Method, apparatus, vehicle and storage medium for motor control

Abstract

The present disclosure relates to a motor control method, device, vehicle and storage medium. The method comprises: acquiring a motor driving system state of the vehicle, acquiring a motor speed of the vehicle when the motor driving system state is a preset electric driving system state, and controlling the motor driving system to enter a safe mode according to the motor speed, that is, flexibly controlling the motor driving system to enter an active short-circuit mode or a safe pulse-off mode according to the motor speed. In this way, in the case that the motor of the vehicle is in a stationary state, the movement of the vehicle can be prevented, and the safety of the vehicle and the people in the vehicle is ensured; in the case that the motor of the vehicle is in a rotating state, the problem that the vehicle is difficult to push or pull due to the brake torque generated by the active short-circuit mode can be avoided, and at the same time, the damage to the vehicle and the people in the vehicle caused by the counter electromotive force voltage generated after the motor speed is increased can also be avoided, and the safety of the vehicle is improved.

Description

Technical Field

[0001] This disclosure relates to the field of vehicles, and more specifically, to a method, apparatus, vehicle, and storage medium for motor control. Background Technology

[0002] Currently, permanent magnet synchronous motors are widely used in electric vehicles. Permanent magnet synchronous motors have advantages such as low loss, fast dynamic response, small moment of inertia and high power density. However, the motor will generate back electromotive force voltage during operation. If the back electromotive force voltage is too high, it will cause damage to the vehicle and the people inside. Summary of the Invention

[0003] To address the aforementioned problems, this disclosure provides a method, apparatus, vehicle, and storage medium for motor control.

[0004] In a first aspect, this disclosure provides a method for controlling a motor, the method comprising: acquiring the state of a vehicle's motor drive system; when the motor drive system state is a preset electric drive system state, acquiring the motor speed of the vehicle, wherein the preset electric drive system state includes any one of a no-voltage state, a high-voltage pre-charging state, and a high-voltage standby state; and controlling the motor drive system to enter a safety mode according to the motor speed, wherein the safety mode includes one of an active short-circuit mode and a safety pulse shutdown mode.

[0005] Optionally, when the motor drive system is in the state of no high voltage or the state of high voltage pre-charging, controlling the motor drive system to enter a safe mode based on the motor speed includes:

[0006] When the motor speed is less than or equal to a preset speed threshold, the motor drive system is controlled to enter an active short-circuit mode;

[0007] Alternatively, if the motor speed is greater than the preset speed threshold, the back electromotive force voltage is obtained based on the motor speed, and the motor drive system is controlled to enter a safe mode based on the back electromotive force voltage.

[0008] Optionally, controlling the motor drive system to enter a safe mode based on the back EMF voltage includes: controlling the motor drive system to enter a safe pulse shutdown mode when the back EMF voltage is less than a preset voltage threshold.

[0009] Optionally, controlling the motor drive system to enter a safe mode based on the back electromotive force voltage further includes: when the back electromotive force voltage is greater than or equal to the preset voltage threshold,

[0010] If the motor drive system is in the state of no high voltage, control the motor drive system to enter the active short-circuit mode; or...

[0011] If the motor drive system is in the high-voltage pre-charge state, the high-voltage bus voltage of the vehicle is obtained, and the motor drive system is controlled to enter the safe mode based on the back electromotive force voltage and the high-voltage bus voltage.

[0012] Optionally, controlling the motor drive system to enter a safe mode based on the back electromotive force voltage and the high-voltage bus voltage includes:

[0013] When the back electromotive force voltage is greater than or equal to the high-voltage bus voltage, the motor drive system is controlled to enter active short-circuit mode; or,

[0014] When the back electromotive force voltage is less than the high-voltage bus voltage, the motor drive system is controlled to enter the safety pulse shutdown mode.

[0015] Optionally, when the motor drive system is in the high-voltage standby state, before controlling the motor drive system to enter the safety mode according to the motor speed, the method further includes: acquiring the high-voltage bus voltage of the vehicle;

[0016] The step of controlling the motor drive system to enter a safe mode based on the motor speed includes: obtaining the back electromotive force voltage based on the motor speed; controlling the motor drive system to enter an active short-circuit mode when the back electromotive force voltage is greater than or equal to the high-voltage bus voltage; or controlling the motor drive system to enter a safe pulse shutdown mode when the back electromotive force voltage is less than the high-voltage bus voltage.

