混合動力和電動汽車控制系統(tǒng)開發(fā)

1、Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.混合動

2、力和電動汽車控制系統(tǒng)開發(fā) Hans Goller博士，易特馳汽車技術(上海)有限公司Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brand

3、s belonging to their respective owners.2簡介系統(tǒng)概述新技術要求和市場需求用于EV/HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復雜度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網絡和實時性要求高的控制功能的硬件在環(huán)系統(tǒng)ECU 標定成功案例:賦予寶馬 X5 混合動力車活力綜述及前景展望議程 Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain C

4、onference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.3簡介系統(tǒng)概述新技術要求和市場需求用于EV/HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復雜度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網絡和實時性要求高的控制功能的

5、硬件在環(huán)系統(tǒng)ECU 標定成功案例:賦予寶馬 X5 混合動力車活力綜述及前景展望議程 Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brand

6、s belonging to their respective owners.4電機/發(fā)電機蓄電池功率電子元件混合動力 CANE-motorECU蓄電池管理電動和混合動力驅動電子控制開發(fā)系統(tǒng)概述變速箱內燃機變速箱ECU驅動扭矩制動制動ECUPowertrain CANChassis CANGate-way中央混合動力控制實施驅動策略協(xié)調機械和電子驅動及制動混合動力ECU發(fā)動機ECU電機控制控制和監(jiān)控功率電子元件(逆變器)高動態(tài)(采樣時間50 s - 100 s)高安全要求電機ECUDevelopment of Control Systems for Hybrid and Electric Ve

7、hicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.5電機/發(fā)電機蓄電池功率電子元件混合動力 CAN電機ECU蓄電池管理電動和混合動力驅動電子控制開發(fā)系統(tǒng)概述變速箱內燃機發(fā)

8、動機ECUTrans-missionECU驅動扭矩制動制動ECU傳動系 CAN底盤CANGate-way混合動力ECU蓄電池控制監(jiān)測 SOC電池平衡電源管理Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in t

9、his document are trademarks or brands belonging to their respective owners.6客戶 (成本/效益, 性能、扭矩、舒適度、安全性 )法規(guī)和環(huán)境(排放 、能耗和安全性)制造成本可靠性上市時間市場 (人口結構、需求、車型、燃料種類) 不同版本 可用性可維護性開發(fā)、生產和運營需求：以下是車輛設計要求主要影響要素：系統(tǒng)軟件生命周期競爭促進車輛多樣性應用 (PV, LCV, HCV, )細分 (小型、中型、豪華型 )車輛類型 (PV, SUV, 轎卡, 客貨車, )型號(小轎車、旅行車、 活動頂篷汽車、AT自動檔、MT手動檔, CV

10、T、 柴油車、汽油車、混合動力車 )新技術要求和市場需求系統(tǒng)及其不同版本更具多樣性Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands

11、 belonging to their respective owners.7ISO 26262:電子系統(tǒng)功能安全性規(guī)范ISO 26262 取代公路車輛通用標準IEC 61508ISO 26262 要求對電子系統(tǒng)開發(fā)所采用的軟件工具進行資質認證依照該規(guī)范，不可能有獨立于使用實例且 “符合ISO26262”的通用工具ETAS支持軟件開發(fā)工具的流程相關資質認證懸架轉向制動距離車道偏離障礙駕駛員輔助系統(tǒng)車輛動態(tài)柵極(插電)電機/發(fā)電機蓄電池功率電子元件例2 駕駛員輔助系統(tǒng)和車輛動態(tài)控制系統(tǒng)例1 電力驅動安全性要求高的系統(tǒng)電子系統(tǒng)的功能安全性/ ISO 26262Development of Cont

12、rol Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.8簡介系統(tǒng)概述新技術要求和市場需求用于EV/

13、HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復雜度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網絡和實時性要求高的控制功能的硬件在環(huán)系統(tǒng)ECU 標定成功案例:賦予寶馬 X5 混合動力車活力綜述及前景展望議程 Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All

14、rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.9混合動力汽車控制系統(tǒng)的開發(fā)用于混合動力控制開發(fā)的工具鏈9ECU 網絡休眠總線仿真功能模型和環(huán)境仿真PC臺式電腦混合動力控制的功能模型原型混合動力控制驗證混合動力控制原型ECU 網絡功能在環(huán)ECU 網絡車上的混合動力控制的標定和驗證混合動力控制通過實時PC進行硬件在環(huán)試驗混合動力控制功能模型自動生成代碼寫入ECU軟件接口模塊ES59x測量模塊

