An electric vehicle marine propulsion control system, vehicle and method

Abstract

The application discloses an electric vehicle navigation propeller control system, a vehicle and a method, and belongs to the technical field of electric vehicle driving control. The system comprises a driving controller, a driving motor and a propeller motor. The driving motor and the propeller motor are connected in parallel. The driving motor and the propeller motor are connected with the driving controller. A mode switching switch is arranged on a connection circuit of the driving controller. The connection circuit of the propeller motor and the driving controller and the connection circuit of the driving motor and the driving controller are connected or disconnected by controlling the closing and opening of the mode switching switch. The driving motor and the propeller motor are driven and controlled by the same driving controller, the overall weight and volume of the vehicle are reduced, the vehicle is convenient to arrange, the cost of the vehicle is reduced, and the endurance of the vehicle is improved. The technical problem that a special driving controller needs to be arranged to control the propeller motor is solved.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle drive control technology, and in particular to an electric vehicle propulsion control system, vehicle, and method. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Electric vehicles capable of underwater navigation require a propulsion system. Related technologies necessitate a dedicated motor controller to drive the propulsion motor. This dedicated controller is an independent unit within the vehicle's electrical system, existing alongside the drive controller, and connected to the corresponding motor via their respective independent high-voltage wiring harnesses.

[0004] Adding a separate motor controller increases the number of vehicle parts and the overall vehicle weight, which is detrimental to the overall vehicle layout and the range of electric vehicles. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes an electric vehicle propulsion control system, vehicle, and method. The drive motor and propulsion motor utilize the same drive controller, which reduces the overall weight and volume of the vehicle, facilitates vehicle layout, lowers vehicle costs, improves vehicle range, and reduces sealing failure points.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In the first aspect, an electric vehicle propulsion control system is proposed, comprising: a drive controller, a drive motor, and a propulsion motor; the drive motor and the propulsion motor are connected in parallel; both the drive motor and the propulsion motor are connected to the drive controller; and a mode switching switch is provided on the connection circuit between the drive motor and the propulsion motor and the drive controller. When the mode switching switch is closed, the connection circuit between the thruster motor and the drive controller is on, and the connection circuit between the drive motor and the drive controller is off. When the mode switch is in the off state, the connection circuit between the drive motor and the drive controller is in the on state, and the connection circuit between the propeller motor and the drive controller is in the off state.

[0007] Furthermore, the system includes a left-hand drive system and a right-hand drive system; The left-hand drive system and the right-hand drive system are connected in parallel; Both the left-hand drive system and the right-hand drive system include a drive controller, a drive motor, and a propeller motor.

[0008] Furthermore, the drive controller is communicatively connected to the mode switching switch; The drive controller is used to close the control mode switching switch when the electric vehicle is in navigation mode and open the control mode switching switch when the electric vehicle is in navigation mode.

[0009] Furthermore, this also includes the vehicle navigation controller; The vehicle navigation controller is used to send mode switching commands to the drive controller; The drive controller is also used to determine the type of the received mode switching command. When the type of the mode switching command is to enable navigation, it controls the electric vehicle to enable navigation mode; when the type of the mode switching command is to disable navigation, it controls the electric vehicle to disable navigation mode.

[0010] Furthermore, the drive controller is also used to, upon receiving a navigation start command, first determine whether the propeller motor is faulty; when it is determined that the propeller motor is not faulty, control the electric vehicle to start the navigation mode.

[0011] Furthermore, the drive controller is also used to continuously monitor whether the propeller motor is faulty after the navigation mode is activated; when a propeller motor fault is detected, it controls the electric vehicle to turn off the navigation mode.

[0012] Furthermore, the drive controller is also connected to the vehicle's power battery.

[0013] Furthermore, a relay and a pre-charge resistor are installed on the connection circuit between the drive controller and the power battery.

[0014] The second aspect proposes an electric vehicle, including the electric vehicle navigation propulsion control system proposed in the first aspect.

[0015] Thirdly, a control method for an electric vehicle propulsion system is proposed, including: When the car is in navigation mode, the closed mode switch connects the propeller motor to the drive controller and disconnects the drive motor from the drive controller. When the vehicle's navigation mode is disabled, disconnect the mode switch to connect the drive motor to the drive controller and disconnect the propeller motor from the drive controller.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention proposes an electric vehicle propulsion control system, vehicle, and method. The system includes: a drive controller, a drive motor, and a propulsion motor; the drive motor and propulsion motor are connected in parallel; both the drive motor and propulsion motor are connected to the drive controller; a mode switching switch is provided on the connection circuit between the drive motor and propulsion motor and the drive controller; by controlling the opening and closing of the mode switching switch, the drive controller is disconnected from the drive motor or from the propulsion motor; this invention enables the control of both the drive motor and propulsion motor through a single drive controller, thereby reducing the overall weight and volume of the vehicle, facilitating vehicle layout, reducing vehicle costs, improving vehicle range, and reducing sealing failure points.

[0017] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0019] Figure 1 This is a schematic diagram of the electrical principle of an electric vehicle propulsion control system according to an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the workflow of an electric vehicle propulsion control system according to an embodiment of the present invention.

