Motor controller low-voltage power supply system and control method

Abstract

The invention relates to a low-voltage power supply system of a motor controller and a control method, a main relay is connected with a low-voltage direct-current power supply and connected with a low-voltage power supply conditioning module, the low-voltage power supply conditioning module, a driving control power supply conditioning module and a safety state execution circuit are sequentially connected, and the high-voltage power supply conditioning module comprises two groups of output ends. The first group is connected with the input end of the low-voltage power supply conditioning module, the second group is connected with the safety state execution circuit, and the control unit is configured to execute the following steps: when at least one of the main relay and the first group of output end of the high-voltage power supply conditioning module is switched on, the output voltage of the low-voltage power supply conditioning module is collected; and if the output voltage of the low-voltage power supply conditioning module is lower than the first set threshold voltage, the main relay and the first group of output ends of the high-voltage power supply conditioning module are switched off, and the second group of output ends of the high-voltage power supply conditioning module are switched on. Compared with the prior art, the method has the advantages of improving the power supply reliability of the safety state execution circuit and the like.

Description

Technical Field

[0001] The invention relates to a motor controller power supply system, and in particular to a motor controller low-voltage power supply system and a control method capable of ensuring normal power supply to a safety state execution circuit. Background Art

[0002] Regarding the power supply method of the motor control system, the early power supply paths were mostly traditional single paths. Later, with the improvement of reliability requirements, some redundant designs were produced.

[0003] Among them, for the security system, its reliability requirements are relatively high, so a redundant power supply design is needed. Although there are few redundant power supply designs for security systems in the industry, some mature redundant power supply designs can be borrowed. In the existing technology, the redundant power supply solutions are either parallel to the traditional path or local backup power supply.

[0004] For example, the prior art such as Chinese patent CN111439125A discloses a redundant power supply scheme using a backup power supply. In addition to the main low-voltage power supply, a backup power supply is also used. When the voltage of the main low-voltage power supply is sufficient, the main power supply is used for power supply. Otherwise, the backup power supply is used for power supply. This scheme has a simple structure and is easy to implement. However, this scheme requires maintenance of an extra backup power supply in addition to the main low-voltage power supply, which will increase the maintenance cost.

[0005] In this regard, there are also some existing technologies that use the high-voltage power supply of the vehicle itself as a backup power supply. In this solution, the high-voltage power supply needs to be stepped down first, and then the stepped-down output is used as a backup for the main low-voltage power supply. Since the high-voltage power supply itself needs to be charged and maintained, the problem of needing to maintain an additional low-voltage backup power supply is solved.

[0006] However, redundant power supply solutions including the above solutions all have the following problems: redundant input is performed on the input side of the low-voltage power circuit. If a short circuit occurs at any node in the low-voltage power circuit, the safety drive part will have no power input, resulting in low reliability. Summary of the invention

[0007] The purpose of the present invention is to provide a low-voltage power supply system and control method for a motor controller. The high-voltage power supply conditioning module includes two groups of output ends. The first group of output ends adopts a conventional low-voltage DC power supply to serve as a backup for each other on the input side of the low-voltage power circuit. The second group of output ends adopts an innovative safe state execution circuit for backup, and a detection and execution mechanism for the output side voltage of the low-voltage power supply conditioning module is designed. When a short circuit occurs in the low-voltage power supply conditioning module and the part after it and before the safe state execution circuit, the second group of output ends of the high-voltage power supply conditioning module can be used to independently power the safe state execution circuit, which greatly improves the reliability of the safe state execution circuit.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] One aspect of the present invention provides a low-voltage power supply system for a motor controller, comprising a control unit, a main relay, a high-voltage power conditioning module, a low-voltage power conditioning module, a drive control power conditioning module and a safe state execution circuit, wherein the input end of the main relay is connected to a low-voltage DC power supply, and the output end is connected to the low-voltage power conditioning module, the low-voltage power conditioning module is connected to the safe state execution circuit through the drive control power conditioning module, the high-voltage power conditioning module comprises two groups of output ends, the input end of which is connected to a high-voltage bus, the first group of output ends is connected to the input end of the low-voltage power conditioning module, and the second group of output ends is connected to the safe state execution circuit, the power supply system further comprises a third signal acquisition module for acquiring the output voltage of the low-voltage power conditioning module, the control unit is respectively connected to the main relay, the high-voltage power conditioning module and the third signal acquisition module, and the control unit is configured to perform the following steps:

[0010] When at least one of the main relay and the first group of output terminals of the high-voltage power conditioning module is turned on, the output voltage of the low-voltage power conditioning module is collected. If the output voltage of the low-voltage power conditioning module is lower than the first set threshold voltage, the main relay and the first group of output terminals of the high-voltage power conditioning module are disconnected, and the second group of output terminals of the high-voltage power conditioning module are turned on.

