Wheel hub motor control device

Abstract

The application discloses a kind of hub motor control devices, for controlling first quantity of hub motor, first quantity of hub motor includes second quantity of three-phase motor, device includes: control module, for outputting drive instruction;Second quantity of drive module, each of the second quantity of drive module is connected to corresponding three-phase motor respectively, and the second quantity of drive module is also connected with power battery and control module, and the drive module is used to receive the drive instruction, according to the drive instruction, the direct current of power battery is converted into three-phase alternating current, and is transmitted to the three-phase motor connected with it;Wherein, the drive instruction is used to control the working phase when the drive module converts three-phase alternating current, and the working phase of each drive module is not identical. The application can reduce the voltage fluctuation of power battery, so as to improve the life of each element in the system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a hub motor control device. BACKGROUND

[0002] In the related art, the hub motor is composed of a three-phase permanent magnet synchronous motor, and the electric vehicle using the hub motor has a speed difference between each wheel when turning, so that the voltage required by each hub motor is not the same, thereby causing a large voltage fluctuation of the power battery providing power, affecting the service life of each element in the system. SUMMARY

[0003] In view of this, the present application provides a hub motor control device for reducing voltage fluctuation of the power battery. The technical scheme of the present application is as follows:

[0004] In the first aspect, the present application provides a control device for controlling a first number of hub motors, the first number of hub motors including a second number of three-phase motors, the device comprising: a control module for outputting a driving instruction; a second number of driving modules, each of the second number of driving modules being connected to a corresponding three-phase motor, the second number of driving modules further being connected to a power battery and the control module, the driving module being configured to receive the driving instruction, convert direct current of the power battery into three-phase alternating current, and transmit the three-phase alternating current to the three-phase motor connected thereto; wherein the driving instruction is used to control the working phase of the driving module when converting three-phase alternating current, and the working phase of each driving module is different.

[0005] In an embodiment of the present application, the control module comprises: a phase shift angle acquisition unit configured to obtain a phase shift angle according to the second number; a working phase acquisition unit configured to obtain the working phase of each driving module according to the phase shift angle; and a driving instruction output unit configured to output the driving instruction of each driving module according to the working phase.

[0006] In an embodiment of the present application, the driving module comprises: a discharging unit connected with the power battery, configured to consume residual power on the driving module when the driving module stops working; a filtering unit connected with the discharging unit and the power battery, configured to receive direct current of the power battery and filter out noise of the direct current; a direct current supporting unit connected with the filtering unit, configured to stabilize voltage of the direct current after filtering out the noise; and a three-phase inverting unit connected with the direct current supporting unit and the control module, configured to receive the driving instruction, work according to the working phase corresponding to the driving instruction, and convert the direct current into the three-phase alternating current.

[0007] In an embodiment of the present application, the second quantity of direct current supporting modules are connected with the power battery and one of the driving modules respectively, and are configured to stabilize voltage of direct current of the power battery.

[0008] In a second aspect, the present application provides a control device for controlling a first quantity of hub motors, wherein the first quantity of hub motors comprises a second quantity of three-phase motors, and the device comprises: a control module configured to output a driving instruction of each target driving module, wherein the target driving module and the three-phase motor connected therewith are in a non-fault state; a second quantity of driving modules, each of the second quantity of driving modules being connected to a corresponding three-phase motor, and the second quantity of driving modules being further connected with a power battery and the control module, and the driving module being configured to receive the driving instruction, convert direct current of the power battery into three-phase alternating current according to the driving instruction, and transmit the three-phase alternating current to the three-phase motor connected therewith; wherein the driving instruction is used to control a working phase of the target driving module when converting the three-phase alternating current, and the working phase of each target driving module is different.

