A suspension controller switch fault tolerance circuit, method and system

Abstract

The present application discloses a suspension controller switch fault tolerance circuit, method and system, which is used to switch to another half-bridge structure when a switch device of a half-bridge structure of the suspension controller fails, causing the suspension controller to fail to work normally, so as to ensure the normal flow of current on the electromagnet module and ensure the normal operation of the suspension controller. The circuit includes: four switch modules and the electromagnet module form an H-bridge structure, and the H-bridge structure includes a first half-bridge structure and a second half-bridge structure; two freewheeling modules are respectively connected in parallel with the two switch modules in the first half-bridge structure; the first drive module is connected to the two switch modules of the first half-bridge structure; the second drive module is connected to the two switch modules of the second half-bridge structure; a fault diagnosis module is used to determine that when a switch module in the first half-bridge structure fails, a drive module switching instruction is generated; a fault tolerance control module is used to switch the first drive module to the second drive module according to the drive module switching instruction.

Description

Technical Field

[0001] The present invention relates to the field of rail transportation, and in particular to a suspension controller switch fault tolerance circuit, method and system. Background Art

[0002] During the operation of medium and low speed maglev trains, the suspension system undertakes important functions such as suspension and guidance of the train. As the core equipment in the suspension system, the suspension controller adopts an H-bridge topology in its internal circuit. One set of half bridges is used to respond to the pulse width modulation (PWM) signal output by the controller to control the current on the electromagnet; the other set of half bridges is used for electromagnet continuous current. Two sets of half bridges constitute an H-bridge structure. According to existing data statistics, switch device failure is an important cause of power electronic equipment failure. Once the switch device inside the suspension controller fails, the corresponding suspension point will immediately lose the suspension force, seriously affecting the safe operation of the maglev train. Therefore, it is of great significance to ensure the reliability of the H-bridge circuit and the ability to continue to control the normal operation of the electromagnet through the fault-tolerant algorithm in the fault state, and to ensure that the suspension controller can still maintain the stable suspension of the vehicle in the fault state.

[0003] Existing fault tolerance methods for suspension controllers include hardware fault tolerance for backup of important functional modules and software algorithm fault tolerance. Hardware fault tolerance will increase costs and equipment size by adding important modules. Software algorithm fault tolerance control is difficult and complex to implement. The existing distributed active fault-tolerant control system of the electromagnetic maglev train suspension controller connects the four suspension controllers on a single maglev frame to the on-board monitoring system through the CAN bus to form a whole. When a single suspension controller has a suspension failure, the controller stops working, and the other three suspension controllers switch to the fault diagnosis algorithm to change the control parameters to compensate for the failed electromagnetic force.

[0004] However, the fault-tolerant control algorithm in the existing distributed active fault-tolerant control system of the electromagnetic maglev train suspension controller involves communication and fault diagnosis between four suspension controllers, redundant backup is added in the hardware design, and the compensation of the failed electromagnetic force involves mechanical balance issues, making it difficult to establish an accurate balance model. Therefore, how to perform effective fault-tolerant control in the event of a suspension controller failure, especially a switch device failure that causes the suspension force to be lost, to ensure the safe operation of medium and low-speed maglev trains has become a problem that technicians in this field need to solve urgently. Summary of the invention

[0005] The purpose of the present invention is to provide a suspension controller switch fault tolerance circuit, method and system. When a switch device of a half-bridge structure of an H-bridge structure suspension controller fails, causing the suspension controller to fail to work normally, it switches to another half-bridge structure to ensure the normal flow of current on the electromagnet module and ensure the normal operation of the suspension controller.

[0006] A first aspect of the present invention provides a suspension controller switch fault tolerance circuit, comprising:

[0007] Four switch modules, two freewheeling modules, an electromagnet module, a first drive module, a second drive module, a fault diagnosis module and a fault-tolerant control module;

[0008] The four switch modules and the electromagnet module form an H-bridge structure, the H-bridge structure includes a first half-bridge structure and a second half-bridge structure, and each half-bridge structure includes two switch modules;

[0009] The two freewheeling modules are respectively connected in parallel with the two switch modules in the first half-bridge structure;

[0010] The first driving module is connected to the two switch modules of the first half-bridge structure;

[0011] The second driving module is connected to the two switch modules of the second half-bridge structure;

[0012] The fault diagnosis module is connected to the busbar, the first drive module and two ends of the electromagnet module;

[0013] The fault-tolerant control module is connected with the fault diagnosis module and two sets of drive modules;

[0014] A fault diagnosis module, used for detecting a bus voltage value of the bus, a driving module state of the first driving module, and an electromagnet module current value on the electromagnet module;

[0015] The fault diagnosis module is also used to determine that the switch module in the first half-bridge structure has a fault and generate a drive module switching instruction when the current value of the electromagnet module is zero and the bus voltage value and the drive module state are normal;

[0016] The fault-tolerant control module is used to switch the first driving module to the second driving module according to the switching instruction of the driving module, so that when the second driving module controls the two switch modules of the second half-bridge structure to be turned on, the electromagnet module passes current through the second half-bridge structure; when the second driving module controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module passes current through the two freewheeling modules.

