Dual three-phase motor control method, control device and vehicle

Abstract

The invention discloses a dual three-phase motor control method and device and a vehicle. The control method comprises the steps that a main board torque determination module sends a first torque value to a main board torque distribution module, and an auxiliary board torque determination module sends a second torque value to an auxiliary board torque arbitration module; the main board torque distribution module determines a third torque value and a far-end torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module determines a fourth torque value according to the second torque value, the far-end torque value and the second fault state; the main board motor control module controls a third torque value of operation of the dual three-phase motor according to the third torque value and determines a first fault level of the dual three-phase motor, and the auxiliary board motor control module controls a fourth torque value of operation of the dual three-phase motor according to the fourth torque value and determines a second fault level of the dual three-phase motor. According to the invention, the output torque of the dual three-phase motor can be flexibly adjusted, the failure rate of the dual three-phase motor is reduced, and the reliability of the dual three-phase motor is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wire-controlled steering, and in particular to a dual three-phase motor control method, a control device and a vehicle. Background Art

[0002] With the accelerated advancement of intelligent driving, steer-by-wire technology has become a key technology for intelligent connected vehicles to achieve path tracking and obstacle avoidance. The actuators of the steer-by-wire system are mainly dual three-phase motors, and redundant control is performed based on the dual three-phase motors.

[0003] At present, when a single-point failure occurs in the control device that controls the dual three-phase motor, ensuring that the dual three-phase motor can still normally output the torque required by the vehicle is one of the key technical issues that need to be solved in the development of intelligent driving vehicles. Summary of the invention

[0004] The present invention provides a dual three-phase motor control method, a control device and a vehicle, which can flexibly adjust the output torque of the dual three-phase motor, reduce the failure rate of the dual three-phase motor, and improve the reliability of the dual three-phase motor.

[0005] According to one aspect of the present invention, a dual three-phase motor control method is provided, the dual three-phase motor control method comprising: the control method is applied to a dual three-phase motor control device; the dual three-phase motor control device comprises a main board control sub-device and an auxiliary board control sub-device;

[0006] The mainboard torque determination module sends a first torque value to the mainboard torque allocation module, and the auxiliary board torque determination module sends a second torque value to the auxiliary board torque arbitration module;

[0007] The mainboard torque distribution module determines a third torque value and a remote torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module determines a fourth torque value according to the second torque value, the remote torque value and the second fault state;

[0008] The main board motor control module controls the third torque value of the dual three-phase motor according to the third torque value, and determines the first fault level of the dual three-phase motor, and the auxiliary board motor control module controls the fourth torque value of the dual three-phase motor according to the fourth torque value, and determines the second fault level of the dual three-phase motor;

[0009] The main board status management module determines the first fault state of the main board control sub-device according to the first fault level and the second fault level, and sends the first fault state to the main board torque distribution module, and the auxiliary board status management module determines the second fault state of the auxiliary board control sub-device according to the first fault level and the second fault level, and sends the second fault state to the auxiliary board torque arbitration module.

[0010] Optionally, the main board control sub-device further includes a first inter-board communication module; the auxiliary board control sub-device further includes a second inter-board communication module;

[0011] The main board torque distribution module transmits the remote torque value to the auxiliary board torque arbitration module through the first inter-board communication module and the second inter-board communication module;

[0012] The main board motor control module transmits the first fault level to the auxiliary board status management module through the first inter-board communication module and the second inter-board communication module;

[0013] The auxiliary board motor control module transmits the second fault level to the main board status management module through the first inter-board communication module and the second inter-board communication module.

[0014] Optionally, the first fault state is the same as the second fault state.

[0015] Optionally, the first fault state is any one of the following: the main board control sub-device is faulty and the auxiliary board control sub-device is not faulty, the main board control sub-device is not faulty and the auxiliary board control sub-device is faulty, the main board control sub-device is faulty and the auxiliary board control sub-device is faulty, and the main board control sub-device is not faulty and the auxiliary board control sub-device is not faulty.

[0016] Optionally, the dual three-phase motor includes a first three-phase unilateral motor and a second three-phase unilateral motor;

[0017] The maximum output torque of the first three-phase unilateral motor is a first maximum output torque, and the maximum output torque of the second three-phase unilateral motor is a second maximum output torque;

[0018] The mainboard torque distribution module determines a third torque value and a remote torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module determines a fourth torque value according to the second torque value, the remote torque value and the second fault state, including:

[0019] When the first fault state is that the main board control sub-device is faulty and the auxiliary board control sub-device is not faulty, the main board torque distribution module determines that the third torque value is 0, and the auxiliary board torque arbitration module determines that the fourth torque value is the minimum value between the second torque value and the second maximum output torque;

