Motor control method, motor controller, motor control device and vehicle

Abstract

The invention discloses a motor control method, a motor controller, a motor control device and a vehicle, a motor is cooled through cooling liquid, and the method comprises the steps that the actual working current of the current motor, the actual duration corresponding to the actual working current and the inlet temperature of the cooling liquid are obtained; overload parameters of the motor are determined according to the inlet temperature, and the overload parameters comprise preset working current and preset duration time corresponding to the preset working current; and when the actual working current is the preset working current, performing overload control and / or overload protection on the motor according to the actual duration and the preset duration. According to the motor control method, overload protection can be carried out on the motor in time, the service life of the motor is guaranteed, the overload capacity of the motor can be brought into full play, the motor works in a high-efficiency area, and the economical efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a motor control method, a motor controller, a motor control device and a vehicle. Background Art

[0002] In the related art, when the temperature of the motor is different, its external output power is also different. If the temperature limit of the motor is exceeded, the higher the temperature of its body, the lower its external output power will be, and its overload capacity will be worse. If the overload protection of the motor is not timely, it may cause the motor temperature to rise too high. Excessive temperature rise is not conducive to its power output, and may cause the motor to overload, overheat, reduce or be damaged in insulation performance. In severe cases, the main drive motor will be demagnetized by high temperature, the winding will burn out, etc., affecting the service life of the motor; if the motor is overloaded before the overload protection value of the motor is reached, the motor cannot exert its stronger overload capacity, and the performance of the motor cannot be fully exerted and utilized. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first object of the present invention is to provide a motor control method that can timely protect the motor from overload, ensure the service life of the motor, and enable the motor to fully exert its overload capacity, so that the motor works in a high efficiency area and improves economic efficiency.

[0004] A second objective of the present invention is to provide a motor controller.

[0005] The third objective of the present invention is to provide a motor control device.

[0006] A fourth object of the present invention is to provide a vehicle.

[0007] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a motor control method, wherein the motor is cooled by a coolant, and the method comprises: obtaining the actual working current of the motor and the actual duration corresponding to the actual working current, and the inlet temperature of the coolant; determining the overload parameter of the motor according to the inlet temperature, wherein the overload parameter comprises a preset working current and a preset duration corresponding to the preset working current; when the actual working current is the preset working current, performing overload control and / or overload protection on the motor according to the actual duration and the preset duration.

[0008] According to the motor control method of the embodiment of the present invention, the actual working current of the current motor and the actual duration corresponding to the actual working current, as well as the inlet temperature of the coolant are first obtained, and then the preset working current of the motor and the preset duration corresponding to the preset working current are determined according to the inlet temperature, and when the actual working current is the preset working current, the motor is overload controlled and / or overload protected according to the actual duration and the preset duration. Thus, the method can timely perform overload protection on the motor, ensure the service life of the motor, and enable the motor to give full play to its overload capacity, so that the motor works in a high efficiency zone and improves economy.

[0009] In addition, the motor control method according to the above embodiment of the present invention may also have the following additional technical features:

[0010] According to an embodiment of the present invention, determining the overload parameter of the motor according to the inlet temperature includes: acquiring a temperature range corresponding to the inlet temperature; and determining the overload parameter according to the temperature range, wherein different temperature ranges correspond to different overload parameters.

[0011] According to an embodiment of the present invention, for the same temperature range, the larger the preset working current is, the shorter the corresponding preset duration is.

[0012] According to an embodiment of the present invention, for different temperature intervals, when the preset working current is the same, the higher the temperature interval, the shorter the corresponding preset duration.

[0013] According to an embodiment of the present invention, the preset working current is determined based on an external characteristic curve of the motor, and the preset duration is determined based on an overload capacity of the motor.

[0014] According to one embodiment of the present invention, the overload control and / or overload protection of the motor is performed based on the actual duration and the preset duration, including: reducing the actual working current of the motor when the actual duration reaches a preset time before the preset duration; and / or controlling the motor to operate at a reduced power and issuing an overload warning message when the actual duration reaches the preset duration.

[0015] According to one embodiment of the present invention, controlling the motor to operate at reduced power includes: reducing the output torque of the motor.

[0016] To achieve the above objectives, a second aspect of the present invention proposes a motor controller, comprising: a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the above motor control method is implemented.

[0017] The motor controller according to the embodiment of the present invention can timely perform overload protection on the motor through the above-mentioned motor control method to ensure the service life of the motor, and can make the motor give full play to its overload capacity, so that the motor works in a high efficiency area and improves economy.

