Motor control system, method, vehicle, device and computer readable storage medium

Abstract

Embodiments of the present disclosure provide a motor control system, method, vehicle, device and computer readable storage medium. The system comprises an inverter, a permanent magnet synchronous motor, a contactor and a motor controller, the contactor is a device for controlling the physical on-off of the power supply circuit between the inverter and the permanent magnet synchronous motor, and the motor controller is connected with the contactor through a control signal output port; the motor controller is a device for sending on-off control signals to the contactor through the control signal output port. In this way, by adding a contactor between the inverter and the permanent magnet synchronous motor, when the torque of the permanent magnet synchronous motor is zero, the on-off of the contactor can be controlled by the motor controller according to different vehicle speeds, thereby realizing flexible control of the on-off of the power supply circuit between the permanent magnet synchronous motor and the inverter, and reducing the damage caused by the reverse electromotive force generated when the permanent magnet synchronous motor works in the zero torque state to the inverter.

Description

Technical Field

[0001] This disclosure relates to the field of vehicles, and more particularly to the field of motor technology. Background Technology

[0002] For electric vehicles driven by dual motors, the main drive motor typically powers the vehicle during high-speed cruising, while the other permanent magnet synchronous motor operates in a zero-torque state. Although the permanent magnet synchronous motor does not participate in driving when operating in a zero-torque state, it still generates a back electromotive force (EMF) due to its inherent characteristics, which can damage the inverter. Therefore, field weakening control is required to reduce the back EMF and prevent excessively high back EMF from damaging the inverter. However, field weakening control also generates additional energy loss, reducing the driving range. Summary of the Invention

[0003] This disclosure provides an electric motor control system, method, vehicle, apparatus, and storage medium.

[0004] According to a first aspect of this disclosure, a motor control system is provided.

[0005] The system is applicable to vehicles driven by dual motors, wherein either of the dual motors is a permanent magnet synchronous motor, including:

[0006] The inverter, the permanent magnet synchronous motor, the contactor, and the motor controller,

[0007] The contactor is connected in the power supply circuit between the inverter and the permanent magnet synchronous motor. The contactor is a device that controls the physical connection and disconnection of the power supply circuit between the inverter and the permanent magnet synchronous motor.

[0008] The motor controller is connected to the contactor via a control signal output port;

[0009] The motor controller is a device that controls the opening and closing of the contactor.

[0010] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the motor controller is also connected to the inverter, and the motor controller is also a device that sends switching on / off signals to a plurality of switches in the inverter, wherein the plurality of switches are connected in series in pairs, and each pair of series switches is connected in parallel with each other.

[0011] In addition to the aspects described above and any possible implementation, a further implementation is provided in which the contactors comprise at least three, each contactor being connected between the output terminal of one phase of the three-phase line of the inverter and one phase of the three-phase line of the permanent magnet synchronous motor.

[0012] As described above and in any possible implementation, a further implementation is provided in which the other motor in the dual motors is a non-permanent magnet synchronous motor, and / or

[0013] The permanent magnet synchronous motor is the slave drive motor in the dual motor configuration.

[0014] According to a second aspect of this disclosure, a motor control method is provided. The method is applicable to a vehicle controller for a dual-motor driven vehicle, wherein either of the dual motors is a permanent magnet synchronous motor. The method includes:

[0015] During the vehicle's operation, the current torque of the permanent magnet synchronous motor is obtained;

[0016] When the current torque of the permanent magnet synchronous motor is zero, a contactor control command is generated based on the current vehicle speed; wherein, the contactor is a device that physically connects the inverter and the permanent magnet synchronous motor.

[0017] The contactor control command is sent to the motor controller, so that the motor controller can control the opening and closing of the contactor based on the contactor control command.

[0018] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the generation of contactor control commands based on the current vehicle speed when the current torque of the permanent magnet synchronous motor is zero includes:

[0019] When the current torque of the permanent magnet synchronous motor is zero, if the current vehicle speed is within a preset first vehicle speed range, a contactor control command to disconnect the contactor is generated.

[0020] When the current torque of the permanent magnet synchronous motor is zero, if the current vehicle speed is within a preset second vehicle speed range or a preset third vehicle speed range, a contactor control command to close the contactor is generated; wherein, the preset first vehicle speed range is located between the preset second vehicle speed range and the preset third vehicle speed range, and the preset second vehicle speed range, the preset first vehicle speed range, and the preset third vehicle speed range constitute a continuous vehicle speed range without interruption or overlap.