[0011] The system further includes a first signal acquisition module for acquiring a voltage at an input side of the main relay, wherein the first signal acquisition module is connected to a control unit, and the control unit is configured to further perform the following steps:

[0012] When the main relay is turned on, the main relay input side voltage collected by the first signal collection module is continuously received, and if the voltage of the main relay input side voltage is less than the second set threshold voltage, the main relay is disconnected.

[0013] The voltage of the main relay input side voltage is less than the second set threshold voltage, specifically: the voltage of the main relay input side voltage is less than the second set threshold voltage for more than a set time.

[0014] The system further includes a second signal acquisition module for acquiring the output side voltage of the high-voltage power conditioning module, the second signal acquisition module is connected to the control unit, and the control unit is configured to further perform the following steps:

[0015] When the first group of output terminals of the high-voltage power conditioning module is turned on, the voltage of the first group of output terminals of the high-voltage power conditioning module collected by the second signal acquisition module is continuously received. If the voltage of the first group of output terminals of the high-voltage power conditioning module is less than the third set threshold voltage, the first group of output terminals of the high-voltage power conditioning module is disconnected.

[0016] The voltage of the first group of output terminals of the high-voltage power conditioning module is less than a third set threshold voltage, specifically: the voltage of the first group of output terminals of the high-voltage power conditioning module is less than the third set threshold voltage for more than a set time.

[0017] The system further includes a fourth signal acquisition module for acquiring a voltage at an input side of the high-voltage power conditioning module, wherein the fourth signal acquisition module is connected to a control unit, and the control unit is configured to further perform the following steps:

[0018] The input side voltage of the high-voltage power conditioning module collected by the second signal collection module is continuously received, and if the voltage of the input side voltage of the high-voltage power conditioning module is less than a fourth set threshold voltage, the output end of the high-voltage power conditioning module is disconnected.

[0019] The voltage of the input side voltage of the high-voltage power conditioning module is less than a fourth set threshold voltage, specifically: the voltage of the input side voltage of the high-voltage power conditioning module is less than the fourth set threshold voltage for more than a set time period.

[0020] The high-voltage bus is provided with a bus capacitor, and the control unit is configured to further perform the following steps:

[0021] When the power-off preparation signal is received, the connection between the high-voltage power conditioning module and the high-voltage bus is first cut off, and then the main relay is disconnected, and the two sets of output terminals of the high-voltage power conditioning module are kept turned on until the voltage across the bus capacitor is lower than the fifth set threshold.

[0022] The output voltage of the low-voltage power conditioning module is lower than a first set threshold voltage, specifically: the output voltage of the low-voltage power conditioning module is lower than the first set threshold voltage for more than a set time period.

[0023] The rated voltage of the first group of output terminals of the high-voltage power conditioning module is equal to the rated voltage of the low-voltage DC power supply.

[0024] Another aspect of the present invention provides a control method for a low-voltage power supply system of a motor controller, comprising:

[0025] When at least one of the main relay and the first group of output terminals of the high-voltage power conditioning module is turned on, the output voltage of the low-voltage power conditioning module is collected, wherein the input terminal of the main relay is connected to the low-voltage DC power supply, and the output terminal is connected to the low-voltage power conditioning module, the high-voltage power conditioning module includes two groups of output terminals, the input terminal of which is connected to the high-voltage bus, the first group of output terminals is connected to the input terminal of the low-voltage power conditioning module, and the second group of output terminals is connected to the safety state execution circuit, and the low-voltage power conditioning module controls the power conditioning module and the safety state execution circuit by driving;

[0026] If the output voltage of the low-voltage power conditioning module is lower than the first set threshold voltage, the main relay and the first group of output terminals of the high-voltage power conditioning module are disconnected, and the second group of output terminals of the high-voltage power conditioning module are turned on.

