Motor control method, motor controller and motor control system

Abstract

The invention discloses a motor control method, a motor controller and a motor control system, and relates to the technical field of motor controllers, and the motor control method comprises the following steps: reading a three-phase input current of a motor from a shared memory, and carrying out torque control on the motor based on the three-phase input current, the three-phase input current is obtained through processing of the co-processing module; and after an over-current detection result sent by the co-processing module is received, power supply to the motor is stopped, and the over-current detection result is obtained by performing over-current detection on the three-phase input current of the motor through the co-processing module. And the over-current detection efficiency is improved so as to meet the real-time requirement of over-current detection.

Description

Technical Field

[0001] The present application relates to the technical field of motor controllers, and in particular to a motor control method, a motor controller and a motor control system. Background Art

[0002] In closed-loop control, the motor controller needs to monitor the three-phase input current of the motor in real time during normal operation. First, the torque of the motor is controlled based on the three-phase input current. Second, overcurrent detection is required for the three-phase input current to protect the internal components of the motor controller or the motor from damage caused by overcurrent.

[0003] In the related technology, first, if the overcurrent detection and protection functions are realized through a separate hardware circuit module, that is, after the current is collected by the current sensor, it is converted into voltage through the current-voltage conversion circuit, and then compared with the voltage threshold through the voltage comparison circuit to diagnose whether there is overcurrent, and the main processing module of the motor controller realizes the torque control of the motor based on the sampled current, the separation of the overcurrent protection function and the torque control function of the motor will lead to resource waste. Second, the main processor samples the current and processes it to obtain the three-phase input current, and the torque control and overcurrent detection protection functions are performed through the three-phase input current. If the main processor performs multiple tasks at the same time, it will affect the generation efficiency of the three-phase input current, and it will not be possible to obtain the three-phase input current in real time for overcurrent detection protection, thereby affecting the overcurrent detection efficiency.

[0004] In summary, the related technology has the defects of wasting resources and low over-current detection efficiency. Summary of the invention

[0005] The main purpose of this application is to provide a motor control method, a motor controller and a motor control system, aiming to save resources while improving the overcurrent detection efficiency to meet the real-time requirements of overcurrent detection.

[0006] To achieve the above object, the present application proposes a motor control method, which is applied to a main processing module of a motor controller, wherein the main processing module and a co-processing module of the motor controller share data through a shared memory, and the main processing module is connected to the motor, and the method comprises:

[0007] Reading the three-phase input current of the motor from the shared memory, and performing torque control on the motor based on the three-phase input current, wherein the three-phase input current is obtained by processing by the co-processing module;

[0008] And, after receiving the overcurrent detection result sent by the co-processing module, stop supplying power to the motor, wherein the overcurrent detection result is obtained by the co-processing module performing overcurrent detection on the three-phase input current of the motor.

[0009] In one embodiment, the main processing module further includes at least three analog-to-digital converters, and each of the analog-to-digital converters is externally connected to a current sensor. Before the step of reading the input current of each phase of the motor from the shared memory to obtain the three-phase input current, and performing torque control on the motor based on the three-phase input current, the method further includes:

[0010] Each of the analog-to-digital converters receives a single-phase analog voltage signal sent by each of the current sensors, performs analog-to-digital conversion on each phase analog voltage signal to obtain a digital voltage for each phase, and writes the digital voltage for each phase into the shared memory, wherein each of the current sensors collects a single-phase current, converts the corresponding single-phase current into a corresponding single-phase analog voltage signal, and sends the converted signal to the corresponding analog-to-digital converter.

[0011] In one embodiment, the co-processing module includes a plurality of channel sequencers, each of the analog-to-digital converters is further connected to a channel sequencer, the main processing module and each of the channel sequencers share data through a corresponding shared memory, and writing each phase digital voltage into the shared memory includes:

[0012] Each phase digital voltage is written into the shared memory of the corresponding channel sequencer respectively, so that each channel sequencer reads the corresponding single-phase digital voltage from the corresponding shared memory for processing.

[0013] In one embodiment, reading the three-phase input current of the motor from the shared memory includes:

[0014] The corresponding single-phase input current is read from the shared memory corresponding to each of the channel sequencers to obtain the three-phase input current of the motor.

[0015] In one embodiment, the main processing module and the motor are connected via a switch tube, and after receiving the overcurrent detection result sent by the co-processing module, the step of stopping power supply to the motor includes:

[0016] After receiving the over-current detection result, the switch tube is controlled to be turned off so that the switch tube stops supplying power to the motor.

[0017] In addition, to achieve the above purpose, the present application also proposes a co-processing module applied to a motor controller, wherein the co-processing module and the main processing module of the motor controller share data through a shared memory, and the method includes:

[0018] Determine the three-phase input current of the motor according to the digital voltage in the shared memory, wherein the digital voltage is obtained by sampling the main processing module;

[0019] Performing overcurrent detection on the motor based on the three-phase input current;

[0020] And, the three-phase input current is written into the shared memory, so that the main processing module reads the three-phase input current from the shared memory to perform torque control on the motor.

[0021] In one embodiment, the co-processing module includes a plurality of channel sequencers, each of which shares data with the main processing module through a corresponding shared memory, and the step of determining the three-phase input current of the motor according to the digital voltage in the shared memory includes:

[0022] Each of the channel sequencers reads a single-phase digital voltage from a corresponding shared memory, and performs a preprocessing operation on the read single-phase digital voltage to obtain a preprocessed single-phase digital voltage, wherein the preprocessing operation includes a filtering operation and / or a calibration operation;

[0023] Each of the channel sequencers converts the preprocessed single-phase digital voltage to obtain the input current of each phase of the motor.

[0024] In one embodiment, the step of performing overcurrent detection on the motor based on the three-phase input current includes:

[0025] Each of the channel sequencers compares the corresponding single-phase input current with the corresponding over-current threshold value;

[0026] After the step of performing overcurrent detection on the motor based on the three-phase input current, the method further includes:

[0027] When at least one single-phase input current is greater than or equal to an overcurrent threshold, the generated overcurrent detection result is transmitted to the main processing module, so that the main processing module performs an overcurrent protection action based on the overcurrent detection result.

[0028] In one embodiment, writing the three-phase input current into the shared memory so that the main processing module can read the three-phase input current from the shared memory to perform torque control on the motor includes:

[0029] Each of the channel sequencers writes the input current of each phase of the motor into its corresponding shared memory, so that the main processing module reads the input current of each phase from the shared memory corresponding to each of the channel sequencers to perform torque control on the motor.

[0030] In addition, to achieve the above purpose, the present application also proposes a motor controller, which includes: a main processing module and a co-processing module, wherein the main processing module and the co-processing module share data through a shared memory, wherein:

[0031] The co-processing module is used to determine the three-phase input current of the motor according to the digital voltage in the shared memory, wherein the digital voltage is obtained by sampling the main processing module; perform overcurrent detection on the motor based on the three-phase input current; and write the three-phase input current into the shared memory;

[0032] The main processing module is used to read the three-phase input current of the motor from the shared memory and perform torque control on the motor based on the three-phase input current; and, after receiving the overcurrent detection result sent by the co-processing module, stop supplying power to the motor.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a motor control system, which includes: a motor controller and a current sensor, and the motor controller is connected to the current sensor.