[0017] Optionally, the four switch modules are a first switch device, a second switch device, a third switch device and a fourth switch device with a built-in freewheeling diode;

[0018] The first switch device, the second switch device, the third switch device and the fourth switch device and the electromagnet module form an H-bridge structure, the first switch device and the fourth switch device are the first half-bridge structure of the H-bridge structure, and the second switch device and the third switch device are the second half-bridge structure of the H-bridge structure.

[0019] Optionally, the two freewheeling modules are a first freewheeling diode and a second freewheeling diode;

[0020] The first freewheeling diode is connected in parallel with the first switching device, and the second freewheeling diode is connected in parallel with the fourth switching device.

[0021] Optionally, the fault diagnosis module includes:

[0022] Bus voltage detection unit, drive module status detection unit and electromagnet module current detection unit;

[0023] The bus voltage detection unit is connected to the bus and is used to detect the bus voltage value of the bus;

[0024] The driving module state detection unit is connected to the first driving module and is used to detect the driving module state of the first driving module;

[0025] The electromagnet module current detection unit is connected to two ends of the electromagnet module and is used for detecting the electromagnet module current value on the electromagnet module.

[0026] Optionally, the fault diagnosis module also includes:

[0027] Fault diagnosis unit and instruction generation unit;

[0028] A fault diagnosis unit, used to determine whether the switch module in the first half-bridge structure is faulty according to the current value of the electromagnet module, the bus voltage value and the drive module;

[0029] The fault diagnosis unit is further used to determine that the switch module in the first half-bridge structure is not faulty when the current value of the electromagnet module is not zero;

[0030] The fault diagnosis unit is further used to determine that the switch module in the first half-bridge structure is not faulty when the current value of the electromagnet module is zero and the bus voltage value or the state of the drive module is abnormal;

[0031] The fault diagnosis unit is further used to determine that the switch module in the first half-bridge structure has a fault when the current value of the electromagnet module is zero and the bus voltage value and the state of the drive module are normal;

[0032] The instruction generating unit is used to generate a driving module switching instruction when a switch module in the first half-bridge structure fails.

[0033] Optionally, the fault-tolerant control module includes:

[0034] Digital signal processing DSP control unit and drive signal switching unit;

[0035] The driving signal switching unit includes a first AND gate and a second AND gate, the output end of the first AND gate is connected to the first driving module, and the second AND gate is connected to the second driving module;

[0036] The DSP control unit is used to output an original driving signal, a first logic signal and a second logic signal, wherein the original driving signal and the first logic signal are connected to the input end of the first AND gate, and the original driving signal and the second logic signal are connected to the input end of the second AND gate;

[0037] The DSP control unit is further used to output the original driving signal, control the first logic signal to be high level, and control the second logic signal to be low level when no driving module switching instruction is received, so that the first AND gate outputs the first driving signal to the first driving module;

[0038] The DSP control unit is also used to output the original driving signal, control the first logic signal to be low level, and control the second logic signal to be high level when receiving the driving module switching instruction, so that the second AND gate outputs the second driving signal to the second driving module.

[0039] A second aspect of the present invention provides a suspension controller switch fault tolerance method, which is applied to any suspension controller switch fault tolerance circuit in the first aspect, and the method comprises:

[0040] Detecting a bus voltage value of the bus, a driving module state of the first driving module, and an electromagnet module current value on the electromagnet module;

[0041] When the current value of the electromagnet module is zero, and the bus voltage value and the state of the drive module are normal, it is determined that the switch module in the first half-bridge structure is faulty, and a drive module switching instruction is generated;

[0042] The first driving module is switched to the second driving module according to the driving module switching instruction, so that when the second driving module controls the two switch modules of the second half-bridge structure to be turned on, the electromagnet module passes current through the second half-bridge structure; when the second driving module controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module passes current through the two freewheeling modules.

[0043] Optionally, the method further includes:

[0044] Determine whether the switch module in the first half-bridge structure is faulty according to the current value of the electromagnet module, the bus voltage value and the drive module;

[0045] When the current value of the electromagnet module is not zero, it is determined that the switch module in the first half-bridge structure is not faulty;

[0046] When the current of the electromagnet module is zero and the bus voltage value or the state of the driving module is abnormal, it is determined that the switch module in the first half-bridge structure is not faulty;

[0047] When the current value of the electromagnet module is zero, and the bus voltage value and the state of the driving module are normal, it is determined that the switch module in the first half-bridge structure is faulty.

