Fault-tolerant control method and device of vehicle, storage medium and processor

Abstract

The invention discloses a vehicle fault-tolerant control method and device, a storage medium and a processor. The method comprises the steps that the fault position of a fault of an inverter of a vehicle and the position of the inverter before the fault are obtained, and the fault position at least comprises the first fault position, the second fault position, the third fault position and the fourth fault position; the first fault position, the second fault position, the third fault position and the fourth fault position represent different fault positions respectively; based on the fault position and the switch position, a fault-tolerant control strategy of the vehicle is determined, and the fault-tolerant control strategy is used for indicating a rule for performing fault-tolerant control on the vehicle; and performing fault-tolerant control on the vehicle according to the fault-tolerant control strategy. The technical problem that the fault-tolerant control stability of the vehicle is low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle fault-tolerant control, and in particular to a vehicle fault-tolerant control method, device, storage medium and processor. Background Art

[0002] At present, as new energy vehicles gradually develop towards high voltage and large capacity, the traditional two-level inverter will not meet the actual needs. The three-level inverter will have more competitive advantages in future automotive applications due to its lower harmonic distortion and higher efficiency. At the same time, the power switch tube in the electric drive control system is easily damaged by factors such as harsh working conditions or external interference, resulting in motor phase failure, which in turn reduces the safety performance of the vehicle.

[0003] In the related art, hardware redundancy and software fault-tolerant control methods are often used to solve the problem of motor phase failure caused by power switch tube damage. The hardware redundancy control method achieves fault tolerance by adding backup redundant devices, but this method is relatively expensive; or the software fault-tolerant method is used to achieve fault-tolerant control under inverter open circuit failure, but this method does not take into account the phase voltage jump limit of the multi-level inverter, and also does not take into account the problem of phase voltage switching, resulting in unstable fault tolerance of the vehicle and low fault tolerance coverage. Therefore, there is a technical problem of low stability of fault-tolerant control of the vehicle.

[0004] With respect to the above-mentioned technical problem of low fault-tolerant control stability of vehicles, no effective solution has been proposed so far. Summary of the invention

[0005] Embodiments of the present invention provide a vehicle fault-tolerant control method, device, storage medium, and processor to at least solve the technical problem of low stability of vehicle fault-tolerant control.

[0006] According to one aspect of an embodiment of the present invention, a fault-tolerant control method for a vehicle is provided. The method may include: obtaining a fault position of a fault of an inverter of the vehicle, and a switch position before the inverter fails, wherein the fault position includes at least a first fault position, a second fault position, a third fault position, and a fourth fault position, and the first fault position, the second fault position, the third fault position, and the fourth fault position represent different fault positions, respectively; the switch position includes at least a first switch position, a second switch position, and a third switch position, and the first switch position, the second switch position, and the third switch position represent different positions of the switch in an open state; based on the fault position and the switch position, determining a fault-tolerant control strategy of the vehicle, wherein the fault-tolerant control strategy is used to indicate a rule for performing fault-tolerant control on the vehicle; and performing fault-tolerant control on the vehicle according to the fault-tolerant control strategy.

[0007] Optionally, based on the fault location and the switch position, the fault-tolerant control strategy of the vehicle is determined, including: in response to the fault location being the first fault location or the second fault location, determining the fault-tolerant control strategy to be the first fault-tolerant control strategy; in response to the fault location being the third fault location and the switch position being the first switch position, determining the fault-tolerant control strategy to be the second fault-tolerant control strategy, wherein the first fault-tolerant control strategy is different from the second fault-tolerant control strategy; in response to the fault location being the third fault location and the switch position being the second switch position or the third switch position, determining the fault-tolerant control strategy to be the first fault-tolerant control strategy; in response to the fault location being the fourth fault location and the switch position being the third switch position, determining the fault-tolerant control strategy to be the second fault-tolerant control strategy; in response to the fault location being the fourth fault location and the switch position being the first switch position or the second switch position, determining the fault-tolerant control strategy to be the first fault-tolerant control strategy.

[0008] Optionally, before performing fault-tolerant control on the vehicle according to the fault-tolerant control strategy, the method also includes: in response to the fault-tolerant control strategy being a first fault-tolerant control strategy, determining voltage data of the vehicle based on the fault location and the switch position, wherein the voltage data is used to indicate a voltage range of an inverter of the vehicle, and the voltage data includes at least first target voltage data, second target voltage data, third target voltage data, fourth target voltage data and fifth target voltage data, and the voltage ranges of the first target voltage data, the second target voltage data, the third target voltage data, the fourth target voltage data and the fifth target voltage data are different.

[0009] Optionally, in response to the fault-tolerant control strategy being the first fault-tolerant control strategy, the voltage data of the vehicle is determined based on the fault location and the switch position, including: in response to the fault location being the first fault location and the switch position being the first switch position, determining the voltage data to be the first target voltage data; in response to the fault location being the first fault location and the switch position being the second switch position or the third switch position, determining the voltage data to be the second target voltage data.

[0010] Optionally, in response to the fault-tolerant control strategy being the first fault-tolerant control strategy, the voltage data of the vehicle is determined based on the fault position and the switch position, including: in response to the fault position being the second fault position and the switch position being the third switch position, determining the voltage data to be the first target voltage data; in response to the fault position being the second fault position and the switch position being the first switch position, determining the voltage data to be the second target voltage data; in response to the fault position being the second fault position and the switch position being the second switch position, determining the voltage data to be the third target voltage data.

[0011] Optionally, in response to the fault-tolerant control strategy being the first fault-tolerant control strategy, the voltage data of the vehicle is determined based on the fault position and the switch position, including: in response to the fault position being the third fault position and the switch position being the second switch position or the third switch position, determining the voltage data to be the fourth target voltage data; in response to the fault position being the fourth fault position and the switch position being the first switch position or the second switch position, determining the voltage data to be the fifth target voltage data.

