Method, device, processor and vehicle for protecting a motor controller

Abstract

The application discloses a motor controller protection method and device, a processor and a vehicle. The method comprises the following steps: determining the working state of the motor controller in the vehicle; in response to the working state being an abnormal state, determining the rotating speed of the motor controller, wherein the abnormal state is used for representing that the motor controller is disconnected from the motor control of the vehicle; based on the rotating speed and the bus voltage of the bus capacitor connected with the motor controller, controlling the vehicle to enter a protection mode; and based on the protection mode, protecting the motor controller. The application solves the technical problem that the motor controller cannot be protected.

Description

Technical Field

[0001] This invention relates to the field of motor controller technology, and more specifically, to a protection method, device, processor, and vehicle for a motor controller. Background Technology

[0002] Currently, when the motor controller detects a high voltage undervoltage, it will disconnect the control of the motor. This will generate a large back electromotive force, which will then flow back into high-voltage components such as the bus capacitor, causing high-voltage damage to the high-voltage components.

[0003] To address the aforementioned issues, relevant technologies typically involve the motor controller entering an active short-circuit mode (a type of protection mode) after the high voltage is disconnected to suppress excessive back EMF. However, when the motor controller experiences simultaneous power supply anomalies, software malfunctions, or faults in the lower or upper three-bridge power switching transistors, this safety mode cannot be implemented, resulting in a technical problem of being unable to protect the motor controller.

[0004] There is currently no effective solution to the aforementioned technical problem of the inability to protect the motor controller. Summary of the Invention

[0005] This invention provides a method, apparatus, processor, and vehicle for protecting a motor controller, thereby at least solving the technical problem of the inability to protect the motor controller.

[0006] According to one aspect of the invention, a protection method for a motor controller is provided. The method may include: determining the operating state of the motor controller in a vehicle; determining the rotational speed of the motor controller in response to an abnormal operating state, wherein the abnormal state indicates that the motor controller has disconnected its motor control over the vehicle; controlling the vehicle to enter a protection mode based on the rotational speed and the bus voltage of a bus capacitor in the vehicle, wherein the bus capacitor is connected to the motor controller; and protecting the motor controller based on the protection mode.

[0007] Optionally, based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, the vehicle is controlled to enter a protection mode, including: comparing the rotational speed with a rotational speed threshold to obtain a first comparison result; comparing the bus voltage with a voltage threshold to obtain a second comparison result; and determining the protection mode based on the first comparison result and the second comparison result.

[0008] Optionally, based on the first comparison result and the second comparison result, the protection mode is determined, including: in response to the first comparison result being that the rotational speed is greater than or equal to a rotational speed threshold and the second comparison result being that the bus voltage is greater than or equal to a voltage threshold, determining the protection mode as an active short-circuit protection mode and performing active discharge on the motor controller; or in response to the first comparison result being that the rotational speed is less than a rotational speed threshold and the second comparison result being that the bus voltage is greater than or equal to a voltage threshold, determining the protection mode as an open-circuit protection mode and performing active discharge on the motor controller.

[0009] Optionally, the method further includes: in response to the protection mode being an active short-circuit protection mode and performing active discharge on the motor controller, determining the fault state of the upper bridge arm and the fault state of the lower bridge arm in the power module, wherein the power module is connected to the motor controller; and determining the control data of the upper bridge arm and the lower bridge arm based on the fault state of the upper bridge arm and the fault state of the lower bridge arm.

[0010] Optionally, based on the fault state, control data for the upper and lower bridge arms are determined, including any one of the following: In response to the fault state of the upper bridge arm being fault-existing and the fault state of the lower bridge arm being fault-free, the control data is determined as first control data, wherein the first control data characterizes the execution of an active short-circuit protection mode on the lower bridge arm and a weak conduction discharge mode on the upper bridge arm; In response to the fault state of the lower bridge arm being fault-existing and the fault state of the upper bridge arm being fault-free, the control data is determined as second control data, wherein the second control data characterizes the execution of an active short-circuit protection mode on the upper bridge arm and a weak conduction discharge mode on the lower bridge arm; In response to the fault state of both the upper and lower bridge arms being fault-existing, the control data is determined as third control data, wherein the third control data characterizes the execution of passive discharge to the motor controller; In response to the fault state of both the upper and lower bridge arms being fault-free, the control data is determined as fourth control data, wherein the fourth control data characterizes the execution of active discharge to the motor controller.

[0011] Optionally, the target power supply is a power supply with an on-state voltage lower than the on-state voltage threshold. The weak conduction discharge mode performed on the upper bridge arm includes: in response to receiving a discharge control signal, selecting the target power supply to perform weak conduction discharge on the upper bridge arm; the weak conduction discharge mode performed on the lower bridge arm includes: in response to receiving a discharge control signal, selecting the target power supply to perform weak conduction discharge on the lower bridge arm.

[0012] According to one aspect of the present invention, a protection device for a motor controller is provided. The device may include: a first determining unit for determining the operating state of the motor controller in a vehicle; a second determining unit for determining the rotational speed of the motor controller in response to an abnormal operating state, wherein the abnormal state indicates that the motor controller has disconnected its motor control over the vehicle; a control unit for controlling the vehicle to enter a protection mode based on the rotational speed and the bus voltage of a bus capacitor in the vehicle, wherein the bus capacitor is connected to the motor controller; and a protection unit for protecting the motor controller based on the protection mode.

[0013] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the protection method of the motor controller according to the embodiments of the present invention.

[0014] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program executes the protection method of the motor controller according to the embodiments of the present invention.

[0015] According to another aspect of the present invention, a vehicle is also provided. This vehicle is used to execute the protection method of the motor controller according to the embodiments of the present invention.

[0016] In this embodiment of the invention, the operating state of the motor controller in the vehicle is determined; in response to an abnormal operating state, the rotational speed of the motor controller is determined, wherein the abnormal state indicates that the motor controller has disconnected its control over the vehicle's motor; based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, the vehicle is controlled to enter a protection mode, wherein the bus capacitor is connected to the motor controller; based on the protection mode, the motor controller is protected. In other words, this embodiment of the invention can determine the operating state of the motor controller in the vehicle. If the operating state of the motor controller indicates that the motor controller has disconnected its control over the vehicle's motor, the rotational speed of the motor controller at this time is determined, and based on this rotational speed and the bus voltage of the bus capacitor in the vehicle, the vehicle is controlled to enter a protection mode to achieve the purpose of protecting the motor controller. This solves the technical problem of not being able to protect the motor controller and achieves the technical effect of being able to protect the motor controller. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0018] Figure 1 This is a flowchart of a protection method for a motor controller according to an embodiment of the present invention;

[0019] Figure 2 This is a flowchart of another protection method for a motor controller according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of the normal discharge condition of a motor controller according to an embodiment of the present invention;

[0021] Figure 4 This is a schematic diagram of a discharge situation where a fault occurs in one phase bridge arm according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of a discharge situation where a two-phase bridge arm fails according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of a discharge situation when a three-phase bridge arm fails, according to an embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of a low-conduction high-voltage discharge circuit according to an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of a protection device for a motor controller according to an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] According to an embodiment of the present invention, a protection method for a motor controller is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0030] The protection method for the motor controller according to an embodiment of the present invention will be described below.

