Motor controller and vehicle

Abstract

The invention relates to a motor controller and a vehicle. The motor controller comprises a sampling resistor, an isolation module and a control module. The sampling resistor is connected in series in a current output loop of the motor controller; the isolation module is used for obtaining voltage signals at the two ends of the sampling resistor and transmitting the voltage signals to the control module in an isolated mode. And the control module is used for receiving the isolated voltage signal and determining a sampling current. Compared with the prior art that a Hall current sensor is used for sampling current, current sampling can be completed by obtaining the voltage signal of the sampling resistor and conducting transmission calculation, the size of the motor controller is greatly reduced, the occupied space is reduced, and vehicle light weight is facilitated.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to a motor controller and a vehicle. Background Art

[0002] The motor controller of new energy vehicles converts the high-voltage battery DC into three-phase AC for the drive motor, which converts the electrical energy into mechanical energy to drive the vehicle. The amplitude and frequency characteristics of the three-phase AC directly affect the output torque performance of the drive motor, which in turn affects the driving performance and experience of the vehicle.

[0003] Therefore, it is very important to control the three-phase AC output by the motor controller with high precision. In the prior art, the three-phase AC is generally collected by a phase current sensor, so the phase current sensor is the core component of the motor controller in the prior art. However, the prior art usually uses a Hall current sensor as a phase current sensor, and the Hall current sensor requires a magnetic element, a sampling chip and a processing circuit. The magnetic core of the magnetic element is relatively large, which in turn affects the volume of the vehicle motor controller. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a motor controller and a vehicle.

[0005] In a first aspect, the present application provides a motor controller, comprising:

[0006] Sampling resistor, isolation module and control module;

[0007] The sampling resistor is connected in series in the current output loop of the motor controller; the isolation module is used to obtain the voltage signal across the sampling resistor and isolate and transmit the voltage signal to the control module; the control module is used to receive the isolated voltage signal and determine the sampling current.

[0008] In some embodiments, the sampling resistor is connected in series to the phase current output terminal of the current output loop;

[0009] Alternatively, the sampling resistor is connected in series between the positive terminal of the busbar and the phase current output terminal of the current output loop;

[0010] Alternatively, the sampling resistor is connected in series between the negative terminal of the busbar of the current output loop and the phase current output terminal.

[0011] In some embodiments, a differential operational amplifier unit is further included, which is used to collect the voltage signal across the sampling resistor; the first input end of the differential operational amplifier unit is electrically connected to the first end of the sampling resistor; the second input end of the differential operational amplifier unit is electrically connected to the second end of the sampling resistor, and the output end of the differential operational amplifier unit is electrically connected to the input end of the isolation module.

[0012] In some embodiments, the differential operational amplifier unit is integrated into the isolation module.

[0013] In some embodiments, an analog-to-digital conversion unit is also included;

[0014] The input end of the analog-to-digital conversion unit is electrically connected to the output end of the differential operational amplifier unit; the output end of the analog-to-digital conversion unit is electrically connected to the isolation module; the analog-to-digital conversion unit is used to perform analog-to-digital conversion on the voltage signal output by the output end of the differential operational amplifier unit.

[0015] In some embodiments, the analog-to-digital conversion unit is integrated into the isolation module.

[0016] In some embodiments, the analog-to-digital conversion unit is integrated into the control module.

[0017] In some embodiments, a power switch module is also included, the control end of the power switch module is electrically connected to the isolation module, and the power switch module is also electrically connected to the bus positive end, the bus negative end and the phase current output end respectively; the sampling resistor is integrated in the power switch module.

[0018] In some embodiments, the sampling resistor reuses the DC resistance of the power switch module.

[0019] In a second aspect, the present application also provides a vehicle, comprising the motor controller provided in the first aspect of the present application.

[0020] Compared with the prior art, the technical solution provided by this application has the following advantages:

[0021] The motor controller provided in the embodiment of the present application includes: a sampling resistor, an isolation module and a control module. The sampling resistor is connected in series in the current output circuit of the motor controller; the isolation module is used to obtain the voltage signal at both ends of the sampling resistor, and isolate the voltage signal and transmit it to the control module; the control module is used to receive the isolated voltage signal and determine the sampling current. The control module can determine the sampling current corresponding to the received isolated voltage signal based on the received isolated voltage signal and the relationship between the pre-calibrated voltage signal and the sampling current. The sampling current is the current at the phase current output end of the motor controller. Compared with the prior art, the embodiment of the present application does not need to use a Hall current sensor to sample the current like the prior art. The current sampling can be completed by obtaining the voltage signal of the sampling resistor and performing transmission calculation, which greatly reduces the size of the motor controller and reduces the occupied space, thereby facilitating the lightweighting of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 A schematic diagram of the structure of a motor controller provided in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application;

[0028] Figure 5 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application;

[0029] Figure 6 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application;

[0030] Figure 7 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application.

