Motor starting method, controller and storage medium

Abstract

The invention relates to the technical field of automobile heat management, in particular to a motor starting method, a controller and a storage medium, the method is applied to the controller, the controller is connected with an electronic control unit of a vehicle, and the vehicle comprises a plurality of liquid control assemblies and a plurality of driving motors connected with the liquid control assemblies. Each liquid control assembly is connected with one driving motor, and the controller is further connected with the multiple driving motors. The method comprises the steps that in response to a received motor starting instruction sent by an electronic control unit, control signals are output to a plurality of driving motors, so that the driving motors are started to work at different moments to drive corresponding liquid control assemblies. According to the method, the multiple driving motors are controlled to start to work at different moments, the surge current is effectively reduced, the situation that the starting current is too large is reduced, and therefore the service life of the controller is prolonged, and the vehicle performance is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile heat management, and in particular to a motor starting method, a controller and a storage medium. Background Art

[0002] With the continuous development of pure electric vehicle related technologies, the environmental and climatic conditions faced by automobiles are complex and changeable. The range of pure electric vehicles also needs to meet the needs of battery / motor / electronic control temperature control, heat exchanger defrosting and window glass defogger. Thermal management technology is an important guarantee for vehicle driving safety and comfort, and has become a core key technology for the development of electric vehicles.

[0003] The automotive thermal management integrated module (ITS, Integrated Thermal Management System) is used for the energy management of new energy vehicles. Its principle is: through multiple water pumps, the coolant is driven to circulate between the power battery, electric drive system, power system, heater (if any), and radiator, as well as the heat exchange between the coolant and the refrigerant. Through the opening and closing of multiple water valves, the liquid circuit is adjusted to ensure the reasonable flow of energy between the power battery, electric drive system, power system, heater (if any), radiator and passenger compartment. Through the expansion valve, the valve size is accurately adjusted and the flow rate is accurately controlled to achieve efficient energy utilization and meet the vehicle's endurance performance.

[0004] At present, the thermal management integrated module on the market uses the vehicle ECU to send instructions through LIN / CAN to control the working power of the water pump, water valve and expansion valve, and start or stop. However, in the existing technology, the multi-motor start of the thermal management integrated module is relatively simple. After receiving the start command, all motors such as the water pump, water valve and expansion valve are started at the same time, and the current is too large, which is easy to cause overcurrent, affecting the performance of ITS and vehicle safety. Summary of the invention

[0005] In view of this, an object of an embodiment of the present invention is to provide a motor starting method, a controller and a storage medium. The method controls multiple drive motors to start working at different times, effectively reduces surge current and reduces the occurrence of excessive starting current, thereby increasing the service life of the controller and improving vehicle performance.

[0006] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a motor starting method, which is applied to a controller, wherein the controller is connected to an electronic control unit of a vehicle, wherein the vehicle comprises a plurality of liquid control components and a plurality of drive motors respectively connected to the liquid control components, wherein each of the liquid control components is connected to one of the drive motors, and the controller is also respectively connected to the plurality of drive motors;

[0008] The method comprises:

[0009] In response to the motor start instruction received from the electronic control unit, control signals are output to the multiple drive motors respectively, so that the multiple drive motors start working at different times to drive the corresponding liquid control components.

[0010] In some embodiments, the liquid control component includes at least two types, the number of liquid control components of each type is at least one, and the control signal is a PWM control signal;

[0011] When adjacent control signals are used to control driving motors corresponding to different types of liquid control components, adjacent control signals are separated by a preset time interval;

[0012] When adjacent control signals are respectively used to control drive motors corresponding to the same type of liquid control components, the phases of the adjacent control signals differ by a preset angle.

[0013] In some embodiments, the preset time interval is the cycle length of the preceding control signal among the control signals of the drive motors corresponding to the different types of liquid control components.

[0014] In some embodiments, the preset angle is any one of 45°, 90°, 135°, 180°, 225° and 270°.