[0031] Figure 1 This is a flowchart of a protection method for a motor controller according to an embodiment of the present invention, such as... Figure 1 As shown, the method may include the following steps:

[0032] Step S101: Determine the operating status of the motor controller in the vehicle.

[0033] In the technical solution provided by step S101 of the present invention, the operating state of the motor controller in the vehicle can be determined. The operating state of the motor controller can include a normal state or an abnormal state. A normal state indicates that the motor controller can operate normally, while an abnormal state indicates that the motor controller cannot operate normally, or that the motor controller has disconnected its control over the vehicle's motors, etc. It should be noted that this is only an example and does not specifically limit the operating state of the motor controller.

[0034] For example, to ensure high-voltage safety, a vehicle will immediately cut off the high-voltage power in the event of a collision, disconnecting the high-voltage battery from other high-voltage components. When the motor controller detects a high-voltage undervoltage, it will disconnect control of the motor. If the motor controller disconnects control of the vehicle motor, it can be determined that the motor controller is operating abnormally. If no disconnection is detected, the motor controller is operating normally.

[0035] Step S102: In response to an abnormal operating state, determine the rotational speed of the motor controller, wherein the abnormal state is used to characterize the motor controller disconnecting from the motor control of the vehicle.

[0036] In the technical solution provided by step S102 of the present invention, after determining the working state of the motor controller in the vehicle, if the working state is an abnormal state, the rotational speed of the motor controller can be determined. The rotational speed of the motor controller can be the actual rotational speed of the motor controller, or it can be used to characterize the actual rotational speed of the motor, or simply referred to as the motor's rotational speed.

[0037] For example, if the motor controller is not disconnected from the vehicle's motor control at this time, it can be determined that the motor controller's operating state is abnormal. When the motor controller is in an abnormal state, the motor will generate a large back electromotive force, which will then flow back into high-voltage components such as the bus capacitor, causing damage to the high-voltage components. To solve the above problem, when the motor controller disconnects from the vehicle's motor control and its operating state is determined to be abnormal, the actual speed of the motor controller can be determined. Based on the obtained speed and the bus voltage of the bus capacitor in the vehicle, the vehicle can be controlled to enter a protection mode, thereby achieving the technical effect of protecting the motor controller.

[0038] Step S103: Based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, control the vehicle to enter the protection mode, wherein the bus capacitor is connected to the motor controller.

[0039] In the technical solution provided by step S103 of the present invention, after determining the rotational speed of the motor controller, the vehicle can be controlled to enter a protection mode based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, thereby achieving the purpose of controlling the motor controller. The protection mode can be called a safety mode, and may include Active Short Circuit (ASC) mode and Open Circuit (OC) mode, which can be used to protect the vehicle. The Active Short Circuit protection mode can be simply referred to as the Active Short Circuit mode.

[0040] Optionally, by comparing the obtained motor controller speed with the speed threshold and comparing the bus voltage of the bus capacitor with the voltage threshold, the vehicle can be controlled to enter the corresponding protection mode, so as to achieve the technical effect of protecting the motor controller.

[0041] For example, the comparison between the motor's speed and its speed threshold, and the comparison between the bus voltage of the bus capacitor and its voltage threshold, can determine whether the vehicle needs to enter the corresponding protection mode. It should be noted that this is merely an example and does not specify the exact method or process for controlling the vehicle to enter protection mode.

[0042] Step S104: Based on the protection mode, protect the motor controller.

[0043] In the technical solution provided by step S104 of the present invention, after the vehicle is controlled to enter the protection mode, the motor controller can be protected based on the protection mode.

[0044] Optionally, after determining the operating state of the motor controller in the vehicle, if the operating state is abnormal, the rotational speed of the motor controller is determined. Based on the comparison result of the obtained rotational speed with the rotational speed threshold and the comparison result of the bus voltage of the bus capacitor with the voltage threshold, the vehicle can be controlled to enter different protection modes. By executing the protection mode, the motor controller is protected to ensure the safety of the hardware devices in the circuit.

[0045] In this embodiment of the invention, since the bus voltage of the bus capacitor is not considered, there is a problem of low efficiency in protecting the motor controller. Therefore, this invention considers comparing the motor speed with a speed threshold and comparing the bus voltage of the bus capacitor with a voltage threshold to determine the corresponding protection mode for the vehicle and control the vehicle to enter the corresponding protection mode to protect the motor controller. This method allows for more precise protection of the motor controller under different conditions, thereby improving the technical effect of protecting the motor controller.

[0046] In steps S101 to S104 of this invention, the operating state of the motor controller in the vehicle is determined; in response to an abnormal operating state, the rotational speed of the motor controller is determined, wherein the abnormal state indicates that the motor controller has disconnected its control over the vehicle's motor; based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, the vehicle is controlled to enter a protection mode, wherein the bus capacitor is connected to the motor controller; and based on the protection mode, the motor controller is protected. In other words, this embodiment of the invention can determine the operating state of the motor controller in the vehicle. If the operating state of the motor controller indicates that it has disconnected its control over the vehicle's motor, the rotational speed of the motor controller is determined at this time, and based on this rotational speed and the bus voltage of the bus capacitor in the vehicle, the vehicle is controlled to enter a protection mode to achieve the purpose of protecting the motor controller. This solves the technical problem of not being able to protect the motor controller and achieves the technical effect of being able to protect the motor controller.

[0047] The method described in this embodiment will be further described below.

[0048] As an optional embodiment, step S103, controlling the vehicle to enter a protection mode based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, includes: comparing the rotational speed with a rotational speed threshold to obtain a first comparison result; comparing the bus voltage with a voltage threshold to obtain a second comparison result; and determining a protection mode based on the first comparison result and the second comparison result.

