A motor controller, a charging control method, a motor, and a vehicle

Abstract

The application provides a motor controller, a charging control method, a motor and a vehicle, and the motor controller comprises a charging positive electrode interface, a battery positive electrode interface, a battery negative electrode interface, a controller body, a filter magnetic ring and a first capacitor; the battery positive electrode interface is used for connecting the positive electrode of a battery and is connected to the first end of the first capacitor through a first wire; the charging positive electrode interface is used for connecting the positive electrode of a charging pile and is connected to the first end of a motor winding through a second wire; the first end of the controller body is connected to the first end of the first capacitor, the second end of the controller body is connected to the second end of the first capacitor, and the third end of the controller body is used for being connected to the second end of the motor winding; the battery negative electrode interface is used for connecting the negative electrode of the battery and is connected to the second end of the first capacitor through a third wire; and the first wire, the second wire and the third wire pass through the filter magnetic ring. The application can realize fast charging of a new energy vehicle with a high-voltage platform by a low-voltage charging pile and reduces electromagnetic interference in the charging process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of charging, in particular to a motor controller, a charging control method, a motor and a vehicle. BACKGROUND

[0002] The charging performance of a new energy vehicle is an important consideration for people when purchasing and using a vehicle. In order to improve the charging efficiency of a new energy vehicle, high-voltage platforms are increasingly widely used in new energy vehicles. For example, some new energy vehicles have adopted an 800V high-voltage platform. However, most of the charging piles on the market are designed for new energy vehicles with a 400V voltage platform, and the maximum charging voltage is 750V, which cannot meet the charging needs of new energy vehicles with an 800V high-voltage platform.

[0003] In order to enable new energy vehicles with a high-voltage platform to achieve fast charging on a low-voltage charging pile, the motor winding is currently reused as an inductor, and the output voltage of the charging pile is boosted by the motor controller to charge the new energy vehicle with a high-voltage platform. However, this method has a complex circuit and strong electromagnetic interference, which leads to power loss and affects the normal operation of the equipment. SUMMARY

[0004] The problem solved by the present application is how to use a low-voltage charging pile to fast charge a new energy vehicle with a high-voltage platform and reduce electromagnetic interference during charging.

[0005] To solve the above problems, the present application provides a motor controller, a charging control method, a motor and a vehicle.

[0006] In a first aspect, the present application provides a motor controller, comprising a charging positive electrode interface, a battery positive electrode interface, a battery negative electrode interface, a controller body, a filter magnetic ring and a first capacitor;

[0007] The battery positive electrode interface is used to connect the positive electrode of the battery and is connected to the first end of the first capacitor through a first lead wire;

[0008] The charging positive electrode interface is used to connect the positive electrode of the charging pile and is connected to the first end of the motor winding through a second lead wire;

[0009] The first end of the controller body is connected to the first end of the first capacitor, the second end of the controller body is connected to the second end of the first capacitor, and the third end of the controller body is used to connect to the second end of the motor winding;

[0010] The battery negative electrode interface is used to connect the negative electrode of the battery and is connected to the second end of the first capacitor through a third lead wire;

[0011] The first wire, the second wire and the third wire pass through the filter magnetic ring.

[0012] Optionally, the motor controller further comprises a second capacitor, a first end of the second capacitor being connected with the second wire, and a second end of the second capacitor being connected with the third wire.

[0013] Optionally, the motor controller further comprises a first relay, the first relay being connected in series between the charging positive electrode interface and the second wire.

[0014] Optionally, the motor controller further comprises a charging negative electrode interface and a second relay, the charging negative electrode interface being used for connecting a negative electrode of a charging pile and being connected to one end of the second relay, and the other end of the second relay being used for connecting a negative electrode of the battery.

[0015] Optionally, the controller body comprises three bridge arms, the three bridge arms corresponding to three-phase motor windings one by one, two ends of each bridge arm being connected with two ends of the first capacitor respectively, and a bridge arm midpoint of each bridge arm being used for connecting a second end of a corresponding motor winding.

