Charging control method, related system, device and storage medium

Abstract

The invention discloses a charging control method, a related system, equipment and a storage medium, which are applied to a charging system, and the charging system comprises a first power supply, an inverter circuit, a motor, a motor controller and a second power supply. The charging control method comprises the steps that a motor controller determines a plurality of first rotor angle intervals under a first charging working condition and first phase current distribution information which corresponds to the first rotor angle intervals and enables motor torque to be zero torque; under the first charging working condition, charging current output by the second power supply flows into the first power supply through the first winding, the second winding and the third winding; and in response to the condition that the current motor rotor angle is located in any one of the plurality of first rotor angle intervals, controlling a switching tube in the inverter circuit based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs. In this way, the motor torque generated during charging can be reduced, and the charging stability is improved.

Description

Technical Field

[0001] The present application relates to the field of charging technology, and in particular to a charging control method and related systems, devices and storage media. Background Art

[0002] Take electric vehicles as an example. Since the charging time of electric vehicles is long, it has always been the main bottleneck for their promotion and use. Therefore, how to achieve fast charging of electric vehicles has become one of the key research directions of electric vehicles. At present, electric vehicles are usually charged through charging piles. The existing charging piles for electric vehicles include two transmission specifications: 200-500V and 200-750V. If the voltage of the battery of the electric vehicle is higher than the output voltage of the charging pile, the traditional charging circuit cannot charge the battery quickly. For example, if the battery voltage is 500-750V, the charging pile with an output voltage of 200-500V cannot charge the battery quickly. Therefore, it is necessary to increase the voltage at the input end first. Traditional boost charging technology requires an external boost circuit, including additional charging equipment and complex power electronics, which increases the cost and weight of electric vehicles.

[0003] In the related art, the boost charging function is realized by reusing the electric drive, that is, the winding inductance of the motor is reused with the switch tube in the inverter to form a boost circuit. However, when charging in this way, current will flow through the stator winding of the motor. The introduction of the stator winding current will generate a magnetic field in the air gap of the motor. This magnetic field interacts with the magnetic field generated by the permanent magnet or induced current in the rotor, causing the motor to generate a large torque, which will cause the charging to jitter, reduce the charging stability, and thus affect the user's charging experience.

[0004] Therefore, how to reduce the motor torque generated during the charging process has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The main technical problem solved by the present application is to provide a charging control method and related systems, equipment and storage media, which can reduce the motor torque generated during the charging process and improve the charging stability.

[0006] In order to solve the above technical problems, a technical solution adopted by the present application is: to provide a charging control method, which is applied to a charging system, and the charging system includes a first power supply, an inverter circuit, a motor, a motor controller and a second power supply; wherein the first power supply is connected to the inverter circuit, the inverter circuit is connected to the first winding, the second winding and the third winding of the motor, and the first winding is also connected to the second power supply. The charging control method includes: the motor controller determines a plurality of first rotor angle intervals under a first charging condition, and the first phase current distribution information corresponding to each first rotor angle interval that makes the motor torque zero torque; wherein the charging current output by the second power supply under the first charging condition flows into the first power supply through the first winding, the second winding and the third winding; in response to the current motor rotor angle being in any interval of the plurality of first rotor angle intervals, based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs, the switch tube in the inverter circuit is controlled.

[0007] Optionally, the situation where the motor torque is zero torque includes at least one of the following situations: the quadrature-axis current of the motor is a first preset value; the direct-axis current of the motor is a second preset value, and the second preset value is obtained based on the permanent magnet flux, quadrature-axis inductance and direct-axis inductance of the motor.

[0008] Optionally, when the cross-axis current is a first preset value, the plurality of first rotor angle intervals include a plurality of first intervals; the step of determining the plurality of first intervals includes: determining a first mapping relationship and a second mapping relationship; wherein the first mapping relationship is a mapping relationship between the phase current of the second winding and the motor rotor angle and the phase current of the first winding, and the second mapping relationship is a mapping relationship between the phase current of the third winding and the motor rotor angle and the phase current of the first winding; based on the first mapping relationship, the second mapping relationship and the first current constraint condition, a plurality of first intervals are obtained by solving; wherein the first current constraint condition includes: the phase current of the first winding is greater than the first preset value, and the phase current of the second winding and the phase current of the third winding are both less than the first preset value.

[0009] Optionally, determining the first mapping relationship and the second mapping relationship includes: determining a first conversion relationship between the cross-axis current and the three-phase current; solving the first mapping relationship and the second mapping relationship based on the first conversion relationship and the second current constraint condition; wherein the second current constraint condition includes: the cross-axis current is a first preset value, and the sum of the currents of the three-phase current is a first preset value.

[0010] Optionally, the first-phase current distribution information of each first interval includes a first mapping relationship and a second mapping relationship; when the current motor rotor angle is within any first interval, based on the first-phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs, the switch tube in the inverter circuit is controlled, including: based on the first mapping relationship, determining the phase current of the second winding corresponding to the motor rotor angle being the current motor rotor angle and the phase current of the first winding being the charging current, as the distribution current of the second winding; based on the second mapping relationship, determining the phase current of the third winding corresponding to the motor rotor angle being the current motor rotor angle and the phase current of the first winding being the charging current, as the distribution current of the third winding; controlling the duty cycle of each switch tube in the second bridge arm and the third bridge arm so that the phase current of the second winding and the phase current of the third winding reach the corresponding distribution current respectively.

[0011] Optionally, when the direct-axis current is a second preset value, a plurality of first rotor angle intervals include a plurality of second intervals; the step of determining a plurality of second intervals includes: determining a third mapping relationship and a fourth mapping relationship; wherein the third mapping relationship is a mapping relationship between the phase current of the second winding and the direct-axis current, the motor rotor angle and the phase current of the first winding, and the fourth mapping relationship is a mapping relationship between the phase current of the third winding and the direct-axis current, the motor rotor angle and the phase current of the first winding; based on the third mapping relationship, the fourth mapping relationship and the first current constraint condition, a plurality of second intervals are obtained by solving; wherein the first current constraint condition includes: the phase current of the first winding is greater than the first preset value, and the phase current of the second winding and the phase current of the third winding are both less than the first preset value.

[0012] Optionally, determining the third mapping relationship and the fourth mapping relationship includes: determining a second conversion relationship between the direct-axis current and the three-phase current; solving the third mapping relationship and the fourth mapping relationship based on the second conversion relationship and the third current constraint condition; wherein the third current constraint condition includes: the direct-axis current is a second preset value, and the sum of the three-phase currents is a first preset value.

