Control device of redundant drive motor and control method thereof

Abstract

The invention provides a control device and a control method of a redundant drive motor, the motor is used for carrying out collision unlocking of a vehicle, the control device comprises a controller, a main power source, a switching circuit, a first relay, a second relay, a standby power source and the motor, and the components are sequentially connected to form a main power source drive loop of the motor. When the main power supply is normal, the controller controls power-on or power-off of the main power supply driving loop through the switching circuit so as to drive the motor to rotate or stop rotating, and when the main power supply breaks down and vehicle collision occurs, the controller controls the movable contacts of the first relay and the second relay to be connected with the normally-open static contacts so as to form a standby power supply driving loop of the motor. And the standby power supply drives the motor to rotate. According to the invention, the problem of electricity mixing when the two power supplies drive the same load at the same time is effectively avoided, an original controller does not need to be changed, and the modification cost and the test verification workload of a circuit board are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and in particular to a control device and a control method for a redundant drive motor. Background Art

[0002] Currently, many models on the market have automatic locking and hidden door handles. During driving, the doors will automatically lock and the door handles will retract. When a collision occurs, the doors need to be automatically unlocked and the hidden door handles need to pop open to facilitate the rescue of people in the car. However, when a serious collision occurs, the power supply circuit of the controller that controls the door locks and hidden door handles may fail, such as a power supply circuit break, which will cause the automatic unlocking function and the door handle automatic pop-up function to fail.

[0003] In response to this, some car models increase the unlocking success rate by adding a backup power supply to drive the door lock or door handle lock, but two power supplies driving the same load may cause cross-current problems. The usual design is to add an anti-reverse circuit in the power supply loop driven by each power supply, but adding an anti-reverse circuit will cause the controller of the original door lock or door handle lock to be changed, and the circuit board (PCB) needs to be redesigned and related testing and verification work needs to be added. Summary of the invention

[0004] The purpose of the present application is to propose a control device and a control method for a redundant drive motor to solve the problem of cross-current caused by two power supplies driving the same load, while not causing changes to the controller of the original door lock or door handle lock.

[0005] To achieve the above-mentioned purpose, according to a first aspect of the present application, a control device for a redundant drive motor is provided, comprising a controller, a main power supply, a switch circuit, a first relay, a second relay, a backup power supply and a motor; the main power supply, the switch circuit, the first relay, the second relay and the motor are connected in sequence, and the backup power supply is connected to the first relay and the second relay; the first relay and the second relay are both provided with a moving contact, a normally closed static contact and a normally open static contact;

[0006] When the main power supply is normal, the moving contacts of the first relay and the second relay are connected to their normally closed static contacts, and the main power supply, the switch circuit, the first relay, the second relay and the motor form a main power supply drive circuit of the motor. At this time, the controller is used to control the main power supply drive circuit to be powered on or off through the switch circuit;

[0007] When the main power supply fails and a vehicle collision occurs, the controller is used to control the moving contacts of the first relay and the second relay to be connected to their normally open static contacts. At this time, the backup power supply, the first relay, the second relay and the motor form a backup power supply drive circuit for the motor and are energized.

[0008] As the same inventive concept, according to the first aspect of the present application, a control method for a redundant drive motor is proposed. The method is implemented based on the above control device, and the method includes:

[0009] When the main power supply is normal, the controller responds to the motor drive request and controls the main power drive circuit to be powered on or off through the switch circuit, so as to drive the motor to rotate or stop rotating through the main power drive circuit;

[0010] When the main power supply fails and a vehicle collision occurs, the controller controls the moving contacts of the first relay and the second relay to be connected to their normally open static contacts. At this time, the backup power supply drive circuit is energized to drive the motor to rotate through the backup power supply drive circuit.

