Motor controller fault processing method and system, vehicle and storage medium

Abstract

The invention relates to the technical field of motor controllers, in particular to a motor controller fault processing method and system, a vehicle and a storage medium, and the method comprises the steps: responding to a condition that a motor controller is in a power-on or operation stage, detecting that a driving circuit has a fault through a main control chip of the motor controller, and executing fault recovery operation, detecting whether the fault of the driving circuit is cleared or not; if it is detected that the fault of the driving circuit is removed, the motor controller operates normally; if it is detected that the drive circuit fault is not cleared and the number of times of executing the fault recovery operation is smaller than a preset number threshold, continuing to execute the fault recovery operation; and if it is detected that the drive circuit fault is not cleared and the number of times of executing the fault recovery operation is greater than or equal to a preset number threshold, executing a response action based on the working stage of the motor controller according to a preset strategy. The influence of the failure of the driving chip and the power module on the operation of the electric drive can be eliminated, and the interference on the current running state of the vehicle is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of motor controllers, and in particular to a motor controller fault processing method, system, vehicle and storage medium. Background Art

[0002] At present, motors are widely used in various application scenarios, and as one of the key devices for controlling the operation of motors, the stability and reliability of motor controllers are crucial to the operation of the entire system. However, due to changes in the external environment or problems with the equipment itself, the motor controller power module (such as insulated gate bipolar transistor, hereinafter referred to as IGBT) may experience various abnormal conditions during operation, such as IGBT upper bridge power module failure, lower bridge power module failure, power module voltage failure, and power module current failure. The motor controller driver chip may also cause the following types of faults during operation, such as driver chip overvoltage fault, driver chip overcurrent fault, driver chip overheating fault, etc. All of the above faults directly affect the regulation ability of the motor control system, resulting in a decrease in control accuracy. Secondly, they may bring safety hazards such as overcurrent, overheating, and electrical fires, which seriously affect the normal operation of the motor system and even affect the driver's life safety during driving.

[0003] Therefore, in order to eliminate the impact of control circuit failure on motor operation and avoid interference to the operation of the drive motor due to failure of the driver chip and power module, it is of great theoretical and practical significance to monitor the driving state of the motor controller in real time and be able to restore it in time through effective control to avoid disturbance to the operating state of the vehicle.

[0004] CN202311567026 discloses a scheduling method, device and equipment. The method detects hardware fault signals in a loop and determines whether the hardware fault signals detected in the loop indicate a fault. If the hardware fault signals detected in the loop indicate a fault, the main control chip is controlled to enter an emergency interrupt; the emergency interrupt includes shutting down all control signals output by the main control chip, and performing a fault type judgment on the power conversion module and executing a corresponding strategy according to the fault type. If the drive circuit fails, a strategy is executed to control the power conversion module to enter an active short-circuit state; if the drive circuit is not faulty, the power conversion module is controlled to switch from the active short-circuit state of the lower bridge arm to the off state. This method only judges the fault of the motor controller and does not execute related fault recovery measures. The disadvantages are as follows: 1. The cyclic detection of hardware fault signals causes the chip load rate of the control circuit to be too high, resulting in a waste of chip resources.

[0005] 2. The above invention method enters emergency interruption after detecting a drive circuit fault, shutting down all control signals output by the main control chip, causing great interference to the vehicle's operating state and threatening driving safety, and requiring more time to recover later. Summary of the invention

[0006] The purpose of the present invention is to provide a motor controller fault handling method, system, vehicle and storage medium, which can eliminate the impact of driver chip and power module failure on electric drive operation and avoid interference with the current driving state of the vehicle.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a motor controller fault processing method, characterized by comprising: In response to the motor controller being in a power-on or running stage, and detecting a fault in the drive circuit through the main control chip of the motor controller, performing a fault recovery operation and detecting whether the drive circuit fault is cleared; If it is detected that the drive circuit fault has been cleared, the motor controller operates normally; If it is detected that the driving circuit fault has not been cleared, and the number of times the fault recovery operation is performed is less than the preset number threshold, the fault recovery operation continues to be performed; If it is detected that the drive circuit fault has not been cleared and the number of fault recovery operations performed is equal to a preset number threshold, a response action is performed according to a preset strategy based on the working stage of the motor controller.

