Motor control circuit and related device

Abstract

The invention provides a motor control circuit and a related device, and the motor control circuit comprises a first control circuit and a second control circuit, and the first control circuit and the second control circuit are used for achieving the redundancy control of a motor. The first control circuit comprises a first control unit and a first motor driving unit; the second control circuit comprises a second control unit and a second motor driving unit; digital grounds in the first control unit, the first motor driving unit, the second control unit and the second motor driving unit are in common ground connection; the first motor driving unit and the second motor driving unit are connected through a wire. And the lead is used for enabling the current of the control circuit of which the ground wire is open to flow to the ground wire of the power supply of the other control circuit under the condition that the ground wire of the power supply of one of the first control circuit and the second control circuit is open. By adopting the embodiment of the invention, the potential safety hazard can be reduced while the implementation cost of redundancy control is reduced.

Description

Technical Field

[0001] The present application relates to the field of power electronics technology, and in particular to motor control circuits and related devices. Background Art

[0002] As competition in the manufacturing industry intensifies, manufacturers are more pursuing the reliability and safety of production equipment. For example, with the development of smart car technology, especially with the development of smart driving technology, higher control reliability and safety have become the pursuit of major manufacturers. In order to achieve higher control reliability and safety, the redundancy of motor control is also constantly improving. For example, most of the motor controllers currently used in products for L3 to L4 smart driving adopt redundant control design. The redundant control means that the motor controller includes at least two modules that implement the motor control function. When one of the control modules fails, the remaining control modules can still implement the corresponding control functions to improve the safety of the product. However, the implementation cost of redundant control is high. How to reduce the implementation cost of redundant control while reducing safety hazards is a technical problem that technicians in this field urgently need to solve. Summary of the invention

[0003] The present application provides a motor control circuit and related devices, which can reduce the implementation cost of redundant control while reducing safety hazards.

[0004] In a first aspect, the present application provides a motor control circuit, the motor control circuit comprising a first control circuit and a second control circuit, the first control circuit and the second control circuit being used to implement redundant control of the motor;

[0005] The first control circuit comprises a first control unit and a first motor drive unit, wherein the first control unit is used to control the first motor drive unit to control the motor;

[0006] The second control circuit comprises a second control unit and a second motor drive unit, wherein the second control unit is used to control the second motor drive unit to control the motor;

[0007] The digital grounds of the first control unit, the first motor drive unit, the second control unit and the second motor drive unit are connected to a common ground;

[0008] The first motor drive unit and the second motor drive unit are connected by a wire; the wire is used to direct the current of the first control circuit to flow to the second ground wire of the second power supply of the second control circuit when the first ground wire of the first power supply of the first control circuit is open; and / or the wire is used to direct the current of the second control circuit to flow to the first ground wire when the second ground wire is open.

[0009] The above scheme is applied to the motor redundant control circuit, which includes two sets of control circuits. The control units of these two sets of control circuits and the digital ground of the motor drive unit share the same ground, which can save the cost of isolation chips. In this scenario, an open circuit of the power ground wire is a major safety hazard. Therefore, in this scheme, the drive units in the two sets of control circuits are connected by wires, so that when the ground wire of the power supply of one set of control circuits is open, the current can be led to the ground wire of the power supply of the other set of control circuits through the wire to form a loop. In this implementation process, even if the digital ground of the control unit and the motor drive unit of the two sets of control circuits share the same ground, because the wire leads the current to the other set of control circuits, the risk of the current flowing to the control unit causing the control unit to burn out due to overcurrent is reduced. Therefore, this scheme can reduce the implementation cost of redundant control while reducing safety hazards.

[0010] Optionally, the first motor drive unit includes a first drive module and a first current sampling module, the first drive module is used to connect the positive electrode of the first power supply and the first current sampling module, and the first current sampling module is also used to connect the negative electrode of the first power supply; the negative electrode of the first power supply is connected to the first ground wire, and the first power supply is used to power the first control circuit;

[0011] The second motor drive unit includes a second drive module and a second current sampling module, the second drive module is used to connect the positive electrode of the second power supply and the second current sampling module, and the second current sampling module is also used to connect the negative electrode of the second power supply; the negative electrode of the second power supply is connected to the second ground wire, and the second power supply is used to power the second control circuit;

[0012] The connection end between the first current sampling module and the first driving module, and the connection end between the second current sampling module and the second driving module are connected via a wire.

[0013] Optionally, when the first ground wire is open, the current flowing from the positive pole of the first power supply to the first driving module flows through the wire to the second current sampling module, and then flows through the second current sampling module to the second ground wire to form a loop, and the first current sampling module is bypassed.

[0014] Optionally, when the second ground wire is open, the current flowing from the positive pole of the second power supply to the second driving module flows through the wire to the first current sampling module, and then flows through the first current sampling module to the first ground wire to form a loop, and the second current sampling module is bypassed.

[0015] Optionally, the power ground and digital ground of the first control unit are grounded at a single point; the power ground and digital ground of the second control unit are grounded at a single point.

[0016] Optionally, the first ground wire is a power ground wire or a casing ground wire, and the second ground wire is a power ground wire or a casing ground wire.

[0017] The above scheme is applied to the motor redundant control circuit, which includes two sets of control circuits. The control units of these two sets of control circuits and the digital ground of the motor drive unit share the same ground, which can save the cost of the isolation chip. In this scenario, an open circuit of the power ground wire is a major safety hazard. Therefore, in this scheme, the connection ends of the drive module and the current sampling module in the two sets of control circuits are connected by wires, so that when the ground wire of one set of control circuits is open, the current sampling module of the control circuit can be bypassed by the wire, so that the current can flow to the ground wire of the other set of control circuits to form a loop. In this implementation process, on the one hand, because the current sampling module is bypassed, the current is zero, based on which a circuit fault can be reported; on the other hand, because the wire leads the current to another set of control circuits, the risk of the current flowing to the control unit causing the control unit to burn out due to overcurrent is reduced. Therefore, this scheme can reduce the implementation cost of redundant control while reducing safety hazards.

[0018] In a possible implementation, the first driving module and the second driving module are three-phase bridge driving modules, the first driving module includes a first bridge arm, a second bridge arm and a third bridge arm; the second driving module includes a fourth bridge arm, a fifth bridge arm and a sixth bridge arm;

[0019] The first end of the first bridge arm, the first end of the second bridge arm and the first end of the third bridge arm are all used to connect to the positive electrode of the first power supply;

[0020] The first end of the fourth bridge arm, the first end of the fifth bridge arm and the first end of the sixth bridge arm are all used to connect to the positive electrode of the second power supply;

[0021] The second end of the first bridge arm is used to connect the second end of the fourth bridge arm and the first current sampling module, and the second end of the fourth bridge arm is also used to connect the second current sampling module;

[0022] The second end of the second bridge arm is used to connect the second end of the fifth bridge arm and the first current sampling module, and the second end of the fifth bridge arm is also used to connect the second current sampling module;

[0023] The second end of the third bridge arm is used to connect the second end of the sixth bridge arm and the first current sampling module, and the second end of the sixth bridge arm is also used to connect the second current sampling module.