[0011] The embodiments of the present application have the following beneficial effects:

[0012] The embodiments of the present application adopt a redundant power supply design of a main power supply and a backup power supply to ensure that when the main power supply fails and a vehicle collision occurs, the backup power supply can provide working power to the motor to ensure the execution of the unlocking function when the vehicle crashes. The motor can be a door lock motor, a door handle motor, etc., to achieve door unlocking and door handle pop-up. The embodiments of the present application also effectively avoid the problem of cross-current that may occur when two power supplies are supplied at the same time by using a relay with a moving contact, a normally closed static contact, and a normally open static contact, thereby ensuring the stability and safety of the circuit. At the same time, there is no need to change the original controller, reducing the modification cost of the circuit board and the workload of testing and verification. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required in the description of 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.

[0014] Figure 1 This is a circuit diagram of a control device for a redundant drive motor in an embodiment of the present application.

[0015] Figure 2 This is a circuit diagram of a control device for a redundant drive motor in another embodiment of the present application. DETAILED DESCRIPTION

[0016] The detailed description of the drawings is intended as an illustration of the current embodiment of the present application, and is not intended to represent the only form in which the present application can be implemented. It should be understood that the same or equivalent functions can be accomplished by different embodiments intended to be included in the spirit and scope of the present application.

[0017] See also Figure 1 An embodiment of the present application provides a control device for a redundant drive motor, which can be applied to the motor drive control of various emergency safety functions after a vehicle collision, such as the motor drive control of a vehicle door lock, a hidden door handle, etc. The control device of this embodiment includes a controller, a main power supply, a switch circuit, a first relay J1, a second relay J2, a backup power supply and a motor; the main power supply, the switch circuit, the first relay J1, the second relay J2 are connected to the motor in sequence, and the backup power supply is connected to the first relay J1 and the second relay J2; the first relay J1 and the second relay J2 are both provided with a moving contact, a normally closed static contact and a normally open static contact; the backup power supply can be a supercapacitor.

[0018] Specifically, the moving contact is a movable part in the relay, which can move according to whether the relay coil is energized. When the relay coil is energized, the magnetic field generated will attract the moving contact, causing it to move from one position to another, thereby connecting or disconnecting the circuit. The movement of the moving contact is driven by the electromagnetic force of the relay coil. When the relay coil is not energized, the moving contact is connected to the normally closed contact, that is, the first circuit of the relay is closed. When the relay coil is energized, the moving contact will be disconnected from the normally closed contact, and the moving contact will move from its original position and contact the normally open contact, that is, the first circuit of the relay is disconnected and the second circuit is closed.

[0019] When the main power supply is normal, the moving contacts of the first relay J1 and the second relay J2 are connected to their normally closed static contacts, and the main power supply, the switching circuit, the first relay J1, the second relay J2 and the motor form a main power supply drive circuit of the motor. At this time, the controller is used to control the power on or off of the main power supply drive circuit through the switching circuit.

[0020] Specifically, when the main power drive circuit is powered on, the motor rotates, and when the main power drive circuit is powered off, the motor stops rotating. Furthermore, the current flow direction of the main power drive circuit can be controlled by designing the switch circuit. The first current flow direction is that the current flows from the positive pole of the motor to the negative pole, and the second current flow direction is that the current flows from the negative pole of the motor to the positive pole. When the circuits of the two different current flows are turned on, the motor can rotate in different directions, i.e., forward and reverse. It should be noted that the basic function of the switch circuit is to control the flow direction of the current. The specific circuit design can take many forms, such as a switch circuit composed of a relay, or a switch circuit composed of a switch tube. The selection of which switch circuit depends on the specific application requirements, cost considerations, and performance requirements. The device of this embodiment is not limited to a certain form.

[0021] When the main power supply fails and a vehicle collision occurs, the controller is used to control the moving contacts of the first relay J1 and the second relay J2 to be connected to their normally open static contacts. At this time, the backup power supply, the first relay J1, the second relay J2 and the motor form a backup power supply drive circuit for the motor and are energized.