[0018] To achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a motor control device, wherein the motor is cooled by a coolant, and the device includes: an acquisition module, used to obtain the actual working current of the motor and the actual duration corresponding to the actual working current, and the inlet temperature of the coolant; a determination module, used to determine the overload parameters of the motor according to the inlet temperature, wherein the overload parameters include a preset working current and a preset duration corresponding to the preset working current; a control module, used to perform overload control and / or overload protection on the motor according to the actual duration and the preset duration when the actual working current is the preset working current.

[0019] According to the motor control device of the embodiment of the present invention, the actual working current of the current motor and the actual duration corresponding to the actual working current, as well as the inlet temperature of the coolant are obtained through the acquisition module, and the preset working current of the motor and the preset duration corresponding to the preset working current are determined according to the inlet temperature through the determination module. When the actual working current is the preset working current, the control module performs overload control and / or overload protection on the motor according to the actual duration and the preset duration. Thus, the device can timely perform overload protection on the motor, ensure the service life of the motor, and enable the motor to give full play to its overload capacity, so that the motor works in a high efficiency zone and improves economy.

[0020] To achieve the above-mentioned purpose, a fourth aspect of the present invention provides a vehicle, comprising the above-mentioned motor controller, or the above-mentioned motor control device.

[0021] According to the vehicle of the embodiment of the present invention, the motor can be protected from overload in time through the above-mentioned motor controller or motor control device to ensure the service life of the motor, and the motor can give full play to its overload capacity, so that the motor can work in a high efficiency area and improve economy.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a motor control method according to an embodiment of the present invention;

[0024] Figure 2is a block diagram of a motor controller according to an embodiment of the present invention;

[0025] Figure 3 is a block diagram of a motor control device according to an embodiment of the present invention;

[0026] Figure 4 is a block diagram of a vehicle according to an embodiment of the present invention;

[0027] Figure 5 FIG. 4 is a block diagram of a vehicle according to another embodiment of the present invention. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0029] The motor control method, motor controller, motor control device and vehicle provided in the embodiments of the present invention are described below with reference to the accompanying drawings.

[0030] Figure 1 is a flow chart of a motor control method according to an embodiment of the present invention.

[0031] like Figure 1 As shown, in the motor control method of the embodiment of the present invention, the motor is cooled by a coolant, and the method may include the following steps:

[0032] S1, obtaining the actual working current of the current motor, the actual duration corresponding to the actual working current, and the inlet temperature of the coolant.

[0033] Specifically, the motor controller can detect the current value of the motor in the working state, obtain the actual working current of the motor, and count the running time of the motor with the actual working current to obtain the actual duration corresponding to the actual working current. The motor controller can obtain the inlet temperature of the coolant through a temperature sensor set at the coolant inlet.

[0034] S2, determining an overload parameter of the motor according to the inlet temperature, wherein the overload parameter includes a preset working current and a preset duration corresponding to the preset working current.

[0035] Among them, at each inlet temperature, there can be multiple preset working currents, each preset working current corresponds to a preset duration, and the preset duration refers to the time required for the motor system to reach thermal equilibrium. At the current coolant inlet temperature, when the motor works at the preset working current for the preset duration corresponding to the preset working current, the motor system reaches thermal equilibrium and the motor will be overloaded. At each inlet temperature, the preset working current of the motor and the preset duration corresponding to the preset working current can be obtained through simulation or testing, and the obtained data is made into a table and stored in the motor controller.

[0036] S3, when the actual working current is the preset working current, overload control and / or overload protection is performed on the motor according to the actual duration and the preset duration.

[0037] Specifically, after obtaining the actual working current of the motor, the motor controller looks up the table according to the inlet temperature and the actual working current to determine whether the actual working current is the preset working current. When the actual working current is the preset working current, the motor controller compares the actual duration with the preset duration corresponding to the preset working current. When the actual duration is less than the preset duration, that is, the time when the motor works at the preset working current has not reached the preset duration, in order to prevent the motor from overloading, the working current of the motor can be appropriately reduced to perform overload control; when the actual duration is greater than or equal to the preset duration, that is, the time when the motor works at the preset working current has reached the preset duration, the motor has been overloaded. In order to protect the motor, the motor needs to be overloaded. The motor controller can control the motor to reduce the output torque to limit the output power of the motor. In order to quickly protect the motor, when the time when the motor works at the preset working current has reached the preset duration, the motor controller can also control the motor to perform overload control while controlling the motor for overload protection, that is, the motor controller appropriately reduces the working current of the motor while controlling the motor to reduce the output torque.