[0013] Optionally, the first-phase current distribution information of each second interval includes a third mapping relationship and a fourth mapping relationship; when the current motor rotor angle is within any second interval, based on the first-phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs, the switch tube in the inverter circuit is controlled, including: based on the third mapping relationship, determining the phase current of the second winding corresponding to the direct-axis current being the second preset value, the motor rotor angle being the current motor rotor angle, and the phase current of the first winding being the charging current as the distribution current of the second winding; based on the fourth mapping relationship, determining the phase current of the third winding corresponding to the direct-axis current being the second preset value, the motor rotor angle being the current motor rotor angle, and the phase current of the first winding being the charging current as the distribution current of the third winding; controlling the duty cycle of each switch tube in the second bridge arm and the third bridge arm so that the phase current of the second winding and the phase current of the third winding reach the corresponding distribution current.

[0014] Optionally, the charging control method further includes: determining a plurality of remaining rotor angle intervals within a preset rotor angle range based on a plurality of first rotor angle intervals; obtaining a first torque mapping relationship under a second charging condition and a second torque mapping relationship under a third charging condition; wherein, under the second charging condition, the charging current output by the second power supply flows into the first power supply through the first winding and the second winding, and under the third charging condition, the charging current output by the second power supply flows into the first power supply through the first winding and the third winding, and the first torque mapping relationship and the second torque mapping relationship are both mapping relationships between motor torque and motor rotor angle; based on the first torque mapping relationship and the second torque mapping relationship, determining a plurality of remaining rotor angle intervals within a preset rotor angle range; obtaining a first torque mapping relationship under a second charging condition and a second torque mapping relationship under a third charging condition; wherein, under the second charging condition, the charging current output by the second power supply flows into the first power supply through the first winding and the second winding, and the first torque mapping relationship and the second torque mapping relationship are both mapping relationships between motor torque and motor rotor angle; and determining a plurality of A plurality of target rotor angles within the remaining rotor angle interval; wherein, for each target rotor angle, the torque of the target rotor angle determined based on the first torque mapping relationship is the same as the torque of the target rotor angle determined based on the second torque mapping relationship; based on the plurality of target rotor angles, the plurality of remaining rotor angle intervals are divided into a plurality of second rotor angle intervals; second-phase current distribution information that minimizes the motor torque corresponding to each second rotor angle interval is determined; in response to the current motor rotor angle being within any of the plurality of second rotor angle intervals, the switch tube in the inverter circuit is controlled based on the second-phase current distribution information corresponding to the rotor angle interval to which the current motor rotor angle belongs.

[0015] In order to solve the above technical problems, another technical solution adopted by the present application is: to provide a charging system, the charging system includes: a first power supply, an inverter circuit, a motor, a motor controller and a second power supply; wherein the first power supply is connected to the inverter circuit, the inverter circuit is connected to the first winding, the second winding and the third winding of the motor, and the first winding is also connected to the second power supply. The motor controller is used to determine a plurality of first rotor angle intervals under the first charging condition, and the first phase current distribution information corresponding to each first rotor angle interval that makes the motor torque zero torque; wherein the charging current output by the second power supply under the first charging condition flows into the first power supply through the first winding, the second winding and the third winding; in response to the current motor rotor angle being in any interval of the plurality of first rotor angle intervals, the switch tube in the inverter circuit is controlled based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs.

[0016] To solve the above technical problems, another technical solution adopted in the present application is: to provide an electronic device, including a memory and a processor coupled to each other, the memory storing program instructions; the processor is used to execute the program instructions stored in the memory to implement the above charging control method.

[0017] In order to solve the above technical problems, another technical solution adopted in the present application is: providing a computer-readable storage medium, which is used to store program instructions, and the program instructions can be executed by a processor to implement the above charging control method.

[0018] In the above scheme, the motor controller first determines a number of first rotor angle intervals under the first charging condition, and the first phase current distribution information corresponding to each first rotor angle interval that makes the motor torque zero torque. Among them, the charging current output by the second power supply under the first charging condition flows into the first power supply through the first winding, the second winding and the third winding. When the current motor rotor angle is within any of the first rotor angle intervals, the switch tube in the inverter circuit can be controlled based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs, so that the motor torque is zero torque, thereby reducing the motor torque generated during charging and improving the charging stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of an embodiment of a charging system provided by the present application;

[0020] Figure 2 It is a flow chart of an embodiment of a charging control method provided by the present application;

[0021] Figure 3 is a flow chart of another embodiment of the charging control method provided by the present application;

[0022] Figure 4 is a schematic diagram of a motor torque curve under different current distribution strategies provided by the present application;

[0023] Figure 5 is a schematic diagram of a first minimum torque curve provided by the present application;

[0024] Figure 6 is another schematic diagram of the motor torque curve under different current distribution strategies provided by the present application;

[0025] Figure 7 is a schematic diagram of a second minimum torque curve provided by the present application;

[0026] Figure 8 It is a schematic diagram of a framework of an embodiment of an electronic device provided by the present application;

[0027] Fig. 9 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and effect of the present application clearer and more specific, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0029] It should be noted that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone; the term "multiple" means two or more than two; the term "at least one" means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B and C; the term "several" means at least one; the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0030] See also Figure 1 , Figure 1 Schematic diagram of the structure of an embodiment of the charging system provided by the present application. Figure 1 As shown, the charging system includes a first power supply 11, an inverter circuit 12, a motor 13, and a motor controller ( Figure 1 The first power source 11 is connected to the inverter circuit 12, and the inverter circuit 12 is connected to the first winding ( Figure 1 A phase winding in the Figure 1 The B-phase winding in the Figure 1The first winding is also connected to the second power source 14, so that the charging current output by the second power source flows into the first winding and flows out from the second winding and / or the third winding.

[0031] The inverter circuit 12 includes a first bridge arm, a second bridge arm and a third bridge arm. The midpoint of the first bridge arm, the midpoint of the second bridge arm and the midpoint of the third bridge arm are connected to the first winding, the second winding and the third winding respectively. The first bridge arm includes a switch tube Q1 and a switch tube Q2, the second bridge arm includes a switch tube Q3 and a switch tube Q4, and the third bridge arm includes a switch tube Q5 and a switch tube Q6. Exemplarily, each switch tube can be an IGBT (insulated gate bipolar transistor) or a SiC MOSFET (silicon carbide metal oxide field effect transistor).

[0032] The motor controller is connected to the control end of each switch tube in the inverter circuit 12 ( Figure 1 The connection relationship between each motor controller and each switch tube is not shown in the figure), which is used to control the conduction state of each switch tube.

[0033] The charging system further includes a first detection unit ( Figure 1 The signal output end of the first detection unit is connected to the motor controller. The motor controller is also used to determine the motor rotor position or the motor rotor angle based on the detection signal output by the first detection unit. Exemplarily, the first detection unit can be an angle sensor, a photoelectric encoder, etc.