[0020] Among them: 1. Left drive controller, 2. Vehicle navigation controller, 3. Right drive controller, 4. Right drive motor, 5. Right mode switch, 6. Right thruster motor, 7. Left thruster motor, 8. Left mode switch, 9. Left drive motor. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0025] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0026] It should be noted that all data acquisition is conducted in accordance with laws and regulations and with user consent, and the data is used legally.

[0027] In this embodiment of the invention, the following core terms are used and are explained uniformly below. The vehicle navigation controller refers to a dedicated control unit responsible for managing the switching between water navigation mode and land mode. It receives mode switching commands from the vehicle controller and sends mode switching commands to the drive controller. The drive controller refers to a motor control unit used for controlling the drive motor. In this embodiment, it also functions as a control unit for controlling the propeller motor, achieving time-division multiplexing control of the drive motor and the propeller motor. The mode switching switch refers to a three-terminal switching device with a common terminal, a first switching terminal, and a second switching terminal. Through a switching action, it selectively connects the common terminal to either the first or second switching terminal, thereby achieving mutually exclusive switching between the two electrical paths. The drive mode control parameter set refers to a combination of control parameters calibrated for the electrical characteristics of the drive motor, including current control parameters, speed loop PI control parameters, and torque control parameters. The navigation mode control parameter set refers to a combination of control parameters calibrated for the electrical characteristics of the propeller motor, also including current control parameters, speed loop PI control parameters, and torque control parameters, and is stored independently of the drive mode control parameter set. State of charge (SOC) refers to the percentage of the current charge of a power battery to its rated capacity. It is calculated in real time by the power battery management system and provided to the vehicle's navigation controller via the communication bus.

[0028] The embodiments of the present invention are based on the following technical background and problems to be solved, and the logical starting point of the embodiments of the present invention is clarified: In order to cope with flood disasters, disaster relief, off-road entertainment and other situations, electric vehicles often need to have the function of navigating in water, that is, the electric vehicle needs to have two modes, namely water navigation mode (navigation mode on) and land driving mode (navigation mode off); when the electric vehicle is in water navigation mode, the electric vehicle is propelled forward by the propulsion motor; when the electric vehicle is in land driving mode, the electric vehicle is driven by the drive motor.

[0029] The existing core solution involves electric vehicles with underwater navigation capabilities requiring a dedicated controller for the propulsion motor. This controller is an independent unit within the vehicle's electrical system, existing alongside the drive controller, and connected to the corresponding motor via separate high-voltage wiring harnesses. The core drawback of this existing technology is that the independent propulsion motor controller increases the number of vehicle components and curb weight, negatively impacting the electric vehicle's range. Furthermore, the controller itself and its high-voltage connectors must meet underwater sealing requirements, and the increased number of sealing points significantly increases the probability of system failure due to water leakage under long-term immersion conditions. Based on this, this invention proposes an electric vehicle propulsion control system. In this system, the drive motor and the propulsion motor are connected in parallel, and both the drive motor and the propulsion motor are connected to a drive controller. In addition, a mode switching switch is set on the connection circuit between the propulsion motor and the drive controller. By controlling the opening and closing of the mode switching switch, the connection between the drive controller and the drive motor or the propulsion motor can be controlled. This enables the control of both the drive motor and the propulsion motor through a single drive controller, thereby reducing the overall weight and volume of the vehicle, facilitating vehicle layout, reducing vehicle costs, improving vehicle range, and reducing sealing failure points, thus systematically solving the above-mentioned problems.

[0030] The technical implementation of this invention is summarized as follows: First, the independent propeller motor controller is eliminated, and the propeller motor control function and drive motor control function are integrated into the same drive controller, realizing time-sharing multiplexing of the drive controller, thereby reducing the number of parts, lowering costs, reducing weight, and reducing sealing failure points. Second, a mode switching switch is set between the three-phase output terminal of the drive controller and the three-phase input terminal of the propeller motor. By closing and opening the mode switching switch, a physical mutual exclusion switching between vehicle navigation mode activation (propeller operation) and navigation mode deactivation (drive motor operation) is achieved. Third, before the control mode switching switch is closed, the vehicle navigation controller performs a triple safety precondition judgment, including vehicle speed condition, water entry state condition, and power battery state of charge condition. Only when all three conditions are met can the navigation activation command be output. Furthermore, after receiving the navigation activation command, the drive controller first completes the switching of control parameters from the land driving mode control parameter set to the navigation mode control parameter set and confirms it, and then executes the mode switching switch action to ensure the timing safety of parameter and hardware switching. Simultaneously, before the mode switching switch is activated, a fault detection is performed on the propeller motors. If a propeller motor malfunctions, entry into navigation mode is prohibited, and the control mode switching switch remains in the off state. Finally, during navigation mode operation, the status of each propeller motor is monitored in real time. If a single propeller motor malfunctions, the system degrades to single-sided propulsion. If the drive controller itself malfunctions or a communication timeout occurs, both propeller motors simultaneously and safely exit navigation mode. The fault information is recorded by type, time, and level and then reported to the vehicle controller.

