Method, device and equipment for motor controller to obtain DC power supply voltage and medium

Abstract

The invention discloses a method, device and equipment for a motor controller to obtain DC power supply voltage and a medium. The method for the motor controller to obtain the DC power supply voltage comprises the following steps: respectively obtaining first reference DC power supply voltage collected by a target sampling circuit and second reference DC power supply voltage collected by a battery management system; and determining a trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage. The reliability of the obtained credible direct-current power supply voltage is improved, and a foundation is laid for downstream control of a motor controller.

Description

Technical Field

[0001] The present application relates to the technical field of a motor controller obtaining a DC power supply voltage, and in particular to a method, device, equipment and medium for a motor controller to obtain a DC power supply voltage. Background Art

[0002] New energy vehicles usually refer to electric vehicles, which are mainly powered by the electricity stored in the power battery, and have the advantages of zero pollution and zero emissions. Electric vehicles use high-voltage power battery packs as power sources, and their output DC voltage is usually high, providing power for high-voltage electrical equipment such as motors and their controllers (that is, the power battery pack is equivalent to a DC power supply).

[0003] The motor controller needs to accurately control the motor's speed, torque and other operating parameters according to the driver's operating instructions, such as acceleration, deceleration, and braking, to achieve smooth acceleration, deceleration and efficient operation of the vehicle. The DC power supply voltage is an important factor affecting the motor control accuracy, so it is crucial to obtain a stable and reliable DC power supply voltage.

[0004] In view of this, this application is hereby filed. Summary of the invention

[0005] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or critical elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0006] The present application provides a method, device, equipment and medium for a motor controller to obtain a DC power supply voltage, which has the beneficial effects of improving the reliability of the obtained trusted DC power supply voltage and laying a foundation for the downstream control of the motor controller.

[0007] In a first aspect, the present application provides a method for a motor controller to obtain a DC power supply voltage, comprising the following steps:

[0008] Respectively acquiring a first reference DC power supply voltage acquired by a target sampling circuit and a second reference DC power supply voltage acquired by a battery management system;

[0009] A trusted DC power supply voltage is determined according to the first reference DC power supply voltage and the second reference DC power supply voltage.

[0010] Further, the step of respectively acquiring a first reference DC power supply voltage acquired by a target sampling circuit and a second reference DC power supply voltage acquired by a battery management system includes:

[0011] Acquire, through the vehicle communication bus, a first message reported by the target sampling circuit and a second message reported by the battery management system;

[0012] The first reference DC power supply voltage is obtained from the first message, and the second reference DC power supply voltage is obtained from the second message.

[0013] Further, determining the trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage includes:

[0014] Determining whether the first reference DC power supply voltage meets a set condition;

[0015] In response to the first reference DC power supply voltage meeting a set condition, a trusted DC power supply voltage is determined according to the first reference DC power supply voltage and / or the second reference DC power supply voltage.

[0016] Further, in response to the first reference DC power supply voltage not meeting a set condition, the second reference DC power supply voltage is determined as the trusted DC power supply voltage.

[0017] Further, in response to the first reference DC power supply voltage meeting a set condition, determining a trusted DC power supply voltage according to the first reference DC power supply voltage and / or the second reference DC power supply voltage includes:

[0018] In response to the first reference DC power supply voltage meeting a set condition, the first reference DC power supply voltage is determined as the trusted DC power supply voltage; or, the second reference DC power supply voltage is determined as the trusted DC power supply voltage; or, the trusted DC power supply voltage is determined based on the first reference DC power supply voltage and the second reference DC power supply voltage.

[0019] Further, determining the trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage includes:

[0020] Determine an average value of the first reference DC power supply voltage and the second reference DC power supply voltage as the trusted DC power supply voltage;

[0021] Alternatively, a first product of the first reference DC power supply voltage and a first weight is calculated, and a second product of the second reference DC power supply voltage and a second weight is calculated, and the sum of the first product and the second product is determined as the trusted DC power supply voltage.

[0022] Further, the determining whether the first reference DC power supply voltage meets a set condition includes:

[0023] In response to a difference between a message timestamp of the first reference DC power supply voltage and a message timestamp of an adjacent previous first reference DC power supply voltage being within a first range, and the first reference DC power supply voltage being within a second range, determining that the first reference DC power supply voltage meets a set condition;

[0024] In response to the difference between the message timestamp of the first reference DC power supply voltage and the message timestamp of the adjacent previous first reference DC power supply voltage being not within the first range, or the first reference DC power supply voltage being not within the second range, it is determined that the first reference DC power supply voltage does not meet the set condition.

