Fault processing method and device of motor system, electronic equipment and storage medium

Abstract

The invention provides a fault processing method and device for a motor system, electronic equipment and a storage medium, the motor system is configured in a vehicle and comprises a motor controller, the motor controller is correspondingly provided with mutually redundant voltage sensors, and the method comprises the following steps: monitoring the state of each voltage sensor, obtaining the number of all failed voltage sensors, and determining whether the voltage sensors fail or not; the number of all the failed voltage sensors is compared with the total number of preset voltage sensors, a current voltage fault processing strategy is determined according to the comparison result and triggered, and the voltage fault processing strategy comprises a first voltage fault processing strategy and a second voltage fault processing strategy; the first voltage fault processing strategy comprises determining a current motor controller voltage based on a collected voltage of an effective voltage sensor, and the second voltage fault processing strategy comprises determining the current motor controller voltage based on a voltage signal of a preset network bus; power interruption caused by faults of the voltage sensor of the motor controller can be effectively avoided, and safer and more comfortable driving experience is provided.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle fault handling, and in particular to a method, device, electronic device and storage medium for handling faults of a motor system. Background Art

[0002] With the rapid development of the automotive industry, vehicles, as an indispensable means of transportation in modern life, have become the focus of increasing attention from consumers in terms of safety, reliability and user experience. In the pursuit of high efficiency and low emissions, new energy vehicles such as electric vehicles and hybrid vehicles have rapidly emerged. Among them, the motor controller is the core component of the vehicle power system, and its performance and stability are directly related to the overall performance of the vehicle.

[0003] In the current automobile development process, motor controllers are still in an isolated development mode, lacking coordination and information sharing mechanisms between systems. This development mode is particularly vulnerable when facing a complex and changing operating environment. In particular, when the internal sensor of the motor controller fails or the data is abnormal, the traditional fault handling strategy often adopts a conservative shutdown method to avoid potential risks. Since the shutdown process will interrupt the power output of the vehicle, it will affect the user's driving experience on the one hand, and on the other hand, it may cause serious consequences such as emergency braking and vehicle loss of control, which seriously threatens the safety of drivers and passengers. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the present application provides a motor system fault handling method, device, electronic device and storage medium to solve the technical problem that the above-mentioned traditional motor controller fault handling strategy often adopts a conservative shutdown processing method, affecting the user's driving experience and driving safety.

[0005] The present application provides a fault handling method for a motor system, wherein the motor system is configured in a vehicle, the motor system includes a motor controller and a motor, and the motor controller is correspondingly provided with at least two mutually redundant voltage sensors, the method including: monitoring the status of each voltage sensor to obtain the number of all failed voltage sensors, wherein the failed voltage sensors are voltage sensors in an abnormal state; comparing the number of all failed voltage sensors with a preset total number of voltage sensors to obtain a comparison result; determining a current voltage fault handling strategy based on the comparison result and triggering it, wherein the voltage fault handling strategy includes a first voltage fault handling strategy and a second voltage fault handling strategy; the first voltage fault handling strategy includes obtaining a sampled voltage of an effective voltage sensor, and determining a current motor controller voltage based on the sampled voltage of the effective voltage sensor, wherein the effective voltage sensor is a voltage sensor in a normal state; the second voltage fault handling strategy includes obtaining a voltage signal of a preset network bus, and determining the current motor controller voltage based on the voltage signal.

[0006] In one embodiment of the present application, the first voltage fault handling strategy further includes:

[0007] generating voltage sensor primary fault information based on the sensor information of the failed voltage sensor, and reporting the information to the preset network bus;

[0008] and / or,

[0009] The maximum torque and the maximum power of the motor system are reduced according to a first preset ratio.

[0010] In one embodiment of the present application, the second voltage fault handling strategy further includes:

[0011] Generating voltage sensor secondary fault information based on the sensor information of the failed voltage sensor, and reporting it to the preset network bus;

[0012] and / or,

[0013] The maximum torque and the maximum power of the motor system are reduced according to a second preset ratio, and the rotational speed of the motor is limited to meet a preset condition, wherein the second preset ratio is smaller than the first preset ratio, and the preset condition includes that the rotational speed of the motor is smaller than or equal to a preset rotational speed, and the speed of the vehicle is greater than or equal to a preset speed.

[0014] In one embodiment of the present application, determining the current motor controller voltage based on the voltage signal includes:

[0015] Using the current target node voltage in the voltage signal as the current motor controller voltage, wherein the current target node voltage includes the current vehicle controller voltage or the current battery pack voltage;

[0016] or,

[0017] Obtain the current motor power, and determine the current motor controller voltage based on the current motor power, the current target node voltage in the voltage signal, and the preset correspondence between the motor power-target node voltage-motor controller voltage, wherein the current target node voltage includes the current vehicle controller voltage or the current battery pack voltage.

[0018] In one embodiment of the present application, the voltage fault processing strategy further includes a third voltage fault processing strategy, and the third voltage fault processing strategy includes:

[0019] Generating voltage sensor level 3 fault information based on the sensor information of the failed voltage sensor, and reporting it to the preset network bus;

[0020] and / or,

[0021] The maximum torque and the maximum power of the motor system are reset to zero, and the rotation speed of the motor is limited to be less than or equal to a preset rotation speed.

[0022] In one embodiment of the present application, a current voltage fault handling strategy is determined based on the comparison result, including: if the number of all failed voltage sensors is less than the preset total number of voltage sensors, determining that the current voltage fault handling strategy is the first voltage fault handling strategy; if the number of all failed voltage sensors is equal to the preset total number of voltage sensors, detecting the state of the voltage signal, and when the voltage signal is in a valid state, determining that the current voltage fault handling strategy is the second voltage fault handling strategy, and when the voltage signal is in a failed state, determining that the current voltage fault handling strategy is the third voltage fault handling strategy.

[0023] In one embodiment of the present application, the motor controller is correspondingly provided with a three-phase current sensor, and the method further includes: monitoring the status of each phase current sensor; if there is only one phase failure current sensor, triggering a first current fault handling strategy, the first current fault handling strategy includes obtaining the collected current of the two-phase effective current sensors, and estimating the current of the failure current sensor based on the collected current of the two-phase effective current sensors, the failure current sensor is a current sensor in an abnormal state, and the effective current sensor is a current sensor in a normal state; if there are at least two-phase failure current sensors, triggering a second current fault handling strategy, the second current fault handling strategy includes clearing the maximum torque and maximum power of the motor system, and limiting the speed of the motor to be less than or equal to the preset speed.

