Method for stopping control, motor controller, parallel operation system and readable storage medium

Abstract

The application discloses a kind of shutdown control method, motor controller, parallel system and readable storage medium, the method includes: when there is the fault parallel unit of entering fault shutdown state in parallel system, first control module inside fault parallel unit is converted into fault pulse signal by first communication pulse signal, and output fault pulse signal lasting first output duration, when parallel control module in parallel system detects the fault pulse signal lasting first detection duration, second control module inside parallel control module is converted into shutdown pulse signal by second communication pulse signal, and output shutdown pulse signal lasting second output duration to parallel unit in parallel system, to make parallel unit enter shutdown protection state, by the transformation of the pulse waveform of output pulse signal, without additional increase hardware connector device, the shutdown control of parallel unit is realized, to realize the reduction of cost.

Description

Technical Field

[0001] This invention relates to the field of industrial automation control technology, and in particular to a shutdown control method, a motor controller, a parallel system, and a readable storage medium. Background Technology

[0002] In a parallel system, when a parallel unit fails and shuts down due to the failure of some components, the current flowing through other parallel units will increase instantaneously. If the parallel units that are in operation are not shut down in time, the parallel units will be damaged, and in some cases, the units may even explode.

[0003] To avoid the above situation, conventional solutions involve adding hardware connection devices to the parallel system. These devices transmit control signals to the parallel units, allowing them to shut down the units and prevent damage or failure. While this improves the safety and protection efficiency of the parallel system, it also increases costs. Summary of the Invention

[0004] The main objective of this invention is to provide a shutdown control method, a motor controller, a parallel operation system, and a readable storage medium, aiming to solve the technical problem of increased costs in solutions that handle shutdown of parallel operation units through hardware connection devices.

[0005] To achieve the above objective, the present invention provides a shutdown control method, which is applied to a parallel system, and the shutdown control method includes the following steps:

[0006] When there is a faulty parallel unit in the parallel system that has entered a fault shutdown state, the first control module set inside the faulty parallel unit converts the first communication pulse signal into a fault pulse signal and outputs the fault pulse signal for a first output duration.

[0007] When the parallel control module in the parallel system detects the fault pulse signal that lasts for a first detection duration, the second control module inside the parallel control module converts the second communication pulse signal into a stop pulse signal and outputs the stop pulse signal that lasts for a second output duration to the parallel unit in the parallel system, so that the parallel unit enters the stop protection state.

[0008] Optionally, before the step of converting the first communication pulse signal into a fault pulse signal through the first control module located inside the fault parallel unit, the method further includes:

[0009] If the faulty parallel unit performs self-testing and determines that it supports communication at a preset baud rate, then based on the determination that it supports communication at the preset baud rate, the first communication pulse signal is converted into a first high-frequency square wave pulse signal by the first control module, wherein the first high-frequency square wave pulse signal is the fault pulse signal.

[0010] Optionally, the step of converting the second communication pulse signal into a shutdown pulse signal by a second control module internally configured in the parallel operation system after detecting the fault pulse signal lasting for a first detection duration, and outputting the shutdown pulse signal lasting for a second output duration to the parallel unit in the parallel operation system to cause the parallel unit to enter a shutdown protection state includes:

[0011] When the parallel control module detects the first high-frequency square wave pulse signal that lasts for the first detection duration, it converts the second communication pulse signal into a second high-frequency square wave pulse signal through the second control module, wherein the second high-frequency square wave pulse signal is the shutdown pulse signal;

[0012] The parallel control module outputs a second high-frequency square wave pulse signal that lasts for the second output duration.

[0013] When the parallel unit detects the second high-frequency square wave pulse signal that lasts for a second detection duration, it enters the shutdown protection state based on the second high-frequency square wave pulse signal.

[0014] Optionally, before the step of the first control module inside the fault parallel unit converting the first communication pulse signal into a fault pulse signal, the method further includes:

[0015] If the faulty parallel unit performs a self-test, and it is determined through the self-test that the faulty parallel unit does not support communication at a preset baud rate, then based on the determination that the preset baud rate communication is not supported, the first control module converts the first communication pulse signal into a first low-level pulse signal, wherein the first low-level pulse signal is the fault pulse signal.