[0024] In the above scheme, the driving module of the motor is a three-phase bridge driving module. Therefore, the wire connecting the two sets of control circuits includes: the connection end between the first current sampling module and the bridge arm included in the first driving module, and the connection end between the second current sampling module and the bridge arm included in the second driving module. In this implementation mode, when the first ground wire is open, the wire can be used to bypass the first current sampling module. The current flowing from the positive pole of the first power supply to the first bridge arm, the second bridge arm and the third bridge arm respectively flows to the second current sampling module through the wire. Then, it flows to the second ground wire through the second current sampling module to form a loop. In this implementation process, on the one hand, because the first current sampling module is bypassed, the current is zero, based on which a circuit fault can be reported; on the other hand, because the wire leads the current to the second ground wire to form a loop, the risk of overcurrent burning of the control unit caused by the current flowing to the control unit is reduced. In the case of the second ground wire being open, the wire can be used to bypass the second current sampling module. The current flowing from the positive pole of the second power supply to the fourth bridge arm, the fifth bridge arm and the sixth bridge arm respectively flows to the first current sampling module through the wire. Then, the current flows to the first ground wire through the first current sampling module to form a loop. In this implementation process, on the one hand, because the second current sampling module is bypassed, the current is zero, based on which a circuit fault can be reported; on the other hand, because the wire leads the current to the first ground wire to form a loop, the risk of the current flowing to the control unit and causing the control unit to burn out due to overcurrent is reduced.

[0025] In a possible implementation, the first current sampling module includes a first sampling resistor, a second sampling resistor and a third sampling resistor;

[0026] The second end of the first bridge arm is used to connect the first end of the first sampling resistor, the second end of the second bridge arm is used to connect the first end of the second sampling resistor, and the second end of the third bridge arm is used to connect the first end of the third sampling resistor;

[0027] The second end of the first sampling resistor, the second end of the second sampling resistor and the second end of the third sampling resistor are all used to connect to the first ground line.

[0028] The second current sampling module comprises a fourth sampling resistor, a fifth sampling resistor and a sixth sampling resistor;

[0029] The second end of the fourth bridge arm is used to connect the first end of the fourth sampling resistor, the second end of the fifth bridge arm is used to connect the first end of the fifth sampling resistor, and the second end of the sixth bridge arm is used to connect the first end of the sixth sampling resistor;

[0030] The second end of the fourth sampling resistor, the second end of the fifth sampling resistor and the second end of the sixth sampling resistor are all used to connect to the second ground line.

[0031] In the above scheme, the wires connecting the two sets of control circuits include the following three wires: the wire connected between the second end of the first bridge arm and the second end of the fourth bridge arm (referred to as wire L1), the wire connected between the second end of the second bridge arm and the second end of the fifth bridge arm (referred to as wire L2), and the wire connected between the second end of the third bridge arm and the second end of the sixth bridge arm (referred to as wire L3). In this implementation, when the first ground wire is open, the wire L1 can bypass the first sampling resistor for sampling. The wire L2 can bypass the second sampling resistor for sampling. The wire L3 can bypass the third sampling resistor for sampling. The current flowing from the positive pole of the first power supply to the first bridge arm, the second bridge arm and the third bridge arm flows to the second current sampling module through the wire L1, the wire L2 and the wire L3 respectively. Then, it flows to the second ground wire through the second current sampling module to form a loop. In this implementation process, on the one hand, taking the sampling of the first sampling resistor as an example, because the sampling of the first sampling resistor is bypassed, the current flowing through the first sampling resistor is zero. Based on the current sampled by the sampling of the first sampling resistor, a circuit fault can be reported. The circuit fault is, for example, the first ground line is open and / or the first sampling resistor is short-circuited, etc. On the other hand, the wires L1, L2 and L3 lead the current to the second current sampling module, so that the current does not flow entirely from the digital ground connected to the common ground, thereby reducing the risk of the current flowing to the control unit and causing the control unit to burn out due to overcurrent.

[0032] In the case where the second ground wire is open, the wire L1 can bypass the fourth sampling resistor for sampling. The wire L2 can bypass the fifth sampling resistor for sampling. The wire L3 can bypass the sixth sampling resistor for sampling. The current flowing from the positive pole of the second power supply to the fourth bridge arm, the fifth bridge arm and the sixth bridge arm flows to the first current sampling module through the wire L1, the wire L2 and the wire L3 respectively. Then, it flows to the second ground wire through the first current sampling module to form a loop. In this implementation process, on the one hand, taking the sampling of the fourth sampling resistor as an example, because the sampling of the fourth sampling resistor is bypassed, the current flowing through the fourth sampling resistor is zero. Based on the current sampled by the sampling of the fourth sampling resistor, a circuit fault can be reported. The circuit fault is, for example, the second ground wire is open and / or the sampling of the fourth sampling resistor is short-circuited. On the other hand, the wire L1, the wire L2 and the wire L3 lead the current to the first current sampling module, so that the current will not flow entirely from the digital ground connected to the common ground, reducing the risk of the current flowing to the control unit causing the control unit to burn out due to overcurrent.

[0033] In a possible implementation, the first current sampling module includes a seventh sampling resistor;

[0034] The second end of the first bridge arm, the second end of the second bridge arm and the second end of the third bridge arm are all used to connect the first end of the seventh sampling resistor;

[0035] The second end of the seventh sampling resistor is used to connect to the first ground line.

[0036] The second current sampling module comprises an eighth sampling resistor;

[0037] The second end of the fourth bridge arm, the second end of the fifth bridge arm and the second end of the sixth bridge arm are all used to connect the first end of the eighth sampling resistor;

[0038] The second end of the eighth sampling resistor is used to connect to the second ground line.

[0039] In the above scheme, since the second end of the first bridge arm, the second end of the second bridge arm and the second end of the third bridge arm are all connected to the first end of the fourth sampling resistor, and the second end of the fourth bridge arm, the second end of the fifth bridge arm and the second end of the sixth bridge arm are all used to connect the first end of the eighth sampling resistor. Then the wire connecting the two sets of control circuits is one. That is: the wire connected between the first end of the fourth sampling resistor and the first end of the eighth sampling resistor. In this implementation mode, when the first ground wire is open, the wire can bypass the seventh sampling resistor. So that the current flowing from the positive pole of the first power supply to the first bridge arm, the second bridge arm and the third bridge arm flows to the second current sampling module through the wire respectively. Then, it flows to the second ground wire through the second current sampling module to form a loop. In this implementation process, on the one hand, because the seventh sampling resistor is bypassed, the current flowing through the seventh sampling resistor is zero. Based on the current sampled by the first sampling resistor, a circuit fault can be reported. The circuit fault is, for example, the first ground wire is open and / or the seventh sampling resistor is short-circuited. On the other hand, the wire leads the current to the second current sampling module, so that the current does not flow entirely through the common digital ground, thereby reducing the risk of the current flowing to the control unit and causing the control unit to burn out due to overcurrent.