[0015] In some embodiments, for drive motors corresponding to different types of liquid control components, the control signal corresponding to the drive motor with a larger drive cycle is placed first;

[0016] Alternatively, for drive motors corresponding to different types of liquid control components, the control signal corresponding to the drive motor with a smaller drive period comes first.

[0017] In some embodiments, the liquid control assembly includes a water pump, a water valve, and an expansion valve, and the number of each of the water pump, the water valve, and the expansion valve is at least one;

[0018] The outputting control signals to the plurality of drive motors respectively comprises:

[0019] Sending a first control signal to a drive motor corresponding to the expansion valve;

[0020] Sending a second control signal to a drive motor corresponding to the water pump;

[0021] Sending a third control signal to a drive motor corresponding to the water valve;

[0022] The adjacent first control signal and the second control signal are separated by a period of the first control signal for driving the drive motor corresponding to the expansion valve, and the adjacent second control signal and the third control signal are separated by a period of the second control signal for driving the drive motor corresponding to the water pump;

[0023] If the number of the expansion valves is at least two, the phases of adjacent first control signals differ by a first preset angle;

[0024] If the number of the water pumps is at least two, the phases of adjacent second control signals differ by a second preset angle;

[0025] If the number of the water valves is at least two, the phases of adjacent third control signals differ by a third preset angle, wherein the first preset angle, the second preset angle and the third preset angle are the same or different.

[0026] In some embodiments, sending a first control signal to a drive motor corresponding to the expansion valve includes:

[0027] According to the duty cycle and period of the first control signal of the drive motor corresponding to the expansion valve, a first duration of the first level control signal and a second duration of the second level control signal in the first control signal are obtained, the period of the first control signal is equal to the sum of the first duration and the second duration, the first level is a high level, the second level is a low level, or the first level is a low level, and the second level is a high level;

[0028] sending the first level control signal to a drive motor corresponding to the expansion valve;

[0029] If the duration of sending the first-level control signal reaches the first duration, stop sending the first-level control signal, and send the second-level control signal to the drive motor corresponding to the expansion valve until the duration of sending the second-level control signal reaches the second duration, and stop sending the second-level control signal to the drive motor corresponding to the expansion valve.

[0030] In some embodiments, sending a second control signal to a drive motor corresponding to the water pump includes:

[0031] According to the duty cycle and period of the second control signal of the drive motor corresponding to the water pump, a third duration of the third level control signal and a fourth duration of the fourth level control signal in the second control signal are obtained, the period of the second control signal is equal to the sum of the third duration and the fourth duration, the third level is a high level, the fourth level is a low level, or the third level is a low level, and the fourth level is a high level;

[0032] Sending the third level control signal to the driving motor corresponding to the water pump;

[0033] If the duration of sending the third-level control signal reaches the third duration, the third-level control signal is stopped from being sent, and the fourth-level control signal is sent to the drive motor corresponding to the water pump, until the duration of sending the fourth-level control signal reaches the fourth duration, and the fourth-level control signal is stopped from being sent to the drive motor corresponding to the water pump.

[0034] In some embodiments, sending a third control signal to a drive motor corresponding to the water valve includes:

[0035] According to the duty cycle and period of the third control signal of the drive motor corresponding to the water valve, a fifth duration of the fifth-level control signal and a sixth duration of the sixth-level control signal in the third control signal are obtained, the period of the third control signal is equal to the sum of the fifth duration and the sixth duration, the fifth level is a high level, the sixth level is a low level, or the fifth level is a low level, and the sixth level is a high level;

[0036] Sending the fifth level control signal to the driving motor corresponding to the water valve;

[0037] If the duration of sending the fifth level control signal reaches the fifth duration, stop sending the fifth level control signal, and send the sixth level control signal to the drive motor corresponding to the water valve until the duration of sending the sixth level control signal reaches the sixth duration, and stop sending the sixth level control signal to the drive motor corresponding to the water valve.