[0048] Optionally, the method further includes:

[0049] When the switch module in the first half-bridge structure is not faulty, the original driving signal is output, the first logic signal is controlled to be a high level, and the second logic signal is controlled to be a low level, so that the first AND gate outputs the first driving signal to the first driving module;

[0050] Switching the first driving module to the second driving module according to the driving module switching instruction includes:

[0051] The original driving signal is output according to the driving module switching instruction, the first logic signal is controlled to be low level, and the second logic signal is controlled to be high level, so that the second AND gate outputs the second driving signal to the second driving module, and the first driving module is switched to the second driving module.

[0052] A third aspect of the present invention provides a suspension controller switch fault tolerance system, the system comprising:

[0053] The suspension controller switch fault tolerance circuit in the first aspect above and the suspension controller switch fault tolerance method in the second aspect above are executed.

[0054] It can be seen that in the switch fault-tolerant circuit of the suspension controller of the present invention, four switch modules and the electromagnet module form an H-bridge structure, the H-bridge structure includes a first half-bridge structure and a second half-bridge structure, each half-bridge structure includes two switch modules, two freewheeling modules are respectively connected in parallel with the two switch modules in the first half-bridge structure, the first drive module is connected to the two switch modules of the first half-bridge structure, the second drive module is connected to the two switch modules of the second half-bridge structure, the fault diagnosis module is connected to the bus, the first drive module and the two ends of the electromagnet module, the fault-tolerant control module is connected to the fault diagnosis module and the two groups of drive modules, the fault diagnosis module detects the bus voltage value of the bus, the drive module state of the first drive module and the electromagnet module current of the electromagnet module, when the electromagnet module current is zero, and the bus voltage value and the drive module state are normal, it is determined that the switch module in the first half-bridge structure has a fault, and a drive module switching instruction is generated, and the fault-tolerant control module switches the first drive module to the second drive module according to the drive module switching instruction, so that the electromagnet module is freewheeling through the two freewheeling modules. Therefore, when a switch device of the first half-bridge structure of the H-bridge structure suspension controller fails, resulting in a lack of current in the electromagnet module and the suspension controller cannot work normally, the first drive module is switched to the second drive module so that when the second drive module controls the two switch modules of the second half-bridge structure to be turned on, the electromagnet module passes current through the second half-bridge structure; when the second drive module controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module passes current through the two freewheeling modules, thereby ensuring the normal flow of current on the electromagnet module and ensuring the normal operation of the suspension controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 A circuit structure diagram of a suspension controller switch fault tolerance circuit provided by the present invention;

[0057] Figure 2 A circuit diagram of a suspension controller switch fault tolerance circuit provided by the present invention;

[0058] Figure 3 Another circuit diagram of the suspension controller switch fault tolerance circuit provided by the present invention;

[0059] Figure 4 Another circuit diagram of the suspension controller switch fault tolerance circuit provided by the present invention;

[0060] Figure 5 Another circuit diagram of the suspension controller switch fault tolerance circuit provided by the present invention;

[0061] Figure 6 Another circuit diagram of the suspension controller switch fault tolerance circuit provided by the present invention;

[0062] Figure 7 A circuit diagram of a fault-tolerant control module provided by the present invention;

[0063] Figure 8 A schematic flow chart of a suspension controller switch fault tolerance method provided by the present invention;

[0064] Fig. 9 Another schematic diagram of a flow chart of the suspension controller switch fault tolerance method provided by the present invention;

[0065] Fig.10 The present invention provides another flow chart of the suspension controller switch fault tolerance method. DETAILED DESCRIPTION

[0066] The present application discloses a suspension controller switch fault tolerance circuit, method and system. When a switch device of a half-bridge structure of an H-bridge structure suspension controller fails, causing the suspension controller to fail to work normally, the circuit switches to another half-bridge structure, thereby ensuring the normal flow of current on the electromagnet module and ensuring the normal operation of the suspension controller.

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0069] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0070] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0072] Please refer to Figure 1 The embodiment of the present invention provides a suspension controller switch fault tolerance circuit, comprising:

[0073] Four switch modules 101, two freewheeling modules 102, an electromagnet module 103, a first drive module 104, a second drive module 105, a fault diagnosis module and a fault-tolerant control module;

[0074] The four switch modules 101 and the electromagnet module 103 form an H-bridge structure, the H-bridge structure includes a first half-bridge structure and a second half-bridge structure, and each half-bridge structure includes two switch modules 101;

[0075] The two freewheeling modules 103 are respectively connected in parallel with the two switch modules 101 in the first half-bridge structure;

[0076] The first driving module 104 is connected to the two switch modules 101 of the first half-bridge structure;

[0077] The second driving module 105 is connected to the two switch modules 101 of the second half-bridge structure;

[0078] The fault diagnosis module is connected to the busbar, the first drive module 104 and both ends of the electromagnet module 103;

[0079] The fault-tolerant control module is connected to the fault diagnosis module and two sets of drive modules (104 and 105);

[0080] A fault diagnosis module, used to detect the bus voltage value of the bus, the driving module state of the first driving module 104 and the electromagnet module current value on the electromagnet module 103;

[0081] The fault diagnosis module is also used to determine that the switch module 101 in the first half-bridge structure has a fault when the current value of the electromagnet module is zero and the bus voltage value and the driving module state are normal, and generate a driving module switching instruction;

[0082] The fault-tolerant control module is used to switch the first driving module 104 to the second driving module 105 according to the driving module switching instruction, so that when the second driving module 105 controls the two switch modules 101 of the second half-bridge structure to be turned on, the electromagnet module 103 passes current through the second half-bridge structure; when the second driving module 105 controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module 103 performs freewheeling through the two freewheeling modules 102.

