module to reduce system downtime.

[0036] In particular, an overcurrent protection function can be added to the power current calculation module. When the current exceeds the rated value, timely measures can be taken to protect the power supply and motor to prevent damage to the equipment.

[0037] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principles of the present invention. These improvements should also be regarded as the scope of protection of the present invention.

Claims

1. An adaptive power management method for an EMB system, characterized by: include: S1): Call the first motor power limit module, and obtain the torque command base value by looking up the table according to the motor speed and power supply voltage; S2): Call the second motor power limit module to calculate the first torque command compensation to prevent the voltage from falling below the minimum available voltage; S201): Calculate the lowest available voltage; S202): Calculate voltage error value; S203): Processing voltage error value, S204): Send the voltage error value to the PI controller for calculation to obtain a first torque command compensation value; S3): Call the power current calculation module and the third motor power limit module to calculate the second torque command compensation value; S301): Obtain a preset power current value based on the power voltage by looking up the table; S302): Calculate the real-time power supply current value by combining the torque, speed and power supply voltage of the motor; S303): Calculate the current error value between the preset power supply current value and the real-time power supply current value, process the current error value, and finally send the current error value to the PI controller for calculation to obtain the second torque command compensation value; S4): Call the final torque command calculation module, add the torque command base value, the first torque command compensation value and the second torque command compensation value to obtain the final torque command limit value.

2. The adaptive power management method for an EMB system according to claim 1, wherein: The calculation process of S201 is: The system minimum operating voltage is defined, and based on the system minimum operating voltage, the minimum available voltage is obtained by adding the system minimum operating voltage and the preset reserved voltage.

3. The adaptive power management method for an EMB system according to claim 1, wherein: The calculation formula of the voltage error value in S202 is as follows: Voltage error value = lowest available voltage - power supply voltage feedback value.

4. The adaptive power management method for an EMB system according to claim 1, wherein: The voltage error value is processed in S203 as follows: if the voltage error value is greater than 0, the voltage error value is set to 0; otherwise, the voltage error value remains unchanged.

5. The adaptive power management method for an EMB system according to claim 1, wherein: The calculation formula of the current error value in S303 is as follows: Current error value = real-time power supply current value - power supply current preset value.

6. The adaptive power management method for an EMB system according to claim 1, wherein: The specific processing of the current error value in S303 is as follows: if the current error value is greater than 0, the second torque command compensation value is set to 0; otherwise, the current error value remains unchanged.

7. An adaptive power management system for an EMB system, configured to implement the adaptive power management method for an EMB system according to claims 1 to 6, characterized in that: include: A first motor power limiting module, a second motor power limiting module, a third motor power limiting module, a power supply current calculation module, and a final torque command calculation module; The first motor power limiting module is connected to the final torque command calculation module for transmitting the torque command base value; the second motor power limiting module is connected to the final torque command calculation module for calculating and transmitting the first torque command compensation value; The power current calculation module, the third motor power limiting module and the final torque command calculation module are connected in sequence and are used to calculate and transmit the second torque command compensation value.

Images