[0040] In the case where the second ground wire is open, the wire can bypass the eighth sampling resistor for sampling. The current flowing from the positive pole of the second power supply to the fourth bridge arm, the fifth bridge arm and the sixth bridge arm respectively flows to the first current sampling module through the wire. Then, it flows to the first ground wire through the first current sampling module to form a loop. In this implementation process, on the one hand, because the eighth sampling resistor is bypassed, the current flowing through the eighth sampling resistor is zero. The current sampled based on the eighth sampling resistor can report a circuit fault. The circuit fault is, for example, the second ground wire is open and / or the eighth sampling resistor is short-circuited. On the other hand, the wire leads the current to the first current sampling module, so that the current will not flow entirely from the digital ground connected to the common ground, reducing the risk of the current flowing to the control unit causing the control unit to burn out due to overcurrent.

[0041] In a second aspect, the present application provides a circuit board, which includes the motor control circuit described in the first aspect and possible embodiments thereof; wherein, the circuit board includes a control board and a power board, the power board includes the first control unit and the second control unit described in the first aspect and possible embodiments thereof, and the power board includes the first motor drive unit and the second motor drive unit described in the first aspect and possible embodiments thereof.

[0042] In a third aspect, the present application provides a motor controller, which includes the motor control circuit described in the first aspect and possible implementations thereof.

[0043] In a fourth aspect, the present application provides a vehicle, comprising the motor controller described in the third aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of the module structure of the motor control circuit provided in an embodiment of the present application;

[0045] Figure 2 and Figure 3 A schematic diagram of the structure of a motor control circuit provided in an embodiment of the present application;

[0046] Figure 4 and Figure 5 A schematic diagram of a circuit board for setting a motor control circuit provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In the embodiment of the present application, "multiple" refers to two or more. In the embodiment of the present application, "and / or" is used to describe the association relationship of the associated objects, indicating three relationships that can exist independently, for example, A and / or B, which can be expressed as: A exists alone, B exists alone, or A and B exist at the same time. The description methods such as "at least one (or at least one) of a1, a2, ... and an" used in the embodiment of the present application include the situation where any one of a1, a2, ... and an exists alone, and also include any combination of any multiple of a1, a2, ... and an, each of which can exist alone; for example, the description method of "at least one of a, b and c" includes the situation where a is alone, b is alone, c is alone, a and b are combined, a and c are combined, b and c are combined, or abc is combined.

[0048] In the various embodiments of the present application, unless otherwise specified or logically conflicting, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0049] First, the technical terms involved in the embodiments of the present application are introduced.

[0050] 1. Electric power steering system (EPS).

[0051] EPS is a power steering system that directly relies on the motor to provide auxiliary torque. EPS is mainly composed of a torque sensor, a vehicle speed sensor, a motor, a reduction mechanism and an electronic control unit (ECU).

[0052] For example, when the driver manipulates the steering wheel to steer, the torque sensor of the EPS detects the steering direction of the steering wheel and the magnitude of the torque, and then transmits the corresponding voltage signal to the ECU. The ECU issues instructions to the motor controller based on the torque voltage signal detected by the torque sensor, the direction of rotation, and the vehicle speed signal transmitted by the controller area network (CAN) bus, etc. The motor outputs a steering assist torque of corresponding magnitude and direction, thereby generating auxiliary power.

[0053] 2. Types of ground in circuits.

[0054] The ground in the circuit includes digital ground, power ground, casing ground, power supply ground, etc.

[0055] Digital ground is a common reference ground line with zero potential in digital circuits.

[0056] The power ground is a zero-potential common reference ground in high-power circuits such as load circuits or power drive circuits.

[0057] The shell ground is also called the chassis ground or shielding ground, etc. The shell ground is designed to prevent electrostatic induction and magnetic field induction, which can ensure the safety of equipment and personnel, and is a kind of protective grounding.

[0058] The power ground mainly refers to the path taken by the power loop current. Generally speaking, the current flowing through the power ground is larger.

[0059] In the specific implementation, in order to pursue the control reliability and safety of the product, the manufacturer adopts a redundant control design to realize the control of the motor. That is, the motor control circuit can include at least two sets of control circuits for realizing motor control. The following introduction takes two sets of control circuits as an example. When one of the two sets of control circuits fails, the other set of control circuits can still realize the corresponding control function, so as to improve the reliability and safety of the product.

[0060] In a specific implementation, the two control circuits may include two implementation schemes when specifically designed and implemented. In a first implementation scheme, the digital grounds of the two control circuits are independent, that is, the digital grounds of the two control circuits are not connected. In a second implementation scheme, the digital grounds of the two control circuits are shared; that is, the digital grounds of the two control circuits are connected together.

[0061] In the first implementation scheme, in order to achieve the digital independence of the two control circuits, an isolation chip needs to be added to remove the ground loop between the two circuits. And the isolation chip can also block the propagation of interference signals such as common mode or surge, so that the electronic system has higher safety and reliability. However, adding isolation chips increases costs. With the second implementation scheme, there is no need to add isolation chips, which can effectively reduce the implementation cost.

[0062] However, since the power supplies of the two control circuits are separate, the grounds of the power supplies of the two control circuits are also separate, that is, they are not connected together. For the second implementation scheme mentioned above, since the digital grounds of the two control circuits are connected together, if the ground line of the power supply of one control circuit is open, the current will flow to the other control circuit through the connected digital ground to form a current loop. This can easily cause the circuit to be unable to withstand excessive current and burn out.

[0063] Based on the above description, the second implementation scheme can be adopted to reduce the implementation cost. However, how to reduce or even avoid the potential safety hazard of burning due to overcurrent is a technical problem that technicians in this field need to solve urgently. In order to solve the above technical problems, the embodiments of the present application provide a motor control circuit, a circuit board and a motor controller.

[0064] First, see Figure 1 , exemplarily shows a schematic diagram of the module structure of the motor control circuit 100 provided in an embodiment of the present application. The motor control circuit 100 may include a first control circuit 101 and a second control circuit 102. The first control circuit 101 and the second control circuit 102 are used to implement redundant control of the motor 130.

[0065] The first control circuit 101 may include a first control unit 1011 and a first motor drive unit 1012. The first motor drive unit 1012 may include a first drive module 10121 and a first current sampling module 10122. The first control unit 1011 is used to connect the first drive module 10121. The first drive module 10121 is also used to connect the positive pole of the first power supply 110 and the first current sampling module 10122. The first current sampling module 10122 is also used for the negative pole of the first power supply 110. The negative pole of the first power supply 110 is also connected to the first ground wire. Then, the first current sampling module 10122 is also connected to the first ground wire. The positive pole of the first power supply 110 is also used to connect the first control unit 1011. The first power supply 110 is used to power the first control circuit 101. The first ground wire is a power ground wire or a shell ground wire.