[0049] In this embodiment, the operating state of the motor controller in the vehicle can be determined. If the operating state is abnormal, the rotational speed of the motor controller can be determined, and then compared with a rotational speed threshold to obtain a first comparison result. Furthermore, the bus voltage of the bus capacitor can be compared with a voltage threshold to obtain a second comparison result. Based on the obtained first and second comparison results, the protection mode for the motor controller can be determined.

[0050] Optionally, the motor controller's rotational speed is compared with a speed threshold to obtain a first comparison result, and the bus voltage of the bus capacitor is compared with a voltage threshold to obtain a second comparison result. Based on the first and second comparison results, a protection mode for the motor controller is determined to achieve the purpose of protecting the motor controller.

[0051] It should be noted that the method for determining the protection mode based on the first comparison result and the second comparison result is only a preferred embodiment of the method for determining the protection mode. The method and process for determining the protection mode are not specifically limited. Any protection mode determined by comparing the motor speed and the speed threshold with the bus voltage and the voltage threshold of the bus capacitor is within the protection scope of the present invention. They will not be listed here.

[0052] As an optional embodiment, the protection mode is determined based on the first comparison result and the second comparison result, including: in response to the first comparison result being that the rotational speed is greater than or equal to a rotational speed threshold and the second comparison result being that the bus voltage is greater than or equal to a voltage threshold, determining the protection mode as an active short-circuit protection mode and performing active discharge on the motor controller; or in response to the first comparison result being that the rotational speed is less than a rotational speed threshold and the second comparison result being that the bus voltage is greater than or equal to a voltage threshold, determining the protection mode as an open-circuit protection mode and performing active discharge on the motor controller.

[0053] In this embodiment, comparing the motor controller's rotational speed with a rotational speed threshold yields a first comparison result. Comparing the bus voltage of the bus capacitor with a voltage threshold yields a second comparison result. If the first comparison result indicates that the rotational speed is greater than or equal to the rotational speed threshold, and the second comparison result indicates that the bus voltage is greater than or equal to the voltage threshold, then the protection mode is determined to be active short-circuit protection mode, and active discharge is performed on the motor controller. If the first comparison result indicates that the rotational speed is less than the rotational speed threshold, and the second comparison result indicates that the bus voltage is greater than or equal to the voltage threshold, then the protection mode is determined to be open-circuit protection mode, and active discharge is performed on the motor controller.

[0054] For example, when a fault is detected in the motor controller, the motor controller's speed and speed threshold, bus voltage and voltage threshold are judged. If the speed exceeds the speed threshold and the bus voltage is higher than the voltage threshold, the vehicle's active short-circuit mode and active fast discharge function are activated to release high voltage while reducing the speed, until the speed is lower than the speed threshold and the bus voltage is lower than the voltage threshold, thereby ensuring the safety of the hardware equipment.

[0055] For another example, when judging the motor speed and speed threshold, bus voltage and voltage threshold, if the actual motor speed is lower than the speed threshold and the bus voltage is higher than the voltage threshold, the vehicle will start the uncontrolled rectification mode (i.e., open circuit protection mode) and active fast discharge function to reduce the speed while releasing high voltage until the speed is lower than the speed threshold and the bus voltage is lower than the voltage threshold, thereby ensuring the safety of the hardware equipment.

[0056] As an optional embodiment, the method further includes: in response to the protection mode being an active short-circuit protection mode and performing active discharge on the motor controller, determining the fault state of the upper bridge arm and the fault state of the lower bridge arm in the power module, wherein the power module is connected to the motor controller; and determining control data for the upper bridge arm and the lower bridge arm based on the fault states of the upper bridge arm and the lower bridge arm.

[0057] In this embodiment, if the motor speed is greater than or equal to a speed threshold and the bus voltage is greater than or equal to a voltage threshold, the protection mode is determined to be an active short-circuit protection mode, and active discharge is performed on the motor controller. When the protection mode is active short-circuit protection mode and active discharge is performed on the motor controller, the fault states of the upper and lower bridge arms in the power module can be determined. Based on the fault states of the upper and lower bridge arms, control data for controlling the upper and lower bridge arms is determined to achieve the purpose of controlling the upper and lower bridge arms. The power module may include three upper bridge arms and three lower bridge arms, which can be connected to the motor controller and can also be called an Insulated Gate Bipolar Transistor (IGBT) module. The power module may also include three phases, such as U-phase, V-phase, and W-phase. The U-phase may include one upper bridge arm and one lower bridge arm, the V-phase may also include one upper bridge arm and one lower bridge arm, and the W-phase may include one upper bridge arm and one lower bridge arm. Insulated gate bipolar transistors may be included in the upper and lower bridge arms. This is merely an example and does not specify the form or contents of the power module.

[0058] For example, when executing the safety mode (ASC or OC) and active discharge function, it is necessary to read the fault status of the upper and lower arms in the IGBT module. Based on the fault status of the upper and lower arms in the IGBT module, the control data of the upper and lower arms is determined, thereby achieving the technical effect of controlling the upper or lower arms.

[0059] As an optional embodiment, control data for the upper and lower bridge arms is determined based on the fault state, including any one of the following: In response to a fault state in the upper bridge arm being present and a fault state in the lower bridge arm being absent, the control data is determined as first control data, wherein the first control data characterizes the execution of an active short-circuit protection mode on the lower bridge arm and a weak conduction discharge mode on the upper bridge arm; In response to a fault state in the lower bridge arm being present and a fault state in the upper bridge arm being absent, the control data is determined as second control data, wherein the second control data characterizes the execution of an active short-circuit protection mode on the upper bridge arm and a weak conduction discharge mode on the lower bridge arm; In response to a fault state in both the upper and lower bridge arms being present, the control data is determined as third control data, wherein the third control data characterizes the execution of passive discharge to the motor controller; In response to a fault state in both the upper and lower bridge arms being absent, the control data is determined as fourth control data, wherein the fourth control data characterizes the execution of active discharge to the motor controller.

[0060] In this embodiment, if the protection mode is active short-circuit protection mode, and active discharge is performed on the motor controller, the fault status of the upper and lower bridge arms in the power module can be determined. When the fault status of the upper bridge arm is "fault present" and the fault status of the lower bridge arm is "no fault present," the control data can be determined as the first control data, so that active short-circuit protection mode can be performed on the lower bridge arm, and weak conduction discharge mode can be performed on the upper bridge arm. The first control data can be pre-set control data, which can be used to characterize the execution of active short-circuit protection mode on the lower bridge arm and weak conduction discharge mode on the upper bridge arm.