[0038] In a second aspect, an embodiment of the present invention provides a controller, including:

[0039] A processor and a memory communicatively connected to the processor;

[0040] The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes any one of the motor starting methods proposed in the first aspect.

[0041] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which is stored computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes any one of the motor starting methods proposed in the first aspect.

[0042] Beneficial effects of the embodiments of the present invention: Different from the prior art, the motor starting method provided by the embodiments of the present invention is applied to a controller, and the controller is connected to the electronic control unit of the vehicle. The vehicle includes multiple liquid control components and multiple drive motors respectively connected to the liquid control components, each liquid control component is connected to a drive motor, and the controller is also respectively connected to the multiple drive motors; the motor starting method includes: in response to a motor starting instruction received from the electronic control unit, outputting control signals to the multiple drive motors respectively, so that the multiple drive motors start working at different times to drive the corresponding liquid control components.

[0043] The motor starting method provided by the embodiment of the present invention effectively reduces surge current and the occurrence of excessive starting current by controlling multiple drive motors to start working at different times, thereby increasing the service life of the controller and improving vehicle performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following is a brief introduction to the drawings required for the description of the prior art or the embodiments. Obviously, the drawings described below only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0045] Figure 1 is a schematic diagram of the structure of a thermal management integrated module control system provided by some embodiments of the present invention;

[0046] Figure 2 is a schematic diagram of the structure of a controller provided by some embodiments of the present invention;

[0047] Figure 3 is a flow chart of a motor starting method provided by some embodiments of the present invention;

[0048] Figure 4 is a schematic diagram of the start-up timing of adjacent first PWM control signals, second PWM control signals and third PWM control signals in some embodiments of the present invention;

[0049] Figure 5is a schematic diagram of phase shift of the second PWM control signal relative to the first PWM control signal in some embodiments of the present invention;

[0050] Figure 6 It is a schematic diagram of the structure of a motor starting device provided in some embodiments of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose and advantages of the embodiments of the present invention easier to understand, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The detailed description of the embodiments of the present invention in the drawings below does not limit the scope of protection claimed by the present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0052] It should be noted that, if no conflict is constituted, the various technical features involved in the embodiments of the present invention described below can be combined with each other, and are all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device or structural schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device, or in a different order than in the flow chart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and execution order, but are only for the purpose of convenience of explanation and to distinguish between the same or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0053] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0054] See also Figure 1 As shown, Figure 1 The structure block diagram of the thermal management integrated module control system 100 provided in some embodiments of the present invention is schematically shown.

[0055] Specifically, the thermal management integrated module control system 100 includes: an electronic control unit 10 (Electronic Control Unit, ECU), a thermal management integrated module 20, a plurality of drive motors 30 and a plurality of liquid control components 40, and one liquid control component 40 is connected to one drive motor 30.

[0056] The electronic control unit 10, as the control core of the vehicle, executes business processing logic related to the vehicle, for example, executes energy management of the vehicle. When executing energy management, the electronic control unit 10 sends a motor start instruction to the thermal management integrated module 20 by using the LIN / CAN protocol, etc., and provides electrical energy to the thermal management integrated module 20.

[0057] The thermal management integrated module 20 includes a controller 21 and a communication interface 22 and a voltage power interface 23 respectively connected to the controller 21. The controller 21 is connected to the electronic control unit 10 and is also respectively connected to a plurality of drive motors 30. The thermal management integrated module 20 provides power to the controller 21 through the voltage power interface 23, receives the motor start command sent by the electronic control unit 10 through the communication interface 22, and transmits the received motor start command to the controller 21.

[0058] After receiving the motor start command sent by the electronic control unit 10, the controller 21 responds to the motor start command and outputs corresponding control signals to the multiple drive motors 30 respectively, so that the multiple drive motors 30 start working at different times after receiving the control signal, thereby driving the multiple liquid control components 40 to perform operations such as opening, closing or adjusting the flow rate of the liquid.