[0027] The control method further comprises:

[0028] When the main relay is turned on, the input side voltage of the main relay is continuously received, and if the voltage of the input side voltage of the main relay is less than the second set threshold voltage, the main relay is turned off.

[0029] The control method further comprises:

[0030] Continuously receive the voltage of the high-voltage power conditioning module, and if the voltage of the high-voltage power conditioning module is less than the corresponding voltage threshold, disconnect the output end of the high-voltage power conditioning module, wherein the voltage of the high-voltage power conditioning module is the input side voltage of the high-voltage power conditioning module or the voltage of any output end.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The high-voltage power conditioning module includes two groups of output terminals. The first group of output terminals adopts conventional low-voltage DC power supply as backup for each other on the input side of the low-voltage power circuit. The second group of output terminals adopts innovative backup in the safe state execution circuit, and a detection and execution mechanism for the output side voltage of the low-voltage power conditioning module is designed. When a short circuit occurs in the low-voltage power conditioning module and the part after it and before the safe state execution circuit, the second group of output terminals of the high-voltage power conditioning module can be used to independently power the safe state execution circuit, which greatly improves the reliability of the safe state execution circuit.

[0033] 2. The voltage on the input side of the main relay can be collected, and the main relay can be cut off when the voltage is too low, thus improving reliability.

[0034] 3. The voltage at the low-voltage output end of the high-voltage power supply can be collected and cut off when the voltage is too low, thus improving reliability.

[0035] 4. The voltage of the high-voltage bus is directly used as the basis for cutting off the output end of the high-voltage power conditioning module. The fourth signal acquisition module can use the existing bus voltage sensor to reduce costs.

[0036] 5. The judgment basis for being below the set threshold is that the time period exceeds the set threshold, which improves accuracy.

[0037] 6. The low-voltage circuit load of the control circuit itself can be used to achieve safe discharge of the high-voltage busbar, without the need for an additional high-voltage loop discharge circuit, which saves costs while ensuring high-voltage safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the circuit structure of the system of the present invention; Figure 2 Schematic diagram of control steps of the system of the present invention;

[0039] Among them: MCU, control unit, K1, main relay, PS1, low-voltage power conditioning module, PS2, drive control power conditioning module, PS3, high-voltage power conditioning module, R1, low-voltage side load equivalent resistance, R2, safety state execution circuit equivalent resistance, CAP, bus capacitor. DETAILED DESCRIPTION

[0040] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0041] A low voltage power supply system for a motor controller, such as Figure 1As shown, it includes a control unit MCU, a main relay K1, a high-voltage power conditioning module PS3, a low-voltage power conditioning module PS1, a drive control power conditioning module PS2 and a safe state execution circuit. The input end of the main relay K1 is connected to the low-voltage DC power supply, and the output end is connected to the low-voltage power conditioning module PS1. The low-voltage power conditioning module PS1 is connected to the safe state execution circuit through the drive control power conditioning module PS2. The high-voltage power conditioning module PS3 includes two groups of output ends, whose input ends are connected to the high-voltage bus, the first group of output ends is connected to the input end of the low-voltage power conditioning module PS1, and the second group of output ends is connected to the safe state execution circuit. The power supply system also includes a third signal acquisition module for collecting the output voltage of the low-voltage power conditioning module PS1. The control unit MCU is respectively connected to the main relay K1, the high-voltage power conditioning module PS3 and the third signal acquisition module. The control unit MCU is configured to perform the following steps:

[0042] When at least one of the main relay K1 and the first group of output terminals of the high-voltage power conditioning module PS3 is turned on, the output voltage of the low-voltage power conditioning module PS1 is collected. If the output voltage of the low-voltage power conditioning module PS1 is lower than the first set threshold voltage, the main relay K1 and the first group of output terminals of the high-voltage power conditioning module PS3 are disconnected, and the second group of output terminals of the high-voltage power conditioning module PS3 is turned on.

[0043] Figure 1 In the figure, LV+ and LV- are respectively the positive and negative electrodes of the low voltage DC power supply, HV+ and HV- are respectively the positive and negative electrodes of the high voltage bus, LV_1+ and LV_1- are the first group of output terminals of the high voltage power conditioning module PS3, which are also the output terminals of the main relay K1, and LV_2+ and LV_2- are the second group of output terminals of the high voltage power conditioning module PS3.