[0017] Optionally, before obtaining the status of the vehicle's motor drive system, the method further includes: determining whether the vehicle's motor drive system is in a fault state;

[0018] The process of obtaining the status of the vehicle's motor drive system includes: obtaining the status of the vehicle's motor drive system when the motor drive system is in a non-faulty state.

[0019] Secondly, this disclosure provides a motor control device, the device comprising:

[0020] The motor drive system status acquisition module is used to acquire the status of the vehicle's motor drive system.

[0021] The motor speed acquisition module is used to acquire the motor speed of the vehicle when the motor drive system state is a preset electric drive system state, wherein the preset electric drive system state includes any one of the following: no high voltage state, high voltage pre-charging state, and high voltage standby state.

[0022] A safety mode control module is used to control the motor drive system to enter a safety mode according to the motor speed, wherein the safety mode includes one of an active short circuit mode and a safety pulse shutdown mode.

[0023] Optionally, the safety mode control module is configured to: when the motor drive system is in the state of no high voltage or the state of high voltage pre-charging,

[0024] When the motor speed is less than or equal to a preset speed threshold, the motor drive system is controlled to enter an active short-circuit mode; or,

[0025] When the motor speed is greater than the preset speed threshold, the back electromotive force voltage is obtained based on the motor speed, and the motor drive system is controlled to enter a safe mode based on the back electromotive force voltage.

[0026] Optionally, the safety mode control module is further configured to: control the motor drive system to enter a safety pulse shutdown mode when the motor drive system is in the state of no high voltage or the state of high voltage pre-charging, and the back electromotive force voltage is less than a preset voltage threshold.

[0027] Optionally, the safety mode control module is further configured to: when the motor drive system is in the no-high-voltage state or the high-voltage pre-charge state, and the back electromotive force voltage is greater than or equal to the preset voltage threshold,

[0028] If the motor drive system is in the state of no high voltage, control the motor drive system to enter the active short-circuit mode; or...

[0029] If the motor drive system is in the high-voltage pre-charge state, the high-voltage bus voltage of the vehicle is obtained, and the motor drive system is controlled to enter the safe mode based on the back electromotive force voltage and the high-voltage bus voltage.

[0030] Optionally, the safety mode control module is further configured to: when the motor drive system is in the high-voltage pre-charge state,

[0031] When the back electromotive force voltage is greater than or equal to the high-voltage bus voltage, the motor drive system is controlled to enter active short-circuit mode; or,

[0032] When the back electromotive force voltage is less than the high-voltage bus voltage, the motor drive system is controlled to enter the safety pulse shutdown mode.

[0033] Optionally, the device further includes:

[0034] A high-voltage bus voltage acquisition module is used to acquire the high-voltage bus voltage of the vehicle.

[0035] The safety mode control module is used to: obtain the back electromotive force voltage based on the motor speed when the motor drive system is in the high-voltage standby state;

[0036] When the back EMF voltage is greater than or equal to the high-voltage bus voltage, the motor drive system is controlled to enter the active short-circuit mode; or, when the back EMF voltage is less than the high-voltage bus voltage, the motor drive system is controlled to enter the safety pulse shutdown mode.

[0037] Optionally, the device further includes:

[0038] The fault status determination module is used to determine whether the motor drive system of the vehicle is in a fault state.

[0039] The motor drive system status acquisition module is used to acquire the status of the vehicle's motor drive system when the motor drive system is in a non-faulty state.

[0040] Thirdly, this disclosure provides a vehicle, the vehicle including: the motor control device described in the second aspect of this disclosure.

[0041] Fourthly, this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in the first aspect of this disclosure.

[0042] Fifthly, an electronic device includes: a memory having a computer program stored thereon; and a processor for executing the computer program in the memory to implement the steps of the method described in the first aspect of this disclosure.

[0043] The above technical solution obtains the vehicle's motor drive system status. When the motor drive system is in a preset electric drive system state, the vehicle's motor speed is obtained. Based on this motor speed, the motor drive system is controlled to enter a safety mode, that is, the system can be flexibly controlled to enter either an active short-circuit mode or a safety pulse shutdown mode based on the motor speed. This prevents the vehicle from moving when the motor is stationary, ensuring the safety of the vehicle and its occupants. When the motor is rotating, it avoids the braking torque generated by the active short-circuit mode, which can make the vehicle difficult to push or pull. It also prevents damage to the vehicle and occupants from the back electromotive force voltage generated when the motor speed increases, thus improving vehicle safety.

