CN111786598B - Motor control device and motor control method - Google Patents

Abstract

The application provides a motor control device and a control method, wherein, the motor control device is connected with an external high-voltage battery and a low-voltage battery, and the motor control device comprises: the motor control device comprises a bus electricity taking unit and a safety control circuit, wherein one side of the bus electricity taking unit is connected with the high-voltage battery, the other side of the bus electricity taking unit is connected with the control unit, the power module driving power supply and the safety control circuit, the control unit is connected with the safety control circuit, and the safety control circuit is connected with the driving circuit. The motor control device and the motor control method can reduce ASC function failure caused by single-point faults, and reduce hardware design difficulty and cost.

Description

A motor control device and a motor control method

technical field

The present application relates to the technical field of motor control, in particular to a motor controller and a motor control method.

Background technique

With the development of the electric vehicle industry, on-board electrical equipment is increasing day by day. The motor controller is the core component of the electric vehicle power system. When the electric vehicle is running normally, the DC/AC conversion module converts the DC power of the power battery into AC power to drive the motor, and controls the output torque of the motor to drive the vehicle. When the electric vehicle is coasting or braking, the motor operates in the power generation mode, converting kinetic energy into electric energy to charge the power battery, effectively improving the cruising range of the electric vehicle by saving efficiency.

As the main source of power for electric vehicles, the motor control system needs to be put into a safe state when a fault occurs, so as to ensure that the vehicle is in a controlled state or will not cause harm to the drivers and passengers. And when the motor controller has a hardware or software failure and the output of the motor is abnormal, it is very dangerous to output braking torque or driving torque at this time. Therefore, when the above-mentioned faults occur in electric vehicles, the motor is usually required to turn off the torque output of the motor after it enters a safe state, so that the vehicle is in a coasting state, so that the driver can drive the car out of the lane for help. At present, the industry requires that the safety level of the motor controller is not lower than the vehicle safety integrity level (Automotive Safety Integrity Level, referred to as ASIL) C level, and the safety status of the motor controller includes two types: safety pulse off (Safety Pulse Off, referred to as SPO) And active short circuit (Active Short Circuit, referred to as ASC). When actually realizing the safe state, the motor controller realizes SPO by fully turning off all the bridge arms of the inverter circuit (all IGBTs are disconnected); the motor controller can fully turn off the upper bridge arm and the lower bridge arm of the inverter circuit ASC can be realized in two ways: turning off or fully turning off the upper bridge arm and fully turning on the lower bridge arm.

When the motor controller enters the ASC mode, since there is no conduction between the bridge arms, the DC terminal and the AC terminal circuit no longer form a loop, and at the same time, the drive motor generates reverse braking torque. Based on these characteristics, the reasonable use of ASC mode can play the following roles in the driving process of electric vehicles: a. When the vehicle is out of control, the implementation of ASC can generate reverse torque, so that the vehicle can brake slowly and realize safe parking; b. When the power battery fails, the implementation of ASC can isolate the motor and motor controller from the power battery side to ensure the safety of the high voltage of the vehicle; c. When the driving motor speed is too high or abnormal during vehicle driving, the implementation of ASC can avoid excessive reaction The potential damages the power battery, bus capacitor and other high-voltage devices; d. When a switch tube in the inverter circuit of the motor controller fails, the implementation of ASC can avoid damage to other devices or power batteries caused by uncontrolled rectification.

Existing ASC solutions have problems such as complex implementation and unreliable implementation of multiple single-point failures. The present application aims to provide a motor control device and a control method with higher reliability for implementing ASC and reduced complexity of the scheme.

Contents of the invention

The present application provides a high-reliability motor control device and control method, which can ensure the safety control of active short circuit even when a low-voltage battery or a master-slave processor fails.

The above and other objects are achieved by the features in the independent claims. Further implementations are presented in the dependent claims, the description and the drawings.

In the first aspect, a motor control device is provided, which is connected to an external high-voltage battery and a low-voltage battery. The motor control device includes: a control unit, a power module drive power supply, a drive circuit, an inverter, and the low-voltage battery is connected to the control unit and power supply respectively. The module drive power supply is connected, the control unit is connected to the drive circuit, the drive circuit is connected to the inverter, the power module drive power supply is connected to the drive circuit, and the motor control device also includes a bus power taking unit and a safety control circuit, wherein one of the bus power taking units One side is connected to a high-voltage battery, and the other side is respectively connected to a control unit, a power module drive power supply and a safety control circuit. The control unit is connected to the safety control circuit, and the safety control circuit is connected to the drive circuit.