[0016] Optionally, the step of converting the second communication pulse signal into a shutdown pulse signal by a second control module internally configured in the parallel operation system after detecting the fault pulse signal lasting for a first detection duration, and outputting the shutdown pulse signal lasting for a second output duration to the parallel unit in the parallel operation system to cause the parallel unit to enter a shutdown protection state includes:

[0017] When the parallel control module detects the first low-level pulse signal that lasts for the first detection duration, the second control module converts the second communication pulse signal into a second low-level pulse signal, wherein the second low-level pulse signal is the shutdown pulse signal;

[0018] The parallel control module outputs a second low-level pulse signal that lasts for the second output duration.

[0019] When the parallel unit detects the second low-level pulse signal that lasts for a third detection period, it enters the shutdown protection state based on the second low-level pulse signal.

[0020] Optionally, after the step of outputting the fault pulse signal for a first output duration, the method further includes:

[0021] The first control module converts the fault pulse signal into the first communication pulse signal, which represents the communication pulse signal of the parallel unit in a non-fault shutdown state or after the fault pulse signal that has been output for the first output duration.

[0022] Optionally, after the step of outputting the shutdown pulse signal, which lasts for a second output duration, to the parallel unit in the parallel system, the method further includes:

[0023] The second control module converts the shutdown pulse signal into the second communication pulse signal, which represents the communication pulse signal of the parallel control module after the fault shutdown signal is not received or the shutdown pulse signal that has been output for the second duration.

[0024] In addition, to achieve the above objectives, the present invention also provides a motor controller, including a memory, a processor, and a computer processing program stored in the memory and executable on the processor, wherein the processor executes the computer processing program to implement the steps of the above-described shutdown control method.

[0025] The present invention also provides a parallel operation system, the parallel operation system including a parallel operation control module and a plurality of parallel operation units;

[0026] The parallel operation control module establishes communication connections with several of the parallel operation units respectively;

[0027] The parallel unit is used to convert the first communication pulse signal into a fault pulse signal through the first control module set inside it after entering the fault shutdown state, and output the fault pulse signal for a continuous first output duration.

[0028] The parallel operation control module is used to detect the fault pulse signal that lasts for a first detection duration, and then convert the second communication pulse signal into a stop pulse signal through the internally set second control module, and output the stop pulse signal to the parallel operation unit.

[0029] The parallel unit is also used to enter a shutdown protection state after receiving the shutdown pulse signal output by the parallel control module.

[0030] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described shutdown control method.

[0031] This invention addresses the issue of a parallel unit entering a shutdown state in a parallel system. When a faulty parallel unit in the system enters a shutdown state, a first control module within the faulty parallel unit converts a first communication pulse signal into a fault pulse signal and outputs a fault pulse signal lasting for a first duration. When the parallel control module in the system detects this fault pulse signal, a second control module within the parallel control module converts a second communication pulse signal into a shutdown pulse signal and outputs a shutdown pulse signal lasting for a second duration to the parallel unit in the system. This causes the parallel unit to enter a shutdown protection state. The invention achieves shutdown control of the parallel unit without requiring additional hardware connection devices. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention;

[0033] Figure 2 This is a flowchart illustrating an embodiment of the shutdown control method of the present invention;

[0034] Figure 3 A timing diagram illustrating a shutdown control method using high-frequency square wave pulse signals;

[0035] Figure 4 A timing diagram illustrating a shutdown control method using a low-level pulse signal;

[0036] Figure 5 This is a schematic diagram of the module structure of the parallel system of the present invention.

[0037] The realization of the objective of this invention, its functional characteristics and advantages will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0039] like Figure 1 As shown, Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention.

[0040] The shutdown control method of this invention is applied to a motor controller, such as... Figure 1 As shown, the motor controller may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display area and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0041] Optionally, the motor controller may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, a WiFi module, and so on. These sensors may include light sensors, motion sensors, and other sensors. Specifically, light sensors may include ambient light sensors and proximity sensors. The ambient light sensor can adjust the display brightness according to the ambient light level, while the proximity sensor can turn off the display and / or backlight when the mobile terminal is moved to the ear. As a type of motion sensor, a gravity accelerometer can detect the magnitude of acceleration in various directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity, and can be used for applications that identify the mobile terminal's posture (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition functions (such as pedometers, taps), etc. Of course, the mobile terminal may also be equipped with other sensors such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors, which will not be elaborated here.

[0042] Those skilled in the art will understand that Figure 1 The motor controller structure shown does not constitute a limitation on the motor controller and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0043] like Figure 1As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a computer processing program.