[0083] pass Figure 2 In the embodiment shown, the above Figure 1 The switch module and the freewheeling module in the embodiment shown are described as follows: Figure 2 As shown, the four switch modules are a first switch device Q1, a second switch device Q2, a third switch device Q3 and a fourth switch device Q4 with a built-in freewheeling diode;

[0084] The first switch device Q1, the second switch device Q2, the third switch device Q3 and the fourth switch device Q4 form an H-bridge structure with the electromagnet module L. The electromagnet module L is specifically an electromagnet. In the field of maglev trains, when the electromagnets on the train are powered on, the electromagnets generate suction force under the rails, so that the train is suspended above the rails, eliminating the friction force of contact with the rails;

[0085] The first switch device Q1 and the fourth switch device Q4 are of a first half-bridge structure of an H-bridge structure, and the second switch device Q2 and the third switch device Q3 are of a second half-bridge structure of an H-bridge structure;

[0086] The two freewheeling modules are a first freewheeling diode D1 and a second freewheeling diode D2;

[0087] The first freewheeling diode D1 is connected in parallel with the first switching device Q1 , and the second freewheeling diode D2 is connected in parallel with the fourth switching device Q4 .

[0088] Among them, Q1 and Q4 are connected to the first driving module, the first driving module outputs a first driving signal to Q1 and Q4, the first driving signal is PWM1, the second driving module is connected to Q2 and Q3, the second driving module outputs a second driving signal to Q2 and Q3, the second driving signal is PWM2, and the current analysis of the circuit is as follows:

[0089] Under normal circumstances, the bus outputs a constant voltage value, and the first driver module outputs a PWM1 signal to control the on and off of Q1 and Q4. Figure 3As shown, when Q1 and Q4 are turned on, the current of the electromagnet L passes through Q1, L, and Q4 in sequence; Figure 4 As shown, when Q1 and Q4 are turned off, since Q2 and Q3 have built-in freewheeling diodes, the electromagnet L can be freewheeled through Q3, L, and Q2, so that a stable current always passes through the electromagnet L, ensuring the normal operation of the suspension controller and the stable operation of the maglev train.

[0090] However, if Q1 and / or Q4 fails, Figure 3 The current trend shown in the figure cannot be realized. The electromagnet L loses current, which will cause the maglev train to be unable to levitate. At this time, the first drive module is switched to the second drive module, that is, the PWM1 signal is not output, that is, Q1 and Q4 are not controlled, but the second drive module outputs the PWM2 signal to control the on and off of Q2 and Q3, such as Figure 5 As shown, when Q2 and Q3 are turned on, the current path flowing through the electromagnet L is Q2, L, Q3; Figure 6 As shown, when Q2 and Q3 are turned off, the electromagnet L is continued to flow through D2, L, and D1, so that a stable current always passes through the electromagnet L, ensuring the normal operation of the suspension controller, and ensuring the normal operation of the suspension controller. The maglev train can maintain stable operation. Through analysis, it can be seen that in the prior art, due to the absence of D1 and D2, even if the PWM1 signal is switched to the PWM2 signal, due to the failure of Q1 and / or Q4, the electromagnet L cannot be continued to flow, the suspension controller cannot work normally, and the stable operation of the maglev train cannot be guaranteed.

[0091] Preferably, in some embodiments of the present invention, the fault diagnosis module includes:

[0092] Bus voltage detection unit, drive module status detection unit and electromagnet module current detection unit;

[0093] The bus voltage detection unit is connected to the bus and is used to detect the bus voltage value of the bus;

[0094] The driving module state detection unit is connected to the first driving module and is used to detect the driving module state of the first driving module;

[0095] The electromagnet module current detection unit is connected to two ends of the electromagnet module and is used for detecting the electromagnet module current of the electromagnet module.

[0096] Preferably, in some embodiments of the present invention, the fault diagnosis module further includes:

[0097] Fault diagnosis unit and instruction generation unit;

[0098] A fault diagnosis unit, used to determine whether the switch module in the first half-bridge structure is faulty according to the current value of the electromagnet module, the bus voltage value and the drive module;

[0099] The fault diagnosis unit is further used to determine that the switch module in the first half-bridge structure is not faulty when the current value of the electromagnet module is not zero;

[0100] The fault diagnosis unit is further used to determine that the switch module in the first half-bridge structure is not faulty when the current value of the electromagnet module is zero and the bus voltage value or the state of the drive module is abnormal;

[0101] The fault diagnosis unit is further used to determine that the switch module in the first half-bridge structure has a fault when the current value of the electromagnet module is zero and the bus voltage value and the state of the drive module are normal;

[0102] The instruction generating unit is used to generate a driving module switching instruction when a switch module in the first half-bridge structure fails.