[0024] In one embodiment of the present application, the first current fault processing strategy further includes:

[0025] Generate primary fault information of the current sensor based on the sensor information of the failed current sensor, and report it to the preset network bus;

[0026] and / or,

[0027] The maximum torque and the maximum power of the motor system are reduced according to a first preset ratio.

[0028] In one embodiment of the present application, a fault handling device for a motor system is also provided. The motor system is configured in a vehicle. The motor system includes a motor controller and a motor. The motor controller is correspondingly provided with at least two mutually redundant voltage sensors. The device includes: a monitoring module, which is used to monitor the status of each voltage sensor and obtain the number of all failed voltage sensors, wherein the failed voltage sensors are voltage sensors in an abnormal state; a comparison module, which is used to compare the number of all failed voltage sensors with the total number of preset voltage sensors to obtain a comparison result; an information processing module, which is used to determine a current voltage fault handling strategy according to the comparison result and trigger the motor controller to execute the current voltage fault handling strategy, wherein the voltage fault handling strategy includes a first voltage fault handling strategy and a second voltage fault handling strategy; the first voltage fault handling strategy includes obtaining a sampled voltage of an effective voltage sensor, and determining a current motor controller voltage based on the sampled voltage of the effective voltage sensor, wherein the effective voltage sensor is a voltage sensor in a normal state; the second voltage fault handling strategy includes obtaining a voltage signal of a preset network bus, and determining the current motor controller voltage based on the voltage signal.

[0029] In one embodiment of the present application, an electronic device is also provided, which includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the fault handling method of the motor system as described above.

[0030] In one embodiment of the present application, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the fault handling method of the motor system as described above.

[0031] Beneficial effects of the present application: The present application provides a fault handling method, device, electronic device and storage medium for a motor system. When a voltage sensor fails, the method compares the number of all failed voltage sensors with the total number of preset voltage sensors, determines the current voltage fault handling strategy from the first voltage fault handling strategy and the second voltage fault handling strategy according to the comparison result and triggers it, and can dynamically select different voltage fault handling strategies according to the number of failed voltage sensors. By triggering the first voltage fault handling strategy, the motor controller can continue to operate when some voltage sensors fail, and can avoid the vehicle power interruption caused by a single voltage sensor failure. By triggering the second voltage fault handling strategy, the current motor controller voltage is determined by using the voltage signals of other nodes on the preset network bus, which can not only avoid the vehicle power interruption caused by all voltage sensor failures, but also realize information sharing and collaborative work between nodes in the vehicle, break the isolated state of the current motor controller development, and enhance the emergency handling capability of the vehicle. Both voltage fault handling strategies can effectively prevent and reduce power interruptions and safety accidents caused by voltage sensor failures of the motor controller, and provide a safer and more comfortable travel experience for drivers and passengers.

[0032] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic diagram of an implementation environment of a fault handling method for a motor system shown in an exemplary embodiment of the present application;

[0034] Figure 2 is a flow chart of a method for handling a fault of a motor system shown in an exemplary embodiment of the present application;

[0035] Figure 3 is a schematic diagram of a correspondence table of motor power-battery pack voltage-motor controller voltage shown in a specific embodiment of the present application;

[0036] Figure 4is a flowchart of a fault handling of a voltage sensor shown in a specific embodiment of the present application;

[0037] Figure 5 is a flow chart of a fault handling of a current sensor shown in a specific embodiment of the present application;

[0038] Figure 6 is a block diagram of a fault processing device for a motor system shown in an exemplary embodiment of the present application;

[0039] Figure 7 It is a structural schematic diagram of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0040] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0041] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0042] It should be noted that in this application, "first", "second", etc. are only used to distinguish similar objects, and are not used to limit the order or precedence of similar objects. The variations of "including", "having", etc. described above indicate that the scope covered by the subject of the word is not exclusive except for the examples shown by the word.

[0043] It is understood that the various numbers, step numbers, and other reference numerals recorded in this application are distinguished for the convenience of description and are not intended to limit the scope of this application. The size of the reference numerals in this application does not mean the order of execution. The execution order of each process should be determined by its function and internal logic.

[0044] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0045] It should be noted that in the current automobile development process, motor controllers are still in an isolated development mode, and the current fault handling strategies are mainly based on self-sensor detection. Once a failure occurs, the system is often shut down. For example, once the voltage acquisition signal of the motor controller is invalid or the current acquisition signal of the motor controller is invalid, the system is directly shut down, resulting in power interruption. There is no horizontal collaboration of the same sensors inside the motor controller, or information sharing between the same type of controllers or nodes on the vehicle, which greatly affects the user's driving experience and safety.

[0046] To solve these problems, the embodiments of the present application respectively propose a fault handling method for a motor system, a fault handling device for a motor system, an electronic device, a computer-readable storage medium, and a computer program product, which will be described in detail below.

[0047] See also Figure 1 , Figure 1 It is a schematic diagram of an implementation environment of a fault handling method for a motor system shown in an exemplary embodiment of the present application.

[0048] like Figure 1 As shown, the implementation environment may include a new energy vehicle 110 and a computer device 120, wherein the new energy vehicle 110 may be an electric vehicle or a hybrid vehicle, which is not limited here. The new energy vehicle 110 includes a motor system, which includes a motor controller and a motor. The motor controller may be a dual motor controller or a single motor controller, which is not limited here either. The motor controller is provided with at least two mutually redundant voltage sensors. The computer device 120 may be at least one of a microcomputer, an embedded computer, a neural network computer, etc., which is not limited here. The computer device 120 may be configured in the motor controller of the new energy vehicle 110, or the computer device 120 may be configured in the new energy vehicle 110 and be independent of the motor controller therein, or the computer device 120 may be a computer device independent of the new energy vehicle 110, which is not limited here either. The computer device 120 may monitor the status of each of the above-mentioned voltage sensors through the vehicle system of the new energy vehicle 110, and when the voltage sensor fails, the current voltage fault handling strategy is dynamically determined and triggered based on the number of all failed voltage sensors.

