Motor driving method, device and system

Abstract

The embodiments of the present application disclose a motor driving method, device and system, which relate to the field of chips. The solution may include, when the motor control device determines that the motor needs to rotate at maximum torque, the motor control device controls the driver to output a first current to drive the motor to rotate. The first current is greater than the rated peak current of the driver and less than or equal to the maximum load current of the driver. This method can solve the problem that for most customers and application scenarios, the increased current capacity of the redundant design of the switching tube of the motor driver cannot be fully utilized, resulting in cost waste.

Description

Technical Field

[0001] The present application relates to the field of chip technology, and in particular to a motor driving method, device and system. Background Art

[0002] Electric vehicle motor drivers typically use a three-phase full-bridge topology, outputting three-phase AC power to drive the motor. When the motor is operating normally (i.e., at full power), the six switching transistors in the motor driver alternate in a specific sequence to deliver the current required by the motor.

[0003] In order to provide better half-hill starting capability, the electric vehicle's motor needs to provide a large output torque when operating at zero speed. Therefore, in this operating state, the six switching tubes of the motor driver no longer work alternately, but instead continuously output direct current (DC) equal to the AC amplitude to the motor through one or more switching tubes of the motor driver. In this case, since the current value of the DC switching tube is equal to the amplitude of the AC during normal operation, the current value of the DC is greater than the current value of the AC (or called the effective current value). The current load it bears is significantly higher than the current load it bears under other normal operating conditions such as full power rotation of the motor, which may cause the life of the switching tube to be shortened or even burn out.

[0004] To handle the current load of the motor driver's switching tube at zero motor speed, the current characteristics of the switching tube must be redundantly designed to increase the current flow capacity. Increasing the current flow capacity of the switching tube through redundant design usually increases the cost of the switching tube, but the increased current flow capacity of the redundant design is rarely used (usually only in specific scenarios such as starting on a slope). Therefore, for most customers and application scenarios, the increased current flow capacity of the motor driver's switching tube redundant design cannot be fully utilized, resulting in cost waste. Summary of the Invention

[0005] The embodiments of the present application provide a motor driving method, device and system to solve the problem that for most customers and application scenarios, the increased current capacity of the redundant design of the switching tube of the motor driver cannot be fully utilized, resulting in cost waste.

[0006] In order to achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a motor driving method, which can be applied to a motor control device of a motor control system, and the motor control device can be used to control a driver of a motor in a motor drive system, the method comprising: when the motor control device determines that the motor needs to rotate at maximum torque, the motor control device controls the driver to output a first current to drive the motor to rotate. Wherein, the first current is greater than the rated peak current of the driver (the rated peak current refers to the effective current value of the alternating current output by the driver when the motor rotates normally at full torque and full power), and is less than or equal to the maximum load current of the driver (the maximum load current refers to the current value of the direct current output by the driver when the motor is in a stalled state).

[0008] With the above technical solution, when a user (e.g., a driver) needs to control the motor to rotate at maximum torque, the motor control device can control the driver to output a higher current than when the motor is normally rotating at full torque (or, in other words, enable the driver to utilize the increased current capacity provided by its redundant design). This allows the motor to output a higher torque than when the motor is normally rotating at full torque and full power, thereby increasing the power output of the motor drive system to the driven component and improving the rapid acceleration performance of the driven component.

[0009] In one possible implementation, before the motor control device controls the driver to output a first current to drive the motor to rotate, the method further includes: the motor control device obtains a thermal capacity margin of the motor drive system, wherein the thermal capacity margin can be used to represent the margin of the motor drive system's limit temperature relative to the current temperature. The motor control device determines whether the current temperature of the motor drive system meets the conditions for the motor to rotate at the first current based on the thermal capacity margin; accordingly, the motor control device controls the driver to output the first current, which may include: the motor control device controls the driver to output the first current when the current temperature of the motor drive system meets the conditions for the motor to rotate at the first current. In this way, the motor control device can control the driver to drive the motor to output a greater torque only when ensuring the motor's heating safety, thereby avoiding damage to the motor due to excessive temperature and improving the reliability of the motor control device controlling the motor through the driver.

[0010] In another possible implementation, after the motor control device determines, based on the thermal capacity margin, whether the current temperature of the motor drive system satisfies the condition for the motor to rotate at the first current, the method further includes: if the current temperature of the motor drive system does not satisfy the condition for the motor to rotate at the first current, the motor control device controls the driver to output a rated peak current to drive the motor to rotate. In this way, when the motor control device does not control the driver to output the first current to avoid damage to the motor due to excessive temperature, the motor control device can control the driver to output the rated peak current while ensuring motor thermal safety, thereby maximizing the motor's output torque and satisfying the user's demand for a higher motor output torque.

[0011] In another possible implementation, the motor control device obtains the thermal capacity margin of the motor drive system, including: the motor control device obtains the temperature of the motor drive system; the motor control device determines the thermal capacity margin based on the temperature of the motor drive system and a motor thermal resistance network model, wherein the motor thermal resistance network model has the function of predicting the thermal capacity margin based on the temperature of the motor drive system. In this way, the motor control device can use the motor thermal resistance network model to relatively accurately predict the thermal capacity margin based on the current temperature of the motor drive system, thereby improving the accuracy of the motor control device's determination of whether the motor meets the conditions for rotating at the first current based on the thermal capacity margin.

[0012] In another possible implementation, the motor control system further includes a temperature acquisition module. Accordingly, the motor control device acquires the temperature of the motor drive system, including: the motor control device receives the temperature of the motor drive system acquired from the temperature acquisition module. In this way, the motor control device can use the temperature acquisition module to quickly and conveniently acquire the temperature of the motor drive system, facilitating implementation.

[0013] In another possible implementation, if the thermal capacity margin is greater than the thermal capacity margin threshold, the current temperature of the motor drive system meets the condition for the motor to rotate at the first current; if the thermal capacity margin is less than the thermal capacity margin threshold, the current temperature of the motor drive system does not meet the condition for the motor to rotate at the first current.

[0014] In another possible implementation, the motor control device determines that the motor needs to rotate at maximum torque, including: the motor control device obtains command information, where the command information is used to indicate the speed and torque output by the motor drive system; and the motor control device determines that the motor needs to rotate at maximum torque based on the command information. The command information can be command information input by the driver (or driving command), command information generated by the autonomous driving artificial intelligence (or control command), or command information indirectly transmitted via the VCU.