[0025] In a second aspect, the present application further provides a device for a motor controller to obtain a DC power supply voltage, comprising:

[0026] An acquisition module, used to respectively acquire a first reference DC power supply voltage acquired by a target sampling circuit and a second reference DC power supply voltage acquired by a battery management system;

[0027] A determination module is used to determine a trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage.

[0028] In a third aspect, the present application further provides an electronic device, the electronic device comprising:

[0029] one or more processors;

[0030] A storage device for storing one or more programs;

[0031] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for the motor controller to obtain the DC power supply voltage as described above.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for the motor controller to obtain a DC power supply voltage as described above.

[0033] The method for obtaining a DC power supply voltage by a motor controller disclosed in the present application is achieved by respectively obtaining a first reference DC power supply voltage collected by a target sampling circuit and a second reference DC power supply voltage collected by a battery management system; and then determining a trusted DC power supply voltage based on the first reference DC power supply voltage and the second reference DC power supply voltage. Compared with obtaining the DC power supply voltage in only one way, the DC power supply voltage is obtained in two different ways in the present application, which can make the reliability of the ultimately determined trusted DC power supply voltage higher and more accurate. Therefore, the reliability of the obtained trusted DC power supply voltage is improved, laying a foundation for the downstream control of the motor controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A schematic flow chart of a method for a motor controller to obtain a DC power supply voltage provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the structure of a device for obtaining a DC power supply voltage by a motor controller provided in an embodiment of the present application;

[0037] Figure 3 It is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0039] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0040] Electric vehicles use high-voltage power battery packs as their power source, and their output DC voltage is usually high, providing electrical energy for high-voltage electrical equipment such as motors and their controllers (i.e., the power battery pack is equivalent to a DC power supply).

[0041] The motor controller needs to accurately control the motor's speed, torque and other operating parameters according to the driver's operating instructions, such as acceleration, deceleration, and braking, to achieve smooth acceleration, deceleration and efficient operation of the vehicle. The DC power supply voltage is an important factor affecting the motor control accuracy, so it is crucial to obtain a stable and reliable DC power supply voltage.

[0042] Generally, the motor controller collects the DC bus voltage (equivalent to the DC power supply voltage) through a hardware sampling circuit. However, when a fault occurs in this sampling circuit, such as the sampling circuit being stuck, the sampling circuit being damaged, or being affected by electromagnetic interference, the collected DC bus voltage will be inaccurate, which will cause the motor controller to report a fault, resulting in the risk of vehicle shutdown or performance degradation.

[0043] Specifically, when the sampling circuit is stuck at a low level, the detected bus voltage will be lower than the actual voltage, the motor controller will be in a faulty state, and the vehicle will not be able to work. When the sampling circuit is stuck at a high level, the detected bus voltage will be higher than the actual voltage, and the actual working capacity of the motor controller will be weaker than the required working capacity, which will lead to reduced vehicle performance and affect driving performance. When the sampling circuit fails or is subject to electromagnetic interference, the detected bus voltage may be unstable and the voltage fluctuation amplitude may be large, resulting in abnormal motor output torque, which in turn affects driving safety.

[0044] Therefore, it is crucial to obtain a reliable DC power supply voltage stably.

[0045] Figure 1 This is a flow chart of a method for a motor controller to obtain a DC power supply voltage proposed in this application, which is applicable to obtaining a DC power supply voltage of a new energy vehicle. Specifically, the method for a motor controller to obtain a DC power supply voltage can be performed by a device for a motor controller to obtain a DC power supply voltage, which can be implemented in the form of software and / or hardware and can be integrated in a vehicle controller.

[0046] like Figure 1 As shown, the method for the motor controller to obtain the DC power supply voltage includes the following steps:

[0047] S110, respectively acquiring a first reference DC power supply voltage acquired by a target sampling circuit and a second reference DC power supply voltage acquired by a battery management system.

[0048] Exemplarily, a first message reported by the target sampling circuit and a second message reported by the battery management system are obtained through a vehicle communication bus; the first reference DC power supply voltage is obtained from the first message, and the second reference DC power supply voltage is obtained from the second message.

[0049] It is understandable that the DC power supply voltage is constantly changing as the vehicle travels, and therefore, the first reference DC power supply voltage and the second reference DC power supply voltage respectively obtained in step S110 are DC power supply voltages detected and obtained in two different ways at the same time.

[0050] Furthermore, the first message and the second message at the same time may be determined by the timestamp of the first message and the timestamp of the second message, thereby obtaining the first reference DC power supply voltage and the second reference DC power supply voltage at the same time.