[0103] In the embodiment of the present invention, the fault diagnosis module includes a bus voltage detection unit, a drive module state detection unit and an electromagnet module current detection unit. The bus voltage detection unit is connected to the bus, the drive module state detection unit is connected to the first drive module, and the electromagnet module current detection unit is connected to both ends of the electromagnet module (electromagnet L). Therefore, the fault diagnosis module can detect the bus voltage value of the bus, the drive module state of the first drive module and the electromagnet module current value on the electromagnet module, and judge the fault state of the switch device based on the fault diagnosis algorithm. Specifically:

[0104] Determine whether the switch module in the first half-bridge structure is faulty by using the current value of the electromagnet module, the bus voltage value and the drive module;

[0105] When the current value of the electromagnet module is not zero, it indicates that the electromagnet L is normally powered on. Regardless of whether the bus voltage value and the drive module are normal, it can be determined that the switch module in the first half-bridge structure is not faulty.

[0106] When the current value of the electromagnet module is zero, and the bus voltage value or the driving module state is abnormal, it indicates that the bus voltage is abnormal, or the PWM1 signal provided by the first driving module is abnormal. It cannot be inferred that the switch module is abnormal, and even if the driving module is switched, it has no effect. At this time, it is determined that the switch module in the first half-bridge structure is not faulty;

[0107] When the current value of the electromagnet module is zero, and the bus voltage value and the driving module status are normal, it indicates that one or both of the two switch modules in the first half-bridge structure must be faulty. It is determined that the switch module in the first half-bridge structure is faulty, and a driving module switching instruction is generated to switch the first driving module to the second driving module, and enable the second half-bridge structure to achieve normal current flow and freewheeling of the electromagnet L.

[0108] Preferably, in some embodiments of the present invention, the fault-tolerant control module includes:

[0109] Digital signal processing DSP control unit and drive signal switching unit;

[0110] The driving signal switching unit includes a first AND gate and a second AND gate, the output end of the first AND gate is connected to the first driving module, and the second AND gate is connected to the second driving module;

[0111] A DSP control unit, used for outputting an original driving signal, a first logic signal and a second logic signal, wherein the original driving signal and the first logic signal are connected to an input end of a first AND gate, and the original driving signal and the second logic signal are connected to an input end of a second AND gate;

[0112] The DSP control unit is further used to output the original driving signal, control the first logic signal to be high level, and control the second logic signal to be low level when no driving module switching instruction is received, so that the first AND gate outputs the first driving signal to the first driving module;

[0113] The DSP control unit is also used to output the original driving signal, control the first logic signal to be low level, and control the second logic signal to be high level when receiving the driving module switching instruction, so that the second AND gate outputs the second driving signal to the second driving module.

[0114] In the embodiment of the present invention, Figure 7 As shown, in order to ensure that the first driving module and the second driving module do not output high level at the same time, resulting in Q1, Q2, Q3, and Q4 in the H-bridge structure being turned on and causing a short circuit fault, the first logic signal and the second logic signal are interlocking signals, and the interlocking signal means that when the first logic signal is at a high level, the second logic signal is at a low level, and when the first logic signal is at a low level, the second logic signal is at a high level; and it is sent by the DSP control unit and a certain dead time is reserved for the control switching of the first half-bridge structure and the second half-bridge structure;

[0115] When no driving module switching instruction is received, the original driving signal is output, the first logic signal is controlled to be high level, and the second logic signal is controlled to be low level, the first AND gate outputs the first driving signal to the first driving module, so that the first driving module outputs the PWM1 signal, and the second AND gate does not output any signal, and the second driving module does not output the PWM2 signal. At this time, only Q1 and Q4 are turned on or off;

[0116] When the drive module switching instruction is received, it indicates that Q1 and / or Q4 have a fault, which will cause the suspension controller to fail, output the original drive signal, control the first logic signal to be low level, and control the second logic signal to be high level. The second AND gate outputs the second drive signal to the second drive module, so that the second drive module outputs the PWM2 signal, and the first AND gate will not output any signal. The first drive module does not output the PWM1 signal, then it can control the conduction or shutdown of Q2 and Q3, and Q1 and Q4 are no longer controlled.

[0117] The suspension controller switch fault tolerance circuit is introduced in the above embodiment. The suspension controller switch fault tolerance method applied to the suspension controller switch fault tolerance circuit is described in detail below.

