Motor drive system monitoring method, device and vehicle

Abstract

The present disclosure relates to a monitoring method, device and vehicle for a motor drive system, which is applied to a motor drive system, wherein the motor drive system comprises: a plurality of sensor groups arranged at different positions, each sensor group comprising at least two temperature sensors, and the method comprises: during the operation of the motor drive system, collecting the temperature of each temperature sensor according to a collection cycle, determining whether each sensor group is abnormal according to the temperature of each temperature sensor, and if at least two sensor groups are abnormal, controlling the motor drive system to power off or reduce power operation, and if only one sensor group is abnormal, controlling the motor drive system according to the state of each temperature sensor in the abnormal sensor group. The present disclosure can improve the reliability of temperature measurement of the motor drive system, and on the basis of preventing overheating loss, avoid powering off the motor drive system due to false protection, and maintain the operation capability of the motor drive system.

Description

Technical Field

[0001] The present disclosure relates to the field of electronic control technology, and in particular, to a monitoring method, device and vehicle for a motor drive system. Background Art

[0002] With the rapid development of society, the number of cars in use is increasing. Traditional cars use traditional energy, which will produce exhaust gas that pollutes the environment. In addition, traditional energy is non-renewable, which greatly limits the use of traditional cars. Therefore, electric cars that use environmentally friendly new energy have gradually become a major trend in the development of automotive technology. The power source of electric cars is motor drive, and the safety and reliability of the motor drive system is crucial to the normal operation of the vehicle.

[0003] To ensure the safety and reliability of the motor drive system, it is necessary to monitor the temperature of the motor drive system in real time. Usually, multiple temperature sensors are set in the motor drive system to monitor the temperature at various locations in the motor drive system. If a temperature sensor detects an abnormal temperature, the motor drive system will be powered off to ensure the safety of the vehicle. However, if the temperature sensor fails, the measured temperature will be inaccurate, which may cause the motor drive system to be powered off when the temperature is normal, resulting in false protection. Summary of the invention

[0004] The purpose of the present disclosure is to provide a monitoring method, device and vehicle for a motor drive system, so as to solve the problem of false protection caused by failure of temperature sensors in the prior art.

[0005] In order to achieve the above object, according to a first aspect of an embodiment of the present disclosure, a monitoring method for a motor drive system is provided, which is applied to the motor drive system, wherein the motor drive system comprises: a plurality of sensor groups arranged at different positions, each of the sensor groups comprising at least two temperature sensors; the method comprises:

[0006] During the operation of the motor drive system, collecting the temperature of each temperature sensor according to a collection cycle;

[0007] Determining whether each sensor group is abnormal according to the temperature of each temperature sensor;

[0008] If at least two of the sensor groups are abnormal, the motor drive system is controlled to be powered off or run at reduced power;

[0009] If only one of the sensor groups is abnormal, the motor drive system is controlled according to the state of each of the temperature sensors in the abnormal sensor group.

[0010] Optionally, determining whether each sensor group is abnormal according to the temperature of each temperature sensor includes:

[0011] For each of the sensor groups, if the sensor group meets the preset conditions, the sensor group is determined to be normal; if the sensor group does not meet the preset conditions, the sensor group is determined to be abnormal;

[0012] The preset condition is: the temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor, the difference between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the previous acquisition cycle is less than or equal to a first threshold, and the difference between the temperatures of any two temperature sensors in the sensor group is less than or equal to a second threshold.

[0013] Optionally, the method further comprises:

[0014] Before controlling the motor drive system to power off, storing the temperature of each temperature sensor as a historical temperature of the temperature sensor;

[0015] After the motor drive system is powered on, determining a time difference between a current moment and a moment when the motor drive system was last powered off;

[0016] If the time difference is less than the first time length, the temperature of each temperature sensor is collected; based on the temperature of each temperature sensor and the historical temperature of each temperature sensor, it is determined whether each sensor group is abnormal; if at least two of the sensor groups are abnormal, the motor drive system is controlled to be powered off or run at reduced power; if only one of the sensor groups is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group.

[0017] Optionally, the method further comprises:

[0018] If the time difference is greater than or equal to the first time length, the temperature of each temperature sensor is collected; if the temperature difference between any two of the temperature sensors is less than or equal to a third threshold, the motor drive system is controlled to operate normally; if the temperature difference between any two of the temperature sensors is greater than the third threshold, the motor drive system is controlled to power off.

[0019] Optionally, the motor drive system also includes: a motor controller, a motor, the motor controller includes a control module, a cooling module and a power module, the control module is connected to the motor through the power module, the control module is used to control the motor, the cooling module is connected to the control module, and the cooling module is used to cool the motor controller and the motor; the power module includes three groups of IGBTs, and the three groups of IGBTs are respectively connected to the three phases of the motor, and the multiple sensor groups include: a first sensor group composed of a temperature sensor arranged in the control module and a temperature sensor arranged on the cooling module, a second sensor group composed of temperature sensors arranged on each group of IGBTs, and a motor sensor group composed of at least two temperature sensors arranged in the motor.

[0020] Optionally, if only one of the sensor groups is abnormal, controlling the motor drive system according to the state of each temperature sensor in the abnormal sensor group includes:

[0021] If one of the first sensor group and the second sensor group is abnormal, determining the state of each of the temperature sensors in the abnormal sensor group;

[0022] If the state of each temperature sensor in the abnormal sensor group is abnormal, controlling the motor drive system to power off or operate at reduced power;

[0023] If there is a normal temperature sensor in the abnormal sensor group, the motor drive system is controlled to operate normally according to the normal temperature sensor in the abnormal sensor group, and an alarm message is issued, wherein the alarm message is used to indicate that there is an abnormality in the motor drive system.

[0024] Optionally, if only one of the sensor groups is abnormal, controlling the motor drive system according to the state of each temperature sensor in the abnormal sensor group further includes:

[0025] If the motor sensor group is abnormal, determine the state of each temperature sensor in the motor sensor group; when the state of each temperature sensor in the motor sensor group is abnormal, control the motor drive system to operate with limited power according to the temperature sensor on the cooling module, and issue the alarm message; when there is a temperature sensor in a normal state in the motor sensor group, control the motor drive system to operate normally according to the temperature sensors in the motor sensor group that are in a normal state, and issue the alarm message.