[0044] exist Figure 1 In the terminal shown, network interface 1004 is mainly used to connect to the backend server and communicate data with it; user interface 1003 is mainly used to connect to the client (user terminal) and communicate data with it; while processor 1001 can be used to call the computer processing program stored in memory 1005 and perform the following operations:

[0045] When there is a faulty parallel unit in the parallel system that has entered a fault shutdown state, the first control module set inside the faulty parallel unit converts the first communication pulse signal into a fault pulse signal and outputs the fault pulse signal for a first output duration.

[0046] When the parallel control module in the parallel system detects the fault pulse signal that lasts for a first detection duration, the second control module inside the parallel control module converts the second communication pulse signal into a stop pulse signal and outputs the stop pulse signal that lasts for a second output duration to the parallel unit in the parallel system, so that the parallel unit enters the stop protection state.

[0047] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0048] Before the step of converting the first communication pulse signal into a fault pulse signal by the first control module set inside the fault parallel unit, the fault parallel unit performs a self-test. If the self-test determines that the fault parallel unit supports communication at a preset baud rate, then based on the determination that it supports communication at the preset baud rate, the first control module converts the first communication pulse signal into a first high-frequency square wave pulse signal, wherein the first high-frequency square wave pulse signal is the fault pulse signal.

[0049] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0050] When the parallel control module in the parallel system detects the fault pulse signal that lasts for a first detection duration, the second control module inside the parallel control module converts the second communication pulse signal into a stop pulse signal and outputs the stop pulse signal that lasts for a second output duration to the parallel unit in the parallel system, so that the parallel unit enters the stop protection state, the steps include: when the parallel control module detects the first high-frequency square wave pulse signal that lasts for the first detection duration, the second control module converts the second communication pulse signal into a second high-frequency square wave pulse signal, wherein the second high-frequency square wave pulse signal is the stop pulse signal;

[0051] The parallel control module outputs a second high-frequency square wave pulse signal that lasts for the second output duration.

[0052] When the parallel unit detects the second high-frequency square wave pulse signal that lasts for a second detection duration, it enters the shutdown protection state based on the second high-frequency square wave pulse signal.

[0053] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0054] Before the first control module inside the fault parallel unit converts the first communication pulse signal into a fault pulse signal, the fault parallel unit performs a self-test. If the self-test determines that the fault parallel unit does not support the preset baud rate communication, then based on the determination that the preset baud rate communication is not supported, the first control module converts the first communication pulse signal into a first low-level pulse signal, wherein the first low-level pulse signal is the fault pulse signal.

[0055] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0056] When the parallel control module in the parallel system detects the fault pulse signal that lasts for a first detection duration, the second control module inside the parallel control module converts the second communication pulse signal into a stop pulse signal and outputs the stop pulse signal that lasts for a second output duration to the parallel unit in the parallel system, so that the parallel unit enters the stop protection state, the step includes: when the parallel control module detects the first low-level pulse signal that lasts for the first detection duration, the second control module converts the second communication pulse signal into a second low-level pulse signal, wherein the second low-level pulse signal is the stop pulse signal;

[0057] The parallel control module outputs a second low-level pulse signal that lasts for the second output duration.

[0058] When the parallel unit detects the second low-level pulse signal that lasts for a third detection period, it enters the shutdown protection state based on the second low-level pulse signal.

[0059] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0060] After the step of outputting the fault pulse signal for a continuous first output duration, the fault pulse signal is converted into the first communication pulse signal by the first control module. The first communication pulse signal represents the communication pulse signal of the parallel unit in a non-fault shutdown state or after the fault pulse signal for a continuous first output duration has been output.

[0061] Furthermore, the processor 1001 can call a computer program stored in the memory 1005 and also perform the following operations:

[0062] After the step of outputting the shutdown pulse signal for a second duration to the parallel unit in the parallel system, the shutdown pulse signal is converted into the second communication pulse signal by the second control module. The second communication pulse signal represents the communication pulse signal of the parallel control module after the fault shutdown signal is not received or after the shutdown pulse signal for the second duration is output.

[0063] Reference Figure 2 An embodiment of the present invention provides a shutdown control method, the shutdown control method comprising the following steps:

[0064] Step S10: When there is a faulty parallel unit in the parallel system that has entered a fault shutdown state, the first communication pulse signal is converted into a fault pulse signal by the first control module set inside the faulty parallel unit, and the fault pulse signal is output for a first output duration.

