混合动力和电动汽车控制系统开发

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.混合动

2、力和电动汽车控制系统开发 Hans Goller博士，易特驰汽车技术(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简介系统概述新技术要求和市场需求用于EV/HEV的控制系统开发开发EV/HEV 系统的工具链控制复杂度 AUTOSAR概念开发未来ECU（电子控制单元） 的工具控制功能原型开发用于检测ECU网络和实时性要求高的控制功能的硬件在环系统ECU 标定成功案例:赋予宝马 X5 混合动力车活力综述及前景展望议程 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简介系统概述新技术要求和市场需求用于EV/HEV的控制系统开发开发EV/HEV 系统的工具链控制复杂度 AUTOSAR概念开发未来ECU（电子控制单元） 的工具控制功能原型开发用于检测ECU网络和实时性要求高的控制功能的

5、硬件在环系统ECU 标定成功案例:赋予宝马 X5 混合动力车活力综述及前景展望议程 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电机/发电机蓄电池功率电子元件混合动力 CANE-motorECU蓄电池管理电动和混合动力驱动电子控制开发系统概述变速箱内燃机变速箱ECU驱动扭矩制动制动ECUPowertrain CANChassis CANGate-way中央混合动力控制实施驱动策略协调机械和电子驱动及制动混合动力ECU发动机ECU电机控制控制和监控功率电子元件(逆变器)高动态(采样时间50 s - 100 s)高安全要求电机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电机/发电机蓄电池功率电子元件混合动力 CAN电机ECU蓄电池管理电动和混合动力驱动电子控制开发系统概述变速箱内燃机发

8、动机ECUTrans-missionECU驱动扭矩制动制动ECU传动系 CAN底盘CANGate-way混合动力ECU蓄电池控制监测 SOC电池平衡电源管理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客户 (成本/效益, 性能、扭矩、舒适度、安全性 )法规和环境(排放 、能耗和安全性)制造成本可靠性上市时间市场 (人口结构、需求、车型、燃料种类) 不同版本 可用性可维护性开发、生产和运营需求：以下是车辆设计要求主要影响要素：系统软件生命周期竞争促进车辆多样性应用 (PV, LCV, HCV, )细分 (小型、中型、豪华型 )车辆类型 (PV, SUV, 轿卡, 客货车, )型号(小轿车、旅行车、 活动顶篷汽车、AT自动档、MT手动档, CV

10、T、 柴油车、汽油车、混合动力车 )新技术要求和市场需求系统及其不同版本更具多样性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:电子系统功能安全性规范ISO 26262 取代公路车辆通用标准IEC 61508ISO 26262 要求对电子系统开发所采用的软件工具进行资质认证依照该规范，不可能有独立于使用实例且 “符合ISO26262”的通用工具ETAS支持软件开发工具的流程相关资质认证悬架转向制动距离车道偏离障碍驾驶员辅助系统车辆动态栅极(插电)电机/发电机蓄电池功率电子元件例2 驾驶员辅助系统和车辆动态控制系统例1 电力驱动安全性要求高的系统电子系统的功能安全性/ 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简介系统概述新技术要求和市场需求用于EV/

13、HEV的控制系统开发开发EV/HEV 系统的工具链控制复杂度 AUTOSAR概念开发未来ECU（电子控制单元） 的工具控制功能原型开发用于检测ECU网络和实时性要求高的控制功能的硬件在环系统ECU 标定成功案例:赋予宝马 X5 混合动力车活力综述及前景展望议程 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混合动力汽车控制系统的开发用于混合动力控制开发的工具链9ECU 网络休眠总线仿真功能模型和环境仿真PC台式电脑混合动力控制的功能模型原型混合动力控制验证混合动力控制原型ECU 网络功能在环ECU 网络车上的混合动力控制的标定和验证混合动力控制通过实时PC进行硬件在环试验混合动力控制功能模型自动生成代码写入ECU软件接口模块ES59x测量模块