[0015] In another possible implementation, the motor control system further includes a command acquisition module; accordingly, the motor control device acquiring command information includes: the motor control device receiving the command information acquired from the command acquisition module. In this way, the motor control device can use the command acquisition module to quickly and conveniently acquire command information, facilitating implementation.

[0016] In another possible implementation, after the motor control device controls the driver to output the first current, the method further includes: the motor control device obtaining an output operating condition of the motor drive system; the output operating condition may include a speed value output by the motor drive system; if the output operating condition of the motor drive system is equal to a target output operating condition corresponding to the instruction information, the motor control device controlling the driver to output a rated peak current; the target output operating condition includes a target speed value output by the motor drive system corresponding to the instruction information. In this way, after the output operating condition of the motor drive system reaches the target, the motor control device can control the driver to output according to the conventional rated peak current, thereby avoiding long-term output of the first current by the driver, which would significantly reduce its lifespan.

[0017] In another possible implementation, the motor control system further includes a working condition acquisition module. Accordingly, the motor control device acquires the output working condition of the motor drive system, including: the motor control device receives the output working condition of the motor drive system acquired from the working condition acquisition module. In this way, the motor control device can use the working condition acquisition module to quickly and conveniently acquire the output working condition of the motor drive system, facilitating implementation.

[0018] In another possible implementation, after the motor control device controls the driver to output the first current, the method further includes: the motor control device determines the sustainable rotation duration of the motor under the drive output of the first current based on the temperature of the motor drive system, command information, and a temperature prediction model, wherein the temperature prediction model has the function of predicting the sustainable rotation duration based on the motor temperature and command information; if the rotation duration of the motor starting from the driver outputting the first current is equal to the sustainable rotation duration, the motor control device controls the driver to output the rated peak current. In this way, the problem of the motor control device controlling the driver to output the first current for a long time to drive the motor to rotate, which may cause the motor to overheat and be damaged, can be avoided, thereby improving the reliability of the process of the motor control device controlling the driver to drive the motor.

[0019] In a second aspect, embodiments of the present application provide a motor control device that can be applied to a motor control system to control a motor driver in a motor drive system. The device can be used to implement the method described in the first aspect. The functions of the device can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the aforementioned functions, such as an instruction parsing module, a temperature prediction module, and an output control module.

[0020] Among them, the instruction parsing module can be used to determine whether the motor needs to rotate at the maximum torque;

[0021] The output control module is used to control the driver to output a first current to drive the motor to rotate, wherein the first current is greater than the rated peak current of the driver and less than or equal to the maximum load current of the driver.

[0022] In one possible implementation, the device also includes: a temperature prediction module, used to obtain the thermal capacity margin of the motor drive system, where the thermal capacity margin is used to characterize the margin of the motor drive system's limit temperature relative to the current temperature; an output control module, further used to determine, based on the thermal capacity margin, whether the current temperature of the motor drive system meets the condition for the motor to rotate at a first current; and an output control module, specifically used to control the driver to output the first current when the current temperature of the motor drive system meets the condition for the motor to rotate at the first current.

[0023] In another possible implementation, the output control module is further configured to control the driver to output a rated peak current to drive the motor to rotate when the current temperature of the motor drive system does not meet the condition for the motor to rotate at the first current.

[0024] In another possible implementation, the temperature prediction module is specifically used to obtain the temperature of the motor drive system; determine the thermal capacity margin based on the temperature of the motor drive system and the motor thermal resistance network model, and the motor thermal resistance network model has the function of predicting the thermal capacity margin based on the temperature of the motor drive system.

[0025] In another possible implementation, the motor control system further includes a temperature acquisition module; and a temperature prediction module, specifically configured to receive the temperature of the motor drive system acquired by the temperature acquisition module.

[0026] In another possible implementation, if the thermal capacity margin is greater than the thermal capacity margin threshold, the current temperature of the motor drive system meets the condition for the motor to rotate at the first current; if the thermal capacity margin is less than the thermal capacity margin threshold, the current temperature of the motor drive system does not meet the condition for the motor to rotate at the first current.

[0027] In another possible implementation, the instruction parsing module is specifically used to obtain instruction information, where the instruction information is used to indicate the speed and torque output by the motor drive system; and determine that the motor needs to rotate at the maximum torque based on the instruction information.

[0028] In another possible implementation, the motor control system further includes a command acquisition module;

[0029] The instruction parsing module is specifically used to receive instruction information collected from the instruction collection module.

[0030] In another possible implementation, the output control module is also used to obtain the output operating condition of the motor drive system; the output operating condition includes the speed value output by the motor drive system; if the output operating condition of the motor drive system is equal to the target output operating condition corresponding to the instruction information, the driver is controlled to output the rated peak current; the target output operating condition includes the target speed value output by the motor drive system corresponding to the instruction information.

[0031] In another possible implementation, the motor control system further includes a working condition acquisition module;

[0032] The output control module is specifically used to receive the output working condition of the motor drive system collected from the working condition collection module.

[0033] In another possible implementation, the output control module is also used to determine the sustainable rotation time of the motor when the driver outputs the first current based on the temperature, command information and temperature prediction model of the motor drive system. The temperature prediction model has the function of predicting the sustainable rotation time based on the temperature and command information of the motor. If the rotation time of the motor starting from the driver outputting the first current is equal to the sustainable rotation time, the driver is controlled to output the rated peak current.

[0034] In a third aspect, embodiments of the present application provide a motor control system, including a motor control device, configured to implement the motor driving method according to the first aspect or any possible implementation of the first aspect.

[0035] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising a motor control device as described in the second aspect or any possible implementation of the second aspect.

[0036] It should be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A flowchart of a method for starting on a slope provided in the related art;

[0038] Figure 2 A schematic diagram of the composition of a motor control system provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of a flow chart of a motor driving method provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of the composition of a temperature acquisition module provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of a process for adjusting the current output of a driver provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of another process for adjusting the current output of a driver provided in an embodiment of the present application;

[0043] Figure 7A schematic flow chart of another motor driving method provided in an embodiment of the present application;

[0044] Figure 8 A schematic diagram of the structure of a motor control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] An electric vehicle is a vehicle that uses electricity as its energy source and utilizes a motor drive system to drive the wheels for travel. The motor drive system typically includes components such as a motor, a driver (or motor driver), and a reducer. In general, electric vehicles use a microcontroller unit (MCU) to control the driver of the motor drive system to drive the motor. For example, the microcontroller can send corresponding control instructions to the driver based on driving instructions (e.g., a torque instruction for indicating the motor output torque) sent by the vehicle control unit (VCU), controlling the driver to output a voltage and / or current corresponding to the control instruction, thereby driving the motor to output the corresponding torque and speed, thereby enabling the motor drive system to drive the wheels to output power.