[0026] According to a second aspect of an embodiment of the present disclosure, a monitoring device for a motor drive system is provided, which is applied to the motor drive system, wherein the motor drive system comprises: a plurality of sensor groups arranged at different positions, each of the sensor groups comprising at least two temperature sensors; the device comprises:

[0027] A collection module, used for collecting the temperature of each temperature sensor according to a collection cycle during the operation of the motor drive system;

[0028] A determination module, used for determining whether each sensor group is abnormal according to the temperature of each temperature sensor;

[0029] A control module is used to control the motor drive system to power off or operate at reduced power when at least two of the sensor groups are abnormal; when only one of the sensor groups is abnormal, control the motor drive system according to the state of each temperature sensor in the abnormal sensor group.

[0030] Optionally, the determining module is used to:

[0031] For each of the sensor groups, if the sensor group meets the preset conditions, the sensor group is determined to be normal; if the sensor group does not meet the preset conditions, the sensor group is determined to be abnormal;

[0032] The preset condition is: the temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor, the difference between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the previous acquisition cycle is less than or equal to a first threshold, and the difference between the temperatures of any two temperature sensors in the sensor group is less than or equal to a second threshold.

[0033] Optionally, the device further comprises:

[0034] A storage module, used for storing the temperature of each temperature sensor as a historical temperature of the temperature sensor before controlling the motor drive system to power off;

[0035] The determination module is further used to determine the time difference between the current moment and the moment when the motor drive system was last powered off after the motor drive system is powered on;

[0036] The acquisition module is further used to acquire the temperature of each of the temperature sensors when the time difference is less than the first duration;

[0037] The control module is also used to determine whether each sensor group is abnormal based on the temperature of each temperature sensor and the historical temperature of each temperature sensor; if at least two of the sensor groups are abnormal, control the motor drive system to power off or operate at reduced power; if only one of the sensor groups is abnormal, control the motor drive system based on the state of each temperature sensor in the abnormal sensor group.

[0038] Optionally, the acquisition module is further used to acquire the temperature of each of the temperature sensors when the time difference is greater than or equal to the first time duration;

[0039] The control module is also used to control the motor drive system to operate normally when the temperature difference between any two of the temperature sensors is less than or equal to a third threshold; if the temperature difference between any two of the temperature sensors is greater than the third threshold, control the motor drive system to power off.

[0040] Optionally, the motor drive system also includes: a motor controller, a motor, the motor controller includes a control module, a cooling module and a power module, the control module is connected to the motor through the power module, the control module is used to control the motor, the cooling module is connected to the control module, and the cooling module is used to cool the motor controller and the motor; the power module includes three groups of IGBTs, and the three groups of IGBTs are respectively connected to the three phases of the motor, and the multiple sensor groups include: a first sensor group composed of a temperature sensor arranged in the control module and a temperature sensor arranged on the cooling module, a second sensor group composed of temperature sensors arranged on each group of IGBTs, and a motor sensor group composed of at least two temperature sensors arranged in the motor.

[0041] Optionally, the control module includes:

[0042] a determination submodule, configured to determine the state of each of the temperature sensors in the abnormal sensor group when one of the first sensor group and the second sensor group is abnormal;

[0043] A control submodule is used to control the motor drive system to power off or operate at reduced power when the state of each temperature sensor in the abnormal sensor group is abnormal; when there is a temperature sensor in a normal state in the abnormal sensor group, control the motor drive system to operate normally and issue an alarm message based on the temperature sensors in the abnormal sensor group in a normal state, wherein the alarm message is used to indicate that there is an abnormality in the motor drive system.

[0044] Optionally, the determination submodule is further configured to determine the state of each temperature sensor in the motor sensor group when the motor sensor group is abnormal;

[0045] The control submodule is also used to control the motor drive system to operate with limited power and issue the alarm message when the state of each temperature sensor in the motor sensor group is abnormal according to the temperature sensor on the cooling module; and to control the motor drive system to operate normally and issue the alarm message when there is a temperature sensor in the motor sensor group with a normal state according to the temperature sensor in the motor sensor group with a normal state.

[0046] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, wherein a motor drive system is provided on the vehicle, wherein the motor drive system comprises: a motor controller and a motor, wherein the motor controller comprises a control module, a cooling module and a power module, wherein the control module is connected to the motor via the power module, the control module is used to control the motor, the cooling module is connected to the control module, and the cooling module is used to cool the motor controller and the motor; the motor drive system also comprises a plurality of sensor groups, each of the sensor groups comprises at least two temperature sensors; the control module is also used to execute the motor drive system monitoring method provided by the first aspect of the disclosed embodiment.

[0047] Through the above technical scheme, a plurality of sensor groups are arranged at different positions in the motor drive system of the present disclosure, and each sensor group includes at least two temperature sensors. During the operation of the motor drive system, the temperature of each temperature sensor is first collected according to the collection cycle, and then whether each sensor group is abnormal is determined according to the temperature of each temperature sensor. If at least two sensor groups are abnormal, the motor drive system is controlled to power off or reduce power operation. If only one sensor group is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group. In the motor drive system of the present disclosure, multiple temperature sensors in the sensor group verify each other, which largely avoids misprotection. According to whether multiple sensor groups are abnormal, the operating environment of the motor drive system is determined, and the motor drive system is controlled in this way, which can improve the reliability of the temperature measurement of the motor drive system, and on the basis of preventing the overheating loss of the motor drive system, avoid the power-off of the motor drive system caused by misprotection, thereby maintaining the operating ability of the motor drive system as much as possible, and improving the robustness of the motor drive system.