15、ES4xx混合动力控制标定F11011111000001111000ABCDE基本软件控制原型ECU网络内复杂 控制算法的验证要求紧凑且功能强大， 适于车载应用高性能CAN / FlexRay集成ECU兼容性实时环境测试系统 各个复杂度水平的验证要求延时短, 周期快通过总线接口集成 高性能ECU扩展总线仿真选项: 充分使用 特定ECU功能，以执行白盒 测试标定环境同时标定混合动力控制和周边系统改进开发流程内的标定任务，在台式电脑或硬件在环系统上实现基于模型的标定功能要求同步快速使用多个控制器实验室和车辆标定的智能优化算法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控制复杂度 概念AUTOSAR 虚拟功能总线 (VFB) 是一个新的抽象层支

17、持网络中ECU的软件组件的抽象开发已及灵活分配总线功能范围虚拟功能总线AUTOSAR 减少系统之间的相互依赖性并降低复杂度易于重复使用软件展现全新的车辆功能和系统的先进平台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简介系统概述新技术要求和市场需求用于EV/HEV的控制系统开发开发EV/HEV 系统的工具链控制复杂程度 AUTOSAR概念开发未来ECU（电子控制单元） 的工具控制功能原型开发用于检测ECU网络和实时性要求高的控制功能的硬件在环系统ECU 标定成功案例:赋予宝马 X5 混合动力车活力综述及前景展望议程 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开发未来ECU的工具控制功能对特定芯片的原型设计问题用与产品相近的硬件开发原型，而无需SW开发解决方法用基本软件和集成界面进行

20、与产品相近的ECU原型设计用MBD工具实现所开发功能的完美整合性能FlexECU, EHOOKS, INTECRIOOSEK 实时环境用于ECU的I/O驱动程序支持多种MBD 工具集成编译器标定工具界面ECUECU 插口物理信号Target system带有基本软件和 SW原型的ECU原型实时ECU功能的模拟ECU功能建模ECU功能配置和运行标定控制、配置和数据分析Application可选:额外 I/O 和处理功能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开发未来ECU的工具基于PC的控制功能快速原型开发问题在ECU外进行车辆动态控制的全套应用软件模拟解决方法在笔记本或带有高性能多核处理器的强固型PC而非专

22、有硬件上进行ECU应用软件的车载验证性能软件 “ASCET-RTS”OSEK 实时环境多核处理器支持通过高速数据传输器实现应用SW 和ECU 的同步工作ECUECU 插口物理信号Target system带有基本软件开发ECU原型实时ECU功能模拟ECU 功能建模、ECU功能配置和操作标定逻辑信号(“全旁通/ 旁通”) 通过高速数据传输器多核处理器笔记本中的一核专门用于执行模拟A核B核应用全套应用软件可选:适于车载应用的独立的PC上执行模拟用户界面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传动系和底盘EngineTransmissionBrakeCAN/Flexray混合动力控制HybridE-MotorBatteryCAN/Flexr

24、ay多核实时PC模型仿真用户PCECU 测试用HiL 从单个ECU到整车网络的测试要求问题具有高度相互依赖性的混合动力控制系统要求灵活设立测试系统，从配备扩展总线仿真的单个ECU模拟到整套ECU网络测试解决方法开放和可扩展架构与汽车I/O规格相对应的实时I/O硬件扩展总线仿真能力使用PCIe 总线实现快速通讯实时模型仿真的多核支持性能ECU得到优化集成，以满足ECU测试的特定要求实时PC模型仿真用户PCHybrid增加测试ECU的数量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混合动力控制系统的测试在信号层上进行高动态电机的硬件在环测试控制逻辑逆变器电流 /电压信号角位& 速度信号扭矩速度定位电机高压蓄电池车辆驱动& 环境车辆信号:扭矩要