[0049] Schematically, the status of each voltage sensor is monitored to obtain the number of all failed voltage sensors, where a failed voltage sensor is a voltage sensor in an abnormal state; the number of all failed voltage sensors is compared with the total number of preset voltage sensors to obtain a comparison result; based on the comparison result, a current voltage fault handling strategy is determined and triggered, wherein the voltage fault handling strategy includes at least a first voltage fault handling strategy and a second voltage fault handling strategy; the first voltage fault handling strategy includes obtaining a sampled voltage of an effective voltage sensor, and determining the current motor controller voltage based on the sampled voltage of the effective voltage sensor, where an effective voltage sensor is a voltage sensor in a normal state; the second voltage fault handling strategy includes obtaining a voltage signal of a preset network bus, and determining the current motor controller voltage based on the voltage signal. It can be seen that the technical solution of the embodiment of the present application can dynamically select different voltage fault handling strategies according to the number of failed voltage sensors. By triggering the first voltage fault handling strategy, the motor controller can continue to operate when some voltage sensors fail, which can avoid the vehicle power interruption caused by the failure of a single voltage sensor; by triggering the second voltage fault handling strategy, the voltage signal of other nodes on the preset network bus is used to determine the current motor controller voltage, which can not only avoid the vehicle power interruption caused by the failure of all voltage sensors, but also realize information sharing and collaborative work among the nodes in the vehicle, break the isolated state of the current motor controller development, and enhance the emergency handling capability of the vehicle. Both voltage fault handling strategies can effectively prevent and reduce power interruptions and safety accidents caused by the failure of the voltage sensor of the motor controller, providing a safer and more comfortable travel experience for drivers and passengers.

[0050] It should be noted that the fault handling method of the motor system provided in the embodiment of the present application can be specifically executed by the computer device 120 , and accordingly, the fault handling device of the motor system can be set in the computer device 120 .

[0051] See also Figure 2 , Figure 2 is a flowchart of a method for handling a fault in a motor system according to an exemplary embodiment of the present application. The method for handling a fault in a motor system can be applied to Figure 1 The implementation environment shown is specifically executed by the computer device 120 in the implementation environment. It should be understood that the fault handling method of the motor system can also be applied to other exemplary implementation environments and be specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which the fault handling method of the motor system is applicable.

[0052] In an exemplary embodiment, the motor system is configured in a vehicle, and the motor system includes a motor controller and a motor. The motor controller is correspondingly provided with at least two mutually redundant voltage sensors, such as Figure 2As shown, the exemplary motor system fault handling method includes at least steps S210 to S230, which are described in detail as follows:

[0053] Step S210: monitor the status of each voltage sensor and obtain the number of all failed voltage sensors.

[0054] In one embodiment of the present application, the vehicle can be an electric vehicle or a hybrid vehicle, and the motor system can be a single motor system or a dual motor system, which are not limited here. The motor controller is provided with at least two mutually redundant voltage sensors for collecting the bus voltage signal of the motor controller. Each voltage sensor can be installed at a different position of the motor controller or at the same position but connected by an independent circuit to ensure the independence of each voltage sensor. The motor controller can be a single motor controller or a dual motor controller. When the motor controller is specifically a single motor controller, the single motor controller can be provided with two mutually redundant voltage sensors. When the motor controller is specifically a dual motor controller, a voltage sensor can be provided for the generator controller and the drive motor controller respectively, and the voltage sensors of the generator controller and the drive motor controller can be mutually redundant.

[0055] The voltage signal sent by each voltage sensor can be received by the MCU (Microcontroller Unit) in the motor controller, and the state of the corresponding voltage sensor can be determined according to the received voltage signal, so as to determine whether there is a failed voltage sensor and count the number of all failed voltage sensors, wherein a failed voltage sensor is a voltage sensor in an abnormal state. Schematically, if the voltage signal of a voltage sensor is lost, or the voltage signal fluctuates abnormally, or exceeds a reasonable range, or the fault mark position in the voltage signal is 1, etc., it can be determined that the voltage sensor is in an abnormal state, that is, the voltage sensor is a failed voltage sensor; if the voltage signal of a voltage sensor is in a reasonable range, or the fault mark position in the voltage signal is 0, it can be determined that the voltage sensor is in a normal state, that is, the voltage sensor is a valid voltage sensor.

[0056] Step S220: compare the number of all failed voltage sensors with the total number of preset voltage sensors to obtain a comparison result.

[0057] In one embodiment of the present application, the number of all failed voltage sensors is compared with the total number of preset voltage sensors by a logic comparator, wherein the total number of preset voltage sensors refers to the total number of mutually redundant voltage sensors corresponding to the motor controller. The total number of all voltage sensors can be counted in advance and stored to obtain the total number of preset voltage sensors.

[0058] Step S230, determining and triggering the current voltage fault processing strategy according to the comparison result.

[0059] In one embodiment of the present application, a voltage fault handling strategy includes a first voltage fault handling strategy and a second voltage fault handling strategy. The first voltage fault handling strategy includes obtaining the collected voltage of an effective voltage sensor, and determining the current motor controller voltage based on the collected voltage of the effective voltage sensor, wherein the effective voltage sensor is a voltage sensor in a normal state. The second voltage fault handling strategy includes obtaining a voltage signal of a preset network bus, and determining the current motor controller voltage based on the voltage signal. Among them, the current motor controller voltage refers to the current bus voltage of the motor controller, and is also the current control voltage of the motor controlled by the motor controller. Schematically, the preset network bus can be a CAN bus, or a LIN bus, or other vehicle network bus, which is not limited here.

[0060] This embodiment is for the condition of redundant voltage sensor sampling. During vehicle driving, when a voltage sensor is damaged or sampling abnormally, the motor controller can use the sampled voltage of another voltage sensor to continue to control the motor operation. In the vehicle circuit design, the loop of the motor controller is connected in parallel with the loops of some controllers or some nodes. Usually, each controller or each node will periodically report the voltage to the vehicle network bus such as the CAN bus. Therefore, the voltage signal on the preset network bus can be obtained, and the voltage of the controller or node in parallel with the motor controller loop can be read from the voltage signal, and the motor operation can be continued to be controlled according to the voltage. Both methods can avoid the interruption of vehicle power caused by the direct shutdown of the motor controller, thereby improving the safety of people on the vehicle and the user driving experience.

[0061] In one embodiment of the present application, determining the current motor controller voltage based on the voltage signal includes:

[0062] The current target node voltage in the voltage signal is used as the current motor controller voltage, where the current target node voltage includes the current vehicle controller voltage or the current battery pack voltage;

[0063] or,

[0064] Get the current motor power, and determine the current motor controller voltage based on the current motor power, the current target node voltage in the voltage signal, and the preset correspondence between the motor power-target node voltage-motor controller voltage. The current target node voltage includes the current vehicle controller voltage or the current battery pack voltage.

[0065] In this embodiment, the circuit where the vehicle controller is located and the circuit where the battery pack is located are connected in parallel with the circuit where the motor controller is located. Therefore, the vehicle controller or the battery pack can be used as the target node. When the second voltage fault handling strategy is triggered, the current target node voltage in the voltage signal on the preset network bus can be directly used as the current motor controller voltage, which can avoid vehicle power interruption caused by motor system shutdown.