[0034] The present application simultaneously performs motor torque control and overcurrent protection processing through the main processing module, and there is no need to set up a separate hardware circuit for overcurrent protection, thereby saving resources. In addition, considering the problem of low overcurrent detection efficiency, the generation of three-phase input current and overcurrent detection processing are processed through the co-processing module to improve the generation efficiency of the three-phase input current and the overcurrent detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0037] Figure 1 A schematic diagram of a flow chart of a first embodiment of a motor control method of the present application;

[0038] Figure 2 A schematic diagram of a flow chart of a second embodiment of a motor control method of the present application;

[0039] Figure 3 This is a schematic diagram of the structure of the motor control system of this application;

[0040] Figure 4 A schematic diagram of a specific structure of the motor control system of the present application;

[0041] Figure 5This is a flow chart of torque control and overcurrent protection for this application.

[0042] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0044] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0045] At present, the motor controller needs to obtain three-phase input current for motor torque control in closed-loop control. When the motor controller detects an overcurrent fault in the three-phase input current of the motor, the overcurrent protection function is used to quickly shut down the switch tube (such as the insulated gate bipolar transistor (IGBT)) and put the system into a safe state to protect the internal components of the motor controller or the motor from damage caused by overcurrent.

[0046] In the related art, first, if the overcurrent detection and protection functions are realized through a separate hardware circuit module, that is, after the current is collected by the current sensor, it is converted into voltage through the current-voltage conversion circuit, and then it is compared with the voltage threshold through the voltage comparison circuit to diagnose whether it is overcurrent; and the main processing module of the motor controller realizes the torque control of the motor based on the sampled current, due to the separation of the overcurrent protection function and the torque control function of the motor, this separation setting requires the use of different current sensors to realize the overcurrent detection protection function and the torque control of the motor respectively, resulting in hardware resource redundancy, and at the software level, two independent modules mean that two sets of codes need to be written and maintained, which increases the cost and time of software development. In addition, if the processing power of the main controller is strong enough, but it is only partially used for torque control, it will cause a waste of main processor resources. Second, the main processor samples the current and processes it to obtain the three-phase input current, and the torque control and overcurrent detection protection functions are performed through the three-phase input current. If the main processor performs multiple tasks at the same time, it will affect the generation efficiency of the three-phase input current, and it is impossible to obtain the three-phase input current in real time for overcurrent detection protection, thereby affecting the overcurrent detection efficiency.

[0047] To address the problem of resource waste, the main processing module simultaneously performs motor torque control and overcurrent protection processing, eliminating the need to set up a separate hardware circuit for overcurrent protection, thereby saving resources. To address the problem of low overcurrent detection efficiency, the generation of three-phase input current and overcurrent detection processing are processed through the co-processing module to improve the generation efficiency of the three-phase input current, thereby improving the overcurrent detection efficiency.

[0048] In addition, the current overcurrent diagnosis and protection methods are mainly hardware circuit diagnosis of overcurrent. The Hall sensor is used to convert the current signal into a voltage signal, and then the voltage is compared through devices such as op amps and comparators to output the compared state. The back stage of the comparison circuit is connected to the safety shutdown circuit. When the front stage signal output is an overcurrent state, the safety shutdown circuit takes effect and completes the shutdown operation. However, pure hardware circuits for overcurrent detection are susceptible to electromagnetic compatibility interference, resulting in false alarms, and poor anti-interference capabilities. The threshold set by the comparison circuit depends on the hardware device. If the threshold is to be modified, the hardware device parameters need to be modified and replaced, which is cumbersome. In addition, the hardware cost of the entire circuit is high, which leads to an increase in the cost and complexity of the entire system.

[0049] In response to the above problems, the present application uses multiple channel sequencers to perform three-phase current monitoring in parallel, and can use analog voltage signals for overcurrent detection, effectively avoiding the defects of using hardware circuits to diagnose overcurrent on the entire motor control, improving the accuracy of overcurrent detection, and removing hardware diagnostic circuits to reduce the cost of the entire machine.

[0050] It should be noted that the motor controller of the present application includes a main processing module and a co-processing module, and the main processing module and the co-processing module share data through shared memory, which can not only share three-phase digital voltage, but also share three-phase input current, etc. Among them, shared memory refers to a memory area that can be accessed and modified by multiple processors, processes or modules. The data in the shared memory between the main processing module and the co-processing module of the present application can be accessed by the main processing module and the co-processing module at the same time. The main processing module and the co-processing module share data through shared memory, which can efficiently and quickly exchange data. It allows different modules to directly access and modify the same memory area, thereby improving the overall performance and response speed of the system.

[0051] It should be noted that the above-mentioned main processing module can be the microcontroller unit (MCU) of the motor controller, and the above-mentioned co-processing module is a peripheral module of the main processing module. The co-processing module here can be a timing module (Generic Timer Module, GTM), and there can be multiple channel sequencers (hereinafter referred to as MCS) in the co-processing module.

[0052] For ease of understanding, the following combination Figures 1 to 4 The motor control method provided in the embodiment of the present application is specifically introduced.

[0053] Reference Figure 1 , Figure 1 This is a flow chart of the first embodiment of the motor control method of the present application. In this embodiment, the motor control method is applied to the main processing module of the motor controller, the main processing module and the co-processing module of the motor controller share data through a shared memory, and the main processing module is connected to the motor. Specifically, the method includes steps S10 to S20:

[0054] Step S10, reading the three-phase input current of the motor from the shared memory, and performing torque control on the motor based on the three-phase input current, wherein the three-phase input current is obtained by processing by the co-processing module;

[0055] It is understandable that the method of this embodiment can be applied in the scenario of overcurrent detection of motors on new energy vehicles, or in the scenario of detection of other motors. The execution subject of this embodiment can be the main processing module of a motor controller with a motor control function, or other devices that can achieve the same or similar functions. Here, the main processing module of the above-mentioned motor controller is used to specifically describe this embodiment and the following embodiments.

[0056] It should be understood that the above-mentioned motor can be connected to a power supply. Since this embodiment adopts the scenario of overcurrent detection and torque control of the motor on the new energy vehicle, the above-mentioned power supply can be a power supply that outputs three-phase electricity to the motor.

[0057] The circuit to be detected between the motor and the power supply can also be connected to a current sensor, and the current sensor and the motor can also be connected to the main processing module. When the power supply supplies power to the motor, the three-phase sampled current received by the motor can be collected by the current sensor, and converted into a three-phase analog voltage signal and transmitted to the main processing module. The main processing module converts the three-phase analog voltage signal into a three-phase digital voltage and stores it in the shared memory of the main processing module and the co-processing module, so that the co-processing module can read the three-phase digital voltage from the shared memory and process the three-phase input current to write it back to the shared memory. The main processing module can then read the three-phase input current of the motor from the shared memory. There can be one or more current sensors.