[0020] When the first fault state is that the main board control sub-device has no fault and the auxiliary board control sub-device has a fault, the main board torque distribution module determines that the third torque value is the minimum value between the first torque value and the first maximum output torque, and the auxiliary board torque arbitration module determines that the fourth torque value is 0;

[0021] When the first fault state is that the main board control sub-device is faulty and the auxiliary board control sub-device is faulty, the main board torque distribution module determines that the third torque value is 0, and the auxiliary board torque arbitration module determines that the fourth torque value is 0;

[0022] When the main board control sub-device has no faults and the auxiliary board control sub-device has no faults, the main board torque distribution module determines that the third torque value is a first set value, and the auxiliary board torque arbitration module determines that the fourth torque value is a second set value, and the ratio of the first set value to the first torque value is less than 1, and the ratio of the second set value to the first torque value is less than 1.

[0023] Optionally, the first set value is equal to the second set value, and a ratio of the first set value to the first torque value is 0.5.

[0024] Optionally, the type of the first three-phase unilateral motor is the same as the type of the second three-phase unilateral motor.

[0025] Optionally, the information received and sent by the main board torque determination module are backed up in the auxiliary board torque determination module, and the information received and sent by the auxiliary board torque determination module are backed up in the main board torque determination module.

[0026] According to another aspect of the present invention, a dual three-phase motor control device is provided, the dual three-phase motor control device comprising a main board control sub-device and an auxiliary board control sub-device;

[0027] The main board control sub-device includes a main board torque determination module, a main board torque distribution module, a main board status management module and a main board motor control module; the auxiliary board control sub-device includes an auxiliary board torque determination module, an auxiliary board torque arbitration module, an auxiliary board status management module and an auxiliary board motor control module;

[0028] The mainboard torque determination module is used to send a first torque value to the mainboard torque allocation module, and the auxiliary board torque determination module is used to send a second torque value to the auxiliary board torque arbitration module;

[0029] The mainboard torque distribution module is used to determine a third torque value and a remote torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module is used to determine a fourth torque value according to the second torque value, the remote torque value and the second fault state;

[0030] The main board motor control module is used to control the third torque value of the dual three-phase motor according to the third torque value, and determine the first fault level of the dual three-phase motor, and the auxiliary board motor control module is used to control the fourth torque value of the dual three-phase motor according to the fourth torque value, and determine the second fault level of the dual three-phase motor;

[0031] The main board status management module is used to determine the first fault state of the main board control sub-device according to the first fault level and the second fault level, and send the first fault state to the main board torque distribution module. The auxiliary board status management module is used to determine the second fault state of the auxiliary board control sub-device according to the first fault level and the second fault level, and send the second fault state to the auxiliary board torque arbitration module.

[0032] According to another aspect of the present invention, a vehicle is provided. The vehicle includes a dual three-phase motor and a dual three-phase motor control device provided by any embodiment of the present invention.

[0033] The embodiment of the present invention provides a dual three-phase motor control method, which is applied to a dual three-phase motor control device, and the dual three-phase motor control device includes a main board control sub-device and an auxiliary board control sub-device. The control method includes: the main board torque determination module sends a first torque value to the main board torque distribution module, and the auxiliary board torque determination module sends a second torque value to the auxiliary board torque arbitration module. Then the main board torque distribution module determines the third torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module determines the fourth torque value according to the second torque value, the remote torque value sent by the main board torque distribution module and the second fault state. Then, the main board motor control module controls the dual three-phase motor to output the third torque value and determine the first fault level of the dual three-phase motor, and the auxiliary board motor control module controls the dual three-phase motor to output the fourth torque value and determine the second fault level of the dual three-phase motor. Finally, the main board state management module and the auxiliary board state management module send the first fault state and the second fault state according to the first fault level and the second fault level, respectively, so as to complete the closed-loop control of the dual three-phase motor. In addition, the first fault state and the second fault state indicate whether the main board control sub-device can operate normally, and whether the auxiliary board control sub-device can operate normally. It can be seen that the third torque value and the fourth torque value are related to the operating states of the auxiliary board control sub-device and the main board control sub-device. The dual three-phase motor control method provided in this embodiment can flexibly adjust the output torque of the dual three-phase motor, reduce the failure rate of the dual three-phase motor, and improve the reliability of the dual three-phase motor.

[0034] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 is a structural schematic diagram of a dual three-phase motor control device provided according to an embodiment of the present invention;

[0037] Figure 2 It is a flow chart of a dual three-phase motor control method provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0040] The dual three-phase motor control method provided by the embodiment of the present invention is applied to a dual three-phase motor control device. Figure 1 is a schematic diagram of a dual three-phase motor control device according to an embodiment of the present invention, with reference to Figure 1The dual three-phase motor control device includes a main board control sub-device 100 and an auxiliary board control sub-device 200; the main board control sub-device 100 includes a main board torque determination module 110, a main board torque distribution module 120, a main board status management module 130 and a main board motor control module 140; the auxiliary board control sub-device 200 includes an auxiliary board torque determination module 210, an auxiliary board torque arbitration module 220, an auxiliary board status management module 230 and an auxiliary board motor control module 240.