[0012] According to another aspect of an embodiment of the present invention, a fault-tolerant control device for a vehicle is also provided. The device may include: an acquisition unit, used to acquire a fault position of a fault of an inverter of the vehicle, and a switch position before the inverter fails, wherein the fault position includes at least a first fault position, a second fault position, a third fault position, and a fourth fault position, and the first fault position, the second fault position, the third fault position, and the fourth fault position represent different fault positions, respectively; the switch position includes at least a first switch position, a second switch position, and a third switch position, and the first switch position, the second switch position, and the third switch position represent different positions of the switch in an open state; a determination unit, used to determine a fault-tolerant control strategy of the vehicle based on the fault position and the switch position, wherein the fault-tolerant control strategy is used to indicate a rule for performing fault-tolerant control on the vehicle; and a control unit, used to perform fault-tolerant control on the vehicle according to the fault-tolerant control strategy.

[0013] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, which includes a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the fault-tolerant control method of the vehicle in the embodiment of the present invention.

[0014] According to another aspect of an embodiment of the present invention, a processor is further provided. The processor is used to run a program, wherein when the program is run, the fault-tolerant control method of the vehicle in the embodiment of the present invention is executed.

[0015] According to another aspect of the embodiment of the present invention, a vehicle is further provided, and the vehicle is used to execute the fault-tolerant control method of the vehicle according to the embodiment of the present invention.

[0016] In an embodiment of the present invention, the fault location of the inverter of the vehicle and the switch position before the inverter fails are obtained; based on the fault location and the switch position, the fault-tolerant control strategy of the vehicle is determined, wherein the fault-tolerant control strategy is used to indicate the rules for fault-tolerant control of the vehicle; and the vehicle is fault-tolerantly controlled according to the fault-tolerant control strategy. That is to say, in an embodiment of the present invention, the fault-tolerant control strategy of the vehicle is determined according to the location of the fault of the inverter of the vehicle and the switch position at the moment before the inverter fails, so that the vehicle is controlled according to the fault-tolerant control strategy. Since the present invention can adopt different fault-tolerant methods for different open circuit fault conditions, the first fault-tolerant control strategy can make the fault tolerance more stable. At the same time, considering the phase voltage switching problem, the second fault-tolerant strategy is combined to achieve the purpose of improving the fault-tolerant coverage of the vehicle, thereby solving the technical problem of low fault-tolerant control stability of the vehicle and achieving the technical effect of improving the fault-tolerant control stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of a fault-tolerant control method for a vehicle according to an embodiment of the present invention;

[0019] Figure 2 is a flow chart of a multi-level inverter PMSM fault-tolerant control method according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of a topology structure of an NPC type three-level inverter according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a space voltage vector of an NPC type three-level inverter according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of a fault-tolerant control device for a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, functional component or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, functional components or devices.

[0025] According to an embodiment of the present invention, an embodiment of a fault-tolerant control method for a vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0026] Figure 1 is a flow chart of a fault-tolerant control method for a vehicle according to an embodiment of the present invention, such as Figure 1 As shown, the method may include the following steps:

[0027] Step S101, obtaining a fault position of an inverter of a vehicle where the fault occurs, and a switch position of the inverter before the fault occurs.

[0028] In the technical solution provided in the above step S101 of the present invention, the fault position includes at least a first fault position, a second fault position, a third fault position and a fourth fault position, the first fault position, the second fault position, the third fault position and the fourth fault position respectively represent different fault positions, and the switch position includes at least a first switch position, a second switch position and a third switch position, the first switch position, the second switch position and the third switch position represent different positions of the switch in the open state.

[0029] In this embodiment, the fault position of the inverter of the vehicle and the switch position before the inverter fails are obtained. For example, the fault position of the inverter of the vehicle and the switch position before the inverter fails are obtained by a sampling circuit. This is only an example and does not limit the specific method of obtaining the fault position of the inverter of the vehicle and the switch position before the inverter fails.

[0030] Optionally, the first switch position can be that the two tubes above the single-phase are in the on state, that is, the corresponding switch state is "1", the first switch position can be that the two middle tubes of the single-phase are in the on state, that is, the corresponding switch state is "0", and the third switch position can be that the two tubes below the single-phase are in the on state, that is, the corresponding switch state is "-1".

[0031] Optionally, by obtaining the fault location of the vehicle's inverter and the switch position before the inverter fails, the purpose of comprehensively obtaining the vehicle's fault information can be achieved, avoiding the situation where the phase voltage jump limit of the multi-level inverter is not taken into consideration, resulting in the problem that when the phase voltage jump is too large, the switching device is easily damaged by excessive instantaneous voltage.

[0032] Step S102, determining a fault-tolerant control strategy for the vehicle based on the fault location and the switch position.

[0033] In the technical solution provided in the above step S102 of the present invention, the fault-tolerant control strategy is used to indicate the rules for performing fault-tolerant control on the vehicle.

[0034] In this embodiment, after the fault position of the inverter of the vehicle and the switch position before the inverter fails are obtained in step S101, the fault-tolerant control strategy of the vehicle is determined according to the fault position and the switch position.

[0035] Optionally, when the fault location is the first fault location or the second fault location, the fault-tolerant control strategy can be determined to be the first fault-tolerant control strategy. The first fault location can be a single-phase upper tube open circuit fault, the second fault location can be a single-phase lower tube open circuit fault, and the first fault-tolerant control strategy can also be called a first fault-tolerant control path.

[0036] For example, when a single-phase upper tube open circuit fault or a single-phase lower tube open circuit fault is detected, it can be determined that the fault-tolerant control strategy of the vehicle is the first fault-tolerant control path.

[0037] Optionally, when the fault position is the third fault position and the switch position is the first switch position, the fault-tolerant control strategy can be determined to be the second fault-tolerant control strategy, wherein the calculation method of the first fault-tolerant control strategy is different from that of the second fault-tolerant control strategy, and the second fault-tolerant control strategy can also be called a second fault-tolerant control path. The third fault position can be an open circuit fault of the upper tube in a single-phase, and the first switch position can be that the upper two tubes of a single-phase are in an open state.