[0061] For example, when executing the safety mode and active discharge function, it is necessary to read the fault status of the upper and lower arms in the IGBT module. The IGBT module may include three upper arms and three lower arms. If one upper arm of the IGBT module is faulty, while the other two upper arms are not faulty, and all three lower arms are fault-free, then any one of the three lower arms can be selected to execute the active short-circuit protection mode, and any one of the other two fault-free upper arms can execute the weak conduction discharge mode. This allows a complete circuit loop to be formed with other hardware devices, achieving the purpose of protecting the motor control. It should be noted that this is only an example and does not specify a concrete limit on the number of faulty upper arms.

[0062] In this embodiment, if the protection mode is active short-circuit protection mode, and active discharge is performed on the motor controller, the fault status of the upper and lower bridge arms in the power module can be determined. If the fault status of the lower bridge arm is present, and the fault status of the upper bridge arm is not present, then the control data can be determined as the second control data, so that active short-circuit protection mode is performed on the upper bridge arm, and weak conduction discharge mode is performed on the lower bridge arm. The second control data can be pre-set control data, which can be used to characterize the execution of active short-circuit protection mode on the upper bridge arm and weak conduction discharge mode on the lower bridge arm.

[0063] For example, when executing the safety mode and active discharge function, the fault status of the upper and lower arms in the IGBT module can be read. The IGBT module may include three upper arms and three lower arms. If one lower arm of the IGBT module is faulty, while the other two lower arms are not faulty, and all three upper arms are fault-free, then one of the three upper arms can be selected to execute the active short-circuit protection mode, and one of the fault-free lower arms can be selected to execute the weak conduction discharge mode. This allows a complete circuit to be formed with other hardware devices to protect the motor controller. This is merely an example and does not specify a concrete limit on the number of faults in the lower arms.

[0064] In this embodiment, if the protection mode is active short-circuit protection mode and active discharge is performed on the motor controller, the fault status of the upper and lower bridge arms in the power module can be determined. When both the upper and lower bridge arms are faulty, the control data can be determined as third control data, so that passive discharge can be performed on the motor controller. The third control data can be pre-set control data, which can be used to characterize the passive discharge performed on the motor controller.

[0065] For example, if both the upper and lower arms of the IGBT module fail, preventing the execution of discharge and safety modes, the hardwired connection between the inverter and the motor needs to be disconnected to allow passive discharge to the motor controller. In this case, the back EMF generated by the high-speed permanent magnet synchronous motor will not affect the high-voltage components, and short circuits or open circuits in the inverter will not affect the motor. Disconnecting the hardwired connection between the inverter and the motor can be achieved by blowing a fuse, a relay, or blowing the copper busbar. This is merely an example and does not specify the exact method for disconnecting the hardwired connection between the inverter and the motor.

[0066] In this embodiment, if the fault state of the upper bridge arm is "no fault," and the fault state of the upper bridge arm is "no fault," then the control data can be determined as the fourth control data, so as to perform active discharge on the motor controller. The fourth control data can be used to characterize the active discharge of the motor controller.

[0067] For example, when the high-voltage battery is powered off normally, the motor controller is fault-free, and neither the upper nor lower bridge arm is faulty, the motor controller can perform the rapid discharge function normally. That is, the upper and lower bridge arms are each connected by a power switch to enable the discharge function.

[0068] Optionally, under fault-free conditions (faults include abnormal power supply to the motor controller, software malfunction, or one or more faults in the lower or upper three bridges of the power switch), active discharge can be achieved through the motor controller under normal or abnormal high voltage conditions. This can be achieved by alternately closing one switch in the upper bridge arm and one switch in the lower bridge arm of the three-phase six-switch system, while the other four switches are closed. The closed switches in both the upper and lower bridge arms form a circuit with the motor windings for active discharge. This control method avoids a shoot-through short circuit caused by the simultaneous conduction (i.e., simultaneous opening) of the switches in both the upper and lower bridge arms. The alternation aims to prevent certain switches from operating for extended periods, which could reduce their lifespan.

[0069] Optionally, when a fault occurs in the power module, it is necessary to determine which bridge arm the fault occurs in. If it occurs in the upper bridge arm, the lower bridge arm performs ASC (Automatic Suppression) and the upper bridge arm's switching transistor performs weak conduction discharge. The switch performing weak conduction needs to exclude the faulty switching transistor and use other normal switching transistors for discharge. Performing weak conduction discharge on the upper bridge arm can also involve converting the gate drive voltage of the upper bridge arm to a smaller turn-on voltage. For example, after performing weak conduction discharge on the upper bridge arm, the gate drive voltage of the upper bridge arm can be 9 volts. This is only an example and not a specific limitation.

[0070] For example, if one or two switches in phase V fail, phase V is not used for discharge; phases U and W are used for alternating conduction discharge. If one or two switches in phases U and V fail, phases U and V are not used for discharge; only phase W is used for conduction discharge. If three phase arms fail simultaneously, discharge can only be performed through a passive discharge unit, and the passive discharge time is relatively long. After a 5-minute rest period, the high voltage needs to be checked. If the detected voltage is below 60 volts, the faulty arm needs to be repaired.

[0071] As an optional embodiment, the target power supply is a power supply with an on-state voltage lower than the on-state voltage threshold. The weak conduction discharge mode performed on the upper bridge arm includes: in response to receiving a discharge control signal, selecting the target power supply to perform weak conduction discharge on the upper bridge arm; the weak conduction discharge mode performed on the lower bridge arm includes: in response to receiving a discharge control signal, selecting the target power supply to perform weak conduction discharge on the lower bridge arm.

[0072] In this embodiment, when the target power supply has a turn-on voltage lower than the turn-on voltage threshold, a weak conduction discharge mode can be executed on either the upper or lower bridge arm. After receiving the discharge control signal, the target power supply can be selected to perform weak conduction discharge on either the upper or lower bridge arm. For example, the voltage of the target power supply can be 9V. The discharge control signal can be a pulse width modulation (PWM) signal.

[0073] Optionally, in the normal drive mode (drive modes other than weak conduction), the upper and lower bridge arms can be powered by a normal power supply. In this mode, the IGBT module is fully turned on with minimal conduction loss. Therefore, in this embodiment, the turn-on voltage of the normal power supply is approximately +15V, while the turn-on voltage used in the weak conduction discharge mode is approximately +9V or lower. Upon receiving a discharge control signal generated by the control unit, an upper bridge arm or a lower bridge arm and a power supply with a turn-on voltage of approximately +9V or lower can be selected, and the selected upper or lower bridge arm can be connected to that power supply to execute the weak conduction discharge mode.