[0059] In the embodiment of the present invention, the controller 21 controls the multiple drive motors 30 to start working at different times, which can effectively reduce the surge current and the occurrence of excessive starting current, thereby increasing the service life of the controller 21 and improving the vehicle performance.

[0060] It should be understood that Figure 1 The embodiment only schematically illustrates the structure of the thermal management integrated module control system 100, and does not impose any limitation on the composition and structure of the thermal management integrated module control system 100 in other embodiments. For example, in some other embodiments, the thermal management integrated module control system 100 and the component modules (i.e., the electronic control unit 10, the thermal management integrated module 20, the drive motor 30 and the liquid control component 40) may also include more or fewer components, or have the same Figure 1 The embodiments shown have different configurations of the structures.

[0061] It is worth noting that, in the embodiment of the present invention, the liquid control component 40 may include one type or multiple types, and each type of liquid control component 40 may be one or more. For example, in some possible embodiments, the liquid control component 40 includes three types, namely, a water pump, a water valve, and an expansion valve. The number of the water pump, the water valve, and the expansion valve may be one or more, for example, two water pumps, two water valves, and one expansion valve.

[0062] To facilitate understanding of the motor starting method provided by the embodiment of the present invention, the controller provided by the embodiment of the present invention is first introduced in detail.

[0063] See also Figure 2 , Figure 2 The schematic diagram shows the structure of the controller 21 provided in some embodiments of the present invention.

[0064] like Figure 2 As shown, the controller 21 includes: at least one processor 211 and a memory 212 that are communicatively connected, Figure 2 In the example, the bus system 213 is connected to a processor. The various components in the controller 21 are coupled together through the bus system 213, and the bus system 213 is used to realize the connection and communication between these components. It is easy to understand that the bus system 213 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity and brevity, Figure 2 In FIG. 2 , various buses are labeled as bus system 213. It can be understood that Figure 2 The structure shown in the embodiment is only for illustration and does not impose any limitation on the structure of the controller 21. For example, the controller 21 may also include Figure 2 More or fewer components as shown, or with Figure 2 Different configurations shown.

[0065] Specifically, the processor 211 is used to provide computing and control capabilities to control the controller 21 to perform corresponding tasks. For example, the controller 21 is controlled to perform any motor starting method provided in the embodiments of the present invention, or to perform steps in any possible implementation of any motor starting method provided in the embodiments of the present invention. Those skilled in the art will appreciate that the processor 211 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0066] The memory 212, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs, instructions and modules, for example, programs, instructions and modules corresponding to the motor starting method in the embodiment of the present invention. In some embodiments, the memory 212 may include a program storage area and a data storage area, and the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the processor 211, etc. The processor 211 executes various functional applications and data processing of the controller 21 by running the non-transitory software programs, instructions and modules stored in the memory 212, so as to implement any motor starting method provided in the embodiment of the present invention, or execute any step in any possible implementation of any motor starting method provided in the embodiment of the present invention. Among them, the memory 212 may include a high-speed random access memory, and may also include a non-transitory memory. For example, at least one disk storage device, a flash memory device or other non-transitory solid-state storage device. In some embodiments, the memory 212 may also include a memory remotely arranged relative to the processor 211, and these remote memories may be connected to the processor 211 through a communication network. It can be understood that examples of the above-mentioned communication network include but are not limited to the Internet, corporate intranet, local area network, mobile communication network and combinations thereof.

[0067] It is easy to understand that the implementation and execution subject of any motor starting method provided in the embodiments of the present invention can be any suitable type of controller with certain computing and control capabilities. In some possible implementations, the computer program instructions stored in the memory can be called by the processor to implement any motor starting method provided in the embodiments of the present invention.