[0022] Specifically, when the main power supply fails and a vehicle collision occurs, operations such as unlocking the vehicle door lock and extending the hidden door handle need to be performed. At this time, due to the failure of the main power supply, the backup power supply takes over to provide power for the above functions. The controller will output a level signal to separate the moving contacts of the first relay J1 and the second relay J2 from their normally closed static contacts and connect them to their normally open static contacts. At this time, a backup power supply drive circuit is formed and energized. It should be noted that when the moving contacts of the first relay J1 and the second relay J2 are connected to their normally open static contacts, the backup power supply drive circuit is energized, and the electric energy is provided by the backup power supply. The motor rotates immediately to achieve operations such as unlocking the vehicle door lock or extending the hidden door handle.

[0023] Based on the above description, it can be seen that the device of this embodiment adopts a redundant power supply design of a main power supply and a backup power supply to ensure that when the main power supply fails and a vehicle collision occurs, the backup power supply can provide working power to the motor to ensure the execution of unlocking functions during a vehicle collision, such as door unlocking and door handle popping out. And by using a relay with a moving contact, a normally closed static contact, and a normally open static contact, the problem of cross-current electricity that may occur when two power supplies are supplied at the same time is effectively avoided, ensuring the stability and safety of the circuit. At the same time, there is no need to change the original controller, reducing the modification cost of the circuit board and the workload of test verification.

[0024] In some embodiments, the first relay J1 and the second relay J2 are both provided with coils;

[0025] One end of the coil of the first relay J1 is connected to the positive electrode of the backup power supply, and the other end is connected to the controller; the normally open static contact of the first relay J1 is connected to the negative electrode of the backup power supply, the moving contact of the first relay J1 is connected to the negative electrode of the motor, and the normally closed static contact of the first relay J1 is connected to the switch circuit;

[0026] One end of the coil of the second relay J2 is connected to the positive pole of the backup power supply, and the other end is connected to the controller; the normally open static contact of the second relay J2 is connected to the positive pole of the backup power supply, the moving contact of the second relay J2 is connected to the positive pole of the motor, and the normally closed static contact of the second relay J2 is connected to the switching circuit.

[0027] Specifically, when the main power fails and a vehicle collision occurs, the controller sends a level signal to activate the coils of the first relay J1 and the second relay J2, so that after the coils of the first relay J1 and the second relay J2 are energized, a magnetic attraction force is generated to attract their moving contacts to move, separate from their normally closed static contacts, and connect to their normally open static contacts; and the normally open static contact of the first relay J1 is connected to the negative pole of the backup power supply, the moving contact of the first relay J1 is connected to the negative pole of the motor, the normally open static contact of the second relay J2 is connected to the positive pole of the backup power supply, and the moving contact of the second relay J2 is connected to the positive pole of the motor, so that the backup power supply, the first relay J1, the second relay J2 and the motor form a loop and are energized, and the motor rotates in a preset direction to perform a safety function, such as unlocking the door, or extending a hidden door handle. When the safety function is completed or the controller detects that the motor is no longer needed, the controller disconnects the current of the relay coil, and the first relay J1 and the second relay J2 return to their initial state, and the motor stops rotating.

[0028] In some embodiments, see Figure 2 , the switch circuit includes a first switch tube T1, a second switch tube T2, a third switch tube T3 and a fourth switch tube T4;

[0029] The first ends of the first switch tube T1, the second switch tube T2, the third switch tube T3 and the fourth switch tube T4 are connected to the controller;

[0030] The second end of the first switch tube T1 is connected to the positive electrode of the main power supply, the third end of the first switch tube T1 is connected to the second end of the second switch tube T2, and the third end of the second switch tube T2 is connected to the negative electrode of the main power supply; the second end of the second switch tube T2 is also connected to the normally closed static contact of the first relay J1;

[0031] The second end of the third switch tube T3 is connected to the positive electrode of the main power supply, the third end of the third switch tube T3 is connected to the second end of the fourth switch tube T4, and the third end of the fourth switch tube T4 is connected to the negative electrode of the main power supply; the second end of the fourth switch tube T4 is also connected to the normally closed static contact of the first relay J1.