[0066] Exemplarily, there are multiple implementations of the first power supply 110 for powering the first control circuit 101. For example, the first power supply 110 is respectively connected to the first control unit 1011 and the first motor drive unit 1012 (specifically, the first drive module 10121 can be connected) to power the two units. Or, for example, since the first control unit 1011 and the first motor drive unit 1012 are connected together. Then, the first power supply 110 can be connected to the first control unit 1011. In addition to powering the first control unit 1011, the power signal is also transmitted to the first motor drive unit 1012 through the first control unit 1011, so as to power the first motor drive unit 1012. Or, the first power supply 110 can be connected to the first motor drive unit 1012. In addition to powering the first motor drive unit 1012, the power signal is also transmitted to the first control unit 1011 through the first motor drive unit 1012, so as to power the first control unit 1011. Figure 1 The example in which the first power supply 110 is respectively connected to the first control unit 1011 and the first motor drive unit 1012 is mainly taken, but this is only an example and does not constitute a limitation to the embodiments of the present application.

[0067] The second control circuit 102 includes a second control unit 1021 and a second motor drive unit 1022. The second motor drive unit 1022 may include a second drive module 10221 and a second current sampling module 10222. The second control unit 1021 is used to connect the second drive module 10221. The second drive module 10221 is also used to connect the positive pole of the second power supply 120 and the second current sampling module 10222. The second current sampling module 10222 is also used for the negative pole of the second power supply 120. The negative pole of the second power supply 120 is also connected to the second ground wire. Then, the second current sampling module 10222 is also connected to the second ground wire. The positive pole of the second power supply 120 is also used to connect the second control unit 1021. The second power supply 120 is used to power the second control circuit 102. The second ground wire is a power ground wire or a shell ground wire.

[0068] Exemplarily, there are also multiple implementations of the second power supply 120 for supplying power to the second control circuit 102. For example, the multiple implementations of the first power supply 110 for supplying power to the first control circuit 101 can be referred to above, which will not be described in detail here.

[0069] The first motor drive unit 1012 and the second motor drive unit 1022 can be connected via a wire 140. The wire 140 can be used to direct the current of the first control circuit 101 to the second ground line of the second power supply 120 of the second control circuit 102 when the first ground line of the first power supply 110 of the first control circuit 101 is open; and / or, the wire 140 can be used to direct the current of the second control circuit 102 to the first ground line when the second ground line is open. Exemplarily, the connection end between the first current sampling module 10122 and the first driving module 10121, and the connection end between the second current sampling module 10222 and the second driving module 10221 are also connected via a wire 140. Exemplarily, the wire 140 can be, for example, a printed circuit board (PCB) layout trace or wire, etc., which is not limited in the embodiments of the present application.

[0070] In addition, the first current sampling module 10122 is also connected to digital ground 1. The first control unit 1011 is also connected to digital ground 2. The second control unit 1021 is also connected to digital ground 3. The second current sampling module 10222 is also connected to digital ground 4. The first motor drive unit 1012 is also connected to power ground 1. The first control unit 1011 is also connected to power ground 2. The second control unit 1021 is also connected to power ground 3. The second motor drive unit 1022 is also connected to power ground 4.

[0071] In the above Figure 1It can be seen that the digital grounds in the first control unit 1011, the first motor driving unit 1012, the second control unit 1021 and the second motor driving unit 1022 are connected to the same ground, that is, the digital ground 1, the digital ground 2, the digital ground 3 and the digital ground are connected to the same ground.

[0072] In addition, in the above Figure 1 It can also be seen that the digital ground 2 and power ground 2 of the first control unit 1011 are grounded at a single point, that is, they are connected to the common ground. The digital ground 3 and power ground 3 of the second control unit 1021 are grounded at a single point, that is, they are connected to the common ground. The power ground 1 of the first motor drive unit 1012 and the power ground 4 of the second motor drive unit 1022 are separated and independent of each other.

[0073] The first driving module 10121 and the second driving module 10221 are also used to connect to the motor 130 .

[0074] The above-mentioned first control unit 1011 can be used to control the first motor drive unit 1012 to realize the control of the motor 130. Exemplarily, the first control unit 1011 can receive a voltage signal and / or a current signal sent by a sensor and / or an ECU corresponding to the sensor. Then, a corresponding drive control signal (for example, a pulse width modulation signal) is generated based on the voltage signal and / or the current signal. And the drive control signal is input to the first motor drive unit 1012 to control the first motor drive unit 1012 to output a corresponding signal to control the operation of the motor. In addition, the first control unit 1011 can also adjust the duty cycle of the drive control signal output based on the current sampled by the first current sampling module 10122 to optimize the control function of the motor 130. For ease of understanding, the motor control of the electric power steering system EPS is taken as an example.

[0075] Based on the introduction of EPS in the above terms, it can be known that the first control unit 1011 can receive information such as torque voltage signal and rotation direction sent from the torque sensor or the ECU corresponding to the torque sensor, and receive information such as vehicle speed signal sent from the vehicle speed sensor or the ECU corresponding to the vehicle speed sensor. Then, the first control unit 1011 can generate a corresponding drive control signal based on the received information, and input the drive control signal to the first motor drive unit 1012. The first motor drive unit 1012 can output a corresponding control signal to the motor in response to the input drive control signal. So that the motor outputs a steering assist torque of corresponding size and direction, thereby generating auxiliary power.

[0076] It is understandable that the motor control of EPS is used as an example here, which does not constitute a limitation on the embodiments of the present application. In a specific implementation, the first control circuit 101 can also be a motor control circuit in a system such as a vehicle braking system, a speed control system, an anti-lock braking control system, or a traction control system. In other words, the first control circuit 101 can be a single control circuit in a controller of a motor using multiple windings (the motor of EPS is a three-phase winding motor). The embodiments of the present application do not limit the control system or scenario of a specific application.

[0077] Among them, the first driving module 10121 in the above-mentioned first motor driving unit 1012 is used to respond to the driving control signal input by the above-mentioned first control unit 1011, and output a corresponding control signal to the motor. The first current sampling module 10122 is used to sample the current between the first driving module 10121 and the first ground wire. Based on the current obtained by sampling, it can be determined whether a circuit fault occurs between the first driving module 10121 and the first ground wire. The circuit fault includes, for example, overcurrent or short circuit. In addition, in an embodiment of the present application, the current sampled by the first current sampling module 10122 can also be used to analyze whether an open circuit (i.e., a broken circuit) occurs in the first ground wire. The following is an exemplary introduction in conjunction with the above-mentioned wire 140.

[0078] The wire 140 can be used to bypass the first current sampling module 10122 when the first ground line is open. The current flowing from the positive pole of the first power supply 110 to the first driving module 10121 flows to the second current sampling module 10222 through the wire 140. Then it flows to the second ground line through the second current sampling module 10222 to form a loop. In this implementation process, on the one hand, because the first current sampling module 10122 is bypassed, the current flowing through the first current sampling module 10122 is zero. Based on the current sampled by the first current sampling module 10122, a circuit fault can be reported. The circuit fault is, for example, the first ground line is open and / or the first current sampling module 10122 is short-circuited. On the other hand, since digital ground 1, digital ground 2, digital ground 3 and digital ground 4 are connected to the same ground. The wire 140 leads the current to the second control circuit 102, so that the current will not flow entirely from the digital ground connected to the same ground, reducing the risk of the current flowing to the control unit causing the control unit to burn out due to overcurrent.