[0065] Step S20: When the parallel control module in the parallel system detects the fault pulse signal that lasts for a first detection duration, the second communication pulse signal is converted into a stop pulse signal by the second control module set inside the parallel control module, and the stop pulse signal that lasts for a second output duration is output to the parallel unit in the parallel system so that the parallel unit enters the stop protection state.

[0066] In a parallel system, if a parallel unit enters a fault shutdown state due to the failure of some components, i.e., a faulty parallel unit, for example, if the U-phase lower bridge IGBT driver of a three-phase full-bridge circuit fails and cannot be turned off, although the parallel unit containing this three-phase full-bridge circuit will quickly shut down after detecting the fault, other parallel units will still be in normal operation. That is, the upper and lower bridge arms of the three-phase full-bridge circuit in other parallel units will still be connected. When the connection time exceeds 10 microseconds, the increased current will cause some damage to the parallel units in normal operation. The longer the connection time, the greater the damage. Therefore, the faster the other parallel units are controlled to enter the shutdown state, the better.

[0067] In conventional technology, the control module and the parallel unit are connected through hardware connectors. The hardware connectors serve as the transmission medium for control signals, and the control module controls the operating status of the parallel unit. However, in practice, users have found that using hardware connectors as the transmission medium for control signals from the control module to the parallel unit not only increases the cost of additional components, but also results in unsatisfactory control speed. Parallel units in operation may still suffer some damage due to delayed shutdown.

[0068] Based on the above, this embodiment proposes to control the system using pulse signals. The pulse signals can be generated by a control module located inside the parallel unit and the parallel control module. The generated pulse signals can be used to represent specific information. For example, when the parallel unit is in a fault shutdown state, the control module located inside the parallel unit converts the original communication pulse signal into a pulse signal with fault shutdown communication information (i.e., a fault pulse signal). By differentiating the communication pulse signal and the fault pulse signal, the parallel control module is informed that there is a parallel unit in a fault shutdown state. In this embodiment, the pulse signals include a fault pulse signal indicating a faulty parallel unit in a faulty shutdown state, a shutdown pulse signal controlling a parallel unit in normal operation to enter a shutdown protection state, and a first communication pulse signal and a second communication pulse signal under normal communication conditions. Since the control module is directly installed in the parallel control module and the parallel unit, the pulse signals can be directly output without the need for additional hardware devices. Furthermore, according to existing records, the output speed of the pulse signal is faster than the speed of light in a vacuum. Therefore, control via pulse signals can not only reduce the cost of hardware devices but also improve the control speed of the parallel unit, minimize damage to the parallel unit, and improve the safety protection efficiency of the parallel system.

[0069] Specifically, when there is a parallel unit in the parallel system that has entered a fault shutdown state due to the failure of some components (hereinafter referred to as a faulty parallel unit for distinction), the first control module in the faulty parallel unit will convert the originally output first communication pulse signal into a fault pulse signal and output a fault pulse signal that lasts for a first output duration. In this embodiment, there is no limitation on the specific length of the first output duration, that is, the first output duration can be any length, as long as the parallel control module can detect the fault pulse signal.

[0070] When the parallel operation control module detects a fault pulse signal that lasts for the first detection duration, because the pulse waveform of the fault pulse signal differs from that of the first communication pulse signal, the parallel operation control module can directly know that there is a faulty parallel unit that has stopped due to a fault. The second control module in the parallel operation control module will convert the originally output second communication pulse signal into a stop pulse signal based on the detected fault pulse signal, and output the stop pulse signal to the parallel unit to quickly control the parallel unit to enter the stop protection state. In this way, the control of the pulse signal avoids the situation where the parallel unit is damaged due to untimely control in the existing system.

[0071] The parallel control module outputs a shutdown pulse signal to the parallel unit, which can be a faulty parallel unit in a fault shutdown state, a parallel unit in a normal operating state, or a parallel unit in a normal operating state.

[0072] Optionally, before the step of generating a fault pulse signal through the first control module set inside the fault parallel unit in step S10, the method further includes:

[0073] Step S101: Perform self-testing through the faulty parallel unit. If the self-testing determines that the faulty parallel unit supports communication at a preset baud rate, then based on the determination that the preset baud rate communication is supported, the first communication pulse signal is converted into a first high-frequency square wave pulse signal through the first control module, wherein the first high-frequency square wave pulse signal is the fault pulse signal.