[0044] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0045] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0046] Figure 1 This is a flowchart of a motor control method provided in an embodiment of this disclosure;

[0047] Figure 2 This is a flowchart of a second motor control method provided in this disclosure embodiment;

[0048] Figure 3 This is a flowchart of the third motor control method provided in the embodiments of this disclosure;

[0049] Figure 4 This is a schematic diagram of the structure of a motor control device provided in an embodiment of this disclosure;

[0050] Figure 5 This is a schematic diagram of the structure of the second type of motor control device provided in the embodiments of this disclosure;

[0051] Figure 6 This is a schematic diagram of the structure of the third type of motor control device provided in the embodiments of this disclosure;

[0052] Figure 7 This is a block diagram of a vehicle provided in an embodiment of this disclosure;

[0053] Figure 8 This is a block diagram of an electronic device provided in an embodiment of this disclosure;

[0054] Figure 9 This is a block diagram of another electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0055] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0056] In the following description, the words "first" and "second" are used only to distinguish the purpose of the description and should not be interpreted as indicating or implying relative importance or order.

[0057] First, the application scenarios of this disclosure will be explained. This disclosure can be applied to the field of motor control, especially the safety protection control of motors. Currently, permanent magnet synchronous motors widely used in electric vehicles generate back electromotive force (EMF) voltage during operation. Excessive back EMF voltage can cause damage to the vehicle and its occupants.

[0058] To address the aforementioned problems, this disclosure provides a method, apparatus, vehicle, and storage medium for motor control. The method includes: acquiring the state of the vehicle's motor drive system; if the motor drive system state is a preset electric drive system state, acquiring the vehicle's motor speed; and controlling the motor drive system to enter different safety modes based on the motor speed. This prevents the vehicle from moving when the vehicle motor is stationary, ensuring the safety of the vehicle and its occupants. When the vehicle motor is rotating, it avoids the problem of braking torque in active short-circuit mode causing difficulty in pushing or pulling the vehicle, and also prevents damage to the vehicle and occupants caused by back electromotive force voltage generated after the motor speed increases, thus improving vehicle safety.

[0059] The aforementioned safety modes include active short-circuit mode and safety pulse shutdown mode. The following sections describe each mode in detail:

[0060] Safety Pulse Off (SPO) is a safety mode for motor drive systems. It opens the motor circuit by disconnecting all the switches on the upper and lower arms of the IGBT (Insulated Gate Bipolar Transistor) in the motor controller, and then stops the motor by mechanical damping.

[0061] Active Short Circuit (ASC) mode is another safety mode for motor drive systems. It involves short-circuiting either the upper or lower arm of the IGBT in the motor controller. This means closing the three switches on the upper arm of the IGBT while simultaneously opening the three switches on the lower arm; or opening the three switches on the upper arm while simultaneously closing the three switches on the lower arm. This short-circuits the motor's U, V, and W phases to either the negative or positive terminal of the bus. If the motor is running before entering ASC mode, the system will generate braking torque upon entering this mode, quickly stopping the motor and preventing excessive back electromotive force (EMF) voltage.

[0062] In scenarios where a vehicle's battery is depleted, it may be necessary to push or pull the vehicle to a designated location for charging or repair. If the motor drive system remains in the active short-circuit safety mode, it will generate significant braking torque, making the vehicle difficult to push or pull. On the other hand, if it remains in the safety pulse shutdown mode, the increased motor speed caused by pushing or pulling will lead to an increase in back electromotive force (EMF) voltage. When the back EMF voltage rises to a certain level, it can cause damage to the vehicle and personnel who come into contact with it.

[0063] This disclosure allows for flexible control of the motor drive system to enter active short-circuit mode or safety pulse shutdown mode based on the motor speed, thereby solving the aforementioned problems.

[0064] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0065] Figure 1 This disclosure provides a method for controlling a motor, such as... Figure 1 As shown, the method includes:

[0066] S101. Obtain the status of the vehicle's motor drive system.

[0067] The vehicle can be an electric vehicle, which includes a motor drive system. This motor drive system may include a motor and a motor controller, and the motor drive system status can be obtained through the motor controller. The motor drive system status can include any one of the following: no high voltage state, high voltage pre-charge state, high voltage standby state, and high voltage operating state. The following explains these four motor drive system states:

[0068] No high voltage state: This indicates that the high voltage power supply to the motor drive system is disconnected, while the low voltage power supply is normal.