[0032] Specifically, the switch circuit of this embodiment can be composed of four switch tubes, and the working principle is as follows:

[0033] The controller sends a signal to turn on the first switch tube T1 and the fourth switch tube T4. The conduction of the first switch tube T1 connects the positive electrode of the main power supply to the negative electrode of the motor. The conduction of the fourth switch tube T4 connects the negative electrode of the main power supply to the positive electrode of the motor. Since the second switch tube T2 and the third switch tube T3 are not turned on at this time, the second switch tube T2 and the third switch tube T3 do not affect the operation of the motor. The current flows out from the positive electrode of the main power supply, passes through the first switch tube T1, the first relay J1, the negative electrode of the motor, the positive electrode of the motor, the second relay J2, the fourth switch tube T4 and the negative electrode of the main power supply in sequence, and the motor reverses.

[0034] The controller sends a signal to turn on the second switch tube T2 and the third switch tube T3. The turning on of the third switch tube T3 connects the positive electrode of the main power supply to the positive electrode of the motor. The turning on of the second switch tube T2 connects the negative electrode of the main power supply to the negative electrode of the motor. Since the first switch tube T1 and the fourth switch tube T4 are not turned on at this time, the first switch tube T1 and the fourth switch tube T4 do not affect the operation of the motor. The current flows out from the positive electrode of the main power supply, passes through the third switch tube T3, the second relay J2, the positive electrode of the motor, the negative electrode of the motor, the first relay J1, the second switch tube T2 and the negative electrode of the main power supply in sequence, and the motor rotates forward.

[0035] The controller does not send any signal, all switches are in the off state, and since there is no current passing through the motor, the motor stops rotating.

[0036] It should be noted that when the main power fails, the coil of the first relay J1 will not be energized, and its normally closed static contact will remain connected. At this time, even if the controller tries to control the motor through the switch circuit, the motor will not rotate due to the failure of the main power. In this case, if a vehicle collision occurs, the emergency drive module composed of the backup power supply and relay will take over the drive of the motor to ensure that the motor can rotate in the preset direction in an emergency.

[0037] Based on the above content, the controller of the device in this embodiment can accurately control the rotation direction and state of the motor, while ensuring that the main power supply is used to drive the motor when the main power supply is normal, and the backup power supply is used to drive the motor when the main power supply fails, thereby improving the flexibility and reliability of the system.

[0038] In some embodiments, the first switch tube T1 , the second switch tube T2 , the third switch tube T3 and the fourth switch tube T4 are one of a bipolar junction transistor (BJT), a MOS tube (MOSFET) and a thyristor (SCR).

[0039] In some embodiments, the motor is used to drive a door lock or a hidden door handle.

[0040] Specifically, when the motor is used to drive the door lock, the motor drives the lock core through rotation or linear motion to achieve the locking or unlocking function. The motor can use a stepper motor or a DC motor to drive the lock core through gears, belts or directly.

[0041] When the motor drives the hidden door handle to move, the door handle automatically pops out when the user approaches the door; when the door is closed, the door handle automatically retracts to keep the door clean and tidy. The motor can use a small DC motor or a stepper motor because of its small size and high control accuracy. A linear drive or a micro gearbox can be used to achieve linear or rotational motion of the handle.

[0042] Another embodiment of the present application provides a control method for a redundant drive motor, the method is implemented based on the control device described in the above embodiment, and the method includes:

[0043] Step S10, when the main power supply is normal, the controller responds to the motor drive request and controls the main power drive circuit to be powered on or off through the switch circuit, so as to drive the motor to rotate or stop rotating through the main power drive circuit;

[0044] Specifically, the motor drive request is, for example, a request from a vehicle door lock system or a hidden door handle system, requesting to drive the door lock to lock or unlock, or requesting the hidden door handle to extend or retract. The technical details of the controller controlling the power on or off of the main power drive circuit through the switch circuit have been described in detail in the control device of the above embodiment. Therefore, the specific technical details of step S10 can be obtained by referring to the contents of the control device of the above embodiment, and will not be repeated in this embodiment.