[0046] The driver can adopt a three-phase full-bridge topology or a multi-phase (>3) topology to drive the motor by outputting three-phase or multi-phase AC power. Each phase of the driver can be controlled by two corresponding switches.

[0047] For example, when an electric vehicle is operating normally and the motor is rotating normally, the driver's six switches alternately operate in a specific sequence to deliver the current required by the motor. When the AC current output by the driver equals its rated peak current, the motor can rotate at full torque and power.

[0048] When an electric vehicle needs to start on a slope, but the power output by the motor drive system to drive the wheels is not enough to balance the downward force of the electric vehicle, the electric vehicle is prone to sliding down the slope. Therefore, when the microcontroller detects that the electric vehicle is in a state of starting on a slope, it can control the driver to output the maximum current to drive the motor to output a larger torque, so that the motor drive system drives the wheels to output a larger power to balance the downward force on the electric vehicle, so as to achieve a short-term stop on the slope during the process of starting on a slope. When the electric vehicle stops on the slope for a short time, the motor drive system is controlled by the microcontroller to achieve starting, which can avoid the electric vehicle from sliding down the slope during the process of starting on a slope. For example, when the electric vehicle is starting on a slope, the microcontroller of the related technology can be used as follows Figure 1 The method shown is used to control the motor drive system. Figure 1 As shown, the method may include the following S101-S107.

[0049] When the electric vehicle is in a drivable state and the hill-holding state is that the drive motor is stationary (i.e. the above-mentioned short hill-holding):

[0050] S101. MCU receives torque instruction from VCU.

[0051] S102 , the MCU determines whether the motor torque indicated by the torque command is greater than the torque currently output by the motor (ie, the torque of the motor when stationary on a slope).

[0052] If so, S103 is executed, and the MCU executes the torque instruction to control the driver to output the corresponding current and / or voltage to drive the motor to output the corresponding torque.

[0053] When the electric vehicle is in a drivable state and the electric parkbrake (EPB) is in the hill-holding state (i.e., the EPB is in the clamped state):

[0054] S104. The MCU receives a torque instruction from the VCU.

[0055] S105 , the MCU executes the torque instruction, and controls the driver to output a corresponding current and / or voltage to drive the motor to output a corresponding torque.

[0056] S106 , the EPB obtains the motor torque corresponding to the torque instruction executed by the MCU, and determines whether the motor torque is greater than the motor torque corresponding to when the EPB is clamped.

[0057] If so, S107 is executed to release the EPB from the hill holding state, that is, the EPB is unlocked (or the clamping state is released).

[0058] When an electric vehicle briefly stops on a hill, the motor is in a stalled state (i.e., it outputs torque but does not rotate). Therefore, the driver's switches no longer alternate, but instead continuously output a direct current (DC) with a maximum current equal to the AC current amplitude during normal motor operation. Because the maximum current of this DC current is equal to the AC current amplitude, its current is greater than the effective current of the AC current. This means that the current load borne by the driver's switches during a brief hill stop is higher than during normal driving. Therefore, when configuring the driver, redundant design must be employed for the current characteristics of each switch to increase the current capacity of each switch so that it can meet the current load required during a brief hill stop. However, in actual applications, the increased current capacity of the driver's switches, achieved through redundant design, is only used during a hill start, with a low frequency (or probability) of use. In other scenarios, the switch performance is not fully utilized. Furthermore, the redundant design of the switches increases the cost of the switches, resulting in a wasteful investment.

[0059] To solve the above problems, an embodiment of the present application provides a motor drive method, which can be applied to a motor control device of a motor control system. The motor control device can control the motor driver to output corresponding current and / or voltage to the motor according to the torque required by the motor in the motor drive system, so as to drive the motor to output the corresponding torque. Among them, the motor drive system can be the powertrain of an electric vehicle to drive the wheels of the electric vehicle. The motor drive system can also be used to drive other driven parts, which is not limited here.

[0060] This method can be used in a scenario where the motor drive system needs to drive the driven part to output a larger power, by controlling the motor control device to control the driver of the motor in the motor drive system to output a larger current, so as to drive the motor to output the maximum torque for rotation, thereby meeting the requirements of the driven part, such as rapid acceleration. The method may include: when the motor control device determines that the motor needs to rotate at the maximum torque, the motor control device controls the driver to output a first current to drive the motor to rotate. The current magnitude of the first current is greater than the rated peak current of the driver (the rated peak current is the effective current value of the AC power output by the driver when the above-mentioned motor rotates normally at full torque and full power), and the current value of the first current is less than or equal to the maximum load current of the driver (the maximum load current is the current value of the DC power output by the driver when the motor is in a stalled state).

[0061] In this way, the motor control device can control the driver to output a larger current (or enable the driver to exert the increased current capacity of its redundant design) when the motor drive system needs to drive the driven part to output a larger power, so that the torque output by the motor is higher than the torque output by the motor at full torque and full power under normal circumstances, thereby increasing the power output by the motor drive system to drive the driven part and improving the rapid acceleration performance of the driven part.

[0062] The motor control system may further include a module or unit for collecting status information of the motor drive system, etc., which is not limited here. For example, Figure 2 This is a schematic diagram of the composition of a motor control system shown in an embodiment of the present application. Figure 2As shown, the motor control system may include a motor control device 200, and a command acquisition module 201 (or a driving command acquisition module), a temperature acquisition module 202, and a working condition acquisition module 203, which are respectively connected to the motor control device 200 for communication. The command acquisition module 201 can be used to collect the driver's driving commands. The temperature acquisition module 202 can be used to measure and collect the temperature of the motor drive system. The working condition acquisition module 203 can be used to measure and collect the working conditions output by the motor drive system. Among them, the motor control device can be connected to the driver of the motor in the motor drive system for communication, so that the motor control device controls the driver to output the corresponding current and / or voltage.

[0063] It should be noted that in the embodiments of the present application, the motor control device can be implemented in hardware or in the form of software combined with hardware, and this is not limited here. For example, the motor control device can be the aforementioned MCU, a unit or module integrated in the VCU, a domain controller, etc.