[0031] Specifically, an electric vehicle propulsion control system proposed in this embodiment of the invention includes: a drive controller, a drive motor, and a propulsion motor; the drive motor and the propulsion motor are connected in parallel; both the drive motor and the propulsion motor are connected to the drive controller; a mode switching switch is provided on the connection circuit between the drive motor and the propulsion motor and the drive controller. When the mode switching switch is closed, the connection circuit between the thruster motor and the drive controller is on, and the connection circuit between the drive motor and the drive controller is off, and the drive controller supplies power to the thruster motor. When the mode switch is in the off state, the connection circuit between the drive motor and the drive controller is in the on state, the connection circuit between the propeller motor and the drive controller is in the off state, and the drive controller supplies power to the drive motor.

[0032] In some embodiments, the drive controller is communicatively connected to the mode switching switch; The drive controller is used to close the control mode switching switch when the electric vehicle is in navigation mode and open the control mode switching switch when the electric vehicle is in navigation mode.

[0033] An embodiment of the present invention provides a control system for an electric vehicle propulsion system, comprising a left-hand drive system and a right-hand drive system; The left-hand drive system and the right-hand drive system are connected in parallel; Both the left-hand drive system and the right-hand drive system include a drive controller, a drive motor, and a propeller motor.

[0034] Each drive system's drive motor and propeller motor are connected to a drive controller within that system. This drive controller controls the opening and closing of the mode switching switch, enabling control of either the propeller motor or the drive motor via the drive controller. In other words, both the drive motor and propeller motor in each drive system are driven and controlled by the same drive controller. This reduces the number of drive controllers, thereby reducing overall weight and cost, facilitating the overall layout of the electric vehicle, and improving its driving range.

[0035] By setting the left-hand drive system and the right-hand drive system in parallel, independent drive control is ensured for the left and right sides of the electric vehicle, enabling the vehicle to drive in a straight line and turn.

[0036] The electric vehicle navigation propulsion control system proposed in this embodiment of the invention also includes a vehicle navigation controller; The vehicle navigation controller is used to send mode switching commands to the drive controller; The drive controller is also used to determine the type of the received mode switching command. When the type of the mode switching command is to enable navigation, it controls the electric vehicle to enable navigation mode; when the type of the mode switching command is to disable navigation, it controls the electric vehicle to disable navigation mode.

[0037] Figure 1 This is a schematic diagram of the electrical principle of an electric vehicle propulsion control system according to an embodiment of the present invention. Figure 1 As shown, an electric vehicle navigation thruster control system includes a vehicle navigation controller 2, a left drive motor 9, a right drive motor 4, a left drive controller 1, a right drive controller 3, a left mode switch 8, a right mode switch 5, a left thruster motor 7, a right thruster motor 6, and a power battery.

[0038] The vehicle navigation controller 2 is communicatively connected to the left drive controller 1 and the right drive controller 3, respectively, and is used to issue mode switching commands to the left drive controller 1 and the right drive controller 3. The vehicle navigation controller 2 is also used to acquire real-time data required for determining safety prerequisites. When it is determined based on this real-time data that the vehicle meets the safety prerequisites for activating the navigation mode, a navigation activation command is generated. The communication connection method between the vehicle navigation controller 2 and the left drive controller 1 and the right drive controller 3 is not limited to a specific protocol and can use common communication methods in the field, such as CAN bus, LIN bus, or in-vehicle Ethernet.

[0039] The electric vehicle propulsion control system proposed in this invention can be applied to various types of electric vehicles with amphibious capabilities, including but not limited to pure electric passenger vehicles, pure electric off-road vehicles, and electric emergency rescue vehicles.

[0040] In some embodiments, the output phases U, V, and W of the drive controller are connected to the input phases U, V, and W of the thruster motor via a mode switching switch.

[0041] The mode switching switch is a toggle switch, which includes a common terminal, a first switching terminal, and a second switching terminal. The common terminal of the toggle switch is electrically connected to the three-phase output terminal of the drive controller, the first switching terminal is electrically connected to the three-phase input terminal of the drive motor, and the second switching terminal is electrically connected to the three-phase input terminal of the thruster motor.

[0042] When the mode switch is closed, the second switching terminal is connected to the common terminal; when the mode switch is open, the first switching terminal is connected to the common terminal.

[0043] Specifically: The output phases U, V, and W of the left drive controller 1 are connected to the input phases U, V, and W of the left thruster motor 7 via the left mode switching switch 8; the output phases U, V, and W of the right drive controller 3 are connected to the input phases U, V, and W of the right thruster motor 6 via the right mode switching switch 5. By closing or opening the corresponding mode switching switch, the power supply circuit of the corresponding drive controller to the thruster motor or drive motor is cut off or connected, realizing the direct switching of vehicle modes. The drive motor and thruster motor can be driven in a time-sharing manner through a single drive controller, and the vehicle mode can be switched only through the mode switching switch, without the need for additional structures such as clutches, which reduces the complexity of the entire control system and simplifies the structure.