[0009] In an embodiment of the present application, the control module comprises: a state detection unit configured to detect a first state of each three-phase motor and a second state of each driving module connected therewith; a target module screening unit configured to screen the driving module whose first state and second state are both in a non-fault state as the target driving module, and obtain a third quantity of target driving modules, wherein the third quantity is less than or equal to the second quantity; a phase shift angle acquisition unit configured to obtain a phase shift angle according to the third quantity; a working phase acquisition unit configured to obtain the working phase of each target driving module according to the phase shift angle; and a driving instruction output unit configured to output the driving instruction of each target driving module according to the working phase.

[0010] In one embodiment of the present application, the control module further includes: a working power acquisition unit, used to obtain the working power of each of the driving modules based on the first quantity and the third quantity; the driving instruction output unit, further used to output the driving instruction of each of the target driving modules based on the working phase and the working power.

[0011] In one embodiment of the present application, the control module further includes: a fault module screening unit, used to screen out the driving modules in which both the first state and the second state are fault states as faulty driving modules; a blocking instruction output unit, used to output a blocking instruction for each of the faulty driving modules, the blocking instruction being used to control the faulty driving modules to prohibit outputting three-phase alternating current.

[0012] In one embodiment of the present application, the drive module includes: a discharge unit, which is connected to the power battery and is used to consume the residual electric energy on the drive module when the drive module stops working; a filtering unit, which is connected to the discharge unit and the power battery, and is used to receive the direct current of the power battery and filter out the clutter of the direct current; a direct current support unit, which is connected to the filtering unit, and is used to stabilize the voltage of the direct current after the clutter is filtered out; a three-phase inverter unit, which is connected to the direct current support unit and the control module, and is used to receive the drive instruction and operate according to the working phase corresponding to the drive instruction to convert the direct current into the three-phase alternating current.

[0013] In one embodiment of the present application, the device further includes: a second number of DC support modules, each of the DC support modules being connected to the power battery and one of the drive modules, respectively, for stabilizing the DC voltage of the power battery.

[0014] The beneficial effects brought about by the technical solution provided in this application include at least: by equipping all three-phase motors in multiple hub motors with a drive module, when direct current is converted into three-phase alternating current to drive each three-phase motor through each drive module, the working phase of each drive module is controlled to be different, thereby avoiding the superposition of instantaneous voltages of the same phase and generating large voltage fluctuations, that is, the voltage fluctuation of the power battery can be reduced, thereby improving the life of each component in the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of a hub motor control device provided in an embodiment of the present application.

[0016] Figure 2 It is a structural diagram of a control module provided in an embodiment of the present application.

[0017] Figure 3is a structural schematic diagram of a driving module provided by an embodiment of the present application.

[0018] Figure 4 is a circuit schematic diagram of a driving module provided by an embodiment of the present application.

[0019] Figure 5 is a structural schematic diagram of another wheel hub motor control device provided by an embodiment of the present application.

[0020] Figure 6 is a structural schematic diagram of a control module provided by an embodiment of the present application.

[0021] Figure 7 is a structural schematic diagram of a control module provided by an embodiment of the present application.

[0022] Figure 8 is a structural schematic diagram of a control module provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] It should be noted that "at least one" in the embodiments of the present application means one or more, and "multiple" means two or more than two. "And / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the drawings are used to distinguish similar objects, and are not used to describe a specific order or sequence.

[0024] In addition, it should be noted that the method disclosed in the embodiments of the present application or the method shown in the flowchart includes one or more steps for implementing the method, and the execution order of the multiple steps can be interchanged with each other without departing from the scope of the claims, and some steps can also be deleted.

[0025] At present, most electric vehicles adopt a centralized driving mode, that is, a traditional internal combustion engine vehicle architecture is replaced by an electric motor, and the power of the electric motor is distributed to each wheel through a transmission system to drive the wheels. After replacing the electric motor, the mechanical devices, structures, spaces and weights of the traditional vehicle architecture are difficult to further optimize, so a distributed driving electric vehicle architecture appears, that is, a driving motor is installed at each driving wheel to save the transmission device. The driving motor installed at the driving wheel is called a wheel hub motor.