[0038] For example, when an open circuit fault of the upper tube in a single phase is detected and the switch position of the phase at the previous moment is that the upper two tubes of the single phase are in an open state, it can be determined that the fault-tolerant control strategy of the vehicle is the second fault-tolerant control path.

[0039] Optionally, when the fault position is the third fault position and the switch position is the second switch position or the third switch position, the fault-tolerant control strategy is determined to be the first fault-tolerant control strategy.

[0040] For example, when an open circuit fault of the upper tube in a single phase is detected and the switch position of the phase at the previous moment is that the two middle tubes of the single phase are in the open state or the two lower tubes of the single phase are in the open state, the fault-tolerant control strategy can be determined to be the first fault-tolerant control path.

[0041] Optionally, when the fault position is the fourth fault position and the switch position is the third switch position, the fault-tolerant control strategy is determined to be the second fault-tolerant control strategy.

[0042] For example, when an open circuit fault of the lower tube in a single phase is detected and the switch position of the phase at the previous moment is that the two lower tubes of the single phase are in the open state, that is, when the switch state is "-1", the fault-tolerant control strategy can be determined to be the second fault-tolerant control path.

[0043] Optionally, when the fault position is the fourth fault position and the switch position is the first switch position or the second switch position, it can be determined that the fault-tolerant control strategy is the first fault-tolerant control strategy.

[0044] For example, when an open circuit fault of the lower tube in a single-phase is detected and the switch position of the phase at the previous moment is that the two middle tubes of the single-phase are in the open state or the two upper tubes of the single-phase are in the open state, that is, when the switch state of the phase is "0" or "1", the fault-tolerant control strategy can be determined to be the first fault-tolerant control path.

[0045] Optionally, the first fault-tolerant control strategy may be to use the optional voltage vector as an alternative voltage vector of the model prediction fault-tolerant control algorithm, select the optimal vector combination according to the vector synthesis and cost function minimum principle, and transmit it to the inverter to control the operation of the three-phase motor.

[0046] For example, the first fault-tolerant control strategy can obtain the d-axis stator current and q-axis stator current differential equations according to the PMSM stator voltage equation in the synchronous rotating coordinate system as shown in the following formula (1):

[0047] (1)

[0048] Among them, u d 、u q They represent the dq axis components of the stator voltage, i d 、i q They represent the d-axis and q-axis components of the stator current, respectively, and R s is the stator resistance, ψ f represents the permanent magnet flux, ω e Represents electrical angular velocity, L sRepresents the stator inductance. Assuming that each variable is sampled at the current moment at time k, the predicted current model of the PMSM is obtained according to the discrete differential formula, as shown in the following formula (2):

[0049] (2)

[0050] Among them, T s is a fixed sampling period set according to the actual work requirements. The voltage vector u corresponding to the inverter switching state at the previous moment is used d (k),u q (k) and the current prediction model perform one-beat delay compensation on the current sampled at the current moment, and the compensated current is used as the current initial condition for predicting the current at the next moment. The candidate voltage vector sets of the first voltage vector are respectively substituted into the above formula (2) to obtain the corresponding current prediction values, and then substituted into the following value function formula (3) of the first voltage vector. Finally, the voltage vector corresponding to the minimum value function g1 is selected as the first voltage vector u ʼ :

[0051] (3)

[0052] Among them, λ1 is the weight coefficient for selecting the midpoint potential balance of the first voltage vector control; , are the voltages across the two capacitors of the inverter corresponding to the first voltage vector at the next moment, respectively, and their expressions are shown in the following formula (4):

[0053] (4)

[0054] in, , are the currents flowing through the two capacitors of the three-level inverter when the first voltage vector acts, and the expressions are shown in the following formula (5):

[0055] (5)

[0056] Among them, when the state is "1", that is, when the two switches of the upper bridge arm are turned on, G x =1, other states G x =0; when the state is "-1", that is, when the two switches of the lower bridge arm are turned on, H x =1, other states H x = 0. According to formula (1) and formula (2), the predicted current model at the next moment is shown in the following formula (6):

[0057] (6)

[0058] in, and The first voltage vector The dq-axis components of and The second voltage vector dq axis components; t1 and t2 are the first voltage vector and the second voltage vector The value function of the simultaneous action of the first voltage vector and the second voltage vector is shown in the following formula (7):

[0059] (7)

[0060] Wherein, λ2 is the weight coefficient for selecting the midpoint potential balance of the second voltage vector control, and λ1>λ2; , are the voltages across the two capacitors of the inverter corresponding to the second voltage vector at the next moment, and their expressions are shown in the following formula (8):

[0061] (8)

[0062] Among them, i ʼʼ c1 (k), i ʼʼ c2 (k) are the currents flowing through the two capacitors of the three-level inverter when the second voltage vector acts. The calculation is similar to the above formula (5) and will not be repeated here.

[0063] For another example, the second fault-tolerant control path can be to control the three-phase motor using the non-fault phase current, and use a surface-mounted permanent magnet synchronous motor as the control motor; when a single-phase fault occurs in the inverter, the current of this phase is 0, and the currents of the other two non-fault phases are equal in magnitude and opposite in direction; taking phase a circuit breaker as an example, the three-phase current can be expressed by the following formula (9):

[0064] (9)

[0065] After coordinate transformation, the current in the dq coordinate system can be expressed by the following formula (10):

[0066] (10)

[0067] The electromagnetic torque equation of the three-phase motor can be expressed by the following formula (11):

[0068] (11)

[0069] Combining the above formulas (9), (10) and (11), we can get the following formula (12):

[0070] (12)

[0071] To avoid s In the vicinity of (π / 2+Kπ), the current change caused by positive and negative switching is too large, which may lead to the damage of the power tube. The angle is divided into the following areas: θ0 is 0; θ1 is the angle corresponding to the first limit value Imax; θ2=π / 2; θ3 is the angle corresponding to the second limit value Imin; θ4=2π-θ3; θ5=3π / 2; θ6=2π-θ1; for i s Re-divided into: when θ0<θ<=θ1, ; When θ1<θ<=θ2, ; When θ2<θ<=θ3, ; When θ3<θ<=θ4, ; When θ4<θ<=θ5, ; When θ5<θ<=θ6, ; When θ6<θ<=θ0, ; Finally, with i s It is used as a reference quantity to perform fault-tolerant control of the motor.