[0066] Due to the long cycle on the preset network bus, directly using the current target node voltage as the current motor controller voltage may cause some loss of accuracy. Therefore, it is also possible to obtain the motor power, target node voltage and motor controller voltage at different times in advance by means of experiments or collecting historical data, and the corresponding relationship of the motor power, target node voltage and motor controller voltage is fitted based on the motor power, target node voltage and motor controller voltage at each time, as the preset motor power-target node voltage-motor controller voltage corresponding relationship, schematically, the specific expression form of the preset motor power-target node voltage-motor controller voltage corresponding relationship can be a functional relationship or a chart form, or other forms, which are not limited here. Obtain the current motor power, wherein the current motor power can be calculated based on the current motor speed and the current motor torque, and the current motor power and the current target node voltage are substituted into the preset motor power-target node voltage-motor controller voltage corresponding relationship to obtain the current motor controller voltage, which can effectively improve the calculation precision and accuracy of the current motor controller voltage.

[0067] See also Figure 3 , Figure 3 1 is a schematic diagram of a motor power-battery pack voltage-motor controller voltage correspondence table shown in a specific embodiment of the present application. The motor power-battery pack voltage-motor controller voltage correspondence table is a specific example of a preset motor power-target node voltage-motor controller voltage correspondence. Figure 3 As shown, the horizontal axis is the motor power, and the vertical axis is the battery pack voltage. The motor power and battery pack voltage at the same time constitute a coordinate point in the coordinate, and the coordinate point is associated with the motor controller voltage at the same time. In this way, a correspondence table of motor power-battery pack voltage-motor controller voltage is formed. When the second voltage fault handling strategy is triggered, the current motor controller voltage can be obtained by querying the current motor power and the current battery pack voltage in the correspondence table of motor power-battery pack voltage-motor controller voltage.

[0068] In one embodiment of the present application, the first voltage fault processing strategy further includes:

[0069] Generate voltage sensor primary fault information based on sensor information of the failed voltage sensor, and report it to a preset network bus;

[0070] and / or,

[0071] The maximum torque and the maximum power of the motor system are reduced according to a first preset ratio.

[0072] In this embodiment, when the first voltage fault handling strategy is triggered, the voltage sensor level 1 fault information can be generated based on the sensor identification information of the failed voltage sensor or the number of failed voltage sensors, and reported to a preset network bus such as a CAN bus or a LIN bus, so that the vehicle system can take corresponding measures in time according to the voltage fault level, thereby improving the overall safety of the vehicle. When the first voltage fault handling strategy is triggered, it means that the fault severity is low, and the motor controller can also enter a small derating operation state, that is, the maximum torque and maximum power of the motor system are linearly reduced or nonlinearly reduced according to the first preset ratio, wherein the maximum torque refers to the torque corresponding to the maximum external characteristic of the motor system, and the maximum power refers to the power corresponding to the maximum external characteristic of the motor system. Schematically, the reduction of power and torque can be achieved by limiting the output current or voltage of the motor controller. Or by gradually reducing the duty cycle of the PWM signal, the average voltage output by the motor controller is gradually reduced, so as to achieve a gradual reduction in the maximum torque and maximum power. Or by vector control, the amplitude and phase of the current vector are adjusted to achieve a linear reduction in torque and power. Schematically, the first preset ratio can be 50%, or other values ​​less than 1, which are not limited here.

[0073] In one embodiment of the present application, the second voltage fault handling strategy further includes:

[0074] Generate voltage sensor secondary fault information based on sensor information of the failed voltage sensor, and report it to a preset network bus;

[0075] and / or,

[0076] The maximum torque and maximum power of the motor system are reduced according to a second preset ratio, and the speed of the motor is limited to meet preset conditions, wherein the second preset ratio is smaller than the first preset ratio, and the preset conditions include that the speed of the motor is less than or equal to the preset speed, and the speed of the vehicle is greater than or equal to the preset speed.

[0077] In this embodiment, when the second voltage fault handling strategy is triggered, the voltage sensor secondary fault information can be generated based on the sensor identification information of the failed voltage sensor or the number of failed voltage sensors, and reported to a preset network bus such as a CAN bus or a LIN bus, so that the vehicle system can take corresponding measures in time according to the voltage fault level, thereby improving the overall safety of the vehicle. When the second voltage fault handling strategy is triggered, it means that the fault severity is high, and the motor system can also enter a greatly reduced rating operation state, that is, the maximum torque and maximum power of the motor system are linearly reduced or nonlinearly reduced according to the second preset ratio, and the speed of the motor is limited at the same time, that is, the speed of the motor is controlled to be less than or equal to the preset speed, and the speed of the vehicle needs to be considered when limiting the speed of the motor to ensure that the speed of the vehicle is not less than the preset speed. The specific reduction method of the maximum torque and maximum power is referred to the records of the aforementioned embodiment, which will not be repeated here. Schematically, the second preset ratio can be 25%, or other values ​​less than the first preset ratio, the preset speed can be the safe speed of the motor, which can be pre-set according to the model of the motor, the rated speed, etc., and the preset speed can be 60kph, or other values.

[0078] In the above two embodiments, when a voltage sensor failure occurs, the motor system is operated at a reduced rating, which can effectively reduce the risk of motor overload, protect the motor from damage, and extend the service life of the motor while avoiding motor shutdown and vehicle power interruption.

[0079] In one embodiment of the present application, the voltage fault processing strategy further includes a third voltage fault processing strategy, and the third voltage fault processing strategy includes:

[0080] Generating voltage sensor level 3 fault information based on sensor information of the failed voltage sensor, and reporting it to a preset network bus;

[0081] and / or,

[0082] The maximum torque and maximum power of the motor system are reset to zero, and the motor speed is limited to be less than or equal to the preset speed.

[0083] In this embodiment, when all voltage sensors fail due to a fault and a valid voltage signal cannot be obtained on the preset network bus, the third voltage fault handling strategy can be triggered. When the third voltage fault handling strategy is triggered, the voltage sensor level 3 fault information can be generated based on the sensor identification information of the failed voltage sensor or the number of failed voltage sensors, and reported to a preset network bus such as a CAN bus or a LIN bus, so that the vehicle system can take corresponding measures in time according to the voltage fault level, thereby improving the overall safety of the vehicle. When the third voltage fault handling strategy is triggered, it means that the severity of the fault is very high. In order to avoid serious damage to the motor system, shutdown processing can also be performed, specifically including clearing the maximum torque and maximum power of the motor system, and limiting the motor speed to be less than or equal to the preset speed. At this time, the speed of the vehicle can be ignored when limiting the motor speed.