[0079] The second control unit 1021 is used to control the second motor drive unit 1022 to control the motor 130. Exemplarily, the implementation process of the second control unit 1021 controlling the second motor drive unit 1022 to control the motor 130 can be exemplarily referred to the introduction of the first control unit 1011 controlling the first motor drive unit 1012 to control the motor 130, which will not be repeated here.

[0080] Among them, the second driving module 10221 in the above-mentioned second motor driving unit 1022 is used to respond to the driving control signal input by the above-mentioned second control unit 1021, and output a corresponding control signal to the motor. The second current sampling module 10222 is used to sample the current between the second driving module 10221 and the second ground wire. Based on the sampled current, it can be determined whether a circuit fault occurs between the second driving module 10221 and the second ground wire. In addition, in an embodiment of the present application, the current sampled by the second current sampling module 10222 can also be used to analyze whether an open circuit (i.e., a broken circuit) occurs in the second ground wire. The following is an exemplary introduction in conjunction with the above-mentioned wire 140.

[0081] Alternatively, the wire 140 can be used to bypass the second current sampling module 10222 when the second ground line is open. The current flowing from the positive pole of the second power supply 120 to the second driving module 10221 flows to the first current sampling module 10122 through the wire 140. Then the current flows to the first ground line through the first current sampling module 10122 to form a loop. In this implementation process, on the one hand, because the second current sampling module 10222 is bypassed, the current flowing through the second current sampling module 10222 is zero. Based on the current sampled by the second current sampling module 10222, a circuit fault can be reported. The circuit fault is, for example, the second ground line is open and / or the second current sampling module 10222 is short-circuited. On the other hand, since the digital ground 1, digital ground 2, digital ground 3 and digital ground 4 are connected to the same ground. The wire 140 leads the current to the first control circuit 101, so that the current will not flow entirely from the digital ground connected to the same ground, reducing the risk of the current flowing to the control unit causing the control unit to burn out due to overcurrent.

[0082] In a possible implementation, the first current sampling module 10122 and the second current sampling module 10222 may be connected to the current detection processing circuit (the Figure 1 The current detection processing circuit can be implemented based on an operational amplifier. The current detection processing circuit implemented based on an operational amplifier can have many variations. Alternatively, in another possible implementation, the current detection processing circuit of the first current sampling module 10122 can be coupled to the above-mentioned first control unit 1011. That is, the first control unit 1011 may include a first current sampling module 10122. The current detection processing circuit of the second current sampling module 10222 can be coupled to the above-mentioned second control unit 1021. That is, the second control unit 1021 may include a second current sampling module 10222. The embodiment of the present application does not limit the specific structure and setting position of the current detection processing circuit.

[0083] Above Figure 1The module structure of the motor control circuit 100 shown is only a schematic diagram. In a specific implementation, the motor control circuit 100 may include more circuit modules or devices, which are determined according to actual application requirements, and the embodiment of the present application does not limit this. In addition, Figure 1 The connection lines between the modules shown in the figure are only for illustration, and are used to indicate that there is a current path between the modules. The current path is not limited to specific wires, and some possible implementations may also include other circuit modules or devices, etc., which are not limited in the present application embodiment. The circuit structure diagram introduced later is similar, and will not be repeated.

[0084] In a possible implementation, the first driving module 10121 and the second driving module 10221 can be any type of motor driving circuit module. For example, it can be a half-bridge driving circuit module, a full-bridge driving circuit module, or a three-phase bridge driving circuit module. In addition, the first current sampling module 10122 and the second current sampling module 10222 can also be implemented in a variety of ways, for example, they can be a multi-resistance sampling module or a single-resistance sampling module. Figure 2 and Figure 3 Provide an exemplary introduction. Figure 2 and Figure 3 is in the above Figure 1 Based on the above, a more specific circuit structure of the corresponding driving module and current sampling module is given as an example. Figure 1 The description also applies to Figure 2 and Figure 3 .

[0085] For a possible implementation, see Figure 2 . Figure 2 In the example, the first driving module 10121 and the second driving module 10221 are three-phase bridge driving circuit modules, and the first current sampling module 10122 and the second current sampling module 10222 are three-resistance sampling modules.

[0086] exist Figure 2 In the embodiment, the first driving module 10121 may include three bridge arms. Among them, the switch tube Q1 and the switch tube Q2 form a bridge arm (referred to as the first bridge arm). The switch tube Q3 and the switch tube Q4 form a bridge arm (referred to as the second bridge arm). The switch tube Q5 and the switch tube Q6 form a bridge arm (referred to as the third bridge arm). The first end of the first bridge arm, the first end of the second bridge arm, and the first end of the third bridge arm are connected together and then used to connect the positive electrode of the first power supply 110, such as Figure 2 shown.

[0087] exist Figure 2In the embodiment, the second driving module 10221 may also include three bridge arms. Among them, the switch tube Q7 and the switch tube Q8 form a bridge arm (referred to as the fourth bridge arm). The switch tube Q9 and the switch tube Q10 form a bridge arm (referred to as the fifth bridge arm). The switch tube Q11 and the switch tube Q12 form a bridge arm (referred to as the sixth bridge arm). The first end of the fourth bridge arm, the first end of the fifth bridge arm, and the first end of the sixth bridge arm are connected together and then used to connect the positive electrode of the second power supply 120, such as Figure 2 shown.

[0088] Exemplarily, the above-mentioned switch tubes Q1 to Q12 can be, for example, insulated gate bipolar transistors (IGBT), or can be, for example, metal-oxide-semiconductor field-effect transistors (MOSFET), or can be other types of transistors, and the embodiments of the present application are not limited to this.

[0089] exist Figure 2 In the embodiment, the first current sampling module 10122 may include a sampling resistor R1, a sampling resistor R2, and a sampling resistor R3. The second current sampling module 10222 may include a sampling resistor R4, a sampling resistor R5, and a sampling resistor R6.

[0090] exist Figure 2 In the embodiment, the second end of the first bridge arm is used to connect the second end of the fourth bridge arm and the first current sampling module 10122. Specifically, the second end of the first bridge arm is used to connect the first end of the sampling resistor R1, and the second end of the fourth bridge arm is connected through the wire L1. The second end of the sampling resistor R1 is connected to the first ground line and the digital ground 1. The second end of the fourth bridge arm is also used to connect the second current sampling module 10222. Specifically, the second end of the fourth bridge arm is used to connect the first end of the sampling resistor R4. The second end of the sampling resistor R4 is connected to the second ground line and the digital ground 4.

[0091] exist Figure 2 In the embodiment, the second end of the second bridge arm is used to connect the second end of the fifth bridge arm and the first current sampling module 10122. Specifically, the second end of the second bridge arm is used to connect the first end of the sampling resistor R2, and is used to connect the second end of the fifth bridge arm through the wire L2. The second end of the sampling resistor R2 is connected to the first ground line and the digital ground 1. The second end of the fifth bridge arm is also used to connect the second current sampling module 10222. Specifically, the second end of the fifth bridge arm is used to connect the first end of the sampling resistor R5. The second end of the sampling resistor R5 is connected to the second ground line and the digital ground 4.