[0016] Optionally, each bridge arm comprises two power modules, a first end of a first power module being connected to a first end of the first capacitor, a second end of the first power module being connected with a first end of a second power module as the bridge arm midpoint, and a second end of the second power module being connected to a second end of the first capacitor.

[0017] In a second aspect, the present application provides a charging control method, which adopts the motor controller as described in the first aspect, and the charging control method comprises:

[0018] When the output voltage of the charging pile is lower than the rated charging voltage of the battery, the upper half bridge of the controller body is controlled to be opened and the lower half bridge is controlled to be closed, so as to charge the motor winding;

[0019] When the charging of the motor winding is completed, the upper half bridge of the controller body is controlled to be closed and the lower half bridge is controlled to be opened, so as to charge the first capacitor;

[0020] When the discharging of the motor winding is completed, the upper half bridge of the controller body is controlled to be opened and the lower half bridge is controlled to be closed, so as to charge the motor winding and charge the battery through the first capacitor.

[0021] Optionally, the charging control method further comprises:

[0022] When the output voltage of the charging pile is higher than or equal to the rated charging voltage of the battery, the upper half bridge of the controller body is controlled to be closed and the lower half bridge is controlled to be opened, so as to directly charge the battery.

[0023] In a third aspect, the present application provides an electric machine, comprising an electric machine body and the electric machine controller according to the first aspect.

[0024] In a fourth aspect, the present application provides a vehicle, comprising a battery and the electric machine according to the third aspect.

[0025] The electric machine controller, the charging control method, the electric machine and the vehicle of the present application have the following beneficial effects: the filter magnetic ring and the first capacitor are added in the electric machine controller, when the output voltage of the charging pile is lower than the rated charging voltage of the battery, the output voltage of the charging pile can be raised to the rated charging voltage of the battery through the electric machine winding and the controller body, the first capacitor is charged, and the first capacitor charges the battery at the rated charging voltage, so as to realize fast charging of the new energy vehicle with a low-voltage charging pile on a high-voltage platform. Moreover, the first wire, the second wire and the third wire all pass through the filter magnetic ring, the vector sum of the currents on the first wire, the second wire and the third wire is zero during the charging process, so that the filter magnetic ring can effectively suppress the electromagnetic interference generated during the charging process, thereby reducing the influence of the power loss and the electromagnetic interference on the normal operation of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the charging scheme of the prior art;

[0027] Figure 2 It is a structural schematic diagram of an electric machine controller according to an embodiment of the present application;

[0028] Figure 3 It is a connection structural schematic diagram of the electric machine controller and the battery according to an embodiment of the present application;

[0029] Figure 4 It is a flow schematic diagram of a charging control method according to an embodiment of the present application.

[0030] REFERENCE SIGNS:

[0031] 10, electric machine winding; 20, controller body; 30, filter; 40, filter magnetic ring; 50, battery. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms, and should not be interpreted as being limited to the embodiments described herein, on the contrary, these embodiments are provided to make the present application more thorough and complete. It should be understood that the drawings and embodiments of the present application are only for illustrative purposes, and are not intended to limit the protection scope of the present application.

[0033] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0034] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0035] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0036] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0037] In existing technologies, the motor windings are reused as inductors, and the power module in the motor controller is reused as the power module of the boost circuit to boost the output voltage of the charging pile, thereby enabling charging of new energy vehicles with high-voltage platforms. For example... Figure 1 As shown, one end of the motor winding 10 is connected to the charging pile, and the other end is connected to one end of the controller body 20. The other end of the controller body 20 is connected to the battery 50.

[0038] To reduce strong electromagnetic interference during charging, the output current of the charging pile needs to be treated for EMC (Electromagnetic Compatibility). For example... Figure 1 As shown, in the prior art, electromagnetic interference is often reduced by setting filters 30 between the charging pile and the motor winding 10, and between the controller body 20 and the battery 50. However, this requires setting at least two filters 30, which makes the charging system complex and large in size.