[0031] Among them, 10, sampling resistor; 20, isolation module; 30, control module; 40, differential operational amplifier unit; 50, analog-to-digital conversion unit; 60, power switch module; 70, operational amplifier unit. DETAILED DESCRIPTION

[0032] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0033] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all of the embodiments.

[0034] Currently, the motor controller mainly uses Hall current sensors as phase current sensors. The current value of the phase current output end of the motor controller is collected through the phase current sensor. The phase current sensor includes a magnetic element, a sampling chip and a processing circuit. Due to the magnetic element, the phase current sensor is large in size, which causes the motor controller to be too large and heavy, which affects the volume of the vehicle.

[0035] In view of the defects of the prior art, the present invention provides a motor controller. Figure 1 A schematic diagram of the structure of a motor controller provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the motor controller includes: a sampling resistor 10 , an isolation module 20 and a control module 30 .

[0036] The sampling resistor 10 is connected in series in the current output loop of the motor controller. The isolation module 20 is used to obtain the voltage signal across the sampling resistor 10 and isolate the voltage signal and transmit it to the control module 30. The control module 30 is used to receive the isolated voltage signal and determine the sampling current.

[0037] In the embodiment of the present application, the motor controller includes a sampling resistor 10, wherein the sampling resistor 10 is connected in series in the current output circuit of the motor controller. The motor controller is used to convert the DC power of the high-voltage battery into three-phase AC power for the drive motor. The drive motor converts the electrical energy into mechanical energy and then drives the whole vehicle to move. By adjusting the current output by the motor controller, the torque output by the drive motor can be controlled. Therefore, it is necessary to accurately sense the current output by the motor controller. When the sampling resistor 10 is connected in series in the current output circuit of the motor controller, after the current passes through the sampling resistor 10, it is output to the drive motor from the phase current output terminal of the motor controller. The required current can be obtained by obtaining the relevant electrical parameters of the sampling resistor 10. In the embodiment of the present application, the motor controller also includes an isolation module 20 and a control module 30. The voltage signal at both ends of the sampling resistor 10 is obtained through the isolation module 20. Since the resistor 10 is set in the current output loop and is on the high-voltage side, the obtained voltage signal needs to be transmitted to the control module 30, and the control module 30 is on the low-voltage control side. There is isolation between the high-voltage side and the low-voltage control side, and the signal and data cannot be directly transmitted. Therefore, the voltage signal obtained by the isolation module 20 also needs to be isolated from the high-voltage and low-voltage in the isolation module 20. If the high-voltage side and the low-voltage control side are not isolated, all low-voltage devices are facing the threat of instantaneous high voltage. For the protection of the low-voltage control side circuit, the high-voltage side and the low-voltage side need to be isolated. The isolated voltage signal is transmitted to the control module 30, and the control module 30 can determine the sampling current according to the received isolated voltage signal. For example, the relationship between the current and the voltage is pre-calibrated, for example, when the voltage value is A, the corresponding current value is a; when the voltage value is B, the corresponding current value is b; when the voltage value is C, the corresponding current value is c. Each voltage signal (voltage value) has a corresponding sampling current (current value). According to the voltage signal obtained at both ends of the resistor 10, the sampling current corresponding to the sampling resistor 10 can be determined. The resistor 10 is connected in series in the current output loop, and the sampling current is also the current at the phase current output end of the motor controller. Regarding the selection of the sampling resistor, the resistance value of the sampling resistor can be adjusted to match the required accuracy of the collected current to meet various requirements.