[0038] Therefore, the motor control method of the embodiment of the present invention can timely perform overload protection on the motor, ensure the service life of the motor, and enable the motor to fully exert its overload capacity and fully utilize the performance of the motor. In addition, the working current is used as the control basis during the control process, which is more practical, economical and reliable.

[0039] According to an embodiment of the present invention, determining the overload parameter of the motor according to the inlet temperature includes: acquiring a temperature range corresponding to the inlet temperature; and determining the overload parameter according to the temperature range, wherein different temperature ranges correspond to different overload parameters.

[0040] Specifically, when the temperature of the motor is different, its external output power is also different. If it exceeds a certain temperature limit of the motor, the higher the temperature of its body, the lower its external output power will be, and its overload capacity will be worse. Therefore, the motor has different overload parameters corresponding to different temperature ranges. In one embodiment, when the inlet temperature of the coolant is higher than 55°C, due to the increase in cooling water temperature, the output power and overload capacity of the motor decrease, and the overload capacity and duration are correspondingly reduced. When the inlet temperature is lower than 55°C, the preset working current of the motor and the preset duration corresponding to the preset working current are shown in Table 1.

[0041] Table 1

[0042] Serial number Preset working current (A) Preset duration (min) 1 I0 90 2 1.1*I0 60 3 1.2*I0 30 4 1.3*I0 18 5 1.4*I0 12 6 1.5*I0 8 7 1.6*I0 5 8 1.7*I0 4 9 1.8*I0 3 10 1.9*I0 2 11 2.0*I0 1

[0043] Among them, I0 is the rated current of the motor. The specific meaning of Table 1 is: when the inlet temperature is lower than 55℃,

[0044] When the motor working current is the rated current I0, under normal circumstances, the motor can run at the rated current all the time. However, considering that in reality, the motor cannot run at a large load for a long time, if it runs at the rated current for more than 90 minutes continuously, the motor is overloaded.

[0045] When the motor operating current is 1.1*I0 and lasts for more than 60 minutes, the motor is overloaded;

[0046] When the motor operating current is 1.2*I0 and lasts for more than 30 minutes, the motor is overloaded;

[0047] When the motor operating current is 1.3*I0 and lasts for more than 18 minutes, the motor is overloaded;

[0048] When the motor operating current is 1.4*I0 and lasts for more than 12 minutes, the motor is overloaded;

[0049] When the motor operating current is 1.5*I0 and lasts for more than 8 minutes, the motor is overloaded;

[0050] When the motor operating current is 1.6*I0 and lasts for more than 5 minutes, the motor is overloaded;

[0051] When the motor operating current is 1.7*I0 and lasts for more than 4 minutes, the motor is overloaded;

[0052] When the motor operating current is 1.8*I0 and lasts for more than 3 minutes, the motor is overloaded;

[0053] When the motor operating current is 1.9*I0 and lasts for more than 2 minutes, the motor is overloaded;

[0054] When the motor operating current is 2.0*I0 and lasts for more than 1 minute, the motor is overloaded.

[0055] When the inlet temperature is lower than 55° C., the preset working current of the motor and the preset duration corresponding to the preset working current are shown in Table 2.

[0056] Table 2

[0057] Serial number Preset working current (A) Preset duration (min) 1 I0 60 2 1.1*I0 45 3 1.2*I0 25 4 1.3*I0 15 5 1.4*I0 10 6 1.5*I0 4 7 1.6*I0 3 8 1.7*I0 2 9 1.8*I0 1 10 1.9*I0 0.5 11 2.0*I0 0.1

[0058] Among them, the specific meaning of Table 2 is: when the inlet temperature is higher than 55℃,

[0059] When the motor working current is the rated current I0, due to the high cooling water temperature, if it runs at the rated current for a long time exceeding 60 minutes, the motor will be overloaded;

[0060] When the motor operating current is 1.1*I0 and lasts for more than 45 minutes, the motor is overloaded;

[0061] When the motor operating current is 1.2*I0 and lasts for more than 25 minutes, the motor is overloaded;

[0062] When the motor operating current is 1.3*I0 and lasts for more than 15 minutes, the motor is overloaded;