[0021] According to a third aspect of this disclosure, a motor control method is provided. The method is applicable to a motor controller for a dual-motor driven vehicle, wherein either of the dual motors is a permanent magnet synchronous motor. The motor controller is connected to a vehicle controller, and the motor controller is also connected to an inverter and a contactor. The contactor is connected between the inverter and the permanent magnet synchronous motor. The method includes:

[0022] The system receives contactor control commands sent by the vehicle controller; these commands are generated by the vehicle controller based on the current vehicle speed when the current torque of the permanent magnet synchronous motor is zero.

[0023] The contactor is opened and closed based on the contactor control command to control the connection and disconnection between the inverter and the permanent magnet synchronous motor.

[0024] In addition to the aspects and any possible implementations described above, a further implementation is provided, wherein the opening and closing control of the contactor based on the contactor control command includes:

[0025] If the contactor control command instructs the contactor to be disconnected, then a first level signal is output to the contactor to control the contactor to be disconnected;

[0026] If the contactor control command instructs the contactor to close, a second-level signal is output to the contactor to control the contactor to close.

[0027] In addition to the aspects and any possible implementations described above, a further implementation is provided, wherein the method further includes:

[0028] While controlling the opening and closing of the contactor, multiple switches in the inverter are also controlled to switch on and off to suppress current and voltage fluctuations during the opening and closing process.

[0029] According to a fourth aspect of this disclosure, a vehicle is provided. The vehicle includes a system as described in the first aspect of this disclosure.

[0030] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the vehicle further includes:

[0031] A vehicle controller connected to the system's motor controller, wherein the vehicle controller is capable of performing the method as described in the second aspect embodiment.

[0032] According to a fifth aspect of this disclosure, an electronic device is provided. The electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the program to implement the method described above.

[0033] According to a sixth aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the methods as described in the second and / or third aspects of this disclosure.

[0034] In this disclosure, by adding a contactor between the inverter and the permanent magnet synchronous motor, the contactor can be switched on and off by the motor controller according to the vehicle speed when the torque of the permanent magnet synchronous motor is zero. This enables flexible control of the power supply circuit between the permanent magnet synchronous motor and the inverter, reducing the damage to the inverter caused by the back electromotive force generated when the permanent magnet synchronous motor is operating in a zero torque state. At the same time, field weakening control is not required in the zero torque state, thus reducing energy consumption and improving the driving range.

[0035] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0036] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. The drawings are provided for a better understanding of the invention and are not intended to limit the scope of this disclosure. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0037] Figure 1 A block diagram of a motor control system according to an embodiment of the present disclosure is shown;

[0038] Figure 2 A circuit diagram of a motor control system according to an embodiment of the present disclosure is shown;

[0039] Figure 3 A circuit diagram of another motor control system according to an embodiment of the present disclosure is shown;

[0040] Figure 4 A flowchart of a motor control method according to an embodiment of the present disclosure is shown;

[0041] Figure 5 A block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure is shown. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0043] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0044] Figure 1 A block diagram of a motor control system 100 according to an embodiment of the present disclosure is shown. System 100 is suitable for dual-motor driven vehicles, wherein the dual motors include a permanent magnet synchronous motor 102, and the other main drive motor in the dual motors can be a permanent magnet synchronous motor, a DC motor, an AC motor, or various other motors, without limitation by the present disclosure. System 100 may include:

[0045] Inverter 103, permanent magnet synchronous motor 102, contactor 101, and motor controller 104,

[0046] The contactor 101 is connected in the power supply circuit between the inverter 103 and the permanent magnet synchronous motor 102. The contactor 101 is a device that controls the physical on / off state of the power supply circuit between the inverter and the permanent magnet synchronous motor 102.

[0047] The motor controller 104 is connected to the contactor 101 through a control signal output port; the control signal output port is a port on the motor controller 104, used to output control signals to the contactor 101.

[0048] The motor controller can automatically control the opening and closing of the contactor according to the contactor control command from the vehicle controller. The vehicle controller can generate the contactor control command according to the current vehicle speed when the current torque is zero. The vehicle controller can be the whole vehicle controller.