[0084] In one embodiment of the present application, a current voltage fault handling strategy is determined based on a comparison result, including: if the number of all failed voltage sensors is less than a preset total number of voltage sensors, determining that the current voltage fault handling strategy is a first voltage fault handling strategy; if the number of all failed voltage sensors is equal to a preset total number of voltage sensors, detecting the state of the voltage signal, and when the voltage signal is in a valid state, determining that the current voltage fault handling strategy is a second voltage fault handling strategy, and when the voltage signal is in a failed state, determining that the current voltage fault handling strategy is a third voltage fault handling strategy.

[0085] In this embodiment, when the number of all failed voltage sensors is less than the total number of preset voltage sensors, it means that there are still valid voltage sensors, and the collected voltage of the valid voltage sensors can be used to control the operation of the motor. Therefore, it can be determined that the current voltage fault handling strategy is the first voltage fault handling strategy. When the number of all failed voltage sensors is equal to the total number of preset voltage sensors, it means that all current voltage sensors are faulty, and it can be further determined whether the voltage signal on the preset network bus such as the CAN bus and the LIN bus is in a valid state. In schematic, it can be determined whether the voltage signal on the preset network bus is in a valid state by judging whether there is information loss in the voltage signal of the controller or node connected in parallel with the motor controller loop, such as the vehicle controller voltage or the battery pack voltage, or whether there is a reasonable interval in the voltage signal of the controller or node connected in parallel with the motor controller loop. When it is determined that the voltage signal on the preset network bus is in a valid state, it means that the voltage of the controller or node connected in parallel with the motor controller loop can also be used to control the operation of the motor. Therefore, it can be determined that the current voltage fault handling strategy is the second voltage fault handling strategy. When it is determined that the voltage signal on the preset network bus is in a failure state, it means that the voltage of the controller or node connected in parallel with the motor controller loop cannot be used to control the motor operation. In order to ensure the safety of the motor system, shutdown processing is required. Therefore, it can be determined that the current voltage fault handling strategy is the third voltage fault handling strategy.

[0086] See also Figure 4 , Figure 4 FIG. 1 is a flowchart of a fault handling process of a voltage sensor according to a specific embodiment of the present application. Figure 4As shown, the motor controller is provided with two mutually redundant voltage sensors, namely voltage sensor A and voltage sensor B. When the failure bits (fault flag bits) of voltage sensor A and voltage sensor B are both set to 0, it indicates that voltage sensor A and voltage sensor B are both in good condition, and the motor controller can be controlled by the collected voltage of any one of voltage sensor A and voltage sensor B, and no fault processing is performed; when the failure position of voltage sensor A is 0 and the failure position of voltage sensor B is 1, it indicates that voltage sensor A is not in good condition, but voltage sensor B is in good condition, and the motor controller can be controlled by the collected voltage of voltage sensor A, then the motor controller reports a first-level fault of the voltage sensor, enters a derated operation state, or does not perform fault processing; when the failure position of voltage sensor A is 1 and the failure position of voltage sensor B is 0, it indicates that voltage sensor A is in good condition, but voltage sensor B is in good condition, and the motor controller can be controlled by the collected voltage of voltage sensor A, then the motor controller reports a first-level fault of the voltage sensor, enters a derated operation state, or does not perform fault processing; If the voltage sensor A fails, the motor controller can be controlled by the collected voltage of the voltage sensor B, then the motor controller reports a first-level fault of the voltage sensor, and the motor controller enters a derating operation state, or no fault processing is performed; when the failure position of voltage sensor A is 1 and the failure position of voltage sensor B is 1, it means that both voltage sensor A and voltage sensor B have failed. At this time, it is further determined whether the CAN bus voltage signal is valid. If the CAN bus voltage signal is valid, the motor controller can estimate the motor controller voltage through the voltage signal on the CAN bus, then the motor controller reports a second-level fault of the voltage sensor, and the motor controller enters a derating operation state. If the CAN bus voltage signal fails, the motor controller reports a third-level fault of the voltage sensor and performs shutdown processing.

[0087] Among them, the motor controller corresponding to the first-level fault of the voltage sensor enters a derated operation state, specifically including that the power and torque corresponding to the maximum external characteristics of the motor controller are linearly reduced to 50%; the motor controller corresponding to the second-level fault of the voltage sensor enters a derated operation state, specifically including that the power and torque corresponding to the maximum external characteristics of the motor controller are linearly reduced to 25%, and the maximum speed is limited to a safe speed (the corresponding vehicle speed must not be less than 60kph); the motor controller corresponding to the third-level fault of the voltage sensor performs shutdown processing, specifically including that the power and torque corresponding to the maximum external characteristics of the motor controller are cleared, and the maximum speed is limited to a safe speed (the corresponding vehicle speed is not required). There are two ways to estimate the voltage of the motor controller through the voltage signal on the CAN bus. One is the direct use method. Since the bus voltage of the motor controller and the voltage of the vehicle controller are in the same high-voltage circuit, the real-time voltage is consistent, and the voltage of the vehicle controller can be directly used for control. The disadvantage is that due to the long cycle on CAN and the low voltage accuracy, the torque control accuracy is low. The second method is the MAP value method, in which a MAP table is drawn through actual measurement. The MAP table uses the motor power (speed, torque) and the voltage of other controllers on CAN that are in the same high-voltage circuit as the motor controller as the coordinate axes, and the collected voltages of the motor controller's voltage sensor A and voltage sensor B as the corresponding values. When both voltage sensor A and voltage sensor B fail, the motor power (speed, torque) and the voltage values ​​of other controllers on CAN are used to look up the table to obtain the value as the motor controller voltage.

[0088] This specific embodiment is applicable to both single motor controllers and dual motor controllers. For single motor controllers, voltage sensors have redundant sampling. The solution of this specific embodiment is applied to a single motor controller. During vehicle driving, when one voltage sensor is damaged or abnormal sampling occurs, another voltage sensor can be used to work, and the motor controller reports a medium or low fault level, allowing the vehicle to run at a reduced rate or without processing, which can avoid direct shutdown causing vehicle power interruption and improve the safety of people on the vehicle. As dual motor hybrid systems are increasingly used, the system is composed of a dual electric control + dual motor assembly, and the generator controller and the drive motor controller constitute a dual motor controller. The voltage sensors of the generator controller and the drive motor controller can be mutually redundant. The solution of this specific embodiment is applied to a dual motor controller. When the voltage sensor of one controller is damaged or abnormal sampling occurs, the voltage sensor of another controller can be used to work, and the motor controller reports a medium or low fault level, allowing the vehicle to run at a reduced rate or without processing, which can also avoid direct shutdown causing vehicle power interruption and improve the safety of people on the vehicle.