[0044] The left mode switch 8 is a switching type switch. Its common terminal is electrically connected to the three-phase output terminal of the left drive controller 1, its first switching terminal is electrically connected to the three-phase input terminal of the left drive motor 9, and its second switching terminal is electrically connected to the three-phase input terminal of the left thruster motor 7.

[0045] The right mode switch 5 is a switching type switch. Its common terminal is electrically connected to the three-phase output terminal of the right drive controller 3, its first switching terminal is electrically connected to the three-phase input terminal of the right drive motor 4, and its second switching terminal is electrically connected to the three-phase input terminal of the right thruster motor 6.

[0046] In drive mode, both the left mode switch 8 and the right mode switch 5 are in the state of being connected to the first switching terminal and the common terminal. The left drive controller 1 drives the left drive motor 9 to work, and the right drive controller 3 drives the right drive motor 4 to work, so as to realize the normal land driving of the vehicle.

[0047] In navigation mode, both the left mode switch 8 and the right mode switch 5 are switched to the state where the second switching terminal and the common terminal are connected. The left drive controller 1 drives the left thruster motor 7 to work, and the right drive controller 3 drives the right thruster motor 6 to work, so as to realize the vehicle's propulsion in water.

[0048] In some embodiments, the drive controller is also connected to the vehicle's battery. The drive controller is powered by the battery.

[0049] In addition, a relay and a pre-charge resistor are installed on the connection circuit between the drive controller and the power battery; the relay controls the on / off of the drive controller's power supply circuit; and the pre-charge resistor provides overload protection for the drive controller's power supply circuit.

[0050] A fuse is also installed between the drive controller and the power battery to provide overload protection for the power supply circuit of the drive controller.

[0051] like Figure 1 As shown, the vehicle's power battery is connected to both the left drive controller 1 and the right drive controller 3, and the left drive controller 1 and the right drive controller 3 are connected in parallel in the power supply circuit.

[0052] The vehicle navigation controller 2 proposed in this embodiment includes a prerequisite condition judgment module. This prerequisite condition judgment module is connected to the vehicle speed sensor, water level sensor, and power battery management system. After receiving the navigation start command sent by the vehicle controller, it sequentially verifies the following three conditions: whether the current vehicle speed is lower than a preset vehicle speed threshold (the preset vehicle speed threshold range is 0~5km / h); whether the water level sensor detects whether the electric vehicle is in a water-filled state; and whether the power battery state of charge value is lower than a preset power threshold (the preset power threshold range is 20%~40%).

[0053] When all three conditions are met, the vehicle navigation controller 2 outputs a mode switching command for starting the navigation command type to the left drive controller 1 and the right drive controller 3. If any condition is not met, the vehicle navigation controller 2 prohibits the output of the starting navigation command and reports the current status information to the vehicle controller through the communication connection, prompting the operator that the current conditions for entering the water are not met.

[0054] In some embodiments, the drive controller is further configured to, upon receiving a navigation start command, first determine whether the propeller motor is faulty; and when it is determined that the propeller motor is not faulty, control the electric vehicle to start the navigation mode.

[0055] Whether the thruster motor is faulty is determined by detecting the insulation resistance and temperature of the thruster motor; when the insulation resistance of the thruster motor is less than the set insulation threshold, or the temperature of the thruster motor is higher than the preset temperature threshold, the thruster motor is judged to be faulty.

[0056] Specifically: The left drive controller 1 is connected to the insulation detection port and temperature sensor signal of the left thruster motor 7, and the right drive controller 3 is connected to the insulation detection port and temperature sensor signal of the right thruster motor 6. Upon receiving the navigation start command, the left drive controller 1 performs insulation resistance and temperature detection on the left thruster motor 7, and the right drive controller 3 performs insulation resistance and temperature detection on the right thruster motor 6. When the insulation resistance of either the left or right thruster motor is lower than a preset insulation threshold or the motor temperature is higher than a preset temperature threshold, the corresponding drive controller outputs a disable signal to the vehicle navigation controller 2, prohibiting subsequent parameter switching and mode switching actions, prohibiting the activation of the navigation mode, and reporting the fault information to the vehicle navigation controller 2.

[0057] The left drive controller 1 and the right drive controller 3 each store a drive mode control parameter set and a navigation mode control parameter set, which are stored independently. The drive mode control parameter set includes current control parameters calibrated for the drive motor characteristics, the speed loop proportional coefficient Kp_drive, the speed loop integral coefficient Ki_drive, and torque control parameters. The navigation mode control parameter set includes current control parameters calibrated for the propeller motor characteristics, the speed loop proportional coefficient Kp_prop, the speed loop integral coefficient Ki_prop, and torque control parameters.

[0058] After passing the pre-voyage checks, each drive controller replaces the parameters in the drive mode control parameter set with the corresponding parameter values ​​in the navigation mode control parameter set. Only after the parameter switching is confirmed can the corresponding mode switching switch be switched from the first switching end to the second switching end, and the propeller motor enters the working state. The above-mentioned timing design of "parameter switching confirmation first, then switch action" ensures that the propeller motor is connected to the circuit only after obtaining the correct control parameters, avoiding abnormal motor operation due to parameter mismatch.