[0049] The motor controller 104 is a device that controls the opening and closing of the contactor 101. Since the contactor 101 is connected between the inverter 103 and the permanent magnet synchronous motor 102, when the contactor 101 is closed, the power supply circuit between the inverter 103 and the permanent magnet synchronous motor 102 can be closed, and when the contactor 101 is opened, the power supply circuit between the inverter 103 and the permanent magnet synchronous motor 102 can be opened.

[0050] By adding a contactor between the inverter and the permanent magnet synchronous motor, the motor controller can control the on / off state of the contactor according to the vehicle speed when the torque of the permanent magnet synchronous motor is zero. This allows for flexible control of the power supply circuit between the permanent magnet synchronous motor and the inverter, reducing the damage to the inverter caused by the back electromotive force generated when the permanent magnet synchronous motor is operating in a zero-torque state. At the same time, the field weakening control is not required in the zero-torque state, thus reducing energy consumption and improving the driving range.

[0051] In addition, it should be noted that this disclosure is applicable to both direct drive mode and range-extended mode of new energy electric vehicles.

[0052] In some embodiments, the motor controller is specifically used for:

[0053] If a contactor control command from the vehicle controller instructs the contactor to be disconnected, a first-level signal is output to the contactor to control the contactor to be disconnected.

[0054] If a contactor control command from the vehicle controller instructs the contactor to close, a second-level signal is output to the contactor to control the contactor to close.

[0055] The contactor can be opened or closed by outputting different voltage levels to it. For example, when the contactor is opened, the motor controller can output 0V to the contactor to open it, thus disconnecting the inverter from the permanent magnet synchronous motor. When the contactor is closed, the motor controller can output 5V to the contactor to close it, thus restoring the connection between the inverter and the permanent magnet synchronous motor. Then, by gradually increasing the drive commands to the permanent magnet synchronous motor, the vehicle can enter a pure electric drive state.

[0056] There are multiple contactors. Controlling the contactors to disconnect from the permanent magnet synchronous motor means simultaneously outputting a first-level signal to multiple contactors to control them to disconnect.

[0057] Controlling the contactor and the permanent magnet synchronous motor to close means simultaneously outputting a second-level signal to multiple contactors to control the closure of multiple contactors.

[0058] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the motor controller is also connected to the inverter, and the motor controller is also a device that sends switching signals to multiple switches in the inverter, wherein the multiple switches are connected in series in pairs, and each pair of series switches is connected in parallel with each other, such as... Figure 2 and Figure 3 As shown.

[0059] Due to manufacturing process issues, the closing and opening of multiple contactors cannot be strictly simultaneous. Therefore, while controlling the opening and closing of multiple contactors, the motor controller also needs to synchronously control the switching of multiple switches in the inverter. In this way, during the opening and closing of the contactors, the voltage and current fluctuations on the motor and contactors caused by circuit changes can be suppressed as much as possible (i.e., during the opening and closing of the contactors, the voltage and current of the motor should be kept as low as possible to prevent damage to the inverter), and the heat load should also be reduced.

[0060] In addition to the aspects described above and any possible implementations, an implementation is further provided in which the system further includes:

[0061] A low-voltage power supply circuit, connected to the contactor, is used to provide a low-voltage power supply voltage to the contactor.

[0062] By providing low-voltage power to the contactors, it can be ensured that all contactors can operate normally.

[0063] In addition to the aspects described above and any possible implementation, a further implementation is provided in which the contactors comprise at least three, each contactor being connected between the output terminal of one phase of the three-phase line of the inverter and one phase of the three-phase line of the permanent magnet synchronous motor.

[0064] To ensure proper disconnection or connection between the inverter and the permanent magnet synchronous motor, the number of contactors is the same as the number of phase lines in both the inverter and the permanent magnet synchronous motor, or the number of contactors is greater than the number of phase lines (i.e., three or more contactors). This ensures that a contactor is connected between the output terminal of one phase line of the inverter and the corresponding phase line of the permanent magnet synchronous motor, thereby controlling the connection or disconnection between that phase line in the inverter and the corresponding phase line in the permanent magnet synchronous motor. Of course, the extra contactors can be kept as spares for easy replacement.

[0065] As described above and in any possible implementation, a further implementation is provided in which the other motor in the dual motors is a non-permanent magnet synchronous motor, and / or

[0066] The permanent magnet synchronous motor is the slave drive motor in the dual motor configuration.