[0072] Step S103: performing fault-tolerant control on the vehicle according to the fault-tolerant control strategy.

[0073] In the technical solution provided in the above step S103 of the present invention, after the fault-tolerant control strategy of the vehicle is determined in step S102, the vehicle is subjected to fault-tolerant control according to the fault-tolerant control strategy.

[0074] In this embodiment, the vehicle is fault-tolerantly controlled according to the fault-tolerant control strategy of the vehicle, and different fault-tolerant modes are adopted for different open-circuit fault conditions, so as to achieve better fault-tolerant stability and reduce phase voltage transients.

[0075] It should be noted that the above embodiments can be executed by a fault-tolerant control device of a vehicle.

[0076] In the above steps S101 to S103 of the present invention, the fault-tolerant control strategy of the vehicle is determined according to the location where the vehicle inverter fails and the switch position at the moment before the inverter fails, so as to control the vehicle according to the fault-tolerant control strategy. Since the present invention can adopt different fault-tolerant methods for different open circuit fault conditions, the first fault-tolerant control strategy can make the fault tolerance more stable. At the same time, considering the phase voltage switching problem, the second fault-tolerant strategy is combined to achieve the purpose of improving the vehicle's fault-tolerant coverage, thereby solving the technical problem of low fault-tolerant control stability of the vehicle and achieving the technical effect of improving the fault-tolerant control stability of the vehicle.

[0077] The above method of this embodiment is further introduced below.

[0078] As an optional implementation method, based on the fault location and the switch position, the fault-tolerant control strategy of the vehicle is determined, including: in response to the fault location being the first fault location or the second fault location, determining the fault-tolerant control strategy to be the first fault-tolerant control strategy; in response to the fault location being the third fault location and the switch position being the first switch position, determining the fault-tolerant control strategy to be the second fault-tolerant control strategy, wherein the first fault-tolerant control strategy is different from the second fault-tolerant control strategy; in response to the fault location being the third fault location and the switch position being the second switch position or the third switch position, determining the fault-tolerant control strategy to be the first fault-tolerant control strategy; in response to the fault location being the fourth fault location and the switch position being the third switch position, determining the fault-tolerant control strategy to be the second fault-tolerant control strategy; in response to the fault location being the fourth fault location and the switch position being the first switch position or the second switch position, determining the fault-tolerant control strategy to be the first fault-tolerant control strategy.

[0079] In this embodiment, when the fault location is the first fault location or the second fault location, the fault-tolerant control strategy is determined to be the first fault-tolerant control strategy; when the fault location is the third fault location and the switch position is the first switch position, the fault-tolerant control strategy is determined to be the second fault-tolerant control strategy; when the fault location is the third fault location and the switch position is the second switch position or the third switch position, the fault-tolerant control strategy is determined to be the first fault-tolerant control strategy; when the fault location is the fourth fault location and the switch position is the third switch position, the fault-tolerant control strategy is determined to be the second fault-tolerant control strategy; when the fault location is the fourth fault location and the switch position is the first switch position or the second switch position, the fault-tolerant control strategy is determined to be the first fault-tolerant control strategy.

[0080] Optionally, the first switch position can be that the two tubes above the single-phase are in the on state, that is, the corresponding switch state is "1", the first switch position can be that the two middle tubes of the single-phase are in the on state, that is, the corresponding switch state is "0", and the third switch position can be that the two tubes below the single-phase are in the on state, that is, the corresponding switch state is "-1".

[0081] Optionally, different fault-tolerance modes are adopted according to different open-circuit fault conditions, so as to achieve the purpose of comprehensively considering the fault conditions, thereby improving the fault-tolerance stability of the vehicle.

[0082] As an optional implementation mode, before performing fault-tolerant control on the vehicle according to the fault-tolerant control strategy, the method also includes: in response to the fault-tolerant control strategy being a first fault-tolerant control strategy, determining the voltage data of the vehicle based on the fault location and the switch position, wherein the voltage data is used to indicate the voltage range of the inverter of the vehicle, and the voltage data includes at least first target voltage data, second target voltage data, third target voltage data, fourth target voltage data and fifth target voltage data, and the voltage ranges of the first target voltage data, the second target voltage data, the third target voltage data, the fourth target voltage data and the fifth target voltage data are different.

[0083] In this embodiment, when the fault-tolerant control strategy is the first fault-tolerant control strategy, the voltage data of the vehicle is determined according to the fault location and the switch position.

[0084] Optionally, since the first fault-tolerant control strategy can be to simplify the candidate voltage vector set and determine the optimal voltage vector combination through the model predictive control algorithm and the cost function minimum principle, it is necessary to determine the range of the optional voltage vectors.

[0085] As an optional implementation method, in response to the fault-tolerant control strategy being the first fault-tolerant control strategy, the voltage data of the vehicle is determined based on the fault location and the switch position, including: in response to the fault location being the first fault location and the switch position being the first switch position, determining the voltage data to be the first target voltage data; in response to the fault location being the first fault location and the switch position being the second switch position or the third switch position, determining the voltage data to be the second target voltage data.

[0086] In this embodiment, when the fault position is the first fault position and the switch position is the first switch position, the voltage data can be determined to be the first target voltage data; when the fault position is the first fault position and the switch position is the second switch position or the third switch position, the voltage data can be determined to be the second target voltage data. The first target voltage data can be the voltage vector corresponding to the phase switch state "-1" and "1" removed, and the second target voltage data can be the voltage vector corresponding to the phase switch state "1" removed.