[0092] exist Figure 2In the embodiment, the second end of the third bridge arm is used to connect the second end of the sixth bridge arm and the first current sampling module 10122. Specifically, the second end of the third bridge arm is used to connect the first end of the sampling resistor R3, and is used to connect the second end of the sixth bridge arm through the wire L3. The second end of the sampling resistor R3 is connected to the first ground line and the digital ground 1. The second end of the sixth bridge arm is also used to connect the second current sampling module 10222. Specifically, the second end of the sixth bridge arm is used to connect the first end of the sampling resistor R6. The second end of the sampling resistor R6 is connected to the second ground line and the digital ground 4.

[0093] exist Figure 2 It can be seen that the above-mentioned wire 140 includes a wire L1 connecting the second end of the first bridge arm and the second end of the fourth bridge arm, a wire L2 connecting the second end of the second bridge arm and the second end of the fifth bridge arm, and a wire L3 connecting the second end of the third bridge arm and the second end of the sixth bridge arm.

[0094] exist Figure 2 As can be seen from the figure, the first bridge arm, the second bridge arm and the third bridge arm in the first driving module 10121 can output three-phase current and voltage for controlling the motor 130. Among them, the first bridge arm can be Figure 2 The P1 point shown in the figure outputs the A phase current and voltage (which can be represented by U1). The second bridge arm can be Figure 2 The P2 point shown in the figure outputs the B phase current and voltage (which can be represented by V1). The third bridge arm can be Figure 2 The P3 point shown in FIG. 1 outputs the C-phase current and voltage (which can be represented by W1). Similarly, the fourth bridge arm, the fifth bridge arm and the sixth bridge arm in the second driving module 10221 can output three-phase current and voltage for controlling the motor 130. Among them, the fourth bridge arm can be from Figure 2 The P4 point shown in the figure outputs the A phase current and voltage (which can be represented by U2). The fifth bridge arm can be Figure 2 The P5 point shown in the figure outputs the B phase current and voltage (which can be represented by V2). The sixth bridge arm can be Figure 2 The P6 point shown in the figure outputs the C phase current and voltage (which can be represented by W2).

[0095] In the above Figure 2In the case where the first ground line is open, the wire L1, the wire L2 and the wire L3 can be used to bypass the first current sampling module 10122. Specifically, the wire L1 can bypass the sampling resistor R1. The wire L2 can bypass the sampling resistor R2. The wire L3 can bypass the sampling resistor R3. The current flowing from the positive electrode of the first power supply 110 to the first bridge arm, the second bridge arm and the third bridge arm respectively flows to the second current sampling module 10222 through the wire L1, the wire L2 and the wire L3. Then, the current flows to the second ground line through the sampling resistor R4, the sampling resistor R5 and the sampling resistor R6 in the second current sampling module 10222 to form a loop. In this implementation process, on the one hand, taking the sampling resistor R1 as an example, because the sampling resistor R1 is bypassed, the current flowing through the sampling resistor R1 is zero. The current sampled based on the sampling resistor R1 can report a circuit fault. The circuit fault is, for example, the first ground line is open and / or the sampling resistor R1 is short-circuited. On the other hand, since digital ground 1, digital ground 2, digital ground 3 and digital ground 4 are connected to the same ground, and digital ground 2 and digital ground 3 are respectively the digital grounds of the first control unit 1011 and the second control unit 1021, wires L1, L2 and L3 lead the current to the second current sampling module 10222, so that the current does not flow entirely through the digital ground connected to the same ground, thereby reducing the risk of the current flowing to the control unit and causing the control unit to burn out due to overcurrent.

[0096] In the above Figure 2 In the case where the second ground line is open, the wire L1, the wire L2 and the wire L3 can be used to bypass the second current sampling module 10222. Specifically, the wire L1 can bypass the sampling resistor R4. The wire L2 can bypass the sampling resistor R5. The wire L3 can bypass the sampling resistor R6. The current flowing from the positive electrode of the second power supply 120 to the fourth bridge arm, the fifth bridge arm and the sixth bridge arm flows to the first current sampling module 10122 through the wire L1, the wire L2 and the wire L3 respectively. Then, the sampling resistor R1, the sampling resistor R1 and the sampling resistor R1 in the first current sampling module 10122 flow to the first ground line to form a loop. In this implementation process, on the one hand, taking the sampling resistor R4 as an example, because the sampling resistor R4 is bypassed, the current flowing through the sampling resistor R4 is zero. The current sampled based on the sampling resistor R4 can report a circuit fault. The circuit fault is, for example, the second ground line is open and / or the sampling resistor R4 is short-circuited. On the other hand, since digital ground 1, digital ground 2, digital ground 3 and digital ground 4 are connected to the same ground, and digital ground 2 and digital ground 3 are digital grounds of the first control unit 1011 and the second control unit 1021, respectively, wires L1, L2 and L3 lead the current to the first current sampling module 10122, so that the current does not flow entirely through the digital ground connected to the same ground, thereby reducing the risk of the current flowing to the control unit and causing the control unit to burn out due to overcurrent.

[0097] For another possible implementation, see Figure 3 . Figure 3 In the example, the first driving module 10121 and the second driving module 10221 are three-phase bridge driving circuit modules, and the first current sampling module 10122 and the second current sampling module 10222 are single resistor sampling modules.

[0098] exist Figure 3 The bridge arms included in the first driving module 10121 and the second driving module 10221, the connection relationship between the corresponding power supply, and the relationship between the motor 130 can refer to the above Figure 2 The relevant introduction is not repeated here.

[0099] exist Figure 3 In the embodiment, the first current sampling module 10122 may include a sampling resistor R7. The second current sampling module 10222 may include a sampling resistor R8.

[0100] exist Figure 3 In the embodiment, the second end of the first bridge arm, the second end of the second bridge arm and the second end of the third bridge arm are connected together. The second end of the fourth bridge arm, the second end of the fifth bridge arm and the second end of the sixth bridge arm are connected together. Then, the second ends of the six bridge arms are connected together through the wire 140, as shown in FIG. Figure 3 shown.

[0101] exist Figure 3 In the embodiment, the second end of the first bridge arm, the second end of the second bridge arm and the second end of the third bridge arm are all connected to the first end of the sampling resistor R7. The second end of the sampling resistor R7 is connected to the first ground line and the digital ground 1. The second end of the fourth bridge arm, the second end of the fifth bridge arm and the second end of the sixth bridge arm are all connected to the first end of the sampling resistor R8. The second end of the sampling resistor R8 is connected to the second ground line and the digital ground 4.