[0051] Among them, the target sampling circuit may randomly fail (for example, suddenly stuck at a low level or a high level) or be subject to electromagnetic interference, etc. In this case, the DC power supply voltage collected by the target sampling circuit is inaccurate, or unreliable. If the inaccurate DC power supply voltage is transmitted to the functional module of the controller, the controller will make an erroneous control strategy, thereby affecting the driving performance of the vehicle. Therefore, it is necessary to set a redundant detection method to deal with the situation where the collected DC power supply voltage is inaccurate due to sudden conditions such as failure or interference of the target sampling circuit. In this embodiment, the first reference DC power supply voltage collected by the target sampling circuit and the second reference DC power supply voltage collected by the battery management system are obtained at the same time. When the first reference DC power supply voltage collected by the target sampling circuit is inaccurate, the second reference DC power supply voltage collected by the battery management system can be used instead, thereby dealing with the situation where the collected DC power supply voltage is inaccurate due to sudden conditions such as failure or interference of the target sampling circuit, and achieving the purpose of improving the reliability and accuracy of DC power supply voltage detection.

[0052] In some embodiments, the battery management system may collect the second reference DC power supply voltage through other sampling circuits different from the target sampling circuit, or may also detect the DC power supply voltage (i.e., the output voltage of the battery pack) through other methods (such as isolation detection method, sensor detection method, etc.).

[0053] S120: Determine a trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage.

[0054] In general, when the first reference DC power supply voltage is abnormal, the second reference DC power supply voltage is used as a trusted DC power supply voltage; when the first reference DC power supply voltage is normal, the first reference DC power supply voltage or the second reference DC power supply voltage is used as a trusted DC power supply voltage, that is, any one of the first reference DC power supply voltage and the second reference DC power supply voltage is used as a trusted DC power supply voltage.

[0055] Exemplarily, determining the trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage includes:

[0056] Determining whether the first reference DC power supply voltage meets a set condition;

[0057] In response to the first reference DC power supply voltage meeting a set condition, a trusted DC power supply voltage is determined according to the first reference DC power supply voltage and / or the second reference DC power supply voltage.

[0058] Further, in response to the first reference DC power supply voltage not meeting a set condition, the second reference DC power supply voltage is determined as the trusted DC power supply voltage.

[0059] In some embodiments, in response to the first reference DC power supply voltage meeting a set condition, determining a trusted DC power supply voltage according to the first reference DC power supply voltage and / or the second reference DC power supply voltage includes:

[0060] In response to the first reference DC power supply voltage meeting a set condition, the first reference DC power supply voltage is determined as the trusted DC power supply voltage; or, the second reference DC power supply voltage is determined as the trusted DC power supply voltage; or, the trusted DC power supply voltage is determined based on the first reference DC power supply voltage and the second reference DC power supply voltage.

[0061] Further, determining the trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage includes:

[0062] The average value of the first reference DC power supply voltage and the second reference DC power supply voltage is determined as the trusted DC power supply voltage; or, a first product of the first reference DC power supply voltage and a first weight is calculated, and a second product of the second reference DC power supply voltage and a second weight is calculated, and the sum of the first product and the second product is determined as the trusted DC power supply voltage.

[0063] Optionally, different weights can be set for the target sampling circuit and the battery management system according to their working performance. For example, if the voltage value collected by the target sampling circuit is more accurate in most cases, the first weight can be set to be larger and the second weight can be set to be smaller. If the voltage value collected by the battery management system is more accurate in most cases, the first weight can be set to be smaller and the second weight can be set to be larger. Determining the trusted DC power supply voltage by weighted summation can further improve the robustness of the DC power supply voltage.

[0064] In some implementations, determining whether the first reference DC power supply voltage meets a set condition includes:

[0065] In response to the difference between the message timestamp of the first reference DC power supply voltage and the message timestamp of the adjacent previous first reference DC power supply voltage being within the first range, and the first reference DC power supply voltage being within the second range, it is determined that the first reference DC power supply voltage meets the set conditions; in response to the difference between the message timestamp of the first reference DC power supply voltage and the message timestamp of the adjacent previous first reference DC power supply voltage not being within the first range, or the first reference DC power supply voltage not being within the second range, it is determined that the first reference DC power supply voltage does not meet the set conditions.

