Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (1): 63-71.doi: 10.13229/j.cnki.jdxbgxb20190912

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Development of vehicle controller for multi-wheel hybrid-driven unmanned frame vehicle

Xiao-hua ZENG1(),Xiao-jian LI1,Shao-feng DU2(),Tao MA2,Zhen-wei WANG1,Da-feng SONG1   

  1. 1.State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
    2.State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System，Inner Mongolia First Machinery Group Corporation，Baotou 014030，China
  • Received:2019-09-23 Online:2021-01-01 Published:2021-01-20
  • Contact: Shao-feng DU E-mail:zeng.xiaohua@126.com;dushaofeng8611@126.com

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Abstract:

According to the functional characteristics of Multi-wheel distributed hybrid-driven unmanned frame vehicle （MHUFV）， the vehicle control system is developed. This system includes high-voltage power-on and power-off management based on the coordination of two power sources， fault diagnosis and fault-tolerant control of complex systems with multiple control nodes， and the algorithm design like driver input command determination with dual input mode， anti-skid control， mode switching and energy distribution control. On this basis， the MHUFV software architecture is constructed， and the vehicle controller is developed by using the Rapid Control Prototype （RCP） technology platform. The basic performance of the vehicle is studied by real road test. The results show that the developed vehicle controller can meet the design requirements of the real vehicle， the test results of each key state quantity are reasonable when the full load limit speed is 15 km/h， and the fuel saving effect is 38% compared with the traditional diesel vehicle under the same operating condition， which can meet the development requirements of the current frame car industry.

Key words: vehicle controller, multi-wheel distributed, driverless, frame transport vehicle

CLC Number: 

  • U469.79

Fig.1

Power system configuration of MHUFV"

Fig.2

High voltage electrical and electronic architecture of MHUFV"

Fig.3

High voltage power-on flow chart of MHUFV"

Fig.4

“Signal-component” fault level map"

Fig.5

“Component-System” fault level map"

Table 1

System fault tolerance processing"

系统故障

等级

故障等级

描述

容错控制概述
0系统正常/
1报警故障报警并记录，车辆维持运行，本次任务结束后，通知维修，重新启动检查。
2降功率车辆限功率运行，减速停车，卸载框架，然后降功率行驶至维修地点，停车检查。
3停车停车故障，高压电可维持；清空走行电机转矩，保持液压电机运行，使车辆具备转向和制动能力。
4停车停车故障，高压电不可维持，此时液压电机无法保持运行，车辆紧急停止，所有电机动力清除。

Fig.6

Driver operating mode decision"

Table 2

Seven typical pavement related parameters"

路面C1C2C3Soptμmax
干沥青1.28123.9930.5200.1701.171
干水泥1.19625.1660.5390.1601.092
湿沥青大1.02729.4940.4420.1430.950
湿沥青中0.85633.8210.3450.1310.800
湿沥青小0.62833.7650.2000.1100.600
积雪0.19594.1290.0650.0650.190
冰路0.050306.3900.0010.0300.050

Fig.7

Mode switching situation of MHUFV"

Table 3

Energy distribution in typical mode"

工作模式发动机输出功率驱动电机输出转矩
停车发电Pe=Pchg0
纯电动0TMot=Tcmd/8
发动机启动0TMot=Tcmd/8
发动机工作Pe=Pcmd+PchgTMot=Tcmd/8
跛行Pe=Pcmd·ndown+PchgTMot=Tcmd/(8-nerr)
紧急制动00

Fig.8

Vehicle control strategy architecture of MHUFV"

Fig.9

Vehicle controller physical map"

Fig.10

MeCa calibration and measurement interface diagram"

Fig.11

MHUFV real picture"

Fig.12

Drill frame test curve"

Fig.13

Speed curve under dynamic test"

Fig.14

Accelerator pedal and motor torque curve under dynamic test"

Fig.15

Battery parameter change curve under vehicle dynamic test"

Fig.16

Generator demand power and actual power curve under dynamic test"

Table 4

Energy consumption analysis statistics of MHUFV"

参 数数 值
仿真初始(终止)SOC/%0.772(0.772)
百公里综合油耗/[（L·(100 km）-1]168
发动机效率/%40.3
驱动电机平均效率/%52
液压电机平均效率/%65
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