[0058] After reading the three-phase input current of the motor from the shared memory, the main processing module implements torque control based on the three-phase input current, which usually involves a current closed-loop control strategy such as vector control or direct torque control. Among them, vector control converts the three-phase input current into DC components (id and iq) on the dq axis, where id is related to the flux and iq is directly related to the torque. By adjusting iq, the torque of the motor can be controlled. Direct torque control estimates the torque directly based on the three-phase input current and motor parameters, and quickly controls the torque by adjusting the voltage vector.

[0059] In the process of torque control, the corresponding control strategy can be selected to implement the corresponding control algorithm. For example, the voltage or current input is adjusted by the PID control algorithm to achieve the desired torque output. Specifically, the compensation amount of the control error is calculated by adjusting the proportional, integral and differential terms, so as to adjust the size of the three-phase input current of the motor to reduce the torque error. Alternatively, according to the output of the control algorithm, the three-phase output current of the inverter (equivalent to the motor controller) is adjusted to control the torque of the motor.

[0060] Step S20, after receiving the overcurrent detection result sent by the co-processing module, stop supplying power to the motor, wherein the overcurrent detection result is obtained by the co-processing module performing overcurrent detection on the three-phase input current of the motor.

[0061] After the co-processing module performs overcurrent detection on the three-phase input current of the motor, it will send the overcurrent detection result to the main processing module. After receiving the overcurrent detection result sent by the co-processing module, the main processing module stops supplying power to the motor.

[0062] The main processing module directly cuts off or reduces the power supply to the motor by controlling the power input of the motor controller. For example, it controls the switching state of power electronic components such as relays, contactors, and switches to disconnect the circuit or limit the current.

[0063] After the power supply is stopped, other safety protection measures can be further implemented, such as issuing an alarm signal, recording a fault log, attempting automatic restart, etc. Depending on the actual situation, the system may also include a manual reset function to restart the motor after the problem is resolved.

[0064] This embodiment provides a motor control method, in which the main processing module simultaneously performs motor torque control and overcurrent protection processing, and there is no need to set up a separate hardware circuit for overcurrent protection, thereby saving resources. In addition, considering the problem of low overcurrent detection efficiency, the generation of three-phase input current and overcurrent detection processing are processed by a co-processing module to improve the generation efficiency of the three-phase input current, thereby improving the overcurrent detection efficiency.

[0065] Furthermore, the main processing module further includes at least three analog-to-digital converters, and each of the analog-to-digital converters is externally connected to a current sensor. Before step S10, the motor control method further includes step S01:

[0066] Step S01, each of the analog-to-digital converters receives a single-phase analog voltage signal sent by each of the current sensors, performs analog-to-digital conversion on each phase analog voltage signal to obtain a digital voltage for each phase, and writes the digital voltage for each phase into the shared memory, wherein each of the current sensors collects a single-phase current, converts the corresponding single-phase current into a corresponding single-phase analog voltage signal, and sends the converted signal to the corresponding analog-to-digital converter.

[0067] It should be noted that the above-mentioned shared memory is the shared memory of the main processing module and the co-processing module.

[0068] It should be noted that the above current sensor is used to collect single-phase current and convert the single-phase current into a single-phase analog voltage signal. The main function of the above analog-to-digital converter is to convert continuous analog signals into discrete digital data, that is, to convert single-phase analog voltage signals into single-phase digital voltage.

[0069] Exemplarily, the current sensor includes a U-phase current sensor, a V-phase current sensor, and a W-phase current sensor. The analog-to-digital converter includes a U-phase analog-to-digital converter, a V-phase analog-to-digital converter, and a W-phase analog-to-digital converter, the U-phase current sensor is connected to the U-phase analog-to-digital converter, the V-phase current sensor is connected to the V-phase analog-to-digital converter, and the W-phase current sensor is connected to the W-phase analog-to-digital converter.

[0070] Among them, the U-phase current sensor collects the U-phase sampling current, converts the U-phase sampling current into a U-phase analog voltage signal, and sends it to the U-phase analog-to-digital converter, which converts the U-phase analog voltage signal into a U-phase digital voltage. The V-phase current sensor collects the V-phase sampling current, converts the V-phase sampling current into a V-phase analog voltage signal, and sends it to the V-phase analog-to-digital converter, which converts the V-phase analog voltage signal into a V-phase digital voltage. The W-phase current sensor collects the W-phase sampling current, converts the W-phase sampling current into a W-phase analog voltage signal, and sends it to the W-phase analog-to-digital converter, which converts the W-phase analog voltage signal into a W-phase digital voltage.

[0071] After obtaining the U-phase digital voltage, the V-phase digital voltage and the W-phase digital voltage, the U-phase digital voltage, the V-phase digital voltage and the W-phase digital voltage are written into the shared memory of the main processing module and the co-processing module to facilitate the subsequent calling of the co-processor module.

[0072] In this embodiment, each phase current is sampled by an independent current sensor, which reduces the error caused by the shared sensor and improves the accuracy of current measurement. The analog-to-digital converter converts the analog voltage signal output by the current sensor into a high-precision digital voltage, further improving the accuracy of the data. And because each phase current is sampled and processed in real time, the system can quickly detect abnormal changes in current, such as overcurrent, overload, short circuit, etc., so as to take protective measures in time.

[0073] Furthermore, the co-processing module may also include multiple channel sequencers, and each analog-to-digital converter is also connected to a channel sequencer, and the main processing module and each channel sequencer share data through a corresponding shared memory, for example, referring to Figure 4 , the channel sequencers included in the co-processing module are represented by MCS0, MCS1 and MCS2 respectively, the main processing module and MCS0 share data through the shared memory RAM0, the main processing module and MCS1 share data through the shared memory RAM1, and the main processing module and MCS2 share data through the shared memory RAM2. In this embodiment, writing the digital voltage of each phase into the shared memory in step S01 includes:

[0074] Step S011: writing each phase digital voltage into the shared memory of the corresponding channel sequencer, so that each channel sequencer reads the corresponding single-phase digital voltage from the corresponding shared memory for processing.

[0075] Exemplarily, the U-phase digital voltage is written into the shared memory RAM0, the V-phase digital voltage is written into the shared memory RAM1, and the W-phase digital voltage is written into the shared memory RAM2.

[0076] In this embodiment, by writing the digital voltage of each phase into the shared memory of the corresponding channel sequencer, it is convenient for subsequent channel sequencers to read the corresponding digital voltage for parallel overcurrent detection data, thereby meeting the real-time requirements of overcurrent detection and improving the efficiency of overcurrent detection. The digital voltage of each phase is stored separately without interfering with each other, which can improve the accuracy of subsequent overcurrent detection. The digital voltage of each phase is obtained and processed separately, which improves the efficiency of subsequent overcurrent detection.