[0038] Compared with the prior art, the motor controller provided in the embodiment of the present application has a sampling resistor in series in the current output loop, and the output current will pass through the sampling resistor. The sampling resistor is provided with a detection end, and the motor controller is also provided with an isolation module. The isolation module can obtain the voltage signal at both ends of the sampling resistor through the detection end of the sampling resistor, and isolate the voltage signal and transmit it to the control module. The control module can determine the sampling current corresponding to the received isolated voltage signal based on the received isolated voltage signal and the relationship between the pre-calibrated voltage signal and the sampling current. The sampling current is the current at the phase current output end of the motor controller. Compared with the prior art, the embodiment of the present application does not need to use a Hall current sensor to sample the current like the prior art. The current sampling can be completed by obtaining the voltage signal of the sampling resistor and performing transmission calculation, which greatly reduces the size of the motor controller and reduces the occupied space, thereby facilitating the lightweighting of the vehicle.

[0039] In some embodiments, the sampling resistor is connected in series to the phase current output terminal of the current output loop;

[0040] Alternatively, the sampling resistor is connected in series between the positive terminal of the busbar of the current output loop and the phase current output terminal.

[0041] Alternatively, the sampling resistor is connected in series between the negative terminal of the busbar of the current output loop and the phase current output terminal.

[0042] The DC power of the high-voltage battery in the motor controller provides current to the current output circuit of the current controller through the busbar for use in driving the motor. The sampling resistor can be connected in series at multiple locations in the current output circuit. The busbar provides current to the current output circuit, so there are a positive terminal and a negative terminal of the busbar, and the current is output from the phase current output terminal to the drive motor. Figure 1 The sampling resistor 10 is connected in series in the phase current output end of the current output loop. For example, one end of the sampling resistor 10 is connected between the positive end of the bus and the negative end of the bus, and the other end of the sampling resistor 10 is electrically connected to the phase current output end. At this time, the sampling resistor 10 is connected in series in the phase current output end of the current output loop.

[0043] Alternatively, the sampling resistor may also be connected in series between the positive terminal of the busbar of the current output loop and the phase current output terminal. For example, Figure 2 A schematic diagram of the structure of a motor controller provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, one end of the sampling resistor 10 is connected between the positive end of the busbar and the phase current output end of the current output loop, and the other end of the sampling resistor 10 is connected to the negative end of the busbar. At this time, the sampling resistor 10 is placed at the negative end of the busbar.

[0044] Alternatively, the sampling resistor is connected in series between the negative terminal of the busbar of the current output loop and the phase current output terminal. For example, Figure 3A schematic diagram of the structure of a motor controller provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, one end of the sampling resistor 10 is connected between the negative end of the busbar of the current output loop and the phase current output end, and the other end of the sampling resistor 10 is connected to the positive end of the busbar. At this time, the sampling resistor 10 is placed at the positive end of the busbar.

[0045] The above embodiments provide a variety of placement methods for the sampling resistors. In different placement methods, the current will be output after passing through the sampling resistors. Therefore, the voltage signal collected from the sampling resistors can determine the corresponding sampling current. The difference is that the sampling resistors are located at different positions in the current output loop, and the voltage signals generated are different. The control module uses different calculation methods to determine the sampling current based on the voltage signal, but this does not affect the accuracy of the sampling current.

[0046] In some embodiments, Figure 4 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the motor controller further includes a differential operational amplifier unit 40, which is used to collect the voltage signal across the sampling resistor 10. The first input end of the differential operational amplifier unit is electrically connected to the first end of the sampling resistor 10, the second input end of the differential operational amplifier unit 40 is electrically connected to the second end of the sampling resistor 10, and the output end of the differential operational amplifier unit 40 is electrically connected to the input end of the isolation module 20.

[0047] In the embodiment of the present application, the differential operational amplifier unit 40 includes a first input terminal and a second input terminal, and is used to collect the voltage signal across the sampling resistor 10, wherein the first input terminal of the differential operational amplifier unit 40 is electrically connected to the first terminal of the sampling resistor 10, the second input terminal of the differential operational amplifier unit 40 is electrically connected to the second terminal of the sampling resistor 10, and the output terminal of the differential operational amplifier unit 40 is electrically connected to the input terminal of the isolation module 20. The voltage signal obtained through the first terminal and the second terminal of the sampling resistor 10 is a differential voltage signal, which is the voltage signal across the sampling resistor 10, respectively, and the first input terminal and the second input terminal of the differential operational amplifier unit 40 respectively receive the differential voltage signal of the sampling resistor 10, and the differential operational amplifier unit 40 can convert the differential voltage signal into a single-ended voltage signal (the voltage difference across the sampling resistor). For example, a differential op amp is provided in the differential op amp unit, a first input terminal of the differential op amp is electrically connected to a first input terminal of the differential op amp unit, a second input terminal of the differential op amp is electrically connected to a second input terminal of the differential op amp unit, the differential op amp is single-ended and grounded, with the ground being a reference terminal, the voltage signal collected across the sampling resistor flows into the differential op amp, combined with the reference terminal to obtain a single-ended voltage signal and then output.