[0048] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0050] Figure 1 is a schematic diagram of a motor drive system according to an exemplary embodiment;

[0051] Figure 2 is a flow chart showing a method for monitoring a motor drive system according to an exemplary embodiment;

[0052] Figure 3 is a flow chart showing another method for monitoring a motor drive system according to an exemplary embodiment;

[0053] Figure 4 is a flow chart showing another method for monitoring a motor drive system according to an exemplary embodiment;

[0054] Figure 5 is a flow chart showing another method for monitoring a motor drive system according to an exemplary embodiment;

[0055] Figure 6 is a flow chart showing another method for monitoring a motor drive system according to an exemplary embodiment;

[0056] Figure 7 is a block diagram of a monitoring device for a motor drive system according to an exemplary embodiment;

[0057] Figure 8 is a block diagram of another monitoring device for a motor drive system according to an exemplary embodiment;

[0058] Fig. 9 is a block diagram of another monitoring device for a motor drive system according to an exemplary embodiment. DETAILED DESCRIPTION

[0059] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0060] Before introducing the monitoring method, device and vehicle of the motor drive system provided by the present disclosure, the application scenarios involved in each embodiment of the present disclosure are first introduced. The application scenario can be a vehicle equipped with a motor drive system, which uses a power battery as an energy source, such as an electric vehicle, not limited to a pure electric vehicle or a hybrid vehicle, etc., and can also be a train, high-speed rail, subway, light rail and other rail transit trains.

[0061] Motor drive system such as Figure 1 As shown in (a) and (b) of FIG. 1 , the motor 10 and the motor controller 20 may include: a motor 10 and a motor controller 20, wherein the motor controller 20 includes a control module 21, a cooling module 22 and a power module 23. Figure 1 As shown in (a), the control module 21 controls the power module 23 through a PWM (English: Pulse width modulation, Chinese: Pulse width modulation) signal, and the power module 23 is connected to the motor 10, so that the control module 21 controls the motor 10. Among them, the positional relationship between the cooling module 22 and the motor controller 20 and the motor 10 is as follows Figure 1 As shown in (b), it is used to cool the motor controller 20 and the motor 10. Among them, the cooling module 22 may include a motor electronically controlled radiator and a condenser, and the motor electronically controlled radiator is connected to the control module 21. The motor 10 may be, for example, a three-phase motor (including: phase A, phase B, phase C), and the power module 23 may include three groups of IGBTs (English: Insulated Gate Bipolar Transistor, Chinese: Insulated Gate Bipolar Transistor), and the three groups of IGBTs are respectively connected to the three phases of the three-phase motor.

[0062] The motor drive system also includes multiple sensor groups arranged at different positions, each sensor group includes at least two temperature sensors, and the positions of the temperature sensors in each sensor group are close. Accordingly, the temperatures of the temperature sensors in each sensor group can be verified with each other. A temperature sensor PCB_NTC can be set in the control module 21, and a temperature sensor RD_NTC can be set on the cooling module 22, and PCB_NTC and RD_NTC are used as a sensor group. A temperature sensor: A_NTC, B_NTC, C_NTC can also be set on each group of IGBTs, and A_NTC, B_NTC, C_NTC are used as a sensor group. Two temperature sensors: M_PTC1 and M_PTC2 can also be set in the motor 10, and M_PTC1 and M_PTC2 are used as a sensor group.

[0063] Figure 2 is a flow chart of a method for monitoring a motor drive system according to an exemplary embodiment. Figure 2 As shown, it is applied to Figure 1The motor drive system shown, the method comprises:

[0064] Step 101 : During the operation of the motor drive system, the temperature of each temperature sensor is collected according to a collection cycle.

[0065] Step 102: Determine whether each sensor group is abnormal according to the temperature of each temperature sensor.

[0066] For example, during the operation of the motor drive system, the temperature of each temperature sensor can be collected according to a preset collection period (for example: 1 minute), and based on the temperature of each temperature sensor, it is determined whether each sensor group is abnormal. That is, during the operation of the motor drive system, the temperature of each temperature sensor is periodically monitored, which can be understood as a process self-test of the motor drive system. In a specific application scenario, for each sensor group, whether the sensor group is abnormal is determined by judging whether the sensor group meets the preset conditions. If the sensor group meets the preset conditions, it is determined that the sensor group is normal; if the sensor group does not meet the preset conditions, it is determined that the sensor group is abnormal.

[0067] Among them, the preset conditions may include the following three conditions. When the sensor group satisfies the following three conditions at the same time, the sensor group is determined to be normal. Condition 1: The temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor. Condition 2: The difference between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the previous acquisition cycle is less than or equal to the first threshold. Condition 3: The difference between the temperatures of any two temperature sensors in the sensor group is less than or equal to the second threshold.

[0068] Specifically, condition 1 can be understood as each temperature sensor is pre-set with a corresponding normal range, that is, the sampling range is determined according to the measurement capability of the temperature sensor itself. If the temperature of a temperature sensor does not belong to the normal range corresponding to the temperature sensor, it is also possible to determine whether the temperature sensor is disconnected or short-circuited based on the relationship between the temperature of the temperature sensor and the normal range. For example, the normal range of the temperature sensor set on the cooling module is 0-150°C. When the temperature of the temperature sensor is less than 0°C, it can be determined that the temperature sensor is short-circuited. When the temperature of the temperature sensor is greater than 150°C, it can be determined that the temperature sensor is disconnected.

[0069] Condition 2 can be understood as that the variation range of each temperature sensor in one acquisition cycle is limited and no sudden change occurs, so the variation range of each temperature sensor in two adjacent acquisition cycles can be limited by the first threshold. The first threshold can be set to 40°C, for example.

[0070] Condition 3 can be understood as the positions of the temperature sensors in each sensor group are close, and the temperatures of the temperature sensors in each sensor group should also be close and can be verified with each other. Therefore, the temperature difference between any two temperature sensors in the sensor group can be limited by the second threshold, and the second threshold can be set to 10°C or 15°C, for example.

[0071] Step 103: If at least two sensor groups are abnormal, the motor drive system is controlled to be powered off or run at reduced power.

[0072] Step 104 : If only one sensor group is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group.

