Motor controller safety state control method, circuit and device and storage medium

Abstract

The invention discloses a motor controller safety state control method and circuit and a storage medium. Comprising the following steps: acquiring a phase current frequency of a three-phase full-bridge circuit of a motor controller, a bus voltage value of a target vehicle and a line voltage between target acquisition points; determining a first voltage according to the phase current frequency, determining a second voltage according to the bus voltage value, and determining a third voltage according to the line voltage; a first level is output according to the first voltage and the second voltage, and a second level is output according to the second voltage and the third voltage; and a logic signal is generated according to the first level and the second level, a logic control signal is generated according to the logic signal, and when the motor rotating speed detection function of the target vehicle is abnormal, motor safety state switching can be completed.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a motor controller safety state control method, circuit and storage medium. Background Art

[0002] As a key component of new energy vehicles, the safety status of permanent magnet synchronous motors is directly related to the stability and reliability of new energy vehicles. Effective control of the safety status of the motor can prevent failures and reduce downtime.

[0003] The invention patent with publication number CN118074575A discloses a method, device and vehicle for controlling the safe state of a motor, wherein the method for controlling the safe state of the motor includes: collecting the current speed of the current motor; if the current speed is greater than or equal to the target motor speed switching threshold, determining the active short-circuit ASC control type of the drive system based on the current state of the three-phase bridge arm of the insulated gate bipolar transistor IGBT module of the current motor; determining the current safety control strategy according to the ASC control type, and performing safety state control on the drive system. This method mainly relies on the speed acquisition circuit to obtain the speed of the motor, and performs safety state control based on the motor speed. However, when the speed acquisition circuit or the decoding chip function fails, the system will not be able to obtain the real-time speed value, and complete the safety state switching according to the switching threshold. Summary of the invention

[0004] In order to solve the above problems, the inventors have made the present invention, and through specific implementation methods, provide a motor controller safety state control method, circuit and storage medium.

[0005] In a first aspect, an embodiment of the present invention provides a motor controller safety state control method, comprising:

[0006] Obtaining the phase current frequency of the three-phase full-bridge circuit of the motor controller, the bus voltage value of the target vehicle, and the line voltage between the target acquisition points;

[0007] Determine a first voltage according to the phase current frequency, determine a second voltage according to the bus voltage value, and determine a third voltage according to the line voltage;

[0008] Outputting a first level according to the first voltage and the second voltage, and outputting a second level according to the second voltage and the third voltage;

[0009] A logic signal is generated according to the first level and the second level, and a logic control signal is generated according to the logic signal, wherein the logic control signal is used to control the safety state switching of the motor controller.

[0010] Furthermore, the method further comprises the steps of:

[0011] When the motor speed detection function of the target vehicle is abnormal, the motor controller enters the FW state or the ASC state according to the logic control signal.

[0012] Further, the obtaining of the phase current frequency of the three-phase full-bridge circuit of the motor controller comprises the following steps:

[0013] The current sensor is used to obtain the phase current frequency of the three-phase full-bridge circuit of the motor controller.

[0014] Further, the step of outputting a first level according to the first voltage and the second voltage, and outputting a second level according to the second voltage and the third voltage, comprises the following steps:

[0015] When the second voltage is greater than the third voltage, the output first level is a high level;

[0016] When the second voltage is less than or equal to the third voltage, the output first level is a low level;

[0017] When the second voltage is greater than the first voltage, the output second level is a high level;

[0018] When the second voltage is less than or equal to the first voltage, the output second level is a low level.

[0019] Further, generating a logic signal according to the first level and the second level, and generating a logic control signal according to the logic signal, comprises the following steps:

[0020] When the first level is a high level, a first logic signal is generated, and according to the first logic signal, a first logic control signal is generated, wherein the first logic control signal is configured such that when the motor controller receives the first logic control signal, the safety state of the motor controller is switched from the FW state to the ASC state;

[0021] When the second level is a high level, a second logic signal is generated, and a second logic control signal is generated according to the second logic signal. The second logic control signal is configured such that when the motor controller receives the second logic control signal, the safety state of the motor controller is switched from the ASC state to the FW state.