[0048] Optionally, the differential operational amplifier unit may further include an operational amplifier, and the voltage signal is output after passing through the operational amplifier, and the range of the voltage signal may be adjusted to meet the required requirements.

[0049] It should be noted that the embodiments of the present application do not limit the specific circuit structure of the differential operational amplifier unit, and it is sufficient as long as the circuit requirements are met and the voltage signal is output. The above embodiments are only used as examples.

[0050] In some embodiments, the differential operational amplifier unit is integrated into the isolation module.

[0051] In an embodiment of the present application, the differential operational amplifier unit is integrated in the isolation module, and there is no need to set up a circuit chip separately. The differential operational amplifier unit is integrated in the isolation module by utilizing the space on the isolation module, which can effectively reduce the space occupied by the motor controller. If there is a differential operational amplifier unit in the isolation module, the differential operational amplifier unit in the isolation module can also be directly used to reduce the cost of the motor controller to detect the current process and reduce the volume of the motor controller. Integrating the differential operational amplifier unit in the isolation module will not affect the voltage acquisition process and the current detection process at both ends of the sampling resistor.

[0052] In some embodiments, Figure 5 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the motor controller further includes an analog-to-digital conversion unit 50 .

[0053] The input end of the analog-to-digital conversion unit 50 is electrically connected to the output end of the differential operational amplifier unit 40. The output end of the analog-to-digital conversion unit 50 is electrically connected to the isolation module 20. The analog-to-digital conversion unit 50 is used to perform analog-to-digital conversion on the voltage signal outputted from the output end of the differential operational amplifier unit 40.

[0054] The motor controller also includes an analog-to-digital conversion unit 50. Since the voltage signal directly obtained from the sampling resistor 10 is an analog signal, when the sampling current is determined based on the voltage signal after being transmitted to the control module 30, it needs to be processed through a digital signal. Therefore, it is necessary to convert the voltage signal from an analog signal type to a digital signal type, and the analog-to-digital conversion is completed by setting an analog-to-digital conversion unit 50 in the motor controller.

[0055] Among them, the input end of the analog-to-digital conversion unit 50 is electrically connected to the output end of the differential operational amplifier unit 40, and the output end of the analog-to-digital conversion unit 50 is electrically connected to the isolation module 20. The differential operational amplifier unit 40 inputs the converted voltage signal to the analog-to-digital conversion unit 50. The analog-to-digital conversion unit 50 processes the voltage signal belonging to the analog signal type to obtain a voltage signal of the digital signal type, and outputs it to the isolation module 20 to complete the analog-to-digital conversion.

[0056] It should be noted that the embodiments of the present application do not limit the specific circuit structure of the analog-to-digital conversion unit. An analog-to-digital conversion chip can be used, or an analog-to-digital conversion circuit can be built as long as the conversion requirements are met.

[0057] In some embodiments, the analog-to-digital conversion unit is integrated into the isolation module.

[0058] Specifically, in an embodiment of the present application, the analog-to-digital conversion unit can be integrated in the isolation module, without the need to separately set up a circuit chip. By utilizing the space on the isolation module, the analog-to-digital conversion unit is integrated in the isolation module, which can effectively reduce the space occupied by the motor controller. If there is an analog-to-digital conversion unit in the isolation module, the analog-to-digital conversion unit in the isolation module can also be directly used to reduce the cost of the motor controller's current detection process and reduce the size of the motor controller. Integrating the analog-to-digital conversion unit in the isolation module will not affect the voltage acquisition process and current detection process at both ends of the sampling resistor.

[0059] In some embodiments, the analog-to-digital conversion unit is integrated into the control module.

[0060] Specifically, the analog-to-digital conversion unit is integrated in the control module, and there is no need to separately set up a circuit chip in the motor controller. Instead, the space on the control module is utilized to integrate the analog-to-digital conversion unit in the control module, effectively reducing the space occupied by the motor controller. In the embodiment of the present application, the voltage signal output by the differential operational amplifier unit is of an analog signal type, which is directly isolated by the isolation module and then transmitted to the analog-to-digital conversion unit integrated in the control module. The analog-to-digital conversion unit performs analog-to-digital conversion on the voltage signal and converts it into a voltage signal of a digital signal type, which is then transmitted to the control module. The control module calculates and processes the voltage signal to obtain a sampled current.

