Automobile motor controller working mode management method, device and automobile

Abstract

The present invention relates to the field of vehicle technology, and discloses a method, a device and a vehicle for managing the working mode of a motor controller of an automobile, wherein the working mode of the motor controller is refined into working modes such as a sleep mode, a controller initialization mode, a work mode, an active discharge mode and a pre-sleep mode, and corresponding jump conditions are constrained to achieve switching between the functional modes, thereby ensuring efficient execution of the various functions of the motor controller on the basis of normal realization of the various functions of the motor controller.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle technology, and in particular to a method and device for managing working modes of a vehicle motor controller, and a vehicle. Background Art

[0002] Pure electric vehicles drive their wheels through motors. As the core of pure electric vehicles, motor drive and control have a significant impact on the performance of the entire vehicle. Therefore, they have become the focus of research for major pure electric vehicle manufacturers at home and abroad. With the development of permanent magnet materials, power electronics technology, control theory, motor manufacturing and signal processing hardware, permanent magnet synchronous motors (PMSM) have been widely used. Permanent magnet synchronous motors are currently widely used in pure electric vehicle drive systems due to their advantages such as high efficiency, high output torque, high power density and good dynamic performance. For pure electric vehicles, the drive motor is controlled by the motor controller to output the expected power, thereby achieving vehicle driving. Generally, the motor controller receives the torque command issued by the vehicle controller, and then combines the vehicle state and the drive system state to execute a predetermined control strategy on the drive motor to control the power output of the motor. For the core control algorithms in the motor control of pure electric vehicles, such as maximum torque current ratio control, maximum torque voltage ratio control, deep magnetic weakening control, current loop regulation, etc., they are the basis for achieving accurate torque output of the drive motor. Therefore, the performance of the control algorithm of the motor controller is of great significance to the overall performance of the drive system. However, if the motor controller only has an efficient core algorithm but does not have an excellent functional management mode, it will hinder the performance of the motor controller. Only when the core algorithm and mode management complement and support each other can the motor controller achieve its maximum performance. Therefore, efficient management of automotive motor controllers is also very important. Summary of the invention

[0003] The embodiments of the present invention provide a method and device for managing the working mode of a motor controller of an automobile, and an automobile, which can efficiently manage the work of the motor controller and ensure the efficient execution of various functions of the motor controller.

[0004] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0005] In a first aspect, an embodiment of the present invention provides a method for managing a working mode of a motor controller of an automobile, comprising:

[0006] When receiving a vehicle wake-up signal in the sleep mode, the motor controller is controlled to switch to the controller initialization mode;

[0007] When it is detected in the controller initialization mode that the motor controller meets normal working conditions and the whole vehicle meets normal working conditions, controlling the motor controller to switch to the working mode;

[0008] When receiving an active discharge instruction of the whole vehicle in the working mode, controlling the motor controller to switch to the active discharge mode;

[0009] When it is detected in the active discharge mode that the bus voltage and the motor speed meet the pre-sleep condition, controlling the motor controller to switch to the pre-sleep mode;

[0010] When it is detected that the whole vehicle meets normal working conditions in the pre-sleep mode, controlling the motor controller to switch to the working mode;

[0011] When it is detected in the pre-sleep mode that the entire vehicle meets the sleep condition, the motor controller is controlled to switch to the sleep mode.

[0012] As a preferred solution, when it is detected in the controller initialization mode that the motor controller meets normal working conditions and the whole vehicle meets normal working conditions, controlling the motor controller to switch to the working mode specifically includes:

[0013] When it is detected in the controller initialization mode that the motor controller completes low-voltage initialization and high-voltage self-test, and receives a vehicle READY signal after the vehicle high-voltage power-on is completed, the motor controller is controlled to switch to the working mode.

[0014] As a preferred solution, when it is detected in the pre-sleep mode that the vehicle meets normal working conditions, controlling the motor controller to switch to the working mode specifically includes:

[0015] When a READY signal of the vehicle is received after the high voltage power-on of the whole vehicle is completed in the pre-sleep mode, the motor controller is controlled to switch to the working mode.

[0016] As a preferred solution, when it is detected in the active discharge mode that the bus voltage and the motor speed meet the pre-sleep condition, controlling the motor controller to switch to the pre-sleep mode specifically includes:

[0017] When it is detected that the bus voltage is lower than the bus voltage threshold and the motor speed is lower than the motor speed threshold in the active discharge mode, controlling the motor controller to switch to the pre-sleep mode;

[0018] Alternatively, when it is detected in the active discharge mode that the bus voltage is higher than the bus voltage threshold and the duration exceeds the first duration threshold and the motor speed is lower than the motor speed threshold, the motor controller is controlled to switch to the pre-sleep mode.