[0074] Specifically, in this embodiment, when a faulty parallel unit exists in the parallel system, the faulty parallel unit will perform a self-test to determine whether the internal devices of the faulty parallel unit support a preset baud rate communication. For example, it will perform a self-test to determine whether the internal devices support a baud rate of 2. The baud rate communication under normal conditions is 18.75 b / s. Therefore, if the communication is at 2 times the baud rate, it is to determine whether the internal devices of the faulty parallel unit support a baud rate of 37.5 b / s. In practical applications, other multiples of baud rate communication can also be used.

[0075] When the faulty parallel unit determines through self-detection that its internal devices support communication at a preset baud rate, the first control module inside the faulty parallel unit converts the original output first communication pulse signal into a fault pulse signal that matches the determination of supporting communication at the preset baud rate, namely, a first high-frequency square wave pulse signal. At the same time, it outputs a first high-frequency square wave pulse signal with a continuous first output duration. This not only avoids the increased cost of sending signals through hardware connection devices, but also improves the speed of receiving and processing information of the faulty parallel unit by transmitting information through a high-frequency square wave pulse signal, thereby improving the safety protection efficiency of the parallel system.

[0076] Optionally, step S20, whereby after the parallel operation control module in the parallel operation system detects the fault pulse signal lasting for a first detection duration, the second communication pulse signal is converted into a stop pulse signal by the second control module internally configured in the parallel operation control module, and the stop pulse signal lasting for a second output duration is output to the parallel operation unit in the parallel operation system, so that the parallel operation unit enters the stop protection state, includes the following steps:

[0077] Step S201: When the parallel control module detects the first high-frequency square wave pulse signal that lasts for the first detection duration, the second control module converts the second communication pulse signal into a second high-frequency square wave pulse signal, wherein the second high-frequency square wave pulse signal is the shutdown pulse signal.

[0078] Step S202: The parallel control module outputs a second high-frequency square wave pulse signal that lasts for the second output duration;

[0079] Step S203: When the parallel unit detects the second high-frequency square wave pulse signal that lasts for a second detection duration, it enters the shutdown protection state based on the second high-frequency square wave pulse signal.

[0080] Specifically, refer to Figure 3 As shown, the waveform labeled ① is the pulse waveform output by the parallel unit, and the waveform labeled ② is the pulse waveform output by the parallel control module.

[0081] Depend on Figure 3It can be seen that when the faulty parallel unit is still a parallel unit (i.e., the parallel unit is not yet in a fault-stop state, but in a normal operating state), the pulse waveform output by the parallel unit is at a baud rate that is a multiple of the normal rate (i.e., the first communication pulse signal). However, when the parallel unit changes to a faulty parallel unit and enters a fault-stop state due to the failure of some components, the pulse waveform output by the faulty parallel unit is at twice the baud rate of the normal rate. That is, the faulty parallel unit outputs a first high-frequency square wave pulse signal with a duration of t2 (i.e., the first output duration), which enables the parallel control module to detect the first high-frequency square wave pulse signal with a duration of t1 (i.e., the first detection duration). When the signal is detected, the second control module in the parallel operation control module converts the baud rate of the detected first high-frequency square wave pulse signal into a baud rate corresponding to the first high-frequency square wave pulse signal based on the baud rate waveform of the first high-frequency square wave pulse signal. That is, after detecting the first high-frequency square wave pulse signal, the parallel operation control module converts the second communication pulse signal into a second high-frequency square wave pulse signal and outputs the second high-frequency square wave pulse signal for a duration of t3 (i.e., the second output duration). This allows the parallel operation unit to detect the second high-frequency square wave pulse signal for a duration of t4 (i.e., the second detection duration). Based on the second high-frequency square wave pulse signal, the parallel operation unit is controlled to enter the shutdown protection state. This achieves rapid control of the parallel operation unit without the need for hardware connection devices.

[0082] In addition, in this embodiment, the output period of 11 high-frequency square wave pulse signals is used as the first output duration and the second output duration, and the output period of 5 high-frequency square wave pulse signals is used as the first detection duration and the second detection duration. However, in practical applications, the duration of the first output duration, the second output duration, the first detection duration and the second detection duration can be other durations, and the present invention does not limit them.

[0083] Optionally, before the step S10 in which the first control module inside the fault parallel unit converts the first communication pulse signal into a fault pulse signal, the method further includes:

[0084] Step S102: Perform self-testing through the faulty parallel unit. If the self-testing determines that the faulty parallel unit does not support the preset baud rate communication, then based on the determination that the preset baud rate communication is not supported, the first control module converts the first communication pulse signal into a first low-level pulse signal, wherein the first low-level pulse signal is the fault pulse signal.