According to the first aspect, in a first possible implementation manner of the motor control device, the control unit includes a master processor and a slave processor, and the master processor and the slave processor are respectively connected to a safety control circuit.

According to the first possible implementation manner of the first aspect, in the second possible implementation manner of the motor control device, the low-voltage battery is connected to the main processor, and the bus power taking unit is connected to the slave processor.

According to the second possible implementation of the first aspect, in the third possible implementation of the motor control device, the low-voltage battery is also connected to the slave processor, wherein the low-voltage battery and the bus power-taking unit pass through a diode group Connect with slave processor.

According to the first aspect, or any implementation manner of the above first aspect, in a fourth possible implementation manner of the motor control device, the drive power supply of the power module includes a drive power supply for the upper bridge arm and a drive power supply for the lower bridge arm, Wherein, the output end of the bus power-taking unit is connected to the drive power of the lower bridge arm, and the low-voltage battery and the bus power-taking unit supply power to the drive power of the lower bridge arm through a diode group.

According to the first aspect, or any implementation manner of the above first aspect, in the fifth possible implementation manner of the motor control device, the low-voltage battery is also connected to the safety control circuit, wherein the low-voltage battery and the bus take power The unit supplies power to the safety control circuit through a diode bank.

According to any implementation manner of the above first aspect, in a sixth possible implementation manner of the motor control device, a motor speed acquisition unit is further included, and the motor speed acquisition unit is respectively connected to the inverter and the slave processor.

According to a sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the motor control device, the motor speed acquisition unit includes a line voltage zero-crossing detection circuit and an isolation chip.

According to a sixth possible implementation manner of the first aspect, in an eighth possible implementation manner of the motor control device, the motor speed acquisition unit includes a phase current zero-crossing detection circuit and a phase current sensor.

In a second aspect, there is provided a vehicle, which includes the first aspect, or the motor control device of any one of the implementation manners of the above first aspect.

In the third aspect, a motor control method is provided, including: the slave processor of the motor receives a safety signal sent by the main processor of the motor; the slave processor obtains the speed information of the motor; the slave processor controls the motor to realize active short circuit according to the speed information Or achieve security control.

According to the third aspect, in the first possible implementation manner of the motor control method, the safety signal is used to indicate that the main processor loses power supply or runs faulty.

According to the third aspect or the first possible implementation of the above third aspect, in the second possible implementation of the motor control method, the slave processor controls the motor to implement active short circuit or Realize safety shutdown, including: if the speed of the motor is higher than or equal to the set threshold, the processor controls the motor to perform active short circuit; if the speed of the motor is lower than the set threshold, the slave processor controls the motor to perform safety shutdown .

According to the third aspect or any possible implementation manner of the above third aspect, in the third possible implementation manner of the motor control method, obtaining the rotational speed information of the motor from the processor includes: The motor speed information is obtained from the motor speed signal transmitted by the processor last time; or, the motor speed information is obtained from the processor by collecting phase current or line voltage values of the inverter.

According to the second possible implementation of the third aspect, in the fourth possible implementation of the motor control method, after the processor controls the motor to perform an active short circuit, the motor speed information is obtained, and when the motor speed is lower than When the threshold is set, the motor is controlled for safety shutdown.

According to the fourth possible implementation of the third aspect, in the fifth possible implementation of the motor control method, the slave processor obtains the motor speed information by collecting the phase current or line voltage value of the inverter .

Description of drawings

In order to illustrate the technical solutions provided by the present application more clearly, the accompanying drawings will be briefly introduced below. Apparently, the drawings described below are only some embodiments of the present application.

FIG. 1 is a schematic diagram of a circuit structure of a motor control device provided in the prior art;

Figure 2 is a schematic diagram of the circuit structure of another motor control device provided by the prior art

Fig. 3 is a schematic diagram of the relationship between torque, bus voltage and rotational speed provided by the embodiment of the present application;

FIG. 4 is a schematic diagram of a circuit structure of a motor control device provided in an embodiment of the present application;

FIG. 5 is a logic flow chart of a motor control method provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a circuit structure of another motor control device provided by an embodiment of the present application.