[0019] As a preferred solution, when it is detected in the pre-sleep mode that the vehicle meets the sleep condition, controlling the motor controller to switch to the sleep mode specifically includes:

[0020] When a low-voltage power-off command of the whole vehicle is received from the whole vehicle in the pre-sleep mode, or a wake-up signal of the whole vehicle disappears and lasts for a time greater than a second preset time threshold, the motor controller is controlled to switch to the sleep mode.

[0021] As a preferred solution, the working mode of the motor controller includes a standby mode, a torque mode and a speed mode; the automobile motor controller working mode management method also includes:

[0022] When receiving a torque mode instruction in the standby mode, controlling the motor controller to switch to the torque mode;

[0023] When receiving a standby mode instruction in the torque mode, controlling the motor controller to switch to the standby mode;

[0024] When receiving a speed mode instruction in the torque mode, controlling the motor controller to switch to the speed mode;

[0025] When receiving a torque mode instruction in the speed mode, controlling the motor controller to switch to the torque mode;

[0026] When receiving a speed mode instruction in the standby mode, controlling the motor controller to switch to the speed mode;

[0027] When a standby mode instruction is received in the rotation speed mode, the motor controller is controlled to switch to the standby mode.

[0028] As a preferred solution, the automobile motor controller working mode management method further includes:

[0029] When an active discharge instruction of the whole vehicle is received in the initialization mode, the motor controller is controlled to switch to the active discharge mode.

[0030] As a preferred solution, the automobile motor controller working mode management method further includes:

[0031] When it is detected in the power-off mode that the low-voltage power supply voltage of the motor controller is greater than a first voltage threshold, controlling the motor controller to switch to the sleep mode;

[0032] When it is detected in the sleep mode that the low-voltage power supply voltage of the motor controller is less than a second voltage threshold, the motor controller is controlled to switch to a power-off mode; wherein the second voltage threshold is less than the first voltage threshold.

[0033] As a preferred solution, the automobile motor controller working mode management method further includes:

[0034] When a request for the drive system of the vehicle to enter a safe state is received in the controller initialization mode or a serious fault is detected in the drive system, controlling the motor controller to switch to a fault mode;

[0035] When a request for the drive system of the vehicle to enter a safe state is received in the working mode or a serious fault is detected in the drive system, the motor controller is controlled to switch to a fault mode;

[0036] When an active discharge instruction of the whole vehicle is received in the fault mode, the motor controller is controlled to switch to the active discharge mode.

[0037] In the second aspect, an embodiment of the present invention provides an automobile motor controller working mode management device, characterized in that it includes: a processor, a memory, and a computer program stored in the memory, the processor is coupled to the memory, and the processor executes the computer program when working to implement the automobile motor controller working mode management method.

[0038] In a third aspect, an embodiment of the present invention provides a vehicle, which includes the vehicle motor controller working mode management device.

[0039] Compared with the prior art, the beneficial effect of the embodiments of the present invention lies in: by refining the working mode of the motor controller into working modes such as sleep mode, controller initialization mode, working mode, active discharge mode and pre-sleep mode, and constraining the corresponding jump conditions to achieve switching between various functional modes, thereby ensuring the efficient execution of various functions of the motor controller on the basis of normal realization of various functions of the motor controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0041] Figure 1 A flowchart of a method for managing a vehicle motor controller operating mode according to an embodiment of the present invention;

[0042] Figure 2 FIG. 1 is a schematic diagram of a working mode architecture of a vehicle motor controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] 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 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.

[0044] See also Figure 1 As shown, it is a flow chart of a method for managing working modes of an automobile motor controller according to an embodiment of the present invention.

[0045] The automotive motor controller working mode management method of the embodiment of the present invention includes:

[0046] Step S101, when a vehicle wake-up signal is received in the sleep mode, the motor controller is controlled to switch to the controller initialization mode;

[0047] Step S102, when it is detected in the controller initialization mode that the motor controller meets normal working conditions and the whole vehicle meets normal working conditions, controlling the motor controller to switch to a working mode;

[0048] Step S103, when receiving an active discharge instruction of the whole vehicle in the working mode, controlling the motor controller to switch to an active discharge mode;

[0049] Step S104, when it is detected in the active discharge mode that the bus voltage and the motor speed meet the pre-sleep condition, controlling the motor controller to switch to the pre-sleep mode;

[0050] Step S105, when it is detected in the pre-sleep mode that the vehicle meets normal working conditions, controlling the motor controller to switch to the working mode;

[0051] Step S106, when it is detected in the pre-sleep mode that the entire vehicle meets the sleep condition, the motor controller is controlled to switch to the sleep mode.