[0069] High-voltage pre-charge state: This refers to the pre-charging process of the motor drive system in the initial stage of high-voltage power-on. The pre-charging process can prevent damage to the motor drive system caused by the instantaneous large current generated by high-voltage power-on. The pre-charging process can be carried out using a pre-charging circuit.

[0070] High-voltage standby state: This indicates that the high-voltage pre-charging of the motor drive system is complete, and the motor has the ability to output torque, but it does not output torque.

[0071] High-voltage operating state: This indicates that the motor outputs normal torque, which drives the vehicle's drive shaft to start rotating.

[0072] It should be noted that the embodiments disclosed herein provide a method for motor control in the above-mentioned states of no high voltage, high voltage pre-charging, and high voltage standby.

[0073] S102. When the motor drive system is in the preset electric drive system state, obtain the vehicle's motor speed.

[0074] The preset electric drive system states include any one of the following: no high voltage state, high voltage pre-charge state, and high voltage standby state.

[0075] In this step, the motor speed can be obtained through a motor speed detection device, such as a speed sensor.

[0076] S103. Control the motor drive system to enter safe mode according to the motor speed.

[0077] The safety modes include active short-circuit mode and safety pulse shutdown mode. In other words, the motor drive system can be flexibly controlled to enter active short-circuit mode or safety pulse shutdown mode based on the motor speed.

[0078] For example, the motor drive system can be controlled to enter active short-circuit mode or safety pulse shutdown mode based on the motor speed using any of the following control methods:

[0079] Control Method 1: When the motor speed is 0, the motor drive system is controlled to enter active short-circuit mode. At this time, the vehicle stops moving, and entering active short-circuit mode prevents the vehicle from moving while stationary.

[0080] Control Method Two: When the motor speed is less than or equal to a first preset speed threshold, the motor drive system is controlled to enter an active short-circuit mode. The first preset speed threshold is used to characterize when the vehicle stops moving and can be a small value determined based on the accuracy of the motor speed detection device. For example, the first preset speed threshold could be 10 rpm. This assists in stopping the vehicle or prevents it from moving while stationary.

[0081] Control Method 3: When the motor speed exceeds a second preset speed threshold, the motor drive system enters an active short-circuit mode. This is because when the motor speed exceeds this second preset speed threshold, the back electromotive force generated by the motor rotation can cause harm to the human body. This second preset speed threshold can be obtained experimentally. This prevents the high voltage generated at increased speed from damaging personnel who come into contact with the vehicle, as well as the vehicle's battery or motor drive system.

[0082] Control Method 4: When the motor speed is less than or equal to the second preset speed threshold mentioned above, the motor drive system is controlled to enter a safety pulse shutdown mode. This prevents the generation of braking torque that could make the vehicle difficult to push or pull.

[0083] By employing the above method, the vehicle's motor drive system status is obtained. If the motor drive system status is a preset electric drive system status, the vehicle's motor speed is acquired. Based on this motor speed, the motor drive system is controlled to enter a safety mode, that is, the system is flexibly controlled to enter either an active short-circuit mode or a safety pulse shutdown mode based on the motor speed. In this way, when the vehicle motor is stationary, vehicle movement is prevented, ensuring the safety of the vehicle and its occupants. When the vehicle motor is rotating, the braking torque generated by the active short-circuit mode, which makes the vehicle difficult to push or pull, is avoided. Simultaneously, the back electromotive force voltage generated after the motor speed increases can prevent damage to the vehicle and its occupants, thus improving vehicle safety.

[0084] In some embodiments of this disclosure, the motor drive system can be controlled to enter a safe mode using different control methods depending on the different states of the motor drive system. Exemplary embodiments for different motor drive system states are given below.

[0085] Figure 2 This disclosure provides a second method for motor control, which can be applied when the motor drive system is in a state without high voltage or in a high voltage pre-charging state, such as... Figure 2 As shown, the method includes:

[0086] S201. Obtain the status of the vehicle's motor drive system.

[0087] S202. When the motor drive system is in a state of no high voltage or high voltage pre-charging state, obtain the vehicle's motor speed.