[0039] To address the problems existing in the above-mentioned prior art, such as Figure 2 and Figure 3As shown, an embodiment of the present invention provides a motor controller, including a charging positive interface L+, a battery positive interface E+, a battery negative interface E-, a controller body 20, a filter magnetic ring 40, and a first capacitor C1;

[0040] The battery positive terminal interface E+ is used to connect to the positive terminal of the battery 50, and is connected to the first terminal of the first capacitor C1 through the first wire L1;

[0041] The charging positive interface L+ is used to connect to the positive terminal of the charging pile, and is connected to the first end of the motor winding 10 through the second wire L2;

[0042] The first end of the controller body 20 is connected to the first end of the first capacitor C1, the second end of the controller body 20 is connected to the second end of the first capacitor C1, and the third end of the controller body 20 is used to connect to the second end of the motor winding 10.

[0043] The battery negative terminal interface E- is used to connect to the negative terminal of the battery 50, and is connected to the second terminal of the first capacitor C1 through the third wire L3;

[0044] The first conductor L1, the second conductor L2, and the third conductor L3 pass through the filter magnetic ring 40.

[0045] Specifically, the first conductor L1, the second conductor L2, and the third conductor L3 can be wires and cables made of various conductive metals, or they can be circuits that enable electrical conduction between two objects, such as copper plating on a circuit board. The motor winding 10 can be connected in a star configuration. The common terminal of the three-phase winding is used to connect to the charging positive interface L+, and the other end of the three-phase winding is used to connect to the controller body 20, that is, to the midpoint of the corresponding bridge arm in the controller body 20.

[0046] When charging battery 50, the positive terminal of the charging station (or power supply) is directly connected to the positive charging interface L+, and the negative terminal of the charging station (or power supply) can be directly connected to the negative terminal of battery 50.

[0047] In this embodiment, a filter magnetic ring 40 and a first capacitor C1 are added to the motor controller. When the output voltage of the charging pile is lower than the rated charging voltage of the battery 50, the output voltage of the charging pile can be increased to the rated charging voltage of the battery 50 through the motor winding 10 and the controller body 20, charging the first capacitor C1. The first capacitor C1 then charges the battery 50 at its rated charging voltage, enabling the low-voltage charging pile to fast charge new energy vehicles on a high-voltage platform. Furthermore, the first wire L1, the second wire L2, and the third wire L3 all pass through the filter magnetic ring 40. During the charging process, the vector sum of the currents on the first wire L1, the second wire L2, and the third wire L3 is zero, allowing the filter magnetic ring 40 to effectively suppress electromagnetic interference generated during the charging process, thereby reducing energy loss and the impact of electromagnetic interference on the normal operation of the equipment.

[0048] It is understandable that new energy vehicles originally used batteries as their energy source and controlled the motor through a motor controller, so their operating mode of driving the vehicle was not affected by the above structure.

[0049] Optionally, the motor controller further includes a second capacitor C2, with a first end of the second capacitor C2 connected to the second wire L2 and a second end of the second capacitor C2 connected to the third wire L3.

[0050] In this optional embodiment, a second capacitor C2 is provided between the second conductor L2 and the third conductor L3. The electromagnetic interference of the current output by the charging pile can be suppressed by the filter magnetic ring 40 and the second capacitor C2.

[0051] Optionally, the motor controller further includes a first relay K1, which is connected in series between the charging positive interface L+ and the second wire L2.

[0052] Optionally, the motor controller further includes a charging negative interface L- and a second relay K2. The charging negative interface L- is used to connect to the negative terminal of the charging pile and is connected to one end of the second relay K2. The other end of the second relay K2 is used to connect to the negative terminal of the battery 50.

[0053] Specifically, the first relay K1 controls the connection between the positive terminal of the charging pile and the motor winding 10, and the second relay K2 controls the connection between the negative terminal of the charging pile and the battery 50. When charging the battery 50 through the charging pile, the first relay K1 and the second relay K2 are turned on, and then the voltage is boosted through the motor winding 10 and the controller body 20 to charge the battery 50. When the battery 50 is not being charged (e.g., during normal driving), the first relay K1 and the second relay K2 are turned off.