[0008] Further, the motor controller power-on stage includes a preliminary detection stage, a fault register detection stage, a driver chip self-check stage and a parameter register configuration stage which are arranged in sequence; In response to the motor controller entering the preliminary detection phase, the main control chip of the motor controller detects whether there is a fault in the output I / O port level of the drive circuit; if so, a reset operation is performed on the register of the drive circuit, and it is detected whether the output I / O port level fault of the drive circuit is cleared; if not, the motor controller enters the fault register detection phase; In response to the motor controller entering the fault register detection phase, the main control chip of the motor controller reads the parameters in the fault register to determine whether there is a fault in the fault register; if so, the motor controller is powered off and then powered on again; if not, the motor controller enters the driver chip self-check phase; In response to the motor controller entering the driver chip self-check stage, the main control chip of the motor controller controls the driver chip of the driver circuit to enter the self-check mode, and determines whether there is a fault in the self-check result; if so, the motor controller is powered off and then powered on again; if not, the motor controller enters the parameter register configuration stage; In response to the motor controller entering the parameter register configuration stage, the target parameters and set levels in the parameter register of the driver chip are configured through the main control chip of the motor controller. After the configuration is completed, the timing starts and it is determined whether the configuration is successful; if so, the motor controller completes the power-on; if not, the target parameters in the parameter register are re-read and compared with the preset parameters.

[0009] Further, in response to the motor controller being in the preliminary detection stage and the number of times the reset operation is performed on the register of the driving circuit is equal to a preset number threshold, the motor controller is powered off and then powered on again; In response to the motor controller being in the preliminary detection stage, the fault register detection stage or the driver chip self-check stage, and the number of times the motor controller is powered on again after being powered off is equal to a preset number threshold, the motor controller enters the parameter register configuration stage; In response to the motor controller being in the parameter register configuration stage, and the number of times the target parameters in the parameter register are re-read is equal to a preset number threshold, it is determined whether the timing time is less than the preset time threshold. If so, the motor controller is powered off and then powered on again. If not, the motor controller completes powering on.

[0010] Further, in response to the motor controller being in the running stage, and the main control chip of the motor controller detecting that there is a fault in the drive circuit, and identifying the fault type as a recoverable fault or an unrecoverable fault, a corresponding fault recovery operation is performed according to the fault type.

[0011] Further, in response to the fault type being a recoverable fault, the corresponding fault recovery operation is: eliminating the fault code corresponding to the recoverable fault in the fault register, and reconfiguring the parameter register of the drive circuit.

[0012] Further, in response to the fault type being an unrecoverable fault and the wheel speed being less than a preset threshold, the corresponding fault recovery operation is: controlling the battery to supply power to the motor, while eliminating the fault code corresponding to the unrecoverable fault in the fault register, and reconfiguring the parameter register of the drive circuit; In response to the fault type being an unrecoverable fault and the wheel speed being greater than or equal to a preset threshold, the corresponding fault recovery operation is: the main control chip stops sending a control signal to the drive chip of the drive circuit.

[0013] Furthermore, in response to the motor controller being in the power-on or running stage, and when the main control chip of the motor controller detects a fault in the drive circuit, the main control chip stops sending control signals to the drive chip of the drive circuit; after the fault is eliminated, the main control chip sends control signals to the drive chip again.

[0014] In the second aspect, the present invention provides a motor controller fault handling system, comprising a fault detection module and a fault handling module, wherein the fault detection module is arranged in the main control chip of the motor controller, and is used to detect whether there is a fault in the drive circuit; and detect whether the drive circuit fault is cleared after executing the fault recovery operation; if it is detected that the drive circuit fault has been cleared, the motor controller operates normally; if it is detected that the drive circuit fault has not been cleared, and the number of fault recovery operations executed is less than a preset number threshold, the fault recovery operation continues to be executed; if it is detected that the drive circuit fault has not been cleared, and the number of fault recovery operations executed is greater than or equal to the preset number threshold, a response action is executed based on the working stage of the motor controller according to a preset strategy; the fault handling module executes a fault recovery operation in response to the motor controller being in the power-on or running stage, and detecting that there is a fault in the drive circuit through the main control chip of the motor controller.