[0041] Optionally, the dual three-phase motor includes two three-phase single-sided motors, one of which is a first three-phase single-sided motor, and the other is a second three-phase single-sided motor.

[0042] Specifically, the main board control sub-device 100 is used to control the output torque of the first three-phase unilateral motor, and the auxiliary board control sub-device 200 is used to control the output torque of the second three-phase unilateral motor.

[0043] Figure 2 is a flow chart of a dual three-phase motor control method provided according to an embodiment of the present invention, with reference to Figure 2 The dual three-phase motor control method provided in this embodiment includes the following steps:

[0044] S110. The main board torque determination module sends a first torque value to the main board torque distribution module, and the auxiliary board torque determination module sends a second torque value to the auxiliary board torque arbitration module.

[0045] Specifically, before step S110, the main plate torque determination module 110 determines a first torque value, and the auxiliary plate torque determination module 210 determines a second torque value.

[0046] The operation logic of the main plate torque determination module 110 may be the same as the operation logic of the auxiliary plate torque determination module 210. The main plate torque determination module 110 and the auxiliary plate torque determination module 210 may run simultaneously.

[0047] The main board torque determination module 110 and the auxiliary board torque determination module 210 can determine the first torque value and the second torque value according to the output current of the dual three-phase motor. When the main board control sub-device 100 and the auxiliary board control sub-device 200 are applied to the upper turn road sense feedback system in the field of wire control steering, the main board torque determination module 110 and the auxiliary board torque determination module 210 respectively determine the first torque value and the second torque value according to the parameters such as basic power assistance, active damping, active return, inertia compensation, hysteresis adjustment and friction compensation in the upper turn road sense feedback system.

[0048] S120, the main board torque distribution module determines the third torque value and the remote torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module determines the fourth torque value according to the second torque value, the remote torque value and the second fault state.

[0049] Specifically, the first fault state indicates whether the main board control sub-unit 100 can operate normally, and whether the auxiliary board control sub-unit 200 can operate normally, that is, whether the main board control sub-unit 100 can normally control the operation of the first three-phase unilateral motor, and whether the auxiliary board control sub-unit 200 can normally control the operation of the second three-phase unilateral motor.

[0050] The second fault state also indicates whether the main board control sub-device 100 can operate normally, and whether the auxiliary board control sub-device 200 can operate normally. The first fault state may be the same as the second fault state.

[0051] After determining the third torque value and the remote torque value, the mainboard torque distribution module 120 sends the third torque value to the mainboard motor control module 140 , and sends the remote torque value to the auxiliary board torque arbitration module 220 .

[0052] The first fault state may be the same as the second fault state, and the third torque value and the fourth torque value are related to the first fault state and the first torque value. For example, when the first fault state includes a fault in the mainboard control sub-device 100, no matter what the first torque value is, the mainboard torque distribution module 120 may determine that the third torque value is 0. When the first fault state changes, the output torque of the first three-phase unilateral motor and the output torque of the second three-phase unilateral motor will change. For example, when the first fault state changes from the mainboard control sub-device 100 being fault-free and the auxiliary board control sub-device 200 being fault-free to the mainboard control sub-device 100 being faulty and the auxiliary board control sub-device 200 being fault-free, the third torque value will change from a torque value greater than 0 to 0, and the fourth torque value will increase.

[0053] The fourth torque value is related to the second fault state, the remote torque value and the second torque value. For example, when the second fault state includes a fault in the auxiliary board control sub-device 200, no matter how much the remote torque value and the second torque value are, the auxiliary board torque arbitration module 220 can determine that the fourth torque value is 0. When the second fault state changes, the output torque of the first three-phase unilateral motor and the output torque of the second three-phase unilateral motor will change. For example, when the second fault state changes from the main board control sub-device 100 having no fault and the auxiliary board control sub-device 200 having no fault to the main board control sub-device 100 having no fault and the auxiliary board control sub-device 200 having a fault, the third torque value will increase and the fourth torque value will be 0.