[0034] The charging system further includes a second detection unit ( Figure 1 The signal output end of the second detection unit is connected to the motor controller. The motor controller is also used to determine the three-phase current of the motor (including the phase current of the first winding, the phase current of the second winding and the phase current of the third winding) based on the detection signal output by the second detection unit. Exemplarily, the second detection unit includes two current sensors for detecting any two-phase windings of the motor. The motor controller can obtain the phase currents of the two-phase windings through the second detection unit, and the phase current of the third-phase winding can be obtained through Kirchhoff's theorem.

[0035] The charging system further includes a first capacitor C1 and a second capacitor C2. The first capacitor C1 is connected in parallel to both ends of the first power source 11, and the second capacitor C2 is connected in parallel to both ends of the second power source 14. The first capacitor C1 and the second capacitor C2 are both used for filtering.

[0036] The charging system further includes a switch 15. One end of the switch 15 is connected to the midpoint of the first bridge arm, and the other end of the switch 15 is connected to the second power source 14. When the switch 15 is in the on state, the first power source 11 can be used as a power supply to provide the necessary voltage for the inverter circuit 12 to operate, so that the inverter circuit 12 can drive the motor 13 to operate. When the switch 15 is in the off state, the second power source 14 can be connected to charge the first power source 11.

[0037] It can be understood that the Boost circuit includes a filter inductor, a switch tube and an output capacitor, and each phase winding of the motor 13 can be equivalent to an inductor, and the inverter circuit 12 includes multiple switch tubes. Therefore, the winding inductance of the motor 13 can form a Boost circuit with the switch tube in the inverter circuit 12, which can boost the voltage input by the second power supply 14, so that the first power supply 11 with a higher voltage level can be charged using the second power supply 14 with a lower output voltage.

[0038] For example, in an electric vehicle scenario, the first power source 11 may be a power battery, and the second power source 14 may be a charging pile connected to a power grid. It should be noted that in other scenarios, the first power source 11 and the second power source 14 may also be other forms of power sources, and this embodiment does not specifically limit the specific forms of the first power source 11 and the second power source 14.

[0039] Figure 1 The charging system shown does not need to lead out a neutral point, and can achieve boost charging of the first power source without changing the existing structure of the motor.

[0040] To facilitate understanding of the technical solution of the present application, the inventive concept of the present application is briefly described below.

[0041] In adopting Figure 1 During the step-up charging process of the charging system shown, the charging current output by the second power supply flows through the winding of the motor and into the second power supply. The charging current flowing through the motor will generate motor torque, causing jitter during the charging process, affecting the user's charging experience. The generated motor torque can be specifically expressed by formula (1):

[0042] T e =1.5*n p *[λ m +(L d -L q )*i d ]*i q (1)

[0043] In formula (1), T e Indicates the motor torque, n p Indicates the number of motor pole pairs, λ mrepresents the permanent magnet flux, L d Indicates the direct-axis inductance, L q represents the quadrature-axis inductance, i d Represents the direct axis current of the motor, i q Indicates the quadrature-axis current of the motor.

[0044] From formula (1), it can be seen that there are two situations in which the motor torque is zero torque: the quadrature axis current of the motor is the first preset value; the direct axis current of the motor is the second preset value. Among them, the first preset value is 0, that is, i q =0. The second preset value is obtained based on the permanent magnet flux, quadrature-axis inductance and direct-axis inductance of the motor. The second preset value can be specifically expressed by formula (2):

[0045]

[0046] It can be understood that, under the first charging condition, the charging current output by the second power supply flows into the first power supply through the first winding, the second winding and the third winding (specifically, the charging current output by the second power supply flows into the first winding, and flows out from the second winding and the third winding to the first power supply), the phase current of the first winding is greater than the first preset value, and the phase current of the second winding and the phase current of the third winding are both less than the first preset value. In addition, there is a conversion relationship between the quadrature axis current of the motor and the three-phase current and the motor rotor angle of the motor, and there is also a conversion relationship between the direct axis current of the motor and the three-phase current and the motor rotor angle of the motor. Therefore, in combination with the above-mentioned current constraint conditions and the above-mentioned current conversion relationship, several first rotor angle intervals that make the motor torque zero under the first charging condition, and the first phase current distribution information corresponding to each first rotor angle interval are inferred. Among them, the first phase current distribution information includes the phase current distribution information of the second winding and the phase current distribution information of the third winding under the first charging condition.

[0047] Specifically, the motor controller is used to determine several first rotor angle intervals under a first charging condition, and first phase current distribution information corresponding to each first rotor angle interval that makes the motor torque zero torque; in response to the current motor rotor angle being within any interval among the several first rotor angle intervals, based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs, the switch tube in the inverter circuit is controlled so that the motor torque is zero torque, thereby reducing the motor torque generated during charging and improving the charging stability.

[0048] See also Figure 2 , Figure 2 is a flow chart of an embodiment of a charging control method provided by the present application. The method is applied to Figure 1 The charging system shown in FIG. 1 and the method can be executed by a motor controller in the charging system. It should be noted that if there are substantially the same results, the method of the present application is not limited to Figure 2 The process sequence shown is limited. Figure 2 As shown, the method comprises the following steps:

[0049] S21: Determine a plurality of first rotor angle intervals under a first charging condition, and first phase current distribution information corresponding to each of the first rotor angle intervals so that the motor torque is zero torque.

[0050] Wherein, under the first charging condition, the charging current output by the second power supply flows into the first power supply through the first winding, the second winding and the third winding.

[0051] Based on the above analysis, it can be known that the motor torque can reach zero torque when the cross-axis current is the first preset value or the direct-axis current is the second preset value. Among them, the first preset value is 0, and the second preset value is obtained based on the permanent magnet flux, cross-axis inductance and direct-axis inductance of the motor. The several first rotor angle intervals determined in this embodiment may only include several first intervals determined when the cross-axis current is the first preset value; or, only include several second intervals determined when the direct-axis current is the second preset value; or, include the aforementioned several first intervals and several second intervals at the same time.

[0052] In one embodiment, the quadrature-axis current is a first preset value, and the plurality of first rotor angle intervals include a plurality of first intervals, and the plurality of first intervals can be determined by the following steps:

[0053] Step 1: determine a first mapping relationship and a second mapping relationship.

[0054] Among them, the first mapping relationship is the mapping relationship between the phase current of the second winding, the motor rotor angle and the phase current of the first winding, and the second mapping relationship is the mapping relationship between the phase current of the third winding, the motor rotor angle and the phase current of the first winding.

[0055] Specifically, determining the first mapping relationship and the second mapping relationship includes the following sub-steps:

[0056] Sub-step 1: determining a first conversion relationship between the quadrature-axis current and the three-phase current.