[0054] Optionally, the controller body 20 includes three bridge arms, each corresponding to a three-phase motor winding 10. The two ends of each bridge arm are connected to the two ends of the first capacitor C1, and the midpoint of each bridge arm is used to connect to the second end of the corresponding motor winding 10.

[0055] Optionally, each of the bridge arms includes two power modules, the first end of the first power module is connected to the first end of the first capacitor C1, the second end of the first power module is connected to the first end of the second power module as the midpoint of the bridge arm, and the second end of the second power module is connected to the second end of the first capacitor C1.

[0056] Specifically, the controller body 20 includes six power modules, which can be IGBTs (Insulated Gate Bipolar Transistors), namely, the first power module Q1, the second power module Q2, the third power module Q3, the fourth power module Q4, the fifth power module Q5, and the sixth power module Q6. The first power module Q1 and the second power module Q2 form the first bridge arm, and their connection point is the midpoint of the first bridge arm; the third power module Q3 and the fourth power module Q4 form the second bridge arm, and their connection point is the midpoint of the second bridge arm; the fifth power module Q5 and the sixth power module Q6 form the third bridge arm, and their connection point is the midpoint of the third bridge arm.

[0057] The first power module Q1, the third power module Q3, and the fifth power module Q5, which are connected to the positive terminal of the power source (charging pile or battery 50), form the upper half-bridge of the controller body 20, while the second power module Q2, the fourth power module Q4, and the sixth power module Q6, which are connected to the negative terminal of the power source (charging pile or battery 50), form the lower half-bridge of the controller body 20.

[0058] The upper end of the power module (i.e., the end closest to the positive terminal of the power supply) is its first end, and the lower end of the power module (i.e., the end closest to the negative terminal of the power supply) is its second end. The first ends of the first power module Q1, the third power module Q3, and the fifth power module Q5 are connected to form the first end of the controller body 20. The second ends of the second power module Q2, the fourth power module Q4, and the sixth power module Q6 are connected to form the second end of the controller body 20. The midpoint of each bridge arm is the third end of the controller body 20.

[0059] An embodiment of the present invention provides an electric motor, including an electric motor body and an electric motor controller as described above.

[0060] It should be noted that the motor body and the motor controller described above can be set up independently, or they can be integrated into one design.

[0061] An embodiment of the present invention provides a vehicle including a battery 50 and a motor as described above.

[0062] It should be noted that the battery 50, motor, and motor controller in the vehicle can be installed independently, partially integrated, or all three can be integrated into a single unit. Independent design facilitates disassembly, replacement, and maintenance, but the wiring structure is more complex. Integrated design occupies less space and has a simpler wiring structure, but it is less convenient for disassembly, replacement, and maintenance.

[0063] like Figure 4 As shown in the figure, an embodiment of the present invention provides a charging control method that uses the motor controller described above. The charging control method includes:

[0064] When the output voltage of the charging pile is lower than the rated charging voltage of the battery 50, the upper half bridge of the controller body 20 is disconnected and the lower half bridge is closed to charge the motor winding 10.

[0065] Specifically, when the aforementioned motor controller and motor winding 10 are used to charge the vehicle battery 50, the motor is not operating. The motor winding 10 acts as the inductor for boost voltage conversion, and the power module of the controller body 20 acts as the IGBT module for boost voltage conversion, closing the first and second relays. The upper half-bridge (Q1, Q3, and Q5) of the controller body 20 is open, and the lower half-bridge (Q2, Q4, and Q6) of the controller body 20 is closed. The charging current flows out from the positive terminal of the charging pile, along the second conductor L2, through the motor winding 10 (inductor) and the lower half-bridge, and flows back to the negative terminal of the charging pile through the third conductor L3. At this time, the current in the first conductor L1 is 0, and the vector sum of the currents in the second conductor L2 and the third conductor L3 is 0, which meets the usage requirements of the filter magnetic ring 40 and can suppress electromagnetic interference on the current.