[0054] The output torque value of the dual three-phase motor controlled by this embodiment is related to the operating state of the main control sub-device 100 and the operating state of the auxiliary board control sub-device 200. The output torque of the dual three-phase motor can be flexibly controlled according to the operating state of the main board control sub-device 100 and the operating state of the auxiliary board control sub-device 200. When there is a fault in the main board control sub-device 100 or the auxiliary board control sub-device 200, the output torque of the dual three-phase motor can be flexibly adjusted, so that when there is a fault in one of the main board control sub-device 100 and the auxiliary board control sub-device 200, a redundant control strategy is adopted to ensure that the dual three-phase motor can work normally. When the dual three-phase motor control method provided by this embodiment is applied to an intelligent driving vehicle, it can ensure that the dual three-phase motor of the dual three-phase motor control device can still output torque normally when a single point fault occurs, and the vehicle movement is in a controlled state before the driver takes over, avoiding problems such as inability to turn or unexpected turning caused by immediately shutting off the power output.

[0055] S130, the main board motor control module controls the dual three-phase motor to output the third torque value according to the third torque value, and determines the first fault level of the dual three-phase motor, and the auxiliary board motor control module controls the dual three-phase motor to output the fourth torque value according to the fourth torque value, and determines the second fault level of the dual three-phase motor.

[0056] Specifically, the dual three-phase motor can simultaneously output a third torque value and a fourth torque value. The third torque value output by the dual three-phase motor refers to the actual output torque value of the first three-phase unilateral motor corresponding to the main board control sub-device 100, and the fourth torque value output by the dual three-phase motor refers to the actual output torque value of the second three-phase unilateral motor corresponding to the auxiliary board control sub-device 200.

[0057] The mainboard motor control module 140 can collect the operating parameters of the first three-phase unilateral motor in real time, and determine whether the first three-phase unilateral motor and the mainboard control sub-device 100 are faulty according to the operating parameters of the first dual three-phase motor, and classify the faults to obtain a first fault level. The auxiliary board motor control module 240 can collect the operating parameters of the second three-phase unilateral motor in real time, and determine whether the second dual three-phase motor and the auxiliary board control sub-device 200 are faulty according to the operating parameters of the second dual three-phase motor, and classify the faults to obtain a second fault level. Among them, the operating parameters of the first three-phase unilateral motor include the current, voltage, temperature sensor values ​​in the first three-phase unilateral motor, and the operating parameters of the second three-phase unilateral motor include the current, voltage, temperature sensor values ​​in the second three-phase unilateral motor.

[0058] The main board motor control module 140 also sends the determined first fault level to the main board status management module 130 and the auxiliary board status management module 230. The auxiliary board motor control module 240 also sends the determined second fault level to the auxiliary board status management module 230 and the main board status management module 130.

[0059] S140, the main board status management module determines the first fault state of the main board control sub-device according to the first fault level and the second fault level, and sends the first fault state to the main board torque distribution module, and the auxiliary board status management module determines the second fault state of the auxiliary board control sub-device according to the first fault level and the second fault level, and sends the second fault state to the auxiliary board torque arbitration module.

[0060] Specifically, the main board status management module 130 and the auxiliary board status management module 230 can both determine whether the main board control sub-unit 100 can operate normally and whether the auxiliary board control sub-unit 200 can operate normally, and determine the first fault state and the second fault state according to the state of the main board control sub-unit 100 and the state of the auxiliary board control sub-unit 200, respectively.

[0061] The first fault state output by the main board status management module 130 and the second fault state output by the auxiliary board status management module 230 can affect the output torque of the dual three-phase motor, and the operating state of the dual three-phase motor is a parameter for determining the first fault state and the second fault state. It can be seen that this embodiment can realize closed-loop control of the dual three-phase motor.

[0062] The present embodiment provides a dual three-phase motor control method, which is applied to a dual three-phase motor control device, and the dual three-phase motor control device includes a main board control sub-device and an auxiliary board control sub-device. The control method includes: the main board torque determination module sends a first torque value to the main board torque distribution module, and the auxiliary board torque determination module sends a second torque value to the auxiliary board torque arbitration module. Then the main board torque distribution module determines the third torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module determines the fourth torque value according to the second torque value, the remote torque value sent by the main board torque distribution module and the second fault state. Then, the main board motor control module controls the dual three-phase motor to output the third torque value and determine the first fault level of the dual three-phase motor, and the auxiliary board motor control module controls the dual three-phase motor to output the fourth torque value and determine the second fault level of the dual three-phase motor. Finally, the main board state management module and the auxiliary board state management module send the first fault state and the second fault state according to the first fault level and the second fault level, respectively, so as to complete the closed-loop control of the dual three-phase motor. In addition, the first fault state and the second fault state indicate whether the main board control sub-device can operate normally, and whether the auxiliary board control sub-device can operate normally. It can be seen that the third torque value and the fourth torque value are related to the operating states of the auxiliary board control sub-device and the main board control sub-device. The dual three-phase motor control method provided in this embodiment can flexibly adjust the output torque of the dual three-phase motor, reduce the failure rate of the dual three-phase motor, and improve the reliability of the dual three-phase motor.