[0045] Step S20, when the main power fails and a vehicle collision occurs, the controller controls the moving contacts of the first relay J1 and the second relay J2 to be connected to their normally open static contacts. At this time, the backup power drive circuit is energized to drive the motor to rotate through the backup power drive circuit.

[0046] Specifically, when a vehicle collision occurs, it is necessary to urgently unlock the door lock and extend the hidden door handle. The vehicle collision signal can be used as a motor drive request. After receiving the motor drive request, the controller controls the door lock to be unlocked and the hidden door handle to be extended. If the main power supply is normal at this time, step S10 is executed. If the main power supply fails at this time and the backup power supply is required to provide the required power for the operation, the controller controls the moving contacts of the first relay J1 and the second relay J2 to be connected to their normally open static contacts. At this time, the backup power supply drive circuit is energized to drive the motor to rotate in a preset direction, thereby unlocking the door lock and extending the hidden door handle.

[0047] In some embodiments, step S20 includes:

[0048] When the main power fails and a vehicle collision occurs, the controller controls the moving contacts of the first relay J1 and the second relay J2 to be connected to their normally open static contacts for a preset time, and then restore the connection with their normally closed static contacts, so as to drive the motor to rotate for a preset time through the main power drive circuit, and drive the door lock to unlock or the hidden door handle to extend.

[0049] Specifically, the preset time is determined by the motor's own characteristics and the object to be driven. When the motor is used to drive the door lock to unlock, the preset time can be set to 250 milliseconds. When the motor is used to drive the hidden door handle to extend, the preset time can be set to 500 milliseconds.

[0050] In some embodiments, the switch circuit includes a first switch tube T1, a second switch tube T2, a third switch tube T3 and a fourth switch tube T4; the first ends of the first switch tube T1, the second switch tube T2, the third switch tube T3 and the fourth switch tube T4 are connected to the controller; the second end of the first switch tube T1 is connected to the positive electrode of the main power supply, the third end of the first switch tube T1 is connected to the second end of the second switch tube T2, and the third end of the second switch tube T2 is connected to the negative electrode of the main power supply; the second end of the second switch tube T2 is also connected to the normally closed static contact of the first relay J1; the second end of the third switch tube T3 is connected to the positive electrode of the main power supply, the third end of the third switch tube T3 is connected to the second end of the fourth switch tube T4, and the third end of the fourth switch tube T4 is connected to the negative electrode of the main power supply; the second end of the fourth switch tube T4 is also connected to the normally closed static contact of the first relay J1;

[0051] The step S10 comprises:

[0052] The controller controls the first switch tube T1 and the fourth switch tube T4 to be turned on, and the second switch tube T2 and the third switch tube T3 to be turned off, so as to drive the motor to reverse direction through the main power drive circuit;

[0053] Specifically, the controller sends a signal to turn on the first switch tube T1 and the fourth switch tube T4. The turning on of the first switch tube T1 connects the positive electrode of the main power supply to the negative electrode of the motor. The turning on of the fourth switch tube T4 connects the negative electrode of the main power supply to the positive electrode of the motor. Since the second switch tube T2 and the third switch tube T3 are not turned on at this time, the second switch tube T2 and the third switch tube T3 do not affect the operation of the motor. The current flows out from the positive electrode of the main power supply and passes through the first switch tube T1, the first relay J1, the negative electrode of the motor, the positive electrode of the motor, the second relay J2, the fourth switch tube T4 and the negative electrode of the main power supply in sequence.