[0057] The first conversion relationship can be obtained by performing Clark transformation and inverse Clark transformation on the three-phase current. The Clark transformation and inverse Clark transformation can refer to the relevant prior art and will not be described in detail here. The first conversion relationship can be specifically expressed by formula (3):

[0058]

[0059] In formula (3), i q Represents the quadrature axis current of the motor, i a represents the phase current of the first winding, ib represents the phase current of the second winding, i c represents the phase current of the tertiary winding, and θ represents the motor rotor angle.

[0060] Sub-step two: based on the first conversion relationship and the second current constraint condition, solving to obtain the first mapping relationship and the second mapping relationship.

[0061] The second current constraint condition includes: the quadrature-axis current is a first preset value, and the sum of the three-phase currents is a first preset value.

[0062] Specifically, the first mapping relationship and the second mapping relationship obtained by solving can be expressed by formula (4) and formula (5) respectively:

[0063]

[0064] Step 2: Based on the first mapping relationship, the second mapping relationship and the first current constraint condition, a plurality of first intervals are obtained by solving.

[0065] The first current constraint condition includes: the phase current of the first winding is greater than the first preset value, and the phase current of the second winding and the phase current of the third winding are both less than the first preset value, that is, i a >0、i b <0 and i c <0.

[0066] Specifically, the first intervals obtained by solving include: 0° to 30°, 150° to 210°, and 330° to 360°.

[0067] Furthermore, the first mapping relationship and the second mapping relationship obtained by solving are used as the first phase current distribution information of each first interval. Specifically, in this implementation, the first mapping relationship is used as the phase current distribution information of the second winding, and the third mapping relationship is used as the phase current distribution information of the third winding. When the current motor rotor angle falls into any first interval, the distribution current of the second winding and the distribution current of the third winding can be determined based on the first phase current distribution information for subsequent control.

[0068] In another embodiment, the direct axis current is a second preset value, and the plurality of first rotor angle intervals include a plurality of second intervals, and the plurality of second intervals can be determined by the following steps:

[0069] Step 1: determine the third mapping relationship and the fourth mapping relationship.

[0070] Among them, the third mapping relationship is the mapping relationship between the phase current of the second winding and the direct axis current, the motor rotor angle and the phase current of the first winding, and the fourth mapping relationship is the mapping relationship between the phase current of the third winding and the direct axis current, the motor rotor angle and the phase current of the first winding.

[0071] Specifically, determining the third mapping relationship and the fourth mapping relationship includes the following sub-steps:

[0072] Sub-step one: determining a second conversion relationship between the direct-axis current and the three-phase current.

[0073] The second conversion relationship can be obtained by performing Clark transformation and inverse Clark transformation on the three-phase current. The second conversion relationship can be specifically expressed by formula (6):

[0074]

[0075] Sub-step two: based on the second conversion relationship and the third current constraint condition, solving to obtain the third mapping relationship and the fourth mapping relationship.

[0076] The third current constraint condition includes: the direct-axis current is a second preset value, and the sum of the three-phase currents is a first preset value.

[0077] Specifically, the third mapping relationship obtained by solving is expressed by formula (7) or formula (8), and the fourth mapping relationship can be expressed by formula (9) or formula (10):

[0078]

[0079] Sub-step two: based on the third mapping relationship, the fourth mapping relationship and the first current constraint condition, a plurality of second intervals are obtained by solving.

[0080] The relevant contents of the first current constraint condition can be referred to step 2 in the above-mentioned embodiment, and will not be described in detail here. The size of the second intervals is affected by the phase current of the first winding (i.e., a ) and motor parameters (including the motor's λ m , L q and L d )’s value.

[0081] Furthermore, the third mapping relationship and the fourth mapping relationship obtained by solving are used as the first phase current distribution information of each second interval. Specifically, in this implementation, the third mapping relationship is used as the phase current distribution information of the second winding, and the fourth mapping relationship is used as the phase current distribution information of the third winding. When the current motor rotor angle falls into any second interval, the distribution current of the second winding and the distribution current of the third winding can be determined based on the first phase current distribution information for subsequent control.

[0082] In another embodiment, in order to further expand the motor rotor angle range of zero torque output so as to reduce the motor torque generated during charging as much as possible, the plurality of first rotor angle intervals may include the plurality of first intervals and the plurality of second intervals determined in the aforementioned embodiment. In this embodiment, since the first phase current distribution information of the first interval and the first phase current distribution information of the second interval are different, when the current motor rotor angle falls into the first interval, the distribution current of the second winding and the distribution current of the third winding are determined based on the first phase current distribution information of the first interval, and, when the current motor rotor angle falls into the second interval, the distribution current of the second winding and the distribution current of the third winding are determined based on the first phase current distribution information of the second interval.

[0083] S22: In response to the current motor rotor angle being within any one of a plurality of first rotor angle intervals, control the switch tube in the inverter circuit based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs.

[0084] In one embodiment, when the current motor rotor angle is within any first interval, controlling the switch in the inverter circuit based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs includes the following sub-steps:

[0085] Sub-step one: based on the first mapping relationship, determine the phase current of the second winding corresponding to the motor rotor angle being the current motor rotor angle and the phase current of the first winding being the charging current, as the distributed current of the second winding.

[0086] Specifically, the current motor rotor angle and the phase current of the first winding can be obtained first, and the obtained current motor rotor angle and the phase current of the first winding are substituted into the first mapping relationship to obtain the distribution current of the second winding. It should be noted that since the first winding is connected to the second power supply, the phase current of the first winding is equal to the charging current output by the second power supply, and the charging current output by the second power supply can be determined according to the actual charging power demand.

[0087] Sub-step two, based on the second mapping relationship, determining the phase current of the third winding corresponding to the motor rotor angle being the current motor rotor angle and the phase current of the first winding being the charging current, as the distributed current of the third winding.

[0088] Specifically, the acquired current motor rotor angle and the phase current of the first winding may be substituted into the second mapping relationship to obtain the distributed current of the third winding.

[0089] It should be noted that the execution order of sub-step one and sub-step two in this embodiment is only for exemplary purposes. In other embodiments, sub-step two may be executed first and then sub-step one, or sub-step one and sub-step two may be performed simultaneously. This embodiment does not make any specific limitations on this.

[0090] Sub-step three: controlling the duty cycle of each switch tube in the second bridge arm and the third bridge arm so that the phase current of the second winding and the phase current of the third winding reach the corresponding distributed current respectively.

[0091] In another embodiment, when the current motor rotor angle is within any second interval, controlling the switch in the inverter circuit based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs includes the following sub-steps:

[0092] Sub-step one, based on the third mapping relationship, determines the phase current of the second winding corresponding to the direct-axis current being the second preset value, the motor rotor angle being the current motor rotor angle, and the phase current of the first winding being the charging current, as the distributed current of the second winding.