[0085] When the faulty parallel unit determines through self-detection that its internal devices do not support communication at the preset baud rate, the first control module inside the faulty parallel unit will convert the first communication pulse signal into a fault pulse signal that matches the determination that it does not support communication at the preset baud rate, namely, a first low-level pulse signal. At the same time, it will output a first low-level pulse signal that lasts for a first output duration. Although the transmission speed of the first low-level pulse signal is lower than that of the first high-frequency square wave pulse signal, it is still faster than the transmission speed of signals transmitted through conventional hardware connection devices. This can still reduce costs and improve the safety protection efficiency of the parallel system.

[0086] Optionally, step S20, whereby after the parallel operation control module in the parallel operation system detects the fault pulse signal lasting for a first detection duration, the second communication pulse signal is converted into a stop pulse signal by the second control module internally configured in the parallel operation control module, and the stop pulse signal lasting for a second output duration is output to the parallel operation unit in the parallel operation system, so that the parallel operation unit enters the stop protection state, includes the following steps:

[0087] Step S204: When the parallel control module detects the first low-level pulse signal that lasts for the first detection duration, it converts the second communication pulse signal into a second low-level pulse signal through the second control module, wherein the second low-level pulse signal is the shutdown pulse signal;

[0088] Step S205: The parallel control module outputs a second low-level pulse signal that lasts for the second output duration;

[0089] Step S206: When the parallel unit detects the second low-level pulse signal that lasts for a third detection duration, it enters the shutdown protection state based on the second low-level pulse signal.

[0090] Specifically, refer to Figure 4 As shown, waveform ③ is the pulse waveform output by the parallel unit, and waveform ④ is the pulse waveform output by the parallel control module.

[0091] Depend on Figure 4It can be seen that when the faulty parallel unit is still a parallel unit (i.e., the parallel unit is not yet in a fault-stop state, but in a normal operating state), each frame of pulse waveform data output by the parallel unit will contain at least one high level and one low level (i.e., the first communication pulse signal). When the parallel unit changes to a faulty parallel unit and enters a fault-stop state due to the failure of some components, the pulse waveform output by the faulty parallel unit will change to the opposite level to the idle level (i.e., high level). That is, the faulty parallel unit will output a first low-level pulse signal with a duration of t5 (i.e., the first output duration), so that the parallel control module can detect the first low-level pulse signal with a duration of t6 (i.e., the first detection duration). When the first low-level pulse signal is detected, the parallel control module, based on the pulse waveform corresponding to the detected first low-level pulse signal, changes the high level in the pulse waveform of the second communication pulse signal to a low level, i.e., parallel control. After detecting the first low-level pulse signal, the module converts the second communication pulse signal into a second low-level pulse signal for output, and outputs a second low-level pulse signal with a duration of t7 (i.e., the second output duration). This allows the parallel unit to detect the second low-level pulse signal with a duration of t8 (i.e., the third detection duration). Based on the second low-level pulse signal, the module controls the parallel unit to enter a shutdown protection state. This achieves the goal of changing the pulse waveform of the pulse signal output to the parallel control module without the need for hardware connection devices. The parallel control module directly converts the pulse waveform of the output second communication pulse signal into a shutdown pulse signal with the same frequency but opposite phase as the fault pulse signal based on a fault pulse signal that differs from the first communication pulse signal. This allows the parallel unit to directly enter a shutdown protection state based on the shutdown pulse signal when it detects a shutdown pulse signal that differs from the second communication pulse signal, thus achieving rapid automatic shutdown of the parallel unit.

[0092] In addition, in this embodiment, the output period of 11 low-level pulse signals is used as the duration of the first output duration and the second output duration, and the output period of 5 low-level pulse signals is used as the duration of the first detection duration and the second detection duration. However, in practical applications, the duration of the first output duration, the second output duration, the first detection duration, and the third detection duration can be other durations, and the invention does not impose any limitations on this.

[0093] Optionally, after step S10, which involves outputting the fault pulse signal lasting for a first output duration, the method further includes:

[0094] Step S103: The fault pulse signal is converted into the first communication pulse signal by the first control module. The first communication pulse signal represents the communication pulse signal of the parallel unit in the non-fault shutdown state or after the fault pulse signal that has been output for the first output duration.