[0089] In addition, the high-voltage components used for high-voltage current sampling will collect and report the sampled values ​​to the bus in a cycle of about 10ms. When the voltage sensor of the motor controller is damaged or the sampling is abnormal, it can receive the voltage values ​​of other controllers on the bus for vector control. However, given the long bus cycle, the fault can be derated so that the vehicle will not suddenly lose power. Based on the current hardware conditions, when the motor controller fails, it can reasonably use the multi-controller linkage method to reduce the fault level, thereby maximizing the driving experience of the vehicle.

[0090] Therefore, this specific embodiment can optimize the processing of the voltage sensor failure of the motor controller without changing the current vehicle hardware, and perform fault processing by calling related signals to each other, thereby reducing the number of high-level faults, ensuring that the power system reduces abnormal power loss caused by high-level faults during vehicle operation, and maximizing the comfort and safety of the electric vehicle during use. It can greatly reduce the power interruption caused by the failure of the voltage sensor of the motor controller or abnormal acquisition, and improve the safety performance of the vehicle. It can also reduce the customer's after-sales maintenance costs (trailer fees) due to the failure of the voltage sensor of the motor controller or the abnormal acquisition of the fault. It can also reduce the customer's after-sales time cost due to the failure of the voltage sensor of the motor controller or the abnormal acquisition of the fault, and can choose a convenient time for maintenance.

[0091] In one embodiment of the present application, the motor controller is correspondingly provided with a three-phase current sensor, and the fault handling method of the motor system also includes: monitoring the status of each phase current sensor; if there is only one phase failure current sensor, triggering a first current fault handling strategy, the first current fault handling strategy includes obtaining the collected current of the two-phase effective current sensor, and estimating the current of the failure current sensor based on the collected current of the two-phase effective current sensor, the failure current sensor is a current sensor in an abnormal state, and the effective current sensor is a current sensor in a normal state; if there are at least two-phase failure current sensors, triggering a second current fault handling strategy, the second current fault handling strategy includes clearing the maximum torque and maximum power of the motor system, and limiting the motor speed to be less than or equal to a preset speed.

[0092] In this embodiment, the three-phase current sensor is arranged in the loop between the motor controller and the motor, and the collected current of the three-phase current sensor constitutes the three-phase current. The motor controller controls the operation of the motor based on the three-phase current, and the three-phase current is indispensable. Therefore, the current signal sent by each phase current sensor can also be received by the MCU in the motor controller, and the state of the corresponding current sensor can be judged according to the received current signal. If the current signal of a current sensor is lost, or the current signal fluctuates abnormally, or exceeds the reasonable range, or the fault mark position in the current signal is 1, etc., it can be determined that the current sensor is in an abnormal state, that is, the current sensor is a failed current sensor; if the current signal of a current sensor is in a reasonable range, or the fault mark position in the current signal is 0, it can be determined that the current sensor is in a normal state, that is, the current sensor is a valid current sensor.

[0093] When there is only one-phase failure current sensor, the fault is not too serious and the first current fault handling strategy can be triggered. The current of the failure current sensor is estimated by the collected current of the other two-phase effective current sensors, so that the motor controller can continue to control the motor operation based on the collected current of the two-phase effective current sensors and the estimated current of the failure current sensor. When one-phase current sensor fails, it can avoid the motor controller from directly shutting down and causing vehicle power interruption, thereby improving the safety of people on the vehicle and the user driving experience.

[0094] When two or more current sensors fail, the current of the failed current sensor cannot be estimated and the fault is serious. To avoid serious damage to the motor system, the second current fault handling strategy can be triggered to perform shutdown processing, including clearing the maximum torque and maximum power of the motor system and limiting the motor speed to less than or equal to the preset speed.

[0095] In one embodiment of the present application, the first current fault processing strategy further includes:

[0096] Generate primary fault information of the current sensor based on sensor information of the failed current sensor, and report it to a preset network bus;

[0097] and / or,

[0098] The maximum torque and the maximum power of the motor system are reduced according to a first preset ratio.

[0099] In this embodiment, when the first current fault handling strategy is triggered, the current sensor first-level fault information can be generated based on the sensor identification information of the failed current sensor or the number of failed current sensors, and reported to a preset network bus such as a CAN bus or a LIN bus, so that the vehicle system can take corresponding measures in time according to the current fault level, thereby improving the overall safety of the vehicle. When the first current fault handling strategy is triggered, it means that the severity of the fault is low, and the motor system can also enter a slightly derated operation state, that is, the maximum torque and maximum power of the motor system are linearly reduced or nonlinearly reduced according to a first preset ratio. For the specific reduction method of the maximum torque and maximum power, please refer to the records of the aforementioned embodiment, which will not be repeated here. When a single-phase current sensor fails, the motor system is derated to avoid the interruption of vehicle power caused by motor shutdown, while effectively reducing the risk of motor overload, protecting the motor from damage, and extending the service life of the motor.

[0100] In one embodiment of the present application, when the second current fault handling strategy is triggered, current sensor secondary fault information can be generated based on the sensor identification information of the failed current sensor or the number of failed current sensors, and reported to a preset network bus such as a CAN bus or a LIN bus, so that the vehicle system can take corresponding measures in a timely manner according to the current fault level, thereby improving the overall safety of the vehicle.

[0101] See also Figure 5 , Figure 5 FIG. 1 is a flowchart of a current sensor fault handling process according to a specific embodiment of the present application. Figure 5As shown, the motor controller is correspondingly provided with three-phase current sensors, namely current sensor A, current sensor B and current sensor C. When current sensor A, current sensor B and current sensor C are all in good condition, there is no current sensor fault in the motor controller and no fault processing is performed; when only current sensor A among current sensor A, current sensor B and current sensor C fails, the motor controller reports a primary fault of the current sensor, the A phase current adopts an estimated value, and the motor controller enters a derated operation state or only stores a DTC (Diagnostic Trouble Code) for processing; when only current sensor B among current sensor A, current sensor B and current sensor C fails, the motor controller reports a primary fault of the current sensor, the B phase current adopts an estimated value, and the motor controller enters a derated operation state or only stores a DTC for processing; when only current sensor C among current sensor A, current sensor B and current sensor C fails, the motor controller reports a primary fault of the current sensor, the C phase current adopts an estimated value, and the motor controller enters a derated operation state or only stores a DTC for processing; when at least two phase current sensors among current sensor A, current sensor B and current sensor C fail, the motor controller reports a secondary fault of the current sensor and shuts down the motor. When only one current sensor fails, the motor controller enters a derated operation state, specifically including that the power and torque corresponding to the maximum external characteristics of the motor controller are linearly reduced to 50%.