[0022] In a second aspect, an embodiment of the present invention provides a motor controller safety state control circuit, comprising:

[0023] A frequency-voltage conversion module is connected to the three-phase full-bridge circuit of the motor controller of the target vehicle, and the frequency-voltage conversion module is used to obtain the phase current frequency of the three-phase full-bridge circuit of the motor controller, and determine the first voltage according to the phase current frequency;

[0024] A bus voltage acquisition module is connected to the bus capacitor of the target vehicle, and is used to obtain the bus voltage value of the target vehicle, and determine the second voltage according to the bus voltage value;

[0025] A back electromotive force acquisition module is connected to the three-phase motor and the three-phase full-bridge circuit respectively, and the back electromotive force acquisition module is used to obtain the line voltage between the target acquisition points, and determine the third voltage according to the line voltage;

[0026] A first signal comparison module is connected to the frequency-voltage conversion module and the bus voltage acquisition module respectively, and the first signal comparison module is used to output a first level according to the first voltage and the second voltage;

[0027] A second signal comparison module is connected to the bus voltage acquisition module and the back electromotive force acquisition module respectively, and the second signal comparison module is used to output a second level according to the second voltage and the third voltage;

[0028] The logic control module is used to generate a logic signal according to the first level and the second level, and to generate a logic control signal according to the logic signal, wherein the logic control signal is used to control the safety state switching of the motor controller.

[0029] Furthermore, the bus voltage acquisition module is a differential sampling circuit.

[0030] Furthermore, the back electromotive force acquisition module is a differential sampling circuit.

[0031] In a third aspect, an embodiment of the present invention provides an electronic device, the device comprising:

[0032] A frequency-voltage conversion unit is connected to the three-phase full-bridge circuit of the motor controller of the target vehicle, and the frequency-voltage conversion module is used to obtain the phase current frequency of the three-phase full-bridge circuit of the motor controller, and determine the first voltage according to the phase current frequency;

[0033] A bus voltage acquisition unit is connected to the bus capacitor of the target vehicle, and the bus voltage acquisition module is used to obtain the bus voltage value of the target vehicle, and determine the second voltage according to the bus voltage value;

[0034] A back electromotive force acquisition unit is connected to the three-phase motor and the three-phase full-bridge circuit respectively, and the back electromotive force acquisition module is used to obtain the line voltage between the target acquisition points, and determine the third voltage according to the line voltage;

[0035] A first signal comparison unit is connected to the frequency-voltage conversion module and the bus voltage acquisition module respectively, and the first signal comparison module is used to output a first level according to the first voltage and the second voltage;

[0036] A second signal comparison unit is connected to the bus voltage acquisition module and the back electromotive force acquisition module respectively, and the second signal comparison module is used to output a second level according to the second voltage and the third voltage;

[0037] A logic control unit is used to generate a logic signal according to the first level and the second level, and to generate a logic control signal according to the logic signal, wherein the logic control signal is used to control the safety state switching of the motor controller.

[0038] In a fourth aspect, an embodiment of the present invention provides a computer storage medium, wherein the computer storage medium stores computer executable instructions, and when the computer executable instructions are executed, the above-mentioned motor controller safety state control method is implemented.

[0039] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least: by obtaining the phase current frequency of the three-phase full-bridge circuit of the motor controller, the bus voltage value of the target vehicle and the line voltage between the target acquisition points; determining the first voltage according to the phase current frequency, determining the second voltage according to the bus voltage value, and determining the third voltage according to the line voltage; outputting a first level according to the first voltage and the second voltage, and outputting a second level according to the second voltage and the third voltage; generating a logic signal according to the first level and the second level, and generating a logic control signal according to the logic signal, so as to complete the motor safety state switching when the motor speed detection function of the target vehicle is abnormal.

[0040] Other features and advantages of the present invention will be described in the following description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0041] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0043] Figure 1 A flowchart of the safety state control of the motor controller in an embodiment of the present invention;

[0044] Figure 2 Schematic diagram of a safe state control circuit of a motor controller in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0046] As a key component of new energy vehicles, the safety status of permanent magnet synchronous motors is directly related to the stability and reliability of new energy vehicles. Effective control of the safety status of the motor can prevent failures and reduce downtime.

[0047] The existing motor controller safety state control mainly relies on the speed acquisition circuit to obtain the motor speed and performs safety state control based on the motor speed. However, when the speed acquisition circuit or the decoding chip function fails, the system will not be able to obtain the real-time speed value and thus perform safety switching according to the switching threshold.

[0048] In addition, when the car is in limp state, the bus voltage and speed may change dynamically, which may affect the safe state switching. Dynamic threshold setting is required, otherwise it may lead to the generation of unsafe torque; when the system enters ASC, it needs to exit ASC when the conditions are met, otherwise it may cause the system overheating risk; the use of a fixed speed threshold will cause the drive system power output to be uneven, and when the IGBT bridge arm of the motor controller fails seriously and the three-phase ASC control cannot be implemented normally, the implementation of two-phase ASC control may cause vehicle torque safety problems due to output torque oscillation.