[0064] The following will be combined with the accompanying drawings, taking the motor drive system as the powertrain of an electric vehicle, the electric drive system needs to drive the wheels to output maximum power to achieve rapid acceleration of the electric vehicle, and the first current is equal to the maximum load current of the driver as an example. The specific implementation of a motor drive method provided in the embodiment of the application is introduced, and the method can be applied to Figure 2 The motor control system shown is a motor control device 200.

[0065] Figure 3 This is a flow chart of a motor driving method provided in an embodiment of the present application. Figure 3 As shown, the motor driving method may include the following S301-S307.

[0066] S301: The motor control device obtains instruction information.

[0067] The instruction information may be information for indicating the speed and torque that the motor drive system needs to output.

[0068] It should be noted that the command information can be the command information input by the driver collected by the command acquisition module (or called driving instructions), or it can be the command information (or control instructions) generated by the autonomous driving artificial intelligence (AI), or instructions indirectly transmitted through the VCU, etc., and there is no limitation here.

[0069] In some possible implementations, the motor control device can use an instruction acquisition module (e.g., Figure 2The instruction acquisition module 201 in the motor control system shown in FIG. acquires instruction information. After receiving the acquired instruction information, the instruction acquisition module may send the acquired instruction information to the motor control device.

[0070] For example, the instruction acquisition module may include an accelerator pedal (or ignition switch, which is equivalent to the accelerator of a fuel car). The driver can input driving instructions by stepping on the accelerator pedal. For example, the driver can input a driving instruction for indicating the size of the motor speed of the motor drive system by stepping on the accelerator pedal at different depths. Alternatively, the driver can also input a driving instruction for instructing the motor drive system to output a large torque by stepping on the accelerator pedal quickly, etc., which is not limited here. After receiving the driving instruction input by the driver, the accelerator pedal can send a corresponding driving instruction (i.e., instruction information) to the motor control device, so that the motor control device can analyze the instruction information to determine whether it is necessary to control the driver to drive the motor to output the maximum torque. Optionally, the instruction acquisition module may also include a brake pedal, a steering gear, etc., which are not limited here.

[0071] In other possible implementations, the motor control device may also receive command information. For example, the autonomous driving A1 generates command information and sends it to the motor control device, so that the motor control device can analyze the command information and determine whether to control the driver to drive the motor to output maximum torque.

[0072] S302: The motor control device determines, based on the instruction information, that the motor needs to rotate at a maximum torque.

[0073] The situation where the motor needs to rotate at maximum torque may be when the electric vehicle needs to accelerate suddenly, climb a slope, or pass a pothole, etc. Therefore, when the driver or the autonomous driving AI controls the electric vehicle to perform operations such as rapid acceleration, climbing a slope, or passing a pothole through command information, the motor control device can determine that the motor needs to rotate at maximum torque based on the corresponding command information.

[0074] For example, a motor control device acquires command information through a command acquisition module, and the command acquisition module includes an accelerator pedal. When a driver needs to control an electric vehicle to accelerate rapidly, the driver can input command information by rapidly stepping on the accelerator pedal (or slamming on the accelerator pedal). The accelerator pedal transmits the collected command information of the driver rapidly stepping on the accelerator pedal to the motor control device, which can then analyze the received command information and determine that the motor needs to rotate at maximum torque.

[0075] For example, when the autonomous driving AI needs to control an electric vehicle to accelerate rapidly, it can generate corresponding command information to indicate the required motor speed and torque (e.g., instructing the motor to rotate at maximum torque). The autonomous driving AI sends this command information to the motor control device, which then determines that the motor needs to rotate at maximum torque based on the received command information.

[0076] S303: The motor control device obtains the temperature of the motor drive system.

[0077] The temperature of the motor drive system may be the temperature of key components in the motor drive system, for example, the temperature of the motor in the motor drive system, the temperature of the driver, etc., which is not limited here.

[0078] In some possible implementations, the motor control device can use a temperature acquisition module (e.g., Figure 2 The temperature acquisition module 202 in the motor control system shown in the figure can acquire the temperature of the motor drive system. After measuring and acquiring the temperature of the motor drive system, the temperature acquisition module can send the acquired temperature to the motor control device.

[0079] For example, Figure 4 As shown, the temperature acquisition module may include a motor winding temperature sensor 401 provided on the motor winding, a motor stator temperature sensor 402 provided on the motor stator, a driver power module temperature sensor 403 provided on the driver power module, and a driver capacitor temperature sensor 404 provided on the driver capacitor. Optionally, the motor control device may determine the temperature of the motor drive system based on one or more of the above-mentioned temperature sensors in the temperature acquisition module. For example, the motor winding temperature sensor 401 in the temperature acquisition module may send the collected temperature of the motor winding to the motor control device, and the motor stator temperature sensor 402 may send the collected temperature of the motor stator to the motor control device, so that the motor control device can determine the current temperature of the motor, and use the current temperature of the motor as the temperature of the motor drive system. For another example, the driver power module temperature sensor 403 in the temperature acquisition module may send the collected temperature of the driver power module to the motor control device, and the driver capacitor temperature sensor 404 may send the collected temperature of the driver capacitor to the motor control device, so that the motor control device can determine the current temperature of the driver, and use the current temperature of the driver as the temperature of the motor drive system. For another example, the motor control device may also determine the temperature of the motor drive system by receiving the temperatures of different components of the motor drive system sent by the above-mentioned temperature sensors, which is not limited here.

[0080] Alternatively, as Figure 4As shown, the temperature acquisition module may further include a coolant temperature sensor 405 provided in the cooling device of the motor drive system. The motor control device may determine the current temperature of the coolant based on the coolant temperature collected by the coolant temperature sensor 405, so that the motor control device may determine the temperature of the motor drive system in combination with the current temperature of the coolant.

[0081] S304 : The motor control device determines the thermal capacity margin of the motor drive system according to the temperature of the motor drive system and the motor thermal resistance network model.

[0082] Among them, the thermal capacity margin can be a parameter used to characterize the margin of the motor drive system's limit temperature relative to the current temperature. The motor thermal resistance network model has the function of predicting the thermal capacity margin based on the temperature of the motor drive system. For example, a thermal resistance network model commonly used in motor drive systems can be used, or the thermal resistance network model can be optimized and used according to actual needs (for example, using a precision-optimized thermal resistance network model, etc.), which is not limited here. For example, the losses of the various components of the motor drive system can be determined based on information such as the voltage and current output by the driver and the speed of the motor, and then the losses are input into the thermal resistance network model to calculate the difference between the current temperature and the limit temperature of the motor drive system, thereby determining the thermal capacity margin, etc.