Reference signs:

(Prior art) 11-high-voltage battery, 12-isolated power supply, 13-low-voltage battery, 14-motor controller, 15-upper bridge arm driving power, 16-lower bridge arm driving power, 21-high voltage battery, 22-backup Power circuit, 23-low voltage battery, 24-motor controller, 25-upper/lower bridge arm drive power, 26-drive circuit, 27-inverter

(Invention) 01-high-voltage battery, 02-low-voltage battery, 03-power management module, 04-control unit, 05-power module drive power supply, 06-drive circuit, 07-inverter, 08-bus power extraction unit, 09-ASC control logic circuit, 010-main processor, 011-DC conversion circuit, 012-slave processor, 013-DC conversion circuit, 014-diode, 015-diode, 016-upper bridge arm drive power, 017-down Bridge arm drive power supply, 018-upper bridge arm drive circuit, 019-lower bridge arm drive circuit, 020-upper bridge arm power conversion module, 021-lower bridge arm power conversion module, 022-line voltage zero-crossing detection circuit, 023- Isolation chip, 024-bus voltage signal conditioning circuit, 025-linear isolator, 026-phase current detection module

Detailed ways

In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be fully described below in conjunction with the accompanying drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, and Not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

The terms "first" and "second" in the description, embodiments, claims and drawings of the present application are only used for the purpose of distinguishing descriptions, and cannot be interpreted as indicating or implying relative importance, nor can they be interpreted as indicating or imply order. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, of a sequence of steps or elements. Products or devices are not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to the products or devices.

Embodiments of the present application provide a motor control device and a motor control method. The motor control device, that is, a motor controller, is used to control a driving motor in a vehicle, especially an electric vehicle.

In the process of controlling the motor of the vehicle, there are mainly two implementation methods for the existing ASC solution.

Prior Art 1 As shown in Figure 1, in the schematic diagram of the hardware structure of the motor control device provided in Figure 1, it backs up the 12V power supply of the low-voltage battery on the low-voltage side, and the backup power supply supplies low-voltage power to the entire motor controller, and the active short-circuit control logic is controlled by controlled by the main processor. Specifically, prior art 1 provides a backup power supply circuit. In order to ensure low-voltage power supply for motor control, an additional isolated power supply 12 is added to obtain power from a high-voltage battery 11 as a backup power supply for the entire system. The output voltage of the isolated power supply 12 is slightly lower than that of the low-voltage battery 13 . When the low-voltage battery 13 works normally, the diode D cuts off in reverse, and the motor controller 14, the upper bridge arm drive power supply 15 and the lower bridge arm drive power supply 16 are powered by the low-voltage battery 13; when the low-voltage battery 13 power supply fails, the diode D leads The low-voltage system (including the motor controller 14, the upper bridge arm drive power supply 15 and the lower bridge arm drive power supply 16) is powered by the isolated power supply 12 as the backup power supply, and the motor controller 14 sends an active short-circuit signal to control the motor to achieve active short circuit.

The above-mentioned active short-circuit scheme adopts an additional isolated power supply 12 to ensure control power consumption, and realizes the active short-circuit function through the motor controller 14 . The isolated power supply 12 has defects such as a large number of components used, high cost, and large volume, and there is a greater risk of vibration under vehicle conditions. At the same time, if the motor controller 14 or the power management system or the upper/lower bridge arm drive power supply 15, 16 fails with a single point failure, the active short circuit function will fail.

The second prior art provides another motor drive circuit, which provides low-voltage power to the motor controller by backing up the drive circuit power supply on the high-voltage side, and the active short-circuit control logic is controlled by the high-voltage side slave processor. Specifically, referring to FIG. 2 , the high-voltage battery 21 provides electric energy for the operation of the motor, and the high-power DC conversion circuit converts the high-voltage DC power provided by the high-voltage battery 21 into a low-voltage direct current and charges the low-voltage battery 23. The motor controller 24 and the upper bridge arm drive power supply And lower bridge arm drive power supply 25 is powered by low-voltage battery 23, and motor controller 24 generates drive control signal according to the feedback voltage and feedback current that motor feedback circuit obtains from inverter 27, and drive circuit 26 generates drive control signal according to above-mentioned drive control signal and upper bridge arm The driving power and the driving voltage output by the lower bridge arm driving power 25 generate driving pulses, and control the inverter 27 to convert the high-voltage direct current output by the high-voltage battery 21 into alternating current to drive the motor to run. When the electric vehicle breaks down, the active short-circuit control is realized by the slave processor on the high voltage side, and the backup power supply circuit 22 is controlled to directly output a high level to the control terminal of the switching tube in the inverter 27, so that the upper bridge of the inverter 27 Or the switch tube of the lower bridge is placed in the normally open state; in addition, the output of the backup power supply circuit 22 can also be provided to the drive circuit 26, and the switch tube of the upper bridge or the lower bridge of the inverter 27 is controlled by the drive circuit 26 to be in the normally open state. status.

