Fault-tolerant control methods, devices, storage media and processors for vehicles

Abstract

This invention discloses a fault-tolerant control method, apparatus, storage medium, and processor for a vehicle. The method includes: acquiring the fault location of the vehicle's inverter and its position before the fault occurred, wherein the fault location includes at least a first fault location, a second fault location, a third fault location, and a fourth fault location, each representing a different fault location; determining a fault-tolerant control strategy for the vehicle based on the fault location and the switch position, wherein the fault-tolerant control strategy indicates the rules for fault-tolerant control of the vehicle; and performing fault-tolerant control on the vehicle according to the fault-tolerant control strategy. This invention solves the technical problem of low stability in vehicle fault-tolerant control.

Description

Technical Field

[0001] This invention relates to the field of vehicle fault-tolerant control technology, and more specifically, to a vehicle fault-tolerant control method, device, storage medium, and processor. Background Technology

[0002] Currently, as new energy vehicles gradually develop towards high voltage and large capacity, traditional two-level inverters will no longer meet actual needs. Three-level inverters, with their lower harmonic distortion and higher efficiency, will have a greater competitive advantage in future automotive applications. Meanwhile, because power switching transistors in electric drive control systems are prone to damage due to harsh operating conditions or external interference, this can lead to motor phase loss, thereby reducing vehicle safety performance.

[0003] In related technologies, to address the issue of motor phase loss caused by power switch failure, hardware redundancy and software fault-tolerant control methods are commonly employed. Hardware redundancy control achieves fault tolerance by adding backup redundant devices, but this method is costly. Alternatively, software fault tolerance is used to achieve fault-tolerant control under inverter open-circuit faults, but this method does not consider factors such as phase voltage jump limitations in multi-level inverters, nor does it address phase voltage switching issues, resulting in unstable fault tolerance and low fault tolerance coverage in the vehicle. Therefore, there is a technical problem of low stability in vehicle fault-tolerant control.

[0004] There is currently no effective solution to the aforementioned technical problem of low fault-tolerant control stability in vehicles. Summary of the Invention

[0005] This invention provides a fault-tolerant control method, apparatus, storage medium, and processor for vehicles, to at least address the technical problem of low stability in fault-tolerant control of vehicles.

[0006] According to one aspect of the present invention, a fault-tolerant control method for a vehicle is provided. The method may include: obtaining the fault location of the vehicle's inverter and the switch position before the inverter fault occurred, wherein the fault location includes at least a first fault location, a second fault location, a third fault location, and a fourth fault location, each representing a different fault location; the switch position includes at least a first switch position, a second switch position, and a third switch position, each representing a different position where the switch is 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 the rules for fault-tolerant control of 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, a fault-tolerant control strategy for the vehicle is determined, including: in response to the fault location being a first fault location or a second fault location, determining a first fault-tolerant control strategy; in response to the fault location being a third fault location and the switch position being a first switch position, determining 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 location being a third fault location and the switch position being a second switch position or a third switch position, determining a first fault-tolerant control strategy; in response to the fault location being a fourth fault location and the switch position being a third switch position, determining a second fault-tolerant control strategy; and in response to the fault location being a fourth fault location and the switch position being a first switch position or a second switch position, determining a first fault-tolerant control strategy.

[0008] Optionally, before performing fault-tolerant control on the vehicle according to the fault-tolerant control strategy, the method further includes: in response to the fault-tolerant control strategy being a first fault-tolerant control strategy, determining the vehicle's voltage data based on the fault location and switch position, wherein the voltage data is used to indicate the voltage range of the vehicle's inverter, and the voltage data includes at least a first target voltage data, a second target voltage data, a third target voltage data, a fourth target voltage data, and a 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 a first fault-tolerant control strategy, the vehicle voltage data is determined based on the fault location and the switch position, including: in response to the fault location being a first fault location and the switch position being a first switch position, the voltage data is determined as a first target voltage data; in response to the fault location being a first fault location and the switch position being a second switch position or a third switch position, the voltage data is determined as a second target voltage data.