[0063] When the motor operating current is 1.4*I0 and lasts for more than 10 minutes, the motor is overloaded;

[0064] When the motor operating current is 1.5*I0 and lasts for more than 4 minutes, the motor is overloaded;

[0065] When the motor operating current is 1.6*I0 and lasts for more than 3 minutes, the motor is overloaded;

[0066] When the motor operating current is 1.7*I0 and lasts for more than 2 minutes, the motor is overloaded;

[0067] When the motor operating current is 1.8*I0 and lasts for more than 1 minute, the motor is overloaded;

[0068] When the motor operating current is 1.9*I0 and lasts for more than 0.5min, the motor is overloaded;

[0069] When the motor operating current is 2.0*I0 and lasts for more than 0.1min, the motor is overloaded.

[0070] It should be noted that the above example divides the temperature into two intervals at 55°C. It can also be divided into N temperature intervals according to different temperature gradients, and controlled by N preset working currents and preset durations. The principle is the same and will not be repeated here.

[0071] According to an embodiment of the present invention, for the same temperature range, the larger the preset working current is, the shorter the corresponding preset duration is.

[0072] For example, referring to Table 1, when the inlet temperature is in a temperature range below 55°C, when the preset working current is 1.1*I0, the corresponding preset duration is 60 minutes; when the preset working current is 1.2*I0, the corresponding preset duration is 30 minutes, that is, in the same temperature range, the larger the preset working current, the shorter the corresponding preset duration. Similarly, Table 2 also shows the same trend.

[0073] According to an embodiment of the present invention, for different temperature intervals, when the preset working current is the same, the higher the temperature interval, the shorter the corresponding preset duration.

[0074] For example, referring to Table 1 and Table 2, when the preset working current is 1.1*I0, the preset duration corresponding to the temperature range below 55°C is 60 minutes, and the preset duration corresponding to the temperature range above 55°C is 45 minutes, that is, the higher the temperature range, the shorter the corresponding preset duration.

[0075] According to an embodiment of the present invention, the preset working current is determined based on an external characteristic curve of the motor, and the preset duration is determined based on the overload capacity of the motor.

[0076] Specifically, the specific value of the preset working current needs to be determined based on the external characteristics of the motor. The external characteristic curve of the motor, i.e., the MAP diagram, is tested under different temperature ranges. According to the MAP diagram, the overload point is selected on the edge of the overload curve. The current value of the preset working current is converted based on the torque value at the overload point, and the preset duration is obtained by simulation or testing based on the time required for the motor system to reach thermal equilibrium (motor overload capacity).

[0077] According to one embodiment of the present invention, overload control and / or overload protection is performed on the motor according to the actual duration and the preset duration, including: reducing the actual working current of the motor when the actual duration reaches a preset time before the preset duration; and / or, when the actual duration reaches the preset duration, controlling the motor to reduce power and issuing an overload reminder message. The preset time can be calibrated according to actual conditions.

[0078] Further, according to an embodiment of the present invention, controlling the motor to operate at reduced power includes: reducing the output torque of the motor.

[0079] Specifically, when the actual working current is the preset working current, the motor controller compares the actual duration with the preset duration corresponding to the preset working current. When the actual duration is less than the preset duration, that is, the time when the motor works at the preset working current has not reached the preset duration, the actual working current of the motor can be reduced when the actual duration reaches the preset duration and the remaining preset time, so as to perform overload control. Taking Table 1 as an example, when the actual working current of the motor is 1.4*I0, the corresponding preset duration is 12min, and when the actual duration of the motor running at the working current of 1.4*I0 reaches 11min56s, that is, the preset time is 4s, the actual working current of the motor is controlled to be reduced by one level, that is, reduced to 1.3*I0, and so on. Therefore, by overload control of the motor, the motor can be controlled not to trigger the overload protection while exerting the overload capacity of the motor as much as possible.

[0080] When the actual duration is greater than or equal to the preset duration, that is, when the motor has been working at the preset working current for a preset duration, the motor has been overloaded. In order to protect the motor, the motor needs to be overloaded. The motor controller can control the motor to reduce the output torque to limit the output power of the motor and issue a reminder message of motor overload. Continuing with Table 1 as an example, when the actual working current of the motor is 1.4*I0, the corresponding preset duration is 12min. When the actual duration of the motor running at the working current of 1.4*I0 exceeds 12min, the motor controller can control the motor to reduce the output torque, so that the output power of the motor is rapidly reduced by 50%. After the output torque of the motor is reduced, the speed of the motor will gradually decrease, and the speed of the motor will not change suddenly, thereby ensuring the safety of the motor. For example, when the motor is the main drive motor of an electric vehicle, the main drive motor is overloaded, the main drive motor is controlled to reduce the power, and the output torque of the main drive motor is reduced. In the process after the torque is reduced, the speed of the main drive motor will gradually decrease, thereby preventing the speed of the main drive motor from changing suddenly, and then preventing the speed of the whole vehicle from changing suddenly, thereby ensuring the driving safety of the whole vehicle.