[0026] In the related art, the wheel hub motor is composed of a three-phase permanent magnet synchronous motor, and the electric vehicle using the wheel hub motor has a speed difference between each wheel when the electric vehicle turns, so that the voltage required by each wheel hub motor is not the same, thereby causing a large voltage fluctuation of the power battery providing power, affecting the service life of each element in the whole system.

[0027] The embodiment of the present application provides a wheel hub motor control device, which is used for controlling a wheel hub motor comprising a plurality of three-phase motors, so that the working phases of the driving modules of each three-phase motor are different when converting three-phase alternating current, thereby reducing the voltage fluctuation of the power battery.

[0032] Please refer to Figure 1 , Figure 1 The wheel hub motor control device provided by the embodiment of the present application is shown in the structure diagram, wherein the wheel hub motor control device 100 is used for controlling a first number of wheel hub motors 110, and the first number of wheel hub motors comprises a second number of three-phase motors 111.

[0029] In the embodiment of the present application, the wheel hub motor control device 100 comprises a control module 120 and a second number of driving modules 130. Each of the second number of driving modules 130 is connected to a corresponding three-phase motor 111, and the second number of driving modules 130 are also connected to a power battery 101 and the control module 120. That is, each three-phase motor is connected to one driving module 130, and the driving module 130 is connected to the power battery 101 and the control module 120.

[0030] Among the above wheel hub motors 110, there are a plurality of three-phase motors 111, for example, one wheel hub motor 110 can comprise four three-phase motors 111, or five three-phase motors 111, etc., which are not limited herein. A plurality of three-phase motors 111 can be simultaneously driven, so as to achieve the purpose of driving the wheel hub motor 110. The plurality of three-phase motors 111 arranged in one wheel hub motor 110 can improve the degree of freedom of control, the operating efficiency of the wheel hub motor 110, and facilitate the adjustment of the power output of the wheel hub motor 110.

[0031] The three-phase motor 111 can be a three-phase permanent magnet synchronous motor, or can also be a three-phase asynchronous motor, etc., which are not limited herein. Each three-phase motor 111 is connected to one driving module 130, and is driven by receiving three-phase alternating current from the driving module 130 connected thereto. That is, the number of driving modules 130 in the wheel hub motor control device 100 is equal to the number of three-phase motors 111 controlled, and each three-phase motor 111 is controlled by the driving module 130.

[0032] The driving module 130 is configured to receive a driving instruction, convert direct current of the power battery 101 into three-phase alternating current according to the driving instruction, and transmit the three-phase alternating current to the three-phase motor 111 connected thereto.

[0033] In the embodiment, the driving module 130 can receive direct current of the power battery 101, and convert the direct current into three-phase alternating current after receiving the driving instruction transmitted by the control module 120. The conversion process can be realized by an inverter, and the driving instruction can also control the working phase of the inverter in the driving module 130 for converting three-phase alternating current. For example, the driving module 130 includes an inverter, which converts direct current into three-phase alternating current, and the driving instruction can also control the working phase of the switch tube in the inverter, i.e., the working phase of converting three-phase alternating current.

[0034] The control module 120 is configured to output the driving instruction of each driving module 130, wherein the driving instruction is used to control the working phase of the driving module 130 when converting three-phase alternating current. The working phase of each driving module 130 is different.

[0035] In the embodiment, the driving instruction output by the control module 120 to each driving module 130 is different, and the working phase of each driving module 130 when converting direct current into three-phase alternating current is different through different driving instructions. For example, when each driving module 130 converts direct current into three-phase alternating current through an inverter, the inverter is composed of a switch tube, and the driving instruction transmitted by the control module 120 can be a square wave signal. To make the working phase of each inverter when converting current different, the phase of the square wave signal transmitted to each inverter is different.