[0063] Optional, continue to refer to Figure 1 The main board control sub-device 100 also includes a first inter-board communication module 150; the auxiliary board control sub-device 200 also includes a second inter-board communication module 250; the main board torque distribution module 120 transmits the remote torque value to the auxiliary board torque arbitration module 220 through the first inter-board communication module 150 and the second inter-board communication module 250; the main board motor control module 140 transmits the first fault level to the auxiliary board status management module 230 through the first inter-board communication module 150 and the second inter-board communication module 250; the auxiliary board motor control module 240 transmits the second fault level to the main board status management module 130 through the first inter-board communication module 150 and the second inter-board communication module 250.

[0064] Specifically, setting the first inter-board communication module 150 and the second inter-board communication module 250 can realize information interaction between the main board control sub-device 100 and the auxiliary board control sub-device 200, so that the auxiliary board control sub-device 200 can obtain the operating status of the main board control sub-device 100, and the main board control sub-device 100 obtains the operating status of the auxiliary board control sub-device 200, and finally the first fault state includes both the operating status of the main board control sub-device 100 and the operating status of the auxiliary board control sub-device 200, and the second fault state includes both the operating status of the main board control sub-device 100 and the operating status of the auxiliary board control sub-device 200, so that the output torque of the dual three-phase motor can be more accurately controlled.

[0065] Optionally, the first fault state is the same as the second fault state. This setting can make the main board torque distribution module and the auxiliary board torque arbitration module make approximately the same response, thereby better controlling the output torque of the dual three-phase motor.

[0066] Optionally, the first fault state is any one of the following: the main board control sub-device is faulty and the auxiliary board control sub-device is not faulty, the main board control sub-device is not faulty and the auxiliary board control sub-device is faulty, the main board control sub-device is faulty and the auxiliary board control sub-device is faulty, and the main board control sub-device is faulty and the auxiliary board control sub-device is not faulty. This setting takes into account all combination states of the operating conditions of the main board control sub-device and the operating conditions of the auxiliary board control sub-device, so that the main board torque distribution module and the auxiliary board torque arbitration module can respond to the torque distribution conditions under different combination states, thereby improving the control accuracy of the output torque of the dual three-phase motor.

[0067] Optionally, the maximum output torque of the first three-phase unilateral motor is a first maximum output torque, and the maximum output torque of the second three-phase unilateral motor is a second maximum output torque.

[0068] The mainboard torque distribution module determines the third torque value and the remote torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module determines the fourth torque value according to the second torque value, the remote torque value and the second fault state, including:

[0069] When the first fault state is that the main board control sub-device is faulty and the auxiliary board control sub-device is not faulty, the main board torque distribution module determines that the third torque value is 0, and the auxiliary board torque arbitration module determines that the fourth torque value is the minimum value between the second torque value and the second maximum output torque;

[0070] When the first fault state is that the main board control sub-device has no fault and the auxiliary board control sub-device has a fault, the main board torque distribution module determines that the third torque value is the minimum value between the first torque value and the first maximum output torque, and the auxiliary board torque arbitration module determines that the fourth torque value is 0;

[0071] When the first fault state is that the main board control sub-device is faulty and the auxiliary board control sub-device is faulty, the main board torque distribution module determines that the third torque value is 0, and the auxiliary board torque arbitration module determines that the fourth torque value is 0;

[0072] When there is no fault in the main board control sub-device and there is no fault in the auxiliary board control sub-device, the main board torque distribution module determines that the third torque value is the first set value, the auxiliary board torque arbitration module determines that the fourth torque value is the second set value, the ratio of the first set value to the first torque value is less than 1, and the ratio of the second set value to the first torque value is less than 1.

[0073] Specifically, when the main control sub-device fails, the main control sub-device will not be able to accurately control the output torque of the first three-phase unilateral motor in the dual three-phase motor. At this time, the third torque value is controlled to be 0, which can avoid abnormal fluctuations in the third torque value caused by the failure of the main control sub-device. Similarly, when the auxiliary board control sub-device fails, the auxiliary board control sub-device will not be able to accurately control the output torque of the second three-phase unilateral motor in the dual three-phase motor. At this time, the fourth torque value is controlled to be 0, which can avoid abnormal fluctuations in the third torque value caused by the failure of the auxiliary board control sub-device.

[0074] When both the main board control sub-device and the auxiliary board control sub-device are fault-free, the first three-phase unilateral motor and the second three-phase unilateral motor are set to output torque, which can reduce the loss of the dual three-phase motors.

[0075] When one of the main board control sub-device and the auxiliary board control sub-device is fault-free, the output torque of the three-phase single-sided motor corresponding to the fault-free sub-device is guaranteed, thereby ensuring the normal operation of the dual three-phase motor and avoiding sudden strike of the dual three-phase motor.