[0061] In some embodiments, Figure 6 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the motor controller also includes a power switch module 60, the control end of the power switch module 60 is electrically connected to the isolation module 20, and the power switch module 60 is also electrically connected to the bus positive end, the bus negative end and the phase current output end. The sampling resistor 10 is integrated in the power switch module 60.

[0062] See also Figure 6In the embodiment of the present application, the motor controller further includes a power switch module 60, the control end of the switch module 60 is electrically connected to the isolation module 20, and the power switch module 60 is also electrically connected to the positive end of the bus, the negative end of the bus, and the phase current output end. When the motor controller works normally, the control module 30 sends a control signal, and the control signal is transmitted to the power switch module 60 after being isolated by the isolation module 20, and the power switch module 60 acts as a switch in the current output circuit. Under the control of the control module 30, the power switch module 60 is turned on, the connection between the positive end of the bus, the negative end of the bus, and the phase current output end is turned on, the current output circuit is turned on, and the current is output from the phase current output end to the outside. If the control module 30 sends a control signal to control the power switch module 60 to disconnect, the connection between the positive end of the bus, the negative end of the bus, and the phase current output end is disconnected, the current output circuit is disconnected, and there is no current output at the phase current output end. When the current output circuit is turned on, there is current output at the phase current output end, and the voltage signal can be obtained through the sampling resistor, and then the output current can be accurately calculated. The sampling resistor 10 may be integrated into the power switch module 60 . For example, an alloy resistor may be sintered inside the power switch module 60 as the sampling resistor 10 , which may reduce the volume of the motor controller.

[0063] In some embodiments, the sampling resistor multiplexes the DC resistance of the power switch module.

[0064] The DC resistance of the power switch module can also be reused as a sampling resistance. In the embodiment of the present application, there is no need to add a new resistance, and the original DC resistance on the copper substrate inside the power switch module is directly used as the sampling resistance. Reusing the DC resistance of the power switch module can not only reduce the size of the motor controller, but also reduce the cost if the original DC resistance of the power switch module is used, and will not affect the detection process.

[0065] Figure 7 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the detection process of the output current of the motor controller is specifically described below.

[0066] Exemplarily, the control module 30 in the motor controller is an MCU (Microcontroller Unit), and the isolation module 20 uses an isolation driver, wherein the isolation driver includes a primary side and a secondary side, and the data transmission between the primary side and the secondary side can be directly transmitted through the SPI (Serial Peripheral Interface) communication mode, and the isolation driver is also integrated with an analog-to-digital conversion unit 50, using an ADC (Analog-to-Digital Converter), which is located at the secondary side of the isolation driver. A differential operational amplifier unit 40 is also provided, and the sampling resistor 10 is provided in the power switch module 60, and the power switch module is provided with a first switch element Q1 and a second switch element Q2, and the control ends of the first switch element Q1 and the second switch element Q2 are electrically connected to the isolation drive module through an operational amplifier unit 70, wherein the operational amplifier unit 70 is integrated in the secondary side of the isolation driver. The remaining ports of the first switch element Q1 and the second switch element Q2 are electrically connected to the positive terminal of the bus, the negative terminal of the bus, and the phase current output terminal, respectively. It should be noted that when the motor controller controls the drive motor, it is driven by three-phase alternating current, and the figure only shows the output structure of one phase of alternating current.

[0067] When the motor controller is working, the MCU sends a control signal (for example, a square wave signal) to control the on and off of the first switch element Q1 and the second switch element Q2 in the power switch module 60, thereby achieving the effect of outputting alternating current. In the signal transmission process, the side where the MCU is located is the low-voltage control side, and the control signal is transmitted to the primary side of the isolation driver. If it is to be transmitted to the secondary side (high-voltage side) of the isolation driver, it needs to be isolated. After isolation, the control signal is transmitted to the operational amplifier unit 70 through SPI communication. The operational amplifier unit 70 amplifies or otherwise processes the control signal and transmits it to the first switch element Q1 and the second switch element Q2 in the power switch module 60. The current output loop of the motor controller is turned on, and the sampling resistor 10 is connected in series near the phase current output end. After the current passes through the sampling resistor 10, it is output from the phase current output end to the drive motor to complete the control of the drive motor. The accuracy of the output current affects the control of the drive motor, and the output current needs to be detected in real time so as to adjust the output current in time.