[0049] In order to solve the problems existing in the prior art, embodiments of the present invention provide a motor controller safety state control method, circuit and storage medium.

[0050] The embodiment of the present invention provides a motor controller safety state control method, the process of which is as follows: Figure 1 As shown, the following steps are included:

[0051] Step S1: obtaining the phase current frequency of the three-phase full-bridge circuit of the motor controller, the bus voltage value of the target vehicle, and the line voltage between the target acquisition points.

[0052] The motor speed detection function is realized by the MCU or an external detection circuit, and the bus voltage value of the target vehicle is provided by the vehicle power battery.

[0053] Exemplarily, the motor speed detection function is detected by an external detection circuit. When the speed detection function is abnormal, the external detection circuit outputs a low level, and when the function is normal, the external detection circuit outputs a high level.

[0054] Step S2: determining a first voltage according to the phase current frequency, determining a second voltage according to the bus voltage value, and determining a third voltage according to the line voltage.

[0055] Exemplarily, the calculation formula of the first voltage Vfc and the phase current frequency Fc is:

[0056] Vfc=k0*Fc,

[0057] Where k0 is a constant.

[0058] The calculation formula of the second voltage Udc and the bus voltage value Vbus is:

[0059] Udc=k1*Vbus,

[0060] Where k1 is a constant.

[0061] The calculation formula of the third voltage Ur and the line voltage Vab is:

[0062] Ur=k2*Vab,

[0063] In the formula, k2 is a constant.

[0064] Step S3: outputting a first level according to the first voltage and the second voltage, and outputting a second level according to the second voltage and the third voltage.

[0065] Step S4: Generate a logic signal according to the first level and the second level, and generate a logic control signal according to the logic signal, wherein the logic control signal is used to control the safety state switching of the motor controller.

[0066] The safety status includes the FW (free wheeling) status and the ASC (active short circuit) status.

[0067] The above method in this embodiment obtains the phase current frequency of the three-phase full-bridge circuit of the motor controller, the bus voltage value of the target vehicle and the line voltage between the target acquisition points when the motor speed detection function of the target vehicle is abnormal; determines a first voltage according to the phase current frequency, determines a second voltage according to the bus voltage value, and determines a third voltage according to the line voltage; outputs a first level according to the first voltage and the second voltage, and outputs a second level according to the second voltage and the third voltage; generates a logic signal according to the first level and the second level, and generates a logic control signal according to the logic signal, so as to complete the motor safety state switching when the motor speed detection function of the target vehicle is abnormal.

[0068] In the above method of this embodiment, the method further includes the steps of:

[0069] When the motor speed detection function of the target vehicle is abnormal, the motor controller enters the FW state or the ASC state according to the logic control signal.

[0070] In the above method of this embodiment, the step of obtaining the phase current frequency of the three-phase full-bridge circuit of the motor controller includes the following steps:

[0071] The current sensor CS is used to obtain the phase current frequency of the three-phase full-bridge circuit of the motor controller.

[0072] In the above method of this embodiment, the step of outputting a first level according to the first voltage and the second voltage, and outputting a second level according to the second voltage and the third voltage, comprises the following steps:

[0073] When the second voltage is greater than the third voltage, the output first level is a high level;

[0074] When the second voltage is less than or equal to the third voltage, the output first level is a low level;

[0075] When the second voltage is greater than the first voltage, the output second level is a high level;

[0076] When the second voltage is less than or equal to the first voltage, the output second level is a low level.

[0077] In the above method of this embodiment, generating a logic signal according to the first level and the second level, and generating a logic control signal according to the logic signal include the following steps:

[0078] When the first level is a high level, a first logic signal is generated, and according to the first logic signal, a first logic control signal is generated, wherein the first logic control signal is configured such that when the motor controller receives the first logic control signal, the safety state of the motor controller is switched from the FW state to the ASC state;

[0079] When the second level is a high level, a second logic signal is generated, and a second logic control signal is generated according to the second logic signal. The second logic control signal is configured such that when the motor controller receives the second logic control signal, the safety state of the motor controller is switched from the ASC state to the FW state.