[0076] When the first fault state jumps, the output torque of the first three-phase unilateral motor and the output torque of the second three-phase unilateral motor are adjusted according to the adjusted first fault state.

[0077] Setting the fourth torque value to the minimum value between the second torque value and the second maximum output torque can prevent the output torque of the second three-phase unilateral motor from exceeding the maximum output capacity of the second three-phase unilateral motor. Setting the third torque value to the minimum value between the first torque value and the first maximum output torque can prevent the output torque of the first three-phase unilateral motor from exceeding the maximum output capacity of the first three-phase unilateral motor.

[0078] In order to better understand the dual three-phase motor control method provided in this embodiment, the following will be further introduced:

[0079] The first maximum output torque is recorded as TrqMax1, the second maximum output torque is recorded as TrqMax2, the first torque value is recorded as TrqTotal_P, the second torque value is recorded as TrqTotal_S, the first fault state is recorded as FaultState_P, the second fault state is recorded as FaultState_S, the third torque value is recorded as TrqCmd_P, the fourth torque value is recorded as TrqCmd_S, the remote torque value is recorded as Trq_remote, the first fault level is recorded as FaultLevel_P, and the second fault level is recorded as FaultLevel_S.

[0080] Continue to participate Figure 1 The main board status management module 130 receives the second fault level FaultLevel_S transmitted from the auxiliary board motor control module 240 through the second inter-board communication module 250, and the first fault level FaultLevel_P transmitted from the main board motor control module 140, performs a logical operation and outputs a first fault state FaultState_P. The first fault state FaultState_P includes four states, namely: the main board control sub-device is faulty, and the auxiliary board control sub-device is not faulty; the main board control sub-device is not faulty, and the auxiliary board control sub-device is faulty; the main board control sub-device is faulty, and the auxiliary board control sub-device is faulty; the main board control sub-device is faulty, and the auxiliary board control sub-device is faulty; the main board control sub-device is not faulty, and the auxiliary board control sub-device is not faulty.

[0081] The third torque value TrqCmd_P and the remote torque value Trq_romote output by the mainboard torque distribution module 120 in the four combined states are as follows:

[0082] The main board control sub-device is faulty, and the auxiliary board control sub-device is not faulty: TrqCmd_P = 0; Trq_romote = min{TrqMax1, TrqTotal_P};

[0083] The main board control sub-device has no fault, and the auxiliary board control sub-device has a fault: TrqCmd_P = min{TrqMax1, TrqTotal_P}; Trq_romote = 0;

[0084] The main board control sub-device is faulty, and the auxiliary board control sub-device is faulty: TrqCmd_P = 0; Trq_romote = 0;

[0085] The main board control sub-device has no faults, and the auxiliary board control sub-device has no faults: TrqCmd_P=TrqTotal_P / h; Trq_romote=TrqTotal_P / h; h is greater than 1.

[0086] The auxiliary board status management module 230 receives the first fault level FaultLevel_P transmitted from the main board motor control module 140 through the first inter-board communication module 150 and the second fault level FaultLevel_S transmitted from the auxiliary board motor control module 240, performs logical operation and outputs the second fault state FaultState_S. The second fault state FaultState_S includes four states, namely: the main board control sub-device is faulty and the auxiliary board control sub-device is not faulty; the main board control sub-device is not faulty and the auxiliary board control sub-device is faulty; the main board control sub-device is faulty and the auxiliary board control sub-device is faulty; the main board control sub-device is faulty and the auxiliary board control sub-device is faulty; the main board control sub-device is not faulty and the auxiliary board control sub-device is not faulty.

[0087] The auxiliary plate torque arbitration module is controlled as follows:

[0088] The main board control sub-device is faulty, and the auxiliary board control sub-device is not faulty: TrqCmd_S = min{TrqTotal_S, Torque_Max2};

[0089] The main board control sub-device has no fault, but the auxiliary board control sub-device has a fault: TrqCmd_S = 0;

[0090] The main board control sub-device is faulty, and the auxiliary board control sub-device is faulty: TrqCmd_S = 0;

[0091] The main board control sub-device has no faults, and the auxiliary board control sub-device has no faults: TrqCmd_S=Trq_romote.

[0092] Optionally, the first set value is equal to the second set value, and the ratio of the first set value to the first torque value is 0.5. With this setting, when the main board control sub-device is fault-free and the auxiliary board control sub-device is fault-free, the main board torque distribution module outputs TrqCmd_P = TrqTotal_P / 2; Trq_romote = TrqTotal_P / 2, so that the output torque of the first three-phase unilateral motor and the output torque of the second three-phase unilateral motor are equal, and both are TrqTotal_P / 2. The output torque of the first three-phase unilateral motor and the output torque of the second three-phase unilateral motor are both 50% of the first torque value, which can minimize the required current of the dual three-phase motor, reduce the heat generation, and reduce the loss of the dual three-phase motor.