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

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

[0012] According to another aspect of the present invention, a fault-tolerant control device for a vehicle is also provided. The device may include: an acquisition unit, configured to acquire the fault location of the vehicle's inverter and the switch position before the inverter fault occurred, wherein the fault location includes at least a first fault location, a second fault location, a third fault location, and a fourth fault location, each representing a different fault location; and the switch position includes at least a first switch position, a second switch position, and a third switch position, each representing a different position where the switch is in an open state; a determination unit, configured to determine a fault-tolerant control strategy for the vehicle based on the fault location and the switch position, wherein the fault-tolerant control strategy indicates rules for performing fault-tolerant control on the vehicle; and a control unit, configured to perform fault-tolerant control on the vehicle according to the fault-tolerant control strategy.

[0013] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is run by a processor, it controls the device where the storage medium is located to execute the fault-tolerant control method for a vehicle according to the present invention.

[0014] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program executes the fault-tolerant control method for vehicles according to the embodiments of the present invention.

[0015] According to another aspect of the present invention, a vehicle is also provided. This vehicle is used to execute the fault-tolerant control method for vehicles according to the embodiments of the present invention.

[0016] In this embodiment of the invention, the fault location of the vehicle's inverter and the switch position before the inverter fault are obtained; based on the fault location and switch position, a fault-tolerant control strategy for 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 subjected to fault-tolerant control according to the fault-tolerant control strategy. That is, in this embodiment of the invention, the fault-tolerant control strategy for the vehicle is determined based on the location of the vehicle's inverter fault and the switch position at the moment before the inverter fault, and the vehicle is controlled according to the fault-tolerant control strategy. Since this invention can adopt different fault-tolerant methods for different open-circuit fault conditions, the first fault-tolerant control strategy can make fault tolerance more stable. Considering the phase voltage switching problem, the second fault-tolerant strategy is combined to improve 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. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

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

[0019] Figure 2 This is a flowchart of a PMSM fault-tolerant control method for a multilevel inverter according to an embodiment of the present invention;

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

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

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

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, functional component, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such 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 in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0026] Figure 1 This is a flowchart 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: Obtain the fault location of the vehicle's inverter and the switch position before the inverter malfunctioned.

[0028] In the technical solution provided by step S101 of the present invention, the fault location includes at least a first fault location, a second fault location, a third fault location, and a fourth fault location. The first fault location, the second fault location, the third fault location, and the fourth fault location represent different fault locations. The switch location includes at least a first switch location, a second switch location, and a third switch location. The first switch location, the second switch location, and the third switch location represent different positions where the switch is in the open state.

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

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

[0031] Optionally, by obtaining the fault location of the vehicle's inverter and the switching position before the inverter fault occurred, the purpose of comprehensively obtaining vehicle fault information can be achieved. This avoids the problem that if the phase voltage jump limit of the multi-level inverter is not taken into account, the switching device may be easily damaged by the excessive instantaneous voltage when the phase voltage jump is too large.

[0032] Step S102: Determine the vehicle's fault-tolerant control strategy based on the fault location and switch position.

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

[0034] In this embodiment, after obtaining the fault location of the vehicle's inverter and the switch position before the inverter fault occurred in step S101, the fault-tolerant control strategy of the vehicle is determined based on the fault location and the switch position.

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

[0036] For example, when a single-phase upper pipe open circuit fault or a single-phase lower pipe open circuit fault is detected, the vehicle's fault-tolerant control strategy can be determined as the first fault-tolerant control path.

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

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

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

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

[0041] Optionally, 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.

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

[0043] Optionally, 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 can be determined as the first fault-tolerant control strategy.