[0080] Among them, when the safety state of the motor controller is the FW state, the power switches of the three-phase full-bridge circuit of the motor controller are all disconnected. When the safety state of the motor controller is the ASC state, the power switches of the upper bridge arm or the lower bridge arm of the three-phase full-bridge circuit of the motor controller are all disconnected, short-circuiting the three-phase winding of the motor, and the three-phase current is a standard three-phase sinusoidal waveform, and the waveform frequency is proportional to the motor speed.

[0081] Specifically, when the motor speed detection function of the target vehicle is abnormal, the safety state of the motor controller enters the FW state, and the power switches of the upper bridge arm and the lower bridge arm of the three-phase full-bridge circuit of the motor controller are all disconnected. If the speed is high, that is, the back electromotive force is higher than the bus voltage Vbus, the three-phase voltage will be rectified by D1-D6 to form a rectified current. When the current is large, it may cause damage to system components and abnormal torque. At this time, it is necessary to enter the ASC state. When the second voltage is greater than the third voltage, the first output level is a high level, and a first logic signal is generated. According to the first logic signal, a first logic control signal is generated. When the motor controller receives the second logic control signal, the safety state of the motor controller is switched from the ASC state to the FW state; when the speed is low, that is, the back electromotive force is lower than the bus voltage Vbus, no rectified current will be formed, and the FW state can be entered to avoid the low-speed ASC torque jitter problem. Due to the three-phase short circuit, the line power The voltage Vab≈0V, and the current speed cannot be determined by the line voltage Vab, that is, the condition for exiting the ASC state cannot be determined by whether the second voltage Udc and the third voltage Ur meet. When the second voltage Udc is greater than the first voltage Vfc, the second level output is a high level, and a second logic signal is generated. According to the second logic signal, a second logic control signal is generated. When the motor controller receives the second logic control signal, the safety state of the motor controller is switched from the ASC state to the FW state, and the speed monitoring in the FW state is realized by the back electromotive force voltage, and the speed monitoring in the ASC state is realized by the phase current frequency, so as to prevent unexpected torque from occurring when the speed function detection fails, enter a safe state, and be able to enter and exit the ASC state according to the real-time speed changes, prevent the ASC state torque movement at low speed and the high temperature risk of the long-term ASC state, and prevent the abnormal torque and back-injection current problems caused by the FW state at high speed.

[0082] Those skilled in the art can change the above sequence without departing from the protection scope of the present disclosure.

[0083] Another embodiment of the present invention provides a motor controller safety state control circuit, the circuit diagram of which is shown in FIG. Figure 2 As shown, including:

[0084] A frequency-voltage conversion module FB1 is connected to the three-phase full-bridge circuit of the motor controller of the target vehicle, and is used to obtain the phase current frequency of the three-phase full-bridge circuit of the motor controller, and determine the first voltage Vfc according to the phase current frequency;

[0085] A bus voltage acquisition module FB2 is connected to the bus capacitor C1 of the target vehicle, and is used to obtain the bus voltage value of the target vehicle, and determine the second voltage according to the bus voltage value;

[0086] A back electromotive force acquisition module FB3 is connected to the three-phase motor and the three-phase full-bridge circuit respectively, and the back electromotive force acquisition module is used to obtain the line voltage between the target acquisition points, and determine the third voltage according to the line voltage;

[0087] A first signal comparison module FB5 is connected to the frequency-voltage conversion module FB1 and the bus voltage acquisition module FB2 respectively, and the first signal comparison module is used to output a first level according to the first voltage and the second voltage;

[0088] A second signal comparison module FB4 is connected to the bus voltage acquisition module FB2 and the back electromotive force acquisition module FB3 respectively, and the second signal comparison module is used to output a second level according to the second voltage and the third voltage;

[0089] The logic control module is used to generate a logic signal ASC_Logic according to the first level and the second level, and to generate a logic control signal ASC_EN according to the logic signal ASC_Logic, wherein the logic control signal is used to control the safety state switching of the motor controller.

[0090] Optionally, when a speed fault detection signal FAULT_Res is received, the motor speed detection function of the target vehicle is abnormal, and the safety state of the motor controller enters the FW state.

[0091] Optionally, the frequency-voltage conversion module FB1 is a frequency-voltage conversion chip, such as LM331.

[0092] Optionally, the bus voltage acquisition module FB2 is a differential sampling circuit.

[0093] Specifically, the bus voltage acquisition module FB2 includes a resistor R21, a resistor R22, a resistor R23, a resistor R24 ​​and an operational amplifier U21.

[0094] Optionally, the back electromotive force acquisition module FB3 is a differential sampling circuit.

[0095] Specifically, the back electromotive force acquisition module FB3 includes a resistor R31 , a resistor R32 , a resistor R33 , a resistor R34 and an operational amplifier U31 .