[0093] Specifically, the second preset value, the current motor rotor angle and the phase current of the first winding can be determined first, and then the second preset value, the current motor rotor angle and the phase current of the first winding are substituted into the third mapping relationship to obtain the distributed current of the second winding.

[0094] Sub-step two, based on the fourth mapping relationship, determine the phase current of the third winding corresponding to the direct-axis current being the second preset value, the motor rotor angle being the current motor rotor angle, and the phase current of the first winding being the charging current, as the distributed current of the third winding.

[0095] Specifically, the acquired second preset value, the current motor rotor angle, and the phase current of the first winding may be substituted into the fourth mapping relationship to obtain the distributed current of the third winding.

[0096] It should be noted that the execution order of sub-step one and sub-step two in this embodiment is only for exemplary purposes. In other embodiments, sub-step two may be executed first and then sub-step one, or sub-step one and sub-step two may be performed simultaneously. This embodiment does not make any specific limitations on this.

[0097] Sub-step three: controlling the duty cycle of each switch tube in the second bridge arm and the third bridge arm so that the phase current of the second winding and the phase current of the third winding reach the corresponding distributed current.

[0098] In this embodiment, the motor controller first determines a plurality of first rotor angle intervals under the first charging condition, and first phase current distribution information corresponding to each first rotor angle interval that makes the motor torque zero torque. Among them, the charging current output by the second power supply under the first charging condition flows into the first power supply through the first winding, the second winding and the third winding. When the current motor rotor angle is within any of the plurality of first rotor angle intervals, the switch tube in the inverter circuit can be controlled based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs, so that the motor torque is zero torque, thereby reducing the motor torque generated during charging and improving the charging stability.

[0099] See also Figure 3 , Figure 3 is a flow chart of another embodiment of the charging control method provided by the present application. Figure 1 The charging system shown in FIG. 1 and the method can be executed by a motor controller in the charging system. It should be noted that if there are substantially the same results, the method of the present application is not limited to Figure 3 The process sequence shown is limited. Figure 3 As shown, the method comprises the following steps:

[0100] S31: Determine a plurality of first rotor angle intervals under a first charging condition, and first phase current distribution information corresponding to each of the first rotor angle intervals so that the motor torque is zero torque.

[0101] Wherein, under the first charging condition, the charging current output by the second power supply flows into the first power supply through the first winding, the second winding and the third winding. At this time, the current direction of the phase current of the second winding is the same as the current direction of the phase current of the third winding, and is opposite to the current direction of the phase current of the first winding.

[0102] The first rotor angle intervals only include the first intervals, or the first rotor angle intervals only include the second intervals, or the first rotor angle intervals include both the first intervals and the second intervals.

[0103] The first phase current distribution information of each first interval includes a first mapping relationship and a second mapping relationship. Further, when the current motor rotor angle falls into the first interval, the distribution current of the second winding and the distribution current of the third winding are determined based on the first phase current distribution information of the first interval, which is the first current distribution strategy.

[0104] The first phase current distribution information of each second interval includes the third mapping relationship and the fourth mapping relationship. Further, when the current motor rotor angle falls into the second interval, the distribution current of the second winding and the distribution current of the third winding are determined based on the first phase current distribution information of the second interval, which is the second current distribution strategy.

[0105] The relevant contents of the first interval, the second interval, the first mapping relationship, the second mapping relationship, the third mapping relationship and the fourth mapping relationship may refer to the aforementioned step S21 and will not be described in detail here.

[0106] S32: Based on the plurality of first rotor angle intervals, determine a plurality of second rotor angle intervals and second phase current distribution information that minimizes the motor torque corresponding to each second rotor angle interval.

[0107] Step S32 may specifically include the following sub-steps:

[0108] Sub-step 1: determining a plurality of remaining rotor angle intervals within a preset rotor angle range based on a plurality of first rotor angle intervals.

[0109] The preset rotor angle range is 0° to 360°. Exemplarily, the first rotor angle intervals include the first intervals mentioned above, and the first intervals include: 0° to 30°, 150° to 210°, and 330° to 360°, and the remaining rotor angle intervals include: 30° to 150° and 210° to 330°.

[0110] Sub-step two: obtaining a first torque mapping relationship under a second charging condition and a second torque mapping relationship under a third charging condition.

[0111] In the second charging condition, the charging current output by the second power supply flows into the first power supply through the first winding and the second winding. In the third charging condition, the charging current output by the second power supply flows into the first power supply through the first winding and the third winding.

[0112] The first torque mapping relationship and the second torque mapping relationship are both mapping relationships between motor torque and motor rotor angle. Specifically, the first torque mapping relationship and the second torque mapping relationship can be expressed by formula (11) and formula (12) respectively:

[0113]

[0114] In formula (11) and formula (12), T e1 represents the motor torque under the second charging condition, T e2 represents the motor torque under the third charging condition, and I represents i d and i q The corresponding current vector size. It can be seen from formula (11) and formula (12) that there is a certain phase difference between the first torque mapping relationship and the second torque mapping relationship.

[0115] Sub-step three: determining a plurality of target rotor angles within a plurality of remaining rotor angle intervals based on the first torque mapping relationship and the second torque mapping relationship.

[0116] Among them, for each target rotor angle, the torque of the target rotor angle determined based on the first torque mapping relationship is the same as the torque of the target rotor angle determined based on the second torque mapping relationship. That is, switching between the second charging condition and the third charging condition is performed at the target rotor angle, for example, switching from the second charging condition to the third charging condition at the target rotor angle, or switching from the third charging condition to the second charging condition at the target rotor angle.

[0117] Sub-step four: based on a plurality of target rotor angles, dividing a plurality of remaining rotor angle intervals into a plurality of second rotor angle intervals.

[0118] Exemplarily, the several remaining rotor angle intervals include: 30°~150° and 210°~330°, and the several target rotor angles include 120° and 240°, then the several second rotor angle intervals include: 30°~120°, 120°~150°, 210°~240° and 240°~330°.

[0119] Sub-step five: determining the second phase current distribution information that minimizes the motor torque corresponding to each second rotor angle interval.

[0120] The second phase current distribution information includes the phase current distribution information of the second winding and the phase current distribution information of the third winding under the second charging condition, or the second phase current distribution information includes the phase current distribution information of the second winding and the phase current distribution information of the third winding under the third charging condition.

[0121] Since the charging current output by the second power supply under the second charging condition flows into the first winding and only flows out of the second winding, at this time, the distributed current of the second winding is equal to the phase current amplitude of the first winding and the current direction is opposite, and the distributed current of the third winding is the first preset value. This is the third current distribution strategy.