[0088] It should be noted that the specific implementation methods for obtaining the status of the vehicle's motor drive system and the speed of the vehicle's motor can be referred to steps S101 and S102 in the aforementioned embodiments, and will not be repeated here.

[0089] S203. When the motor speed is less than or equal to the first preset speed threshold, control the motor drive system to enter the active short circuit mode.

[0090] Similarly, the first preset speed threshold, used to characterize the vehicle stopping, can be a small value determined based on the accuracy of the motor speed detection device. For example, the first preset speed threshold could be 10 rpm. This assists in stopping the vehicle or prevents it from moving while stationary.

[0091] S204. When the motor speed is greater than the first preset speed threshold, the back electromotive force voltage is obtained according to the motor speed, and the motor drive system is controlled to enter the safe mode according to the back electromotive force voltage.

[0092] The aforementioned back electromotive force (EMF) voltage can be obtained by determining the back EMF voltage corresponding to the motor speed based on a preset speed-back EMF relationship. This preset speed-back EMF relationship is a pre-defined relationship between motor speed and back EMF voltage. The back EMF voltage corresponding to the motor speed can be obtained through this preset speed-back EMF relationship. This preset speed-back EMF relationship can be obtained based on test data. For example, on a motor test bench, another motor can drive the motor under test to rotate, and the back EMF voltage at different motor speeds can be tested and recorded to obtain the relationship between motor speed and back EMF voltage.

[0093] Furthermore, the motor drive system can be controlled to enter a safe mode based on the back electromotive force voltage and a preset voltage threshold. The preset voltage threshold can be a preset safe voltage threshold for the human body, for example, a voltage value between 20V and 60V, such as 20V, 36V, or 60V. Controlling the motor drive system to enter a safe mode based on the back electromotive force voltage and the preset voltage threshold can be achieved in the following two ways:

[0094] Method 1: When the back EMF voltage is less than a preset voltage threshold, the motor drive system is controlled to enter a safety pulse shutdown mode. This avoids the problem of the vehicle being difficult to push or pull due to the braking torque generated by the active short-circuit mode.

[0095] Method 2: When the back EMF voltage is greater than or equal to a preset voltage threshold, and the motor drive system is in a state of no high voltage, control the motor drive system to enter active short-circuit mode. It should be noted that if the safety pulse shutdown mode is used in this situation, the back EMF voltage will continue to increase; therefore, it is necessary to control the motor drive system to enter active short-circuit mode. This allows the motor speed to decrease rapidly, thereby reducing the back EMF voltage and preventing damage to personnel handling the vehicle, as well as the vehicle's battery or motor drive system, thus improving vehicle safety.

[0096] Furthermore, when the back EMF voltage is greater than or equal to a preset voltage threshold and the motor drive system is in a high-voltage pre-charging state, the high-voltage bus voltage of the vehicle can be obtained, and the motor drive system can be controlled to enter a safe mode based on the back EMF voltage and the high-voltage bus voltage.

[0097] The high-voltage bus voltage can be obtained through a bus voltage detection device in the voltage drive system. For example, the bus voltage detection device can be a voltage transformer installed on the bus.

[0098] Based on the back electromotive force voltage and the high-voltage bus voltage, the motor drive system can be controlled to enter a safe mode. This can also be achieved in the following two ways:

[0099] Method 3: When the back electromotive force voltage is greater than or equal to the high-voltage bus voltage, control the motor drive system to enter active short-circuit mode.

[0100] It should be noted that if the back EMF voltage is greater than or equal to the high-voltage bus voltage, and the motor drive system is controlled to enter the safety pulse shutdown mode, back EMF will flow back and damage the battery, thereby endangering the personal safety of the people on board. Therefore, in this case, it is necessary to control the motor drive system to enter the active short-circuit mode to avoid battery damage caused by back EMF flow.

[0101] Method 4: When the back electromotive force voltage is less than the high-voltage bus voltage, control the motor drive system to enter the safety pulse shutdown mode.

[0102] It should be noted that when the back EMF voltage is lower than the high-voltage bus voltage, the battery will not be damaged by back EMF backflow. Therefore, the motor drive system can be controlled to enter the safety pulse shutdown mode, which can avoid the problem of the vehicle being difficult to push or pull due to the braking torque generated by the active short circuit mode.