[0015] In a third aspect, the present invention provides a vehicle, comprising the above-mentioned motor controller fault handling system.

[0016] In a fourth aspect, the present invention provides a computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor of a computer, enables the computer to execute the above-mentioned motor controller fault handling method.

[0017] The present invention has the following unexpected beneficial effects: 1. The present invention detects whether there is a fault in the drive circuit through the main control chip of the motor controller, thereby avoiding the drive chip of the drive circuit cyclically detecting hardware fault signals, resulting in excessive load rate and wasting drive chip resources.

[0018] 2. The present invention performs fault monitoring of the drive circuit during the power-on or operation phase, effectively reducing the risk of failure of the motor controller during the operation phase. When a motor controller fails, not only does it perform a fault recovery operation to avoid interference with the current driving state of the vehicle, but it also records and limits the number of fault recovery operations to avoid the risk of damage to the motor controller module caused by repeated execution of fault recovery, thereby ensuring the continuity and reliability of the motor controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0020] Figure 1 A flow chart of a method for handling a motor controller fault provided by an embodiment of the present invention is shown; Figure 2A flow chart of a fault handling method during the power-on phase of a motor controller provided by an embodiment of the present invention is shown; Figure 3 A flow chart of a fault handling method during the operation phase of a motor controller provided by an embodiment of the present invention is shown; Figure 4 The overall framework diagram of the motor controller provided by the embodiment of the present invention is shown; Figure 5 A schematic diagram of the structure of a motor controller fault processing system provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0021] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0022] In one embodiment, see Figure 1 As shown, the present invention provides a motor controller fault processing method, comprising: In response to the motor controller being in a power-on or running stage, and detecting a fault in the drive circuit through the main control chip of the motor controller, performing a fault recovery operation and detecting whether the drive circuit fault is cleared; If it is detected that the drive circuit fault has been cleared, the motor controller operates normally; If it is detected that the driving circuit fault has not been cleared, and the number of times the fault recovery operation is performed is less than the preset number threshold, the fault recovery operation continues to be performed; If it is detected that the drive circuit fault has not been cleared, and the number of fault recovery operations performed is greater than or equal to a preset number threshold, a response action is performed according to a preset strategy based on the working stage of the motor controller.

[0023] The motor controller fault handling method of the present invention is mainly divided into three core steps: fault detection, fault recovery attempt, and sleep power-off processing when the fault is not resolved. This staged processing method can not only restore the system to a normal state as much as possible, but also take protective measures after multiple failed attempts, that is, execute response actions based on the working stage of the motor controller according to the preset strategy to prevent further damage or safety risks.

[0024] The specific steps are explained in detail below.

[0025] Fault detection: When the motor controller is in the power-on or running stage, the main control chip will continuously monitor the state of the drive circuit. Since the present invention uses the main control chip of the motor controller to detect whether the drive circuit has a fault, it avoids the drive chip of the drive circuit cyclically detecting hardware fault signals, resulting in excessive load rate and wasting drive chip resources.

[0026] Once a fault is detected in the drive circuit (such as short circuit, open circuit, overcurrent, etc.), the main control chip will immediately trigger the fault handling process.

[0027] Fault recovery operation: Once the fault is confirmed, the main control chip will perform preset fault recovery operations. These operations may include reconfiguring the drive logic or attempting a software reset, etc., in order to eliminate or bypass the current fault.

[0028] After executing the fault recovery operation, the main control chip will detect the status of the drive circuit again to confirm whether the fault has been cleared.

[0029] Fault clearing confirmation and subsequent processing: If the fault has been cleared, it means that the fault recovery operation is effective and the motor controller will continue to operate normally. At the same time, the fault handling process is recorded for subsequent analysis.

[0030] If the fault is not cleared and the number of recovery attempts is less than the preset number threshold, it indicates that the current fault recovery operation has not completely solved the problem, but it is still necessary to try. Therefore, the main control chip will repeatedly perform the fault recovery operation until the preset number of attempts is reached or the fault is successfully cleared.