[0077] In other embodiments, the co-processing module includes a main channel sequencer and at least three auxiliary channel sequencers, each of the analog-to-digital converters respectively receives a single-phase analog voltage signal sent by each of the current sensors, performs analog-to-digital conversion on each phase analog voltage signal to obtain a digital voltage for each phase, and writes each phase digital voltage into a shared memory between the main channel sequencer and the main processing module. The main channel sequencer assigns tasks to each phase digital voltage based on the status of each auxiliary channel sequencer and the current load to obtain the single-phase digital voltage to be processed by each auxiliary channel sequencer, and writes the corresponding single-phase digital voltage into the shared memory corresponding to the corresponding auxiliary channel sequencer, so that each auxiliary channel sequencer can read the corresponding single-phase digital voltage from the corresponding shared memory for processing, thereby improving the subsequent overcurrent detection efficiency.

[0078] Further, each channel sequencer reads the corresponding digital voltage from the corresponding shared memory for processing, and performs preprocessing operation on the read single-phase digital voltage to obtain the preprocessed single-phase digital voltage; each of the channel sequencers converts the preprocessed single-phase digital voltage respectively to obtain the input current of each phase of the motor, and rewrites the input current of each phase into the corresponding shared memory. The main processing module can read the corresponding single-phase input current from the shared memory corresponding to each channel sequencer to obtain the three-phase input current of the motor.

[0079] Exemplarily, MCS0 processes the U-phase digital voltage to obtain the U-phase input current, and writes the U-phase input current into the shared memory RAM0; MCS1 processes the V-phase digital voltage to obtain the V-phase input current, and writes the V-phase input current into the shared memory RAM1; MCS2 processes the W-phase digital voltage to obtain the W-phase input current, and writes the W-phase input current into the shared memory RAM2. The main processor reads the U-phase input current from the shared memory RAM0, the V-phase input current from the shared memory RAM1, and the W-phase input current from the shared memory RAM2, and thus obtains the three-phase input current.

[0080] In this embodiment, the corresponding single-phase input current is read from the shared memory corresponding to each channel sequencer to obtain the three-phase input current of the motor. Each phase input current is obtained separately without interfering with each other, thereby improving the accuracy of the input current.

[0081] In other embodiments, the single-phase input currents corresponding to the various channel sequencers can be aggregated through the main channel sequencer and then shared to the main processing module through the shared memory of the main channel sequencer and the main processing module, so that the main processing module can directly read the three-phase input current from the shared memory corresponding to the main channel sequencer and the main processing module, thereby improving the efficiency of the main processing module in reading the three-phase input current.

[0082] Further, the same or similar contents as those in the above embodiment can be referred to the above description, and will not be described in detail later. On this basis, the main processing module and the motor are connected via a switch tube, and step S20 includes step S21:

[0083] Step S21, after receiving the over-current detection result, controlling the switch tube to turn off, so that the switch tube stops supplying power to the motor.

[0084] The co-processing module performs overcurrent detection on the three-phase input current and sends the overcurrent detection result to the main processing module by interruption. After receiving the overcurrent detection result, the main processing module controls the switch tube to turn off the switch tube when determining that an overcurrent occurs through the overcurrent detection result, so that the switch tube stops supplying power to the motor, thereby protecting the internal components of the motor controller or the motor from damage caused by overcurrent.

[0085] In other embodiments, after receiving the overcurrent detection result, the main processing module controls the switch tube to open when it determines through the overcurrent detection result that no overcurrent occurs, so that the switch tube resumes powering the motor so that the motor can operate normally.

[0086] In addition, to achieve the above purpose, refer to Figure 2 , Figure 2 This is a flow chart of the second embodiment of the motor control method of the present application. In this embodiment, the motor control method is applied to the co-processing module of the motor controller, and the co-processing module and the main processing module of the motor controller share data through a shared memory.

[0087] Specifically, the method includes steps S110 to S130:

[0088] Step S110, determining the three-phase input current of the motor according to the digital voltage in the shared memory, wherein the digital voltage is obtained by sampling the main processing module;

[0089] The main processing module includes at least three analog-to-digital converters, and each analog-to-digital converter is externally connected to a current sensor. Each analog-to-digital converter receives a single-phase analog voltage signal sent by each current sensor, performs analog-to-digital conversion on each phase analog voltage signal to obtain a digital voltage of each phase, and writes the digital voltage of each phase into a shared memory, wherein each current sensor collects a single-phase current, and converts the corresponding single-phase current into a corresponding single-phase analog voltage signal, and then sends it to the corresponding analog-to-digital converter. The subsequent co-processing module can directly read the digital voltage from the shared memory to determine the three-phase input current of the motor.

[0090] In order to improve the accuracy of the acquired three-phase input current, the read digital voltage may be preprocessed and then converted into the three-phase input current, wherein the preprocessing includes filtering operation and / or calibration operation. For example, the digital voltage may be read from the shared memory at a preset time interval (e.g., 3us), and may be read twice or three times, etc., and the digital voltage average value is calculated for each digital voltage read to implement the calibration operation, and the subsequent conversion of the digital voltage average value into the three-phase input current can improve the accuracy of the three-phase input current.

[0091] Step S120, performing overcurrent detection on the motor based on the three-phase input current;

[0092] A corresponding overcurrent threshold can be set, and the three-phase input current can be compared with the corresponding overcurrent threshold. When the three-phase input current is greater than or equal to the overcurrent threshold, the overcurrent detection result of overcurrent is sent to the main processing module, so that the main processing module can perform overcurrent protection action based on the overcurrent detection result.

[0093] Step S130, writing the three-phase input current into the shared memory, so that the main processing module reads the three-phase input current from the shared memory to perform torque control on the motor.

[0094] The three-phase input current can be written into the shared memory of the main processing module and the co-processing module, and the main processing module can subsequently read the three-phase input current from the shared memory to perform torque control on the motor.

[0095] In this embodiment, considering the problem of low overcurrent detection efficiency, the generation of three-phase input current and overcurrent detection processing are processed by a co-processing module to improve the generation efficiency of the three-phase input current and the overcurrent detection efficiency.

[0096] Further, in order to improve the accuracy of the acquired three-phase input current, the co-processing module includes a plurality of channel sequencers, each of which shares data with the main processing module through a corresponding shared memory, and step S110 includes steps S111 and S112:

[0097] Step S111, each of the channel sequencers reads a single-phase digital voltage from its corresponding shared memory, and performs a preprocessing operation on the read single-phase digital voltage to obtain a preprocessed single-phase digital voltage, wherein the preprocessing operation includes a filtering operation and / or a calibration operation;

[0098] In order to remove the noise in the digital voltage of each phase, digital filtering technology, such as low-pass filtering, sliding average filtering, etc., can be used to perform filtering operations.

[0099] Calibration is the process of adjusting the digital voltage of each phase to be closer to the true value or meet specific standards, which usually involves linearization, offset correction and gain adjustment. Among them, linearization means: if there is a nonlinear relationship between the digital voltage of each phase converted by the analog-to-digital converter and the corresponding true value, it needs to be linearized through mathematical transformation. Offset correction is to remove the fixed offset caused by the inherent deviation of the system. Gain adjustment is to adjust the amplification factor of the signal to match the real physical quantity.