[0044] For example, when a single-phase open-circuit fault is detected and the previous switch position of that phase was either the two middle tubes of the single phase were in the open state or the two upper tubes of the single phase were in the open state, that is, when the switch state of that phase is "0" or "1", the fault-tolerant control strategy can be determined as the first fault-tolerant control path.

[0045] Optionally, the first fault-tolerant control strategy can be to use the selectable voltage vector as the candidate voltage vector for the model prediction fault-tolerant control algorithm, select the optimal vector combination according to the principle of vector synthesis and minimizing the cost function, and send 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 differential equations of the d-axis stator current and q-axis stator current based on 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 Let i represent the dq-axis components of the stator voltage, respectively. d i q Represent the dq-axis components of the stator current, R s ψ represents the resistance of the stator. f ω represents the flux linkage of a permanent magnet. e L represents electric angular velocity. sThis represents the stator inductance. Assuming that each variable is sampled at time k (the current time), the predicted current model of the PMSM is obtained according to the discrete differential formula, as shown in formula (2) below:

[0049] (2)

[0050] Among them, T s This is a fixed sampling period set according to actual operational requirements. It utilizes the voltage vector u corresponding to the inverter's switching state at the previous moment. d (k), u q (k) and the current prediction model perform a one-beat delay compensation on the sampled current at the current moment, and the compensated current is used as the initial current condition for predicting the current at the next moment. Substitute the candidate voltage vector set of the first voltage vector into the aforementioned formula (2) to obtain the corresponding current prediction values, and then substitute them into the value function formula (3) of the first voltage vector below. Finally, select the voltage vector that minimizes the value function g1 as the first voltage vector u. ʼ :

[0051] (3)

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

[0053] (4)

[0054] in, , The currents flowing through the two capacitors of the three-level inverter when the first voltage vector is applied are expressed as shown in the following formula (5):

[0055] (5)

[0056] When G is in state "1", that is, when both switches on the upper bridge arm are turned on, x =1, other states G x =0; When it is in state "-1", that is, when the two switches of the lower bridge arm are turned on, H x =1, other states H x =0. Based on formulas (1) and (2), the predicted current model for the next moment is shown in formula (6) below:

[0057] (6)

[0058] in, and The first voltage vector is respectively The dq axis components; and The second voltage vectors are respectively The dq-axis components; t1 and t2 are the first voltage vectors respectively. Second voltage vector The duration of action. 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] Where λ2 is the weighting coefficient for selecting the midpoint potential balance in the second voltage vector control, and λ1>λ2; , These are the voltages across the two capacitors of the inverter at the next moment corresponding to the second voltage vector, and their expressions are shown in the following formula (8):

[0061] (8)

[0062] Among them, i ʼʼ c1 (k), i ʼʼ c2 (k) represents the current flowing through the two capacitors of the three-level inverter when the second voltage vector is applied. The calculation is similar to the aforementioned 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 current of the non-faulty phase, 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 that phase is 0, and the currents of the other two non-faulty phases are equal in magnitude and opposite in direction; taking phase a open circuit 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 a three-phase motor can be expressed by the following formula (11):

[0068] (11)

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

[0070] (12)

[0071] To avoid i s The problem of power transistor damage due to excessive current change caused by positive and negative commutation near (π / 2 + Kπ) is addressed by dividing the angle region as follows: θ0 = 0; θ1 = the angle corresponding to the first limit Imax; θ2 = π / 2; θ3 = the angle corresponding to the second limit Imin; θ4 = 2π - θ3; θ5 = 3π / 2; θ6 = 2π - θ1; ​​for i s The partition is redefined as follows: 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 The motor is used as a reference for fault-tolerant control.

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

[0073] In the technical solution provided by 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 in accordance with the fault-tolerant control strategy.

[0074] In this embodiment, the vehicle is subjected to fault-tolerant control according to the vehicle's fault-tolerant control strategy. Different fault-tolerant methods are adopted for different open-circuit fault conditions, which can achieve better fault-tolerant stability while making the phase voltage transient smaller.