[0031] If the fault is not cleared and the number of recovery times reaches or exceeds the preset threshold, at this time, in order to avoid further damage or safety risks caused by continuous fault processing, the main control chip will perform response actions based on the working stage of the motor controller according to the preset strategy. The response actions include but are not limited to: powering on the motor controller after powering off, stopping the operation of the motor controller, etc. This step ensures the safety and stability of the system when the fault cannot be recovered, and also provides a basis for subsequent troubleshooting and maintenance.

[0032] The present invention performs fault monitoring of the drive circuit during the power-on or operation phase of the motor controller, effectively reducing the risk of failure of the motor controller during the operation phase. When a motor controller fails, not only does it perform a fault recovery operation to avoid interference with the current driving state of the vehicle, but it also records and limits the number of fault recovery operations to avoid the risk of damage to the motor controller module caused by repeated execution of fault recovery, thereby ensuring the continuity and reliability of the motor controller.

[0033] In summary, the motor controller fault handling method provided by the present invention not only improves the reliability and safety of the motor control system, but also reduces maintenance costs and downtime risks, and has broad application prospects.

[0034] In a preferred embodiment, the power-on phase of the motor controller includes a preliminary detection phase, a fault register detection phase, a driver chip self-check phase and a parameter register configuration phase which are arranged in sequence.

[0035] See also Figure 2 As shown, in response to the motor controller entering the preliminary detection stage, the main control chip of the motor controller detects whether there is a fault in the output I / O port level of the drive circuit; if so, a reset operation, i.e., a fault recovery operation, is performed on the register of the drive circuit, and it is detected whether the output I / O port level fault of the drive circuit is cleared; if not, the motor controller enters the fault register detection stage.

[0036] In response to the motor controller entering the fault register detection phase, the parameters in the fault register are read through the main control chip of the motor controller to determine whether the fault register is faulty; if so, the motor controller is powered off and then powered on again; if not, the motor controller enters the driver chip self-check phase. It should be noted that before the motor controller enters the driver chip self-check phase, the fault register is parameterized according to a preset strategy to ensure that the fault register can monitor the fault status of the driver chip in real time when the motor controller is working.

[0037] In response to the motor controller entering the driver chip self-test stage, the driver chip of the drive circuit is controlled by the main control chip of the motor controller to enter the self-test mode, and it is determined whether there is a fault in the self-test result; if so, the motor controller is powered off and then powered on again; if not, the motor controller enters the parameter register configuration stage.

[0038] In response to the motor controller entering the parameter register configuration phase, the driver chip is first cleared of the relevant information about the reset operation to avoid subsequent identification as a motor controller failure. Then, the target parameters and set levels in the parameter register of the driver chip are configured through the main control chip of the motor controller. After the configuration is completed, the timing is started to determine whether the configuration is successful; if so, the motor controller completes the power-on; if not, the target parameters in the parameter register are re-read and compared with the preset parameters.

[0039] Further, see Figure 2 As shown, in response to the motor controller being in the preliminary detection stage, and the number of times the reset operation is performed on the register of the driving circuit is equal to the preset number threshold, the motor controller is powered off and then powered on again. Conversely, after the reset operation is performed on the register of the driving circuit, the output I / O port of the driving circuit is re-detected to see if there is a fault. Exemplarily, the preset number threshold of the preliminary detection stage is three times.

[0040] In response to the motor controller being in the preliminary detection stage, the fault register detection stage or the driver chip self-check stage, and the number of times the motor controller is powered on again after being powered off is equal to the preset number threshold, the motor controller enters the parameter register configuration stage to avoid the motor controller being powered on repeatedly in a cycle, which affects the fault handling efficiency.

[0041] In response to the motor controller being in the parameter register configuration stage, and the number of times the target parameter in the parameter register is re-read is equal to the preset number threshold, it is determined whether the timing time is less than the preset time threshold, if so, the motor controller is powered off and then powered on again, if not, the motor controller completes the power-on. Exemplarily, the preset number threshold of re-reading the target parameter in the parameter register in the parameter register configuration stage is three times, and the preset time threshold is three seconds.