[0100] The U-phase digital voltage, the V-phase digital voltage and the W-phase digital voltage may be read from the shared memory at a preset time interval (eg, 3 us), and may be read twice or three times, etc., which is not limited in this embodiment.

[0101] Exemplarily, each shared memory first receives the digital voltages corresponding to the U phase, V phase and W respectively, and receives the digital voltages corresponding to the U phase, V phase and W again after 3us, and each channel sequencer then calculates the digital voltage average value of the acquired digital voltages corresponding to the U phase, V phase and W respectively to realize the calibration operation, thereby improving the accuracy of the subsequent three-phase input current.

[0102] Step S112: Each of the channel sequencers converts the preprocessed single-phase digital voltage to obtain the input current of each phase of the motor.

[0103] Converting the pre-processed single-phase digital voltage to a single-phase input current usually relies on a known conversion relationship or circuit. For example, a voltage-to-current converter (such as an operational amplifier circuit) is used to convert the digital voltage to the input current, and the conversion ratio is determined by the value of the circuit components. Alternatively, the corresponding input current is calculated by software, which usually involves a lookup table (LUT), a mathematical formula or a model.

[0104] Exemplarily, MCS0 reads the U-phase digital voltage from the shared memory RAM0, performs a preprocessing operation on the U-phase digital voltage to obtain the preprocessed U-phase digital voltage, and finally converts the preprocessed U-phase digital voltage into the U-phase input current; MCS1 reads the V-phase digital voltage from the shared memory RAM1, performs a preprocessing operation on the V-phase digital voltage to obtain the preprocessed V-phase digital voltage, and finally converts the preprocessed V-phase digital voltage into the V-phase input current; MCS2 reads the W-phase digital voltage from the shared memory RAM2, performs a preprocessing operation on the W-phase digital voltage to obtain the preprocessed W-phase digital voltage, and finally converts the preprocessed W-phase digital voltage into the W-phase input current.

[0105] In this embodiment, multiple channel sequencers are used to perform parallel preprocessing operations on each phase digital voltage and convert it into a corresponding single-phase input current. Each phase input current is processed separately to improve the accuracy and processing efficiency of the three-phase input current.

[0106] Further, in order to improve the overcurrent detection efficiency, step S120 includes:

[0107] Step S121, each of the channel sequencers compares the corresponding single-phase input current with the corresponding over-current threshold;

[0108] It should be noted that the overcurrent threshold can be a threshold used to determine whether the motor has an overcurrent, which can be set according to actual conditions, and this embodiment does not limit this. The overcurrent threshold corresponding to each channel sequencer can be the same or different, and can be determined according to the phase of the current processed by each channel sequencer.

[0109] Step S122, when at least one single-phase input current is greater than or equal to the overcurrent threshold, the generated overcurrent detection result is transmitted to the main processing module, so that the main processing module performs an overcurrent protection action based on the overcurrent detection result.

[0110] It should be noted that the overcurrent detection result includes whether overcurrent occurs or not. When overcurrent occurs, the overcurrent detection result of overcurrent occurrence can be transmitted to the main processing module, so that the main processing module can perform overcurrent protection action when it determines that overcurrent occurs according to the overcurrent detection result after receiving the overcurrent detection result. The specific overcurrent protection action operation of the first embodiment will not be repeated here.

[0111] Exemplarily, MCS0 compares the U-phase input current with the corresponding overcurrent threshold and outputs the overcurrent detection result of the U-phase input current. MCS1 compares the V-phase input current with the corresponding overcurrent threshold and outputs the overcurrent detection result of the V-phase input current; MCS2 compares the W-phase input current with the corresponding overcurrent threshold and outputs the overcurrent detection result of the W-phase input current. MCS0, MCS1 and MCS2 perform corresponding overcurrent detection operations in parallel.

[0112] If the overcurrent detection result of any input current is an overcurrent, the overcurrent detection result will be transmitted to the main processing module by way of an interrupt, so that the main processing module can perform an overcurrent protection action based on the overcurrent detection result.

[0113] In this embodiment, multiple channel sequencers are used to perform parallel overcurrent detection processing on each phase input current, thereby improving overcurrent detection efficiency.

[0114] Furthermore, each of the channel sequencers writes the input current of each phase of the motor into its corresponding shared memory, so that the main processing module reads the input current of each phase from the shared memory corresponding to each of the channel sequencers to perform torque control on the motor.

[0115] Exemplarily, MCS0 processes the U-phase digital voltage to obtain the U-phase input current, and writes the U-phase input current into the shared memory RAM0; MCS1 processes the V-phase digital voltage to obtain the V-phase input current, and writes the V-phase input current into the shared memory RAM1; MCS2 processes the W-phase digital voltage to obtain the W-phase input current, and writes the W-phase input current into the shared memory RAM2. The main processor reads the U-phase input current from the shared memory RAM0, the V-phase input current from the shared memory RAM1, and the W-phase input current from the shared memory RAM2. The subsequent main processing module reads the corresponding single-phase input current from the shared memory corresponding to each channel sequencer to obtain the three-phase input current of the motor. Since each phase input current is stored separately and does not interfere with each other, the accuracy of the input current is improved.

[0116] In other embodiments, the co-processing module includes a main channel sequencer and at least three co-channel sequencers, the main channel sequencer reads the digital voltage from the shared memory of the main channel sequencer and the main processing module, performs task decomposition on the digital voltage, obtains the single-phase digital voltage of each co-channel sequencer, and writes each single-phase digital voltage into the shared memory of the corresponding co-channel sequencer. Each co-channel sequencer reads the single-phase digital voltage from its corresponding shared memory, performs preprocessing operation on the read single-phase digital voltage, and obtains the preprocessed single-phase digital voltage, wherein the preprocessing operation includes filtering operation and / or calibration operation; each co-channel sequencer converts the preprocessed single-phase digital voltage to obtain the input current of each phase of the motor.

[0117] Each of the cooperative channel sequencers compares the corresponding single-phase input current with the corresponding overcurrent threshold; when at least one single-phase input current is greater than or equal to the overcurrent threshold, the generated overcurrent detection result is transmitted to the main processing module, so that the main processing module performs overcurrent protection action based on the overcurrent detection result.

[0118] Furthermore, each of the auxiliary channel sequencers writes the input current of each phase of the motor into its corresponding shared memory respectively; the main channel sequencer reads the input current of each phase from the shared memory of each of the auxiliary channel sequencers, and writes the read input current of each phase into the shared memory of the main channel sequencer and the main processing module, so that the main processing module can read the input current of each phase from the shared memory of the main channel sequencer and the main processing module to perform torque control on the motor.

[0119] In this embodiment, by setting a main channel sequencer and multiple auxiliary channel sequencers, the main channel sequencer is used to perform task decomposition and task forwarding, and the main processing module only needs to interact with the main channel sequencer, which can facilitate the interaction between the main processing module and the auxiliary processing module. And each auxiliary channel sequencer processes the corresponding over-current detection tasks in parallel, which can improve the over-current detection efficiency.