[0102] Usually, the motor controller samples the three-phase current mostly in the manner of having current sensors in all three phases, but the traditional fault strategy is to report a fault and shut down if any phase current sensor fails. The present specific embodiment aims at fault downgrading. When one of the three-phase current sensors is damaged or the sampling is abnormal, the current of the phase where the failed current sensor is located is estimated by collecting currents from the effective two-phase current sensors, so that the motor can continue to run, reducing the loss of vehicle power due to current sensor failure and ensuring the safety of people on the vehicle.

[0103] Therefore, this specific embodiment can optimize the processing of the current sensor failure of the motor controller without changing the current vehicle hardware, and perform fault processing by calling related signals to each other, thereby reducing the number of high-level faults, ensuring that the power system reduces abnormal power loss caused by high-level faults during vehicle operation, and maximizing the comfort and safety of the electric vehicle during use. It can greatly reduce the power interruption caused by the failure of the current sensor of the motor controller or abnormal acquisition, and improve the safety performance of the vehicle. It can also reduce the customer's after-sales maintenance costs such as towing fees due to the failure of the current sensor of the motor controller or the abnormal acquisition of the fault. It can also reduce the customer's after-sales time cost due to the failure of the current sensor of the motor controller or the abnormal acquisition of the fault, and can choose a convenient time for maintenance.

[0104] In one embodiment of the present application, the fault handling method of the motor system further includes:

[0105] When a first preset trigger condition is met, the maximum torque and maximum power of the motor system are reduced according to a first preset ratio; wherein the first preset trigger condition includes triggering the first voltage fault handling strategy alone; or triggering the first current fault handling strategy alone; or triggering the first voltage fault handling strategy and the first current fault handling strategy at the same time;

[0106] When the second preset trigger condition is met, the maximum torque and maximum power of the motor system are reduced according to a second preset ratio, and the speed of the motor is limited to meet the preset condition; wherein the second preset ratio is smaller than the first preset ratio, the preset conditions include that the speed of the motor is less than or equal to the preset speed, and the vehicle speed is greater than or equal to the preset speed, and the second preset trigger condition includes triggering the second voltage fault handling strategy alone; or, triggering the second voltage fault handling strategy and the first current fault handling strategy at the same time.

[0107] When the third preset trigger condition is met, the maximum torque and maximum power of the motor system are cleared, and the speed of the motor is limited to be less than or equal to the preset speed; wherein the third preset trigger condition includes triggering the third voltage fault handling strategy alone; or, triggering the second current fault handling strategy alone; or, triggering the third voltage fault handling strategy and the first current fault handling strategy at the same time; or, triggering the third voltage fault handling strategy and the second current fault handling strategy at the same time; or, triggering the first voltage fault handling strategy and the second current fault handling strategy at the same time; or, triggering the second voltage fault handling strategy and the second current fault handling strategy at the same time.

[0108] In this embodiment, the priority of shutdown processing (i.e., clearing the maximum torque and maximum power of the motor system, and limiting the speed of the motor to be less than or equal to the preset speed) is higher than the priority of large-scale derating operation (reducing the maximum torque and maximum power of the motor system according to the second preset ratio, and limiting the speed of the motor to meet the preset conditions), and the priority of large-scale derating operation is higher than the priority of small-scale derating operation (i.e., reducing the maximum torque and maximum power of the motor system according to the first preset ratio). In other words, if only the first voltage fault processing strategy or the first current fault processing strategy is currently triggered, or the first voltage fault processing strategy and the first current fault processing strategy are currently triggered at the same time, the maximum torque and maximum power of the motor system can be reduced according to the first preset ratio. If only the second voltage fault processing strategy is currently triggered, or the second voltage fault processing strategy and the first current fault processing strategy are currently triggered at the same time, the maximum torque and maximum power of the motor system can be reduced according to the second preset ratio, and the speed of the motor can be limited to meet the preset conditions. If at least the third voltage fault handling strategy is currently triggered or at least the second current fault handling strategy is currently triggered, the maximum torque and maximum power of the motor system may be reset, and the speed of the motor may be limited to be less than or equal to a preset speed.

[0109] See also Figure 6 , Figure 6 is a block diagram of a fault handling device for a motor system shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 The implementation environment shown is as follows. The device may also be applicable to other exemplary implementation environments. This embodiment does not limit the implementation environment to which the device is applicable.

[0110] In an exemplary embodiment, the motor system is configured in a vehicle, and the motor system includes a motor controller and a motor. The motor controller is correspondingly provided with at least two mutually redundant voltage sensors, such as Figure 6As shown, the fault handling device of the exemplary motor system includes: a monitoring module 610, which is used to monitor the status of each voltage sensor and obtain the number of all failed voltage sensors, where the failed voltage sensors are voltage sensors in an abnormal state; a comparison module 620, which compares the number of all failed voltage sensors with the total number of preset voltage sensors to obtain a comparison result; an information processing module 630, which is used to determine the current voltage fault handling strategy based on the comparison result and trigger the motor controller to execute the current voltage fault handling strategy, wherein the voltage fault handling strategy includes a first voltage fault handling strategy and a second voltage fault handling strategy; the first voltage fault handling strategy includes obtaining the sampled voltage of the effective voltage sensor, and determining the current motor controller voltage based on the sampled voltage of the effective voltage sensor, where the effective voltage sensor is a voltage sensor in a normal state; the second voltage fault handling strategy includes obtaining the voltage signal of the preset network bus, and determining the current motor controller voltage based on the voltage signal.

[0111] In this embodiment, the monitoring module 610 may be an MCU (Microcontroller Unit), the comparison module 620 may be a logic comparator, and the information processing module 630 may be a microprocessor or chip such as an MCU or an ECU (Electronic Control Unit).

[0112] It should be noted that the fault handling device for the motor system provided in the above embodiment and the fault handling method for the motor system provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the fault handling device for the motor system provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0113] This embodiment also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the motor system fault handling method provided in the above-mentioned embodiments.

[0114] See also Figure 7 , Figure 7 is a schematic diagram of a structure of an electronic device shown in an exemplary embodiment of the present application. It should be noted that: Figure 7 The electronic device 700 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0115] like Figure 7 As shown, the electronic device 700 includes a processor 701, a memory 702 and a communication bus 703; the communication bus 703 is used to connect the processor 701 and the memory 702; the processor 701 is used to execute the computer program stored in the memory 702 to implement one or more methods in the above embodiments.