[0074] For example, when executing the weak conduction discharge mode, the control unit generates a discharge PWM signal. The power supply in weak conduction discharge mode can then be selected to power one of the upper or lower bridge arms, while the other bridge arm is connected to the normal power supply, meaning it operates in full conduction mode. In this weak conduction discharge mode, the power supply's turn-on voltage is approximately +9V or lower. At this time, one bridge arm (upper or lower) operates in full conduction mode, meaning it is connected to a power supply with a turn-on voltage of approximately +15V. The other bridge arm (upper or lower) operates in the linear amplification region, meaning it is connected to a power supply with a turn-on voltage of approximately +9V or lower. In this case, the conduction current of this bridge arm is small, and the loss is low; therefore, this bridge arm can be considered to be operating in the weak conduction region, with an extremely short conduction time, typically within 8 microseconds (µs). Through multiple weak conductions, the high voltage on the DC bus capacitor can be discharged, thus protecting the bus capacitor, motor controller, and other hardware from damage.

[0075] In this embodiment, the operating state of the motor controller in the vehicle can be determined. If the operating state of the motor controller is that the motor controller disconnects the motor control of the vehicle, the rotational speed of the motor controller at this time is determined. Based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, the vehicle is controlled to enter the protection mode to achieve the purpose of protecting the motor controller. This solves the technical problem of not being able to protect the motor controller and achieves the technical effect of being able to protect the motor controller.

[0076] Example 2

[0077] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0078] In related technologies, when a motor controller detects a high voltage undervoltage, it disconnects control of the motor. This generates a large back EMF, which flows back into high-voltage components such as the bus capacitor, causing high-voltage damage to these components. To address this issue, after the high voltage is disconnected, the motor controller enters an active short-circuit mode (a type of protection mode) to suppress excessive back EMF. However, if the motor controller simultaneously experiences power supply abnormalities, software malfunctions, or faults in the lower or upper three-bridge power switching transistors, the aforementioned safety mode cannot be implemented, resulting in a technical problem where the motor controller cannot be protected.

[0079] In one possible implementation, a method for discharging a motor controller and its high-voltage bus capacitor is proposed. This method includes the following steps: the motor controller enters a discharge mode; an initial voltage is applied to the motor controller, wherein the initial voltage includes a quadrature-axis voltage and a direct-axis voltage; a target switch to be turned on in the three-phase bridge of the motor controller is determined based on the motor rotor position; the turn-on time of the target switch is determined based on the sampled DC bus voltage, quadrature-axis voltage, and direct-axis voltage; and the target switch is turned on according to the turn-on time to discharge the high-voltage bus capacitor through the target path formed between the three-phase bridge and the motor. However, this method still has the technical problem of failing to protect the motor controller.

[0080] Therefore, in order to solve the above problems, the present invention provides a protection method for a motor controller. The method involves determining the operating state of the motor controller in the vehicle. If the operating state of the motor controller is characterized by the motor controller disconnecting the motor control of the vehicle, the rotational speed of the motor controller at this time is determined. Based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, the vehicle is controlled to enter a protection mode to achieve the purpose of protecting the motor controller. This solves the technical problem of not being able to protect the motor controller and achieves the technical effect of being able to protect the motor controller.

[0081] Figure 2 This is a flowchart of another protection method for a motor controller according to an embodiment of the present invention, such as... Figure 2 As shown, the method may include the following steps:

[0082] Step S201: Monitor that the high-voltage battery has been disconnected from other high-voltage components.

[0083] In this embodiment, when it is detected that the high-voltage battery has been disconnected from other high-voltage components, a protective operation needs to be performed on the motor controller in the vehicle.

[0084] For example, to ensure high-voltage safety, new energy vehicles typically shut down the high voltage immediately upon a collision or other malfunction, disconnecting the high-voltage battery from other high-voltage components. When the motor controller detects a voltage undervoltage, it disconnects control of the motor, indicating an abnormal operating state. However, the permanent magnet synchronous motor does not stop rotating; instead, it generates a large back electromotive force, which flows back into high-voltage components such as the bus capacitor, causing damage. Therefore, in this embodiment, when the motor controller experiences power supply abnormalities, software malfunctions, or simultaneous failures in the lower or upper three bridges of the power switch, it is possible to first monitor whether the high-voltage battery has been disconnected from other high-voltage components before performing corresponding protection operations on the motor controller.

[0085] Step S202: Whether the actual speed of the motor is greater than or equal to the speed threshold, and whether the bus voltage is greater than the voltage threshold.

[0086] In this embodiment, it is determined whether the motor controller's rotational speed is greater than or equal to a rotational speed threshold and whether the bus voltage is greater than a voltage threshold. If the rotational speed is greater than or equal to the rotational speed threshold and the bus voltage is greater than the voltage threshold, then step S203 is executed. If the rotational speed is less than the rotational speed threshold and the bus voltage is greater than the voltage threshold, then step S204 is executed. The rotational speed of the motor controller can be used to characterize the motor's rotational speed.

[0087] Step S203: Activate active short-circuit mode.

[0088] In this embodiment, if the motor speed is greater than or equal to the speed threshold and the bus voltage is greater than the voltage threshold, the active short-circuit mode is activated, and the active fast discharge function is activated at the same time to discharge high voltage while reducing the speed, until the motor speed is lower than the speed threshold and the bus voltage is lower than the voltage threshold, thereby ensuring the safety of the motor controller.

[0089] Step S204: Activate open circuit protection mode.

[0090] In this embodiment, if the motor speed is less than the speed threshold and the bus voltage is greater than the voltage threshold, the open circuit protection mode is activated, and the active fast discharge function is activated at the same time to reduce the speed while releasing the high voltage until the speed is lower than the speed threshold and the bus voltage is lower than the voltage threshold, thereby ensuring the safety of the motor controller.

[0091] Step S205: Check if the insulated gate bipolar transistor in the IGBT module is faulty.

[0092] In this embodiment, when executing the safety mode and active discharge function, the fault status of the insulated gate bipolar transistor in the IGBT module is first read. If the insulated gate bipolar transistor is not faulty, step S206 is executed; if the insulated gate bipolar transistor is faulty, step S207 is executed.

[0093] Step S206: When the insulated gate bipolar transistor in the IGBT module is not faulty, the motor controller normally performs the fast discharge function.