[0068] In the embodiment of the present application, by acquiring the voltage signal of the sampling resistor 10 and feeding the voltage signal back to the MCU, the MCU can calculate the corresponding output current according to the voltage signal of the sampling resistor 10. Among them, the voltage signal of the sampling resistor 10 is adjusted by the differential operational amplifier unit 40 and transmitted to the ADC. Since the voltage signal of the sampling resistor 10 directly collected is an analog signal type, it needs to be converted to a digital signal type, and then processed and calculated by the MCU. Therefore, it needs to be processed by the ADC to obtain a voltage signal of a digital signal type. The currently obtained voltage signal still belongs to the high-voltage side signal and cannot be directly transmitted to the MCU. It also needs to be isolated at the isolation driver, and transmitted to the primary side of the isolation driver by SPI and then fed back to the MCU. The calculation and processing of the output current is completed in the MCU, and the motor controller can adjust the control signal according to the obtained output current, so as to complete the cycle.

[0069] It should be noted that the motor controller provided in the embodiment of the present application splits the original method of detecting phase current through phase current sensor, and uses lower cost and smaller components to complete the detection of phase current. The components involved in detecting phase current in the embodiment of the present application can be integrated into the original circuit structure of the motor controller, so as to better reduce the volume of the motor controller. In addition, the prior art uses phase current sensor to detect current, and the sampling accuracy is affected by the vibration of the vehicle. Since the phase current sensor includes a magnetic element, and the magnetic element will be offset directly due to the vibration position, the result of static accuracy calibration is inaccurate. Therefore, the measured output current may be inaccurate. However, this solution is to connect the sampling resistor in series in the current output circuit of the motor controller, which is in direct contact with the current and will not be affected by the environment. Even if the vehicle vibrates during driving, it will not affect the static accuracy calibration, and the acquisition result is more accurate.

[0070] The embodiment of the present application also provides a vehicle, which includes a motor controller as described in the above embodiment. Therefore, the vehicle provided by the embodiment of the present application has the beneficial effects described in the above embodiment.

[0071] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0072] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A motor controller, characterized in that: include: Sampling resistor, isolation module and control module; The sampling resistor is connected in series in the current output loop of the motor controller; the isolation module is used to obtain the voltage signal across the sampling resistor and isolate and transmit the voltage signal to the control module; the control module is used to receive the isolated voltage signal and determine the sampling current.

2. The motor controller according to claim 1, characterized in that: The sampling resistor is connected in series at the phase current output end of the current output loop; Alternatively, the sampling resistor is connected in series between the positive terminal of the busbar and the phase current output terminal of the current output loop; Alternatively, the sampling resistor is connected in series between the negative terminal of the busbar of the current output loop and the phase current output terminal.

3. The motor controller according to claim 1, characterized in that: It also includes a differential operational amplifier unit, which is used to collect the voltage signal at both ends of the sampling resistor; the first input end of the differential operational amplifier unit is electrically connected to the first end of the sampling resistor; the second input end of the differential operational amplifier unit is electrically connected to the second end of the sampling resistor, and the output end of the differential operational amplifier unit is electrically connected to the input end of the isolation module.

4. The motor controller according to claim 3, characterized in that: The differential operational amplifier unit is integrated in the isolation module.

5. The motor controller according to claim 3 or 4, characterized in that: Also included is an analog-to-digital conversion unit; The input end of the analog-to-digital conversion unit is electrically connected to the output end of the differential operational amplifier unit; the output end of the analog-to-digital conversion unit is electrically connected to the isolation module; the analog-to-digital conversion unit is used to perform analog-to-digital conversion on the voltage signal output by the output end of the differential operational amplifier unit.

6. The motor controller according to claim 5, characterized in that: The analog-to-digital conversion unit is integrated in the isolation module.

7. The motor controller according to claim 5, characterized in that: The analog-to-digital conversion unit is integrated in the control module.

8. The motor controller according to claim 1, characterized in that: It also includes a power switch module, the control end of which is electrically connected to the isolation module, and the power switch module is also electrically connected to the bus positive end, the bus negative end and the phase current output end respectively; the sampling resistor is integrated in the power switch module.

9. The motor controller according to claim 8, characterized in that: The sampling resistor reuses the DC resistance of the power switch module.

10. A vehicle, characterized in that: Comprising a motor controller as described in any one of claims 1-9.

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