[0059] During navigation mode operation, the vehicle navigation controller 2 receives status messages from each controller in real time through communication connections with the left drive controller 1 and the right drive controller 3, and implements fault degradation processing.

[0060] When a single-side drive controller status message reports a propeller motor failure, the vehicle navigation controller 2 sends a command to the faulty side drive controller to shut down the navigation mode, controls the faulty side mode switching switch to switch to the first switching end, and keeps the other side propeller motor working to achieve single-side degraded propulsion, maintain the vehicle's basic water maneuverability, and reports the single-side fault information to the vehicle controller.

[0061] When any drive controller status message times out or reports a controller malfunction, the vehicle navigation controller 2 simultaneously sends a command to the left drive controller 1 and the right drive controller 3 to shut down the navigation mode, controlling both sides to switch to the first switching end, exiting the navigation mode, and ensuring system safety.

[0062] The vehicle navigation controller 2 is also used to record pre-navigation insulation detection fault information, temperature detection fault information, single-side thruster motor fault information during navigation, and drive controller own fault information, according to fault type, occurrence time and fault level, and upload the fault records to the vehicle controller through the communication connection between the vehicle controller and the vehicle controller for fault diagnosis and maintenance decision-making.

[0063] The aforementioned system architecture eliminates the need for an independent thruster motor controller, reducing the number of vehicle parts, lowering costs, reducing curb weight, and minimizing underwater seal failure points. A triple safety precondition judgment mechanism effectively prevents accidental mode switching under unsuitable conditions. The independent storage and switching confirmation mechanism for dual-mode control parameter sets ensures that both types of motors operate under optimal control parameters. A fault degradation handling mechanism enables the system to maintain basic underwater maneuverability even in the event of a single thruster failure, significantly improving system reliability.

[0064] like Figure 2 As shown in the embodiment of the present invention, the working process of an electric vehicle propulsion control system includes: S101, the vehicle navigation controller 2 receives the navigation command sent by the vehicle controller, and sequentially checks whether the current vehicle speed is lower than the preset vehicle speed threshold, whether the water level sensor 11 detects that the vehicle is in a water-filled state, and whether the state of charge value of the power battery is not lower than the preset power threshold.

[0065] Specifically, the preset vehicle speed threshold ranges from 0 to 5 km / h, corresponding to the vehicle being stationary or crawling at low speed; the water level sensor 11 provides the water ingress detection signal directly from the sensor hardware; the power battery state of charge value is provided in real time to the vehicle navigation controller 2 by the power battery management system 12 through a communication connection, and the preset power threshold ranges from 20% to 40%.

[0066] When all three conditions are met, the vehicle navigation controller 2 proceeds to step S102. If any condition is not met, the vehicle navigation controller 2 is prohibited from entering navigation mode and reports the current status information to the vehicle controller, terminating the process. Step S101 addresses the technical problems of lacking safety prerequisite verification and having the risk of accidental switching in the prior art.

[0067] S102, the left drive controller 1 and the right drive controller 3 respectively perform insulation resistance detection and temperature detection on the left thruster motor 7 and the right thruster motor 6.

[0068] When the insulation resistance of the propeller motor on either side is lower than the preset insulation threshold or the temperature is higher than the preset temperature threshold, the corresponding drive controller reports the fault information to the vehicle navigation controller 2, prohibits entry into navigation mode, and records the fault type, time of occurrence and fault level in the fault storage area of ​​the vehicle navigation controller 2. The fault record is then uploaded to the vehicle controller via communication connection, and the process terminates.

[0069] When both sides of the thruster motor pass the insulation and temperature tests, proceed to step S103. Step S102 effectively prevents thruster motors with insulation failure or overheating from being put into operation, protecting the controller and motor safety.

[0070] S103, the vehicle navigation controller 2 sends a navigation mode activation command to the left drive controller 1 and the right drive controller 3, and each drive controller replaces the control parameters in the drive mode control parameter set with the corresponding parameter values ​​in the navigation mode control parameter set.

[0071] Specifically, after receiving the navigation enable command, the left drive controller 1 and the right drive controller 3 replace the stored drive mode current control parameters, speed loop proportional coefficient Kp_drive, speed loop integral coefficient Ki_drive, and torque control parameters with the current control parameters, speed loop proportional coefficient Kp_prop, speed loop integral coefficient Ki_prop, and torque control parameters corresponding to the navigation mode, respectively.

[0072] After the parameter switching is completed, each drive controller sends a parameter switching confirmation message to the vehicle navigation controller 2. Only after receiving the confirmation message can the vehicle navigation controller 2 proceed to step S104. Step S103 solves the technical problem that a single parameter configuration cannot take into account the characteristics of two types of motors, ensuring that the propeller motor starts under optimal control parameters.

[0073] S104, the left drive controller 1 controls the left mode switching switch 8 to switch from the first switching end to the second switching end, and the right drive controller 3 controls the right mode switching switch 5 to switch from the first switching end to the second switching end. The left thruster motor 7 and the right thruster motor 6 enter the working state, and the vehicle enters the navigation mode.