[0094] In this embodiment, the IGBT module may include three upper bridge arms and three lower bridge arms, and each upper bridge arm and each lower bridge arm may be composed of an insulated-gate bipolar transistor. When the high-voltage battery is normally powered down and the motor controller is fault-free, the motor controller normally performs the rapid discharge function. Figure 3 This is a schematic diagram of the normal discharge condition of a motor controller according to an embodiment of the present invention, as shown below. Figure 3 As shown, the vehicle may include a high-voltage relay 301, a high-voltage power supply 302, a DC bus capacitor 303, a power module 304, and a motor 305. The power module 304 includes a U-phase, a V-phase, and a W-phase. The U-phase may include an upper axle arm and a lower axle arm, the V-phase may also include an upper axle arm and a lower axle arm, and the W-phase may include an upper axle arm and a lower axle arm. Figure 3 In this context, 0 indicates the high-voltage side is off, and 1 indicates the high-voltage side is on. Figure 3 As can be seen, when the motor controller is fault-free, any one upper bridge arm and one lower bridge arm can be selected to achieve circuit conduction, so as to achieve the purpose of discharging the motor controller. That is, when the motor controller is fault-free, the circuit can be conducted through the upper bridge arm of the U phase, the motor and the lower bridge arm of the V phase. For example, the discharge function can be achieved through the content indicated by the arrow.

[0095] Optionally, under fault-free conditions (faults include abnormal power supply, software malfunction, or simultaneous failure of one or more of the three power switch bridges in the lower or upper three bridges), active discharge can be achieved through the motor controller under normal or abnormal high voltage conditions. This can be achieved by alternately closing one switch in the upper bridge arm and one switch in the lower bridge arm of the three-phase six-switch system, while the other four switches are closed. The closed switches in both the upper and lower bridge arms form a circuit with the motor windings for active discharge. This control method avoids a shoot-through short circuit that would occur if the switches in both the upper and lower bridge arms were simultaneously turned on (i.e., simultaneously opened). The alternation aims to prevent certain switches from operating for extended periods, thus reducing their lifespan.

[0096] Step S207: When the insulated gate bipolar transistor in the IGBT module fails, the corresponding protection operation is executed.

[0097] In this embodiment, the IGBT module may include three upper bridge arms and three lower bridge arms, and each upper bridge arm and each lower bridge arm may be composed of an insulated gate bipolar transistor. If an upper bridge arm is faulty and a lower bridge arm is not faulty, an active short circuit is performed using any one of the lower bridge arms, and a weak conduction fast discharge is performed using any one of the fault-free upper bridge arms. If both the upper and lower bridge arms in the IGBT module are faulty, the discharge and safety mode cannot be executed. In this case, the hard-wired connection between the inverter and the motor can be disconnected. In this situation, the back EMF generated by the high speed of the permanent magnet synchronous motor will not affect the high-voltage components, and the short circuit or open circuit of the inverter will not affect the motor. The methods for disconnecting the hard-wired connection between the inverter and the motor may include blowing a fuse, disconnecting a relay, or blowing a copper busbar.

[0098] Optionally, when a fault occurs in the power module (hereinafter referred to as IGBT module), it is necessary to determine which bridge arm the fault occurs in. If it occurs in the upper bridge arm, then any lower bridge arm is selected to perform ASC, and any upper bridge arm without fault is selected to perform weak conduction discharge. That is, the switch performing weak conduction needs to remove the faulty switch and use other normal switches to discharge.

[0099] In this embodiment, Figure 4 This is a schematic diagram of a discharge situation where a fault occurs in one phase bridge arm according to an embodiment of the present invention, as shown below. Figure 4 As shown, the vehicle may include: a high-voltage relay 401, a high-voltage power supply 402, a DC bus capacitor 403, a power module 404, and a motor 405. The turn-on voltage Vge2 represents the gate drive voltage of the upper bridge arm (i.e., the turn-on voltage of the upper bridge arm of phase U). "×" can be used to indicate a fault in the switch transistor; 0 indicates the high-voltage side is off, and 1 indicates the high-voltage side is on.

[0100] Optionally, if one or both switches in phase V fail, phase V is not used for discharge. Instead, phases U and W are used for alternating conduction and discharge. For example, if the upper arm of phases V and W fails, phase U can be used to turn on the switch (as shown in the circuit indicated by the arrow) to discharge the circuit.

[0101] In this embodiment, Figure 5 This is a schematic diagram of a discharge situation where a two-phase bridge arm fails according to an embodiment of the present invention, as shown below. Figure 5 As shown, when two phases of the upper and lower bridge arms fail, this schematic diagram may include: a high-voltage relay 501, a high-voltage power supply 502, a DC bus capacitor 503, a power module 504, and a motor 505. Here, the turn-on voltage Vge2 represents the gate drive voltage of the upper bridge arm (i.e., the turn-on voltage of the upper bridge arm of phase W), "×" indicates a fault in the switching transistor, 0 indicates the high-voltage side is off, and 1 indicates the high-voltage side is on.

[0102] Optionally, if two phases of the upper and lower bridge arms fail, it is necessary to determine which two phases are faulty and discharge them using the two switches of the remaining single phase. If both upper and lower bridge arms are normally conducting, a transient large current may burn out the switches. In this case, a small current needs to be generated in the circuit of the switching device to discharge the high voltage of the bus capacitor (i.e., a weak conduction discharge mode is executed on the switching device).

[0103] Optionally, such as Figure 5As shown, if one or both of the switches in phases U and V fail, phases U and V are not used for discharge; only phase W is used for conduction discharge (as indicated by the arrow). This allows the lower bridge arm of phase W to conduct, transforming the gate drive voltage Vge2 of the upper bridge arm into a smaller voltage value, i.e., Vth < Vge2 < Vge1. Here, Vge1 is the normal turn-on voltage (typically around +15V in IGBT modules), and Vth is the turn-on voltage (typically around +4V in IGBT modules). The smaller Vge2 is, the smaller the conduction current (IC). Limiting IC to a small value prevents excessive heat from burning out the device, thus ensuring the safety of the hardware in the IGBT module.

[0104] In this embodiment, Figure 6 This is a schematic diagram of a discharge situation when a three-phase bridge arm fails according to an embodiment of the present invention, as shown below. Figure 6 As shown, the vehicle may include: a high-voltage relay 601, a high-voltage power supply 602, a passive discharge unit 603, a DC bus capacitor 604, a power module 605, and a motor 606. Here, "×" indicates that the switch tube has failed, 0 indicates that the high-voltage side is off, and 1 indicates that the high-voltage side is on.

[0105] For example, such as Figure 6 As shown, if three phases of the bridge arm fail simultaneously, the DC bus capacitor can only be discharged through the passive discharge unit (as indicated by the arrow). The passive discharge time is relatively long, and the high voltage needs to be checked after 5 minutes of rest. If the high voltage is below 60V, the faulty bridge arm needs to be repaired.