[0073] For example, if at least two sensor groups among the multiple sensor groups are abnormal, it means that the temperature sensor in the motor drive system has a serious fault, or the motor drive system has a serious fault, or the temperature sensor and the motor drive system may have a serious fault at the same time. If continued operation may cause irreversible damage to the motor drive system due to overheating loss, or the motor drive system cannot be continuously monitored, the motor drive system can be controlled to power off or reduce power. Among them, controlling the motor drive system to reduce power can be understood as controlling the motor drive system to reduce power according to a preset step value or a preset ratio until the power is reduced to zero. If each sensor group among the multiple sensor groups is normal, it means that the motor drive system is normal and there is no fault, so the motor drive system can be controlled to operate normally. Alternatively, when each sensor group among the multiple sensor groups is normal, by comparing the difference in the temperature of each sensor group (which can be understood as the average temperature of all temperature sensors in the sensor group), it is further determined whether the motor drive system is normal. If the difference in the temperature of any two sensor groups is less than or equal to the fourth threshold (for example, it can be 20°C), it is determined that the motor drive system is normal.

[0074] If only one sensor group among multiple sensor groups is abnormal, the motor drive system can be controlled according to the state of each temperature sensor in the abnormal sensor group. Specifically, the state of each temperature sensor in the abnormal sensor group can be determined first. For example, it can be determined whether the state of the temperature sensor is normal by judging whether the temperature of the temperature sensor belongs to the normal range corresponding to the temperature sensor. It can also be determined whether the state of the temperature sensor is normal by judging the relationship between the difference between the temperature of the temperature sensor and the temperature of the temperature sensor in the previous acquisition cycle and the first threshold.

[0075] If the status of all temperature sensors in the abnormal sensor group are abnormal, that is, they are faulty at the same time, it means that the fault of the temperature sensor in the motor drive system is serious, or the fault of the motor drive system is serious, or the temperature sensor and the motor drive system are seriously faulty at the same time. If the operation continues, it may cause overheating loss to cause irreversible damage to the motor drive system, or the motor drive system cannot be continuously monitored. At this time, the motor drive system can be controlled to power off or reduce power. If there is a normal temperature sensor in the abnormal sensor group, it means that the fault of the temperature sensor in the motor drive system is minor. Since the positions of the temperature sensors in the sensor group are close, the temperatures of the temperature sensors in the sensor group should also be close. Therefore, the temperature of the normal temperature sensor can be used to replace the temperature of the abnormal temperature sensor. In this way, the motor drive system can continue to operate normally. At the same time, an alarm message can be issued to remind the user that there is an abnormality in the motor drive system. After receiving the alarm message, the user can drive the vehicle to the nearest maintenance point or service point for maintenance.

[0076] Since the probability of all temperature sensors in the sensor group failing at the same time is very low, the reliability of the temperature measurement of the motor drive system can be improved by mutual verification of multiple temperature sensors in the sensor group. On the basis of preventing the motor drive system from overheating and loss, the motor drive system can be prevented from being powered off due to false protection, thereby maintaining the operating capacity of the motor drive system as much as possible and improving the robustness of the motor drive system. Compared with the prior art, as long as the temperature is abnormal, the motor drive system is powered off, resulting in the vehicle being unable to continue driving, and the vehicle may be parked in an inappropriate location, or rescue personnel cannot be contacted. The present disclosure can improve the user experience and the safety of the vehicle.

[0077] In summary, in the present disclosure, multiple sensor groups are arranged at different positions in the motor drive system, and each sensor group includes at least two temperature sensors. During the operation of the motor drive system, the temperature of each temperature sensor is first collected according to the collection cycle, and then each sensor group is determined to be abnormal according to the temperature of each temperature sensor. If at least two sensor groups are abnormal, the motor drive system is controlled to power off or reduce power operation. If only one sensor group is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group. In the motor drive system of the present disclosure, multiple temperature sensors in the sensor group verify each other, which largely avoids misprotection. According to whether multiple sensor groups are abnormal, the operating environment of the motor drive system is determined, and the motor drive system is controlled in this way, which can improve the reliability of the temperature measurement of the motor drive system, and on the basis of preventing the motor drive system from overheating and loss, the motor drive system is prevented from being powered off due to misprotection, thereby maintaining the operating ability of the motor drive system as much as possible and improving the robustness of the motor drive system.

[0078] Figure 3 is a flow chart showing another method for monitoring a motor drive system according to an exemplary embodiment. Figure 3 As shown, the method may also include the following steps:

[0079] Step 105 : before controlling the motor drive system to be powered off, storing the temperature of each temperature sensor as the historical temperature of the temperature sensor.

[0080] For example, before the motor drive system is powered off, the temperature of each temperature sensor can be stored as the historical temperature of the temperature sensor, and the time when the motor drive system is powered off can also be stored. For example, the historical temperature and the time of power off can be stored in the EEPROM (English: Electrically Erasable Programmable read only memory, Chinese: electrically erasable programmable read only memory), Flash (English: Flash EEPROM, Chinese: flash memory) or ROM (English: Read-Only Memory, Chinese: read-only memory) of the control module, and the present disclosure does not make specific limitations on this.

[0081] Step 106 , after the motor drive system is powered on, determine the time difference between the current time and the time when the motor drive system was last powered off.

[0082] Step 107: if the time difference is less than the first time length, collect the temperature of each temperature sensor. Determine whether each sensor group is abnormal based on the temperature of each temperature sensor and the historical temperature of each temperature sensor. If at least two sensor groups are abnormal, control the motor drive system to power off or reduce power. If only one sensor group is abnormal, control the motor drive system based on the state of each temperature sensor in the abnormal sensor group.

[0083] For example, after the motor drive system is powered on, the time difference between the current moment (i.e., the moment when the motor drive system is powered on) and the moment when the motor drive system was last powered off can be determined, that is, the shutdown duration of the motor drive system is determined. If the time difference is less than the first duration (for example, it can be 10 minutes), it means that the shutdown duration is short, then the temperature inside the motor drive system is still affected by the temperature before the last power-off, which can be regarded as a process self-test of the motor drive system. Therefore, it can be determined whether each sensor group is abnormal based on the temperature of each temperature sensor and the historical temperature of each temperature sensor. For example, it can be determined whether the sensor group is abnormal by judging whether the sensor group meets the preset conditions. If the sensor group meets the preset conditions, it is determined that the sensor group is normal. If the sensor group does not meet the preset conditions, it is determined that the sensor group is abnormal.