In the technical solution provided by prior art 2, since the slave processor on the high-voltage side needs higher anti-interference performance, it has higher requirements on electromagnetic anti-interference performance; in addition, the slave processor on the high-voltage side sends an active short-circuit signal, Between the high-voltage side and the low-voltage side, information about the active short-circuit logic entrance needs to be transmitted in real time through the isolation module. Therefore, the communication reliability is high, and the system implementation is relatively complicated and the cost is relatively high.

Therefore, how to provide a motor control device or a motor control method that can be more reliable when performing ASC control has become an urgent technical problem to be solved.

Based on the relationship between torque, bus voltage and rotational speed, the present application provides a motor control device and method, which have the characteristics of simple control, high reliability and low cost when performing active short circuit protection.

Regarding the relationship between the motor torque and the bus voltage and speed, specifically, when the motor controller performs safety protection at a high speed, the output torque value of the motor will change as the motor speed decreases. For the two modes of SPO and ASC, as the motor speed decreases, the change of the motor output torque value presents different curves. As shown in Figure 3, when the SPO mode is started, at the moment of start (corresponding to the position of high speed in the figure), the reverse torque is very large, exceeding the safe torque range, and then the reverse torque quickly drops to zero. When the ASC mode is started, the reverse torque is very small and approximately zero at the moment of starting. As the speed decreases, the reverse torque will continue to increase. When the speed drops to a certain range, the reverse torque The highest value is reached, which is well outside the safe torque range. According to the relationship between the motor speed and torque, therefore, when the motor has a low-voltage power failure or the processor/power module cannot work, and the motor is running at high speed, if it is necessary to perform safety protection operations, direct SPO or ASC will lead to failure. Excessive reverse torque expected. This requires an active short circuit through the ASC mode when the speed is high, and then cut into the SPO mode after the speed drops. On the other hand, when the motor controller performs safety protection in the state of low motor speed, it does not need to switch and can directly enter the SPO mode.

Based on the above characteristics, when performing safety protection, the motor controller needs to obtain the motor speed information, so as to judge whether to directly enter the SPO mode, or first perform an active short circuit through the ASC mode, and obtain the real-time speed information of the motor, and then reduce the speed to a certain range. Then switch to SPO mode.

Embodiment 1 of the present application provides a motor control device, as shown in FIG. 4 . Wherein, the motor control device includes: a power management module 03 , a control unit 04 , a power module driving power supply 05 , a driving circuit 06 , and an inverter 07 . The power supply system for supplying power to the motor control device includes a high-voltage battery 01 and a low-voltage battery 02, and the high-voltage battery 01 stores electricity to the low-voltage battery 02 through a high-power DC conversion circuit. Wherein, the power management module 03 may adopt a power management system basis chip (SystemBasis.Chip, SBC).

The above-mentioned control unit 04 includes a main processor 010 and a slave processor 012, the low-voltage battery 02 supplies power to the main processor 010 through the power management module 03, and at the same time, the low-voltage battery 02 supplies power to the slave processor 012 power supply. Wherein, the DC conversion circuit 013 can specifically adopt a buck-boost converter, a single-ended primary inductor converter (single ended primary inductor converter, referred to as SEPIC), or a flyback converter (Flyback converters), etc. type of converter. The DC conversion circuit 11 can specifically adopt a buck-boost converter, a buck converter (Buck Converter, also called a Buck converter) or a low-dropout regulator (Low-dropout regulator, LDO, Also known as low dropout linear regulator). In order to ensure the safety level of the motor control device, the main processor 010 meets the ASILC or ASILD function, and the slave processor 012 meets the ASILA level.