[0067] The other motor in a dual-motor system can be a non-permanent magnet synchronous motor, such as a DC motor or an AC motor. If the other motor in a dual-motor system is also a permanent magnet synchronous motor, then the motor to be controlled in this disclosure is the slave drive motor in the dual-motor system. The slave drive motor refers to a motor that may not work or provide drive in some situations during vehicle operation, while the main drive motor refers to a motor that works continuously and provides drive during vehicle operation. Moreover, the output torque of the main drive motor may be greater than that of the slave drive motor in most cases, thus playing the main drive role during vehicle operation.

[0068] Of course, if the other motor in the dual motors is a permanent magnet synchronous motor, there is no need to add a corresponding contactor for the other permanent magnet synchronous motor. You only need to connect a contactor to the slave drive motor, which simplifies the circuit structure.

[0069] The following will combine Figure 2 Further details of the technical solution disclosed herein:

[0070] This solution consists of two parts: the hardware circuit and the software control.

[0071] 1. Hardware circuit section

[0072] Add contactors (bottom) to the three-phase output terminals of the inverter. Figure 2 The black square icon indicates that this is an AC contactor. When the motor is in a high-speed, zero-torque condition, the contactor is disconnected. At this time, the motor is physically disconnected from the inverter (the part on the left side of the contactor), and does not need to operate in a weak magnetic field state, thus achieving energy savings. At low speeds, the contactor is closed, allowing the motor to be driven purely electrically. Figure 2 PMSM stands for Permanent Magnet Synchronous Motor.

[0073] The contactor requires a low-voltage power supply and a control circuit to control its opening and closing. Therefore, a low-voltage power supply circuit (12V) and a control circuit are also needed (the control circuit is located in the hardware and software of the motor controller, and controls the contactor to open and close by outputting 0V or 5V voltage to the contactor; of course, after outputting, the motor controller detects whether the contactor has successfully opened based on the open and closed status of the sensor next to the contactor).

[0074] 2. Software Control Section

[0075] The software control section consists of two modules.

[0076] 1. Contactor control module (located in the vehicle ECU / VCU, monitoring vehicle speed and torque signals; torque is 0 when the contactor is open or closed): responsible for sending contactor open and close commands to the motor controller to control the timing of contactor opening and closing.

[0077] 2. dq-axis current (i.e., the virtual current defined by the motor vector control algorithm; the d-axis current controls the magnetic field strength, and the q-axis current controls the torque) fast control module: This module mainly solves the following problems:

[0078] Due to manufacturing limitations, the closing and opening of multiple contactors cannot be strictly simultaneous. Asynchronous closing will generate a series of voltage and current fluctuations, requiring this module to quickly suppress these fluctuations (from the motor / contactors). Of course, this control module also operates within the motor controller, which controls... Figure 2 The inverter shown uses six switches to ensure that the motor experiences no voltage or current fluctuations during contactor opening / closing, i.e., the voltage and current remain zero. The motor has a high back electromotive force (EMF) when running at high speed. When the contactor closes at high speed, the inverter will experience a back EMF surge. This module needs to be able to quickly control the current and suppress the back EMF surge.

[0079] The specific control principle is as follows: Figure 3 As shown, the motor controller 104 is connected to an inverter with six switches and a contactor. The contactor is connected between the inverter and the permanent magnet synchronous motor (PMSM). When the voltage and current of the PMSM are zero (i.e., the torque is zero) and the vehicle speed meets the preset conditions, the vehicle controller generates a contactor disconnect or close command (specifically, a disconnect command is generated at high speed and a close command is generated at low speed), and then sends it to the motor controller 104. The motor controller 104 then uses its own SVPWM algorithm and / or PID algorithm to control the six switches by outputting high and low voltages through the six wires connected to the switches, and to control the contactors by outputting high and low voltages through the three wires connected to the contactors. In this way, the PMSM voltage and current can be kept stable (i.e., as close to zero as possible) during the contactor disconnection / closing.

[0080] The final result achieved by this solution is as follows:

[0081] 1. When the vehicle speed is greater than 80 kph, the vehicle is in high-speed cruising condition. The motor torque command gradually decreases to zero, the contactor disconnects, the motor has no weak magnetism, no current, very little heat generation, and very little thermal management load, thus achieving the energy-saving effect of the whole vehicle.

[0082] 2. When the vehicle speed is below 80 kph, the vehicle enters low-speed urban operating conditions, the contactor closes, and the motor torque command is gradually increased, and the vehicle enters pure electric drive mode.