[0075] It should be noted that the above embodiments can be executed through the vehicle's fault-tolerant control device.

[0076] In steps S101 to S103 of the present invention, the fault-tolerant control strategy of the vehicle is determined based on the location of the vehicle inverter failure and the switching position of the inverter at the moment before the failure. The vehicle is then 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 improve the fault tolerance 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.

[0077] The method described in this embodiment will be further described below.

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

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

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

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

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

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

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

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

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

[0088] (13)

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

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

[0091] As an optional embodiment, in response to a first fault-tolerant control strategy, the vehicle voltage data is determined based on the fault location and the switch position, including: in response to a second fault location and a third switch position, determining the voltage data as a first target voltage data; in response to a second fault location and a first switch position, determining the voltage data as a second target voltage data; and in response to a second fault location and a second switch position, determining the voltage data as a third target voltage data.

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

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

[0094] As an optional embodiment, in response to the fault-tolerant control strategy being a 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 a third fault location and the switch position being a second switch position or a third switch position, the voltage data is determined as a fourth target voltage data; in response to the fault location being a fourth fault location and the switch position being a first switch position or a second switch position, the voltage data is determined as a fifth target voltage data.

[0095] In this embodiment, when the fault location is the third fault location and the switch position is the second or 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 being "1" and "0" removed.

[0096] For example, when a single-phase open-circuit fault is detected and the previous switch state of that phase was "0", the voltage vectors corresponding to the switch states of "1" and "0" for that phase are removed; when a single-phase open-circuit fault is detected and the previous switch state of that phase was "-1", the voltage vectors corresponding to the switch states of "1" and "0" for that phase are removed.

[0097] Optionally, when the fault location is the fourth fault location and the switch position is the first switch position or the second switch position, the voltage data is determined as the fifth target voltage data. The fifth target voltage data can be the voltage vector excluding the voltage vectors corresponding to the switch states of that phase being "-1" and "0".

[0098] For example, when a single-phase open-circuit fault is detected and the previous switch state of that phase was "0", the voltage vectors corresponding to the switch states of "-1" and "0" for that phase are removed; when a single-phase open-circuit fault is detected and the previous switch state of that phase was "1", the voltage vectors corresponding to the switch states of "-1" and "0" for that phase are removed.

[0099] It should be noted that the above embodiments can be executed through the vehicle's fault-tolerant control device.

[0100] In this embodiment, the vehicle's fault-tolerant control strategy is determined based on the location of the inverter failure and the switching position of the inverter just before the failure. The vehicle is then controlled according to the fault-tolerant control strategy. Since this 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 improve the vehicle's fault tolerance 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 solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0102] Currently, as new energy vehicles gradually develop towards high voltage and large capacity, traditional two-level inverters will no longer meet actual needs. Three-level inverters, with their lower harmonic distortion and higher efficiency, will have a greater competitive advantage in future automotive applications. Meanwhile, because power switching transistors in electric drive control systems are prone to damage due to harsh operating conditions or external interference, this can lead to motor phase loss, thereby reducing vehicle safety performance.

[0103] In related technologies, to address the issue of motor phase loss caused by power switch failure, hardware redundancy and software fault-tolerant control methods are commonly employed. Hardware redundancy control achieves fault tolerance by adding backup redundant devices, but this method is costly. Alternatively, software fault tolerance is used to achieve fault-tolerant control under inverter open-circuit faults, but this method does not consider factors such as phase voltage jump limitations in multi-level inverters, nor does it address phase voltage switching issues, resulting in unstable fault tolerance and low fault tolerance coverage in the vehicle. Therefore, there is a technical problem of low fault-tolerant control stability in vehicles. Currently, no effective solution has been proposed to address this technical problem of low fault-tolerant control stability in vehicles.