[0116] This embodiment also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the fault handling method of the motor system as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0117] This embodiment also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the fault handling method of the motor system provided in each of the above embodiments.

[0118] The electronic device provided in this embodiment includes a processor, a memory, a transceiver and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication with each other. The memory is used to store computer programs, the communication interface is used to communicate, and the processor and the transceiver are used to run the computer program so that the electronic device executes each step of the above method.

[0119] In this embodiment, the memory may include a random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0120] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0121] The computer-readable storage medium in this embodiment can be understood by ordinary technicians in this field: all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to the computer program. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, the execution includes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM (read-only memory), RAM (random access memory), magnetic disk or optical disk and other media that can store program codes.

[0122] The above embodiments are merely illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for handling a fault of a motor system, characterized in that: The motor system is configured in a vehicle, the motor system includes a motor controller and a motor, the motor controller is correspondingly provided with at least two mutually redundant voltage sensors, and the method includes: Monitor the state of each voltage sensor to obtain the number of all failed voltage sensors, where the failed voltage sensors are voltage sensors in an abnormal state; Comparing the number of all failed voltage sensors with the total number of preset voltage sensors to obtain a comparison result; The current voltage fault handling strategy is determined and triggered according to the comparison result, wherein the voltage fault handling strategy includes a first voltage fault handling strategy and a second voltage fault handling strategy; the first voltage fault handling strategy includes obtaining a sampled voltage of an effective voltage sensor, and determining the current motor controller voltage based on the sampled voltage of the effective voltage sensor, wherein the effective voltage sensor is a voltage sensor in a normal state; the second voltage fault handling strategy includes obtaining a voltage signal of a preset network bus, and determining the current motor controller voltage based on the voltage signal.

2. The method for handling a fault of a motor system according to claim 1, characterized in that: The first voltage fault handling strategy also includes: generating voltage sensor primary fault information based on the sensor information of the failed voltage sensor, and reporting the information to the preset network bus; and / or, The maximum torque and the maximum power of the motor system are reduced according to a first preset ratio.

3. The fault handling method of the motor system according to claim 2, characterized in that: The second voltage fault handling strategy also includes: Generating voltage sensor secondary fault information based on the sensor information of the failed voltage sensor, and reporting it to the preset network bus; and / or, The maximum torque and the maximum power of the motor system are reduced according to a second preset ratio, and the rotational speed of the motor is limited to meet a preset condition, wherein the second preset ratio is smaller than the first preset ratio, and the preset condition includes that the rotational speed of the motor is smaller than or equal to a preset rotational speed, and the speed of the vehicle is greater than or equal to a preset speed.

4. The fault handling method of the motor system according to claim 1, characterized in that: Determining the current motor controller voltage based on the voltage signal includes: Using the current target node voltage in the voltage signal as the current motor controller voltage, wherein the current target node voltage includes the current vehicle controller voltage or the current battery pack voltage; or, Obtain the current motor power, and determine the current motor controller voltage based on the current motor power, the current target node voltage in the voltage signal, and the preset correspondence between the motor power-target node voltage-motor controller voltage, wherein the current target node voltage includes the current vehicle controller voltage or the current battery pack voltage.

5. The fault handling method of the motor system according to claim 1, characterized in that: The voltage fault processing strategy further includes a third voltage fault processing strategy, and the third voltage fault processing strategy includes: Generating voltage sensor level 3 fault information based on the sensor information of the failed voltage sensor, and reporting it to the preset network bus; and / or, The maximum torque and the maximum power of the motor system are reset to zero, and the rotation speed of the motor is limited to be less than or equal to a preset rotation speed.

6. The method for handling a fault of a motor system according to claim 5, characterized in that: Determining a current voltage fault processing strategy according to the comparison result includes: If the number of all failed voltage sensors is less than the preset total number of voltage sensors, determining that the current voltage fault processing strategy is the first voltage fault processing strategy; If the number of all failed voltage sensors is equal to the total number of preset voltage sensors, the state of the voltage signal is detected. When the voltage signal is in a valid state, the current voltage fault handling strategy is determined to be the second voltage fault handling strategy. When the voltage signal is in a failed state, the current voltage fault handling strategy is determined to be the third voltage fault handling strategy.

7. The fault handling method of the motor system according to claim 5, characterized in that: The motor controller is correspondingly provided with a three-phase current sensor, and the method further comprises: Monitor the status of each phase current sensor; If there is only one-phase failure current sensor, a first current fault processing strategy is triggered, wherein the first current fault processing strategy includes obtaining the collected currents of the two-phase effective current sensors, estimating the currents of the failure current sensors based on the collected currents of the two-phase effective current sensors, wherein the failure current sensor is a current sensor in an abnormal state, and the effective current sensor is a current sensor in a normal state; If there are at least two-phase failure current sensors, a second current fault handling strategy is triggered. The second current fault handling strategy includes clearing the maximum torque and maximum power of the motor system and limiting the speed of the motor to be less than or equal to the preset speed.

8. The method for handling a fault of a motor system according to claim 7, characterized in that: The first current fault handling strategy also includes: Generate primary fault information of the current sensor based on the sensor information of the failed current sensor, and report it to the preset network bus; and / or, The maximum torque and the maximum power of the motor system are reduced according to a first preset ratio.

9. A fault handling device for a motor system, characterized in that: The motor system is configured in a vehicle, the motor system includes a motor controller and a motor, the motor controller is correspondingly provided with at least two mutually redundant voltage sensors, and the device includes: A monitoring module, used to monitor the status of each voltage sensor and obtain the number of all failed voltage sensors, wherein the failed voltage sensors are voltage sensors in an abnormal state; A comparison module, used for comparing the number of all failed voltage sensors with the total number of preset voltage sensors to obtain a comparison result; An information processing module is used to determine the current voltage fault handling strategy according to the comparison result and trigger the motor controller to execute the current voltage fault handling strategy, wherein the voltage fault handling strategy includes a first voltage fault handling strategy and a second voltage fault handling strategy; the first voltage fault handling strategy includes obtaining a sampled voltage of an effective voltage sensor, and determining the current motor controller voltage based on the sampled voltage of the effective voltage sensor, and the effective voltage sensor is a voltage sensor in a normal state; the second voltage fault handling strategy includes obtaining a voltage signal of a preset network bus, and determining the current motor controller voltage based on the voltage signal.

10. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the electronic device to implement the fault handling method of the motor system as described in any one of claims 1-8.

11. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the fault handling method for a motor system as claimed in any one of claims 1 to 8.

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