[0087] For example, when a single-phase upper tube open circuit fault is detected and the switch state of the phase at the previous moment is "1", the voltage vector corresponding to the switch states of the phase "-1" and "1" can be removed by combining the following formula (13):

[0088] (13)

[0089] Among them, s x (k) can represent the inverter switch state at the current sampling moment, and x can represent phase a, phase b, and phase c; It can represent the inverter switch state corresponding to the first voltage vector at the next moment, and x can represent phase a, phase b, and phase c; It can represent the inverter switch state at the next moment corresponding to the second voltage vector, and x can represent phase a, phase b, and phase c.

[0090] For another example, when a single-phase upper tube open circuit fault is detected and the switch state of the phase at the previous moment is "0" or "-1", the voltage vector corresponding to the switch state of the phase being "1" is removed.

[0091] As an optional implementation method, in response to the fault-tolerant control strategy being the first fault-tolerant control strategy, the voltage data of the vehicle is determined based on the fault position and the switch position, including: in response to the fault position being the second fault position and the switch position being the third switch position, determining the voltage data to be the first target voltage data; in response to the fault position being the second fault position and the switch position being the first switch position, determining the voltage data to be the second target voltage data; in response to the fault position being the second fault position and the switch position being the second switch position, determining the voltage data to be the third target voltage data.

[0092] In this embodiment, when the fault position is the second fault position and the switch position is the third switch position, the voltage data is determined to be the first target voltage data; when the fault position is the second fault position and the switch position is the first switch position, the voltage data is determined to be the second target voltage data; when the fault position is the second fault position and the switch position is the second switch position, the voltage data is determined to be the third target voltage data. The third target voltage data may be the voltage vector corresponding to the phase switch state "-1" removed.

[0093] For example, when a single-phase lower tube open circuit fault is detected and the phase switch state at the previous moment is "-1", the voltage vectors corresponding to the phase switch states of "-1" and "1" are removed; when a single-phase lower tube open circuit fault is detected and the phase switch state at the previous moment is "0", the voltage vector corresponding to the phase switch state of "-1" is removed; when a single-phase lower tube open circuit fault is detected and the phase switch state at the previous moment is "1", the voltage vector corresponding to the phase switch state of "1" is removed.

[0094] As an optional implementation method, in response to the fault-tolerant control strategy being the first fault-tolerant control strategy, the voltage data of the vehicle is determined based on the fault location and the switch position, including: in response to the fault location being the third fault location and the switch position being the second switch position or the third switch position, determining the voltage data to be the fourth target voltage data; in response to the fault location being the fourth fault location and the switch position being the first switch position or the second switch position, determining the voltage data to be the fifth target voltage data.

[0095] In this embodiment, when the fault position is the third fault position and the switch position is the second switch position or the third switch position, the voltage data is determined to be the fourth target voltage data; wherein the fourth target voltage data can be the voltage vector corresponding to the phase switch state "1" and "0" removed.

[0096] For example, when an open-circuit fault of the upper tube in a single-phase is detected and the switch state of the phase at the previous moment is "0", the voltage vector corresponding to the switch state of "1" and "0" of the phase is removed; when an open-circuit fault of the upper tube in a single-phase is detected and the switch state of the phase at the previous moment is "-1", the voltage vector corresponding to the switch state of "1" and "0" of the phase is removed.

[0097] Optionally, when the fault position is the fourth fault position and the switch position is the first switch position or the second switch position, the voltage data is determined to be the fifth target voltage data, wherein the fifth target voltage data may be the voltage vector corresponding to the phase switch state "-1" and "0" except for this phase.

[0098] For example, when a single-phase lower tube open circuit fault is detected and the switch state of this phase at the previous moment is "0", the voltage vector corresponding to the switch state of this phase is "-1" and "0" is removed; when a single-phase lower tube open circuit fault is detected and the switch state of this phase at the previous moment is "1", the voltage vector corresponding to the switch state of this phase is "-1" and "0" is removed.

[0099] It should be noted that the above embodiments can be executed by a fault-tolerant control device of a vehicle.

[0100] In this embodiment, the fault-tolerant control strategy of the vehicle is determined according to the location where the vehicle inverter fails and the switch position at the moment before the inverter fails, so that the vehicle is controlled according to the fault-tolerant control strategy. Since the present invention can adopt different fault-tolerant methods for different open circuit fault conditions, the first fault-tolerant control strategy can make the fault tolerance more stable. At the same time, considering the phase voltage switching problem, the second fault-tolerant strategy is combined to achieve the purpose of improving the vehicle's fault-tolerant coverage, thereby solving the technical problem of low fault-tolerant control stability of the vehicle and achieving the technical effect of improving the fault-tolerant control stability of the vehicle.

[0101] The technical solution of the embodiment of the present invention is illustrated below in conjunction with preferred implementation modes.

[0102] At present, as new energy vehicles gradually develop towards high voltage and large capacity, the traditional two-level inverter will not meet the actual needs. The three-level inverter will have more competitive advantages in future automotive applications due to its lower harmonic distortion and higher efficiency. At the same time, the power switch tube in the electric drive control system is easily damaged by factors such as harsh working conditions or external interference, resulting in motor phase failure, which in turn reduces the safety performance of the vehicle.

[0103] In the related art, hardware redundancy and software fault-tolerant control methods are often used to solve the problem of motor phase failure caused by damage to the power switch tube. The hardware redundancy control method achieves fault tolerance by adding backup redundant devices, but this method is relatively expensive; or a software fault-tolerant method is used to achieve fault-tolerant control under an inverter open circuit fault, but this method does not take into account the phase voltage jump limit of the multi-level inverter, and also does not take into account the problem of phase voltage switching, resulting in unstable fault tolerance of the vehicle and low fault tolerance coverage. Therefore, there is a technical problem of low stability of the fault-tolerant control of the vehicle. In view of the above-mentioned technical problem of low stability of the fault-tolerant control of the vehicle, no effective solution has been proposed so far.