[0083] For example, the losses of the components of the motor drive system may include: motor stator loss, motor rotor loss, and motor coil loss. The calculation of the above losses may include: first decomposing the voltage output by the driver. Then, using the decomposed U d and U q , calculate I d and I q . Thus, according to I d and I q Calculate the motor stator loss, motor rotor loss, and motor coil loss at time n.

[0084] The thermal capacity margin enables the motor control device to determine whether the current temperature of the motor drive system is close to the limit temperature, thereby facilitating the subsequent determination of whether the motor drive system can rotate under the maximum load current.

[0085] S305 : The motor control device determines, based on the thermal capacity margin, whether the current temperature of the motor drive system satisfies a condition for the motor to rotate under the maximum load current.

[0086] In some possible implementations, the current temperature of the motor drive system satisfies the condition for the motor to rotate under the maximum load current, which may include the thermal capacity margin being greater than the thermal capacity margin threshold. That is, when the thermal capacity margin is greater than the thermal capacity margin threshold, it indicates that the thermal capacity margin of the motor drive system is sufficient, the current temperature is far from the limit temperature, and the current temperature of the motor drive system meets the condition for the motor to rotate under the maximum load current; when the thermal capacity margin is less than the thermal capacity margin threshold, it indicates that the thermal capacity margin of the motor drive system is insufficient, the current temperature is far from the limit temperature, and the current temperature of the motor drive system does not meet the condition for the motor to rotate under the maximum load current. Among them, when the thermal capacity margin is equal to the thermal capacity margin threshold, it can be determined that the current temperature of the motor drive system meets the condition for the motor to rotate under the maximum load current, or it can be determined that the current temperature of the motor drive system does not meet the condition for the motor to rotate under the maximum load current. Those skilled in the art can set the situation when the thermal melt margin is equal to the thermal capacity margin threshold according to actual design requirements, and there is no limitation here.

[0087] It should be noted that the thermal capacity margin threshold is a pre-configured parameter value used to measure whether the thermal capacity margin is sufficient. Those skilled in the art can set the thermal capacity margin threshold based on the performance requirements of the motor drive system, and there is no limitation here. For example, those skilled in the art can set the thermal capacity margin threshold to a smaller value to ignore the loss caused by the temperature increase of the motor drive system, so that the motor can rotate at the maximum load current as much as possible under the control of the motor control device. Alternatively, those skilled in the art can set the thermal capacity margin threshold to a larger value, taking into account the heat loss of the motor drive system, so that the motor can rotate at the maximum load current with lower heat loss under the control of the motor control device.

[0088] In other possible implementations, the current temperature of the motor drive system satisfies the condition for the motor to rotate at the maximum load current, and may also include whether the thermal capacity margin is zero, etc., which is not limited here.

[0089] If the current temperature of the motor drive system satisfies the condition for the motor to rotate at the maximum load current, the following S306 is executed. If the current temperature of the motor drive system does not satisfy the condition for the motor to rotate at the maximum load current, the following S307 is executed.

[0090] S306 , the motor control device controls the driver to output the maximum load current (or controls the driver to output the full margin current) to drive the motor to rotate.

[0091] S307 : The motor control device controls the driver to output the rated peak current (or controls the driver's regular output) to drive the motor to rotate.

[0092] The maximum load current is the maximum DC current output by the driver when the motor is stalled. This refers to the maximum current the driver's power module (e.g., switching transistor) can withstand after increasing its flow capacity through redundant design to achieve a short-term hold (or motor hold) during a mid-slope start. The maximum load current output by the driver can be either AC or DC. When the driver outputs AC, the maximum load current refers to the effective current of the AC, thereby increasing the motor's output torque.

[0093] The rated peak current is the effective current of the AC output by the driver when the motor is operating normally at full torque and full power. This means that the rated peak current is the effective current of the AC output by the driver when the motor is operating at full torque, assuming the motor does not utilize redundant design to increase current capacity to allow for short-term holding time during a hill start. Therefore, the maximum load current can be the AC current amplitude corresponding to the rated peak current.

[0094] After the motor control device controls the driver to output the maximum load current according to the acquired instruction information, the motor control device can also determine whether the driver's current output needs to be adjusted according to the temperature of the motor drive system and the output working conditions. For example, Figure 5 A schematic diagram of a process for adjusting the current output of a driver provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the process may include the following S501-S503:

[0095] S501: The motor control device obtains the output working condition of the motor drive system.

[0096] The output operating condition of the motor drive system may be the rotational speed output by the motor drive system, i.e., the speed at which the motor drive system drives the wheels to rotate. The output operating condition of the motor drive system may also be the speed at which the motor drive system drives the electric vehicle (or the speed value output by the motor drive system), i.e., the speed of the electric vehicle, etc., without limitation herein.

[0097] In some possible implementations, the motor drive system may acquire the output operating condition of the motor drive system through the operating condition acquisition module. The operating condition acquisition module may send the acquired output operating condition of the motor drive system to the motor control device.

[0098] For example, the operating condition acquisition module may include a speed sensor provided on the electric vehicle, through which the speed sensor can measure and collect the rotational speed of the electric vehicle motor. The speed sensor can send the collected rotational speed of the electric vehicle motor to the motor control device, so that the motor control device can subsequently determine whether it is necessary to adjust the current output of the driver according to the output operating condition of the motor drive system.

[0099] S502: The motor control device determines whether the output operating condition of the motor drive system is equal to the target output operating condition corresponding to the instruction information (or whether the target output operating condition is reached).

[0100] The target output operating condition corresponding to the instruction information refers to the output operating condition corresponding to the speed and torque that the motor drive system is required to output as indicated by the instruction information, that is, the output operating condition that the motor drive system is required to achieve as indicated by the instruction information.

[0101] For example, the command information may be a command input by a driver or autonomous driving AI instructing the electric vehicle to accelerate rapidly. The command information may include the speed and torque required to be output by the motor drive system. Since the speed output by the motor drive system corresponds to the speed of the electric vehicle, the motor control device can determine the speed required by the electric vehicle based on the speed in the received command information, i.e., the target speed of the electric vehicle corresponding to the command information (this target speed is the target output condition described above).