[0095] Specifically, refer to Figure 3 The pulse waveform in ① and Figure 4 As can be seen from the pulse waveform in ③, outside of time t2 on pulse waveform ① and time t5 on pulse waveform ③, the first control module continues to output communication pulse signals. That is, outside of the output duration (i.e., time t2 and time t3), the parallel unit continuously sends pulse signals at a conventional multiple of the baud rate, or each frame of pulse waveform data will contain at least one high-level and one low-level pulse signal. This ensures normal communication with the parallel control module and ensures that in subsequent communication processes, the parallel control module can quickly process the pulse signals that are different from those under normal communication.

[0096] Optionally, after step S10, which involves outputting the shutdown pulse signal lasting for a second output duration to the parallel unit in the parallel system, the method further includes:

[0097] Step S104: The second control module converts the shutdown pulse signal into the second communication pulse signal. The second communication pulse signal represents the communication pulse signal of the parallel control module after the fault shutdown signal is not received or the shutdown pulse signal that has been output for the second output duration is output.

[0098] Specifically, refer to Figure 3 The pulse waveform in ② and Figure 4 As can be seen from the pulse waveform in ④, during time t3 on pulse waveform ② and time t7 on pulse waveform ④, the second control module is still maintaining the output of communication pulse signals. That is, outside of the output duration (i.e., time t3 and time t7), the parallel control module continuously sends pulse signals at a conventional multiple of the baud rate, or each frame of pulse waveform data will contain at least one high-level and one low-level pulse signal. This ensures normal communication with the parallel unit and ensures that in subsequent communication processes, the parallel unit can respond promptly by using pulse signals that differ from those under normal communication.

[0099] In this embodiment, when a faulty parallel unit in the parallel system enters a fault shutdown state, the first control module inside the faulty parallel unit controls the first communication pulse signal to be converted into a fault pulse signal and outputs a fault pulse signal lasting for a first output duration. When the parallel control module in the parallel system detects the fault pulse signal lasting for the first detection duration, the second control module inside the parallel control module converts the second communication pulse signal into a shutdown pulse signal and outputs a shutdown pulse signal lasting for a second output duration to the parallel unit in the parallel system, so that the parallel unit enters a shutdown protection state. This achieves shutdown control of the parallel unit without the need for additional hardware connection devices, by receiving the fault pulse signal through the parallel control module when a faulty parallel unit exists and generating a shutdown pulse signal to control the parallel unit to enter a shutdown protection state based on the fault pulse signal.

[0100] Furthermore, this embodiment of the invention also proposes a motor controller, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above-mentioned shutdown control method.

[0101] Reference Figure 5 The present invention provides a parallel operation system, the parallel operation system including a parallel operation control module and a plurality of parallel operation units;

[0102] The parallel operation control module establishes communication connections with several of the parallel operation units respectively;

[0103] The parallel unit is used to convert the first communication pulse signal into a fault pulse signal through the first control module set inside it after entering the fault shutdown state, and output the fault pulse signal for a continuous first output duration.

[0104] The parallel operation control module is used to detect the fault pulse signal that lasts for a first detection duration, and then convert the second communication pulse signal into a stop pulse signal through the internally set second control module, and output the stop pulse signal to the parallel operation unit.

[0105] The parallel unit is also used to enter a shutdown protection state after receiving the shutdown pulse signal output by the parallel control module.

[0106] Furthermore, the present invention also proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described shutdown control method.

[0107] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0108] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0109] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0110] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A stop control method characterized by, The shutdown control method is applied to a parallel system, and the shutdown control method comprises the following steps: When there is a fault parallel unit entering a fault shutdown state in the parallel system, a first control module arranged in the fault parallel unit converts a first communication pulse signal into a fault pulse signal, and outputs the fault pulse signal for a first output duration; When a parallel control module in the parallel system detects the fault pulse signal for a first detection duration, a second control module arranged in the parallel control module converts a second communication pulse signal into a shutdown pulse signal, and outputs the shutdown pulse signal for a second output duration to the parallel units in the parallel system, so that the parallel units enter a shutdown protection state; Before the step of converting the first communication pulse signal into the fault pulse signal by the first control module arranged in the fault parallel unit, the method further comprises the following steps: The fault parallel unit is self-detected to determine whether the fault parallel unit supports a preset baud rate communication through self-detection, and a detection result is obtained; The first communication pulse signal is converted into the fault pulse signal by the first control module based on the detection result.