[0103] Using the above method, when the motor drive system is in a state without high voltage or in a high-voltage pre-charge state, the system is controlled to enter different safety modes based on one or more of the following: motor speed, back electromotive force voltage, and high-voltage bus voltage. This prevents the vehicle from moving when the motor is stationary, ensuring the safety of the entire vehicle and its occupants. When the motor is rotating, it solves the problem of the braking torque generated by the active short-circuit mode making the vehicle difficult to push or pull, while also ensuring the safety of personnel handling the vehicle.

[0104] Figure 3 This disclosure provides a third method for motor control, used when the motor drive system is in a high-voltage standby state, such as... Figure 3 As shown, the method includes:

[0105] S301. Obtain the status of the vehicle's motor drive system.

[0106] S302. When the motor drive system is in high-voltage standby mode, obtain the vehicle's motor speed.

[0107] Similarly, the specific implementation methods for obtaining the motor drive system status of the vehicle and obtaining the motor speed of the vehicle can be referred to steps S101 and S102 in the aforementioned embodiments, and will not be repeated here.

[0108] S303. Obtain the high-voltage bus voltage of the vehicle.

[0109] S304. Obtain the back electromotive force voltage based on the motor speed.

[0110] Similarly, the specific implementation methods for obtaining the high-voltage bus voltage of the vehicle and obtaining the back electromotive force voltage based on the motor speed can be found in the relevant description in step S204 of the aforementioned embodiment, and will not be repeated here.

[0111] S305. When the back electromotive force voltage is greater than or equal to the high-voltage bus voltage, control the motor drive system to enter the active short-circuit mode.

[0112] The active short-circuit mode can generate braking torque, quickly reduce the motor speed, and avoid battery damage caused by back EMF.

[0113] S306. When the back electromotive force voltage is less than the high-voltage bus voltage, control the motor drive system to enter the safety pulse shutdown mode.

[0114] The safety pulse shutdown mode can avoid the problem of the vehicle being difficult to push or pull due to the braking torque generated by the active short circuit mode.

[0115] Using the above method, when the motor drive system is in a high-voltage standby state, the system is controlled to enter different safety modes based on the back electromotive force voltage and the high-voltage bus voltage. This ensures the safety of the entire vehicle and its occupants, improving overall vehicle safety, while also avoiding the problem of the braking torque generated by the active short-circuit mode causing difficulty in pushing or pulling the vehicle.

[0116] Optionally, in some other embodiments of this disclosure, the method described above is applied only when the vehicle's motor drive system is in a non-faulty state. In these embodiments, it can be first determined whether the vehicle's motor drive system is in a faulty state. If the motor drive system is in a non-faulty state, the state of the vehicle's motor drive system is obtained. If the motor drive system state is a preset electric drive system state, the vehicle's motor speed is obtained, and the motor drive system is controlled to enter a safe mode based on the motor speed. However, if the motor drive system is in a faulty state, the above method is not followed, and instead, an existing safety protection method for the motor drive system is executed.

[0117] In this way, when the motor drive system is in a fault state, the method provided in this disclosure can avoid conflict with existing safety protection methods for motor drive systems, thus ensuring vehicle safety in the event of a motor drive system fault.

[0118] Figure 4 This is a schematic diagram of the structure of a motor control device provided in an embodiment of this disclosure, as shown below. Figure 4 As shown, the device includes:

[0119] The motor drive system status acquisition module 401 is used to acquire the status of the vehicle's motor drive system.

[0120] The motor speed acquisition module 402 is used to acquire the motor speed of the vehicle when the motor drive system is in a preset electric drive system state, wherein the preset electric drive system state includes any one of the following: no high voltage state, high voltage pre-charging state, and high voltage standby state.

[0121] The safety mode control module 403 is used to control the motor drive system to enter a safety mode according to the motor speed, wherein the safety mode includes one of active short circuit mode and safety pulse shutdown mode.

[0122] Optionally, the safety mode control module 403 is configured to: when the motor drive system is in the state of no high voltage or the state of high voltage pre-charging,

[0123] If the motor speed is less than or equal to a preset speed threshold, the motor drive system is controlled to enter active short-circuit mode; or,

[0124] When the motor speed is greater than the preset speed threshold, the back electromotive force voltage is obtained based on the motor speed, and the motor drive system is controlled to enter a safe mode based on the back electromotive force voltage.