[0083] It should be noted that when the vehicle is traveling at high speed, it indicates that the operating conditions are relatively good, that is, the operating conditions are relatively stable and simple. Therefore, only one motor needs to work, and the permanent magnet synchronous motor does not need to play a driving role (but at this time, since the permanent magnet synchronous motor is dragged by the wheel, the speed of the permanent magnet synchronous motor and the main drive motor are still the same), which can also save electricity. However, when the vehicle is traveling at low speed, the operating conditions are unstable, such as complex operating conditions such as climbing hills and going over potholes. Therefore, two motors are needed to drive the vehicle.

[0084] The above is an introduction to the system embodiments. The following method embodiments will further illustrate the solution described in this disclosure.

[0085] Figure 4 A flowchart of a motor control method 400 according to an embodiment of the present disclosure is shown. The method is applicable to a vehicle controller for a dual-motor driven electric vehicle, wherein either of the dual motors is a permanent magnet synchronous motor. The vehicle controller is connected to a motor controller, which is connected to an inverter and a contactor. The contactor is connected between the inverter and the permanent magnet synchronous motor. Method 400 may include:

[0086] Step 410: During the vehicle's operation, obtain the current torque of the permanent magnet synchronous motor;

[0087] The vehicle driving process refers to the period of driving after the first preset time since the vehicle started and before the vehicle stops.

[0088] Step 420: When the current torque of the permanent magnet synchronous motor is zero, a contactor control command is generated based on the current vehicle speed; wherein, the contactor is a device that physically connects the inverter and the permanent magnet synchronous motor.

[0089] The fact that the current torque of the permanent magnet synchronous motor is zero indicates that the permanent magnet synchronous motor is not currently working.

[0090] Step 430: The contactor control command is sent to the motor controller, so that the motor controller can control the opening and closing of the contactor based on the contactor control command, so as to control the on and off of the inverter and the permanent magnet synchronous motor.

[0091] By adding a contactor between the inverter and the permanent magnet synchronous motor (PMSM), a contactor control command can be generated based on the current vehicle speed when the current torque of the PMSM is zero. This command is then sent to the motor controller, which automatically controls the opening and closing of the contactor according to the command. This allows for flexible control of the connection between the PMSM and the inverter based on vehicle speed when the PMSM is in a zero-torque state. This reduces the damage to the inverter caused by the back electromotive force generated when the PMSM is operating in a zero-torque state. Furthermore, the absence of field weakening control in the zero-torque state reduces power consumption and improves driving range.

[0092] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the generation of contactor control commands based on the current vehicle speed when the current torque of the permanent magnet synchronous motor is zero includes:

[0093] When the current torque of the permanent magnet synchronous motor is zero, if the current vehicle speed is within a preset first vehicle speed range, a contactor control command to disconnect the contactor is generated.

[0094] The preset first speed range is a speed range for high-speed vehicle travel, but the highest speed in the preset first speed range is not a speed that can only be achieved by both motors working at the same time.

[0095] One of the preset second or third speed ranges is a low-speed range, but the lowest speed in this low-speed range is not a starting speed or a stopping speed. The other speed range is a super-high-speed range, and any speed in this speed range requires two motors to drive simultaneously to reach the speed.

[0096] When the current torque of the permanent magnet synchronous motor is zero, if the current vehicle speed is within a preset second vehicle speed range or a preset third vehicle speed range, a contactor control command to close the contactor is generated; wherein, the preset first vehicle speed range is located between the preset second vehicle speed range and the preset third vehicle speed range, and the preset second vehicle speed range, the preset first vehicle speed range, and the preset third vehicle speed range constitute a continuous vehicle speed range without interruption or overlap.

[0097] If the current vehicle speed is within the preset vehicle speed range, it means that the current vehicle speed is relatively high, the driving conditions are relatively good and simple, and it is not necessary for both motors to drive at the same time. Therefore, by generating a disconnect command, the connection between the permanent magnet synchronous motor and the inverter can be disconnected by disconnecting the contactor. This ensures that when the permanent magnet synchronous motor is in a high-speed zero-torque state, the back electromotive force generated will not damage the inverter because the permanent magnet synchronous motor and the inverter are disconnected.

[0098] Meanwhile, since the permanent magnet synchronous motor and inverter are disconnected in the high-speed zero-torque state, field weakening control is not required. This reduces field weakening energy consumption, making the motor safer to run at high speed, with lower energy consumption and a longer driving range for the whole vehicle.