[0074] Step S104 is executed after the parameter switching confirmation in step S103, to ensure that the thruster motor is under the correct control parameter configuration when the switching switch is activated, so as to avoid motor impact or abnormal operation caused by parameters not being ready.

[0075] S105, during the operation of the navigation mode, the vehicle navigation controller 2 receives the status messages of the left drive controller 1 and the right drive controller 3 in real time through the communication connection and performs fault degradation processing.

[0076] When a single-side drive controller status message reports a propeller motor failure, the vehicle navigation controller 2 sends a navigation disable command to the faulty side drive controller, controls the faulty side switch to switch to the first switching end, keeps the other side propeller motor working, and reports the single-side fault information to the vehicle controller. The fault type, occurrence time and fault level are recorded in the fault storage area and then uploaded to the vehicle controller.

[0077] When any drive controller status message times out or reports a controller malfunction, the vehicle navigation controller 2 simultaneously sends a navigation disable command to both drive controllers, controlling both side switches to switch to the first switching end, exiting the navigation mode, and proceeding to step S106. Step S105 solves the technical problem in the prior art where a single-side thruster failure leads to a complete interruption of the navigation function, achieving fault-based degraded propulsion.

[0078] S106 After the switching switch is switched to the first switching end, each drive controller switches the control parameters from the corresponding values ​​of the navigation mode control parameter set back to the corresponding values ​​of the drive mode control parameter set, restores the drive motor drive mode, and the vehicle regains its ability to travel on land.

[0079] Through the above steps S101 to S106, this method, based on ensuring the verification of safety prerequisites, pre-voyage fault detection, and precise adaptation of control parameters, realizes safe and reliable switching between drive mode and navigation mode, and provides a complete fault degradation protection mechanism during navigation, systematically solving the technical problems of existing technologies.

[0080] The electric vehicle propulsion control system proposed in this invention has the following beneficial effects: (1) In addition to being controllers for the left drive motor and the right drive motor, the left drive controller and the right drive controller also serve as controllers for the left propeller motor and the right propeller motor, respectively. The time-sharing multiplexing of the drive motor and the propeller motor is achieved through the mode switching switch, eliminating the independent propeller motor controller, reducing the number of vehicle parts, reducing the curb weight, reducing underwater seal failure points, improving the reliability of the system in long-term water immersion environment, and the range of electric vehicles; (2) Before issuing the start navigation command, the vehicle navigation controller checks the vehicle speed, water entry status and power battery charge status in sequence. The start navigation command can only be issued when the vehicle speed is below the 0-5 km / h threshold, the water level sensor confirms water entry and the power battery charge status value is not below the preset threshold of 20%-40%, which effectively avoids the safety risk of accidental switching under unsuitable conditions. (3) The left drive controller and the right drive controller independently store the drive mode control parameter set and the navigation mode control parameter set. The two parameter sets are calibrated for the electrical characteristics of the drive motor and the propeller motor respectively. When switching modes, the parameter switching confirmation is completed first and then the mode switching switch action is executed, which ensures the control accuracy of the two types of motors under their respective working conditions. (4) When a single-sided thruster motor fails, the vehicle navigation controller disables navigation on the faulty side and switches to drive mode, while the other side thruster motor remains in normal operation, thus achieving downgraded single-sided propulsion and maintaining basic underwater maneuverability. (5) The drive controller also checks whether the propeller motor is faulty before the navigation mode is turned on and during the vehicle's navigation operation after the navigation mode is turned on. The navigation mode is turned on only when the propeller motor is not faulty. If the propeller motor is found to be faulty during the navigation process, the navigation mode is turned off immediately to effectively protect the propeller motor. The time and type of the propeller motor fault are also recorded and uploaded to the vehicle controller for easy fault tracing and maintenance diagnosis.

[0081] It is understood that the switching device in the above embodiments is not limited to a mechanical switching device. Depending on the actual engineering requirements, commonly used switching devices in the field, such as solid-state relays, contactors, and IGBT switches, can also be used, as long as they can achieve the mutual exclusion switching function between the common terminal and the first switching terminal or the second switching terminal.

[0082] It is understood that the communication connection method in the above embodiments is not limited to a specific communication protocol, and can be selected according to the vehicle network architecture, such as CAN bus, LIN bus, vehicle Ethernet or FlexRay, which are commonly used communication methods in the field.

[0083] It is understood that the aforementioned preset vehicle speed threshold (0~5km / h), preset battery level threshold (20%~40%), preset insulation threshold, and preset temperature threshold can all be calibrated and adjusted according to the engineering parameters of specific vehicle models, and are not fixed values. This application does not limit the specific values ​​of the aforementioned thresholds.

[0084] Obviously, the propeller motor arrangement scheme in the above embodiments is not limited to the dual propeller scheme with symmetrical arrangement on the left and right rear sides. It can also adopt a single propeller scheme (only reusing the drive controller on one side), a front drive controller reuse scheme, or a multi-propeller scheme. As long as the same controller reuse and switching technology concept is used, it is within the protection scope of this application.