[0036] In the embodiment, each three-phase motor in the plurality of hub motors is equipped with a driving module, and the working phase of each driving module is different when converting direct current into three-phase alternating current to drive each three-phase motor through each driving module, so as to avoid superimposing the same-phase transient voltage to generate a larger voltage fluctuation, i.e., to reduce the voltage fluctuation of the power battery, thereby improving the service life of each element in the system.

[0037] In the embodiment, the hub motor control device 100 further includes a second number of direct-current support modules, each of which is connected to the power battery 101 and one of the driving modules 130, and is configured to stabilize the voltage of the direct current of the power battery 101.

[0038] Please refer to Figure 2 , Figure 2A control module structure diagram provided by an embodiment of the present application is provided, and specifically, the control module 200 includes:

[0039] The phase-shifting angle acquisition unit 210 is configured to obtain a phase-shifting angle according to the second quantity.

[0040] In the embodiment of the present application, the phase-shifting angle acquisition unit 210 is arranged in the control module 200, which can obtain the second quantity of the three-phase motor that can normally work or the second quantity of the driving module through current detection or voltage detection, and then obtain the phase-shifting angle according to the second quantity. Specifically, the phase-shifting angle can be calculated by dividing 360 degrees by the second quantity.

[0041] The working phase acquisition unit 220 is configured to obtain the working phase of each driving module according to the phase-shifting angle.

[0042] In the embodiment of the present application, after the phase-shifting angle is calculated, the working phase of each driving module can be calculated by the working phase acquisition unit 220. For example, in the use scenario of four three-phase motors, if the calculated phase-shifting angle is 90 degrees, the working phase of each driving module can be 0 degrees, 90 degrees, 180 degrees and 270 degrees, respectively.

[0043] The driving instruction output unit 230 is configured to output the driving instruction of each driving module according to the working phase.

[0044] In the embodiment of the present application, since each driving module works at different working phases and the working phases of different driving modules are smoothly transitioned according to the phase-shifting angle, the voltage fluctuation of the power battery when driving the wheel hub motor can be further reduced.

[0045] Please refer to Figure 3 , Figure 3 A driving module structure diagram provided by an embodiment of the present application is provided, and the driving module 300 includes a discharging unit 310, a filter unit 320, a direct-current support unit 330 and a three-phase inverter unit 340 connected in sequence.

[0046] The discharging unit 310 is connected with the power battery 301, and is configured to consume the residual power on the driving module 300 when the driving module 300 stops working. The filter unit 320 is configured to receive the direct-current power of the power battery and filter out the noise of the direct-current power. The direct-current support unit 330 is configured to stabilize the voltage of the direct-current power after filtering out the noise. The three-phase inverter unit 340 is connected with the control module, and is configured to receive the driving instruction, work according to the working phase corresponding to the driving instruction, and convert the direct-current power into three-phase alternating-current power.

[0047] Please refer to Figure 4 , Figure 4 A circuit diagram of a driving module provided in an embodiment of the present application.

[0048] in, Figure 4 The driving module 300 and Figure 3 The driving module 300 in FIG. 3 is different in that the discharging unit 310 includes a discharging resistor R, one end of the discharging resistor R is connected to the positive electrode of the power battery 301 , and the other end is connected to the negative electrode of the power battery 301 .

[0049] The filtering unit 320 includes a first capacitor C1 and a second capacitor C2. The first end of the first capacitor C1 is connected to the positive electrode of the power battery 301, the second end is connected to the first end of the second capacitor C2, and the second end of the second capacitor C2 is connected to the negative electrode of the power battery 301.

[0050] The DC support unit 330 includes an electrolytic capacitor C3 , one end of which is connected to the positive electrode of the power battery 301 , and the other end of which is connected to the negative electrode of the power battery.

[0051] The three-phase inverter unit 340 includes a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a first MOS transistor M1, a second MOS transistor M2, a third MOS transistor M3, a fourth MOS transistor M4, a fifth MOS transistor M5, and a sixth MOS transistor M6.