The drive power supply 05 for the power module includes an upper bridge arm drive power supply 016 and a lower bridge arm drive power supply 017. The low-voltage battery 02 supplies power to the upper bridge arm drive power supply 016 and the lower bridge arm drive power supply 017 through the DC conversion circuit 013, wherein A diode 014 is arranged between the driver power supply 017 and the lower bridge arm. A node A is provided between the diode 014 and the driving power source 017 of the lower bridge arm, and the node A is connected to the DC conversion circuit 011 for supplying power to the slave processor 012 . The drive power supply 016 for the upper bridge arm and the drive power supply 017 for the lower bridge arm supply power to the drive circuit 018 for the upper bridge arm and the drive circuit 019 for the lower bridge arm respectively. The upper/lower bridge arm drive power modules 016/017 are separated, and the power supply of the upper bridge arm drive power supply 016 only comes from the DC conversion circuit 013. If the load of the upper bridge arm drive power supply 016 is short-circuited, the DC conversion circuit 013 enters the protection state. no output.

The motor control device also has a bus power-taking unit 08, which is respectively connected to the high-voltage battery 01 and the above-mentioned node A for providing backup power. A diode 015 is provided between the bus power taking unit 08 and the node A.

The motor control device includes an ASC control logic circuit 09, and the ASC control logic circuit 09 is used for active short-circuit control when the vehicle needs safety protection. ASC control logic circuit 09 is connected to node A.

The bus power taking unit 08 takes power from the high-voltage battery 01, and converts the high-voltage power into a low-voltage direct current lower than 36VDC; the direct-current conversion circuit 013 converts the variable 6V-16V power output by the low-voltage battery 02 into a low-voltage direct current lower than 36VDC ; Both supply power to the lower bridge arm drive power supply 017 and the ASC control logic circuit 09 through the ORING diode group 014/015 composed of diode 014 and diode 015, and simultaneously supply power to the DC conversion circuit 011 of the slave processor 012; ORING diode group The power output from 014/015 only supplies power to the drive power supply 017 of the lower bridge arm, so as to ensure the minimum power supply loop of the backup power supply, and the power supply output power is as small as possible. Among them, the voltage at the output terminal of the bus power taking unit 08 is slightly lower than the voltage at the output terminal of the DC conversion circuit 013, therefore, through the ORING diode group 014/015, under normal conditions, the low-voltage battery 02 passes through the DC conversion circuit 013 to control the logic circuit of the ASC 09 and the slave processor 012 provide power; when the low-voltage power failure or the low-voltage battery 02 or the DC conversion circuit 013 fails, the high-voltage battery 01 supplies power to the ASC control logic circuit 09 and the slave processor 012 through the bus power-taking unit 08.

The control unit 04 obtains the voltage signal of the high-voltage battery 01 in real time; specifically, the bus voltage signal conditioning circuit 024 adjusts the bus voltage obtained from the high-voltage battery 01 to the input threshold voltage of the linear isolator 025, and the high-voltage bus After the voltage is isolated, it is sent to the master processor 010 and the slave processor 012, so that the master processor 010 and the slave processor 012 can obtain the bus voltage value in real time; as the entry condition of the active short circuit. Wherein, the linear isolator 025 may adopt an isolation operational amplifier or a linear optocoupler isolation circuit.

The motor control device also includes a line voltage zero-crossing detection circuit 022, the voltage zero-crossing detection circuit 022 is connected to the lower bridge arm power conversion module 021, and the line voltage zero-crossing detection circuit 022 is used to convert the line voltage obtained from the lower bridge arm power conversion module 021 The zero-crossing signal is isolated by the isolation chip 023 and then transmitted to the slave processor 010, so that the slave processor 012 can detect the speed information of the motor in real time when the master processor 010 fails and other active short-circuit conditions. Wherein, the isolation chip 023 can be realized by using, for example, an optical coupler.

The master processor 010 and the slave processor 012 are respectively connected to the ASC control logic circuit 09 by signals. The ASC control logic circuit 09 receives safety-related signals sent by the master processor 010 or the slave processor 012, and performs active short-circuit control.

It can be understood that only the main components and circuit connection relationship of the motor control device are marked in Fig. 4, and the motor control device also includes other necessary component modules, and the component modules shown in the current figure also include Signal connections not shown in the FIG. 4 is used to more clearly express the technical solution to be protected by the embodiment of the present application. Therefore, components, modules and signal connection relationships irrelevant to the embodiment of the present application are omitted in FIG. 4 .