[0066] When the motor winding 10 is fully charged, the upper half-bridge of the controller body 20 is closed and the lower half-bridge is opened to charge the first capacitor C1.

[0067] Specifically, the charging process of motor winding 10 (inductor) is very short, approximately several hundred milliseconds. When motor winding 10 is fully charged, the upper half-bridge is closed and the lower half-bridge is open. At this time, motor winding 10 is connected in series with the charging pile, boosting the voltage to the rated charging voltage of battery 50, thus charging the first capacitor C1. For example, if the output voltage of the charging pile is 400V, the charged motor winding 10 connected in series with the charging pile can boost the voltage to 800V. At this time, the charging current flows out from the positive terminal of the charging pile, passes through the second conductor L2, and is split after passing through motor winding 10 and the upper half-bridge. Part of the current charges the first capacitor C1, and part of the current directly charges battery 50 through the first conductor L1. The vector sum of the currents in the first conductor L1, the second conductor L2, and the third conductor L3 is 0, which meets the requirements for the use of the filter magnetic ring 40 and can suppress electromagnetic interference in the current.

[0068] When the motor winding 10 has finished discharging, the upper half bridge of the controller body 20 is disconnected and the lower half bridge is closed to charge the motor winding 10 and charge the battery 50 through the first capacitor C1.

[0069] Specifically, when the motor winding 10 (inductor) finishes discharging, the upper half-bridge is opened and the lower half-bridge is closed. The charging current passes through the motor winding 10 and the lower half-bridge, recharging the motor winding 10 and forming circuit 1. At the same time, the first capacitor C1 discharges to charge the battery 50, and the first capacitor C1 and the battery 50 form circuit 2. Circuit 1 and circuit 2 share the third conductor L3, and the current directions of the two circuits on the third conductor L3 are opposite. At this time, the vector sum of the currents in the first conductor L1, the second conductor L2, and the third conductor L3 is 0, which meets the usage requirements of the filter magnetic ring 40 and can suppress electromagnetic interference in the current.

[0070] When the motor winding 10 is fully charged, the process of charging the first capacitor C1 is returned to the above process, that is, the upper half bridge of the controller body 20 is closed and the lower half bridge of the controller body 20 is opened, and the above process is repeated until the battery 50 is fully charged, or charging is stopped, for example, by disconnecting the first relay and the second relay.

[0071] In this embodiment, when the output voltage of the charging pile is lower than the rated charging voltage of the battery 50, the motor winding 10 is pre-charged by controlling the on / off state of each power module in the controller body 20. Then, the charging pile and the charged motor winding 10 are connected in series to raise the charging voltage to the rated charging voltage, thus charging the first capacitor C1. The first capacitor C1 charges the battery 50 at the rated charging voltage, realizing fast charging of the high-voltage platform new energy vehicle battery 50.

[0072] Optionally, the charging control method further includes:

[0073] When the output voltage of the charging pile is higher than or equal to the rated charging voltage of the battery 50, the upper half-bridge of the controller body 20 is closed and the lower half-bridge is opened to directly charge the battery 50.

[0074] Specifically, when the output voltage of the charging pile is not lower than the rated charging voltage of battery 50, the upper half-bridge is turned on and the lower half-bridge is turned off. The charging current flows out from the positive terminal of the charging pile, through the second conductor L2 and the first conductor L1 into the positive terminal of battery 50, and then flows back to the negative terminal of the charging pile through the negative terminal of battery 50. At this time, the current in the third conductor L3 is 0, and the vector sum of the currents in the first conductor L1 and the second conductor L2 is 0, which meets the usage requirements of the filter magnetic ring 40 and can suppress electromagnetic interference in the current.