[0081] Furthermore, in order to quickly protect the motor, when the motor has been working at a preset working current for a preset duration, the motor controller can control the motor to perform overload control while controlling the motor to perform overload protection, that is, the motor controller appropriately reduces the working current of the motor while controlling the motor to reduce the output torque. In this way, the motor can be quickly removed from the overload state to prevent damage to the motor.

[0082] It should be understood that the inlet temperature of the coolant changes all the time. Taking the two temperature intervals divided by 55°C as an example, in order to avoid factors such as temperature jumps or errors during acquisition, when the inlet temperature of the motor coolant is higher or lower than 55°C, a time period constraint is added, that is, the time judgment basis is: when the inlet temperature of the motor coolant is higher or lower than 55°C and the duration of continuous detection is greater than 5 seconds. When the motor is overloaded and controlled in an overload situation with a temperature higher than 55°C, if the inlet temperature of the motor coolant is lower than 55°C and the duration of continuous detection is greater than 5 seconds, the control mode when the inlet temperature is lower than 55°C is automatically entered; when the motor is controlled in an overload situation with a temperature lower than 55°C, if the inlet temperature of the motor coolant is higher than 55°C and the duration of continuous detection is greater than 5 seconds, the control mode when the inlet temperature is higher than 55°C is automatically entered.

[0083] In summary, according to the motor control method of the embodiment of the present invention, the actual working current of the current motor and the actual duration corresponding to the actual working current, as well as the inlet temperature of the coolant are first obtained, and then the preset working current of the motor and the preset duration corresponding to the preset working current are determined according to the inlet temperature, and when the actual working current is the preset working current, the motor is overload controlled and / or overload protected according to the actual duration and the preset duration. Thus, the method can timely perform overload protection on the motor, ensure the service life of the motor, and enable the motor to give full play to its overload capacity, so that the motor works in a high efficiency zone and improves economy.

[0084] Corresponding to the above embodiment, the present invention also proposes a motor controller.

[0085] Figure 2 FIG. 4 is a block diagram of a motor controller according to an embodiment of the present invention.

[0086] like Figure 2 As shown, the motor controller 200 of the embodiment of the present invention includes: a memory 210, a processor 220, and a program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the program, the above-mentioned motor control method is implemented.

[0087] The motor controller according to the embodiment of the present invention can timely perform overload protection on the motor through the above-mentioned motor control method to ensure the service life of the motor, and can make the motor give full play to its overload capacity, so that the motor works in a high efficiency area and improves economy.

[0088] Corresponding to the above embodiment, the present invention further proposes a motor control device.

[0089] Figure 3 FIG. 4 is a block diagram of a motor control device according to an embodiment of the present invention.

[0090] like Figure 3 As shown, in the motor control device 100 of the embodiment of the present invention, the motor is cooled by a coolant, and the device 100 may include: an acquisition module 110 , a determination module 120 and a control module 130 .

[0091] The acquisition module 110 is used to obtain the actual working current of the current motor and the actual duration corresponding to the actual working current, as well as the inlet temperature of the coolant. The determination module 120 is used to determine the overload parameter of the motor according to the inlet temperature, wherein the overload parameter includes a preset working current and a preset duration corresponding to the preset working current. The control module 130 is used to perform overload control and / or overload protection on the motor according to the actual duration and the preset duration when the actual working current is the preset working current.

[0092] According to an embodiment of the present invention, the determination module 120 determines the overload parameter of the motor according to the inlet temperature, and is specifically used to obtain the temperature range corresponding to the inlet temperature; determine the overload parameter according to the temperature range, wherein different temperature ranges correspond to different overload parameters.

[0093] According to an embodiment of the present invention, for the same temperature range, the larger the preset working current is, the shorter the corresponding preset duration is.

[0094] According to an embodiment of the present invention, for different temperature intervals, when the preset working current is the same, the higher the temperature interval, the shorter the corresponding preset duration.