[0084] Among them, the preset conditions may include the following three conditions. When the sensor group satisfies the following three conditions at the same time, the sensor group is determined to be normal. Condition 1: The temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor. Condition 2: The difference between the temperature of each temperature sensor in the sensor group and the historical temperature of the temperature sensor is less than or equal to the first threshold. Condition 3: The difference between the temperatures of any two temperature sensors in the sensor group is less than or equal to the second threshold.

[0085] If at least two sensor groups are abnormal, the motor drive system is controlled to be powered off or run at reduced power. If only one sensor group is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group. The above control process is the same as the control process of step 103 and step 104, and will not be repeated here.

[0086] Figure 4 is a flow chart showing another method for monitoring a motor drive system according to an exemplary embodiment. Figure 4 As shown, the method may also include:

[0087] Step 108: If the time difference is greater than or equal to the first time length, the temperature of each temperature sensor is collected. If the temperature difference of any two temperature sensors is less than or equal to the third threshold, the motor drive system is controlled to operate normally, and a prompt message is issued, the prompt message is used to indicate that the motor drive system is normal. If the temperature difference of any two temperature sensors is greater than the third threshold, the motor drive system is controlled to power off.

[0088] In another implementation scenario, if the time difference is greater than or equal to the first duration (for example, it can be 10 minutes), it means that the shutdown time is long, then the motor drive system has restored the ambient temperature, which can be understood as an initial inspection before the motor drive system is operated. After the motor drive system is powered on, the temperature of each temperature sensor can be collected. Since the motor drive system has restored the ambient temperature, the temperature of each temperature sensor should be close and can be verified with each other. Therefore, the temperature difference between any two temperature sensors can be limited by a third threshold, and the third threshold can be set to 10°C, for example. If the temperature difference between any two temperature sensors is less than or equal to the third threshold, the motor drive system is controlled to run normally, and a prompt message is issued, which is used to indicate that the motor drive system is normal. If the temperature difference between the two temperature sensors is greater than the third threshold, the motor drive system is controlled to power off, and an alarm message can also be issued to prompt the user that the motor drive system is abnormal.

[0089] In one embodiment, the operation of the motor drive system can also be controlled according to the state of each temperature sensor. If the state of each temperature sensor is normal, the motor drive system is controlled to operate normally and a prompt message is issued. If the state of one or more temperature sensors is abnormal, the motor drive system is controlled to be powered off and an alarm message is issued. Specifically, the state of each temperature sensor can be determined according to the normal range corresponding to each temperature sensor. If the temperature of a temperature sensor does not belong to the normal range corresponding to the temperature sensor, it can also be determined whether the temperature sensor is disconnected or short-circuited based on the relationship between the temperature of the temperature sensor and the normal range. For example, the normal range of the temperature sensor set on the motor is 0-200°C. When the temperature of the temperature sensor is less than 0°C, it can be determined that the temperature sensor is short-circuited. When the temperature of the temperature sensor is greater than 200°C, it can be determined that the temperature sensor is disconnected.

[0090] by Figure 1Taking the motor drive system shown as an example, the power module in the motor controller may include three groups of IGBTs, which are respectively connected to the three phases of the motor, and the multiple sensor groups include: a first sensor group consisting of a temperature sensor arranged in the control module and a temperature sensor arranged on the cooling module, a second sensor group consisting of temperature sensors arranged on each group of IGBTs, and a motor sensor group consisting of at least two temperature sensors arranged in the motor.

[0091] Figure 5 is a flow chart showing another method for monitoring a motor drive system according to an exemplary embodiment. Figure 5 As shown, the implementation of step 104 may include:

[0092] Step 1041 : if one of the first sensor group and the second sensor group is abnormal, determine the state of each temperature sensor in the abnormal sensor group.

[0093] Step 1042: If the status of each temperature sensor in the abnormal sensor group is abnormal, the motor drive system is controlled to be powered off or run at reduced power.

[0094] Step 1043, if there is a normal temperature sensor in the abnormal sensor group, the motor drive system is controlled to operate normally according to the normal temperature sensor in the abnormal sensor group, and an alarm message is issued, wherein the alarm message is used to indicate that an abnormality exists in the motor drive system.

[0095] For example, whether the state of the temperature sensor is normal can be determined by judging whether the temperature of the temperature sensor belongs to the normal range corresponding to the temperature sensor, that is, if the temperature of the temperature sensor belongs to the normal range, the state is normal, and if the temperature of the temperature sensor does not belong to the normal range, the state is abnormal. Whether the state of the temperature sensor is normal can also be determined by judging the relationship between the difference between the temperature of the temperature sensor and the temperature of the temperature sensor in the previous acquisition cycle and the first threshold, that is, if the difference between the temperature of the temperature sensor and the temperature of the temperature sensor in the previous acquisition cycle is less than or equal to the first threshold, the state is normal, and if the difference between the temperature of the temperature sensor and the temperature of the temperature sensor in the previous acquisition cycle is greater than the first threshold, the state is abnormal.

[0096] In a specific application scenario, if the state of each temperature sensor in the abnormal sensor group is abnormal, that is, a fault occurs at the same time, it means that the fault of the temperature sensor in the motor drive system is relatively serious, or the fault of the motor drive system is relatively serious. It may also be that the temperature sensor and the motor drive system have a relatively serious fault at the same time. If it continues to run, it may cause overheating loss, causing irreversible damage to the motor drive system, or it may be impossible to continuously monitor the motor drive system. At this time, the motor drive system can be controlled to power off or reduce power. If there is a normal temperature sensor in the abnormal sensor group, it means that the fault of the temperature sensor in the motor drive system is relatively minor. Since the positions of the temperature sensors in the sensor group are close, the temperatures of the temperature sensors in the sensor group should also be close. Therefore, the temperature of the normal temperature sensor can be used to replace the temperature of the abnormal temperature sensor, or, on the basis of the temperature of the normal temperature sensor, a preset first offset (for example, ±5°C) can be added as the temperature of the abnormal temperature sensor, so as to control the normal operation of the motor drive system and issue an alarm message.

[0097] by Figure 1 For example, a temperature sensor PCB_NTC is set in the control module 21, and a temperature sensor RD_NTC is set on the cooling module 22, and PCB_NTC and RD_NTC are used as the first sensor group. A temperature sensor A_NTC, B_NTC, and C_NTC can also be set on each group of IGBTs, and A_NTC, B_NTC, and C_NTC are used as the second sensor group.