15、ES4xx混合動力控制標定F11011111000001111000ABCDE基本軟件控制原型ECU網絡內復雜 控制算法的驗證要求緊湊且功能強大， 適于車載應用高性能CAN / FlexRay集成ECU兼容性實時環(huán)境測試系統(tǒng) 各個復雜度水平的驗證要求延時短, 周期快通過總線接口集成 高性能ECU擴展總線仿真選項: 充分使用 特定ECU功能，以執(zhí)行白盒 測試標定環(huán)境同時標定混合動力控制和周邊系統(tǒng)改進開發(fā)流程內的標定任務，在臺式電腦或硬件在環(huán)系統(tǒng)上實現(xiàn)基于模型的標定功能要求同步快速使用多個控制器實驗室和車輛標定的智能優(yōu)化算法Development of Control Systems for Hy

16、brid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.10控制復雜度 概念AUTOSAR 虛擬功能總線 (VFB) 是一個新的抽象層支

17、持網絡中ECU的軟件組件的抽象開發(fā)已及靈活分配總線功能范圍虛擬功能總線AUTOSAR 減少系統(tǒng)之間的相互依賴性并降低復雜度易于重復使用軟件展現(xiàn)全新的車輛功能和系統(tǒng)的先進平臺Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations u

18、sed in this document are trademarks or brands belonging to their respective owners.11簡介系統(tǒng)概述新技術要求和市場需求用于EV/HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復雜程度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網絡和實時性要求高的控制功能的硬件在環(huán)系統(tǒng)ECU 標定成功案例:賦予寶馬 X5 混合動力車活力綜述及前景展望議程 Development of Control Systems for Hybrid and Electric Vehicle

19、s l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.12開發(fā)未來ECU的工具控制功能對特定芯片的原型設計問題用與產品相近的硬件開發(fā)原型，而無需SW開發(fā)解決方法用基本軟件和集成界面進行

20、與產品相近的ECU原型設計用MBD工具實現(xiàn)所開發(fā)功能的完美整合性能FlexECU, EHOOKS, INTECRIOOSEK 實時環(huán)境用于ECU的I/O驅動程序支持多種MBD 工具集成編譯器標定工具界面ECUECU 插口物理信號Target system帶有基本軟件和 SW原型的ECU原型實時ECU功能的模擬ECU功能建模ECU功能配置和運行標定控制、配置和數據分析Application可選:額外 I/O 和處理功能User interfaceDevelopment of Control Systems for Hybrid and Electric Vehicles l H. Goller

21、l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.13開發(fā)未來ECU的工具基于PC的控制功能快速原型開發(fā)問題在ECU外進行車輛動態(tài)控制的全套應用軟件模擬解決方法在筆記本或帶有高性能多核處理器的強固型PC而非專

22、有硬件上進行ECU應用軟件的車載驗證性能軟件 “ASCET-RTS”O(jiān)SEK 實時環(huán)境多核處理器支持通過高速數據傳輸器實現(xiàn)應用SW 和ECU 的同步工作ECUECU 插口物理信號Target system帶有基本軟件開發(fā)ECU原型實時ECU功能模擬ECU 功能建模、ECU功能配置和操作標定邏輯信號(“全旁通/ 旁通”) 通過高速數據傳輸器多核處理器筆記本中的一核專門用于執(zhí)行模擬A核B核應用全套應用軟件可選:適于車載應用的獨立的PC上執(zhí)行模擬用戶界面Development of Control Systems for Hybrid and Electric Vehicles l H. Golle

23、r l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.14傳動系和底盤EngineTransmissionBrakeCAN/Flexray混合動力控制HybridE-MotorBatteryCAN/Flexr

24、ay多核實時PC模型仿真用戶PCECU 測試用HiL 從單個ECU到整車網絡的測試要求問題具有高度相互依賴性的混合動力控制系統(tǒng)要求靈活設立測試系統(tǒng)，從配備擴展總線仿真的單個ECU模擬到整套ECU網絡測試解決方法開放和可擴展架構與汽車I/O規(guī)格相對應的實時I/O硬件擴展總線仿真能力使用PCIe 總線實現(xiàn)快速通訊實時模型仿真的多核支持性能ECU得到優(yōu)化集成，以滿足ECU測試的特定要求實時PC模型仿真用戶PCHybrid增加測試ECU的數量Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st

25、 China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.15混合動力控制系統(tǒng)的測試在信號層上進行高動態(tài)電機的硬件在環(huán)測試控制邏輯逆變器電流 /電壓信號角位& 速度信號扭矩速度定位電機高壓蓄電池車輛驅動& 環(huán)境車輛信號:扭矩要

26、求、 回收要求等CAN / FlexRay / etc.HILS電力電子模擬(逆變器)測試實際控制器面板用于信號層硬件在環(huán)測試逆變器控制器被拆開PWM控制信號根據實時控制協(xié)議運行模型(例如Simulink)電壓電流Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The nam

27、es and designations used in this document are trademarks or brands belonging to their respective owners.16BMS中央控制器CSC = 電池監(jiān)控電路電池數量、電池組和電壓等可能有所不同 (僅作為示例)CSC-2CSC-3CSC-n內環(huán)U_電池CSC-1(H)EV ECU-網絡(CAN, FlexRay, )其他 I/O-CHs電池熱管理安全回路BMS充電機等LABCARHIL 系統(tǒng)電池模擬器控制根據客戶需求確定:1x, 2x, Nx (例如：20 x 用于120 電池)電池-模型一般來自蓄電