[0054] The controller controls the first switch tube T1 and the fourth switch tube T4 to be turned off, and the second switch tube T2 and the third switch tube T3 to be turned on, so as to drive the motor to rotate forward through the main power drive circuit;

[0055] Specifically, the controller sends a signal to turn on the second switch tube T2 and the third switch tube T3. The turning on of the third switch tube T3 connects the positive electrode of the main power supply to the positive electrode of the motor. The turning on of the second switch tube T2 connects the negative electrode of the main power supply to the negative electrode of the motor. Since the first switch tube T1 and the fourth switch tube T4 are not turned on at this time, the first switch tube T1 and the fourth switch tube T4 do not affect the operation of the motor. The current flows out from the positive electrode of the main power supply and passes through the third switch tube T3, the second relay J2, the positive electrode of the motor, the negative electrode of the motor, the first relay J1, the second switch tube T2 and the negative electrode of the main power supply in sequence to achieve forward rotation of the motor.

[0056] In step S10 of this embodiment, the door lock can be unlocked or the hidden door handle can be extended by controlling the motor to reverse, which specifically includes:

[0057] When the main power supply is normal, the controller controls the first switch tube T1 and the fourth switch tube T4 to be turned on for a preset time and then turned off, and the second switch tube T2 and the third switch tube T3 to be turned off, so as to achieve driving the motor to reverse for a preset time through the main power supply drive circuit;

[0058] Specifically, the preset time is determined by the motor's own characteristics and the object to be driven. When the motor is used to drive the door lock to unlock, the preset time can be set to 250 milliseconds. When the motor is used to drive the hidden door handle to extend, the preset time can be set to 500 milliseconds.

[0059] In step S10 of this embodiment, the door lock can be unlocked or the hidden door handle can be extended by controlling the motor to rotate forward, which specifically includes:

[0060] When the main power supply is normal, the controller controls the first switch tube T1 and the fourth switch tube T4 to be turned off, and the second switch tube T2 and the third switch tube T3 to be turned on for a preset time and then turned off, so as to achieve driving the motor to rotate forward for a preset time through the main power supply drive circuit;

[0061] Specifically, the preset time is determined by the motor's own characteristics and the object to be driven. When the motor is used to drive the door lock to unlock, the preset time can be set to 250 milliseconds. When the motor is used to drive the hidden door handle to extend, the preset time can be set to 500 milliseconds.

[0062] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A control device for a redundant drive motor, characterized in that: It includes a controller, a main power supply, a switch circuit, a first relay, a second relay, a backup power supply and a motor; the main power supply, the switch circuit, the first relay, the second relay and the motor are connected in sequence, and the backup power supply is connected to the first relay and the second relay; the first relay and the second relay are both provided with a moving contact, a normally closed static contact and a normally open static contact; When the main power supply is normal, the moving contacts of the first relay and the second relay are connected to their normally closed static contacts, and the main power supply, the switch circuit, the first relay, the second relay and the motor form a main power supply drive circuit of the motor. At this time, the controller is used to control the main power supply drive circuit to be powered on or off through the switch circuit; When the main power supply fails and a vehicle collision occurs, the controller is used to control the moving contacts of the first relay and the second relay to be connected to their normally open static contacts. At this time, the backup power supply, the first relay, the second relay and the motor form a backup power supply drive circuit for the motor and are energized.

2. The control device according to claim 1, characterized in that: The first relay and the second relay are both provided with a coil; One end of the coil of the first relay is connected to the positive electrode of the backup power supply, and the other end is connected to the controller; the normally open static contact of the first relay is connected to the negative electrode of the backup power supply, the moving contact of the first relay is connected to the negative electrode of the motor, and the normally closed static contact of the first relay is connected to the switch circuit; One end of the coil of the second relay is connected to the positive pole of the backup power supply, and the other end is connected to the controller; the normally open static contact of the second relay is connected to the positive pole of the backup power supply, the moving contact of the second relay is connected to the positive pole of the motor, and the normally closed static contact of the second relay is connected to the switching circuit.