[0052] The embodiment of the present invention realizes switching between various functional modes by refining the working modes of the motor controller into working modes such as sleep mode, controller initialization mode, working mode, active discharge mode and pre-sleep mode, and constrains corresponding jump conditions, thereby ensuring efficient execution of various functions of the motor controller on the basis of normal realization of various functions of the motor controller.

[0053] In the specific implementation, the working modes of the motor controller mainly include power-off mode, controller initialization mode, working mode, active discharge mode, fault mode, pre-sleep mode and sleep mode. These modes are introduced in detail below.

[0054] (1) Power-off mode

[0055] The power-off mode means that the low-voltage power supply of the motor controller is completely disconnected, and the system is in a power-off state. For the motor controller in the current pure electric vehicle, it adopts a low-voltage normal power connection, that is, it is always connected to the low-voltage power supply. After being awakened by the CAN signal or hard-wired signal sent by the whole vehicle, the motor controller enters the working state. When the whole vehicle is powered off, the motor controller enters the sleep state and waits for the next wake-up. The power-off mode means that the motor controller is completely disconnected from the low-voltage power supply, and the system is in a power-off state. In the specific implementation, the power-off mode mostly appears in the maintenance process of the motor controller.

[0056] (2) Controller initialization mode

[0057] The controller initialization mode refers to the first state that the motor controller enters after being awakened by a CAN or hard-wired signal in the dormant state. In this state, the motor controller executes its own low-voltage self-test and high-voltage self-test logic. After the self-test passes, it sends a self-test status flag to the vehicle. The vehicle guides the subsequent control logic execution based on the self-test information fed back by the motor controller and the vehicle status. In specific implementation, the controller initialization mode is usually entered after the vehicle is powered on.

[0058] (3) Working mode: standby mode, torque mode, speed mode

[0059] After the motor controller is initialized and passed, the subsequent control logic is guided by the whole vehicle. If the whole vehicle determines that the current state of the vehicle meets the driving conditions, it will issue a control instruction to command the drive system to work normally. At this time, the motor controller will enter the working mode. For a pure electric vehicle motor controller, it has three working states: standby mode, torque mode, and speed mode. The embodiment of the present invention covers all possible working modes of the motor controller through these three working states. In the working mode, the motor controller receives the torque or speed command of the whole vehicle and controls the motor output power.

[0060] (4) Active discharge mode

[0061] For pure electric vehicles, the motor controller will perform active discharge operations during the power-off process, and the electric energy stored in the high-voltage DC bus of the vehicle will be released through the motor controller or the drive motor, thereby ensuring the high-voltage safety of the system and avoiding electric shock accidents. The active discharge mode is the working mode in which the motor controller performs discharge. In this mode, the motor controller can perform discharge operations through its own discharge resistor or control the motor winding.

[0062] (5) Failure mode

[0063] The fault mode specified in the embodiment of the present invention indicates that the motor controller fails, the fault is unrecoverable and needs to enter the safe state mode to protect the system. It can be understood that the fault mode refers to the mode entered after a serious fault occurs. For general faults, such as recoverable faults, simple derating faults, and only reported but not processed faults, considering that the system can be recovered after such faults occur and the drive system still has the ability to output power, such faults do not enter the fault mode in the embodiment of the present invention.

[0064] (6) Pre-sleep mode

[0065] Pre-sleep mode refers to a specific mode of the motor controller before sleep. In this mode, the motor controller has completed the preparation before power-off, such as completing active discharge, and is ready for power-off. At this time, it will wait for the final power-off command of the vehicle, and enter the sleep state after receiving the command. In addition, in the pre-sleep mode, the motor controller has the conditions to enter the working mode again. At this time, if it receives the command to enter the working mode from the vehicle, it will enter the working mode again. The purpose of this function design is to meet the needs of fast power-on and power-off of the vehicle.

[0066] (7) Sleep mode

[0067] Sleep mode refers to the motor controller entering a low-power sleep state through its own hardware design after the vehicle is powered off. At this time, the system consumes very little power and waits for the vehicle's wake-up signal to enter the low-voltage initialization power-on process again.

[0068] The above introduces the seven working modes of the motor controller summarized in the embodiments of the present invention. It can be seen that these seven working modes completely cover all working states that the drive system can include. On this basis, state management can ensure stable and efficient operation of the drive system, thereby giving full play to the performance of the motor controller.