[0099] If the current vehicle speed is within the preset second or third speed range, it indicates that the current speed is relatively low and the driving conditions may be complex, such as climbing hills or going over potholes. Alternatively, if the current speed is too high, it is necessary to restore the dual-motor drive. Therefore, the connection between the permanent magnet synchronous motor and the inverter can be restored by closing the contactor, and then the drive commands of the permanent magnet synchronous motor can be gradually increased to enable the vehicle to enter the pure electric drive state.

[0100] Of course, to avoid generating incorrect contactor control commands, when generating contactor control commands based on the current vehicle speed, the duration of the current vehicle speed within different speed ranges can also be considered. If the duration reaches the preset duration, then the corresponding contactor control command will be generated.

[0101] A flowchart of a motor control method according to an embodiment of this disclosure. The method is applicable to a motor controller for a dual-motor driven vehicle, wherein either of the dual motors is a permanent magnet synchronous motor. The motor controller is connected to a vehicle controller, and the motor controller is also connected to an inverter and a contactor. The contactor is connected between the inverter and the permanent magnet synchronous motor. The method includes:

[0102] The system receives contactor control commands sent by the vehicle controller; these commands are generated by the vehicle controller based on the current vehicle speed when the current torque of the permanent magnet synchronous motor is zero.

[0103] The contactor is opened and closed based on the contactor control command to control the power supply circuit between the inverter and the permanent magnet synchronous motor.

[0104] By adding a contactor between the inverter and the permanent magnet synchronous motor, the contactor's opening and closing can be automatically controlled according to the contactor control command generated by the vehicle controller based on the current vehicle speed when the permanent magnet synchronous motor's current torque is zero. This allows for flexible control of the connection between the permanent magnet synchronous motor and the inverter according to different vehicle speeds when the permanent magnet synchronous motor is in a zero-torque state. This reduces the damage to the inverter caused by the back electromotive force generated when the permanent magnet synchronous motor is operating in a zero-torque state. At the same time, field weakening control is not required in the zero-torque state, thus reducing power consumption and improving driving range.

[0105] In one embodiment, controlling the opening and closing of the contactor based on the contactor control command includes:

[0106] If the contactor control command instructs the contactor to be disconnected, a first level signal is output to the contactor to control the contactor to disconnect; the first level signal and the second level signal have different levels, one is high level and the other is low level.

[0107] If the contactor control command instructs the contactor to close, a second-level signal is output to the contactor to control the contactor to close.

[0108] The contactor can be opened or closed by outputting different voltage levels to it. For example, when the contactor is opened, the motor controller can output 0V to the contactor to open it, thus disconnecting the inverter from the permanent magnet synchronous motor. When the contactor is closed, the motor controller can output 5V to the contactor to close it, thus restoring the connection between the inverter and the permanent magnet synchronous motor. Then, by gradually increasing the drive commands to the permanent magnet synchronous motor, the vehicle can enter a pure electric drive state.

[0109] In one embodiment, the method further includes:

[0110] While controlling the opening and closing of the contactor, multiple switches in the inverter are also controlled to switch on and off to suppress current and voltage fluctuations during the opening and closing process.

[0111] Due to manufacturing process issues, the closing and opening of multiple contactors cannot be strictly simultaneous. Therefore, while controlling the opening and closing of multiple contactors, it is necessary to simultaneously control the switching on and off of multiple switches in the inverter. In this way, during the opening and closing of the contactors, the voltage and current fluctuations on the motor and contactors caused by circuit changes can be suppressed as much as possible, thus preventing damage to the inverter.

[0112] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this disclosure is not limited to the described order of actions, because according to this disclosure, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this disclosure.

[0113] According to embodiments of this disclosure, this disclosure also provides a vehicle, an electronic device, and a non-transitory computer-readable storage medium storing computer instructions.

[0114] Figure 5 A schematic block diagram of an electronic device 500 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0115] Device 500 includes a computing unit 501, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 502 or a computer program loaded into random access memory (RAM) 503 from storage unit 508. The RAM 503 may also store various programs and data required for the operation of device 500. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 804. An input / output (I / O) interface 505 is also connected to bus 504.

[0116] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0117] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as method 400. For example, in some embodiments, method 400 may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of method 400 described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform method 400 by any other suitable means (e.g., by means of firmware).