[0104] However, this invention proposes a fault-tolerant control method for a Permanent Magnet Synchronous Motor (PMSM). By obtaining the fault location, different fault-tolerant control algorithms are adopted according to the different fault transistor locations. When the first fault-tolerant control path is used, the selectable voltage vector range of the control algorithm is determined based on the inverter switching state at the previous moment. Using the first fault-tolerant control path can make fault tolerance more stable. At the same time, considering the phase voltage switching problem, the second fault-tolerant path is combined to improve the vehicle's fault tolerance 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 will be further described below.

[0106] Figure 2 This is a flowchart of a PMSM fault-tolerant control method for a multilevel inverter according to an embodiment of the present invention, such as... Figure 2 As shown, the method includes the following steps:

[0107] Step S201: Obtain sampling information.

[0108] In this embodiment, sampling information, including the PMSM rotor position θ and the voltages V of the two DC-side capacitors, is acquired through a sampling circuit. 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: Determine the location of the faulty tube and the switching status of the phase changer at the previous moment.

[0110] In this embodiment, the location of the fault tube and the switching state of the phase change at the previous moment are determined based on the sampling information obtained in step S201.

[0111] Step S203: Should the first fault-tolerant path be executed?

[0112] In this embodiment, based on the location of the fault tube and the switching state of the phase changer at the previous moment, it is determined whether to execute the first fault-tolerant path. 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 previous phase switch state was "1", a switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, in combination with the aforementioned formula (13), the voltage vectors corresponding to the phase switch state of "-1" and "1" are removed; when a single-phase upper tube open circuit fault is detected and the previous phase switch state was "0", a switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, in combination with the aforementioned formula (13), the voltage vector 2 corresponding to the phase switch state of "1" is removed; when a single-phase upper tube open circuit fault is detected and the previous phase switch state was "-1", a switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, in combination with the aforementioned formula (13), the voltage vector corresponding to the phase switch state of "1" is removed;

[0114] Optionally, when a single-phase open-circuit fault is detected and the previous switch state of that phase was "-1", a switching algorithm instruction is triggered to execute the first fault-tolerant control path. At the same time, in conjunction with the aforementioned formula (13), the voltage vectors corresponding to the switch states of "-1" and "1" are removed. When a single-phase open-circuit fault is detected and the previous switch state of that phase was "0", a switching algorithm instruction is triggered to execute the first fault-tolerant control path. At the same time, in conjunction with the aforementioned formula (13), the voltage vectors corresponding to the switch state of "-1" are removed. When a single-phase open-circuit fault is detected and the previous switch state of that phase was "1", a switching algorithm instruction is triggered to execute the first fault-tolerant control path. At the same time, in conjunction with the aforementioned formula (13), the voltage vectors corresponding to the switch state of "1" are removed.

[0115] Optionally, when a single-phase open-circuit fault is detected and the previous switch state of that phase was "1", a switching algorithm instruction is triggered to switch the second fault-tolerant control path; when a single-phase open-circuit fault is detected and the previous switch state of that phase was "0", a switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, in conjunction with the aforementioned formula (13), the voltage vectors corresponding to the switch states of "1" and "0" of that phase are removed; when a single-phase open-circuit fault is detected and the previous switch state of that phase was "-1", a switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, in conjunction with the aforementioned formula (13), the voltage vectors corresponding to the switch states of "1" and "0" of that phase are removed.

[0116] Optionally, when a single-phase open-circuit fault is detected and the previous switch state of that phase was "-1", a switching algorithm instruction is triggered to switch the second fault-tolerant control path; when a single-phase open-circuit fault is detected and the previous switch state of that phase was "0", a switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, in conjunction with the aforementioned formula (13), the voltage vectors corresponding to the switch states of that phase being "-1" and "0" are removed; when a single-phase open-circuit fault is detected and the previous switch state of that phase was "1", a switching algorithm instruction is triggered to execute the first fault-tolerant control path, and at the same time, in conjunction with the aforementioned formula (13), the voltage vectors corresponding to the switch states of that phase being "-1" and "0" are removed.