[0069] In some specific embodiments, regarding step S101 "when receiving a vehicle wake-up signal in the sleep mode, controlling the motor controller to switch to the controller initialization mode", please refer to Figure 2 As shown, Figure 2 The jump condition 3 in the jump condition 3 indicates the condition for the motor controller to jump from the sleep mode to the controller initialization mode. The jump condition 3 is that the motor controller receives a wake-up signal from the vehicle. The wake-up signal in the jump condition 3 can be a hard-line wake-up signal or a CAN wake-up signal, and the specific form depends on the wake-up mechanism of the motor controller.

[0070] In some specific embodiments, the step S102 "when it is detected in the controller initialization mode that the motor controller meets normal working conditions and the vehicle meets normal working conditions, controlling the motor controller to switch to the working mode" specifically includes:

[0071] When it is detected in the controller initialization mode that the motor controller completes low-voltage initialization and high-voltage self-test, and receives a vehicle READY signal after the vehicle high-voltage power-on is completed, the motor controller is controlled to switch to the working mode.

[0072] See also Figure 2 As shown, Figure 2 Jump condition 4 in the figure indicates the condition for the motor controller to jump from the controller initialization mode to the working mode. Jump condition 4 is that the motor controller completes the low-voltage initialization and high-voltage self-test of the system, and receives the vehicle's READY signal after the vehicle's high-voltage power-on is completed. Jump condition 4 indicates that the motor controller has completed the low-voltage initialization and high-voltage self-test process. At this time, the motor controller has the conditions for normal operation. On this basis, since the vehicle's high-voltage power-on is completed and the READY signal is issued, it means that the vehicle has the conditions for normal operation. In this state, the motor controller needs to enter the working mode to meet the power requirements of the vehicle.

[0073] In some specific embodiments, regarding step S103 "when receiving an active discharge instruction of the vehicle in the working mode, controlling the motor controller to switch to the active discharge mode", please refer to Figure 2 As shown, Figure 2 The jump condition 8 in represents the condition for the motor controller to jump from the working mode to the active discharge mode. Jump condition 8 is when the motor controller receives the active discharge command issued by the whole vehicle. After the motor controller receives the active discharge command issued by the whole vehicle in the controller working mode, it needs to immediately enter the active discharge mode and execute the active discharge logic in this mode to release the electric energy stored in the high-voltage bus of the vehicle to ensure high voltage safety. Generally speaking, jump condition 8 occurs during the normal power-off process of the whole vehicle.

[0074] In some specific embodiments, the step S104 "controlling the motor controller to switch to the pre-sleep mode when it is detected that the bus voltage and the motor speed meet the pre-sleep condition in the active discharge mode" specifically includes:

[0075] When it is detected that the bus voltage is lower than the bus voltage threshold and the motor speed is lower than the motor speed threshold in the active discharge mode, controlling the motor controller to switch to the pre-sleep mode;

[0076] Alternatively, when it is detected in the active discharge mode that the bus voltage is higher than the bus voltage threshold and the duration exceeds the first duration threshold and the motor speed is lower than the motor speed threshold, the motor controller is controlled to switch to the pre-sleep mode.

[0077] See also Figure 2 As shown, Figure 2 The jump condition 10 in the figure indicates the condition for the motor controller to jump from the active discharge mode to the pre-sleep mode. The specific condition is:

[0078] Jump condition 10: The jump condition is established when any one of the following two conditions is met.

[0079] ① The DC bus voltage is lower than the bus voltage threshold Vo and the motor speed is lower than the motor speed threshold R;

[0080] ② The DC bus voltage is higher than the bus voltage threshold Vo and lasts longer than To, and the motor speed is lower than R rpm.

[0081] In jump condition 10, the bus voltage threshold Vo in condition ① represents the bus voltage threshold after the active discharge is completed. When the bus voltage is lower than the bus voltage threshold Vo, there is no risk of high-voltage electric shock when operating or repairing the vehicle. On this basis, it is judged that the motor speed is lower than the motor speed threshold R, where the threshold represents a speed value corresponding to the vehicle being close to a stationary state. When condition ① is met, it indicates that the motor controller has completed the active discharge operation and the vehicle is close to a stationary state. At this time, the controller has the conditions to continue to power off, so it enters the pre-sleep mode through the control mode switching method.

[0082] In jump condition 10, condition ② indicates that the motor controller fails to actively discharge, wherein the first duration threshold To indicates the time value for judging the failure of active discharge; in this state, although the motor controller fails to discharge, it cannot continue to stay in the active discharge mode, thereby affecting the power-off process of the entire vehicle. At this time, it will be determined whether the motor speed is lower than the motor speed threshold R, and if the conditions are met, it will enter the pre-sleep mode.

[0083] In some specific embodiments, the step S105 “when it is detected in the pre-sleep mode that the vehicle meets normal working conditions, controlling the motor controller to switch to the working mode” specifically includes:

[0084] When a READY signal of the vehicle is received after the high voltage power-on of the whole vehicle is completed in the pre-sleep mode, the motor controller is controlled to switch to the working mode.