[0085] It is understandable that the specific parameter types in the above-mentioned navigation mode control parameter set are not limited to current control parameters, speed loop PI control parameters, and torque control parameters. Other motor control parameters such as flux linkage control parameters and field weakening control parameters can also be added according to the actual control requirements of the propeller motor to further optimize the control performance of the propeller motor.

[0086] This invention also proposes an electric vehicle, including an electric vehicle propulsion control system proposed in this invention.

[0087] One of the electric vehicle propulsion control systems includes: a drive controller, a drive motor, and a propulsion motor; the drive motor and the propulsion motor are connected in parallel; both the drive motor and the propulsion motor are connected to the drive controller; a mode switching switch is provided on the connection circuit between the drive motor and the propulsion motor and the drive controller; When the mode switching switch is closed, the connection circuit between the thruster motor and the drive controller is on, and the connection circuit between the drive motor and the drive controller is off. When the mode switch is in the off state, the connection circuit between the drive motor and the drive controller is in the on state, and the connection circuit between the propeller motor and the drive controller is in the off state.

[0088] In some embodiments, an electric vehicle propulsion control system includes a left-hand drive system and a right-hand drive system; The left-hand drive system and the right-hand drive system are connected in parallel; Both the left-hand drive system and the right-hand drive system include a drive controller, a drive motor, and a propeller motor.

[0089] In some embodiments, the drive controller is communicatively connected to the mode switching switch; The drive controller is used to close the control mode switching switch when the electric vehicle is in navigation mode and open the control mode switching switch when the electric vehicle is in navigation mode.

[0090] In some embodiments, an electric vehicle navigation propulsion control system further includes a vehicle navigation controller; The vehicle navigation controller is used to send mode switching commands to the drive controller; The drive controller is also used to determine the type of the received mode switching command. When the type of the mode switching command is to enable navigation, it controls the electric vehicle to enable navigation mode; when the type of the mode switching command is to disable navigation, it controls the electric vehicle to disable navigation mode.

[0091] In some embodiments, the drive controller is further configured to, upon receiving a navigation start command, first determine whether the propeller motor is faulty; and when it is determined that the propeller motor is not faulty, control the electric vehicle to start the navigation mode.

[0092] In some embodiments, the drive controller is also configured to continuously monitor whether the propeller motor is faulty after the navigation mode is activated; when a propeller motor fault is detected, the controller controls the electric vehicle to turn off the navigation mode.

[0093] In some embodiments, the drive controller is also connected to the vehicle's power battery.

[0094] In some embodiments, a relay and a pre-charge resistor are provided on the connection circuit between the drive controller and the power battery.

[0095] It should be noted that the electric vehicles proposed in the embodiments of the present invention can be various types of electric vehicles with amphibious capabilities, including but not limited to pure electric passenger vehicles, pure electric off-road vehicles, and electric emergency rescue vehicles.

[0096] This invention proposes an electric vehicle propulsion control system for an electric vehicle. The system includes a drive controller, a drive motor, and a propulsion motor. The drive motor and propulsion motor are connected in parallel. Both the drive motor and propulsion motor are connected to the drive controller. A mode switching switch is provided on the connection circuit between the drive motor and propulsion motor and the drive controller. By controlling the opening and closing of the mode switching switch, the drive controller can be disconnected from the drive motor or from the propulsion motor. This allows for the control of both the drive motor and propulsion motor by a single drive controller, thereby reducing the overall weight and volume of the vehicle, facilitating vehicle layout, reducing vehicle costs, improving vehicle range, and reducing potential sealing failure points.

[0097] This invention also proposes a control method for an electric vehicle propulsion system, comprising: When the car is in navigation mode, the closed mode switch connects the propeller motor to the drive controller and disconnects the drive motor from the drive controller. When the vehicle's navigation mode is disabled, disconnect the mode switch to connect the drive motor to the drive controller and disconnect the propeller motor from the drive controller.

[0098] In some embodiments, when the electric vehicle is in navigation mode, the drive controller controls the mode switching switch to close; when the electric vehicle is in navigation mode, the drive controller controls the mode switching switch to open.

[0099] Among these measures, the vehicle navigation controller sends a mode switching command to the drive controller. After receiving a mode switching command, the drive controller determines the type of the received mode switching command. When the type of the mode switching command is to enable navigation, it controls the electric vehicle to enable navigation mode; when the type of the mode switching command is to disable navigation, it controls the electric vehicle to disable navigation mode.

[0100] Furthermore, the electric vehicle navigation thruster control method proposed in this embodiment of the invention further specifies that after the drive controller receives the start navigation command, it first determines whether the thruster motor is faulty; when it is determined that the thruster motor is not faulty, it controls the electric vehicle to start the navigation mode.

[0101] Furthermore, after the navigation mode is activated, the drive controller continuously monitors whether the propeller motor is faulty; when a propeller motor fault is detected, it controls the electric vehicle to turn off the navigation mode.

[0102] The present invention proposes an electric vehicle propulsion control method, which controls the connection between the drive controller and the drive motor or the propulsion motor by opening and closing a control mode switching switch; thereby realizing the control of the drive motor and the propulsion motor through the same drive controller, thereby reducing the overall weight and volume of the vehicle, facilitating vehicle layout, reducing vehicle cost, improving vehicle range, and reducing sealing failure points.