[0102] If the output operating condition is equal to the target output operating condition, the following S503 is executed.

[0103] S503 : The motor control device controls the driver to output a rated peak current.

[0104] Among them, S503 and Figure 3 S307 in the method shown is the same and will not be described here in detail.

[0105] If the output operating condition is not equal to the target output operating condition, the process may return to S501 and continue until the output operating condition is equal to the target output operating condition.

[0106] For example, Figure 6 Another flow chart of adjusting the current output of the driver provided in the embodiment of the present application is as follows: Figure 6 As shown, the process may include the following S601-S603:

[0107] S601: The motor control device determines the sustainable rotation time of the motor when the motor is driven by the maximum load current output by the driver according to the temperature of the motor drive system, the acquired command information and the temperature prediction model.

[0108] Among them, the temperature of the motor drive system can be Figure 3 The temperature obtained in S303 of the method shown. It can also be the temperature obtained again using the same steps as S303, which is not limited here. The instruction information can be Figure 3 The instruction information obtained in S301 in the method shown is not described in detail here.

[0109] It should be noted that the temperature prediction model has the function of predicting the sustainable rotation time of the motor under the drive of the maximum load current output by the driver based on the temperature and command information of the motor drive system.

[0110] For example, the temperature prediction model may include: the motor control device determines the maximum load current that the driver needs to output based on the instruction information, and calculates the loss of the motor drive system based on the maximum load current (the loss of each component of the motor drive system can be calculated separately, for example, the method for calculating the loss of the motor drive system when determining the thermal capacity margin can be used for calculation). The loss can then be input into the thermal resistance network model to calculate the current temperature of each part of the motor drive system, as well as the time length for each part of the motor drive system to reach the limit temperature under the maximum load current. The time length is the time it takes for the motor drive system to heat up from the current temperature (i.e., the obtained temperature of the motor drive system) to the limit temperature under the maximum load current (i.e., the sustainable time length mentioned above).

[0111] S602: The motor control device determines whether the rotation time of the motor starting from the driver outputting the maximum load current is equal to the sustainable time (or whether the sustainable time is reached).

[0112] If the rotation duration is equal to the sustainable duration, the following S603 is executed.

[0113] S603: The motor control device controls the driver to output a rated peak current.

[0114] Among them, S603 and Figure 3 S307 in the method shown is the same and will not be described here in detail.

[0115] If the rotation duration is not equal to the sustainable duration, the process may return to S602 and execute until the rotation duration is equal to the sustainable duration.

[0116] It should be noted that, in some possible implementations, the above Figure 5 The process of adjusting the current output of the driver and Figure 6 The processes for adjusting the driver's output current shown can be implemented together. At this point, if the motor drive system's output operating condition equals the target output operating condition, or the motor's rotation duration equals the sustainable duration, either of these conditions is met, the motor control device will control the driver to output the rated peak current.

[0117] For example, Figure 7As shown, after the motor control device obtains the instruction information, it can determine whether the thermal capacity margin of the motor drive system is sufficient (or whether it is greater than the thermal capacity margin threshold). If not, it controls the driver to output the rated peak current (or normal output). If so, it determines whether the output operating condition of the motor drive system (such as the speed of the electric vehicle) is equal to (or reaches) the target output operating condition (such as the target speed of the electric vehicle indicated by the instruction information). If so, it controls the driver to output the rated peak current. If not, it determines whether the motor rotation time is equal to (or reaches) the sustainable time (or maximum time). If so, it controls the driver to output the rated peak current. If not, it controls the driver to output the maximum load current (or full margin output). Among them, when the motor control device controls the driver to output full margin, the above three judgment processes can be continuously executed in a loop until the motor control device controls the driver to output normally.

[0118] By adopting the method of the above embodiment, the motor control device can control the driver to output a larger current (or enable the driver to exert the increased current capacity of its redundant design) when the motor drive system needs to drive the driven part (such as the wheel of an electric car) to output a larger power, so that the torque output by the motor is higher than the torque output by the motor at full torque and full power under normal circumstances, thereby increasing the power output by the motor drive system to drive the driven part and improving the rapid acceleration performance of the driven part.

[0119] Corresponding to the method in the above embodiment, the present application embodiment also provides a motor control device. The device can be applied to Figure 2 The motor control system shown is used to implement the method in the above embodiment. The functions of the device can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. For example, Figure 8 A schematic diagram of the structure of a motor control device is shown in FIG. Figure 8 As shown, the device includes: an instruction parsing module 801, a temperature prediction module 802 and an output control module 803, etc.

[0120] The instruction parsing module 801 may be used to determine that the motor needs to rotate at the maximum torque;

[0121] The output control module 803 is used to control the driver to output a first current to drive the motor to rotate, wherein the first current is greater than the rated peak current of the driver and less than or equal to the maximum load current of the driver.

[0122] In one possible implementation, the device also includes: a temperature prediction module 802, which is used to obtain the thermal capacity margin of the motor drive system, where the thermal capacity margin is used to characterize the margin of the motor drive system's limit temperature relative to the current temperature; an output control module 803, which is also used to determine whether the current temperature of the motor drive system meets the condition for the motor to rotate at the first current based on the thermal capacity margin; the output control module 803 is specifically used to control the driver to output the first current when the current temperature of the motor drive system meets the condition for the motor to rotate at the first current.

[0123] In another possible implementation, the output control module 803 is further configured to control the driver to output a rated peak current to drive the motor to rotate when the current temperature of the motor drive system does not meet the condition for the motor to rotate at the first current.

[0124] In another possible implementation, the temperature prediction module 802 is specifically used to obtain the temperature of the motor drive system; determine the thermal capacity margin based on the temperature of the motor drive system and the motor thermal resistance network model, and the motor thermal resistance network model has the function of predicting the thermal capacity margin based on the temperature of the motor drive system.

[0125] In another possible implementation, the motor control system further includes a temperature acquisition module (eg, Figure 2 The temperature acquisition module 202 in the motor control system shown in the figure); the temperature prediction module 802 is specifically used to receive the temperature of the motor drive system collected by the temperature acquisition module.

[0126] In another possible implementation, if the thermal capacity margin is greater than the thermal capacity margin threshold, the current temperature of the motor drive system meets the condition for the motor to rotate at the first current; if the thermal capacity margin is less than the thermal capacity margin threshold, the current temperature of the motor drive system does not meet the condition for the motor to rotate at the first current.