[0068] It can be understood from the above that the motor starting method provided in the embodiment of the present invention can be implemented by various suitable types of controllers with certain computing and control capabilities, for example, it can be implemented and executed by the above-mentioned controller 21. The motor starting method provided in the embodiment of the present invention will be described in detail below in conjunction with the exemplary application and implementation of the controller provided in the embodiment of the present invention.

[0069] See also Figure 3 , Figure 3 The flowchart of the motor starting method provided by some embodiments of the present invention is schematically shown.

[0070] Those skilled in the art can understand that the motor starting method provided in the embodiment of the present invention can be applied to the above controller (eg, controller 21). Specifically, the motor starting method is executed by one or at least two processors of the controller.

[0071] like Figure 3 As shown, the motor starting method includes but is not limited to the following steps S100:

[0072] S100: In response to the motor start instruction received from the electronic control unit, control signals are output to the plurality of drive motors respectively, so that the plurality of drive motors start working at different times to drive corresponding liquid control components.

[0073] Specifically, when the vehicle's electronic control unit performs thermal management, it sends a motor start instruction to the thermal management integrated module to indicate that the vehicle needs to start multiple drive motors to drive the liquid control components. After receiving the motor start instruction through the communication interface, the thermal management integrated module transmits the motor start instruction to the controller. The controller parses the motor start instruction to determine the number of drive motors that need to be started and their corresponding liquid control components. Then, the start sequence and start time of the drive motors are generated according to the preset logic or algorithm, and according to the start sequence and start time, the corresponding control signal is sent to each drive motor in turn at the corresponding time through a suitable communication protocol (for example, CAN bus protocol), so that when the multiple drive motors receive the control signal at the corresponding time, they start working, thereby driving the corresponding multiple liquid control components to open, close or adjust the flow rate of the liquid.

[0074] It is understandable that the time from receiving the control signal to starting the drive motor is extremely short. In order to realize that multiple drive motors start working at different times, the start time of each drive motor is different, that is, the time of sending the control signal to each drive motor is different. It is easy to understand that the start sequence and start time of the drive motor can be determined according to the priority of the liquid control component, the vehicle liquid pressure, temperature, etc.

[0075] In some embodiments, the liquid control assembly includes at least two types, and the number of each type of liquid control assembly is at least one. For example, in some possible embodiments, the liquid control assembly includes three types, namely, a water pump, a water valve, and an expansion valve. The number of the water pump, the water valve, and the expansion valve can be one or more, for example, two water pumps, two water valves, and one expansion valve.

[0076] In an embodiment of the present invention, the control signal output to the drive motor corresponding to the liquid control component can be a PWM control signal. Among them, the PWM (Pulse Width Modulation) control signal is a signal that controls the output by adjusting the duty cycle of the signal. The PWM control signal is a periodic square wave signal, in which the duration of the high level (pulse width) can vary throughout the cycle, and the duty cycle is usually expressed as a percentage, ranging from 0% to 100%. By adjusting the duty cycle, the effective output power or average voltage of the signal can be changed. For example, a duty cycle of 50% means that the average output voltage is half of the maximum voltage.

[0077] It is easy to understand that the control signal can also be a PWM-frequency modulation signal (Frequency Modulated PWM) and a PWM-PSM (Pulse Width and Pulse Spacing Modulation) control signal, etc. The embodiment of the present invention does not impose any limitation on this, and technicians in this field can select any suitable control signal according to actual needs.

[0078] When the controller outputs control signals to multiple drive motors respectively so that the multiple drive motors start working at different times to drive corresponding liquid control components, if adjacent PWM control signals are used to control drive motors corresponding to different types of liquid control components, for example, adjacent first PWM control signals and second PWM control signals are used to drive drive motors corresponding to a water pump and a water valve, respectively, then adjacent PWM control signals are separated by a preset time interval, that is, the time interval between sending the first PWM control signal and the second PWM control signal to drive motors corresponding to different types of liquid control components is separated by a preset time interval, the start time interval of the drive motors corresponding to the first PWM control signal and the second PWM control signal is separated by a preset time interval, and after the drive motor corresponding to the first PWM control signal starts working for a preset time interval, the drive motor corresponding to the second PWM control signal starts working again.