[0042] In summary, this subdivided power-on phase and extended fault handling logic not only improves the stability and reliability of the motor controller, but also enhances its self-diagnosis and self-recovery capabilities, helping to reduce downtime caused by hardware failure or configuration errors.

[0043] In a preferred embodiment, see Figure 3 As shown, in response to the motor controller being in the running stage, and the main control chip of the motor controller detects that there is a fault in the driving circuit, and identifies the fault type as a recoverable fault or an unrecoverable fault, a corresponding fault recovery operation is performed according to the fault type.

[0044] Further, in response to the fault type being a recoverable fault, the corresponding fault recovery operation is to reconfigure the registers of the driving circuit. That is, the registers of the driving circuit are reconfigured. Such reconfiguration may involve adjusting control parameters, changing the working mode, or applying a backup configuration, etc., to eliminate or bypass the current fault so that the driving circuit can resume normal operation.

[0045] Furthermore, in response to the fault type being an unrecoverable fault, the main control chip will decide what recovery operation to take based on the rotation speed of the wheel.

[0046] In response to the fault type being an unrecoverable fault and the wheel speed being less than the preset threshold, in this case, in order to minimize the impact on vehicle driving, the main control chip will control the battery to directly supply power to the motor, while trying to reconfigure the registers of the drive circuit. This setting is intended to maintain the basic operating capability of the motor, although the drive circuit itself may not be able to fully resume normal operation, and can directly supply power to the motor through the battery to ensure that the vehicle can slowly drive to a safe area or undergo further repairs.

[0047] In response to the fault type being an unrecoverable fault and the wheel speed being greater than or equal to the preset threshold, it indicates that the vehicle is traveling at a relatively fast speed. At this point, continuing to try to restore the drive circuit may bring greater safety risks. Therefore, the main control chip will take more conservative measures, namely, disconnecting the connection with the drive chip and stopping the main control chip from sending control signals to the drive chip of the drive circuit to ensure the safety of the vehicle and passengers. At the same time, this also provides conditions for subsequent troubleshooting and repairs.

[0048] Exemplarily, the preset threshold value of the wheel speed is set to 100 r / min.

[0049] In a preferred embodiment, see Figure 4 As shown, the motor controller includes a main control chip and a driving circuit connected to the main control chip. The main control chip includes an output processing module, a parameter setting module, a fault reporting module, a fault detection module and a fault processing module. The main control chip controls the six driving chips of the driving circuit by controlling six PWM (Pulse Width Modulation). Each driving chip controls an IGBT separately. By controlling the on and off of each IGBT, the conversion from DC to AC is realized, thereby driving the motor. The state of the driving circuit is acquired through the Communication bus, and the level change of the output I / O port of the driving circuit is acquired through AD acquisition. Faults during the operation of the motor are triggered by external interrupt pins in the driving circuit.

[0050] The output processing module controls the output I / O port of the main control chip to send a pulse width modulation waveform to the drive circuit, and the drive circuit then controls the switching of the IGBT through the drive module according to the PWM frequency.

[0051] The parameter setting module configures parameters of various parts in the driver chip based on the working characteristics of the motor controller itself and the control system requirements to ensure that the motor controller can operate normally.

[0052] The fault reporting module inputs the fault information of the motor controller during the power-on or operation phase to the main control chip, and monitors the current fault condition of the motor controller.

[0053] After the motor controller is powered on or running, the fault detection module monitors the operating status of the entire drive circuit in real time. When a fault occurs, the real-time fault data is monitored and classified to prepare for subsequent fault handling and take further targeted measures.

[0054] The fault processing module processes abnormal situations according to different types of faults and in accordance with preset control strategies.

[0055] In a preferred embodiment, in response to the motor controller being in the power-on or running stage, and when the main control chip of the motor controller detects that there is a fault in the drive circuit, the main control chip stops sending control signals to the drive chip of the drive circuit. The purpose of this measure is to prevent the drive circuit in a faulty state from continuing to run after receiving the control signal, which may cause further damage or safety risks.