As shown in FIG. 5 , it is a logic flow diagram of the motor control device provided in the embodiment of the present application when controlling the motor.

Step 1. When the vehicle is running normally, the master processor 010 is in a normal working state; at this time, the slave processor 012 serves as a backup processor to provide guarantee for the safety control of the vehicle.

Step 2, the slave processor 010 monitors the safety signal in real time or at a certain frequency, and judges whether the safety signal is at a low level (for example, the main processor 010 works abnormally, or the low-voltage battery 02 loses power). If the safety signal is at a high level, it is judged that the master processor 010 is working normally; if the safety signal is at a low level, then enter the next step to trigger the slave processor 012 to work.

Step 3: The slave processor 012 judges whether the current speed is higher than the first threshold speed according to the motor speed transmitted by the master processor 010 last time. If the current speed is lower than the first threshold speed, the slave processor 012 controls the upper and lower bridge arm switches to be completely turned off (that is, controls both the upper and lower bridge arm drive circuits 018 and 019 to be disconnected), and enters the safety off (SPO) state. If the current rotational speed is equal to or higher than the first threshold, the slave processor 012 detects a motor controller failure to determine the type of failure.

Step 4, firstly determine whether the lower bridge arm drive circuit 019 is faulty. If the lower bridge arm drive circuit 019 is not faulty, the active short circuit (ASC) is realized by short-circuiting the lower bridge arm drive circuit 019; if the lower bridge arm drive circuit 019 fails, continue to judge the upper bridge arm drive Whether the circuit 018 breaks down; if the upper bridge arm drive circuit 018 does not fail, then the active short circuit (ASC) is realized by short-circuiting the upper bridge arm drive circuit 018; if the upper bridge arm drive circuit 018 fails simultaneously, Then it directly enters the safety off (SPO) state, because at this time the upper and lower bridge arm drive circuits 018, 019 have all failed, that is, they are all disconnected.

Step 5. Based on the above step 4, after entering the active short circuit (ASC) state, the slave processor 012 judges whether the motor speed has decreased to the second threshold speed through the speed detection circuit. If the motor speed does not decrease to the second threshold speed, the current safe state is maintained. When the speed of the motor is lower than the second threshold, it enters the control and the upper and lower bridge arm drive circuits 018 and 019 are both disconnected, and enters the SPO state of safety shutdown.

Step 6: The motor controller enters the SPO state to separate the motor from the controller.

Embodiment 2 of the present application provides another motor control device, as shown in FIG. 6 . The difference from the motor control device provided in Embodiment 1 lies in:

(1) The power supply for the DC conversion circuit 011 of the slave processor 012 comes from three power input terminals: the SBC power supply module 03 , the DC conversion circuit 013 and the bus power taking unit 08 .

(2) Obtain the motor speed information from the processor 012 through the phase current detection module 026 .

Specifically, by using the SBC power module 03, the DC conversion circuit 013 and the bus power-taking unit 08 as the power supply input end of the DC conversion circuit 011 of the slave processor 012, the stable power input when the slave processor 012 works can be improved. When the vehicle works abnormally, even if one or even two of the three power input terminals fail, the power supply from the processor 012 will not be affected, which improves the robustness of the system.

The motor speed information is obtained from the processor 012 through the phase current detection module 026, wherein the phase current detection module 026 is a speed acquisition unit, including a phase current sensor and a phase current zero-crossing detection circuit. The slave processor 012 acquires the motor speed information by collecting the phase current of the inverter 07 .

The same or similar parts among the various embodiments described above can be referred to each other. "Multiple" in this application means two or more, or "at least two" unless otherwise specified. "A/B" in this application includes three cases: "A", "B" and "A and B".

The device embodiments described above are only illustrative, and the modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in One place, or it can be distributed to multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the drawings of the device embodiments provided in the present application, the connection relationship between the modules indicates that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. It can be understood and implemented by those skilled in the art without creative effort.

The above descriptions are only some specific implementation methods of the present application, but the protection scope of the present application is not limited thereto.