[0052] The first end of the fourth capacitor C4 is connected to the positive electrode of the power battery 301, and the second end is connected to the negative electrode of the power battery 301. The first end of the fifth capacitor C5 is connected to the positive electrode of the power battery 301, and the second end is connected to the negative electrode of the power battery 301. The first end of the sixth capacitor C6 is connected to the positive electrode of the power battery 301, and the second end is connected to the negative electrode of the power battery 301. The drain of the first MOS transistor M1 is connected to the source of the second MOS transistor M2, and the drain of the second MOS transistor M2 is connected to the negative electrode of the power battery 301. The drain of the third MOS transistor M3 is connected to the source of the fourth MOS transistor M4, and the drain of the fourth MOS transistor M4 is connected to the negative electrode of the power battery 301. The drain of the fifth MOS transistor M5 is connected to the source of the sixth MOS transistor M6, and the drain of the sixth MOS transistor M6 is connected to the negative electrode of the power battery 301. The gates of the first MOS transistor M1 , the second MOS transistor M2 , the third MOS transistor M3 , the fourth MOS transistor M4 , the fifth MOS transistor M5 and the sixth MOS transistor M6 are respectively connected to the control module for receiving driving instructions.

[0053] Please refer to Figure 5 , Figure 5Another structural schematic diagram of a hub motor control device is provided in the embodiments of the present application, wherein the hub motor control device is used for controlling a first number of hub motors 510, the first number of hub motors 510 includes a second number of three-phase motors 511, and the device includes a control module 520 and the second number of drive modules 530.

[0054] In the embodiments of the present application, each three-phase motor 511 is connected with one drive module 530, the drive module 530 is connected with a power battery and the control module 520 respectively, the drive module 530 is used for receiving a drive instruction, converting direct current of the power battery into three-phase alternating current according to the drive instruction, and transmitting the three-phase alternating current to the three-phase motor 511 connected therewith.

[0055] In the embodiments of the present application, each three-phase motor 511 is connected with one drive module 530, the drive module 530 is connected with a power battery and the control module 520 respectively, the drive module 530 is used for receiving a drive instruction, converting direct current of the power battery into three-phase alternating current according to the drive instruction, and transmitting the three-phase alternating current to the three-phase motor 511 connected therewith. Figure 5 The hub motor control device 500 shown in the embodiments of the present application is different from the hub motor control device 100 shown in the embodiments of the present application in that: Figure 1 The hub motor control device 100 shown in the embodiments of the present application is different from the hub motor control device 100 shown in the embodiments of the present application in that:

[0056] The control module 520 is used for outputting the drive instruction of each target drive module 530, wherein the drive instruction is used for controlling a working phase of the target drive module 530 when the target drive module 530 converts three-phase alternating current, the target drive module 530 and the three-phase motor 511 connected therewith are in a non-fault state, and the working phase of each target drive module 530 is different.

[0057] That is, in the embodiments of the present application, the control module 520 can detect the working state of the three-phase motor 511 in front of all the three-phase motors 511 in the hub motor 510, find the three-phase motor 511 in the non-fault state which can normally work and the target drive module 530 connected therewith, and finally output the corresponding drive instruction to each target drive module 530, so that each target drive module 530 works in different working phases.

[0058] In the embodiments of the present application, when any three-phase motor 511 in the hub motor 510 fails, the control module 520 can re-adjust the drive instruction according to the three-phase motor 511 in the non-fault state and output the drive instruction to the target drive module 530 in the non-fault state, so as to ensure that the target drive module 530 and the corresponding three-phase motor 511 can keep normal operation, thereby ensuring that the hub motor 510 can normally work.

[0059] Please refer to Figure 6 , Figure 6 A structural schematic diagram of a control module is provided in the embodiments of the present application, and the control module 600 includes:

[0060] The state detection unit 610 is configured to detect a first state of each of the three-phase motors and a second state of each of the driving modules connected to the three-phase motor.