[0127] In another possible implementation, the instruction parsing module 801 is specifically configured to obtain instruction information, where the instruction information is used to indicate the speed and torque output by the motor drive system; and determine that the motor needs to rotate at the maximum torque based on the instruction information.

[0128] In another possible implementation, the motor control system further includes a command acquisition module (eg, Figure 2 The motor control system includes an instruction acquisition module 201 ; an instruction parsing module 801 , which is specifically configured to receive instruction information collected from the instruction acquisition module.

[0129] In another possible implementation, the output control module 803 is also used to obtain the output operating condition of the motor drive system; the output operating condition includes the speed value output by the motor drive system; if the output operating condition of the motor drive system is equal to the target output operating condition corresponding to the instruction information, the driver is controlled to output the rated peak current; the target output operating condition includes the target speed value output by the motor drive system corresponding to the instruction information.

[0130] In another possible implementation, the motor control system further includes a working condition acquisition module (eg, Figure 2 The working condition acquisition module 203 in the motor control system shown in the figure); the output control module 803 is specifically used to receive the output working condition of the motor drive system collected by the working condition acquisition module.

[0131] In another possible implementation, the output control module 803 is also used to determine the sustainable rotation time of the motor when the driver outputs the first current based on the temperature, instruction information and temperature prediction model of the motor drive system. The temperature prediction model has the function of predicting the sustainable rotation time based on the temperature and instruction information of the motor; if the rotation time of the motor starting from the driver outputting the first current is equal to the sustainable rotation time, the driver is controlled to output the rated peak current.

[0132] It should be understood that the division of units or modules (hereinafter referred to as units) in the above devices is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or physically separated. Furthermore, the units in the device may be implemented entirely in the form of software called through processing elements; entirely in the form of hardware; or partially in the form of software called through processing elements, and partially in the form of hardware.

[0133] For example, each unit can be a separately established processing element, or it can be integrated into a certain chip of the device for implementation. In addition, it can also be stored in a memory in the form of a program, and called by a certain processing element of the device to execute the function of the unit. In addition, all or part of these units can be integrated together, or they can be implemented independently. The processing element described here can also be called a processor, which can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above units can be implemented by the integrated logic circuit of the hardware in the processor element or in the form of software called by the processing element.

[0134] In one example, the units in the above apparatus may be one or more integrated circuits configured to implement the above method, such as one or more ASICs, or one or more DSPs, or one or more FPGAs, or a combination of at least two of these integrated circuit forms.

[0135] For another example, when the units in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a CPU or other processor that can call programs. For another example, these units can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0136] In one implementation, the units implementing the corresponding steps of the above methods in the apparatus described above may be implemented in the form of a processing element scheduling program. For example, the apparatus may include a processing element and a storage element, with the processing element invoking a program stored in the storage element to execute the method described in the above method embodiments. The storage element may be a storage element on the same chip as the processing element, i.e., an on-chip storage element.

[0137] In another implementation, the program for executing the above method may be stored in a memory element on a different chip from the processing element, i.e., an off-chip memory element. In this case, the processing element calls or loads the program from the off-chip memory element onto the on-chip memory element to call and execute the method described in the above method embodiment.

[0138] For example, the embodiments of the present application may further provide a device, such as: Figure 2 The motor control device 200 in the illustrated motor control system may include a processor and a memory for storing instructions executable by the processor. The processor is configured to execute the instructions, causing the control device to implement the motor driving method described in the aforementioned embodiments. The memory may be located within or outside the motor control device. The processor may include one or more processors.

[0139] In another implementation, the unit implementing each step of the above method may be configured as one or more processing elements. These processing elements may be provided on the motor control device described above. The processing elements may be integrated circuits, such as one or more ASICs, one or more DSPs, one or more FPGAs, or a combination of these integrated circuits. These integrated circuits may be integrated together to form a chip.

[0140] For example, embodiments of the present application further provide a chip that can be used in the motor control device described above. The chip includes one or more interface circuits and one or more processors; the interface circuits and processors are interconnected via circuits; the processors receive and execute computer instructions from the memory of the motor control device via the interface circuits to implement the methods described in the method embodiments described above.

[0141] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0142] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0143] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0144] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0145] The embodiment of the present application further provides a vehicle, which may include a motor control device (eg, Figure 2 The motor control device 200 in the motor control system shown in FIG. 4 is a motor control device. The motor control device can execute the methods described in the above method embodiments to achieve corresponding functions or effects.

[0146] The above is only a specific embodiment of the present application, but the scope of protection of this application is not limited to this. Any changes or substitutions within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A motor driving method, characterized in that: A motor control device applied to a motor control system, the motor control device being used to control a driver of a motor in a motor drive system, the method comprising: The motor control device determines that the motor needs to rotate at a maximum torque according to a target output working condition, and the motor control device controls the driver to output a first current to drive the motor to rotate, wherein the first current is greater than a rated peak current of the driver and less than or equal to a maximum load current of the driver; After the motor control device controls the driver to output the first current, if the speed value output by the motor drive system is equal to the target speed value corresponding to the target output working condition, the motor control device controls the driver to output the rated peak current; The rated peak current is the effective current value of the alternating current output by the driver when the motor rotates normally at full torque and full power, and the maximum load current is the current value of the direct current output by the driver when the motor is in a stalled state.

2. The method according to claim 1, characterized in that Before the motor control device controls the driver to output the first current to drive the motor to rotate, the method further includes: The motor control device acquires a thermal capacity margin of the motor drive system, where the thermal capacity margin is used to represent a margin between a limit temperature of the motor drive system and a current temperature; The motor control device determines, based on the thermal capacity margin, whether the current temperature of the motor drive system satisfies a condition for the motor to rotate at the first current; The motor control device controls the driver to output the first current, including: The motor control device controls the driver to output the first current when the current temperature of the motor drive system meets the condition that the motor rotates under the first current.

3. The method according to claim 2, characterized in that After the motor control device determines, based on the thermal capacity margin, whether the current temperature of the motor drive system satisfies a condition for the motor to rotate at the first current, the method further includes: When the current temperature of the motor drive system does not satisfy the condition for the motor to rotate at the first current, the motor control device controls the driver to output a rated peak current to drive the motor to rotate.

4. The method according to claim 2 or 3, characterized in that The motor control device obtains the thermal capacity margin of the motor drive system, including: The motor control device obtains the temperature of the motor drive system; The motor control device determines the thermal capacity margin according to the temperature of the motor drive system and a motor thermal resistance network model. The motor thermal resistance network model has a function of predicting the thermal capacity margin according to the temperature of the motor drive system.