26、求、 回收要求等CAN / FlexRay / etc.HILS电力电子模拟(逆变器)测试实际控制器面板用于信号层硬件在环测试逆变器控制器被拆开PWM控制信号根据实时控制协议运行模型(例如Simulink)电压电流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 = 电池监控电路电池数量、电池组和电压等可能有所不同 (仅作为示例)CSC-2CSC-3CSC-n内环U_电池CSC-1(H)EV ECU-网络(CAN, FlexRay, )其他 I/O-CHs电池热管理安全回路BMS充电机等LABCARHIL 系统电池模拟器控制根据客户需求确定:1x, 2x, Nx (例如：20 x 用于120 电池)电池-模型一般来自蓄电

28、池制造商(具有很高的特定性!)例如： CAN/Ethernet/PCIe蓄电池控制模型车辆模型(环境)SOC (充电状态)和蓄电池系统层的更多功能混合动力控制系统的测试 电池功率级的BMS 测试电池功率级的测试(BMS - HW / SW 开发 蓄电池模块制造商)例如：CAN/I2C/ SPI 其他U_BattI_BattU_电池T_电池I_电池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不同车型ECU标定 经典流程车辆上参数的手工标定按功能确定的程序ECU 参数调整车辆或试验台上系统反应的测量记录测量数据的评估手工或基于工具的优化 “按步”操作ECU项目规划/ 评估测量n 迭代手工1 优化功能11011111000001111000标定

30、不同车型数据集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 标定环境和效率潜力PC试验台车辆标定工作基于物理模型的参数优化不同版本ECU的虚拟原型自动化快速读取ECU可用性图形用户界面用户指导半自动化5%25%70%如今如今如今15%45%40%201520152015环境在各个环境中优化标定效率的参数+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 标定示例: 试验台上的快速读取 ECU (如今)问题运行点的动态设置和试验台上测量数据的快速采集: 无延时、 无UUT危险。解决方案智能界面模块向试验台实时传输物理形式的测量数据和参数特性速度 100 x ASAP3 / ASAM MCD-3 界面1 ms ETK/XETK- 界面 试验台EtherC

33、AT,iLinkRT, 负载控制 INCA-MCE嵌入的测量和标定INCA参数测量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简介系统概述新技术要求和市场需求用于EV/HEV的控制系统开发开发EV/HEV 系统的工具链控制复杂程度 AUTOSAR概念开发未来ECU（电子控制单元） 的工具控制功能原型开发用于检测ECU网络和实时性要求高的控制功能的硬件在环系统ECU 标定成功案例:赋予宝马 X5 混合动力车活力综述及前景展望议程 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赋予BMW X5混合动力车活力ETAS 工具链支持新混合动力功能的开发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赋予BMW X5混合动力车活力从传统车辆到插电式系列混合动力车在位于德国兰茨胡特的应用科技大学实施项目 基本车辆: 宝马 X5 SUV (E70)

37、移除整个原车的动力及驱动系统在每个轴上集成一个电机装入锂离子电池装入用于蓄电池充电的发电机装入作为增程发动机的柴油发动机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赋予BMW X5混合动力车活力集成混合动力车部件和工具电机和发动机锂离子电池用作增程发动机的柴油发动机工具设置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赋予BMW X5混合动力车活力系统建模和验证使用ASCET开发所有驱动功能。采用诸如方框图、有限状态机和条件表等不同的建模方法基于基本驱动功能，已开发更高级别的驱动功能: 巡航控制坡道驻车系统和陡坡缓降控制系统 牵引力控制 测试阶段严格依照汽车软件工程设计原则进行。采用下述方法:使用ASCET进行离线模拟使用INTECRIO 和ES910进行快速原型开发开发仅用时18个月

40、!在下一步，所有开发的功能将获取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简介系统概述新技术要求和市场需求用于EV/HEV的控制系统开发开发EV/HEV 系统的工具链控制复杂度 AUTOSAR概念开发未来ECU（电子控制单元） 的工具控制功能原型开发用于检测ECU网络和实时性要求高的控制功能的硬件在环系统ECU 标定成功案例:赋予宝马 X5 混合动力车活力综述及前