[0125] Optionally, the safety mode control module 403 is further configured to: control the motor drive system to enter a safety pulse shutdown mode when the motor drive system is in the state of no high voltage or the state of high voltage pre-charging, and the back electromotive force voltage is less than a preset voltage threshold.

[0126] Optionally, the safety mode control module 403 is further configured to: when the motor drive system is in the no-voltage state or the high-voltage pre-charge state, and the back electromotive force voltage is greater than or equal to the preset voltage threshold,

[0127] If the motor drive system is in a state of no high voltage, control the motor drive system to enter active short-circuit mode; or...

[0128] If the motor drive system is in the high-voltage pre-charge state, the high-voltage bus voltage of the vehicle is obtained, and the motor drive system is controlled to enter the safe mode based on the back electromotive force voltage and the high-voltage bus voltage.

[0129] Optionally, the safety mode control module 403 is further configured to: when the motor drive system is in the high-voltage pre-charge state,

[0130] If the back electromotive force voltage is greater than or equal to the high-voltage bus voltage, control the motor drive system to enter active short-circuit mode; or,

[0131] When the back electromotive force voltage is less than the high-voltage bus voltage, the motor drive system is controlled to enter the safety pulse shutdown mode.

[0132] Optionally, Figure 5 This is a schematic diagram of the structure of the second type of motor control device provided in the embodiments of this disclosure, as shown below. Figure 5 As shown, the device also includes:

[0133] The high-voltage bus voltage acquisition module 501 is used to acquire the high-voltage bus voltage of the vehicle.

[0134] The safety mode control module 403 is used to: obtain the back electromotive force voltage based on the motor speed when the motor drive system is in the high-voltage standby state;

[0135] When the back EMF voltage is greater than or equal to the high-voltage bus voltage, the motor drive system is controlled to enter the active short-circuit mode; or, when the back EMF voltage is less than the high-voltage bus voltage, the motor drive system is controlled to enter the safety pulse shutdown mode.

[0136] Optionally, Figure 6 A schematic diagram of the structure of the third type of motor control device provided in the embodiments of this disclosure is shown below. Figure 6 As shown, the device also includes:

[0137] The fault status determination module 601 is used to determine whether the motor drive system of the vehicle is in a fault state.

[0138] The motor drive system status acquisition module 401 is used to acquire the status of the vehicle's motor drive system when the motor drive system is in a non-faulty state.

[0139] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0140] Figure 7 This is a block diagram of a vehicle provided in an embodiment of this disclosure, such as... Figure 7 As shown, the vehicle includes the aforementioned motor control device.

[0141] Figure 8 This is a block diagram illustrating an electronic device 800 according to an exemplary embodiment. For example... Figure 8 As shown, the electronic device 800 may include a processor 801 and a memory 802. The electronic device 800 may also include one or more of a multimedia component 803, an input / output (I / O) interface 804, and a communication component 805.

[0142] The processor 801 controls the overall operation of the electronic device 800 to complete all or part of the steps in the aforementioned motor control method. The memory 802 stores various types of data to support the operation of the electronic device 800. This data may include, for example, instructions for any application or method operating on the electronic device 800, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 803 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 802 or transmitted via communication component 805. The audio component also includes at least one speaker for outputting audio signals. I / O interface 804 provides an interface between processor 801 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 805 is used for wired or wireless communication between the electronic device 800 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 805 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0143] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described motor control method.

[0144] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the motor control method described above. For example, the computer-readable storage medium may be the memory 802 including program instructions described above, which may be executed by the processor 801 of the electronic device 800 to complete the motor control method described above.

[0145] Figure 9 This is a block diagram illustrating an electronic device 900 according to an exemplary embodiment. For example, the electronic device 900 may be provided as a server. (Refer to...) Figure 9 The electronic device 900 includes a processor 922, which may be one or more, and a memory 932 for storing computer programs executable by the processor 922. The computer program stored in the memory 932 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processor 922 may be configured to execute the computer program to perform the aforementioned motor control method.

[0146] Additionally, the electronic device 900 may also include a power supply component 926 and a communication component 950. The power supply component 926 can be configured to perform power management of the electronic device 900, and the communication component 950 can be configured to enable communication of the electronic device 900, such as wired or wireless communication. Furthermore, the electronic device 900 may also include an input / output (I / O) interface 958. The electronic device 900 can operate on an operating system stored in memory 932, such as Windows Server, Mac OS, Unix, Linux, etc.