[0066] Among them, the purpose of limiting the difference between the message timestamp of the first reference DC power supply voltage and the message timestamp of the adjacent previous first reference DC power supply voltage to be within the first range is to ensure the continuity of the message carrying the first reference DC power supply voltage, avoid communication delays caused by communication failures, and thus affect the real-time nature of the data. By limiting the first reference DC power supply voltage to be within the second range, large fluctuations in the first reference DC power supply voltage can be avoided, thereby ensuring the detection stability of the power supply voltage. The second range can be determined based on the value of the adjacent previous first reference DC power supply voltage. For example, if the value of the adjacent previous first reference DC power supply voltage is 250v, the second range can be set to (245, 255). If the current first reference DC power supply voltage falls within the second range, it is considered that the first reference DC power supply voltage has not undergone large fluctuations and is credible.

[0067] The method for obtaining a DC power supply voltage by a motor controller disclosed in an embodiment of the present application is achieved by respectively obtaining a first reference DC power supply voltage collected by a target sampling circuit and a second reference DC power supply voltage collected by a battery management system; and then determining a trusted DC power supply voltage based on the first reference DC power supply voltage and the second reference DC power supply voltage. Compared with obtaining the DC power supply voltage in only one way, the DC power supply voltage is obtained in two different ways in the present application, which can make the reliability of the ultimately determined trusted DC power supply voltage higher and more accurate. Therefore, the reliability of the obtained trusted DC power supply voltage is improved, laying a foundation for the downstream control of the motor controller.

[0068] Figure 2 1 is a schematic diagram of a structure of a device for obtaining a DC power supply voltage for a motor controller provided in an embodiment of the present application, and the device can be integrated in a vehicle controller. Figure 2 As shown, the device includes: an acquisition module 210 and a determination module 220.

[0069] Among them, the acquisition module 210 is used to respectively acquire a first reference DC power supply voltage collected by a target sampling circuit and a second reference DC power supply voltage collected by a battery management system; the determination module 220 is used to determine a trusted DC power supply voltage based on the first reference DC power supply voltage and the second reference DC power supply voltage.

[0070] Furthermore, the acquisition module 210 is specifically used to: obtain a first message reported by the target sampling circuit and a second message reported by the battery management system through the vehicle communication bus; obtain the first reference DC power supply voltage from the first message, and obtain the second reference DC power supply voltage from the second message.

[0071] Furthermore, the determination module 220 includes: a first determination unit, used to determine whether the first reference DC power supply voltage meets the set conditions; a second determination unit, used to determine a trusted DC power supply voltage based on the first reference DC power supply voltage and / or the second reference DC power supply voltage in response to the first reference DC power supply voltage meeting the set conditions; in response to the first reference DC power supply voltage not meeting the set conditions, determine the second reference DC power supply voltage as the trusted DC power supply voltage.

[0072] Further, the second determination unit is specifically used to: in response to the first reference DC power supply voltage meeting the set condition, determine the first reference DC power supply voltage as the trusted DC power supply voltage; or determine the second reference DC power supply voltage as the trusted DC power supply voltage; or determine the trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage. Wherein, the determination of the trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage includes: determining the average value of the first reference DC power supply voltage and the second reference DC power supply voltage as the trusted DC power supply voltage; or calculating the first product of the first reference DC power supply voltage and the first weight, and calculating the second product of the second reference DC power supply voltage and the second weight, and determining the sum of the first product and the second product as the trusted DC power supply voltage.

[0073] Further, the first determination unit is specifically used to: determine that the first reference DC power supply voltage meets the set conditions in response to the difference between the message timestamp of the first reference DC power supply voltage and the message timestamp of the adjacent previous first reference DC power supply voltage being within the first range, and the first reference DC power supply voltage being within the second range; and determine that the first reference DC power supply voltage does not meet the set conditions in response to the difference between the message timestamp of the first reference DC power supply voltage and the message timestamp of the adjacent previous first reference DC power supply voltage not being within the first range, or the first reference DC power supply voltage not being within the second range.

[0074] The device for obtaining a DC power supply voltage from a motor controller disclosed in an embodiment of the present application obtains a first reference DC power supply voltage collected by a target sampling circuit and a second reference DC power supply voltage collected by a battery management system respectively; and then determines a trusted DC power supply voltage based on the first reference DC power supply voltage and the second reference DC power supply voltage. Compared with obtaining the DC power supply voltage in only one way, the DC power supply voltage is obtained in two different ways in the present application, which can make the reliability of the ultimately determined trusted DC power supply voltage higher and more accurate. Therefore, the reliability of the obtained trusted DC power supply voltage is improved, laying a foundation for the downstream control of the motor controller.

[0075] The device for obtaining DC power supply voltage by the motor controller provided in the embodiment of the present disclosure can execute the steps in the method for obtaining DC power supply voltage by the motor controller provided in the method embodiment of the present disclosure, and has the same execution steps and beneficial effects, which will not be repeated here.