[0096] Optionally, the first signal comparison module FB5 includes a resistor R51, a resistor R52, a resistor R53, a comparator U51 and a capacitor C51;

[0097] The two ends of the resistor R51 are respectively connected to the output end of the frequency-voltage conversion module FB1 and the input end of the comparator U51, one end of the resistor R51 connected to the frequency-voltage conversion module FB1 is grounded through a resistor R53, the output end of the comparator U51 is respectively connected to one end of the resistor R52 and the capacitor C51, the other end of the resistor R52 is connected to the power supply, and the other end of the capacitor C51 is grounded.

[0098] Among them, R52 and C51 are used to extend the low level maintenance time. When the second voltage is greater than the third voltage, the output level of the comparator U51 is quickly converted from a high level to a low level. When the second voltage is less than or equal to the third voltage, the output level of the comparator U51 will be converted from a low level to a high level after the R52*C51 delay time.

[0099] Optionally, the second signal comparison module FB4 includes a resistor R41, a resistor R42, a resistor R43, a comparator U41 and a capacitor C41;

[0100] The two ends of the resistor R41 are respectively connected to the output end of the frequency-voltage conversion module and the input end of the comparator, and one end of the resistor R41 connected to the frequency-voltage conversion module is grounded through a resistor R43. The output end of the comparator U41 is respectively connected to one end of the resistor R42 and the capacitor C41, the other end of the resistor R42 is connected to the power supply, and the other end of the capacitor C41 is grounded.

[0101] Among them, R42 and C41 are used to extend the low level maintenance time. When the second voltage is greater than the third voltage, the output level of the comparator U41 is quickly converted from a high level to a low level. When the second voltage is less than or equal to the third voltage, the output level of the comparator U41 will be converted from a low level to a high level after the R42*C41 delay time.

[0102] Regarding the circuit in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0103] Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, the device comprising:

[0104] A frequency-voltage conversion unit is connected to the three-phase full-bridge circuit of the motor controller of the target vehicle, and the frequency-voltage conversion module is used to obtain the phase current frequency of the three-phase full-bridge circuit of the motor controller, and determine the first voltage according to the phase current frequency;

[0105] A bus voltage acquisition unit is connected to the bus capacitor of the target vehicle, and the bus voltage acquisition module is used to obtain the bus voltage value of the target vehicle, and determine the second voltage according to the bus voltage value;

[0106] A back electromotive force acquisition unit is connected to the three-phase motor and the three-phase full-bridge circuit respectively, and the back electromotive force acquisition module is used to obtain the line voltage between the target acquisition points, and determine the third voltage according to the line voltage;

[0107] A first signal comparison unit is connected to the frequency-voltage conversion module and the bus voltage acquisition module respectively, and the first signal comparison module is used to output a first level according to the first voltage and the second voltage;

[0108] A second signal comparison unit is connected to the bus voltage acquisition module and the back electromotive force acquisition module respectively, and the second signal comparison module is used to output a second level according to the second voltage and the third voltage;

[0109] A logic control unit is used to generate a logic signal according to the first level and the second level, and to generate a logic control signal according to the logic signal, wherein the logic control signal is used to control the safety state switching of the motor controller.

[0110] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0111] Based on the same inventive concept, an embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium stores computer executable instructions, and when the computer executable instructions are executed by a processor, the aforementioned motor controller safety state control method is implemented.

[0112] Any modifications, supplements and equivalent substitutions made within the scope of the principles of the present invention shall still fall within the patent scope of the present invention.

[0113] Unless otherwise stated, the "connection" mentioned above refers to a logical relationship of current transmission, and does not necessarily mean a direct electrical connection. At the same time, "first", "second", etc. do not indicate a sequence, but are only used to identify related units, devices, etc.

[0114] The present invention is not limited to the above voltage levels, which are merely voltage levels in the embodiments.

Claims

1. A motor controller safety state control method, characterized in that: include: Obtaining the phase current frequency of the three-phase full-bridge circuit of the motor controller, the bus voltage value of the target vehicle, and the line voltage between the target acquisition points; Determine a first voltage according to the phase current frequency, determine a second voltage according to the bus voltage value, and determine a third voltage according to the line voltage; Outputting a first level according to the first voltage and the second voltage, and outputting a second level according to the second voltage and the third voltage; A logic signal is generated according to the first level and the second level, and a logic control signal is generated according to the logic signal, wherein the logic control signal is used to control the safety state switching of the motor controller.