[0044] The high-voltage power conditioning module PS3 includes two groups of output terminals. The first group of output terminals adopts conventional low-voltage DC power supply as backup for each other on the input side of the low-voltage power circuit. The second group of output terminals adopts innovative backup in the safe state execution circuit, and is designed with a detection and execution mechanism for the output side voltage of the low-voltage power conditioning module PS1. When a short circuit occurs in the low-voltage power conditioning module PS1 and the part after it and before the safe state execution circuit, the second group of output terminals of the high-voltage power conditioning module PS3 can be used to independently power the safe state execution circuit, which greatly improves the reliability of the safe state execution circuit.

[0045] In most embodiments, the system further includes a first signal acquisition module for acquiring the voltage on the input side of the main relay K1, and the first signal acquisition module is connected to the control unit MCU. Based on this, the control unit MCU is configured to further perform the following steps:

[0046] When the main relay K1 is turned on, the input side voltage of the main relay K1 collected by the first signal collection module is continuously received. If the voltage of the input side voltage of the main relay K1 is less than the second set threshold voltage, the main relay K1 is disconnected.

[0047] In this way, the voltage on the input side of the main relay K1 can be collected, and the main relay K1 can be cut off when the voltage is too low, thereby improving reliability.

[0048] Similarly, in most embodiments, the system further includes a second signal acquisition module for acquiring the output side voltage of the high-voltage power conditioning module PS3, the second signal acquisition module is connected to the control unit MCU, and the control unit MCU is configured to further perform the following steps:

[0049] When the first group of output terminals of the high-voltage power conditioning module PS3 is turned on, the voltage of the first group of output terminals of the high-voltage power conditioning module PS3 collected by the second signal acquisition module is continuously received. If the voltage of the first group of output terminals of the high-voltage power conditioning module PS3 is less than the third set threshold voltage, the first group of output terminals of the high-voltage power conditioning module PS3 is disconnected.

[0050] In this way, the voltage at the low-voltage output end of the high-voltage power supply can be collected and cut off when the voltage is too low, thereby improving reliability.

[0051] Based on the above design, a redundant design can be realized in which the conventional main relay K1 and the first group of output ends of the high-voltage power conditioning module PS3 serve as backup for each other on the input side of the low-voltage power circuit.

[0052] In particular, in some embodiments, the system further includes a fourth signal acquisition module for acquiring the input side voltage of the high-voltage power conditioning module PS3, the fourth signal acquisition module is connected to the control unit MCU, and the control unit MCU is configured to further perform the following steps:

[0053] The input side voltage of the high-voltage power conditioning module PS3 collected by the second signal acquisition module is continuously received. If the input side voltage of the high-voltage power conditioning module PS3 is less than the fourth set threshold voltage, the output end of the high-voltage power conditioning module PS3 is disconnected.

[0054] Among them, the fourth signal acquisition module can use the existing bus voltage sensor and directly use the voltage of the high-voltage bus as the basis for cutting off the output end of the high-voltage power conditioning module PS3. Since the fourth signal acquisition module uses the existing bus voltage sensor, the cost is reduced.

[0055] In most embodiments, the voltage at the input side of the main relay K1 is less than the second set threshold voltage, specifically: the voltage at the input side of the main relay K1 is less than the second set threshold voltage for more than a set time.

[0056] Similarly, the voltage of the first group of output terminals of the high-voltage power conditioning module PS3 is less than the third set threshold voltage, specifically: the voltage of the first group of output terminals of the high-voltage power conditioning module PS3 is less than the third set threshold voltage for more than a set time.

[0057] Similarly, the voltage of the input side voltage of the high-voltage power conditioning module PS3 is less than the fourth set threshold voltage, specifically: the voltage of the input side voltage of the high-voltage power conditioning module PS3 is less than the fourth set threshold voltage for more than a set time.

[0058] In the above, the judgment basis for being below the set threshold is that the value is below the set threshold for more than a set period of time, which improves accuracy.

[0059] In addition, since a bus capacitor CAP is provided on the high-voltage bus, in some embodiments, the control unit MCU is configured to further perform the following steps:

[0060] When the power-off preparation signal is received, the connection between the high-voltage power conditioning module PS3 and the high-voltage bus is first cut off, and then the main relay K1 is disconnected, and the two sets of output ends of the high-voltage power conditioning module PS3 are kept turned on until the voltage across the bus capacitor CAP is lower than the fifth set threshold.