[0085] See also Figure 2 As shown, Figure 2The jump condition 11 in represents the condition for the motor controller to jump from the pre-sleep mode to the working mode. The jump condition 11 is that the motor controller receives the signal of the vehicle READY that the high-voltage power-on of the whole vehicle is completed in the pre-sleep mode. Under normal circumstances, the motor controller will prepare for the system power-off after entering the pre-sleep mode. Jump condition 11 is used to realize the rapid power-on and power-off functions of the whole vehicle, that is, the whole vehicle is driven immediately after charging is completed, and the driver can power on and off quickly at will (in fact, there is no need to power off). At this time, in order to improve the driving experience of the vehicle and quickly respond to the driving needs of the driver, the vehicle will not actually execute the power-off process. At this time, the whole vehicle judges the system status. If the status allows, it will redirect the high-voltage power-on. In this case, the motor controller will jump back to the working mode from the pre-sleep mode according to the instructions issued by the whole vehicle to meet the power requirements of the whole vehicle.

[0086] In some specific embodiments, the step S106 “when it is detected in the pre-sleep mode that the vehicle meets the sleep condition, controlling the motor controller to switch to the sleep mode” specifically includes:

[0087] When a low-voltage power-off command of the whole vehicle is received from the whole vehicle in the pre-sleep mode, or a wake-up signal of the whole vehicle disappears and lasts for a time greater than a second preset time threshold, the motor controller is controlled to switch to the sleep mode.

[0088] See also Figure 2 As shown, Figure 2 The jump condition 12 in represents the condition for the motor controller to jump from the pre-sleep mode to the sleep mode. The jump condition 12 is that the motor controller receives a low-voltage power-off command sent by the whole vehicle in the pre-sleep mode, or the wake-up signal of the whole vehicle disappears and lasts for more than the second preset time threshold Te. It should be noted that after the motor controller enters the pre-sleep mode, it will prepare for the system power-off. In this state, when it receives a low-voltage power-off command sent by the whole vehicle, it will perform the power-off operation, that is, enter the sleep mode (low power consumption); in addition, in order to prevent the motor controller from being unable to receive the low-voltage power-off command of the whole vehicle normally and being unable to power off, considering that the wake-up signal sent to the motor controller will disappear after the whole vehicle is powered off, when the motor controller fails to receive the wake-up signal of the whole vehicle, it will power off automatically for a period of time, that is, enter the sleep mode.

[0089] In some specific embodiments, the working mode of the motor controller includes a standby mode, a torque mode and a speed mode; the automobile motor controller working mode management method further includes:

[0090] When receiving a torque mode instruction in the standby mode, controlling the motor controller to switch to the torque mode;

[0091] When receiving a standby mode instruction in the torque mode, controlling the motor controller to switch to the standby mode;

[0092] When receiving a speed mode instruction in the torque mode, controlling the motor controller to switch to the speed mode;

[0093] When receiving a torque mode instruction in the speed mode, controlling the motor controller to switch to the torque mode;

[0094] When receiving a speed mode instruction in the standby mode, controlling the motor controller to switch to the speed mode;

[0095] When a standby mode instruction is received in the rotation speed mode, the motor controller is controlled to switch to the standby mode.

[0096] See also Figure 2 As shown, in order to meet the control requirements of the system, this embodiment refines the working mode, that is, the working mode of the motor controller also includes three sub-modes: standby mode, torque mode, and speed mode. The switching of these three modes depends entirely on the control requirements of the vehicle. Figure 2 The switching conditions W1, W2, W3, W4, W5 and W6 can respectively realize the switching between any two corresponding modes among the standby mode, torque mode and speed mode. For example, in the standby mode, when the motor controller receives the working mode instruction of the whole vehicle as the torque mode, the switching condition W1 is satisfied. At this time, the motor controller switches from the standby mode to the torque mode. The other switching modes are similar and will not be described in detail here.

[0097] In some specific embodiments, the automotive motor controller operating mode management method further includes:

[0098] When an active discharge instruction of the whole vehicle is received in the initialization mode, the motor controller is controlled to switch to the active discharge mode.

[0099] See also Figure 2 As shown, Figure 2 Jump condition 6 in the figure indicates the condition for the motor controller to jump from the controller initialization mode to the active discharge mode. Jump condition 6 is that the motor controller receives the active discharge command issued by the vehicle. After the motor controller receives the active discharge command issued by the vehicle in the controller initialization mode, it needs to immediately enter the active discharge mode and execute the active discharge logic in this mode to release the electric energy stored in the high-voltage bus of the vehicle to ensure high voltage safety.