[0093] Optionally, the type of the first three-phase unilateral motor is the same as the type of the second three-phase unilateral motor.

[0094] Specifically, the first three-phase unilateral motor and the second three-phase unilateral motor are two identical three-phase unilateral motors. This arrangement allows the main board control sub-device and the auxiliary board control sub-device to use the same control logic to control the first three-phase unilateral motor and the second three-phase unilateral motor.

[0095] Optionally, the information received and sent by the main board torque determination module is backed up in the auxiliary board torque determination module, and the information received and sent by the auxiliary board torque determination module is backed up in the main board torque determination module.

[0096] Specifically, the main board torque determination module and the auxiliary board torque determination module back up each other. Exemplarily, the first torque value sent by the main board torque determination module to the main board torque distribution module is backed up in the auxiliary board torque determination module, and the second torque value sent by the auxiliary board torque determination module to the auxiliary board torque arbitration module is backed up in the main board torque determination module.

[0097] The main board torque determination module and the auxiliary board torque determination module are set to back up each other. When the main board control sub-device fails and cannot control the corresponding first three-phase unilateral motor, the auxiliary board control sub-device can immediately jump and control the output torque of the second three-phase unilateral motor according to the operating conditions of the main board control sub-device, so that the output torque of the dual three-phase motor can meet the operating requirements.

[0098] This embodiment also provides a dual three-phase motor control device. Figure 1The mainboard torque determination module 110 is used to send a first torque value to the mainboard torque distribution module 120, and the auxiliary board torque determination module 210 is used to send a second torque value to the auxiliary board torque arbitration module 220; the mainboard torque distribution module 120 is used to determine a third torque value and a remote torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module 220 is used to determine a fourth torque value according to the second torque value, the remote torque value and the second fault state; the mainboard motor control module 140 is used to control the third torque value of the dual three-phase motor according to the third torque value, and determine the first fault state of the dual three-phase motor. The auxiliary board motor control module 240 is used to control the fourth torque value of the dual three-phase motor according to the fourth torque value, and determine the second fault level of the dual three-phase motor; the main board status management module 130 is used to determine the first fault state of the main board control sub-device 100 according to the first fault level and the second fault level, and send the first fault state to the main board torque distribution module 120, the auxiliary board status management module 230 is used to determine the second fault state of the auxiliary board control sub-device 200 according to the first fault level and the second fault level, and send the second fault state to the auxiliary board torque arbitration module 220.

[0099] Specifically, the main board control sub-device 100 and the auxiliary board control sub-device 200 are both electrically connected to the dual three-phase motors, and both the main board control sub-device 100 and the auxiliary board control sub-device 200 can independently control the output torque of the dual three-phase motors, wherein the main board control sub-device 100 serves as the main device for controlling the dual three-phase motors, and the auxiliary board control sub-device 200 serves as a redundant device for controlling the dual three-phase motors.

[0100] The dual three-phase motor control device provided in this embodiment has corresponding beneficial effects with the dual three-phase motor control method provided in any embodiment of the present invention. For technical details not detailed in this embodiment, please refer to the dual three-phase motor control method provided in any embodiment of the present invention.

[0101] This embodiment also provides a vehicle, which includes a dual three-phase motor and a dual three-phase motor control device provided by any embodiment of the present invention.

[0102] Specifically, the vehicle in this embodiment may be an autonomous vehicle or an intelligent networked vehicle. Applying the dual three-phase motor control device provided by any embodiment of the present invention in a vehicle can improve the driving safety of the vehicle and reduce the probability of the vehicle being out of control.

[0103] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0104] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A dual three-phase motor control method, characterized in that: include: The control method is applied to a dual three-phase motor control device; The dual three-phase motor control device comprises a main board control sub-device and an auxiliary board control sub-device; The mainboard torque determination module sends a first torque value to the mainboard torque allocation module, and the auxiliary board torque determination module sends a second torque value to the auxiliary board torque arbitration module; The mainboard torque distribution module determines a third torque value and a remote torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module determines a fourth torque value according to the second torque value, the remote torque value and the second fault state; The main board motor control module controls the third torque value of the dual three-phase motor according to the third torque value, and determines the first fault level of the dual three-phase motor, and the auxiliary board motor control module controls the fourth torque value of the dual three-phase motor according to the fourth torque value, and determines the second fault level of the dual three-phase motor; The main board status management module determines the first fault state of the main board control sub-device according to the first fault level and the second fault level, and sends the first fault state to the main board torque distribution module, and the auxiliary board status management module determines the second fault state of the auxiliary board control sub-device according to the first fault level and the second fault level, and sends the second fault state to the auxiliary board torque arbitration module.