[0061] The output voltage of the low-voltage power conditioning module PS1 is lower than the first set threshold voltage. Specifically, the output voltage of the low-voltage power conditioning module PS1 is lower than the first set threshold voltage for more than a set time period.

[0062] The rated voltage of the first group of output terminals of the high voltage power conditioning module PS3 is equal to the rated voltage of the low voltage DC power supply.

[0063] The low-voltage circuit load of the control circuit itself can be used to achieve safe discharge of the high-voltage busbar, without the need for an additional high-voltage loop discharge circuit, thus ensuring high-voltage safety while saving costs.

[0064] In one embodiment, the steps performed by the control unit constitute a method such as Figure 1 As shown, including:

[0065] Step S1, control the low voltage DC power supply to power on, specifically, by closing the main relay K1, outputting electric energy to the low voltage power conditioning module PS1, driving the control power conditioning module PS2, the low voltage side load R1 and driving the high voltage side load R2.

[0066] Step S2, after the high-voltage power supply HV is powered on, if the output voltage of the first group of outputs (LV_1+, LV_1-) generated by the high-voltage power supply conditioning module PS3 meets the preset power supply conditions, the entire control system is powered as a high-voltage backup power supply; wherein the control system is a system that requires low-voltage power supply, including a low-voltage power supply conditioning module PS1, a drive control power supply conditioning module PS2, a low-voltage side load equivalent resistor R1 and a safe state execution circuit equivalent resistor R2.

[0067] Step S3, detecting the input voltage of the low-voltage DC power supply, if the voltage is lower than the preset condition 2, cutting off the power supply circuit of the low-voltage DC power supply through K1 control; wherein the preset condition 2 is specifically: lower than the second voltage threshold and the time exceeds the set duration.

[0068] Step S4: If the output voltage of the first output terminal (LV_1+, LV_1-) of the high-voltage power conditioning module PS3 is lower than the preset condition 3, the low-voltage DC power supply supplies power to the low-voltage system through K1 alone, wherein the preset condition 3 is specifically: lower than the third voltage threshold and the time exceeds the set duration;

[0069] Step S5: During operation, the output voltage of the low-voltage power conditioning module PS1 is detected. If it is lower than the preset condition 1, the output of the main relay and the first output terminal of the high-voltage power conditioning module PS3 is cut off, and the second output terminal (LV_2+, LV_2-) of the high-voltage power conditioning module PS3 is controlled to output power to the safety state execution circuit.

[0070] Step S6, during the power-off process, the input of the high-voltage bus is first cut off, and then the input of the low-voltage DC power supply is cut off. The high-voltage bus continues to supply power to the low-voltage side load system through the low-voltage power supply generated by the high-voltage power supply conditioning module PS3; at the same time, the driving high-voltage side load can also be used as an indirect load at the same time, and the low-voltage side load R1 and the safety state execution circuit will be multiplexed into a discharge load to complete the discharge of the bus capacitor CAP.

[0071] Step S7: The high-voltage busbar is discharged to a safe voltage within a specific time, and power-off is completed.

Claims

1. A low-voltage power supply system for a motor controller, comprising a control unit, a main relay, a high-voltage power conditioning module, a low-voltage power conditioning module, a drive control power conditioning module and a safe state execution circuit, wherein the input end of the main relay is connected to a low-voltage DC power supply, and the output end is connected to the low-voltage power conditioning module, and the low-voltage power conditioning module is connected to the safe state execution circuit through the drive control power conditioning module, characterized in that: The high-voltage power conditioning module includes two groups of output terminals, and its input terminal is connected to the high-voltage bus, the first group of output terminals is connected to the input terminal of the low-voltage power conditioning module, and the second group of output terminals is connected to the safe state execution circuit. The power supply system also includes a third signal acquisition module for collecting the output voltage of the low-voltage power conditioning module. The control unit is respectively connected to the main relay, the high-voltage power conditioning module and the third signal acquisition module, and the control unit is configured to perform the following steps: When at least one of the main relay and the first group of output terminals of the high-voltage power conditioning module is turned on, the output voltage of the low-voltage power conditioning module is collected. If the output voltage of the low-voltage power conditioning module is lower than the first set threshold voltage, the main relay and the first group of output terminals of the high-voltage power conditioning module are disconnected, and the second group of output terminals of the high-voltage power conditioning module are turned on.