[0103] It should be noted that the electric vehicle propulsion control method provided in the above embodiments is based on the same concept as the electric vehicle propulsion control system when controlling the propulsion. The specific implementation process is detailed in the system embodiments and will not be repeated here.

[0104] The present invention also discloses a computer device, the device comprising: A processor, adapted to execute computer programs; A computer-readable storage medium storing a computer program, which, when executed by the processor, implements a method for controlling an electric vehicle propulsion system disclosed in an embodiment of the present invention.

[0105] The computer device can be a portable mobile terminal, such as a smartphone, tablet, laptop, or desktop computer. Typically, a computer device includes a processor and memory.

[0106] A processor may include one or more processing cores, such as a core processor or a core processor. The processor may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor may also include a main processor and coprocessors. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0107] The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory are used to store at least one computer program, which is executed by a processor to implement the intelligent vehicle control method provided in the method embodiments of this application.

[0108] In some embodiments, the computer device may also optionally include: a peripheral device interface and at least one peripheral device. The processor, memory, and peripheral device interface can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: radio frequency circuitry, a display screen, a camera assembly, audio circuitry, and a power supply.

[0109] Peripheral device interfaces can be used to connect at least one I / O (Input / Output) related peripheral device to the processor and memory. In some embodiments, the processor, memory, and peripheral device interface are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor, memory, and peripheral device interface can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0110] Radio frequency (RF) circuits are used to receive and transmit RF signals, also known as electromagnetic signals. RF circuits communicate with communication networks and other communication devices via electromagnetic signals. RF circuits convert electrical signals into electromagnetic signals for transmission, or convert received electromagnetic signals back into electrical signals. In some embodiments, the RF circuit includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit can communicate with other terminals through at least one wireless communication protocol. These wireless communication protocols include, but are not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0111] The present invention also discloses a computer-readable storage medium storing a computer program adapted for loading by a processor and executing an electric vehicle propulsion control method disclosed in the embodiments of the present invention.

[0112] The present invention also discloses a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements an electric vehicle propulsion control method disclosed in the embodiments of the present invention.

[0113] The method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0114] Those skilled in the art will recognize that the units and algorithm steps described in conjunction with the embodiments herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0115] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A control system for an electric vehicle propulsion system, characterized in that, include: Drive controller, drive motor and thruster motor; drive motor and thruster motor connected in parallel; Both the drive motor and the propeller motor are connected to the drive controller; A mode switching switch is installed on the connection circuit between the drive motor and the propeller motor and the drive controller; When the mode switching switch is closed, the connection circuit between the thruster motor and the drive controller is on, and the connection circuit between the drive motor and the drive controller is off. When the mode switch is in the off state, the connection circuit between the drive motor and the drive controller is in the on state, and the connection circuit between the propeller motor and the drive controller is in the off state.

2. The electric vehicle propulsion control system as described in claim 1, characterized in that, The system includes a left-hand drive system and a right-hand drive system; The left-hand drive system and the right-hand drive system are connected in parallel; Both the left-hand drive system and the right-hand drive system include a drive controller, a drive motor, and a propeller motor.

3. The electric vehicle propulsion control system as described in claim 1, characterized in that, The drive controller is communicatively connected to the mode switching switch; The drive controller is used to close the control mode switching switch when the electric vehicle is in navigation mode and open the control mode switching switch when the electric vehicle is in navigation mode.

4. The electric vehicle propulsion control system as described in claim 3, characterized in that, It also includes the vehicle navigation controller; The vehicle navigation controller is used to send mode switching commands to the drive controller; The drive controller is also used to determine the type of the received mode switching command. When the type of the mode switching command is to enable navigation, it controls the electric vehicle to enable navigation mode; when the type of the mode switching command is to disable navigation, it controls the electric vehicle to disable navigation mode.

5. The electric vehicle propulsion control system as described in claim 3, characterized in that, The drive controller is also used to, upon receiving a navigation start command, first determine whether the propeller motor is faulty; when it is determined that the propeller motor is not faulty, it controls the electric vehicle to start the navigation mode.

6. The electric vehicle propulsion control system as described in claim 3, characterized in that, The drive controller is also used to continuously monitor whether the propeller motor is faulty after the navigation mode is activated; when a propeller motor fault is detected, it controls the electric vehicle to turn off the navigation mode.

7. The electric vehicle propulsion control system as described in claim 1, characterized in that, The drive controller is also connected to the car's power battery.

8. The electric vehicle propulsion control system as described in claim 1, characterized in that, A relay and a pre-charge resistor are installed on the connection circuit between the drive controller and the power battery.

9. An electric vehicle, characterized in that, Including the electric vehicle navigation propulsion control system as described in any one of claims 1-8.

10. A control method for an electric vehicle's propulsion system, characterized in that, include: When the car is in navigation mode, the closed mode switch connects the propeller motor to the drive controller and disconnects the drive motor from the drive controller. When the vehicle's navigation mode is disabled, disconnect the mode switch to connect the drive motor to the drive controller and disconnect the propeller motor from the drive controller.

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