[0061] In the embodiment of the present application, the control module 600 detects the first state of each of the three-phase motors and the second state of each of the driving modules through the state detection unit 610. For example, the state detection unit 610 can detect the short circuit of the three-phase motor, and the first state includes whether the three-phase motor is in a short circuit state. Similarly, the state detection unit 610 can detect the short circuit of the driving module, which is not limited here.

[0062] The target module screening unit 620 is configured to screen the driving module with the first state and the second state being the non-fault state as the target driving module, and obtain a third number of the target driving module, where the third number is less than or equal to the second number.

[0063] In the embodiment of the present application, the control module 600 can normally drive the three-phase motor when the driving module and the three-phase motor connected thereto are in the non-fault state, that is, the target driving module with the first state and the second state being the non-fault state can normally work.

[0064] The phase shift angle acquisition unit 630 is configured to obtain a phase shift angle according to the third number.

[0065] The working phase acquisition unit 640 is configured to obtain the working phase of each of the target driving modules according to the phase shift angle.

[0066] The driving instruction output unit 650 is configured to output the driving instruction of each of the target driving modules according to the working phase.

[0067] Please refer to Figure 7 , Figure 7 A structure diagram of a control module provided in the embodiment of the present application is shown in FIG. 6. Figure 7 The control module 600 shown in FIG. 6 is different from the control module 600 shown in FIG. 5 in that, Figure 6 The control module 600 shown in FIG. 6 further includes: Figure 7

[0068] The working power acquisition unit 660 is configured to obtain the working power of each of the driving modules according to the first number and the third number.

[0069] The driving instruction output unit 650 is further configured to output the driving instruction of each of the target driving modules according to the working phase and the working power.

[0070] Please refer to Figure 8 ,​ Figure 8 A structural schematic diagram of a control module provided in an embodiment of the present application is shown in FIG. 6. In the embodiment shown in FIG. 6, the control module 600 includes a first state acquisition unit 610, a second state acquisition unit 620, a fault module screening unit 670, and a blocking instruction output unit 680. Figure 8 The control module 600 shown in FIG. 6 is different from the control module 600 shown in FIG. 5 in that the control module 600 shown in FIG. 6 further includes a first state acquisition unit 610 and a second state acquisition unit 620. Figure 7 The control module 600 shown in FIG. 6 is different from the control module 600 shown in FIG. 5 in that the control module 600 shown in FIG. 6 further includes a first state acquisition unit 610 and a second state acquisition unit 620. Figure 8 The control module 600 shown in FIG. 6 further includes:

[0071] The fault module screening unit 670 is configured to screen out the driving module as a fault driving module when the first state and the second state of the driving module are both fault states.

[0072] The blocking instruction output unit 680 is configured to output a blocking instruction of each of the fault driving modules, where the blocking instruction is used to control the fault driving module to prohibit output of three-phase alternating current.

[0073] In the above embodiments, the implementation can be achieved by software, hardware, firmware or any combination thereof, entirely or partially. When implemented by software, the implementation can be achieved in the form of a computer program product, entirely or partially. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are entirely or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer storage medium or transmitted by the computer storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as digital versatile disc (DVD)), or semiconductor media (such as solid state disk (SSD)) and the like.

[0074] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by a computer program instructing relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, the program can include the processes of the above-mentioned embodiment methods. The aforementioned storage medium includes ROM, RAM, magnetic or optical disc, and various storage media that can store program codes. In the case of no conflict, the technical features in the embodiments and the implementation forms can be combined arbitrarily.