[0118] like Figure 8 As shown, an embodiment of the present invention provides a suspension controller switch fault tolerance method, comprising:

[0119] 801. Detect a bus voltage value of a bus, a driving module state of a first driving module, and an electromagnet module current of an electromagnet module;

[0120] 802. When the current of the electromagnet module is zero, and the bus voltage value and the driving module state are normal, it is determined that the switch module in the first half-bridge structure is faulty, and a driving module switching instruction is generated;

[0121] 803. Switch the first driving module to the second driving module according to the driving module switching instruction, so that when the second driving module controls the two switch modules of the second half-bridge structure to be turned on, the electromagnet module passes current through the second half-bridge structure; when the second driving module controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module passes current through the two freewheeling modules.

[0122] In the embodiment of the present invention, since in the fault-tolerant circuit of the suspension controller switch, four switch modules and the electromagnet module form an H-bridge structure, the H-bridge structure includes a first half-bridge structure and a second half-bridge structure, each half-bridge structure includes two switch modules, and the two freewheeling modules are respectively connected in parallel with the two switch modules in the first half-bridge structure, the first drive module is connected to the two switch modules of the first half-bridge structure, the second drive module is connected to the two switch modules of the second half-bridge structure, the fault diagnosis module is connected to the bus, the first drive module and the two ends of the electromagnet module, and the fault-tolerant control module is connected to the fault diagnosis module and the two groups of drive modules. Therefore, the bus voltage value of the bus, the driving module state of the first driving module and the current value of the electromagnet module on the electromagnet module can be detected. When the current value of the electromagnet module is zero and the bus voltage value and the driving module state are normal, it is determined that the switch module in the first half-bridge structure fails, and a driving module switching instruction is generated. According to the driving module switching instruction, the first driving module is switched to the second driving module, so that when the second driving module controls the two switch modules of the second half-bridge structure to be turned on, the electromagnet module passes current through the second half-bridge structure; when the second driving module controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module performs continuous current through two freewheeling modules. When the switch device of the first half-bridge structure of the H-bridge structure suspension controller fails, resulting in no current in the electromagnet module and the suspension controller cannot work normally, by switching the first driving module to the second driving module, when the second driving module controls the two switch modules of the second half-bridge structure to be turned on, the electromagnet module passes current through the second half-bridge structure, and when the second driving module controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module performs continuous current through two freewheeling modules, thereby ensuring the normal flow of current on the electromagnet module and ensuring the normal work of the suspension controller.

[0123] like Fig. 9 As shown, an embodiment of the present invention provides a suspension controller switch fault tolerance method, comprising:

[0124] 901. Detect a bus voltage value of a bus, a driving module state of a first driving module, and an electromagnet module current value on an electromagnet module;

[0125] 902. Determine whether the switch module in the first half-bridge structure is faulty according to the current value of the electromagnet module, the bus voltage value and the driving module;

[0126] 903. When the current value of the electromagnet module is not zero, it is determined that the switch module in the first half-bridge structure is not faulty;

[0127] 904. When the current value of the electromagnet module is zero and the bus voltage value or the state of the driving module is abnormal, it is determined that the switch module in the first half-bridge structure is not faulty;

[0128] 905. When the current value of the electromagnet module is zero, and the bus voltage value and the state of the driving module are normal, it is determined that the switch module in the first half-bridge structure is faulty;

[0129] 906. Generate a drive module switching instruction;

[0130] 907. Switch the first driving module to the second driving module according to the driving module switching instruction, so that when the second driving module controls the two switch modules of the second half-bridge structure to be turned on, the electromagnet module passes current through the second half-bridge structure; when the second driving module controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module passes current through the two freewheeling modules.

[0131] In the embodiment of the present invention, the detected bus voltage value of the bus, the driving module state of the first driving module and the electromagnet module current value on the electromagnet module are used to perform fault judgment of the switch module in the first half-bridge structure. Based on the fault diagnosis algorithm, when the electromagnet module current value is not zero, it indicates that the electromagnet L is normally powered on. Regardless of whether the bus voltage value and the driving module are normal, it can be determined that the switch module in the first half-bridge structure is not faulty; when the electromagnet module current value is zero, and the bus voltage value or the driving module state is abnormal, it is indicated that the bus voltage is abnormal, or the PWM1 signal provided by the first driving module is abnormal, and it cannot be inferred that the switch module is abnormal, even if the driving module is switched, it has no effect. At this time, it is determined that the switch module in the first half-bridge structure is not faulty; when the electromagnet module current value is zero, and the bus voltage value and the driving module state are normal, it is indicated that one or both of the two switch modules in the first half-bridge structure are faulty, it is determined that the switch module in the first half-bridge structure is faulty, and a driving module switching instruction is generated to switch the first driving module to the second driving module, and enable the second half-bridge structure to achieve normal current flow and freewheeling of the electromagnet L.