[0122] Since the charging current output by the second power supply under the third charging condition flows into the first winding and only flows out of the third winding, at this time, the distributed current of the second winding is the first preset value, the distributed current of the third winding is equal to the phase current amplitude of the first winding and the current direction is opposite, which is the fourth current distribution strategy.

[0123] Specifically, in sub-step five, for each second rotor angle interval, the current distribution strategy that minimizes the motor torque in the second rotor angle interval can be determined between the third current distribution strategy and the fourth current distribution strategy as the final current distribution strategy for the second rotor angle interval. For example, when the second rotor angle interval is 210° to 240°, the absolute value of the motor torque generated by the fourth current distribution strategy is less than the absolute value of the motor torque generated by the third current distribution strategy, then the fourth current distribution strategy can be used to distribute the current of the second winding and the third winding within the interval, and the second phase current distribution information of the second rotor angle interval includes the phase current distribution information of the second winding and the phase current distribution information of the third winding under the third charging condition.

[0124] It should be noted that, in step S31 and step S32, the first phase current distribution information corresponding to the several first rotor angle intervals and the second phase current distribution information corresponding to the several second rotor angle intervals and the second phase current distribution information corresponding to the second rotor angle intervals may be pre-acquired and stored in the storage unit of the motor controller, or may be automatically generated when it is detected that the second power supply is connected to charge the first power supply. This embodiment does not make any specific limitation on this.

[0125] S33: In response to connecting to the second power supply, obtaining the current motor rotor angle.

[0126] When it is detected that the second power source is connected to charge the first power source, the current motor rotor angle is obtained.

[0127] S34: In response to the current motor rotor angle being within any one of a plurality of first rotor angle intervals, the switch tube in the inverter circuit is controlled based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs.

[0128] In step S34, when the current motor rotor angle is within any of the first rotor angle intervals, the distribution current of the second winding and the distribution current of the third winding are determined based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs. Specifically, when the current motor rotor angle falls into the first interval, the distribution current of the second winding and the distribution current of the third winding are determined based on the first phase current distribution information of the first interval; when the current motor rotor angle falls into the second interval, the distribution current of the second winding and the distribution current of the third winding are determined based on the first phase current distribution information of the second interval. Then, the duty cycle of the switch tube of the second bridge arm and the switch tube of the third bridge arm in the inverter circuit is controlled so that the phase current of the second winding and the phase current of the third winding reach the corresponding distribution current respectively.

[0129] In step S34, the switch tubes Q3 and Q4 can be controlled to be turned on alternately, and the switch tubes Q5 and Q6 can be controlled to be turned on alternately. The duty cycle of the switch tube Q3 is complementary to the duty cycle of the switch tube Q4, and the duty cycle of the switch tube Q5 is complementary to the duty cycle of the switch tube Q6. It should be noted that at this time, the switch tubes Q1 and Q2 in the first bridge arm are in the off state.

[0130] S35: In response to the current motor rotor angle being within any one of several second rotor angle intervals, control the switch tube in the inverter circuit based on the second phase current distribution information corresponding to the rotor angle interval to which the current motor rotor angle belongs.

[0131] In step S35, when the current motor rotor angle is within any of several second rotor angle intervals, the distributed current of the second winding and the distributed current of the third winding can be determined based on the second phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs.

[0132] When the second phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs includes the phase current distribution information of the second winding and the phase current distribution information of the third winding under the second charging condition, the duty cycle of the switch tube of the second bridge arm in the inverter circuit is controlled so that the phase current of the second winding reaches the corresponding distribution current. Specifically, the switch tubes Q3 and Q4 in the second bridge arm are controlled to be turned on alternately, and the duty cycles of the switch tubes Q3 and Q4 are complementary. It should be noted that at this time, the switch tubes Q5 and Q6 in the third bridge arm are in the off state, so that the phase current of the third winding is the first preset value, and at this time, the switch tubes Q1 and Q2 in the first bridge arm are also in the off state.

[0133] When the second phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs includes the phase current distribution information of the second winding and the phase current distribution information of the third winding under the third charging condition, the duty cycle of the switch tube of the third bridge arm in the inverter circuit is controlled so that the phase current of the third winding reaches the corresponding distribution current. Specifically, the switch tubes Q5 and Q6 in the third bridge arm are controlled to be turned on alternately, and the duty cycles of the switch tubes Q5 and Q6 are complementary. It should be noted that at this time, the switch tubes Q3 and Q4 in the second bridge arm are in the off state, so that the phase current of the second winding is the first preset value, and at this time, the switch tubes Q1 and Q2 in the first bridge arm are also in the off state.

[0134] In step S34 and step S35, in the process of controlling the switch tube of the inverter circuit, the motor controller can also obtain the three-phase current in real time, so as to judge whether the phase current of each phase winding reaches the corresponding distributed current in real time according to the obtained three-phase current. Exemplarily, the motor controller can adopt PI or other control strategies to control the phase current of each phase winding to reach the corresponding distributed current.

[0135] The following takes a plurality of first rotor angle intervals including the aforementioned plurality of first intervals and the aforementioned plurality of second intervals as an example to illustrate the minimum torque charging scheme in the present application.

[0136] In one embodiment, L d =0.41mH, L q =1.06mH,λ m =0.13Wb and i a =200A. According to the motor torque generated under each current distribution strategy, we can get Figure 4 The motor torque curve shown in the figure is Figure 4 The ordinate represents the motor torque, and the abscissa represents the motor rotor angle.

[0137] Based on the L known in this embodiment d , L q , m and i a Parameters, it can be obtained that several first intervals under the first current distribution strategy include: 0°~30°, 150°~210° and 330°~360°, and several second intervals under the second current distribution strategy include: 0°~60° and 300°~360°. Curve A represents the motor torque curve under the first current distribution strategy, and the motor torque of curve A within 0°~30°, 150°~210° and 330°~360° is zero torque. Curve B represents the motor torque curve under the second current distribution strategy, and the motor torque of curve B within 0°~60° and 300°~360° is zero torque. Curve C represents the motor torque curve under the third current distribution strategy, and curve D represents the motor torque curve under the fourth current distribution strategy. There is a phase difference between curve C and curve D, but there is no zero torque curve. When the motor rotor angle is 120° and 240°, the motor torques of curve C and curve D are equal, so the two third current distribution strategies and the fourth current distribution strategy can be smoothly switched when the motor rotor angle is 120° or 240°. In addition, the second rotor angle intervals corresponding to the third current distribution strategy and the fourth current distribution strategy include: 60° to 120°, 120° to 150°, 210° to 240°, and 240° to 300°.