[0098] If the first sensor group is abnormal, the states of PCB_NTC and RD_NTC are determined respectively. If the state of PCB_NTC is abnormal and the state of RD_NTC is normal, the temperature of PCB_NTC can be replaced by +5°C based on the temperature of RD_NTC to enable the normal operation of the motor drive system. If the state of PCB_NTC is normal and the state of RD_NTC is abnormal, the temperature of PCB_NTC can be replaced by -5°C based on the temperature of RD_NTC to enable the normal operation of the motor drive system. If the states of both PCB_NTC and RD_NTC are abnormal, the motor drive system is controlled to power off or operate at reduced power.

[0099] If the second sensor group is abnormal, the states of A_NTC, B_NTC, and C_NTC are determined respectively. If the state of A_NTC is abnormal and the states of B_NTC and C_NTC are normal, the temperature of B_NTC and C_NTC can be used to replace the temperature of A_NTC to enable the motor drive system to operate normally. If the states of A_NTC, B_NTC, and C_NTC are all abnormal, the motor drive system is controlled to power off or operate at reduced power.

[0100] Figure 6 is a flow chart showing another method for monitoring a motor drive system according to an exemplary embodiment. Figure 6 As shown, the plurality of sensor groups further include: a motor sensor group consisting of at least two temperature sensors disposed in the motor.

[0101] Step 104 also includes:

[0102] Step 1044: If the motor sensor group is abnormal, determine the state of each temperature sensor in the motor sensor group.

[0103] Step 1045, when the status of each temperature sensor in the motor sensor group is abnormal, the motor drive system is controlled to operate with limited power according to the temperature sensor on the cooling module, and an alarm message is issued.

[0104] Step 1046, when there is a temperature sensor in a normal state in the motor sensor group, the motor drive system is controlled to operate normally according to the temperature sensor in a normal state in the motor sensor group, and an alarm message is issued.

[0105] For example, if only the motor sensor group is abnormal among multiple sensor groups, then the state of each temperature sensor in the motor sensor group is first determined, that is, if the temperature of the temperature sensor is within the normal range, the state is normal, and if the temperature of the temperature sensor is not within the normal range, the state is abnormal. It is also possible to determine whether the state of the temperature sensor is normal by judging the relationship between the difference between the temperature of the temperature sensor and the temperature of the temperature sensor in the previous acquisition cycle and the first threshold, that is, if the difference between the temperature of the temperature sensor and the temperature of the temperature sensor in the previous acquisition cycle is less than or equal to the first threshold, then the state is normal, and if the difference between the temperature of the temperature sensor and the temperature of the temperature sensor in the previous acquisition cycle is greater than the first threshold, then the state is abnormal.

[0106] If the state of each temperature sensor in the motor sensor group is abnormal, in order to maintain the operating capacity of the motor drive system as much as possible, that is, to ensure that the motor can operate normally, the temperature of the temperature sensor on the cooling module can be used to replace the temperature of each temperature sensor in the motor sensor group, or, on the basis of the temperature of the temperature sensor on the cooling module, a preset second offset (for example, it can be +20°C) can be added as the temperature of the temperature sensor in the abnormal state, so as to control the motor drive system to operate with limited power and issue an alarm message. Since the distance between the motor and the cooling module is close, the temperature should also be close, so the temperature of the temperature sensor on the cooling module can be temporarily replaced by the temperature of each temperature sensor in the motor sensor group. Among them, controlling the motor drive system to operate with limited power can be understood as controlling the power of the motor drive system to maintain a preset proportion of the rated power (for example, it can be 30%), so that after receiving the alarm message, the user can drive the vehicle to the nearest maintenance point or service point for maintenance.

[0107] If there is a normal temperature sensor in the motor sensor group, it means that the fault of the temperature sensor in the motor drive system is relatively minor. Since the positions of the temperature sensors in the motor sensor group are close, the temperatures should also be close. Therefore, the temperature of the normal temperature sensor in the motor sensor group can be used to replace the temperature of the abnormal temperature sensor, so as to control the normal operation of the motor drive system and issue an alarm message.

[0108] by Figure 1 For example, two temperature sensors are set in the motor 10: M_PTC1 and M_PTC2, and M_PTC1 and M_PTC2 are the motor sensor group. When the motor sensor group is abnormal, the states of M_PTC1 and M_PTC2 are determined respectively. If the state of M_PTC1 is abnormal and the state of M_PTC2 is normal, the temperature of M_PTC2 can be used to replace the temperature of the motor so that the motor drive system can operate normally. If the states of M_PTC1 and M_PTC2 are both abnormal, then +20°C is added to the temperature of RD_NTC to replace the temperature of M_PTC1 and M_PTC2, so as to control the motor drive system to operate with limited power.

[0109] In summary, in the present disclosure, multiple sensor groups are arranged at different positions in the motor drive system, and each sensor group includes at least two temperature sensors. During the operation of the motor drive system, the temperature of each temperature sensor is first collected according to the collection cycle, and then each sensor group is determined to be abnormal according to the temperature of each temperature sensor. If at least two sensor groups are abnormal, the motor drive system is controlled to power off or reduce power operation. If only one sensor group is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group. In the motor drive system of the present disclosure, multiple temperature sensors in the sensor group verify each other, which largely avoids misprotection. According to whether multiple sensor groups are abnormal, the operating environment of the motor drive system is determined, and the motor drive system is controlled in this way, which can improve the reliability of the temperature measurement of the motor drive system, and on the basis of preventing the motor drive system from overheating and loss, the motor drive system is prevented from being powered off due to misprotection, thereby maintaining the operating ability of the motor drive system as much as possible and improving the robustness of the motor drive system.

[0110] Figure 7 is a block diagram of a monitoring device for a motor drive system according to an exemplary embodiment. Figure 7 As shown, applied to Figure 1 The motor drive system shown. The device 200 includes:

[0111] The acquisition module 201 is used to acquire the temperature of each temperature sensor according to an acquisition cycle during the operation of the motor drive system.