[0132] like Fig.10 As shown, an embodiment of the present invention provides a suspension controller switch fault tolerance method, comprising:

[0133] 1001. Detect a bus voltage value of a bus, a driving module state of a first driving module, and an electromagnet module current value on an electromagnet module;

[0134] 1002. Determine whether the switch module in the first half-bridge structure is faulty according to the current value of the electromagnet module, the bus voltage value and the drive module;

[0135] 1003. When the current value of the electromagnet module is not zero, it is determined that the switch module in the first half-bridge structure is not faulty;

[0136] 1004. When the current value of the electromagnet module is zero and the bus voltage value or the state of the driving module is abnormal, it is determined that the switch module in the first half-bridge structure is not faulty;

[0137] 1005. Output the original driving signal, control the first logic signal to be at a high level, and control the second logic signal to be at a low level, so that the first AND gate outputs the first driving signal to the first driving module;

[0138] 1006. When the current value of the electromagnet module is zero, and the bus voltage value and the state of the driving module are normal, it is determined that the switch module in the first half-bridge structure is faulty;

[0139] 1007. Generate a drive module switching instruction;

[0140] 1008. Output the original drive signal according to the drive module switching instruction, control the first logic signal to be low level, and control the second logic signal to be high level, so that the second AND gate outputs the second drive signal to the second drive module, and switches the first drive module to the second drive module, so that when the second drive module controls the two switch modules of the second half-bridge structure to be turned on, the electromagnet module passes current through the second half-bridge structure; when the second drive module controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module passes current through the two freewheeling modules.

[0141] In the embodiment of the present invention, combined with Figure 6 As shown, in order to ensure that the first driving module and the second driving module will not output a high level at the same time, resulting in Q1, Q2, Q3, and Q4 in the H-bridge structure being turned on and causing a short circuit fault, the first logic signal and the second logic signal are interlocking signals, and the interlocking signal means that when the first logic signal is at a high level, the second logic signal is at a low level, and when the first logic signal is at a low level, the second logic signal is at a high level; and the DSP control unit sends out and leaves a certain dead time for the control switching of the first half-bridge structure and the second half-bridge structure, and when no driving module switching instruction is received, the original driving signal is output, the first logic signal is controlled to be a high level, and the second logic signal is controlled to be a low level, the first AND gate outputs the first driving signal to the first driving module, so that the first driving module outputs a PWM1 signal, and the second AND gate does not output any signal, and the second driving module does not output a PWM2 signal, at this time, only Q1 and Q4 are turned on or off;

[0142] When the drive module switching instruction is received, it indicates that Q1 and / or Q4 have a fault, which will cause the suspension controller to fail, output the original drive signal, control the first logic signal to be low level, and control the second logic signal to be high level. The second AND gate outputs the second drive signal to the second drive module, so that the second drive module outputs the PWM2 signal, and the first AND gate will not output any signal. The first drive module does not output the PWM1 signal, then it can control the conduction or shutdown of Q2 and Q3, and Q1 and Q4 are no longer controlled.

[0143] The embodiment of the present invention further provides a suspension controller switch fault tolerance system, the system comprising:

[0144] above Figure 1-Figure 6 The suspension controller switch fault tolerance circuit in the embodiment and execute the above Figure 8-Figure 10 A suspension controller switch fault tolerance method in an embodiment.

[0145] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0146] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0147] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A suspension controller switch fault tolerance circuit, characterized in that: include: Four switch modules, two freewheeling modules, an electromagnet module, a first drive module, a second drive module, a fault diagnosis module and a fault-tolerant control module; The four switch modules and the electromagnet module form an H-bridge structure, the H-bridge structure includes a first half-bridge structure and a second half-bridge structure, and each half-bridge structure includes two switch modules; The two freewheeling modules are respectively connected in parallel with the two switch modules in the first half-bridge structure; The first driving module is connected to two switch modules of the first half-bridge structure; The second driving module is connected to two switch modules of the second half-bridge structure; The fault diagnosis module is connected to the busbar, the first drive module and two ends of the electromagnet module; The fault-tolerant control module is connected to the fault diagnosis module and the two groups of driving modules; The fault diagnosis module is used to detect the bus voltage value of the bus, the driving module state of the first driving module and the electromagnet module current value on the electromagnet module; The fault diagnosis module is further configured to determine that a fault occurs in the switch module in the first half-bridge structure and generate a drive module switching instruction when the current value of the electromagnet module is zero and the bus voltage value and the state of the drive module are normal; The fault-tolerant control module is used to switch the first driving module to the second driving module according to the switching instruction of the driving module, so that when the second driving module controls the two switch modules of the second half-bridge structure to be turned on, the electromagnet module passes current through the second half-bridge structure; when the second driving module controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module performs freewheeling through the two freewheeling modules; The four switch modules are a first switch device, a second switch device, a third switch device and a fourth switch device with a built-in freewheeling diode; The first switch device, the second switch device, the third switch device and the fourth switch device form an H-bridge structure with the electromagnet module, the first switch device and the fourth switch device are a first half-bridge structure of the H-bridge structure, and the second switch device and the third switch device are a second half-bridge structure of the H-bridge structure; The two freewheeling modules are a first freewheeling diode and a second freewheeling diode; The first freewheeling diode is connected in parallel with the first switching device, and the second freewheeling diode is connected in parallel with the fourth switching device.