[0118] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0119] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0120] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0121] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0122] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0123] Computing systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0124] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0125] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A motor control system, the system being applicable to vehicles driven by dual motors, wherein either of the dual motors is a permanent magnet synchronous motor, characterized in that, include: The inverter, the permanent magnet synchronous motor, the contactor, and the motor controller, The contactor is connected in the power supply circuit between the inverter and the permanent magnet synchronous motor. The contactor is a device that controls the physical connection and disconnection of the power supply circuit between the inverter and the permanent magnet synchronous motor. The motor controller is connected to the contactor via a control signal output port; The motor controller is a device that controls the opening and closing of the contactor; The motor controller can automatically control the opening and closing of the contactor according to the contactor control command from the vehicle controller. The vehicle controller can generate the contactor control command according to the current vehicle speed when the current torque is zero. The vehicle controller is specifically used for: When the current torque of the permanent magnet synchronous motor is zero, if the current vehicle speed is within a preset first vehicle speed range, a contactor control command to disconnect the contactor is generated. When the current torque of the permanent magnet synchronous motor is zero, if the current vehicle speed is within a preset second vehicle speed range or a preset third vehicle speed range, a contactor control command to close the contactor is generated; wherein, the preset first vehicle speed range is located between the preset second vehicle speed range and the preset third vehicle speed range, and the preset second vehicle speed range, the preset first vehicle speed range, and the preset third vehicle speed range constitute a continuous vehicle speed range without interruption or overlap; The motor controller is specifically used for: If a contactor control command from the vehicle controller instructs the contactor to be disconnected, a first level signal is output to the contactor to control the contactor to be disconnected. If a contactor control command from the vehicle controller instructs the contactor to close, a second-level signal is output to the contactor to control the contactor to close.

2. The system according to claim 1, characterized in that, The motor controller is also connected to the inverter. The motor controller is also a device that sends switch on / off signals to multiple switches in the inverter. The multiple switches are connected in series in pairs, and each pair of series switches is connected in parallel.

3. The system according to claim 1, characterized in that, The contactor includes at least three, each contactor being connected between the output terminal of one phase of the three-phase line of the inverter and one phase of the three-phase line of the permanent magnet synchronous motor.

4. The system according to any one of claims 1 to 3, characterized in that, The other motor in the dual-motor configuration is a non-permanent magnet synchronous motor, and / or The permanent magnet synchronous motor is the slave drive motor in the dual motor configuration.

5. A motor control method, the method being applicable to a vehicle controller for a dual-motor driven vehicle, wherein either of the dual motors is a permanent magnet synchronous motor, the method comprising: During the vehicle's operation, the current torque of the permanent magnet synchronous motor is obtained; When the current torque of the permanent magnet synchronous motor is zero, a contactor control command is generated based on the current vehicle speed; wherein, the contactor is a device that physically connects the inverter and the permanent magnet synchronous motor. The contactor control command is sent to the motor controller, so that the motor controller can control the opening and closing of the contactor based on the contactor control command; The motor controller can automatically control the opening and closing of the contactor according to the contactor control command from the vehicle controller. The vehicle controller can generate the contactor control command according to the current vehicle speed when the current torque is zero. The motor controller is specifically used for: If a contactor control command from the vehicle controller instructs the contactor to be disconnected, a first level signal is output to the contactor to control the contactor to be disconnected. If a contactor control command from the vehicle controller instructs the contactor to close, a second-level signal is output to the contactor to control the contactor to close. The vehicle controller is specifically used for: When the current torque of the permanent magnet synchronous motor is zero, if the current vehicle speed is within a preset first vehicle speed range, a contactor control command to disconnect the contactor is generated. When the current torque of the permanent magnet synchronous motor is zero, if the current vehicle speed is within a preset second vehicle speed range or a preset third vehicle speed range, a contactor control command to close the contactor is generated; wherein, the preset first vehicle speed range is located between the preset second vehicle speed range and the preset third vehicle speed range, and the preset second vehicle speed range, the preset first vehicle speed range, and the preset third vehicle speed range constitute a continuous vehicle speed range without interruption or overlap.

6. A vehicle, characterized in that, include: The system as described in any one of claims 1-4.

7. The vehicle according to claim 6, characterized in that, The vehicle also includes: A vehicle controller connected to the motor controller of the system, wherein the vehicle controller is capable of performing the method as described in claim 5.

8. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of claim 5.

9. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to claim 5.

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