2. A motor controller low voltage power supply system according to claim 1, characterized in that: The system further includes a first signal acquisition module for acquiring a voltage at an input side of the main relay, wherein the first signal acquisition module is connected to a control unit, and the control unit is configured to further perform the following steps: When the main relay is turned on, the main relay input side voltage collected by the first signal collection module is continuously received, and if the voltage of the main relay input side voltage is less than the second set threshold voltage, the main relay is disconnected.

3. A motor controller low-voltage power supply system according to claim 1 or 2, characterized in that: The system further includes a second signal acquisition module for acquiring the output side voltage of the high-voltage power conditioning module, the second signal acquisition module is connected to the control unit, and the control unit is configured to further perform the following steps: When the first group of output terminals of the high-voltage power conditioning module is turned on, the voltage of the first group of output terminals of the high-voltage power conditioning module collected by the second signal acquisition module is continuously received. If the voltage of the first group of output terminals of the high-voltage power conditioning module is less than the third set threshold voltage, the first group of output terminals of the high-voltage power conditioning module is disconnected.

4. A motor controller low-voltage power supply system according to claim 1 or 2, characterized in that: The system further includes a fourth signal acquisition module for acquiring a voltage at an input side of the high-voltage power conditioning module, wherein the fourth signal acquisition module is connected to a control unit, and the control unit is configured to further perform the following steps: The input side voltage of the high-voltage power conditioning module collected by the second signal collection module is continuously received, and if the voltage of the input side voltage of the high-voltage power conditioning module is less than a fourth set threshold voltage, the output end of the high-voltage power conditioning module is disconnected.

5. A motor controller low voltage power supply system according to claim 1, characterized in that: The high-voltage bus is provided with a bus capacitor, and the control unit is configured to further perform the following steps: When the power-off preparation signal is received, the connection between the high-voltage power conditioning module and the high-voltage bus is first cut off, and then the main relay is disconnected, and the two sets of output terminals of the high-voltage power conditioning module are kept turned on until the voltage across the bus capacitor is lower than the fifth set threshold.

6. A motor controller low voltage power supply system according to claim 1, characterized in that: The output voltage of the low-voltage power conditioning module is lower than a first set threshold voltage, specifically: the output voltage of the low-voltage power conditioning module is lower than the first set threshold voltage for more than a set time period.

7. A motor controller low voltage power supply system according to claim 1, characterized in that: The rated voltage of the first group of output terminals of the high-voltage power conditioning module is equal to the rated voltage of the low-voltage DC power supply.

8. A control method for a low-voltage power supply system of a motor controller, characterized in that: include: When at least one of the main relay and the first group of output terminals of the high-voltage power conditioning module is turned on, the output voltage of the low-voltage power conditioning module is collected, wherein the input terminal of the main relay is connected to the low-voltage DC power supply, and the output terminal is connected to the low-voltage power conditioning module, the high-voltage power conditioning module includes two groups of output terminals, the input terminal of which is connected to the high-voltage bus, the first group of output terminals is connected to the input terminal of the low-voltage power conditioning module, and the second group of output terminals is connected to the safety state execution circuit, and the low-voltage power conditioning module controls the power conditioning module and the safety state execution circuit by driving; If the output voltage of the low-voltage power conditioning module is lower than the first set threshold voltage, the main relay and the first group of output terminals of the high-voltage power conditioning module are disconnected, and the second group of output terminals of the high-voltage power conditioning module are turned on.

9. The control method according to claim 8, characterized in that: Also includes: When the main relay is turned on, the input side voltage of the main relay is continuously received, and if the voltage of the input side voltage of the main relay is less than the second set threshold voltage, the main relay is turned off.

10. The control method according to claim 8, characterized in that: Also includes: Continuously receive the voltage of the high-voltage power conditioning module, and if the voltage of the high-voltage power conditioning module is less than the corresponding voltage threshold, disconnect the output end of the high-voltage power conditioning module, wherein the voltage of the high-voltage power conditioning module is the input side voltage of the high-voltage power conditioning module or the voltage of any output end.

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