[0079] In some embodiments, the preset time interval is the cycle length of the previous control signal in the control signal of the drive motor corresponding to the different types of liquid control components. That is, when the adjacent first PWM control signal and the second PWM control signal are used to drive the drive motors corresponding to the water pump and the water valve respectively, if the water pump is started first, the first PWM control signal is sent to the drive motor corresponding to the water pump first, the previous control signal is the first PWM control signal, and the preset time interval is the cycle length of the first PWM control signal. If the water valve is started first, the second PWM control signal is sent to the drive motor corresponding to the water valve first, the previous control signal is the second PWM control signal, and the preset time interval is the cycle length of the second PWM control signal.

[0080] See also Figure 4 , Figure 4 The schematic diagram of the start-up timing of adjacent first PWM control signals, second PWM control signals and third PWM control signals in some embodiments is schematically shown. Among them, the first PWM control signal, the second PWM control signal and the third PWM control signal are used to drive the drive motors corresponding to the water pump, the water valve and the expansion valve respectively, and the cycle durations of the first PWM control signal, the second PWM control signal and the third PWM control signal are T1, T2 and T3 respectively. In this embodiment, the start-up sequence of the water pump, the water valve and the expansion valve is: start the water pump first → start the water valve → start the expansion valve last, then the preset time interval between the adjacent first PWM control signal and the second PWM control signal is the cycle duration T1 of the preceding first PWM control signal, and the preset time interval between the adjacent second PWM control signal and the third PWM control signal is the cycle duration T2 of the preceding second PWM control signal.

[0081] In some embodiments, for multiple drive motors corresponding to multiple different types of liquid control components, the start-up order of the multiple drive motors can be determined according to the cycle duration of the control signals of the multiple drive motors. For example, the larger the cycle duration of the control signal corresponding to the drive motor, the earlier it is started; the smaller the cycle duration of the control signal corresponding to the drive motor, the later it is started. That is, for drive motors corresponding to different types of liquid control components, the control signal corresponding to the drive motor with a larger drive cycle is in front, and the drive motor corresponding to the control signal with a larger cycle duration is started first.

[0082] In a feasible implementation, the shorter the cycle time of the control signal corresponding to the drive motor, the earlier it is started; the longer the cycle time of the control signal corresponding to the drive motor, the later it is started. That is, for drive motors corresponding to different types of liquid control components, the control signal corresponding to the drive motor with a smaller drive cycle is in front, and the drive motor corresponding to the control signal with a smaller cycle time is started first.

[0083] Of course, there may be other ways to determine the start-up sequence of the multiple drive motors, or the multiple drive motors may be started in a random sequence, and the embodiment of the present invention does not impose any limitation on this.

[0084] When the controller outputs control signals to multiple drive motors respectively so that the multiple drive motors start working at different times to drive corresponding liquid control components, if adjacent PWM control signals are used to control drive motors corresponding to the same type of liquid control components, for example, adjacent first PWM control signals and second PWM control signals are used to drive drive motors corresponding to two water pumps (the two water pumps are of the same type), then the phase difference between adjacent PWM control signals is a preset angle, that is, the first PWM control signal and the second PWM control signal are output to the corresponding drive motors in a phase-shifted manner, and the first PWM control signal is output to the corresponding drive motors after the phase of the second PWM control signal is shifted by the preset angle or the phase of the second PWM control signal is shifted by the preset angle relative to the first PWM control signal.

[0085] See also Figure 5 , Figure 5 The schematic diagram of the phase shift of the second PWM control signal relative to the first PWM control signal in some embodiments is schematically shown. The preset angle of the phase shift of the second PWM control signal relative to the first PWM control signal is half a cycle T / 2 (i.e., 180°), and the phases of the adjacent first PWM control signal and the second PWM control signal differ by the preset angle and are respectively output to the corresponding drive motors.