[0138] In this embodiment, the preset rotor angle range can be divided into several intervals. For example, the divided intervals include 0°~60°, 60°~120°, 120°~150°, 150°~210°, 210°~240°, 240°~300° and 300°~360°, a total of 7 intervals. Figure 4As shown, when the motor rotor angle is between 0° and 60°, the motor torque of curve B is the smallest; when the motor rotor angle is between 60° and 120°, the motor torque of curve D is the smallest; when the motor rotor angle is between 120° and 150°, the motor torque of curve C is the smallest; when the motor rotor angle is between 150° and 210°, the motor torque of curve A is the smallest; when the motor rotor angle is between 210° and 240°, the motor torque of curve D is the smallest; when the motor rotor angle is between 240° and 300°, the motor torque of curve C is the smallest; when the motor rotor angle is between 300° and 360°, the motor torque of curve B is the smallest.

[0139] It should be noted that since there is an overlapping interval between curve A and curve B, such as the overlapping intervals between curve A and curve B of 0° to 30° and 330° to 360° in this embodiment, when the motor rotor angle is in the overlapping interval, either the first current distribution strategy or the second current distribution strategy can be used for current distribution.

[0140] Furthermore, by combining curves A, B, C and D, we can get Figure 5 The motor controller can be operated in accordance with the first minimum motor torque curve shown in FIG. Figure 5 The first minimum motor torque curve is used for charging to meet the zero torque output in the 180° interval.

[0141] In another embodiment, L d =0.41mH, L q =1.06mH,λ m =0.13Wb and i a =300A. According to the motor torque generated under each current distribution strategy, we can get Figure 6 The motor torque curve shown in the figure is Figure 6 The ordinate represents the motor torque, and the abscissa represents the motor rotor angle.

[0142] Based on the L known in this embodiment d , L q , m and i a Parameters, it can be obtained that several first intervals under the first current distribution strategy include: 0°~30°, 150°~210° and 330°~360°, and several second intervals under the second current distribution strategy include: 0°~65° and 295°~360°. Figure 6The middle curve A' represents the motor torque curve under the first current distribution strategy, and the motor torque of curve A' within 0°~30°, 150°~210° and 330°~360° is zero torque. Curve B' represents the motor torque curve under the second current distribution strategy, and the motor torque of curve B' within 0°~65° and 295°~360° is zero torque. Curve C' represents the motor torque curve under the third current distribution strategy, and curve D' represents the motor torque curve under the fourth current distribution strategy. There is a phase difference between curve C' and curve D', but there is no zero torque curve. When the motor rotor angle is 124° and 236°, the motor torque of curve C' and curve D' are equal. Therefore, the two third current distribution strategies and the fourth current distribution strategy can be smoothly switched when the motor rotor angle is 124° or 236°. Furthermore, several second rotor angle intervals corresponding to the third current distribution strategy and the fourth current distribution strategy include: 65° to 124°, 124° to 150°, 210° to 236° and 236° to 295°.

[0143] In this embodiment, the preset rotor angle range can be divided into several intervals. For example, the divided intervals include 0°~65°, 65°~124°, 124°~150°, 150°~210°, 210°~236°, 236°~295° and 295°~360°, a total of 7 intervals. Figure 6 As shown, when the motor rotor angle is between 0° and 65°, the motor torque of curve B' is the smallest; when the motor rotor angle is between 65° and 124°, the motor torque of curve D' is the smallest; when the motor rotor angle is between 124° and 150°, the motor torque of curve C' is the smallest; when the motor rotor angle is between 150° and 210°, the motor torque of curve A' is the smallest; when the motor rotor angle is between 210° and 236°, the motor torque of curve D' is the smallest; when the motor rotor angle is between 236° and 295°, the motor torque of curve C' is the smallest; when the motor rotor angle is between 295° and 360°, the motor torque of curve B' is the smallest.

[0144] It should be noted that since there is an overlapping interval between curve A' and curve B', such as the overlapping intervals between curve A' and curve B' of 0° to 30° and 330° to 360° in this embodiment, when the motor rotor angle is in the overlapping interval, either the first current distribution strategy or the second current distribution strategy can be used for current distribution.

[0145] Furthermore, by integrating curves A', B', C' and D', we can get Figure 7 The motor controller can be operated in accordance with the second minimum torque curve shown in Figure 1. Figure 7 The second minimum motor torque curve is used for charging to meet the zero torque output in the 190° interval.

[0146] Based on the above analysis, this embodiment combines four current distribution strategies to achieve minimum torque charging in the entire rotor angle range, which complies with the principle of minimum torque charging, can avoid generating additional motor torque during charging to the greatest extent, improve charging stability, and thus enhance the user's charging experience. In addition, this embodiment can achieve zero torque output in at least 180° interval. When the charging current (i.e., i a ) is larger or the motor parameter corresponds to λ m / (L q -L d ) value is smaller, the rotor angle range of zero torque output can be further increased, thereby further reducing the motor torque during charging.

[0147] See also Figure 8 , Figure 8 8 is a schematic diagram of a framework of an electronic device according to an embodiment of the present application. In this embodiment, the electronic device 80 includes a memory 81 and a processor 82 .

[0148] The processor 82 may also be referred to as a CPU (Central Processing Unit). The processor 82 may be an integrated circuit chip having signal processing capabilities. The processor 82 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. A general-purpose processor may be a microprocessor or the processor 82 may also be any conventional processor 82, etc.

[0149] The memory 81 in the electronic device 80 is used to store program instructions required for the processor 82 to run.

[0150] The processor 82 is used to execute program instructions to implement the charging control method in the present application.

[0151] See also Fig. 9 , Fig. 9It is a schematic diagram of the framework of an embodiment of a computer-readable storage medium provided in the present application. The computer-readable storage medium 90 of the embodiment of the present application stores program instructions 91, and the program instructions 91 implement the charging control method provided in the present application when executed. Among them, the program instructions 91 can form a program file and be stored in the above-mentioned computer-readable storage medium 90 in the form of a software product, so that a computer device (which can be a personal computer, a server, or a network device, etc.) executes all or part of the steps of the methods of each embodiment of the present application. The aforementioned computer-readable storage medium 90 includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, or a terminal device such as a computer, a server, a mobile phone, and a tablet.

[0152] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A charging control method, characterized in that: Applied to a charging system, the charging system includes a first power supply, an inverter circuit, a motor, a motor controller and a second power supply; wherein the first power supply is connected to the inverter circuit, the inverter circuit is connected to a first winding, a second winding and a third winding of the motor, and the first winding is also connected to the second power supply; the method includes: The motor controller determines a plurality of first rotor angle intervals under a first charging condition, and first phase current distribution information corresponding to each of the first rotor angle intervals that makes the motor torque zero torque; wherein the charging current output by the second power supply under the first charging condition flows into the first power supply through the first winding, the second winding and the third winding; In response to the current motor rotor angle being within any one of the several first rotor angle intervals, the switch tube in the inverter circuit is controlled based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs.