2. The dual three-phase motor control method according to claim 1, characterized in that: The main board control sub-device further includes a first inter-board communication module; the auxiliary board control sub-device further includes a second inter-board communication module; The main board torque distribution module transmits the remote torque value to the auxiliary board torque arbitration module through the first inter-board communication module and the second inter-board communication module; The main board motor control module transmits the first fault level to the auxiliary board status management module through the first inter-board communication module and the second inter-board communication module; The auxiliary board motor control module transmits the second fault level to the main board status management module through the first inter-board communication module and the second inter-board communication module.

3. The dual three-phase motor control method according to claim 1, characterized in that: The first fault state is the same as the second fault state.

4. The dual three-phase motor control method according to claim 3, characterized in that: The first fault state is any one of the following: the main board control sub-device is faulty and the auxiliary board control sub-device is not faulty, the main board control sub-device is not faulty and the auxiliary board control sub-device is faulty, the main board control sub-device is faulty and the auxiliary board control sub-device is faulty, and the main board control sub-device is not faulty and the auxiliary board control sub-device is not faulty.

5. The dual three-phase motor control method according to claim 4, characterized in that: The dual three-phase motor comprises a first three-phase unilateral motor and a second three-phase unilateral motor; The maximum output torque of the first three-phase unilateral motor is a first maximum output torque, and the maximum output torque of the second three-phase unilateral motor is a second maximum output torque; The mainboard torque distribution module determines a third torque value and a remote torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module determines a fourth torque value according to the second torque value, the remote torque value and the second fault state, including: When the first fault state is that the main board control sub-device is faulty and the auxiliary board control sub-device is not faulty, the main board torque distribution module determines that the third torque value is 0, and the auxiliary board torque arbitration module determines that the fourth torque value is the minimum value between the second torque value and the second maximum output torque; When the first fault state is that the main board control sub-device has no fault and the auxiliary board control sub-device has a fault, the main board torque distribution module determines that the third torque value is the minimum value between the first torque value and the first maximum output torque, and the auxiliary board torque arbitration module determines that the fourth torque value is 0; When the first fault state is that the main board control sub-device is faulty and the auxiliary board control sub-device is faulty, the main board torque distribution module determines that the third torque value is 0, and the auxiliary board torque arbitration module determines that the fourth torque value is 0; When the main board control sub-device has no faults and the auxiliary board control sub-device has no faults, the main board torque distribution module determines that the third torque value is a first set value, and the auxiliary board torque arbitration module determines that the fourth torque value is a second set value, and the ratio of the first set value to the first torque value is less than 1, and the ratio of the second set value to the first torque value is less than 1.

6. The dual three-phase motor control method according to claim 5, characterized in that: The first set value is equal to the second set value, and a ratio of the first set value to the first torque value is 0.

5.

7. The dual three-phase motor control method according to claim 5, characterized in that: The type of the first three-phase unilateral motor is the same as the type of the second three-phase unilateral motor.

8. The dual three-phase motor control method according to claim 1, characterized in that: The information received and sent by the main board torque determination module are all backed up in the auxiliary board torque determination module, and the information received and sent by the auxiliary board torque determination module are all backed up in the main board torque determination module.

9. A dual three-phase motor control device, characterized in that: It includes a main board control sub-device and an auxiliary board control sub-device; The main board control sub-device includes a main board torque determination module, a main board torque distribution module, a main board status management module and a main board motor control module; the auxiliary board control sub-device includes an auxiliary board torque determination module, an auxiliary board torque arbitration module, an auxiliary board status management module and an auxiliary board motor control module; The mainboard torque determination module is used to send a first torque value to the mainboard torque allocation module, and the auxiliary board torque determination module is used to send a second torque value to the auxiliary board torque arbitration module; The mainboard torque distribution module is used to determine a third torque value and a remote torque value according to the first torque value and the first fault state, and the auxiliary board torque arbitration module is used to determine a fourth torque value according to the second torque value, the remote torque value and the second fault state; The main board motor control module is used to control the third torque value of the dual three-phase motor according to the third torque value, and determine the first fault level of the dual three-phase motor, and the auxiliary board motor control module is used to control the fourth torque value of the dual three-phase motor according to the fourth torque value, and determine the second fault level of the dual three-phase motor; The main board status management module is used to determine the first fault state of the main board control sub-device according to the first fault level and the second fault level, and send the first fault state to the main board torque distribution module. The auxiliary board status management module is used to determine the second fault state of the auxiliary board control sub-device according to the first fault level and the second fault level, and send the second fault state to the auxiliary board torque arbitration module.

10. A vehicle, characterized in that: It comprises a dual three-phase motor and the dual three-phase motor control device as claimed in claim 9.

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