[0095] According to an embodiment of the present invention, the preset working current is determined based on an external characteristic curve of the motor, and the preset duration is determined based on the overload capacity of the motor.

[0096] According to one embodiment of the present invention, the control module 130 performs overload control and / or overload protection on the motor according to the actual duration and the preset duration, and is specifically used to reduce the actual working current of the motor when the actual duration reaches a preset time before the preset duration; and / or, when the actual duration reaches the preset duration, control the motor to reduce power and issue an overload warning message.

[0097] According to an embodiment of the present invention, the control module 130 controls the motor to operate at reduced power, specifically to reduce the output torque of the motor.

[0098] It should be noted that for details not disclosed in the motor control device of the embodiment of the present invention, please refer to the details disclosed in the motor control method of the embodiment of the present invention, and the details will not be repeated here.

[0099] According to the motor control device of the embodiment of the present invention, the actual working current of the current motor and the actual duration corresponding to the actual working current, as well as the inlet temperature of the coolant are obtained through the acquisition module, and the preset working current of the motor and the preset duration corresponding to the preset working current are determined according to the inlet temperature through the determination module. When the actual working current is the preset working current, the control module performs overload control and / or overload protection on the motor according to the actual duration and the preset duration. Thus, the device can timely perform overload protection on the motor, ensure the service life of the motor, and enable the motor to give full play to its overload capacity, so that the motor works in a high efficiency zone and improves economy.

[0100] Corresponding to the above embodiment, the present invention also provides a vehicle.

[0101] According to one embodiment of the present invention, Figure 4 As shown, vehicle 300 includes motor controller 200 described above.

[0102] According to another embodiment of the present invention, Figure 5 As shown, a vehicle 300 includes the motor control device 100 described above.

[0103] According to the vehicle of the embodiment of the present invention, the motor can be protected from overload in time through the above-mentioned motor controller or motor control device to ensure the service life of the motor, and the motor can give full play to its overload capacity, so that the motor can work in a high efficiency area and improve economy.

[0104] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0105] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0107] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0109] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A motor control method, characterized in that: The motor is cooled by a coolant, and the method comprises: Acquire the actual working current of the motor, the actual duration corresponding to the actual working current, and the inlet temperature of the coolant; Determining an overload parameter of the motor according to the inlet temperature, wherein the overload parameter includes a preset working current and a preset duration corresponding to the preset working current; When the actual working current is the preset working current, overload control and / or overload protection is performed on the motor according to the actual duration and the preset duration.

2. The method according to claim 1, characterized in that Determining the overload parameter of the motor according to the inlet temperature includes: Obtaining a temperature range corresponding to the inlet temperature; The overload parameter is determined according to the temperature range, wherein different temperature ranges correspond to different overload parameters.

3. The method according to claim 2, characterized in that For the same temperature range, the larger the preset working current is, the shorter the corresponding preset duration is.

4. The method according to claim 2, characterized in that: For different temperature intervals, when the preset working current is the same, the higher the temperature interval, the shorter the corresponding preset duration.

5. The method according to any one of claims 1 to 4, characterized in that: The preset working current is determined based on an external characteristic curve of the motor, and the preset duration is determined based on an overload capacity of the motor.

6. The method according to any one of claims 1 to 4, characterized in that: The overload control and / or overload protection of the motor according to the actual duration and the preset duration includes: When the actual duration reaches a preset time before the preset duration, reducing the actual operating current of the motor; and / or, When the actual duration reaches the preset duration, the motor is controlled to operate at reduced power and an overload warning message is issued.

7. The method according to claim 6, characterized in that The controlling the motor to operate at reduced power includes: The output torque of the motor is reduced.

8. A motor controller, characterized in that: include: A memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the motor control method according to any one of claims 1 to 7 is implemented.

9. A motor control device, characterized in that: The motor is cooled by a coolant, and the device comprises: An acquisition module, used for acquiring the actual working current of the motor and the actual duration corresponding to the actual working current, and the inlet temperature of the coolant; a determination module, configured to determine an overload parameter of the motor according to the inlet temperature, wherein the overload parameter includes a preset working current and a preset duration corresponding to the preset working current; A control module is used to perform overload control and / or overload protection on the motor according to the actual duration and the preset duration when the actual working current is the preset working current.

10. A vehicle, characterized in that: It comprises the motor controller according to claim 8 or the motor control device according to claim 9.

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