[0056] Stopping control signals can prevent further damage, ensure safety, and facilitate troubleshooting. When a drive circuit fails, continuing to send control signals to it may cause the fault state to persist or even worsen, resulting in more serious hardware damage. Stopping control signals ensures that the motor and its drive system do not operate in an unsafe state, thereby protecting the safety of the vehicle and passengers. After stopping control signals, it is easier to locate and analyze the cause of the drive circuit failure, facilitating subsequent troubleshooting and repair work.

[0057] After the fault is eliminated, the main control chip re-sends control signals to the driver chip, allowing the motor controller to resume normal operation. This recovery process usually involves a comprehensive inspection and test of the driver circuit to ensure that it has fully recovered to normal working condition.

[0058] The main control chip needs to continuously monitor the status of the drive circuit, including key parameters such as voltage, current, and temperature, in order to detect potential faults in a timely manner. Once a fault is detected, the main control chip should respond quickly, stop sending control signals to the driver chip, and may trigger a fault alarm mechanism at the same time. The main control chip should also record information such as the time, type, and location of the fault for subsequent analysis and improvement. Before the fault is eliminated and the control signal is resent, the drive circuit should be fully inspected and tested to ensure that it has returned to a reliable working state.

[0059] In this way, the motor controller can respond more intelligently to drive circuit failures, improving system reliability and safety.

[0060] In a preferred embodiment, the drive circuit fault includes a drive circuit power module fault and a drive circuit driver chip fault. Exemplarily, the drive circuit power module fault includes an IGBT upper bridge power module fault, a lower bridge power module fault, a power module voltage fault, and a power module current fault, and the drive circuit driver chip fault includes a driver chip overvoltage fault, such as a driver chip overcurrent fault, and a driver chip overheating fault.

[0061] In one embodiment, the present invention provides a motor controller fault processing system, see Figure 5As shown, the fault handling system 10 includes a fault detection module 11 and a fault handling module 12. The fault detection module 11 is arranged in the main control chip of the motor controller, and is used to detect whether there is a fault in the drive circuit; and detect whether the drive circuit fault is cleared after performing the fault recovery operation; if it is detected that the drive circuit fault has been cleared, the motor controller operates normally; if it is detected that the drive circuit fault has not been cleared, and the number of fault recovery operations performed is less than the preset number threshold, the fault recovery operation continues to be performed; if it is detected that the drive circuit fault has not been cleared, and the number of fault recovery operations performed is greater than or equal to the preset number threshold, then the response action is performed according to the preset strategy based on the working stage of the motor controller. The fault handling module 12 performs a fault recovery operation in response to the motor controller being in the power-on or running stage, and when the main control chip of the motor controller detects that there is a fault in the drive circuit.

[0062] In one embodiment, the present invention further provides a vehicle, comprising the above-mentioned motor controller fault processing system.

[0063] In one embodiment, the present invention further provides a computer-readable storage medium having computer-readable instructions stored thereon. When the computer-readable instructions are executed by a processor of a computer, the computer executes the above-mentioned motor controller fault handling method.

[0064] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A motor controller fault processing method, characterized in that: include: In response to the motor controller being in a power-on or running stage, and detecting a fault in the drive circuit through the main control chip of the motor controller, performing a fault recovery operation and detecting whether the drive circuit fault is cleared; If it is detected that the drive circuit fault has been cleared, the motor controller operates normally; If it is detected that the driving circuit fault has not been cleared, and the number of times the fault recovery operation is performed is less than the preset number threshold, the fault recovery operation continues to be performed; If it is detected that the drive circuit fault has not been cleared and the number of fault recovery operations performed is equal to a preset number threshold, a response action is performed according to a preset strategy based on the working stage of the motor controller.