[0104] However, an embodiment of the present invention proposes a multi-level inverter (Permanent Magnet Synchronous Motor, PMSM for short) fault-tolerant control method, which obtains the fault location and adopts different fault-tolerant control algorithms according to the different fault tube locations. When it is the first fault-tolerant control path, the optional voltage vector range of the control algorithm is determined according to the inverter switch state at the previous moment. The first fault-tolerant control path can make the fault tolerance more stable. At the same time, considering the phase voltage switching problem, the second fault-tolerant path is combined to achieve the purpose of improving the vehicle's fault-tolerant coverage, thereby solving the technical problem of low fault-tolerant control stability of the vehicle and achieving the technical effect of improving the fault-tolerant control stability of the vehicle.

[0105] The embodiments of the present invention are further described below.

[0106] Figure 2 is a flow chart of a multi-level inverter PMSM fault-tolerant control method according to an embodiment of the present invention, such as Figure 2 As shown, the method comprises the following steps:

[0107] Step S201, obtaining sampling information.

[0108] In this embodiment, the sampling circuit obtains sampling information including the PMSM rotor position θ; the voltages V of the two capacitors on the DC side c1 (k), V c2 (k); DC side current i dc (k); instantaneous values ​​of three-phase stator current ia(k), ib(k), ic(k) and inverter switching status.

[0109] Step S202, determining the position of the faulty tube and the switch state of the last phase change.

[0110] In this embodiment, the position of the faulty tube and the switch state of the last phase change are determined according to the sampling information obtained in step S201.

[0111] Step S203: whether to execute the first fault-tolerant path.

[0112] In this embodiment, whether to execute the first fault-tolerant path is determined according to the position of the faulty tube and the switch state of the previous phase change. If the first fault-tolerant path is executed, step S204 is executed; if the first fault-tolerant path is not executed, step S207 is executed.

[0113] Optionally, when a single-phase upper tube open circuit fault is detected and the switch state of the phase at the previous moment is "1", the switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, combined with the aforementioned formula (13), the voltage vectors corresponding to the switch states of the phase "-1" and "1" are removed; when a single-phase upper tube open circuit fault is detected and the switch state of the phase at the previous moment is "0", the switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, combined with the aforementioned formula (13), the voltage vector 2 corresponding to the switch state of the phase "1" is removed; when a single-phase upper tube open circuit fault is detected and the switch state of the phase at the previous moment is "-1", the switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, combined with the aforementioned formula (13), the voltage vector corresponding to the switch state of the phase "1" is removed;

[0114] Optionally, when a single-phase lower tube open circuit fault is detected and the switch state of the phase at the previous moment is "-1", the switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, combined with the aforementioned formula (13), the voltage vectors corresponding to the switch states of the phase "-1" and "1" are removed; when a single-phase lower tube open circuit fault is detected and the switch state of the phase at the previous moment is "0", the switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, combined with the aforementioned formula (13), the voltage vector corresponding to the switch state of the phase "-1" is removed; when a single-phase lower tube open circuit fault is detected and the switch state of the phase at the previous moment is "1", the switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, combined with the aforementioned formula (13), the voltage vector corresponding to the switch state of the phase "1" is removed.

[0115] Optionally, when an open-circuit fault of the upper tube in a single-phase is detected and the switch state of the phase at the previous moment is "1", the switching algorithm instruction is triggered to switch the second fault-tolerant control path; when an open-circuit fault of the upper tube in a single-phase is detected and the switch state of the phase at the previous moment is "0", the switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, combined with the above formula (13), the voltage vector corresponding to the switch state of the phase is "1" and "0" is removed; when an open-circuit fault of the upper tube in a single-phase is detected and the switch state of the phase at the previous moment is "-1", the switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, combined with the above formula (13), the voltage vector corresponding to the switch state of the phase is "1" and "0" is removed.

[0116] Optionally, when a single-phase lower-middle tube open-circuit fault is detected and the switch state of the phase at the previous moment is "-1", the switching algorithm instruction is triggered to switch the second fault-tolerant control path; when a single-phase lower-middle tube open-circuit fault is detected and the switch state of the phase at the previous moment is "0", the switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, combined with the above formula (13), the voltage vector corresponding to the switch state of the phase is "-1" and "0" is removed; when a single-phase lower-middle tube open-circuit fault is detected and the switch state of the phase at the previous moment is "1", the switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, combined with the above formula (13), the voltage vector corresponding to the switch state of the phase is "-1" and "0" is removed.

[0117] Step S204, triggering the first fault-tolerant path instruction of the switching algorithm.

[0118] In this embodiment, the first fault-tolerant path instruction of the switching algorithm is triggered, and the first fault-tolerant path is executed.

[0119] Step S205, simplifying the candidate voltage vectors.

[0120] In this embodiment, the simplified candidate voltage vectors can be expressed as shown in the above formulas (1) to (8), which will not be described in detail here.

[0121] Step S206: executing the first fault-tolerant control path.

[0122] In this embodiment, the first fault-tolerant control path is executed according to the calculation result of the algorithm.

[0123] Step S207, triggering the second fault-tolerant path instruction of the switching algorithm.

[0124] In this embodiment, the second fault-tolerant path instruction of the switching algorithm is triggered, and the second fault-tolerant path instruction is calculated.

[0125] Step S208, dividing the location areas.

[0126] In this embodiment, the location areas may be divided according to the aforementioned formulas (9) to (12), which will not be described in detail here.

[0127] Step S209: executing the second fault-tolerant control path.

[0128] In this embodiment, the second fault-tolerant control path is executed according to the calculation result of the algorithm.

[0129] Step S210, controlling the permanent magnet synchronous motor.

[0130] In this embodiment, control of a permanent magnet synchronous motor is achieved.

[0131] Figure 3is a schematic diagram of a NPC type three-level inverter topology structure according to an embodiment of the present invention, such as Figure 3 As shown, each phase arm of this topology has four IGBT switches. Taking phase a as an example, when the two switches Sa1 and Sa2 of the upper arm are turned on, the output voltage is Vdc / 2, which is regarded as "P", and the state is "1", that is, "Sa=1"; when the two switches Sa2 and Sa3 in the middle of the arm are turned on, the output voltage is 0, which is regarded as "O", and the state is "0", that is, "Sa=0"; when the two switches Sa3 and Sa4 in the lower arm are turned on, the output voltage is -Vdc / 2, which is regarded as "N", and the state is "-1", that is, "Sa=-1".