[0100] In some specific embodiments, the automotive motor controller operating mode management method further includes:

[0101] When it is detected in the power-off mode that the low-voltage power supply voltage of the motor controller is greater than a first voltage threshold, controlling the motor controller to switch to the sleep mode;

[0102] When it is detected in the sleep mode that the low-voltage power supply voltage of the motor controller is less than a second voltage threshold, the motor controller is controlled to switch to a power-off mode; wherein the second voltage threshold is less than the first voltage threshold.

[0103] See also Figure 2 As shown, Figure 2 The jump condition 1 in the figure indicates the condition for the motor controller to switch from the power-off mode to the sleep mode. In the specific implementation, the power-off mode is the default mode, that is, the first mode entered by the motor controller. In this mode, when Figure 2 If the jump condition 1 in is met, the system enters the sleep mode, where the jump condition 1 means that the low-voltage power supply voltage of the motor controller is greater than the first voltage threshold V1, where the first voltage threshold V1 represents a stable power supply voltage that the motor controller can wake up normally. Under this voltage condition, the motor controller can be woken up normally. Figure 2 The jump condition 2 in the figure indicates the condition for the motor controller to switch from the sleep mode to the power-off mode. The jump condition 2 means that the low-voltage power supply voltage of the motor controller is less than the second voltage threshold V2. This jump condition indicates that when the low-voltage power supply of the motor controller is lower than a certain level, the motor controller will not be able to work normally, that is, the low-voltage power supply cannot maintain the low-power sleep state of the motor controller. At this time, the system enters the power-off state, where the second voltage threshold V2 is less than the first voltage threshold V1.

[0104] also, Figure 2 The jump condition 13 in the figure indicates the condition for the motor controller to enter the power-off mode under any circumstances. The jump condition 13 is that the low-voltage power supply voltage of the motor controller is less than the second voltage threshold V2. As mentioned above, when the low-voltage power supply of the motor controller is lower than a certain level, the motor controller will not be able to work normally, that is, the low-voltage power supply cannot maintain the low-power sleep state of the motor controller, and the system directly enters the power-off state.

[0105] In some specific embodiments, the automotive motor controller operating mode management method further includes:

[0106] When a request for the drive system of the vehicle to enter a safe state is received in the controller initialization mode or a serious fault is detected in the drive system, controlling the motor controller to switch to a fault mode;

[0107] When a request for the drive system of the vehicle to enter a safe state is received in the working mode or a serious fault is detected in the drive system, the motor controller is controlled to switch to a fault mode;

[0108] When an active discharge instruction of the whole vehicle is received in the fault mode, the motor controller is controlled to switch to the active discharge mode.

[0109] See also Figure 2 As shown, Figure 2 The jump condition 5 in represents the condition for the motor controller to jump from the controller initialization mode to the fault mode. In the specific implementation, the jump condition 5 is that the motor controller receives a request from the whole vehicle requiring the drive system to enter a safe state or the drive system has a serious fault and needs to enter a safe state. It should be noted that the fault mode is a protection mode of the drive system, and the motor controller protects the whole vehicle by controlling the drive system to enter a safe state. Therefore, when the whole vehicle has a need to enter a safe state or the drive system has a serious fault and needs to enter a safe state, the motor controller can be switched in the working mode through the jump condition 5, thereby providing safety protection for the system.

[0110] See also Figure 2 As shown, Figure 2 The jump condition 7 in represents the condition for the motor controller to jump from the working mode to the fault mode. Jump condition 7 is that the motor controller receives a request from the vehicle requiring the drive system to enter a safe state or the drive system has a serious fault and needs to enter a safe state. Among them, jump condition 7 is the same as jump condition 5. This is because in the working mode, the whole vehicle or the drive system has a need to enter a safe state. Therefore, once this need occurs, it is necessary to switch the mode to make the motor controller enter the fault mode, thereby providing safety protection for the whole vehicle.

[0111] See also Figure 2 As shown, Figure 2 The jump condition 9 in the figure indicates the condition for the motor controller to jump from the fault mode to the active discharge mode. The jump condition 9 is that the motor controller receives the active discharge command issued by the vehicle. In the fault mode, the motor controller implements protection by entering the safe state through the control system. At this time, the drive system cannot output power. In this state, the vehicle will guide the vehicle to power off according to the fault state of the power system and the current state of the vehicle. During the process of guiding the power off, an active discharge command will be issued, and the motor controller will jump to the mode according to the command.

[0112] Correspondingly, another embodiment of the present invention provides an automobile motor controller operating mode management device, which includes: a processor, a memory, and a computer program stored in the memory, the processor is coupled to the memory, and the processor executes the computer program when working to implement the automobile motor controller operating mode management method of any of the above embodiments.