3. The control device according to claim 1, characterized in that: The switch circuit includes a first switch tube, a second switch tube, a third switch tube and a fourth switch tube; The first ends of the first switch tube, the second switch tube, the third switch tube and the fourth switch tube are connected to the controller; The second end of the first switch tube is connected to the positive electrode of the main power supply, the third end of the first switch tube is connected to the second end of the second switch tube, and the third end of the second switch tube is connected to the negative electrode of the main power supply; the second end of the second switch tube is also connected to the normally closed static contact of the first relay; The second end of the third switch tube is connected to the positive electrode of the main power supply, the third end of the third switch tube is connected to the second end of the fourth switch tube, and the third end of the fourth switch tube is connected to the negative electrode of the main power supply; the second end of the fourth switch tube is also connected to the normally closed static contact of the first relay.

4. The control device according to claim 3, characterized in that: The first switch tube, the second switch tube, the third switch tube and the fourth switch tube are one of a triode, a MOS tube and a thyristor.

5. The control device according to claim 1, characterized in that: The motor is used to drive the door lock or the hidden door handle.

6. A control method for a redundant drive motor, the method being implemented based on the control device according to any one of claims 1 to 5, the method comprising: When the main power supply is normal, the controller responds to the motor drive request and controls the main power drive circuit to be powered on or off through the switch circuit, so as to drive the motor to rotate or stop rotating through the main power drive circuit; When the main power supply fails and a vehicle collision occurs, the controller controls the moving contacts of the first relay and the second relay to be connected to their normally open static contacts. At this time, the backup power supply drive circuit is energized to drive the motor to rotate through the backup power supply drive circuit.

7. The control method according to claim 6, characterized in that: The method further comprises: When the main power supply fails and a vehicle collision occurs, the controller controls the moving contacts of the first relay and the second relay to be connected to their normally open static contacts for a preset time, and then restore the connection with their normally closed static contacts, so as to drive the motor to rotate for a preset time through the main power supply drive circuit.

8. The control method according to claim 6, characterized in that: The switch circuit includes a first switch tube, a second switch tube, a third switch tube and a fourth switch tube; the first ends of the first switch tube, the second switch tube, the third switch tube and the fourth switch tube are connected to the controller; the second end of the first switch tube is connected to the positive electrode of the main power supply, the third end of the first switch tube is connected to the second end of the second switch tube, and the third end of the second switch tube is connected to the negative electrode of the main power supply; the second end of the second switch tube is also connected to the normally closed static contact of the first relay; the second end of the third switch tube is connected to the positive electrode of the main power supply, the third end of the third switch tube is connected to the second end of the fourth switch tube, and the third end of the fourth switch tube is connected to the negative electrode of the main power supply; the second end of the fourth switch tube is also connected to the normally closed static contact of the first relay; The method further comprises: The controller controls the first switch tube and the fourth switch tube to be turned on and the second switch tube and the third switch tube to be turned off, so as to drive the motor to reverse direction through the main power drive circuit; The controller controls the first switch tube and the fourth switch tube to be turned off and the second switch tube and the third switch tube to be turned on, so as to drive the motor to rotate forward through the main power drive circuit.

9. The control method according to claim 8, characterized in that: The method further comprises: When the main power supply is normal, the controller controls the first switch tube and the fourth switch tube to be turned on for a preset time and then turned off, and the second switch tube and the third switch tube to be turned off, so as to achieve driving the motor to reverse for a preset time through the main power supply drive circuit.

10. The control method according to claim 8, characterized in that: The method further comprises: When the main power supply is normal, the controller controls the first switch tube and the fourth switch tube to be turned off, and the second switch tube and the third switch tube to be turned on for a preset time and then turned off, so as to drive the motor to rotate forward for a preset time through the main power supply drive circuit.

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