5. The method according to claim 4, characterized in that The motor control system further includes a temperature acquisition module; The motor control device acquires the temperature of the motor drive system, including: The motor control device receives the temperature of the motor drive system collected by the temperature collection module.

6. The method according to claim 2 or 3, characterized in that If the thermal capacity margin is greater than the thermal capacity margin threshold, the current temperature of the motor drive system satisfies a condition for the motor to rotate at the first current; If the thermal capacity margin is less than the thermal capacity margin threshold, the current temperature of the motor drive system does not meet the condition for the motor to rotate at the first current.

7. The method according to any one of claims 1 to 3, characterized in that The motor control device determines that the motor needs to rotate at a maximum torque according to a target output working condition, including: The motor control device acquires instruction information, where the instruction information is used to indicate the speed and torque output by the motor drive system; The motor control device determines, based on the instruction information, that the motor needs to rotate at the maximum torque.

8. The method according to claim 7, characterized in that The motor control system further includes an instruction acquisition module; The motor control device obtains instruction information, including: The motor control device receives the instruction information collected from the instruction collection module.

9. The method according to claim 7, characterized in that If the speed value output by the motor drive system is equal to the target speed value corresponding to the target output working condition, the motor control device controls the driver to output a rated peak current, including: The motor control device obtains the output working condition of the motor drive system; the output working condition includes the speed value output by the motor drive system; If the output operating condition of the motor drive system is equal to the target output operating condition corresponding to the instruction information, the motor control device controls the driver to output the rated peak current; the target output operating condition includes the target speed value output by the motor drive system corresponding to the instruction information.

10. The method according to claim 9, characterized in that The motor control system further includes a working condition acquisition module; The motor control device obtains the output working condition of the motor drive system, including: The motor control device receives the output operating condition of the motor drive system collected from the operating condition collection module.

11. The method according to claim 7, characterized in that After the motor control device controls the driver to output the first current, the method further includes: The motor control device determines, based on the temperature of the motor drive system, the command information, and a temperature prediction model, a sustainable duration for the motor to rotate when driven by the driver outputting the first current, wherein the temperature prediction model has a function of predicting the sustainable duration based on the temperature of the motor and the command information; If the rotation time of the motor starting from the driver outputting the first current is equal to the sustainable time, the motor control device controls the driver to output the rated peak current.

12. A motor control device, characterized in that: Applied to a motor control system to control a motor driver in a motor drive system, the device comprises: An instruction parsing module, configured to determine that the motor needs to rotate at a maximum torque according to a target output operating condition; an output control module, configured to control the driver to output a first current to drive the motor to rotate, wherein the first current is greater than a rated peak current of the driver and less than or equal to a maximum load current of the driver; After the output control module controls the driver to output the first current, if the speed value output by the motor drive system is equal to the target speed value corresponding to the target output working condition, controlling the driver to output a rated peak current; The rated peak current is the effective current value of the alternating current output by the driver when the motor rotates normally at full torque and full power, and the maximum load current is the current value of the direct current output by the driver when the motor is in a stalled state.

13. The device according to claim 12, characterized in that The device further comprises: a temperature prediction module, configured to obtain a thermal capacity margin of the motor drive system, wherein the thermal capacity margin is used to characterize a margin between a limit temperature of the motor drive system and a current temperature; The output control module is further configured to determine, based on the thermal capacity margin, whether a current temperature of the motor drive system satisfies a condition for the motor to rotate at the first current; The output control module is specifically configured to control the driver to output the first current when the current temperature of the motor drive system satisfies a condition for the motor to rotate under the first current.

14. The device according to claim 13, characterized in that The output control module is further configured to control the driver to output a rated peak current to drive the motor to rotate when the current temperature of the motor drive system does not satisfy the condition for the motor to rotate under the first current.

15. The device according to claim 13 or 14, characterized in that The temperature prediction module is specifically used to obtain the temperature of the motor drive system; determine the thermal capacity margin based on the temperature of the motor drive system and the motor thermal resistance network model, and the motor thermal resistance network model has the function of predicting the thermal capacity margin based on the temperature of the motor drive system.

16. The device according to claim 15, characterized in that The motor control system further includes a temperature acquisition module; The temperature prediction module is specifically configured to receive the temperature of the motor drive system acquired from the temperature acquisition module.

17. The device according to claim 13 or 14, characterized in that If the thermal capacity margin is greater than the thermal capacity margin threshold, the current temperature of the motor drive system satisfies a condition for the motor to rotate at the first current; If the thermal capacity margin is less than the thermal capacity margin threshold, the current temperature of the motor drive system does not meet the condition for the motor to rotate at the first current.

18. The device according to any one of claims 12 to 14, characterized in that The instruction parsing module is specifically used to obtain instruction information, where the instruction information is used to indicate the speed and torque output by the motor drive system; and determine that the motor needs to rotate at the maximum torque based on the target output working condition corresponding to the instruction information.

19. The device according to claim 18, characterized in that The motor control system further includes an instruction acquisition module; The instruction parsing module is specifically configured to receive the instruction information collected by the instruction collecting module.

20. The device according to claim 18, characterized in that The output control module is also used to obtain the output operating condition of the motor drive system; the output operating condition includes the speed value output by the motor drive system; if the output operating condition of the motor drive system is equal to the target output operating condition corresponding to the instruction information, the driver is controlled to output a rated peak current; the target output operating condition includes the target speed value output by the motor drive system corresponding to the instruction information.

21. The device according to claim 20, characterized in that The motor control system further includes a working condition acquisition module; The output control module is specifically configured to receive the output operating condition of the motor drive system collected from the operating condition collection module.

22. The device according to claim 18, characterized in that The output control module is also used to determine the sustainable rotation time of the motor when the driver outputs the first current based on the temperature of the motor drive system, the instruction information and the temperature prediction model. The temperature prediction model has the function of predicting the sustainable rotation time based on the temperature of the motor and the instruction information. If the rotation time of the motor starting from the output of the first current by the driver is equal to the sustainable rotation time, the driver is controlled to output the rated peak current.

23. A motor control system, characterized in that: The method comprises a motor control device, wherein the motor control device is configured to execute the method according to any one of claims 1 to 11.

24. A vehicle, characterized in that: The motor control device comprises the motor control device according to any one of claims 12 to 22.

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