[0147] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the motor control method described above. For example, the computer-readable storage medium may be the memory 932 including program instructions, which may be executed by the processor 922 of the electronic device 900 to complete the motor control method described above.

[0148] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described method of motor control when executed by the programmable device.

[0149] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0150] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0151] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for controlling a motor, characterized in that, The method includes: Obtain the status of the vehicle's motor drive system; When the motor drive system is in a preset electric drive system state, the motor speed of the vehicle is obtained, wherein the preset electric drive system state includes any one of the following: no high voltage state, high voltage pre-charging state, and high voltage standby state. The motor drive system is controlled to enter a safety mode based on the motor speed, wherein the safety mode includes one of an active short-circuit mode and a safety pulse shutdown mode; When the motor drive system is in the state of no high voltage or the state of high voltage pre-charging, controlling the motor drive system to enter the safe mode based on the motor speed includes: When the motor speed is less than or equal to a preset speed threshold, the motor drive system is controlled to enter an active short-circuit mode.

2. The method according to claim 1, characterized in that, When the motor drive system is in the state of no high voltage or the state of high voltage pre-charging, controlling the motor drive system to enter the safe mode based on the motor speed includes: When the motor speed is greater than the preset speed threshold, the back electromotive force voltage is obtained based on the motor speed, and the motor drive system is controlled to enter a safe mode based on the back electromotive force voltage.

3. The method according to claim 2, characterized in that, Controlling the motor drive system to enter a safe mode based on the back electromotive force voltage includes: When the back electromotive force voltage is less than a preset voltage threshold, the motor drive system is controlled to enter a safety pulse shutdown mode.

4. The method according to claim 3, characterized in that, The step of controlling the motor drive system to enter a safe mode based on the back electromotive force voltage further includes: when the back electromotive force voltage is greater than or equal to the preset voltage threshold. If the motor drive system is in the state of no high voltage, control the motor drive system to enter the active short-circuit mode; or... If the motor drive system is in the high-voltage pre-charge state, the high-voltage bus voltage of the vehicle is obtained, and the motor drive system is controlled to enter the safe mode based on the back electromotive force voltage and the high-voltage bus voltage.

5. The method according to claim 4, characterized in that, Controlling the motor drive system to enter a safe mode based on the back electromotive force voltage and the high-voltage bus voltage includes: When the back electromotive force voltage is greater than or equal to the high-voltage bus voltage, the motor drive system is controlled to enter active short-circuit mode; or, When the back electromotive force voltage is less than the high-voltage bus voltage, the motor drive system is controlled to enter the safety pulse shutdown mode.

6. The method according to claim 1, characterized in that, When the motor drive system is in the high-voltage standby state, before controlling the motor drive system to enter the safety mode based on the motor speed, the method further includes: Obtain the high-voltage bus voltage of the vehicle; The step of controlling the motor drive system to enter a safe mode based on the motor speed includes: The back electromotive force voltage is obtained based on the motor speed. When the back EMF voltage is greater than or equal to the high-voltage bus voltage, the motor drive system is controlled to enter the active short-circuit mode; or, when the back EMF voltage is less than the high-voltage bus voltage, the motor drive system is controlled to enter the safety pulse shutdown mode.

7. The method according to any one of claims 1 to 6, characterized in that, Before obtaining the motor drive system status of the vehicle, the method further includes: Determine whether the vehicle's motor drive system is in a faulty state; The acquisition of the vehicle's motor drive system status includes: When the motor drive system is in a non-faulty state, the status of the vehicle's motor drive system is obtained.

8. A motor control device, characterized in that, The device includes: The motor drive system status acquisition module is used to acquire the status of the vehicle's motor drive system. The motor speed acquisition module is used to acquire the motor speed of the vehicle when the motor drive system state is a preset electric drive system state, wherein the preset electric drive system state includes any one of the following: no high voltage state, high voltage pre-charging state, and high voltage standby state. A safety mode control module is used to control the motor drive system to enter a safety mode according to the motor speed, wherein the safety mode includes one of an active short circuit mode and a safety pulse shutdown mode; The safety mode control module is used to control the motor drive system to enter active short circuit mode when the motor speed is less than or equal to a preset speed threshold in the case that the motor drive system is in the state of no high voltage or the state of high voltage pre-charging.

9. A vehicle, characterized in that, The vehicles include: The motor control device according to claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1 to 7.

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