2. The motor controller fault handling method according to claim 1, characterized in that: The motor controller power-on stage includes a preliminary detection stage, a fault register detection stage, a driver chip self-check stage and a parameter register configuration stage which are arranged in sequence; In response to the motor controller entering the preliminary detection phase, the main control chip of the motor controller detects whether there is a fault in the output I / O port level of the drive circuit; if so, a reset operation is performed on the register of the drive circuit, and it is detected whether the output I / O port level fault of the drive circuit is cleared; if not, the motor controller enters the fault register detection phase; In response to the motor controller entering the fault register detection phase, the main control chip of the motor controller reads the parameters in the fault register to determine whether the fault register is faulty; if so, the motor controller is powered off and then powered on again; If not, the motor controller enters the driver chip self-test phase; In response to the motor controller entering the driver chip self-test phase, the main control chip of the motor controller controls the driver chip of the driver circuit to enter a self-test mode, and determines whether there is a fault in the self-test result; If yes, the motor controller is powered off and then powered on again; If not, the motor controller enters the parameter register configuration stage; In response to the motor controller entering the parameter register configuration stage, the target parameters and set levels in the parameter register of the driver chip are configured through the main control chip of the motor controller. After the configuration is completed, the timing starts and it is determined whether the configuration is successful; if so, the motor controller completes the power-on; if not, the target parameters in the parameter register are re-read and compared with the preset parameters.

3. The motor controller fault handling method according to claim 2, characterized in that: In response to the motor controller being in the preliminary detection stage and the number of times the reset operation is performed on the register of the driving circuit is equal to a preset number threshold, the motor controller is powered off and then powered on again; In response to the motor controller being in the preliminary detection stage, the fault register detection stage or the driver chip self-check stage, and the number of times the motor controller is powered on again after being powered off is equal to a preset number threshold, the motor controller enters the parameter register configuration stage; In response to the motor controller being in the parameter register configuration stage, and the number of times the target parameters in the parameter register are re-read is equal to a preset number threshold, it is determined whether the timing time is less than the preset time threshold. If so, the motor controller is powered off and then powered on again. If not, the motor controller completes powering on.

4. The motor controller fault processing method according to claim 1, characterized in that: In response to the motor controller being in the running stage, and detecting that a fault exists in the driving circuit through the main control chip of the motor controller, and identifying the fault type as a recoverable fault or an unrecoverable fault, a corresponding fault recovery operation is performed according to the fault type.

5. The motor controller fault processing method according to claim 4, characterized in that: In response to the fault type being a recoverable fault, the corresponding fault recovery operation is: eliminating the fault code corresponding to the recoverable fault in the fault register, and reconfiguring the parameter register of the drive circuit.

6. The motor controller fault processing method according to claim 4, characterized in that: In response to the fault type being an unrecoverable fault and the wheel speed being less than a preset threshold, the corresponding fault recovery operation is: controlling the battery to supply power to the motor, while eliminating the fault code corresponding to the unrecoverable fault in the fault register, and reconfiguring the parameter register of the drive circuit; In response to the fault type being an unrecoverable fault and the wheel speed being greater than or equal to a preset threshold, the corresponding fault recovery operation is: the main control chip stops sending a control signal to the drive chip of the drive circuit.

7. The motor controller fault processing method according to claim 1, characterized in that: In response to the motor controller being in the power-on or running stage and the main control chip of the motor controller detecting a fault in the drive circuit, the main control chip stops sending control signals to the drive chip of the drive circuit; after the fault is eliminated, the main control chip sends control signals to the drive chip again.

8. A motor controller fault processing system, characterized in that: include: A fault detection module is arranged in the main control chip of the motor controller and is used to detect whether there is a fault in the drive circuit; and detecting whether the drive circuit fault is cleared after executing the fault recovery operation; If it is detected that the drive circuit fault has been cleared, the motor controller operates normally; if it is detected that the drive circuit fault has not been cleared, and the number of fault recovery operations performed is less than the preset number threshold, the fault recovery operation continues to be performed; if it is detected that the drive circuit fault has not been cleared, and the number of fault recovery operations performed is greater than or equal to the preset number threshold, a response action is performed according to the preset strategy based on the working stage of the motor controller; The fault processing module executes a fault recovery operation in response to the motor controller being in a power-on or running stage and detecting a fault in the driving circuit through a main control chip of the motor controller.

9. A vehicle, characterized in that: Comprising the motor controller fault handling system as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the motor controller fault processing method as described in any one of claims 1 to 7.

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