[0106] Optionally, Figure 7 This is a schematic diagram of a low-conduction high-voltage discharge circuit according to an embodiment of the present invention, as shown below. Figure 7 As shown, the schematic diagram of the low-conduction high-voltage discharge circuit includes: a control unit 701, a power drive unit 702, a power module 703, and a DC bus capacitor 704. The control unit 701 includes a control signal generation module 7011 and a fault signal judgment module 7012. The power drive unit 702 includes power supplies 7021, 7022, and 7023, a fault diagnosis module 7024, an upper-bridge power drive module 7025, and a lower-bridge power drive module 7026.

[0107] The control signal generation module 7011 is used to perform the function of generating control signals, such as generating control signals and sending the control signals to the power drive unit.

[0108] The fault signal judgment module 7012 is used to perform the function of judging fault signals. For example, it can receive signals from the power drive unit and determine whether the signal is a fault signal.

[0109] Control unit 701 is used to send pulse width modulation signals to power drive unit.

[0110] Power supplies 7021 and 7023 are power supplies that can provide normal voltage, for example, around 15V.

[0111] The 7022 power supply is a power supply that can provide lower voltages, for example, voltages below 9V.

[0112] The upper bridge power drive module 7025 is used to perform the upper bridge power drive function.

[0113] The lower bridge power drive module 7026 is used to perform the lower bridge power drive function.

[0114] Optionally, the control unit generates a control pulse width modulation signal. In the normal drive mode (excluding weak conduction drive mode), the upper and lower bridge arms are powered by a normal power supply (turn-on voltage approximately +15V). At this time, the IGBT module is fully turned on, and the conduction loss is minimized. In the weak conduction discharge mode, the control unit generates a discharge PWM signal, and one of the upper and lower bridge arms is powered by a power supply in the weak conduction discharge mode (turn-on voltage approximately +9V or lower). At this time, the bridge arm is fully turned on, while the other bridge arm is in the linear amplification region (that is, the bridge arm is connected to a power supply with a lower turn-on voltage, such as below +9V). The IC current of the other bridge arm is small, and the loss is small, so it can be considered to be working in the weak conduction region. The conduction time is extremely short (e.g., generally within 8µs). After multiple weak conductions, the high voltage on the DC bus capacitor can be discharged.

[0115] In steps S201 to S207, when the motor controller detects a high voltage undervoltage and disconnects control of the motor, it determines that the motor controller's operating state is abnormal. At this time, it can be determined whether the actual motor speed is greater than or equal to the speed threshold and whether the bus voltage is greater than the voltage threshold. If the actual motor speed is greater than or equal to the speed threshold and the bus voltage is greater than the voltage threshold, then the active short-circuit mode is activated, and the active fast discharge function is activated simultaneously. If the motor speed is less than the speed threshold and the bus voltage is greater than the voltage threshold, then the open-circuit protection mode is activated, and the active fast discharge function is activated simultaneously to discharge voltage while reducing the speed. High voltage is released until the motor speed is below the speed threshold and the bus voltage is below the voltage threshold, thus ensuring safety. When executing active short-circuit mode, open-circuit protection mode, and active discharge function, the fault status of the insulated gate bipolar transistors in the IGBT module is first read. If the upper bridge arm is faulty and the lower bridge arm is not faulty, then any lower bridge arm is used for active short-circuiting, and any fault-free upper bridge arm is selected for weak conduction fast discharge. If the lower bridge arm is faulty and the upper bridge arm is not faulty, then any upper bridge arm is used for active short-circuiting, and any fault-free lower bridge arm is selected for weak conduction fast discharge. If all are damaged and the discharge and safety mode cannot be executed, the hard-wired connection between the inverter and the motor is disconnected. This solves the technical problem of not being able to protect the motor controller and achieves the technical effect of protecting the motor controller.

[0116] Example 3

[0117] According to an embodiment of the present invention, a protection device for a motor controller is provided. It should be noted that this protection device for the motor controller can be used to execute a protection method for a motor controller as described in Embodiment 1.

[0118] Figure 8 This is a schematic diagram of a protection device for a motor controller according to an embodiment of the present invention. Figure 8 As shown, a protection device 800 for a motor controller may include: a first determining unit 801, a second determining unit 802, a control unit 803, and a protection unit 804.

[0119] The first determining unit 801 is used to determine the operating status of the motor controller in the vehicle.

[0120] The second determining unit 802 is used to determine the speed of the motor controller in response to an abnormal operating state, wherein the abnormal state is used to characterize the motor controller disconnecting the motor control of the vehicle.

[0121] Control unit 803 is used to control the vehicle to enter protection mode based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, wherein the bus capacitor is connected to the motor controller.

[0122] Protection unit 804 is used to protect the motor controller based on protection mode.

[0123] Optionally, the control unit 803 may include: a first acquisition module for comparing the rotational speed and a rotational speed threshold to obtain a first comparison result; a second acquisition module for comparing the bus voltage with a voltage threshold to obtain a second comparison result; and a determination module for determining a protection mode based on the first comparison result and the second comparison result.

[0124] Optionally, the determining module may include: a first determining submodule, configured to determine the protection mode as active short-circuit protection mode and perform active discharge on the motor controller in response to a first comparison result that the rotational speed is greater than or equal to a rotational speed threshold and a second comparison result that the bus voltage is greater than or equal to a voltage threshold; and a second determining submodule, configured to determine the protection mode as open-circuit protection mode and perform active discharge on the motor controller in response to a first comparison result that the rotational speed is less than a rotational speed threshold and a second comparison result that the bus voltage is greater than or equal to a voltage threshold.

[0125] Optionally, the device may further include: a third determining unit, configured to determine the fault state of the upper arm and the lower arm in the power module in response to the protection mode being active short-circuit protection mode and active discharge being performed on the motor controller, wherein the power module is connected to the motor controller; and a fourth determining unit, configured to determine the control data of the upper arm and the lower arm based on the fault state of the upper arm and the lower arm.

[0126] Optionally, the fourth determining unit may include: a third determining submodule, configured to determine control data as first control data in response to a fault state of the upper arm being present and a fault state of the lower arm being absent, wherein the first control data is used to characterize the execution of an active short-circuit protection mode on the lower arm and a weak conduction discharge mode on the upper arm; and a fourth determining submodule, configured to determine control data as second control data in response to a fault state of the lower arm being present and a fault state of the upper arm being absent, wherein the second control data is used to characterize the execution of an active short-circuit protection mode on the upper arm and a weak conduction discharge mode on the upper arm. The system executes an active short-circuit protection mode and a weak conduction discharge mode on the lower bridge arm; the fifth determining submodule is used to determine the control data as the third control data in response to the fault status of both the upper and lower bridge arms, wherein the third control data is used to characterize the passive discharge of the motor controller; the sixth determining submodule is used to determine the control data as the fourth control data in response to the fault status of both the upper and lower bridge arms, wherein the fourth control data is used to characterize the active discharge of the motor controller.