[0117] Step S204: Trigger the instruction to switch the first fault-tolerant path of the 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: Simplify the alternative voltage vectors.

[0120] In this embodiment, the simplified alternative voltage vector can be based on the aforementioned formulas (1) to (8), which will not be repeated here.

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

[0122] In this embodiment, the first fault-tolerant control path is executed based on the calculation results of the algorithm.

[0123] Step S207 triggers the instruction to switch the second fault-tolerant path of the 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: Divide the location area.

[0126] In this embodiment, the location area can be divided according to the aforementioned formulas (9) to (12), which will not be repeated here.

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

[0128] In this embodiment, a second fault-tolerant control path is executed based on the algorithm's calculation results.

[0129] Step S210: Control the permanent magnet synchronous motor.

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

[0131] Figure 3This is a schematic diagram of an NPC-type three-level inverter topology according to an embodiment of the present invention, as shown below. 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 considered "P" and the state is "1", i.e., "Sa=1"; when the two switches Sa2 and Sa3 of the middle arm are turned on, the output voltage is 0, which is considered "O" and the state is "0", i.e., "Sa=0"; when the two switches Sa3 and Sa4 of the lower arm are turned on, the output voltage is -Vdc / 2, which is considered "N" and the state is "-1", i.e., "Sa=-1".

[0132] Optionally, Figure 4 This is a schematic diagram of the 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 switching state table of the NPC-type three-level inverter. Taking phase a as an example, the single-phase bridge arm switching state table of the NPC-type three-level inverter is shown in Table 1. Since each phase bridge arm has three switching states, there are a total of 27 switching states for the three-phase bridge arms. The corresponding NPC-type three-level inverter space voltage vector diagram is shown below. 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, which serve as candidate voltage vectors for predictive current control of the permanent magnet synchronous motor model.

[0133] Table 1. Single-phase bridge arm switch status table for NPC type three-level inverter

[0134]

[0135] Optionally, to avoid inverter phase voltage jumps, the aforementioned formula (13) can be used for processing, which will not be elaborated 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 selectable voltage vector range of the control algorithm is determined according to the inverter switching state at the previous moment. Adopting 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 improve the vehicle's fault tolerance 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 embodiments of the present invention, a fault-tolerant control device for a vehicle is also provided. It should be noted that this fault-tolerant control device for a vehicle can be used to execute the fault-tolerant control method for a vehicle in the method embodiments.

[0138] Figure 5 This is a 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] The acquisition unit 501 is used to acquire the fault location of the inverter of the vehicle and the switch position before the inverter malfunctioned. The fault location includes at least a first fault location, a second fault location, a third fault location, and a fourth fault location, which represent different fault locations. The switch position includes at least a first switch position, a second switch position, and a third switch position, which represent different positions where the switch is in the open state.

[0140] The determining unit 502 is used to determine the 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 the rules for fault-tolerant control of the vehicle.

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

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

[0143] Optionally, the determining unit 502 may further include: a sixth determining module, used to determine the vehicle's voltage data 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 vehicle's inverter, and the voltage data includes at least a first target voltage data, a second target voltage data, a third target voltage data, a fourth target voltage data, and a 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 determining unit may include: a seventh determining module, configured to determine the voltage data as a first target voltage data in response to the fault location being a first fault location and the switch position being a first switch position; and an eighth determining module, configured to determine the voltage data as a second target voltage data in response to the fault location being a first fault location and the switch position being a second switch position or a third switch position.

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

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

[0147] In this embodiment, the vehicle's fault-tolerant control strategy is determined based on the location of the inverter failure and the switching position of the inverter just before the failure. The vehicle is then controlled according to the fault-tolerant control strategy. Since this 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 improve the vehicle's fault tolerance 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 also provided, the storage medium including a stored program, wherein the program executes a fault-tolerant control method for a vehicle in an embodiment of the method.