[0086] In some embodiments, the preset angle is any one of 45°, 90°, 135°, 180°, 225° and 270°. In other feasible embodiments, the preset angle can be any angle between 0-360°. The preset angle is preferably any one of 45°, 90°, 135°, 180°, 225° and 270° in order to facilitate and quickly move adjacent PWM control signals so that the phases of adjacent PWM control signals differ by a preset angle, thereby improving the motor starting speed.

[0087] In some embodiments, the liquid control assembly includes a water pump, a water valve and an expansion valve, and the number of the water pump, the water valve and the expansion valve is at least one. In this embodiment, the start sequence of the water pump, the water valve and the expansion valve is: start the expansion valve first → then start the water pump → finally start the water valve.

[0088] In some embodiments, the control signals are output to the multiple drive motors respectively, including but not limited to the following steps S110-S130:

[0089] S110: Sending a first control signal to a drive motor corresponding to the expansion valve.

[0090] Specifically, the controller outputs a corresponding first control signal to a drive motor corresponding to the expansion valve through a suitable communication protocol (for example, a CAN bus protocol). When the drive motor corresponding to the expansion valve receives the first control signal, it starts working immediately and drives the expansion valve to adjust the flow rate of the liquid to the required liquid flow rate, accurately adjust the opening and closing size of the expansion valve, accurately control the flow rate, achieve efficient use of energy, and meet the vehicle endurance performance.

[0091] In some embodiments, if the number of expansion valves is at least two, the phases of adjacent first control signals differ by a first preset angle, wherein the first preset angle may be any angle between 0 and 360°, and the first preset angle is preferably any one of 45°, 90°, 135°, 180°, 225°, and 270°.

[0092] In some embodiments, sending a first control signal to a drive motor corresponding to the expansion valve specifically includes but is not limited to the following steps S1101-S1103:

[0093] S1101: According to the duty cycle and period of the first control signal of the drive motor corresponding to the expansion valve, the first duration of the first level control signal and the second duration of the second level control signal in the first control signal are obtained, the period duration of the first control signal is equal to the sum of the first duration and the second duration, the first level is a high level, the second level is a low level, or the first level is a low level and the second level is a high level.

[0094] S1102: Sending a first level control signal to a drive motor corresponding to the expansion valve.

[0095] S1103: If the duration of sending the first level control signal reaches the first duration, stop sending the first level control signal and send the second level control signal to the drive motor corresponding to the expansion valve until the duration of sending the second level control signal reaches the second duration, then stop sending the second level control signal to the drive motor corresponding to the expansion valve.

[0096] Specifically, the controller calculates the first duration of the first level control signal and the second duration of the second level control signal in the first control signal according to the duty cycle and period of the first control signal of the drive motor corresponding to the expansion valve. Obviously, the period of the first control signal is equal to the sum of the first duration and the second duration. Assuming that the duty cycle and period of the first control signal are D1 and T1 respectively, the first duration of the first level control signal t1 = D1*T1, and the second duration of the second level control signal t2 = (1-D1)*T1, where T1 = t1+t2.

[0097] It can be understood that the duty cycle refers to the ratio of the time that the signal is at a high level (or turned on) to the duration of the entire cycle in one cycle, usually expressed as a percentage. In pulse width modulation (PWM) control signals and other periodic control signals, the duty cycle is an extremely important parameter, which is used to describe the proportion of time that the control signal is in the on state in one cycle.

[0098] It is easy to understand that the first level is a high level and the second level is a low level. Alternatively, the first level is a low level and the second level is a high level. When the first level is a high level and the second level is a low level, the drive motor corresponding to the expansion valve works during the first level period for a duration of t1; stops working or sleeps during the second level period for a duration of t2. If the first level is a low level and the second level is a high level, the drive motor corresponding to the expansion valve works during the second level period for a duration of t1; stops working or sleeps during the first level period for a duration of t2.