2. The motor controller safety state control method according to claim 1, characterized in that: The method further comprises the steps of: When the motor speed detection function of the target vehicle is abnormal, the motor controller enters the FW state or the ASC state according to the logic control signal.

3. The motor controller safety state control method according to claim 1, characterized in that: The method of obtaining the phase current frequency of the three-phase full-bridge circuit of the motor controller comprises the following steps: The current sensor is used to obtain the phase current frequency of the three-phase full-bridge circuit of the motor controller.

4. The motor controller safety state control method according to claim 1, characterized in that: The step of outputting a first level according to the first voltage and the second voltage, and outputting a second level according to the second voltage and the third voltage comprises the following steps: When the second voltage is greater than the third voltage, the output first level is a high level; When the second voltage is less than or equal to the third voltage, the output first level is a low level; When the second voltage is greater than the first voltage, the output second level is a high level; When the second voltage is less than or equal to the first voltage, the output second level is a low level.

5. The motor controller safety state control method according to claim 4, characterized in that: Generating a logic signal according to the first level and the second level, and generating a logic control signal according to the logic signal, comprises the following steps: When the first level is a high level, a first logic signal is generated, and according to the first logic signal, a first logic control signal is generated, wherein the first logic control signal is configured such that when the motor controller receives the first logic control signal, the safety state of the motor controller is switched from the FW state to the ASC state; When the second level is a high level, a second logic signal is generated, and a second logic control signal is generated according to the second logic signal. The second logic control signal is configured such that when the motor controller receives the second logic control signal, the safety state of the motor controller is switched from the ASC state to the FW state.

6. A motor controller safety state control circuit, characterized in that: include: A frequency-voltage conversion module is connected to the three-phase full-bridge circuit of the motor controller of the target vehicle, and the frequency-voltage conversion module is used to obtain the phase current frequency of the three-phase full-bridge circuit of the motor controller, and determine the first voltage according to the phase current frequency; A bus voltage acquisition module is connected to the bus capacitor of the target vehicle, and is used to obtain the bus voltage value of the target vehicle, and determine the second voltage according to the bus voltage value; A back electromotive force acquisition module is connected to the three-phase motor and the three-phase full-bridge circuit respectively, and the back electromotive force acquisition module is used to obtain the line voltage between the target acquisition points, and determine the third voltage according to the line voltage; A first signal comparison module is connected to the frequency-voltage conversion module and the bus voltage acquisition module respectively, and the first signal comparison module is used to output a first level according to the first voltage and the second voltage; A second signal comparison module is connected to the bus voltage acquisition module and the back electromotive force acquisition module respectively, and the second signal comparison module is used to output a second level according to the second voltage and the third voltage; The logic control module is used to generate a logic signal according to the first level and the second level, and to generate a logic control signal according to the logic signal, wherein the logic control signal is used to control the safety state switching of the motor controller.

7. The motor controller safety state control circuit according to claim 5, characterized in that: The bus voltage acquisition module is a differential sampling circuit.

8. The motor controller safety state control circuit according to claim 6, characterized in that: The back electromotive force acquisition module is a differential sampling circuit.

9. An electronic device, characterized in that: The device comprises: A frequency-voltage conversion unit is connected to the three-phase full-bridge circuit of the motor controller of the target vehicle, and the frequency-voltage conversion module is used to obtain the phase current frequency of the three-phase full-bridge circuit of the motor controller, and determine the first voltage according to the phase current frequency; A bus voltage acquisition unit is connected to the bus capacitor of the target vehicle, and the bus voltage acquisition module is used to obtain the bus voltage value of the target vehicle, and determine the second voltage according to the bus voltage value; A back electromotive force acquisition unit is connected to the three-phase motor and the three-phase full-bridge circuit respectively, and the back electromotive force acquisition module is used to obtain the line voltage between the target acquisition points, and determine the third voltage according to the line voltage; A first signal comparison unit is connected to the frequency-voltage conversion module and the bus voltage acquisition module respectively, and the first signal comparison module is used to output a first level according to the first voltage and the second voltage; A second signal comparison unit is connected to the bus voltage acquisition module and the back electromotive force acquisition module respectively, and the second signal comparison module is used to output a second level according to the second voltage and the third voltage; A logic control unit is used to generate a logic signal according to the first level and the second level, and to generate a logic control signal according to the logic signal, wherein the logic control signal is used to control the safety state switching of the motor controller.

10. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, which, when executed, implement the motor controller safety state control method described in any one of claims 1 to 5.

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