28、池制造商(具有很高的特定性!)例如： CAN/Ethernet/PCIe蓄電池控制模型車輛模型(環(huán)境)SOC (充電狀態(tài))和蓄電池系統(tǒng)層的更多功能混合動力控制系統(tǒng)的測試 電池功率級的BMS 測試電池功率級的測試(BMS - HW / SW 開發(fā) 蓄電池模塊制造商)例如：CAN/I2C/ SPI 其他U_BattI_BattU_電池T_電池I_電池Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing

29、 l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.17不同車型ECU標定 經典流程車輛上參數的手工標定按功能確定的程序ECU 參數調整車輛或試驗臺上系統(tǒng)反應的測量記錄測量數據的評估手工或基于工具的優(yōu)化 “按步”操作ECU項目規(guī)劃/ 評估測量n 迭代手工1 優(yōu)化功能11011111000001111000標定

30、不同車型數據集Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective own

31、ers.18ECU 標定環(huán)境和效率潛力PC試驗臺車輛標定工作基于物理模型的參數優(yōu)化不同版本ECU的虛擬原型自動化快速讀取ECU可用性圖形用戶界面用戶指導半自動化5%25%70%如今如今如今15%45%40%201520152015環(huán)境在各個環(huán)境中優(yōu)化標定效率的參數+示例Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010.

32、All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.19100 msASAP3ECU 標定示例: 試驗臺上的快速讀取 ECU (如今)問題運行點的動態(tài)設置和試驗臺上測量數據的快速采集: 無延時、 無UUT危險。解決方案智能界面模塊向試驗臺實時傳輸物理形式的測量數據和參數特性速度 100 x ASAP3 / ASAM MCD-3 界面1 ms ETK/XETK- 界面 試驗臺EtherC

33、AT,iLinkRT, 負載控制 INCA-MCE嵌入的測量和標定INCA參數測量tDevelopment of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brand

34、s belonging to their respective owners.20簡介系統(tǒng)概述新技術要求和市場需求用于EV/HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復雜程度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網絡和實時性要求高的控制功能的硬件在環(huán)系統(tǒng)ECU 標定成功案例:賦予寶馬 X5 混合動力車活力綜述及前景展望議程 Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain

35、 Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.21賦予BMW X5混合動力車活力ETAS 工具鏈支持新混合動力功能的開發(fā)Development of Control Systems for Hybrid and Electric Vehicles l H. Gol

36、ler l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.22賦予BMW X5混合動力車活力從傳統(tǒng)車輛到插電式系列混合動力車在位于德國蘭茨胡特的應用科技大學實施項目 基本車輛: 寶馬 X5 SUV (E70)

37、移除整個原車的動力及驅動系統(tǒng)在每個軸上集成一個電機裝入鋰離子電池裝入用于蓄電池充電的發(fā)電機裝入作為增程發(fā)動機的柴油發(fā)動機Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are t

38、rademarks or brands belonging to their respective owners.23賦予BMW X5混合動力車活力集成混合動力車部件和工具電機和發(fā)動機鋰離子電池用作增程發(fā)動機的柴油發(fā)動機工具設置Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved.

39、The names and designations used in this document are trademarks or brands belonging to their respective owners.24賦予BMW X5混合動力車活力系統(tǒng)建模和驗證使用ASCET開發(fā)所有驅動功能。采用諸如方框圖、有限狀態(tài)機和條件表等不同的建模方法基于基本驅動功能，已開發(fā)更高級別的驅動功能: 巡航控制坡道駐車系統(tǒng)和陡坡緩降控制系統(tǒng) 牽引力控制 測試階段嚴格依照汽車軟件工程設計原則進行。采用下述方法:使用ASCET進行離線模擬使用INTECRIO 和ES910進行快速原型開發(fā)開發(fā)僅用時18個月

40、!在下一步，所有開發(fā)的功能將獲取AUTOSAR接口Development of Control Systems for Hybrid and Electric Vehicles l H. Goller l 1st China Virtual Powertrain Conference, Beijing l October 27-28, 2010 ETAS GmbH 2010. All rights reserved. The names and designations used in this document are trademarks or brands belonging to their respective owners.25簡介系統(tǒng)概述新技術要求和市場需求用于EV/HEV的控制系統(tǒng)開發(fā)開發(fā)EV/HEV 系統(tǒng)的工具鏈控制復雜度 AUTOSAR概念開發(fā)未來ECU（電子控制單元） 的工具控制功能原型開發(fā)用于檢測ECU網絡和實時性要求高的控制功能的硬件在環(huán)系統(tǒng)ECU 標定成功案例:賦予寶馬 X5 混合動力車活力綜述及前