[0132] Optionally, Figure 4 1 is a schematic diagram of a space voltage vector of an NPC type three-level inverter according to an embodiment of the present invention. Table 1 is a single-phase bridge arm switch state table of the NPC type three-level inverter. The single-phase bridge arm switch state table of the NPC type three-level inverter taking phase a as an example is shown in Table 1. Since each phase bridge arm has three switch states, the three-phase bridge arm has a total of 27 switch states. The corresponding NPC type three-level inverter space voltage vector diagram is shown in Figure 4 As shown, N represents the negative pole, P represents the neutral point, and O represents the output positive pole. The voltage vectors in these 27 natural coordinate systems are transformed into voltage vectors in 27 dq-axis rotating coordinate systems as alternative voltage vectors for predictive current control of the permanent magnet synchronous motor model.

[0133] Table 1 NPC type three-level inverter single-phase bridge arm switch state table

[0134]

[0135] Optionally, in order to avoid inverter phase voltage jump, the above formula (13) may be used for processing, which will not be described in detail here.

[0136] In this embodiment, by obtaining the fault location, different fault-tolerant control algorithms are adopted according to the different fault tube locations. When it is the first fault-tolerant control path, the optional voltage vector range of the control algorithm is determined according to the inverter switch state at the previous moment. The first fault-tolerant control path can make the fault tolerance more stable. At the same time, considering the phase voltage switching problem, the second fault-tolerant path is combined to achieve the purpose of improving the vehicle's fault-tolerant coverage, thereby solving the technical problem of low fault-tolerant control stability of the vehicle and achieving the technical effect of improving the fault-tolerant control stability of the vehicle.

[0137] According to an embodiment of the present invention, a fault-tolerant control device for a vehicle is also provided. It should be noted that the fault-tolerant control device for a vehicle can be used to execute the fault-tolerant control method for a vehicle in the method embodiment.

[0138] Figure 5 Schematic diagram of a fault-tolerant control device for a vehicle according to an embodiment of the present invention. Figure 5 As shown, the fault-tolerant control device 500 of the vehicle may include: an acquisition unit 501 , a determination unit 502 and a control unit 503 .

[0139] An acquisition unit 501 is used to acquire a fault position of an inverter of a vehicle where a fault occurs, and a switch position before the inverter fails, wherein the fault position includes at least a first fault position, a second fault position, a third fault position, and a fourth fault position, and the first fault position, the second fault position, the third fault position, and the fourth fault position respectively represent different fault positions, and the switch position includes at least a first switch position, a second switch position, and a third switch position, and the first switch position, the second switch position, and the third switch position represent different positions of the switch in an open state.

[0140] The determination unit 502 is used to determine a fault-tolerant control strategy of the vehicle based on the fault location and the switch position, wherein the fault-tolerant control strategy is used to indicate a rule for performing fault-tolerant control on the vehicle.

[0141] The control unit 503 is used to perform fault-tolerant control on the vehicle according to the fault-tolerant control strategy.

[0142] Optionally, the determination unit 502 may include: a first determination module, used to determine that the fault-tolerant control strategy is the first fault-tolerant control strategy in response to the fault location being the first fault location and the second fault location; a second determination module, used to determine that the fault-tolerant control strategy is the second fault-tolerant control strategy in response to the fault location being the third fault location and the switch position being the first switch position, wherein the first fault-tolerant control strategy is different from the second fault-tolerant control strategy; a third determination module, used to determine that the fault-tolerant control strategy is the first fault-tolerant control strategy in response to the fault location being the third fault location and the switch position being the second switch position or the third switch position; a fourth determination module, used to determine that the fault-tolerant control strategy is the second fault-tolerant control strategy in response to the fault location being the fourth fault location and the switch position being the third switch position; and a fifth determination module, used to determine that the fault-tolerant control strategy is the first fault-tolerant control strategy in response to the fault location being the fourth fault location and the switch position being the first switch position or the second switch position.

[0143] Optionally, the determination unit 502 may also include: a sixth determination module, used to determine the voltage data of the vehicle based on the fault location and the switch position in response to the fault-tolerant control strategy being the first fault-tolerant control strategy, wherein the voltage data is used to indicate the voltage range of the inverter of the vehicle, and the voltage data includes at least first target voltage data, second target voltage data, third target voltage data, fourth target voltage data and fifth target voltage data, and the voltage ranges of the first target voltage data, the second target voltage data, the third target voltage data, the fourth target voltage data and the fifth target voltage data are different.

[0144] Optionally, the second determination unit may include: a seventh determination module, used to determine that the voltage data is the first target voltage data in response to the fault position being the first fault position and the switch position being the first switch position; an eighth determination module, used to determine that the voltage data is the second target voltage data in response to the fault position being the first fault position and the switch position being the second switch position or the third switch position.

[0145] Optionally, the second determination unit may further include: a ninth determination module, used to determine that the voltage data is the first target voltage data in response to the fault position being the second fault position and the switch position being the third switch position; a tenth determination module, used to determine that the voltage data is the second target voltage data in response to the fault position being the second fault position and the switch position being the first switch position; and an eleventh determination module, used to determine that the voltage data is the third target voltage data in response to the fault position being the second fault position and the switch position being the second switch position.

[0146] Optionally, the second determination unit may further include: a twelfth determination module, used to determine that the voltage data is the fourth target voltage data in response to the fault position being the third fault position and the switch position being the second switch position or the third switch position; a thirteenth determination module, used to determine that the voltage data is the fifth target voltage data in response to the fault position being the fourth fault position and the switch position being the first switch position or the second switch position.