[0075] In this optional embodiment, when the output voltage of the charging pile is not lower than the rated charging voltage of the battery, the battery 50 is charged directly through the charging pile. This ensures that the vector sum of all currents passing through the filter magnetic ring 40 is 0, thus meeting the usage requirements of the filter magnetic ring 40 and enabling the filter magnetic ring 40 to suppress electromagnetic interference.

[0076] An electronic device provided by an embodiment of the present invention includes a memory and a processor; the memory is used to store a computer program; the processor is used to implement the charging control method described above when the computer program is executed.

[0077] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the charging control method described above.

[0078] The present invention will now describe electronic devices that can serve as servers or clients of the present invention, which are examples of hardware devices that can be applied to various aspects of the present invention. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0079] Electronic devices include a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or loaded from a storage unit into random access memory (RAM). The RAM can also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0080] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0081] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A motor controller, characterized in that, It includes a charging positive interface, a battery positive interface, a battery negative interface, a controller body (20), a filter magnetic ring (40), and a first capacitor; The battery positive terminal interface is used to connect to the positive terminal of the battery (50) and is connected to the first terminal of the first capacitor via the first wire; The charging positive interface is used to connect to the positive terminal of the charging pile and is connected to the first end of the motor winding (10) via the second wire; The first end of the controller body (20) is connected to the first end of the first capacitor, the second end of the controller body (20) is connected to the second end of the first capacitor, and the third end of the controller body (20) is used to connect to the second end of the motor winding (10). The battery negative terminal interface is used to connect to the negative terminal of the battery (50) and is connected to the second terminal of the first capacitor through a third wire; The first wire, the second wire, and the third wire pass through the filter magnetic ring (40). The first capacitor is charged by the motor winding (10) and the controller body (20) after the output voltage of the charging pile is increased to the rated charging voltage of the battery (50). The first capacitor is used to charge the battery (50) at the rated charging voltage.

2. The motor controller according to claim 1, characterized in that, It also includes a second capacitor, the first end of which is connected to the second wire, and the second end of which is connected to the third wire.

3. The motor controller according to claim 1 or 2, characterized in that, It also includes a first relay, which is connected in series between the charging positive terminal and the second wire.

4. The motor controller according to claim 1 or 2, characterized in that, It also includes a charging negative terminal interface and a second relay. The charging negative terminal interface is used to connect to the negative terminal of the charging pile and to one end of the second relay. The other end of the second relay is used to connect to the negative terminal of the battery (50).

5. The motor controller according to claim 1 or 2, characterized in that, The controller body (20) includes three bridge arms, each of which corresponds to a three-phase motor winding (10). The two ends of each bridge arm are connected to the two ends of the first capacitor, and the midpoint of each bridge arm is used to connect to the second end of the corresponding motor winding (10).

6. The motor controller according to claim 5, characterized in that, Each of the bridge arms includes two power modules. The first end of the first power module is connected to the first end of the first capacitor. The second end of the first power module is connected to the first end of the second power module as the midpoint of the bridge arm. The second end of the second power module is connected to the second end of the first capacitor.

7. A charging control method, characterized in that, The charging control method, employing the motor controller as described in any one of claims 1 to 6, comprises: When the output voltage of the charging pile is lower than the rated charging voltage of the battery (50), the upper half bridge of the controller body (20) is disconnected and the lower half bridge is closed to charge the motor winding (10). When the motor winding (10) is fully charged, the upper half bridge of the controller body (20) is closed and the lower half bridge is opened to charge the first capacitor. When the motor winding (10) is discharged, the upper half bridge of the controller body (20) is disconnected and the lower half bridge is closed to charge the motor winding (10) and charge the battery (50) through the first capacitor.

8. The charging control method according to claim 7, characterized in that, The charging control method further includes: When the output voltage of the charging pile is higher than or equal to the rated charging voltage of the battery (50), the upper half bridge of the controller body (20) is closed and the lower half bridge is opened to directly charge the battery (50).

9. An electric motor, characterized in that, It includes the motor body and the motor controller as described in any one of claims 1 to 6.

10. A vehicle, characterized in that, Includes a battery (50) and a motor as described in claim 9.

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