2. The method according to claim 1, characterized in that The situation where the motor torque is the zero torque includes at least one of the following situations: The quadrature-axis current of the motor is a first preset value; The direct-axis current of the motor is a second preset value, and the second preset value is obtained based on the permanent magnet flux, quadrature-axis inductance and direct-axis inductance of the motor.

3. The method according to claim 2, characterized in that When the quadrature-axis current is the first preset value, the plurality of first rotor angle intervals include a plurality of first intervals; and the step of determining the plurality of first intervals includes: Determine a first mapping relationship and a second mapping relationship; wherein the first mapping relationship is a mapping relationship between the phase current of the second winding and the motor rotor angle and the phase current of the first winding, and the second mapping relationship is a mapping relationship between the phase current of the third winding and the motor rotor angle and the phase current of the first winding; Based on the first mapping relationship, the second mapping relationship and the first current constraint condition, the several first intervals are solved; wherein, the first current constraint condition includes: the phase current of the first winding is greater than the first preset value, and the phase current of the second winding and the phase current of the third winding are both less than the first preset value.

4. The method according to claim 3, characterized in that The determining the first mapping relationship and the second mapping relationship comprises: Determining a first conversion relationship between the quadrature-axis current and the three-phase current; Based on the first conversion relationship and the second current constraint condition, the first mapping relationship and the second mapping relationship are solved; wherein the second current constraint condition includes: the cross-axis current is the first preset value, and the sum of the three-phase currents is the first preset value.

5. The method according to claim 3, characterized in that: The first-phase current distribution information of each of the first intervals includes the first mapping relationship and the second mapping relationship; In a case where the current motor rotor angle is within any of the first intervals, the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs is used to control the switch in the inverter circuit, including: Based on the first mapping relationship, determining the phase current of the second winding corresponding to the motor rotor angle being the current motor rotor angle and the phase current of the first winding being the charging current as the distribution current of the second winding; Based on the second mapping relationship, determining the phase current of the third winding corresponding to the motor rotor angle being the current motor rotor angle and the phase current of the first winding being the charging current, as the distribution current of the third winding; The duty ratio of each switch tube of the second bridge arm and the third bridge arm in the inverter circuit is controlled so that the phase current of the second winding and the phase current of the third winding respectively reach the corresponding distributed current.

6. The method according to claim 2, characterized in that When the direct-axis current is the second preset value, the plurality of first rotor angle intervals include a plurality of second intervals; and the step of determining the plurality of second intervals comprises: Determine a third mapping relationship and a fourth mapping relationship; wherein the third mapping relationship is a mapping relationship between the phase current of the second winding and the direct-axis current, the motor rotor angle and the phase current of the first winding, and the fourth mapping relationship is a mapping relationship between the phase current of the third winding and the direct-axis current, the motor rotor angle and the phase current of the first winding; Based on the third mapping relationship, the fourth mapping relationship and the first current constraint condition, the plurality of second intervals are solved; wherein the first current constraint condition includes: the phase current of the first winding is greater than the first preset value, and the phase current of the second winding and the phase current of the third winding are both less than the first preset value.

7. The method according to claim 6, characterized in that The determining the third mapping relationship and the fourth mapping relationship includes: Determining a second conversion relationship between the direct-axis current and the three-phase current; Based on the second conversion relationship and the third current constraint condition, a third mapping relationship and a fourth mapping relationship are solved; wherein the third current constraint condition includes: the direct-axis current is the second preset value, and the sum of the three-phase currents is the first preset value.

8. The method according to claim 6, characterized in that The first-phase current distribution information of each second interval includes the third mapping relationship and the fourth mapping relationship; In a case where the current motor rotor angle is within any of the second intervals, the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs is used to control the switch in the inverter circuit, including: Based on the third mapping relationship, determine the phase current of the second winding corresponding to the direct-axis current being the second preset value, the motor rotor angle being the current motor rotor angle, and the phase current of the first winding being the charging current, as the distribution current of the second winding; Based on the fourth mapping relationship, determine the phase current of the third winding corresponding to the direct-axis current being the second preset value, the motor rotor angle being the current motor rotor angle, and the phase current of the first winding being the charging current, as the distribution current of the third winding; The duty ratio of each switch tube of the second bridge arm and the third bridge arm in the inverter circuit is controlled so that the phase current of the second winding and the phase current of the third winding reach the corresponding distributed current.

9. The method according to claim 1, characterized in that: The method further comprises: Based on the plurality of first rotor angle intervals, determining a plurality of remaining rotor angle intervals within a preset rotor angle range; Obtaining a first torque mapping relationship under a second charging condition and a second torque mapping relationship under a third charging condition; wherein, under the second charging condition, the charging current output by the second power supply flows into the first power supply through the first winding and the second winding, and under the third charging condition, the charging current output by the second power supply flows into the first power supply through the first winding and the third winding, and the first torque mapping relationship and the second torque mapping relationship are both mapping relationships between the motor torque and the motor rotor angle; Based on the first torque mapping relationship and the second torque mapping relationship, a plurality of target rotor angles located within the plurality of remaining rotor angle intervals are determined; wherein, for each of the target rotor angles, the torque of the target rotor angle determined based on the first torque mapping relationship is the same as the torque of the target rotor angle determined based on the second torque mapping relationship; Based on the plurality of target rotor angles, dividing the plurality of remaining rotor angle intervals into a plurality of second rotor angle intervals; Determine second-phase current distribution information that minimizes the motor torque and corresponds to each of the second rotor angle intervals; In response to the current motor rotor angle being within any one of the plurality of second rotor angle intervals, the switch tube in the inverter circuit is controlled based on the second phase current distribution information corresponding to the rotor angle interval to which the current motor rotor angle belongs.

10. A charging system, characterized in that: The charging system comprises: a first power supply, an inverter circuit, a motor, a motor controller and a second power supply; wherein the first power supply is connected to the inverter circuit, the inverter circuit is connected to the first winding, the second winding and the third winding of the motor, and the first winding is also connected to the second power supply; The motor controller is used to determine a plurality of first rotor angle intervals under a first charging condition, and first phase current distribution information corresponding to each of the first rotor angle intervals that makes the motor torque zero torque; wherein the charging current output by the second power supply under the first charging condition flows into the first power supply through the first winding, the second winding and the third winding; In response to the current motor rotor angle being within any one of the several first rotor angle intervals, the switch tube in the inverter circuit is controlled based on the first phase current distribution information of the rotor angle interval to which the current motor rotor angle belongs.

11. An electronic device, characterized in that: comprising a memory and a processor coupled to each other, The memory stores program instructions; The processor is used to execute the program instructions stored in the memory to implement the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store program instructions, and the program instructions can be executed by a processor to implement the method according to any one of claims 1 to 9.

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