[0149] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program executes the fault-tolerant control method for a vehicle in the method embodiment during runtime.

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

[0151] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0152] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0153] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

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

[0155] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0156] If the integrated unit is implemented as 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. This computer software functional component is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0157] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A fault-tolerant control method for a vehicle, characterized in that, include: The system obtains the fault location of the vehicle's inverter and the switch position of the inverter before the fault occurred. The fault location includes at least a first fault location, a second fault location, a third fault location, and a fourth fault location, each representing a different fault location. The switch position includes at least a first switch position, a second switch position, and a third switch position, each representing a different position where the switch is in the open state. Based on the fault location and the switch position, a fault-tolerant control strategy for the vehicle is determined, wherein the fault-tolerant control strategy is used to indicate the rules for fault-tolerant control of the vehicle. The vehicle is subjected to fault-tolerant control in accordance with the aforementioned fault-tolerant control strategy; The method for determining a fault-tolerant control strategy for the vehicle based on the fault location and the switch position includes: determining a first fault-tolerant control strategy in response to the fault location being either the first fault location or the second fault location; determining a 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; determining the first fault-tolerant control strategy in response to the fault location being the third fault location and the switch position being either the second switch position or the third switch position; determining 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; and determining the first fault-tolerant control strategy in response to the fault location being the fourth fault location and the switch position being either the first switch position or the second switch position. 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, 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 a first target voltage data, a second target voltage data, a third target voltage data, a fourth target voltage data, and a fifth target voltage data, wherein 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.

2. The method according to claim 1, characterized in that, In response to the fault-tolerant control strategy being a 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, the voltage data is determined 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, the voltage data is determined to be the second target voltage data.

3. The method according to claim 1, characterized in that, In response to the fault-tolerant control strategy being a 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 second fault location and the switch position being the third switch position, the voltage data is determined to be the first target voltage data; In response to the fault location being the second fault location and the switch position being the first switch position, the voltage data is determined to be the second target voltage data; In response to the fault location being the second fault location and the switch position being the second switch position, the voltage data is determined to be the third target voltage data.

4. The method according to claim 1, characterized in that, In response to the fault-tolerant control strategy being a 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 either the second switch position or the third switch position, the voltage data is determined 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, the voltage data is determined to be the fifth target voltage data.

5. A fault-tolerant control device for a vehicle, characterized in that, include: The acquisition unit is used to acquire the fault location of the inverter of the vehicle and the switch position of the inverter before the fault occurred. The fault location includes at least a first fault location, a second fault location, a third fault location, and a fourth fault location, and the first fault location, the second fault location, the third fault location, and the fourth fault location represent different fault locations. 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 where the switch is in the open state. A determining unit is configured to determine 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 the rules for fault-tolerant control of the vehicle. A control unit is configured to perform fault-tolerant control on the vehicle in accordance with the fault-tolerant control strategy. The determining unit is further configured to perform the following steps: in response to the fault location being the first fault location or the second fault location, determining the fault-tolerant control strategy as a 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 as 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 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 as 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 as 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 as the first fault-tolerant control strategy. The vehicle's fault-tolerant control device is further configured to perform the following steps: in response to the fault-tolerant control strategy being the first fault-tolerant control strategy, determining the vehicle's voltage data based on the fault location and the switch position, wherein the voltage data is used to indicate the voltage range of the vehicle's inverter, and the voltage data includes at least a first target voltage data, a second target voltage data, a third target voltage data, a fourth target voltage data, and a fifth target voltage data, wherein 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.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein when the program is run by a processor, it controls the device in which the storage medium is located to perform the method of any one of claims 1 to 4.

7. 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 4 when it runs.

8. A vehicle, characterized in that, The vehicle is used to perform the method according to any one of claims 1 to 4.

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