[0076] Figure 3 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 3 , which shows a structural schematic diagram of an electronic device 500 suitable for implementing the embodiments of the present disclosure. Figure 3 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0077] like Figure 3As shown, the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage device 508 into a random access memory (RAM) to implement the method of the embodiment described in the present disclosure. In RAM503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, ROM 502, and RAM503 are connected to each other via a bus 504. An I / O interface 505 is also connected to the bus 504. An input device 506, an output device 507, a storage device 508, and a communication device 509 are all connected to the I / O interface 505.

[0078] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart, thereby implementing the method for the motor controller to obtain a DC power supply voltage as described above. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0079] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0080] The computer-readable medium may be included in the electronic device, or may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device executes the method steps in the present application.

[0081] Optionally, when the above one or more programs are executed by the electronic device, the electronic device may also execute other steps described in the above embodiments.

[0082] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0083] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0084] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the invention to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A method for a motor controller to obtain a DC power supply voltage, characterized in that: include: Respectively acquiring a first reference DC power supply voltage acquired by a target sampling circuit and a second reference DC power supply voltage acquired by a battery management system; A trusted DC power supply voltage is determined according to the first reference DC power supply voltage and the second reference DC power supply voltage.

2. The method for obtaining a DC power supply voltage by a motor controller according to claim 1, characterized in that: The method of respectively acquiring a first reference DC power supply voltage acquired by a target sampling circuit and a second reference DC power supply voltage acquired by a battery management system comprises: Acquire, through the vehicle communication bus, a first message reported by the target sampling circuit and a second message reported by the battery management system; The first reference DC power supply voltage is obtained from the first message, and the second reference DC power supply voltage is obtained from the second message.

3. The method for obtaining a DC power supply voltage by a motor controller according to claim 1, characterized in that: The step of determining a trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage includes: Determining whether the first reference DC power supply voltage meets a set condition; In response to the first reference DC power supply voltage meeting a set condition, a trusted DC power supply voltage is determined according to the first reference DC power supply voltage and / or the second reference DC power supply voltage.

4. The method for obtaining a DC power supply voltage by a motor controller according to claim 3, characterized in that: Also includes: In response to the first reference DC power supply voltage not meeting a set condition, the second reference DC power supply voltage is determined as the trusted DC power supply voltage.

5. The method for obtaining a DC power supply voltage by a motor controller according to claim 3, characterized in that: In response to the first reference DC power supply voltage meeting a set condition, determining a trusted DC power supply voltage according to the first reference DC power supply voltage and / or the second reference DC power supply voltage includes: In response to the first reference DC power supply voltage meeting a set condition, the first reference DC power supply voltage is determined as the trusted DC power supply voltage; or, the second reference DC power supply voltage is determined as the trusted DC power supply voltage; or, the trusted DC power supply voltage is determined based on the first reference DC power supply voltage and the second reference DC power supply voltage.

6. The method for obtaining a DC power supply voltage by a motor controller according to claim 5, characterized in that: The determining the trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage includes: Determine an average value of the first reference DC power supply voltage and the second reference DC power supply voltage as the trusted DC power supply voltage; Alternatively, a first product of the first reference DC power supply voltage and a first weight is calculated, and a second product of the second reference DC power supply voltage and a second weight is calculated, and the sum of the first product and the second product is determined as the trusted DC power supply voltage.

7. The method for obtaining a DC power supply voltage by a motor controller according to claim 3, characterized in that: The determining whether the first reference DC power supply voltage meets a set condition includes: In response to a difference between a message timestamp of the first reference DC power supply voltage and a message timestamp of an adjacent previous first reference DC power supply voltage being within a first range, and the first reference DC power supply voltage being within a second range, determining that the first reference DC power supply voltage meets a set condition; In response to the difference between the message timestamp of the first reference DC power supply voltage and the message timestamp of the adjacent previous first reference DC power supply voltage being not within the first range, or the first reference DC power supply voltage being not within the second range, it is determined that the first reference DC power supply voltage does not meet the set condition.

8. A device for obtaining a DC power supply voltage for a motor controller, characterized in that: include: An acquisition module, used to respectively acquire a first reference DC power supply voltage acquired by a target sampling circuit and a second reference DC power supply voltage acquired by a battery management system; A determination module is used to determine a trusted DC power supply voltage according to the first reference DC power supply voltage and the second reference DC power supply voltage.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for the motor controller to obtain a DC power supply voltage as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for obtaining a DC power supply voltage by a motor controller according to any one of claims 1 to 7 is implemented.

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