[0120] For example, in order to help understand the implementation process of the motor control method obtained by combining the first embodiment and the second embodiment, a brief process of the motor control method is provided, specifically:

[0121] It should be noted that the main processing module also includes at least three analog-to-digital converters, and each of the analog-to-digital converters is externally connected to a current sensor. The co-processing module includes multiple channel sequencers, each of the analog-to-digital converters is also respectively connected to a channel sequencer, and the main processing module and each of the channel sequencers share data through a corresponding shared memory.

[0122] (1) Each of the current sensors collects a single-phase current, converts the corresponding single-phase current into a corresponding single-phase analog voltage signal, and sends the signal to the corresponding analog-to-digital converter.

[0123] (2) Each of the analog-to-digital converters receives a single-phase analog voltage signal sent by each of the current sensors, performs analog-to-digital conversion on each phase analog voltage signal to obtain a digital voltage for each phase, and writes the digital voltage for each phase into the shared memory of the corresponding channel sequencer.

[0124] (3) Each of the channel sequencers reads a single-phase digital voltage from its corresponding shared memory, and performs a preprocessing operation on the read single-phase digital voltage to obtain a preprocessed single-phase digital voltage, wherein the preprocessing operation includes a filtering operation and / or a calibration operation; each of the channel sequencers converts the preprocessed single-phase digital voltage to obtain an input current of each phase of the motor.

[0125] (4) Each of the channel sequencers compares the corresponding single-phase input current with the corresponding overcurrent threshold; when at least one single-phase input current is greater than or equal to the overcurrent threshold, the generated overcurrent detection result is transmitted to the main processing module. And each of the channel sequencers writes the input current of each phase of the motor into the corresponding shared memory.

[0126] (5) The main processing module reads the corresponding single-phase input current from the shared memory corresponding to each of the channel sequencers, obtains the three-phase input current of the motor, and performs torque control on the motor based on the three-phase input current. And, after receiving the overcurrent detection result, the main processing module controls the switch tube to turn off, so that the switch tube stops supplying power to the motor.

[0127] For example, refer to Figure 5 , each channel sequencer is equipped with multiple current monitoring components, each current monitoring component is used to monitor one-phase input current and write the monitored input current into the shared memory. The MCS agent component of the main processing module reads each phase input current from each shared memory and forwards it to the torque control component for torque control, and at the same time forwards it to the overcurrent shutdown component for overcurrent protection.

[0128] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the motor control method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0129] In addition, to achieve the above purpose, this embodiment also proposes a motor controller, referring to Figure 3 The motor controller includes a main processing module 21 and a co-processing module 22. The main processing module 21 and the co-processing module 22 share data through a shared memory, wherein:

[0130] The co-processing module 22 is used to determine the three-phase input current of the motor according to the digital voltage in the shared memory, wherein the digital voltage is obtained by sampling the main processing module 21; perform overcurrent detection on the motor based on the three-phase input current; and write the three-phase input current into the shared memory;

[0131] The main processing module 21 is used to read the three-phase input current of the motor from the shared memory and perform torque control on the motor based on the three-phase input current; and, after receiving the overcurrent detection result sent by the co-processing module, stop supplying power to the motor.

[0132] Optionally, the main processing module 21 also includes at least three analog-to-digital converters, and each of the analog-to-digital converters is externally connected to a current sensor. The main processing module 21 is also used for: each of the analog-to-digital converters respectively receives a single-phase analog voltage signal sent by each of the current sensors, performs analog-to-digital conversion on each phase analog voltage signal to obtain a digital voltage for each phase, and writes the digital voltage for each phase into the shared memory, wherein each of the current sensors respectively collects a single-phase current, and converts the corresponding single-phase current into a corresponding single-phase analog voltage signal, and then sends it to the corresponding analog-to-digital converter.

[0133] Optionally, refer to Figure 4 The co-processing module 22 includes multiple channel sequencers, and each of the analog-to-digital converters is also connected to a channel sequencer. The main processing module 21 is also used to: write each phase digital voltage into the shared memory of the corresponding channel sequencer, so that each channel sequencer reads the corresponding single-phase digital voltage from the corresponding shared memory for processing.

[0134] Optionally, the main processing module 21 is further used to: read the corresponding single-phase input current from the shared memory corresponding to each of the channel sequencers to obtain the three-phase input current of the motor.

[0135] Optionally, the main processing module 21 is further used to: after receiving the over-current detection result, control the switch tube to turn off, so that the switch tube stops supplying power to the motor.

[0136] Optionally, the co-processing module 22 includes multiple channel sequencers, each of which shares data with the main processing module through a corresponding shared memory, and the co-processing module 22 is also used for: each of the channel sequencers reads a single-phase digital voltage from its corresponding shared memory, and performs a preprocessing operation on the read single-phase digital voltage to obtain a preprocessed single-phase digital voltage, wherein the preprocessing operation includes a filtering operation and / or a calibration operation; each of the channel sequencers converts the preprocessed single-phase digital voltage to obtain the input current of each phase of the motor.

[0137] Optionally, the co-processing module 22 is also used for: each of the channel sequencers compares the corresponding single-phase input current with the corresponding overcurrent threshold; when at least one single-phase input current is greater than or equal to the overcurrent threshold, the generated overcurrent detection result is transmitted to the main processing module, so that the main processing module performs overcurrent protection action based on the overcurrent detection result.

[0138] Optionally, the co-processing module 22 is also used for: each of the channel sequencers writes the input current of each phase of the motor into its corresponding shared memory, so that the main processing module reads the input current of each phase from the shared memory corresponding to each of the channel sequencers to perform torque control on the motor.

[0139] The specific implementation methods of the motor controller can correspond to the above-mentioned method embodiments, so all the beneficial effects brought about by the technical solutions of the above-mentioned method embodiments can be consistent with the beneficial effects brought about by the technical solutions of the above-mentioned system embodiments, and will not be repeated here one by one.

[0140] In addition, to achieve the above purpose, this embodiment also proposes a motor control system, such as Figure 3 As shown, the motor control system includes: a current sensor 1 and a motor controller 2, wherein the current sensor 1 is connected to the motor and the motor controller 2 respectively, and the motor controller 2 is also connected to the switch tube.

[0141] It should be noted that the motor is connected to a power supply, which can be used to output DC high voltage electricity. An inverter ( Figure 3 (not shown in the figure), the DC high voltage electricity can be inverted into three-phase AC power with adjustable frequency through the inverter and then transmitted to the motor for driving. A switch tube can also be arranged between the motor and the inverter, wherein the switch tube can be an IGBT, and of course it can also be other switch tubes. This embodiment is not limited to this. The on and off of the switch tube can control whether the three-phase electricity is transmitted to the motor, and then whether the motor is driven can be controlled.

[0142] It should be understood that the above-mentioned current sensor 1 can be connected to the loop between the motor and the switching tube, and the current value of the three-phase electricity output by the power supply can be collected through the current sensor 1 and transmitted to the motor controller 2; the above-mentioned motor controller 2 can be composed of a main processing module and an auxiliary control module, and of course it can also be composed of other functions or similar devices.