[0127] Optionally, the fourth determining unit may further include: a first selection module, configured to select a target power supply to perform weak conduction discharge on the upper bridge arm in response to receiving a discharge control signal; and a second selection module, configured to execute a weak conduction discharge mode on the lower bridge arm, including: selecting a target power supply to perform weak conduction discharge on the lower bridge arm in response to receiving a discharge control signal.

[0128] In this embodiment, a first determining unit determines the operating state of the motor controller in the vehicle; a second determining unit is used to determine the rotational speed of the motor controller in response to an abnormal operating state, wherein the abnormal state indicates that the motor controller has disconnected its control over the vehicle's motor; a control unit is used to control the vehicle to enter a protection mode based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, wherein the bus capacitor is connected to the motor controller; and a protection unit is used to protect the motor controller based on the protection mode, thereby solving the technical problem of not being able to protect the motor controller and achieving the technical effect of being able to protect the motor controller.

[0129] Example 4

[0130] According to an embodiment of the present invention, a computer-readable storage medium is also provided, which includes a stored program. When the program runs, it controls the device containing the computer-readable storage medium to execute the protection method of the motor controller in Embodiment 1.

[0131] Example 5

[0132] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program executes the protection method of the motor controller in Embodiment 1 during runtime.

[0133] Example 6

[0134] According to an embodiment of the present invention, a vehicle is also provided for performing the protection method of the motor controller in Embodiment 1.

[0135] 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.

[0136] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0137] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0138] 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 units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0139] 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 unit can be implemented in hardware or as a software functional unit.

[0140] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0141] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A protection method for a motor controller, characterized in that, include: Determine the operating status of the motor controller in the vehicle; In response to the abnormal operating state, the rotational speed of the motor controller is determined, wherein the abnormal state is used to indicate that the motor controller disconnects the motor control of the vehicle; The rotational speed and the rotational speed threshold are compared to obtain a first comparison result; The bus voltage of the bus capacitor in the vehicle is compared with a voltage threshold to obtain a second comparison result, wherein the bus capacitor is connected to the motor controller; In response to the first comparison result being that the rotational speed is less than the rotational speed threshold, and the second comparison result being that the bus voltage is greater than or equal to the voltage threshold, the protection mode is determined to be open circuit protection mode, and active discharge is performed on the motor controller; In response to the first comparison result being that the rotational speed is greater than or equal to the rotational speed threshold, and the second comparison result being that the bus voltage is greater than or equal to the voltage threshold, the protection mode is determined to be an active short-circuit protection mode, and active discharge is performed on the motor controller; In response to the protection mode being the active short-circuit protection mode, and performing active discharge on the motor controller, the fault status of the upper bridge arm and the fault status of the lower bridge arm in the power module are determined, wherein the power module is connected to the motor controller; In response to the fault status of the upper bridge arm being faulty and the fault status of the lower bridge arm being faulty, the control data of the upper bridge arm and the lower bridge arm are determined to be third control data, wherein the third control data is used to characterize the passive discharge of the motor controller. In response to the fact that the fault state of the upper bridge arm is no fault, and the fault state of the upper bridge arm is no fault, the control data is determined to be the fourth control data, wherein the fourth control data is used to characterize the active discharge of the motor controller. Based on the protection mode, protecting the motor controller includes: in response to the control data being the third control data, alternately controlling one switch of the upper bridge arm and one switch of the lower bridge arm to close, while the other four switches are turned off, and the closed switches of the upper and lower bridge arms form a circuit with the motor windings for active discharge; in response to the control data being the fourth control data, performing passive discharge on the motor controller and, after a preset resting time, detecting the high voltage; if the detected high voltage is lower than a preset voltage value, then repairing the faulty bridge arm.

2. The method according to claim 1, characterized in that, The method further includes: In response to the protection mode being the active short-circuit protection mode, and performing active discharge on the motor controller, the fault status of the upper bridge arm and the fault status of the lower bridge arm in the power module are determined, wherein the power module is connected to the motor controller; The control data is determined based on the fault status of the upper arm and the fault status of the lower arm.

3. The method according to claim 2, characterized in that, The method further includes: In response to the fault status of the upper bridge arm being present and the fault status of the lower bridge arm being absent, the control data is determined to be the first control data, wherein the first control data is used to characterize the execution of the active short-circuit protection mode on the lower bridge arm and the execution of the weak conduction discharge mode on the upper bridge arm. In response to the fault status of the lower bridge arm being present and the fault status of the upper bridge arm being absent, the control data is determined to be second control data, wherein the second control data is used to characterize the execution of the active short-circuit protection mode on the upper bridge arm and the execution of the weak conduction discharge mode on the lower bridge arm.

4. The method according to claim 3, characterized in that, The target power supply is a power supply with a turn-on voltage lower than the turn-on voltage threshold, wherein executing the weak conduction discharge mode on the upper bridge arm includes: In response to receiving a discharge control signal, the target power supply is selected to perform a weak conduction discharge on the upper bridge arm; Executing the weak conduction discharge mode on the lower bridge arm includes: in response to receiving the discharge control signal, selecting the target power supply to perform weak conduction discharge on the lower bridge arm.

5. A protection device for a motor controller, characterized in that, The apparatus for performing the method according to any one of claims 1 to 4 comprises: The first determining unit is used to determine the operating status of the motor controller in the vehicle. The second determining unit is configured to determine the rotational speed of the motor controller in response to the abnormal operating state, wherein the abnormal state is used to characterize the motor controller disconnecting the motor control of the vehicle. A control unit is configured to control the vehicle to enter a protection mode based on the rotational speed and the bus voltage of the bus capacitor in the vehicle, wherein the bus capacitor is connected to the motor controller; A protection unit is used to protect the motor controller based on the protection mode.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein when the program is run by a processor, it controls the device in which the storage medium resides to perform the method of any one of claims 1 to 4.

7. A processor, characterized in that, The processor is used to run a program, wherein the program is executed by the processor to perform the method of any one of claims 1 to 4.

8. A vehicle, characterized in that, Used to perform the method described in any one of claims 1 to 4.

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