[0075] The above-mentioned embodiments are merely preferred embodiment modes of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements of the technical solutions of the present application made by those skilled in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A control device for controlling a first number of wheel hub motors, wherein the first number of wheel hub motors includes a second number of three-phase motors, characterized in that: The device comprises: A control module, used for outputting driving instructions; The second number of drive modules, each of which is connected to a corresponding three-phase motor, and the second number of drive modules is also connected to a power battery and the control module, The driving module is used to receive the driving instruction, convert the direct current of the power battery into three-phase alternating current according to the driving instruction, and transmit the three-phase alternating current to the three-phase motor connected thereto; The driving instruction is used to control the working phase of the driving module when converting three-phase alternating current, and the working phase of each driving module is different; The control module includes: a phase shift angle acquiring unit, configured to acquire a phase shift angle according to the second quantity; a working phase acquiring unit, configured to acquire the working phase of each of the driving modules according to the phase shift angle; a driving instruction output unit, configured to output a driving instruction for each of the driving modules according to the working phase; The driving module includes: a discharge unit connected to the power battery and configured to consume residual electrical energy in the drive module when the drive module stops working; a filtering unit connected to the discharge unit and the power battery, configured to receive direct current from the power battery and filter out clutter in the direct current; A DC support unit, connected to the filter unit, for stabilizing the voltage of the DC power after clutter is filtered out; The three-phase inverter unit is connected to the DC support unit and the control module, and is used to receive the driving instruction and operate according to the working phase corresponding to the driving instruction to convert the DC power into the three-phase AC power.

2. The control device according to claim 1, wherein: Also includes: The second number of DC support modules, each of which is connected to the power battery and one of the drive modules, is used to stabilize the voltage of the DC power of the power battery.

3. A control device for controlling a first number of wheel hub motors, wherein the first number of wheel hub motors includes a second number of three-phase motors, characterized in that: The device comprises: a control module, configured to output a drive instruction to each target drive module, wherein the target drive module and the three-phase motor connected thereto are in a non-fault state; The second number of drive modules, each of which is connected to a corresponding three-phase motor, and the second number of drive modules is also connected to a power battery and the control module, The driving module is used to receive the driving instruction, convert the direct current of the power battery into three-phase alternating current according to the driving instruction, and transmit the three-phase alternating current to the three-phase motor connected thereto; The driving instruction is used to control the working phase of the target driving module when converting three-phase alternating current, and the working phase of each target driving module is different; The control module includes: a state detection unit, configured to detect a first state of each of the three-phase motors and a second state of each of the drive modules connected thereto; a target module screening unit, configured to screen out the driving modules in which both the first state and the second state are in a non-fault state as the target driving modules, and obtain a third number of the target driving modules, wherein the third number is less than or equal to the second number; a phase shift angle acquiring unit, configured to acquire a phase shift angle according to the third quantity; a working phase acquiring unit, configured to acquire the working phase of each target driving module according to the phase shift angle; a driving instruction output unit, configured to output the driving instruction of each target driving module according to the working phase; The driving module includes: a discharge unit connected to the power battery and configured to consume residual electrical energy in the drive module when the drive module stops working; a filtering unit connected to the discharge unit and the power battery, configured to receive direct current from the power battery and filter out clutter in the direct current; A DC support unit, connected to the filter unit, for stabilizing the voltage of the DC power after clutter is filtered out; The three-phase inverter unit is connected to the DC support unit and the control module, and is used to receive the driving instruction and operate according to the working phase corresponding to the driving instruction to convert the DC power into the three-phase AC power.

4. The control device according to claim 3, wherein: The control module further includes: an operating power acquisition unit, configured to acquire the operating power of each of the driving modules according to the first quantity and the third quantity; The driving instruction output unit is further configured to output the driving instruction of each target driving module according to the working phase and the working power.

5. The control device according to claim 3, wherein: The control module further includes: a faulty module screening unit, configured to screen out the driving modules in which both the first state and the second state are faulty states as faulty driving modules; The blocking instruction output unit is used to output a blocking instruction for each of the faulty driving modules, wherein the blocking instruction is used to control the faulty driving module to prohibit outputting three-phase alternating current.

6. The control device according to claim 3, wherein: Also includes: The second number of DC support modules, each of which is connected to the power battery and one of the drive modules, is used to stabilize the voltage of the DC power of the power battery.

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