[0143] Since the motor control process in this embodiment is consistent with the process in the method embodiment, it will not be described in detail here.

[0144] Furthermore, in order to accurately determine which phase current is overcurrent, in this embodiment, the current sensor 1 includes at least three current sensors, namely, a U-phase current sensor, a V-phase current sensor, and a W-phase current sensor, each of which is used to collect current data of one phase. The current sensor may be a Hall sensor.

[0145] The above-mentioned U-phase current sensor, V-phase current sensor and W-phase current sensor are all connected to the loop between the switch tube and the motor; wherein, the U-phase current sensor can convert the U-phase sampling current into a U-phase analog voltage signal, the V-phase current sensor can convert the V-phase sampling current into a V-phase analog voltage signal, and the W-phase current sensor can convert the W-phase sampling current into a W-phase analog voltage signal. Among them, when each phase sampling current passes through the corresponding current sensor, the current sensor will output a corresponding analog voltage value according to the size of the sampling current. This process is based on the measurement principle of the current sensor, and usually the current signal is converted into a voltage signal through some physical effect such as magnetic field induction, Hall effect, etc. There is a certain proportional relationship between the analog voltage output by the current sensor and the input sampling current, and this relationship is usually linear.

[0146] Furthermore, considering that the motor controller of existing new energy vehicles is generally implemented by Infineon AURIX series automotive multi-core single-chip microcomputer, if the functions such as threshold comparison, fault diagnosis and control switch are all processed by the main processing module, it will lead to slow operation speed and low safety. Therefore, this embodiment can increase the processing speed by setting an additional chip for auxiliary processing. The function of the additional chip that can be customized can be one or more of data preprocessing, threshold comparison, fault diagnosis function, control switch, and motor torque control.

[0147] Further, considering that when the Infineon AURIX series automotive multi-core microcontroller is currently used, the timer (Generic Timer Module, GTM) in its peripheral module has a general data processing module-coprocessing module 22, and there are multiple channel sequencers (hereinafter referred to as MCS) in the coprocessing module 22. The coprocessing module 22 can be regarded as an independent central processing unit (Central Processing Unit, CPU), the clock frequency can be 200MHz, it has an independent instruction set, compiler and independent random access memory (Random Access Memory, RAM), and it has been vacant and unused. Therefore, in order to both improve the processing speed and save costs, this embodiment uses the coprocessing module 22 as an additional chip, and specifically refers to Figure 3 .

[0148] like Figure 3 As shown, the motor controller 2 includes: a main processing module 21 and a co-processing module 22; wherein the co-processing module 22 is connected to the main processing module 21, the main processing module 21 is also connected to the motor, and the main processing module 21 is further connected to the U-phase current sensor, the V-phase current sensor, and the W-phase current sensor. The main processing module 21 can obtain the analog voltage signal converted by each current sensor, convert it into a digital voltage, and then send it to the co-processing module 22.

[0149] In one embodiment, since the analog voltage signals obtained by the U-phase current sensor, the V-phase current sensor and the W-phase current sensor are analog voltage signals, an analog-to-digital converter may be provided in the main processing module 21, which are respectively Figure 4The U-phase analog-to-digital converter, the V-phase analog-to-digital converter and the W-phase analog-to-digital converter in the main processing module 21 can be used to convert the U-phase analog voltage signal to the U-phase digital voltage after the U-phase current sensor obtains the U-phase analog voltage signal; after the V-phase current sensor obtains the V-phase analog voltage signal, the V-phase analog voltage signal can be transmitted to the V-phase analog-to-digital converter to be converted into the V-phase digital voltage; after the W-phase current sensor obtains the W-phase analog voltage signal, the W-phase analog voltage signal can be transmitted to the W-phase analog-to-digital converter to be converted into the W-phase digital voltage. After each analog-to-digital converter converts the analog voltage signal into a digital voltage, the digital voltage can be transmitted to the co-processing module 22 respectively. In this transmission mode, the main processing module 21 plays the role of converting the analog voltage signal into a digital voltage and forwarding it to the co-processing module 22.

[0150] Further, such as Figure 4 As shown, the co-processing module 22 of this embodiment may include a shared memory (ie Figure 4 The main processing module 21 is a main processing module 21 that is used for processing analog signals. ...

[0151] For example, refer to Figure 4 After the U-phase analog-to-digital converter converts the U-phase analog voltage signal collected by the U-phase current sensor into the U-phase digital voltage, the U-phase digital voltage is written into RAM0. After the V-phase analog-to-digital converter converts the V-phase analog voltage signal collected by the V-phase current sensor into the V-phase digital voltage, the V-phase digital voltage is written into RAM1. After the W-phase analog-to-digital converter converts the W-phase analog voltage signal collected by the W-phase current sensor into the W-phase digital voltage, the W-phase digital voltage is written into RAM2.

[0152] In one embodiment, referring to Figure 4 After the digital voltage is written into the corresponding shared memory, each channel sequencer can read the corresponding digital voltage from the corresponding shared memory for data processing to obtain the three-phase input current of the motor, and perform overcurrent detection based on the three-phase input current of the motor and write the processed current value back to the corresponding shared memory, so that the main processing module can obtain the three-phase input current of the motor from the shared memory to control the torque of the motor.

[0153] Exemplarily, MCS0 reads the U-phase digital voltage from RAM0 for preprocessing, obtains the U-phase three-phase input current of the motor, and writes the U-phase three-phase input current back to RAM0. MCS1 reads the V-phase digital voltage from RAM1 for preprocessing, obtains the V-phase input current of the motor, and writes the V-phase three-phase input current back to RAM1. MCS2 reads the W-phase digital voltage from RAM2 for preprocessing, obtains the W-phase input current of the motor, and writes the W-phase three-phase input current back to RAM2. Subsequently, the main processing module 21 can read the corresponding single-phase input current of the motor from RAM0 to RAM2 respectively to control the torque of the motor. At the same time, MCS0 performs overcurrent detection based on the U-phase input current, MCS1 performs overcurrent detection based on the V-phase three-phase input current, and MCS2 performs overcurrent detection based on the W-phase three-phase input current. Thus, parallel overcurrent detection processing is realized through multiple channel sequencers, and motor torque control is performed through the main processing module, which improves the efficiency of overcurrent detection, avoids motor failure, and reduces the processing pressure of the main processing module.

[0154] It should be emphasized that each channel sequencer can also read the overcurrent threshold from the corresponding shared memory, and the overcurrent threshold in the shared memory can be obtained from the MCS data agent in the main processing module 21, and the overcurrent threshold can be calibrated by the end of life (End of Life, EOL) offline parameters to improve the accuracy of the overcurrent threshold. The specific calibration method is not limited in this embodiment. Among them, the overcurrent threshold corresponding to each channel sequencer can be the same or different.