[0147] In this embodiment, the fault-tolerant control strategy of the vehicle is determined according to the location where the vehicle inverter fails and the switch position at the moment before the inverter fails, so that the vehicle is controlled according to the fault-tolerant control strategy. Since the present invention can adopt different fault-tolerant methods for different open circuit fault conditions, the first fault-tolerant control strategy can make the fault tolerance more stable. At the same time, considering the phase voltage switching problem, the second fault-tolerant strategy is combined to achieve the purpose of improving the vehicle's fault-tolerant coverage, thereby solving the technical problem of low fault-tolerant control stability of the vehicle and achieving the technical effect of improving the fault-tolerant control stability of the vehicle.

[0148] According to an embodiment of the present invention, a computer-readable storage medium is further provided, the storage medium comprising a stored program, wherein the program executes the fault-tolerant control method of a vehicle in an embodiment of the method.

[0149] According to an embodiment of the present invention, a processor is further provided, the processor being used to run a program, wherein the fault-tolerant control method for a vehicle in the method embodiment is executed when the program is run.

[0150] According to an embodiment of the present invention, a vehicle is also provided, and the vehicle is used to execute the fault-tolerant control method of the vehicle in the method embodiment.

[0151] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0152] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0153] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic, for example, the division of units can be a logical function division, and there can be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0154] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0155] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0156] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent functional component, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software functional component, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store program codes.

[0157] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A fault-tolerant control method for a vehicle, characterized in that: include: Acquire a fault position of an inverter of a vehicle at which a fault occurs, and a switch position of the inverter before the fault occurs, wherein the fault position includes at least a first fault position, a second fault position, a third fault position, and a fourth fault position, the first fault position, the second fault position, the third fault position, and the fourth fault position represent different fault positions, respectively, and the switch position includes at least a first switch position, a second switch position, and a third switch position, the first switch position, the second switch position, and the third switch position represent different positions of a switch in an open state; Determining a fault-tolerant control strategy for the vehicle based on the fault location and the switch position, wherein the fault-tolerant control strategy is used to indicate a rule for performing fault-tolerant control on the vehicle; According to the fault-tolerant control strategy, fault-tolerant control is performed on the vehicle.

2. The method according to claim 1, characterized in that Determining a fault-tolerant control strategy of the vehicle based on the fault location and the switch position includes: In response to the fault location being the first fault location or the second fault location, determining that the fault-tolerant control strategy is a first fault-tolerant control strategy; In response to the fault position being the third fault position and the switch position being the first switch position, determining that the fault-tolerant control strategy is a second fault-tolerant control strategy, wherein the first fault-tolerant control strategy is different from the second fault-tolerant control strategy; In response to the fault position being the third fault position and the switch position being the second switch position or the third switch position, determining that the fault-tolerant control strategy is the first fault-tolerant control strategy; In response to the fault position being the fourth fault position and the switch position being the third switch position, determining that the fault-tolerant control strategy is the second fault-tolerant control strategy; In response to the fault position being the fourth fault position and the switch position being the first switch position or the second switch position, the fault-tolerant control strategy is determined to be the first fault-tolerant control strategy.

3. The method according to claim 2, characterized in that In response to the fault-tolerant control strategy being the first fault-tolerant control strategy, the method further includes: In response to the fault-tolerant control strategy being the first fault-tolerant control strategy, the voltage data of the vehicle is determined based on the fault location and the switch position, wherein the voltage data is used to indicate a voltage range of the inverter of the vehicle, and the voltage data includes at least first target voltage data, second target voltage data, third target voltage data, fourth target voltage data and fifth target voltage data, and the voltage ranges of the first target voltage data, the second target voltage data, the third target voltage data, the fourth target voltage data and the fifth target voltage data are different.

4. The method according to claim 3, characterized in that In response to the fault-tolerant control strategy being a first fault-tolerant control strategy, determining voltage data of the vehicle based on the fault location and the switch position includes: In response to the fault position being the first fault position and the switch position being the first switch position, determining the voltage data to be the first target voltage data; In response to the fault position being the first fault position and the switch position being the second switch position or the third switch position, the voltage data is determined to be the second target voltage data.

5. The method according to claim 3, characterized in that: In response to the fault-tolerant control strategy being a first fault-tolerant control strategy, determining voltage data of the vehicle based on the fault location and the switch position includes: In response to the fault position being the second fault position and the switch position being the third switch position, determining the voltage data to be the first target voltage data; In response to the fault position being the second fault position and the switch position being the first switch position, determining the voltage data to be the second target voltage data; In response to the fault position being the second fault position and the switch position being the second switch position, the voltage data is determined to be the third target voltage data.

6. The method according to claim 3, characterized in that: In response to the fault-tolerant control strategy being a first fault-tolerant control strategy, determining voltage data of the vehicle based on the fault location and the switch position includes: In response to the fault position being the third fault position and the switch position being the second switch position or the third switch position, determining the voltage data to be the fourth target voltage data; In response to the fault position being the fourth fault position and the switch position being the first switch position or the second switch position, the voltage data is determined to be the fifth target voltage data.

7. A fault-tolerant control device for a vehicle, characterized in that: include: an acquisition unit, configured to acquire a fault position of an inverter of a vehicle at which a fault occurs, and a switch position of the inverter before the fault occurs, wherein the fault position includes at least a first fault position, a second fault position, a third fault position, and a fourth fault position, the first fault position, the second fault position, the third fault position, and the fourth fault position respectively represent different fault positions, and the switch position includes at least a first switch position, a second switch position, and a third switch position, the first switch position, the second switch position, and the third switch position represent different positions of a switch in an open state; a determination unit, configured to determine a fault-tolerant control strategy of the vehicle based on the fault location and the switch position, wherein the fault-tolerant control strategy is used to indicate a rule for performing fault-tolerant control on the vehicle; A control unit is used to perform fault-tolerant control on the vehicle according to the fault-tolerant control strategy.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed by a processor, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when running.

10. A vehicle, characterized in that: The vehicle is used to perform the method according to any one of claims 1 to 6.

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