[0112] The determination module 202 is used to determine whether each sensor group is abnormal according to the temperature of each temperature sensor.

[0113] The control module 203 is used to control the motor drive system to power off or reduce power when at least two sensor groups are abnormal. When only one sensor group is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group.

[0114] In one embodiment, the determination module 202 is used to:

[0115] For each sensor group, if the sensor group meets the preset condition, it is determined that the sensor group is normal; if the sensor group does not meet the preset condition, it is determined that the sensor group is abnormal.

[0116] Among them, the preset conditions are: the temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor, the difference between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the previous acquisition cycle is less than or equal to a first threshold, and the difference between the temperatures of any two temperature sensors in the sensor group is less than or equal to a second threshold.

[0117] Figure 8 is a block diagram of another monitoring device for a motor drive system according to an exemplary embodiment. Figure 8 As shown, the device 200 may also include:

[0118] The storage module 204 is used to store the temperature of each temperature sensor as the historical temperature of the temperature sensor before controlling the motor drive system to be powered off.

[0119] The determination module 202 is further used to determine the time difference between the current moment and the moment when the motor drive system was last powered off after the motor drive system is powered on.

[0120] The acquisition module 201 is further configured to acquire the temperature of each temperature sensor when the time difference is less than the first time duration.

[0121] The control module 203 is further used to determine whether each sensor group is abnormal according to the temperature of each temperature sensor and the historical temperature of each temperature sensor. If at least two sensor groups are abnormal, the motor drive system is controlled to be powered off or run at reduced power. If only one sensor group is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group.

[0122] In one embodiment, the acquisition module 201 is further configured to acquire the temperature of each temperature sensor when the time difference is greater than or equal to the first time duration.

[0123] The control module 203 is also used to control the motor drive system to operate normally and issue a prompt message when the temperature difference between any two temperature sensors is less than or equal to a third threshold value, and to control the motor drive system to operate normally. If the temperature difference between any two temperature sensors is greater than the third threshold value, the motor drive system is powered off.

[0124] Fig. 9 is a block diagram of another monitoring device for a motor drive system according to an exemplary embodiment. Fig. 9As shown, the power module in the motor controller includes three groups of IGBTs, which are respectively connected to the three phases of the motor, and the multiple sensor groups include: a first sensor group consisting of a temperature sensor arranged in the control module and a temperature sensor arranged on the cooling module, a second sensor group consisting of temperature sensors arranged on each group of IGBTs, and a motor sensor group consisting of at least two temperature sensors arranged in the motor.

[0125] The control module 203 includes:

[0126] The determination submodule 2031 is used to determine the state of each temperature sensor in the abnormal sensor group when one of the first sensor group and the second sensor group is abnormal.

[0127] The control submodule 2032 is used to control the motor drive system to power off or reduce power when the state of each temperature sensor in the abnormal sensor group is abnormal. When there is a normal temperature sensor in the abnormal sensor group, the motor drive system is controlled to operate normally according to the normal temperature sensors in the abnormal sensor group, and an alarm message is issued, and the alarm message is used to indicate that the motor drive system is abnormal.

[0128] In another embodiment, the determination submodule 2031 is further configured to determine the state of each temperature sensor in the motor sensor group when the motor sensor group is abnormal.

[0129] The control submodule 2032 is also used to control the motor drive system to operate at limited power according to the temperature sensor on the cooling module and issue an alarm message when the state of each temperature sensor in the motor sensor group is abnormal. If there is a temperature sensor in the motor sensor group with a normal state, the motor drive system is controlled to operate normally according to the temperature sensor in the motor sensor group with a normal state, and an alarm message is issued.

[0130] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0131] In summary, in the present disclosure, multiple sensor groups are arranged at different positions in the motor drive system, and each sensor group includes at least two temperature sensors. During the operation of the motor drive system, the temperature of each temperature sensor is first collected according to the collection cycle, and then each sensor group is determined to be abnormal according to the temperature of each temperature sensor. If at least two sensor groups are abnormal, the motor drive system is controlled to power off or reduce power operation. If only one sensor group is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group. In the motor drive system of the present disclosure, multiple temperature sensors in the sensor group verify each other, which largely avoids misprotection. According to whether multiple sensor groups are abnormal, the operating environment of the motor drive system is determined, and the motor drive system is controlled in this way, which can improve the reliability of the temperature measurement of the motor drive system, and on the basis of preventing the motor drive system from overheating and loss, the motor drive system is prevented from being powered off due to misprotection, thereby maintaining the operating ability of the motor drive system as much as possible and improving the robustness of the motor drive system.

[0132] The present disclosure also relates to a vehicle, wherein the vehicle is provided with Figure 1 The motor drive system shown includes: a motor controller, a motor, the motor controller includes a control module, a cooling module and a power module, the control module is connected to the motor through the power module, the control module is used to control the motor, the cooling module is connected to the control module, and the cooling module is used to cool the motor controller and the motor. The motor drive system also includes multiple sensor groups, each sensor group includes at least two temperature sensors. The control module is also used to execute the monitoring method of the motor drive system provided by the first aspect of the disclosed embodiment.

[0133] Regarding the vehicle in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0134] In summary, in the present disclosure, multiple sensor groups are arranged at different positions in the motor drive system, and each sensor group includes at least two temperature sensors. During the operation of the motor drive system, the temperature of each temperature sensor is first collected according to the collection cycle, and then each sensor group is determined to be abnormal according to the temperature of each temperature sensor. If at least two sensor groups are abnormal, the motor drive system is controlled to power off or reduce power operation. If only one sensor group is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group. In the motor drive system of the present disclosure, multiple temperature sensors in the sensor group verify each other, which largely avoids misprotection. According to whether multiple sensor groups are abnormal, the operating environment of the motor drive system is determined, and the motor drive system is controlled in this way, which can improve the reliability of the temperature measurement of the motor drive system, and on the basis of preventing the motor drive system from overheating and loss, the motor drive system is prevented from being powered off due to misprotection, thereby maintaining the operating ability of the motor drive system as much as possible and improving the robustness of the motor drive system.