[0102] In the above Figure 3In the case where the first ground line is open, the wire 140 can be used to bypass the first current sampling module 10122. Specifically, the wire 140 can bypass the sampling resistor R7. The current flowing from the positive pole of the first power supply 110 to the first bridge arm, the second bridge arm and the third bridge arm flows to the second current sampling module 10222 through the wire 140. Then, it flows to the second ground line through the sampling resistor R8 in the second current sampling module 10222 to form a loop. In this implementation process, because the sampling resistor R7 is bypassed, the current flowing through the sampling resistor R7 is zero. The current sampled based on the sampling resistor R7 can report a circuit fault. The circuit fault is, for example, the first ground line is open and / or the sampling resistor R7 is short-circuited. On the other hand, since the digital ground 1, digital ground 2, digital ground 3 and digital ground 4 are connected to the same ground. And digital ground 2 and digital ground 3 are the digital grounds of the first control unit 1011 and the second control unit 1021, respectively. The wire 140 leads the current to the second current sampling module 10222, so that the current does not flow entirely through the digital ground of the common ground connection, thereby reducing the risk of the current flowing to the control unit and causing the control unit to burn out due to overcurrent.

[0103] In the above Figure 3 In the case where the second ground line is open, the wire 140 can be used to bypass the second current sampling module 10222. Specifically, the wire 140 can bypass the sampling resistor R8. The current flowing from the positive electrode of the second power supply 120 to the fourth bridge arm, the fifth bridge arm and the sixth bridge arm flows to the first current sampling module 10122 through the wire 140. Then, the current flows to the first ground line through the sampling resistor R7 in the first current sampling module 10122 to form a loop. In this implementation process, on the one hand, because the sampling resistor R8 is bypassed, the current flowing through the sampling resistor R8 is zero. The current sampled based on the sampling resistor R8 can report a circuit fault. The circuit fault is, for example, the second ground line is open and / or the sampling resistor R8 is short-circuited. On the other hand, because the digital ground 1, digital ground 2, digital ground 3 and digital ground 4 are connected to the same ground. And digital ground 2 and digital ground 3 are the digital grounds of the first control unit 1011 and the second control unit 1021, respectively. The wire 140 leads the current to the first current sampling module 10122, so that the current does not flow entirely through the digital ground of the common ground connection, thereby reducing the risk of the current flowing to the control unit and causing the control unit to burn out due to overcurrent.

[0104] It is understandable that the above Figure 2 or Figure 3 The first driving module 10121, the second driving module 10221, the first current sampling module 10122 and the second current sampling module 10222 can also be implemented as other circuit design schemes, which are not limited in the embodiment of the present application.

[0105] In a possible implementation, the motor control circuit 100 provided in the embodiment of the present application may be provided on one or more circuit boards. For example, the motor control circuit 100 may be provided on multiple circuit boards. Figure 4 , the first control unit 1011 and the second control unit 1021 can be set on a circuit board, which can be called a control board, a main control board or a signal board, etc. Among them, digital ground 2, digital ground 3, power ground 2 and power ground 3 are also set on the control board. Then, the first motor drive unit 1012 and the second motor drive unit 1022 can be set on a circuit board, which can be called a power board or a drive board, etc. Among them, digital ground 1, digital ground 4, power ground 1 and power ground 4 are also set on the power board. The control board and the power board can be connected through multiple connectors, such as Figure 4 In addition, the power board is also connected to the first power source 110 and the second power source 120 through a connector. Figure 4 Compared with the above Figure 1 , just set the corresponding circuit module on the circuit board, and then add connectors to realize the circuit connection between the circuit boards. Therefore, the specific connection relationship can refer to the aforementioned Figure 1 The relevant description is not repeated here.

[0106] For example, the above Figure 4 In the embodiment, the connector between the control board and the power board may be, for example, a board-to-board (B2B) connector or a PCB flexible connector, etc. The connector connecting the power board (control board) and the power supply (the first power supply 110 and the second power supply 120) may be, for example, a power plug-in connection or a solid fisheye PIN crimping connector, etc.

[0107] In the above Figure 4 As can be seen in the figure, the digital ground and power ground on the control board are grounded at a single point. That is, digital ground 2, digital ground 3, power ground 2 and power ground 3 are connected together. The power ground on the power board is connected separately. That is, power ground 1 and power ground 2 are independent and not connected together. In addition, the digital ground of the control board and the power board are connected to the same ground. That is, digital ground 1, digital ground 2, digital ground 3 and digital ground 4 are connected together.

[0108] It is understandable that the control board and power board described above are only for illustration. In a specific implementation, the control board and the power board may also include other components or modules, and the embodiments of the present application do not limit this. For ease of understanding, illustratively, in a possible implementation, the control board may include a first microcontroller unit (MCU), a second MCU, a first driver chip, a second driver chip, a first power chip, a second power chip, a first communication chip, and a second communication chip.

[0109] The first control unit 1011 may include the first MCU and the first driver chip. The first MCU is the main control module in the first control unit 1011, and the first driver chip may output a driving control signal for the first driver module 10121 according to the instruction of the first MCU.

[0110] The second control unit 1021 may include the second MCU and the second driver chip. The second MCU is a main control module in the second control unit 1021, and the second driver chip may output a driving control signal to the second driver module 10221 according to the instruction of the second MCU.

[0111] The first power chip may be used to manage the first power source 110 . The second power chip may be used to manage the second power source 120 .

[0112] The first communication chip can realize the communication between the first MCU and the outside. For example, if the motor control circuit 100 is the motor control circuit of the vehicle EPS, then the first communication chip can realize the communication between the first MCU and the whole vehicle. The second communication chip can realize the communication between the second MCU and the outside. For example, if the motor control circuit 100 is the motor control circuit of the vehicle EPS, then the second communication chip can realize the communication between the second MCU and the whole vehicle.

[0113] In another possible implementation, the first driver chip and the second driver chip may not be arranged on the control board, but may be arranged on the power board, which is specifically arranged according to actual application requirements, and the embodiment of the present application does not limit this.

[0114] In a possible implementation, the motor control circuit 100 may further include a filter circuit. The filter circuit may be used, for example, to effectively filter out a frequency point of a specific frequency in a power signal from a power source, so as to obtain a power signal after eliminating a specific frequency. Or, it may be used to effectively filter out frequencies other than a specific frequency point in a power signal from a power source, so as to obtain a power signal of a specific frequency. Exemplarily, the filter circuit may be disposed on the power board. Alternatively, the filter circuit may be additionally disposed on a circuit board, which may be referred to as a filter board. For example, see Figure 5 .

[0115] exist Figure 5 As can be seen in the figure, the first power supply 110 and the second power supply 120 are connected to the filter board through the connector, and the filter board is connected to the power board. That is, the power signal from the power supply is filtered by the filter board and then input to the power board. It can be understood that Figure 5The filter boards connected to the first power source 110 and the second power source 120 may be two independent filter boards, or may be the same filter board. The power ground of the filter circuit in the filter board may also be connected separately.

[0116] In a possible implementation, the present application embodiment further provides a motor controller. The motor controller may include the above Figures 1 to 3 As shown and possible motor control circuits. Alternatively, the motor controller includes the control board and the power board. In a possible implementation, the motor controller may also include the filter board, etc.