[0113] In some specific embodiments, the motor controller has a state analysis module, and the state analysis module is used to analyze the judgment conditions of the motor controller mode switching according to the vehicle state, and the judgment conditions of the motor controller mode switching include at least one of the following: the current high-voltage power-on state of the vehicle and the signal state of the vehicle READY, the safety state request of the vehicle, the active discharge requirement of the vehicle, the low-voltage power-off requirement of the vehicle, and the control requirement of the vehicle for the drive system. Specifically, the state analysis module can be used to execute the above method embodiment.

[0114] In this embodiment, by setting the state analysis module in the motor controller, it is possible to communicate with the entire vehicle and analyze the current state of the vehicle in real time. Specifically, the significance of the state analysis module is that it can provide Figure 2 The judgment conditions required for jumping between the modes shown in the figure are shown. In addition, the introduction of this module can make the motor controller working mode management method applicable to systems of various hardware architectures, thereby greatly expanding the scope of application of the method. For example, the current control structure of the motor controller of pure electric vehicles is divided into a simple actuator class architecture and an integrated control class architecture. In the simple integrator class architecture, the motor controller is only an actuator that controls the normal operation of the motor, that is, it receives various control instructions issued by the whole vehicle, such as torque commands, speed commands, motor working modes, etc. In the integrated control architecture, the motor controller relies on its powerful computing power and hardware resources to undertake the control function of the whole vehicle. At this time, the motor controller will not only act as an actuator to control the motor, but also undertake the control function of the whole vehicle. In this case, a state analysis module is required to analyze the judgment conditions required for mode switching. In summary, by setting the state analysis module in the motor controller and allowing the state analysis module to execute the above-mentioned related method embodiments, the scope of application of the motor controller working mode management method provided by the present invention can be expanded so that it can be applied to systems of various hardware architectures. The state analysis module may be a software package running in the motor controller, or a microcontroller capable of executing the above-mentioned related method embodiments (equivalent to the automobile motor controller working mode management device of the above-mentioned embodiment).

[0115] Correspondingly, an embodiment of the present invention further provides a car, which includes the above-mentioned car motor controller working mode management device.

[0116] The automobile motor controller working mode management device may be a microcontroller integrated in the motor controller, or may be the conventional motor controller itself. The automobile motor controller working mode management device may include, but is not limited to, a processor and a memory. Those skilled in the art may understand that the schematic diagram is only an example of the management device and does not constitute a limitation of the management device. The management device may include more or fewer components than shown in the diagram, or may combine certain components, or different components. For example, the management device may also include input and output devices, network access devices, buses, etc.

[0117] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the management device, and various interfaces and lines are used to connect various parts of the entire motor controller.

[0118] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the management device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0119] Wherein, if the module integrated in the management device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0120] In summary, the beneficial effects of the embodiments of the present invention at least include:

[0121] 1. The embodiment of the present invention classifies the working modes of the motor controller into the following seven types, specifically: power-off mode, controller initialization mode, working mode, active discharge mode, fault mode, pre-sleep mode, and sleep mode; on this basis, the "working mode" is refined to meet the control requirements of the system, specifically, the "working mode" is further refined into standby mode, torque mode, and speed mode. The above division method can fully cover all possible functional realizations of the pure electric vehicle motor controller. At the same time, the above division method can also efficiently and reliably manage various drive control functions and give full play to the effectiveness of the motor controller.

[0122] 2. On the basis of dividing the functional modes of the motor controller into the above seven types, the embodiment of the present invention provides a complete set of mode jump mechanisms, which realizes the switching between the functional modes by constraining the jump conditions, and ensures the efficient execution of the various functions of the motor controller on the basis of the normal realization of the various functions of the motor controller. In addition to the above, the motor controller working mode management method provided by the embodiment of the present invention integrates a state analysis function module, which outputs corresponding state conditions according to the system state, thereby ensuring the normal jump between the controller working modes. The state analysis module actually plays a role of connecting the upper and lower parts. After integrating this module, the motor controller working mode management method provided by the present invention can be applied to systems of various hardware architectures, thereby greatly expanding the scope of application of the method.

[0123] 3. The motor controller working mode management method provided in the embodiment of the present invention has the characteristics of clear ideas, clear mechanisms, no involvement of system hardware changes, and easy engineering implementation, and therefore has good promotion value.