2. The suspension controller switch fault tolerant circuit according to claim 1, characterized in that: The fault diagnosis module comprises: Bus voltage detection unit, drive module status detection unit and electromagnet module current detection unit; The bus voltage detection unit is connected to the bus and is used to detect the bus voltage value of the bus; The driving module state detection unit is connected to the first driving module and is used to detect the driving module state of the first driving module; The electromagnet module current detection unit is connected to two ends of the electromagnet module and is used to detect the electromagnet module current value on the electromagnet module.

3. The suspension controller switch fault tolerant circuit according to claim 2, characterized in that: The fault diagnosis module also includes: Fault diagnosis unit and instruction generation unit; The fault diagnosis unit is used to determine whether the switch module in the first half-bridge structure is faulty according to the current value of the electromagnet module, the bus voltage value and the driving module; The fault diagnosis unit is further used to determine that the switch module in the first half-bridge structure is not faulty when the current value of the electromagnet module is not zero; The fault diagnosis unit is further used to determine that the switch module in the first half-bridge structure is not faulty when the current value of the electromagnet module is zero and the bus voltage value or the state of the drive module is abnormal; The fault diagnosis unit is further used to determine that the switch module in the first half-bridge structure is faulty when the current value of the electromagnet module is zero and the bus voltage value and the state of the drive module are normal; The instruction generating unit is used to generate a driving module switching instruction when a switch module in the first half-bridge structure fails.

4. The suspension controller switch fault tolerant circuit according to claim 3, characterized in that: The fault-tolerant control module comprises: Digital signal processing DSP control unit and drive signal switching unit; The driving signal switching unit includes a first AND gate and a second AND gate, the output end of the first AND gate is connected to the first driving module, and the second AND gate is connected to the second driving module; The DSP control unit is used to output an original driving signal, a first logic signal and a second logic signal, wherein the original driving signal and the first logic signal are connected to the input end of the first AND gate, and the original driving signal and the second logic signal are connected to the input end of the second AND gate; The DSP control unit is further configured to output the original driving signal, control the first logic signal to be at a high level, and control the second logic signal to be at a low level, when the driving module switching instruction is not received, so that the first AND gate outputs the first driving signal to the first driving module; The DSP control unit is further used to output the original driving signal, control the first logic signal to be a low level, and control the second logic signal to be a high level when receiving the driving module switching instruction, so that the second AND gate outputs the second driving signal to the second driving module.

5. A suspension controller switch fault tolerance method, characterized in that: The method for the suspension controller switch fault tolerance circuit applied to any one of claims 1 to 4 comprises: Detecting a bus voltage value of the bus, a driving module state of the first driving module, and an electromagnet module current value on the electromagnet module; When the current value of the electromagnet module is zero, and the bus voltage value and the state of the drive module are normal, it is determined that the switch module in the first half-bridge structure fails, and a drive module switching instruction is generated; The first driving module is switched to the second driving module according to the driving module switching instruction, so that when the second driving module controls the two switch modules of the second half-bridge structure to be turned on, the electromagnet module passes current through the second half-bridge structure; when the second driving module controls the two switch modules of the second half-bridge structure to be turned off, the electromagnet module performs freewheeling through the two freewheeling modules.

6. The suspension controller switch fault tolerance method according to claim 5, characterized in that: The method further comprises: Determine whether the switch module in the first half-bridge structure is faulty according to the current value of the electromagnet module, the bus voltage value and the driving module; When the current value of the electromagnet module is not zero, it is determined that the switch module in the first half-bridge structure is not faulty; When the current value of the electromagnet module is zero, and the bus voltage value or the state of the driving module is abnormal, it is determined that the switch module in the first half-bridge structure is not faulty; When the current value of the electromagnet module is zero, and the bus voltage value and the state of the driving module are normal, it is determined that a switch module in the first half-bridge structure fails.

7. The suspension controller switch fault tolerance method according to claim 6, characterized in that: The method further comprises: When the switch module in the first half-bridge structure is not faulty, the original driving signal is output, the first logic signal is controlled to be at a high level, and the second logic signal is controlled to be at a low level, so that the first AND gate outputs the first driving signal to the first driving module; The step of switching the first driving module to the second driving module according to the driving module switching instruction includes: The original driving signal is output according to the driving module switching instruction, the first logic signal is controlled to be a low level, and the second logic signal is controlled to be a high level, so that the second AND gate outputs a second driving signal to the second driving module, and the first driving module is switched to the second driving module.

8. A suspension controller switch fault tolerance system, characterized in that: The system comprises: The suspension controller switch fault tolerance circuit described in any one of claims 1-4 above, and the suspension controller switch fault tolerance method described in any one of claims 5-7 above.

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