[0155] Furthermore, in order to improve safety, in this embodiment, the motor control system further includes: a switch tube;

[0156] In one embodiment, the switch tube is connected to the main processing module 21 and the motor respectively. Each channel sequencer in the co-processing module 22 is also used to obtain the single-phase input current from the corresponding shared memory and compare it with the corresponding overcurrent threshold; when at least one channel sequencer detects that the single-phase input current is higher than the corresponding overcurrent threshold, the generated overcurrent detection result is transmitted to the main processing module 21; the main processing module 21 is also used to control the switch tube to turn off after receiving the overcurrent detection result, so that the switch tube stops supplying power to the motor; when the detection result is that there is no overcurrent, the switch tube is controlled to open, so that the switch tube resumes supplying power to the motor.

[0157] In a specific implementation, each of the above-mentioned channel sequencers can read the single-phase input current from the corresponding shared memory respectively, and compare it with the corresponding overcurrent threshold; when at least one single-phase input current is higher than the corresponding overcurrent threshold, the corresponding channel sequencer will directly block the wave through the shutdown function of the GTM, and trigger the main processing module 21 to interrupt and handle the exception, thereby improving the efficiency of fault handling. Then each channel sequencer reads the single-phase input current from the corresponding shared memory again, and compares it with the corresponding overcurrent threshold to determine whether overcurrent occurs; when overcurrent continues to occur, the switch tube is still kept disconnected; when no overcurrent occurs, the switch tube is directly controlled to resume conduction, and the three-phase electricity continues to be transmitted to the motor to maintain the motor drive.

[0158] Alternatively, when at least one three-phase input current is higher than the corresponding overcurrent threshold, the overcurrent detection result can be generated by the dynamic tag management (DTM) module in the GTM, and the overcurrent detection result can be transmitted to the main processing module 21. After receiving the overcurrent detection result, the main processing module 21 can perform a wave sealing operation, disconnect the switch tube, stop driving the motor, and report a fault to prompt the user.

[0159] The specific implementation methods of the motor control system can correspond to the above-mentioned method embodiments, so all the beneficial effects brought about by the technical solutions of the above-mentioned method embodiments can be consistent with the beneficial effects brought about by the technical solutions of the above-mentioned system embodiments, and will not be repeated here one by one.

[0160] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A motor control method, characterized in that: A main processing module applied to a motor controller, the main processing module and a co-processing module of the motor controller share data through a shared memory, and the main processing module is connected to the motor, and the method includes: Reading the three-phase input current of the motor from the shared memory, and performing torque control on the motor based on the three-phase input current, wherein the three-phase input current is obtained by processing by the co-processing module; And, after receiving the overcurrent detection result sent by the co-processing module, stop supplying power to the motor, wherein the overcurrent detection result is obtained by the co-processing module performing overcurrent detection on the three-phase input current of the motor.

2. The method according to claim 1, characterized in that The main processing module further includes at least three analog-to-digital converters, and each of the analog-to-digital converters is externally connected to a current sensor. Before the step of reading the input current of each phase of the motor from the shared memory to obtain the three-phase input current, and performing torque control on the motor based on the three-phase input current, the method further includes: Each of the analog-to-digital converters receives a single-phase analog voltage signal sent by each of the current sensors, performs analog-to-digital conversion on each phase analog voltage signal to obtain a digital voltage for each phase, and writes the digital voltage for each phase into the shared memory, wherein each of the current sensors collects a single-phase current, converts the corresponding single-phase current into a corresponding single-phase analog voltage signal, and sends the converted signal to the corresponding analog-to-digital converter.

3. The method according to claim 2, characterized in that The co-processing module includes a plurality of channel sequencers, each of the analog-to-digital converters is also connected to a channel sequencer, the main processing module and each of the channel sequencers share data through a corresponding shared memory, and the step of writing each phase digital voltage into the shared memory includes: Each phase digital voltage is written into the shared memory of the corresponding channel sequencer respectively, so that each channel sequencer reads the corresponding single-phase digital voltage from the corresponding shared memory for processing.

4. The method according to claim 3, characterized in that The step of reading the three-phase input current of the motor from the shared memory comprises: The corresponding single-phase input current is read from the shared memory corresponding to each of the channel sequencers to obtain the three-phase input current of the motor.

5. The method according to claim 2, characterized in that The main processing module and the motor are connected via a switch tube, and the step of stopping power supply to the motor after receiving the overcurrent detection result sent by the co-processing module includes: After receiving the over-current detection result, the switch tube is controlled to be turned off so that the switch tube stops supplying power to the motor.

6. A motor control method, characterized in that: A co-processing module applied to a motor controller, wherein the co-processing module and a main processing module of the motor controller share data via a shared memory, and the method comprises: Determine the three-phase input current of the motor according to the digital voltage in the shared memory, wherein the digital voltage is obtained by sampling the main processing module; Performing overcurrent detection on the motor based on the three-phase input current; And, the three-phase input current is written into the shared memory, so that the main processing module reads the three-phase input current from the shared memory to perform torque control on the motor.

7. The method according to claim 6, characterized in that The co-processing module includes a plurality of channel sequencers, each of which shares data with the main processing module through a corresponding shared memory, and the step of determining the three-phase input current of the motor according to the digital voltage in the shared memory includes: Each of the channel sequencers reads a single-phase digital voltage from a corresponding shared memory, and performs a preprocessing operation on the read single-phase digital voltage to obtain a preprocessed single-phase digital voltage, wherein the preprocessing operation includes a filtering operation and / or a calibration operation; Each of the channel sequencers converts the preprocessed single-phase digital voltage to obtain the input current of each phase of the motor.

8. The method according to claim 7, characterized in that The step of performing overcurrent detection on the motor based on the three-phase input current comprises: Each of the channel sequencers compares the corresponding single-phase input current with the corresponding over-current threshold value; After the step of performing overcurrent detection on the motor based on the three-phase input current, the method further includes: When at least one single-phase input current is greater than or equal to an overcurrent threshold, the generated overcurrent detection result is transmitted to the main processing module, so that the main processing module performs an overcurrent protection action based on the overcurrent detection result.

9. The method according to claim 7, characterized in that The step of writing the three-phase input current into the shared memory so that the main processing module can read the three-phase input current from the shared memory to perform torque control on the motor includes: Each of the channel sequencers writes the input current of each phase of the motor into its corresponding shared memory, so that the main processing module reads the input current of each phase from the shared memory corresponding to each of the channel sequencers to perform torque control on the motor.

10. A motor controller, characterized in that: The motor controller comprises: a main processing module and a co-processing module, wherein the main processing module and the co-processing module share data via a shared memory, wherein: The co-processing module is used to determine the three-phase input current of the motor according to the digital voltage in the shared memory, wherein the digital voltage is obtained by sampling the main processing module; perform overcurrent detection on the motor based on the three-phase input current; and write the three-phase input current into the shared memory; The main processing module is used to read the three-phase input current of the motor from the shared memory and perform torque control on the motor based on the three-phase input current; and, after receiving the overcurrent detection result sent by the co-processing module, stop supplying power to the motor.

11. A motor control system, characterized in that: The motor control system comprises: the motor controller as claimed in claim 10 and a current sensor, and the motor controller is connected to the current sensor.

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