[0124] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A method for managing the working mode of an automobile motor controller, characterized in that: include: When receiving a vehicle wake-up signal in the sleep mode, the motor controller is controlled to switch to the controller initialization mode; When it is detected in the controller initialization mode that the motor controller meets normal working conditions and the whole vehicle meets normal working conditions, the motor controller is controlled to switch to the working mode, specifically including: when it is detected in the controller initialization mode that the motor controller completes low-voltage initialization and high-voltage self-test, and receives a vehicle READY signal after the whole vehicle high-voltage power-on is completed, the motor controller is controlled to switch to the working mode; When receiving an active discharge instruction of the whole vehicle in the working mode, controlling the motor controller to switch to the active discharge mode; When it is detected in the active discharge mode that the bus voltage and the motor speed meet the pre-sleep condition, the motor controller is controlled to switch to the pre-sleep mode, specifically including: Condition 1: When it is detected in the active discharge mode that the bus voltage is lower than the bus voltage threshold and the motor speed is lower than the motor speed threshold, the motor controller is controlled to switch to the pre-sleep mode; or Condition 2: When it is detected in the active discharge mode that the bus voltage is higher than the bus voltage threshold and the duration exceeds the first duration threshold and the motor speed is lower than the motor speed threshold, the motor controller is controlled to switch to the pre-sleep mode; When it is detected in the pre-sleep mode that the vehicle meets normal working conditions, the motor controller is controlled to switch to the working mode, specifically including: when a READY signal of the vehicle is received after the high voltage power-on of the vehicle is completed in the pre-sleep mode, the motor controller is controlled to switch to the working mode; When it is detected that the entire vehicle meets the sleep condition in the pre-sleep mode, controlling the motor controller to switch to the sleep mode; Wherein, the working mode of the motor controller includes a standby mode, a torque mode and a speed mode; the automobile motor controller working mode management method also includes: When receiving a torque mode instruction in the standby mode, controlling the motor controller to switch to the torque mode; When receiving a standby mode instruction in the torque mode, controlling the motor controller to switch to the standby mode; When receiving a speed mode instruction in the torque mode, controlling the motor controller to switch to the speed mode; When receiving a torque mode instruction in the speed mode, controlling the motor controller to switch to the torque mode; When receiving a speed mode instruction in the standby mode, controlling the motor controller to switch to the speed mode; When a standby mode instruction is received in the speed mode, the motor controller is controlled to switch to the standby mode; any two corresponding modes among the standby mode, the torque mode and the speed mode can be switched; Wherein, the automobile motor controller working mode management method further includes: When a request for the drive system of the vehicle to enter a safe state is received in the controller initialization mode or a serious fault is detected in the drive system, controlling the motor controller to switch to a fault mode; When a request for the drive system of the vehicle to enter a safe state is received in the working mode or a serious fault is detected in the drive system, the motor controller is controlled to switch to a fault mode; When receiving an active discharge instruction of the whole vehicle in the fault mode, controlling the motor controller to switch to an active discharge mode; The motor controller has a state analysis module, which is used to analyze the judgment condition of the motor controller mode switching according to the vehicle state, and the judgment condition of the motor controller mode switching includes at least one of the following: the current high-voltage power-on state of the vehicle and the signal state of the vehicle READY, the safety state request of the vehicle, the active discharge demand of the vehicle, the low-voltage power-off demand of the vehicle, and the control demand of the vehicle for the drive system; The method for managing the working mode of the automobile motor controller further includes: when an active discharge instruction of the whole vehicle is received in the initialization mode, controlling the motor controller to switch to the active discharge mode.

2. The automotive motor controller operating mode management method according to claim 1, characterized in that: When it is detected in the pre-sleep mode that the vehicle meets the sleep condition, controlling the motor controller to switch to the sleep mode specifically includes: When a low-voltage power-off command of the whole vehicle is received from the whole vehicle in the pre-sleep mode, or a wake-up signal of the whole vehicle disappears and lasts for a time greater than a second preset time threshold, the motor controller is controlled to switch to the sleep mode.

3. The automotive motor controller operating mode management method according to claim 1, characterized in that: The automobile motor controller working mode management method also includes: When it is detected in the power-off mode that the low-voltage power supply voltage of the motor controller is greater than a first voltage threshold, controlling the motor controller to switch to the sleep mode; When it is detected in the sleep mode that the low-voltage power supply voltage of the motor controller is less than a second voltage threshold, the motor controller is controlled to switch to a power-off mode; wherein the second voltage threshold is less than the first voltage threshold.

4. A vehicle motor controller working mode management device, characterized in that: include: A processor, a memory, and a computer program stored in the memory, wherein the processor is coupled to the memory, and the processor executes the computer program when working to implement the automotive motor controller working mode management method according to any one of claims 1 to 3.

5. A car, characterized in that: It comprises the automobile motor controller working mode management device as claimed in claim 4.

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