2. The shutdown control method according to claim 1, characterized by, The step of converting the first communication pulse signal into the fault pulse signal by the first control module based on the detection result comprises: If the detection result is that the fault parallel unit supports the preset baud rate communication, the first communication pulse signal is converted into a first high-frequency square wave pulse signal based on the determination that the preset baud rate communication is supported, wherein the first high-frequency square wave pulse signal is the fault pulse signal.

3. The shutdown control method according to claim 2, characterized by, The step of converting the first communication pulse signal into the fault pulse signal by the first control module based on the detection result comprises: When the parallel control module detects the first high-frequency square wave pulse signal for the first detection duration, the second communication pulse signal is converted into a second high-frequency square wave pulse signal by the second control module, wherein the second high-frequency square wave pulse signal is the shutdown pulse signal; The second high-frequency square wave pulse signal is outputted for the second output duration by the parallel control module; When the parallel unit detects the second high-frequency square wave pulse signal for a second detection duration, the shutdown protection state is entered based on the second high-frequency square wave pulse signal.

4. The shutdown control method according to claim 1, characterized by, The step of converting the first communication pulse signal into the fault pulse signal by the first control module based on the detection result comprises: If the detection result is that the fault parallel unit does not support the preset baud rate communication, based on the determination that the preset baud rate communication is not supported, the first control module is used to convert the first communication pulse signal into a first low-level pulse signal, and the first low-level pulse signal is the fault pulse signal.

5. The shutdown control method according to claim 4, characterized by, After the parallel control module in the parallel system detects the fault pulse signal for a first detection duration, a second control module internally arranged in the parallel control module is used to convert a second communication pulse signal into a shutdown pulse signal, and the shutdown pulse signal is output to the parallel unit in the parallel system for a second output duration, so that the parallel unit enters a shutdown protection state. After the parallel control module detects the first low-level pulse signal for the first detection duration, the second control module is used to convert the second communication pulse signal into a second low-level pulse signal, and the second low-level pulse signal is the shutdown pulse signal. The parallel control module outputs the second low-level pulse signal for the second output duration. After the parallel unit detects the second low-level pulse signal for a third detection duration, the second low-level pulse signal is used to enter the shutdown protection state.

6. The shutdown control method according to claim 1, characterized by, After the step of outputting the fault pulse signal for the first output duration, the following steps are further included: The first control module is used to convert the fault pulse signal into the first communication pulse signal, and the first communication pulse signal represents a communication pulse signal of the parallel unit in a non-fault shutdown state or after the fault pulse signal is output for the first output duration.

7. The shutdown control method according to Claim 1, characterized by, After the step of outputting the shutdown pulse signal to the parallel unit in the parallel system for the second output duration, the following steps are further included: The second control module is used to convert the shutdown pulse signal into the second communication pulse signal, and the second communication pulse signal represents a communication pulse signal of the parallel control module after the fault pulse signal is not received or after the shutdown pulse signal is output for the second output duration.

8. An electric machine controller characterized by The motor controller includes a memory, a processor, and a computer processing program stored on the memory and executable on the processor, and the processor executes the computer processing program to implement the shutdown control method in any one of claims 1 to 7.

9. A parallel system, characterized by The parallel system includes a parallel control module and a plurality of parallel units. The parallel control module is in communication connection with the plurality of parallel units. The parallel unit is internally arranged with a first control module, and is used to convert a first communication pulse signal into a fault pulse signal and output the fault pulse signal for a first output duration after entering a fault shutdown state. The parallel control module is internally arranged with a second control module, and is used to convert a second communication pulse signal into a shutdown pulse signal and output the shutdown pulse signal to the parallel unit after detecting the fault pulse signal for a first detection duration. The parallel control module is internally arranged with a second control module, and is used to convert a second communication pulse signal into a shutdown pulse signal and output the shutdown pulse signal to the parallel unit after detecting the fault pulse signal for a first detection duration. The parallel unit is further configured to enter a shutdown protection state after receiving the shutdown pulse signal output by the parallel control module; The parallel unit is further configured to: After entering the fault shutdown state, performing self-detection to determine whether the parallel unit supports preset baud rate communication through the self-detection, and obtaining a detection result; The first control module is configured to convert the first communication pulse signal into the fault pulse signal based on the detection result.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the shutdown control method in any one of claims 1 to 7.

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