Claims (15)

1. A motor control device is connected with an external high-voltage battery (01) and a low-voltage battery (02), and is characterized by comprising: the motor control device comprises a control unit (04), a power module driving power supply (05), a driving circuit (06), an inverter (07) and a first direct current conversion circuit (013), wherein a low-voltage battery (02) is respectively connected with the control unit (04) and the power module driving power supply (05), the control unit (04) is connected with the driving circuit (06), the driving circuit (06) is connected with the inverter (07), the power module driving power supply (05) is connected with the driving circuit (06), the motor control device further comprises a bus electricity taking unit (08) and a safety control circuit (09), wherein one side of the bus electricity taking unit (08) is connected with the high-voltage battery (01), the other side of the bus electricity taking unit is respectively connected with the control unit (04), the power module driving power supply (05) and the safety control circuit (09), the control unit (04) is connected with the safety control circuit (09), and the safety control circuit (09) is connected with the driving circuit (06);

the control unit comprises a main processor (010), a secondary processor (012) and a second direct current conversion circuit (011), wherein the main processor (010) and the secondary processor (012) are respectively connected with the safety control circuit (09);

the low-voltage battery (02) supplies power to the main processor (010) through the power management module (03), and the low-voltage battery (02) supplies power to the sub-processor (012) through the first direct current conversion circuit (013) and the second direct current conversion circuit (011);

the other side of the bus electricity taking unit (08) is connected with the slave processor (012) in the control unit (04) through the second direct current conversion circuit (011).

2. The motor control device according to claim 1, characterized in that the low-voltage battery (02) is connected to the master processor (010) and the bus bar electricity taking unit (08) is connected to the slave processor (012).

3. The motor control device according to claim 2, characterized in that the low-voltage battery (02) is also connected with the slave processor (012), wherein the low-voltage battery (02) and the bus bar electricity taking unit (08) are connected with the slave processor (012) through diode groups (015, 014).

4. The motor control device according to any one of claims 1 to 3, wherein the power module driving power supply (05) comprises an upper bridge arm driving power supply (016) and a lower bridge arm driving power supply (017), wherein the output end of the bus bar electricity-taking unit (08) is connected with the lower bridge arm driving power supply (017), and the low-voltage battery (02) and the bus bar electricity-taking unit (08) supply power to the lower bridge arm driving power supply (017) through diode groups (015, 014).

5. The motor control device according to any one of claims 1 to 4, characterized in that the low-voltage battery (02) is also connected to the safety control circuit (09), wherein the low-voltage battery (02) and the bus bar electricity taking unit (08) supply electricity to the safety control circuit (09) through a diode group (015, 014).

6. The motor control device according to any one of claims 1 to 5, characterized by further comprising a motor rotation speed acquisition unit that connects the inverter (07) and the slave processor (012), respectively.

7. The motor control device according to claim 6, wherein the motor speed obtaining unit includes a line voltage zero-crossing detecting circuit (022) and an isolating chip (023).

8. The motor control apparatus according to claim 6, wherein the motor speed acquisition unit includes a phase current zero-cross detection circuit and a phase current sensor.

9. A vehicle characterized by comprising the motor control apparatus according to any one of claims 1 to 8.

10. A motor control method applied to the motor control device according to any one of claims 1 to 8, comprising:

a slave processor of the motor receives a safety signal sent by a master processor of the motor;

the slave processor obtains the rotating speed information of the motor;

and the slave processor controls the motor to realize active short circuit or realize safe pipe closing according to the rotating speed information.

11. The motor control method according to claim 10, characterized in that:

the safety signal is used for indicating that the main processor loses power supply or has operation failure.

12. The motor control method according to claim 10 or 11, characterized in that: the slave processor controls the motor to realize active short circuit or safety shut-off according to the rotating speed information of the motor, and the method specifically comprises the following steps:

if the rotating speed of the motor is higher than or equal to a set threshold value, the slave processor controls the motor to carry out active short circuit,

and if the rotating speed of the motor is lower than the set threshold, the slave processor controls the motor to carry out safe shutdown.

13. The method of any of claims 10-12, wherein obtaining the speed information of the motor from the processor comprises:

the slave processor obtains the rotating speed information of the motor according to the motor rotating speed signal transmitted by the master processor for the last time; or,

and the slave processor acquires the rotating speed information of the motor by acquiring the phase current or the line voltage value of the inverter.

14. The motor control method according to claim 12, characterized in that:

and when the rotating speed of the motor is lower than the set threshold, controlling the motor to carry out safety shutdown.

15. The motor control method according to claim 14, characterized in that: and the slave processor acquires the motor rotating speed information by acquiring the phase current or the line voltage value of the inverter.

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