[0135] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0136] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0137] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A monitoring method for a motor drive system, characterized in that: Applied to a motor drive system, the motor drive system comprises: a plurality of sensor groups arranged at different positions, each of the sensor groups comprising at least two temperature sensors; the method comprises: During the operation of the motor drive system, collecting the temperature of each temperature sensor according to a collection cycle; Determining whether each sensor group is abnormal according to the temperature of each temperature sensor; If at least two of the sensor groups are abnormal, the motor drive system is controlled to be powered off or run at reduced power; If only one of the sensor groups is abnormal, controlling the motor drive system according to the state of each of the temperature sensors in the abnormal sensor group; If only one of the sensor groups is abnormal, controlling the motor drive system according to the state of each temperature sensor in the abnormal sensor group includes: If only one of the sensor groups is abnormal, determining the state of each of the temperature sensors in the abnormal sensor group; If the state of each temperature sensor in the abnormal sensor group is abnormal, controlling the motor drive system to power off or operate at reduced power; If there is a normal temperature sensor in the abnormal sensor group, the motor drive system is controlled to operate normally according to the normal temperature sensor in the abnormal sensor group, and an alarm message is issued, wherein the alarm message is used to indicate that there is an abnormality in the motor drive system.

2. The method according to claim 1, characterized in that The step of determining whether each sensor group is abnormal according to the temperature of each temperature sensor comprises: For each of the sensor groups, if the sensor group meets the preset conditions, the sensor group is determined to be normal; if the sensor group does not meet the preset conditions, the sensor group is determined to be abnormal; The preset condition is: the temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor, the difference between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the previous acquisition cycle is less than or equal to a first threshold, and the difference between the temperatures of any two temperature sensors in the sensor group is less than or equal to a second threshold.

3. The method according to claim 1, characterized in that The method further comprises: Before controlling the motor drive system to power off, storing the temperature of each temperature sensor as a historical temperature of the temperature sensor; After the motor drive system is powered on, determining a time difference between a current moment and a moment when the motor drive system was last powered off; If the time difference is less than the first time length, the temperature of each temperature sensor is collected; based on the temperature of each temperature sensor and the historical temperature of each temperature sensor, it is determined whether each sensor group is abnormal; if at least two of the sensor groups are abnormal, the motor drive system is controlled to be powered off or run at reduced power; if only one of the sensor groups is abnormal, the motor drive system is controlled according to the state of each temperature sensor in the abnormal sensor group.

4. The method according to claim 3, characterized in that: The method further comprises: If the time difference is greater than or equal to the first time length, the temperature of each temperature sensor is collected; if the temperature difference between any two of the temperature sensors is less than or equal to a third threshold, the motor drive system is controlled to operate normally; if the temperature difference between any two of the temperature sensors is greater than the third threshold, the motor drive system is controlled to power off.

5. The method according to any one of claims 1 to 4, characterized in that The motor drive system also includes: a motor controller and a motor, the motor controller includes a control module, a cooling module and a power module, the control module is connected to the motor through the power module, the control module is used to control the motor, the cooling module is connected to the control module, and the cooling module is used to cool the motor controller and the motor; the power module includes three groups of IGBTs, and the three groups of IGBTs are respectively connected to the three phases of the motor, and the multiple sensor groups include: a first sensor group composed of a temperature sensor arranged in the control module and a temperature sensor arranged on the cooling module, a second sensor group composed of temperature sensors arranged on each group of IGBTs, and a motor sensor group composed of at least two temperature sensors arranged in the motor.

6. The method according to claim 5, characterized in that If only one of the sensor groups is abnormal, controlling the motor drive system according to the state of each temperature sensor in the abnormal sensor group further includes: If the motor sensor group is abnormal, determining the state of each temperature sensor in the motor sensor group; When the state of each temperature sensor in the motor sensor group is abnormal, the motor drive system is controlled to operate at limited power according to the temperature sensor on the cooling module, and the alarm information is issued; In the case that there is a temperature sensor in a normal state in the motor sensor group, the motor drive system is controlled to operate normally and the alarm information is issued according to the temperature sensor in a normal state in the motor sensor group.

7. A monitoring device for a motor drive system, characterized in that: Applied to a motor drive system, the motor drive system comprises: a plurality of sensor groups arranged at different positions, each of the sensor groups comprising at least two temperature sensors; the device comprises: A collection module, used for collecting the temperature of each temperature sensor according to a collection cycle during the operation of the motor drive system; A determination module, used for determining whether each sensor group is abnormal according to the temperature of each temperature sensor; A control module, configured to control the motor drive system to power off or operate at reduced power when at least two of the sensor groups are abnormal; and to control the motor drive system according to the state of each temperature sensor in the abnormal sensor group when only one of the sensor groups is abnormal; The control module comprises: A determination submodule, configured to determine the state of each of the temperature sensors in the abnormal sensor group when only one of the sensor groups is abnormal; A control submodule is used to control the motor drive system to power off or operate at reduced power when the state of each temperature sensor in the abnormal sensor group is abnormal; when there is a temperature sensor in a normal state in the abnormal sensor group, control the motor drive system to operate normally and issue an alarm message based on the temperature sensors in the abnormal sensor group in a normal state, wherein the alarm message is used to indicate that there is an abnormality in the motor drive system.

8. The device according to claim 7, characterized in that The determination module is used for: For each of the sensor groups, if the sensor group meets the preset conditions, the sensor group is determined to be normal; if the sensor group does not meet the preset conditions, the sensor group is determined to be abnormal; The preset condition is: the temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor, the difference between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the previous acquisition cycle is less than or equal to a first threshold, and the difference between the temperatures of any two temperature sensors in the sensor group is less than or equal to a second threshold.

9. A vehicle, characterized in that: The vehicle is provided with a motor drive system, and the motor drive system includes: a motor controller and a motor, the motor controller includes a control module, a cooling module and a power module, the control module is connected to the motor via the power module, the control module is used to control the motor, the cooling module is connected to the control module, and the cooling module is used to cool the motor controller and the motor; the motor drive system also includes a plurality of sensor groups arranged at different positions, each of the sensor groups includes at least two temperature sensors; the control module is also used to execute the monitoring method of the motor drive system described in any one of claims 1-6.

Images