[0117] In summary, this solution is applied to the motor redundant control circuit, which includes two sets of control circuits. The control units of these two control circuits and the digital ground of the motor drive unit share the same ground, which can save the cost of the isolation chip. In this scenario, an open circuit of the power ground wire is a major safety hazard. Therefore, in this solution, the connection ends of the drive module and the current sampling module in the two control circuits are connected by wires, so that when the ground wire of one of the control circuits is open, the current sampling module of the control circuit can be bypassed by the wire, so that the current can flow to the ground wire of the other control circuit to form a loop. In this implementation process, on the one hand, because the current sampling module is bypassed, the current is zero, based on which a circuit fault can be reported; on the other hand, because the wire leads the current to another set of control circuits, the risk of the current flowing to the control unit causing the control unit to burn out due to overcurrent is reduced. Therefore, this solution can reduce safety hazards while reducing the implementation cost of redundant control.

[0118] In this application, the terms "first", "second", etc. are used to distinguish between identical or similar items with substantially the same effects and functions. It should be understood that there is no logical or temporal dependency between "first", "second", and "nth", nor is there a limitation on the quantity and execution order. It should also be understood that although the following description uses the terms first, second, etc. to describe various elements, these elements should not be limited by the terms. These terms are only used to distinguish one element from another element.

[0119] It should also be understood that in the various embodiments of the present application, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0120] It should also be understood that the term “comprise” (also known as “includes,” “including,” “comprises” and / or “comprising”) when used in this specification specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0121] It should also be understood that the references to "one embodiment", "an embodiment", or "a possible implementation" throughout the specification mean that specific features, structures, or characteristics related to the embodiment or implementation are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment", or "a possible implementation" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A motor control circuit, characterized in that: The motor control circuit comprises a first control circuit and a second control circuit, wherein the first control circuit and the second control circuit are used to realize redundant control of the motor; The first control circuit includes a first control unit and a first motor drive unit, and the first control unit is used to control the first motor drive unit to control the motor; The second control circuit includes a second control unit and a second motor drive unit, and the second control unit is used to control the second motor drive unit to control the motor; The digital grounds of the first control unit, the first motor drive unit, the second control unit and the second motor drive unit are connected to a common ground; The first motor drive unit and the second motor drive unit are connected by a wire; the wire is used to direct the current of the first control circuit to flow to the second ground line of the second power supply of the second control circuit when the first ground line of the first power supply of the first control circuit is open; And / or, the conductive wire is used to direct the current of the second control circuit to flow to the first ground wire when the second ground wire is open.

2. The motor control circuit according to claim 1, characterized in that: The first motor drive unit includes a first drive module and a first current sampling module, the first drive module is used to connect the positive electrode of the first power supply and the first current sampling module, and the first current sampling module is also used to connect the first ground wire; The second motor drive unit includes a second drive module and a second current sampling module, the second drive module is used to connect the positive electrode of the second power supply and the second current sampling module, and the second current sampling module is also used to connect the second ground wire; The connecting end between the first current sampling module and the first driving module and the connecting end between the second current sampling module and the second driving module are connected through the wire.

3. The motor control circuit according to claim 2, characterized in that: The first driving module and the second driving module are three-phase bridge driving modules, the first driving module includes a first bridge arm, a second bridge arm and a third bridge arm; the second driving module includes a fourth bridge arm, a fifth bridge arm and a sixth bridge arm; The first end of the first bridge arm, the first end of the second bridge arm and the first end of the third bridge arm are all used to connect to the positive electrode of the first power supply; The first end of the fourth bridge arm, the first end of the fifth bridge arm and the first end of the sixth bridge arm are all used to connect to the positive electrode of the second power supply; The second end of the first bridge arm is used to connect the second end of the fourth bridge arm and the first current sampling module, and the second end of the fourth bridge arm is also used to connect the second current sampling module; The second end of the second bridge arm is used to connect the second end of the fifth bridge arm and the first current sampling module, and the second end of the fifth bridge arm is also used to connect the second current sampling module; The second end of the third bridge arm is used to connect the second end of the sixth bridge arm and the first current sampling module, and the second end of the sixth bridge arm is also used to connect the second current sampling module.

4. The motor control circuit according to claim 3, characterized in that: The first current sampling module includes a first sampling resistor, a second sampling resistor and a third sampling resistor; The second end of the first bridge arm is used to connect the first end of the first sampling resistor, the second end of the second bridge arm is used to connect the first end of the second sampling resistor, and the second end of the third bridge arm is used to connect the first end of the third sampling resistor; The second end of the first sampling resistor, the second end of the second sampling resistor and the second end of the third sampling resistor are all used to connect to the first ground line.

5. The motor control circuit according to claim 4, characterized in that: The second current sampling module includes a fourth sampling resistor, a fifth sampling resistor and a sixth sampling resistor; The second end of the fourth bridge arm is used to connect the first end of the fourth sampling resistor, the second end of the fifth bridge arm is used to connect the first end of the fifth sampling resistor, and the second end of the sixth bridge arm is used to connect the first end of the sixth sampling resistor; The second end of the fourth sampling resistor, the second end of the fifth sampling resistor and the second end of the sixth sampling resistor are all used to connect to the second ground line.

6. The motor control circuit according to claim 3, characterized in that: The first current sampling module includes a seventh sampling resistor; The second end of the first bridge arm, the second end of the second bridge arm and the second end of the third bridge arm are all used to connect the first end of the seventh sampling resistor; The second end of the seventh sampling resistor is used to connect to the first ground line.

7. The motor control circuit according to claim 6, characterized in that: The second current sampling module includes an eighth sampling resistor; The second end of the fourth bridge arm, the second end of the fifth bridge arm and the second end of the sixth bridge arm are all used to connect the first end of the eighth sampling resistor; The second end of the eighth sampling resistor is used to connect to the second ground line.

8. The motor control circuit according to any one of claims 2 to 7, characterized in that: When the first ground line is open, the current flowing from the positive electrode of the first power supply to the first driving module flows through the wire to the second current sampling module, and then flows through the second current sampling module to the second ground line to form a loop, and the first current sampling module is bypassed.

9. The motor control circuit according to any one of claims 2 to 7, characterized in that: When the second ground wire is open, the current flowing from the positive electrode of the second power supply to the second driving module flows through the wire to the first current sampling module, and then flows through the first current sampling module to the first ground wire to form a loop, and the second current sampling module is bypassed.

10. The motor control circuit according to any one of claims 1 to 9, characterized in that: The power ground and the digital ground of the first control unit are grounded at a single point; the power ground and the digital ground of the second control unit are grounded at a single point.

11. The motor control circuit according to any one of claims 1 to 10, characterized in that: The first ground wire is a power ground wire or a shell ground wire, and the second ground wire is a power ground wire or a shell ground wire.

12. A circuit board, characterized in that: The circuit board includes the motor control circuit described in any one of claims 1-11; wherein the circuit board includes a control board and a power board, the power board includes the first control unit and the second control unit described in any one of claims 1-11, and the power board includes the first motor drive unit and the second motor drive unit described in any one of claims 1-11.

13. A motor controller, characterized in that: The controller comprises the motor control circuit according to any one of claims 1-11.

14. A vehicle, characterized in that: The vehicle includes the motor controller of claim 13.

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