[0099] After calculating the first duration of the first level control signal and the second duration of the second level control signal in the first control signal, the controller continuously sends the first level control signal to the drive motor corresponding to the expansion valve. If the first level is high and the second level is low, the controller continuously sends the high level signal to the drive motor corresponding to the expansion valve. If the first level is low and the second level is high, the controller continuously sends the low level signal to the drive motor corresponding to the expansion valve.

[0100] When it is detected that the duration of sending the first level control signal reaches the first duration, the controller stops sending the first level control signal to the drive motor corresponding to the expansion valve, and starts sending the second level control signal to the drive motor corresponding to the expansion valve until the duration of sending the second level control signal reaches the second duration, that is, when it is detected that the duration of sending the second level control signal reaches the second duration, the controller stops sending the second level control signal to the drive motor corresponding to the expansion valve, and thus completes the drive control of the drive motor corresponding to the expansion valve for one cycle. After stopping sending the second level control signal, the controller no longer sends any control signal to the drive motor corresponding to the expansion valve, enters a stop or sleep state, and waits for the next control instruction.

[0101] S120: Sending a second control signal to the drive motor corresponding to the water pump.

[0102] Specifically, the controller outputs a corresponding second control signal to the drive motor corresponding to the water pump through a suitable communication protocol (for example, CAN bus protocol). When the drive motor corresponding to the water pump receives the second control signal, it starts working immediately and drives the water pump to start, so as to drive the coolant, water, etc. to circulate between devices or equipment such as the power battery, the electric drive system, the power system, the heater and the radiator.

[0103] In some embodiments, if the number of water pumps is at least two, the phases of adjacent second control signals differ by a second preset angle. It should be understood that the second preset angle may be any angle between 0-360°, and the second preset angle is preferably any one of 45°, 90°, 135°, 180°, 225° and 270°.

[0104] In some embodiments, sending a second control signal to a drive motor corresponding to a water pump includes but is not limited to the following steps S1201-S1203:

[0105] S1201: According to the duty cycle and period of the second control signal of the driving motor corresponding to the water pump, the third duration of the third level control signal and the fourth duration of the fourth level control signal in the second control signal are obtained, the cycle duration of the second control signal is equal to the sum of the third duration and the fourth duration, the third level is a high level, the fourth level is a low level, or the third level is a low level and the fourth level is a high level.

[0106] S1202: Sending a third level control signal to a driving motor corresponding to the water pump.

[0107] S1203: If the duration of sending the third level control signal reaches the third duration, stop sending the third level control signal and send the fourth level control signal to the drive motor corresponding to the water pump until the duration of sending the fourth level control signal reaches the fourth duration, then stop sending the fourth level control signal to the drive motor corresponding to the water pump.

[0108] Specifically, the controller calculates the third duration of the third level control signal and the fourth duration of the fourth level control signal in the second control signal according to the duty cycle and period of the second control signal of the drive motor corresponding to the water pump. Obviously, the period of the second control signal is equal to the sum of the third duration and the fourth duration. Assuming that the duty cycle and period of the second control signal are D2 and T2 respectively, the third duration t3 of the third level control signal is D2*T2, and the fourth duration t4 of the fourth level control signal is (1-D2)*T2, where T2=t3+t4.

[0109] It is easy to understand that the third level is a high level and the fourth level is a low level. Alternatively, the third level is a low level and the fourth level is a high level. When the third level is a high level and the fourth level is a low level, the drive motor corresponding to the water pump works during the third level for a duration of t3; stops working or sleeps during the fourth level for a duration of t4. If the third level is a low level and the fourth level is a high level, the drive motor corresponding to the water pump works during the fourth level for a duration of t3; stops working or sleeps during the third level for a duration of t4.

[0110] After calculating the third duration of the third level control signal and the fourth duration of the fourth level control signal in the second control signal, the controller continuously sends the third level control signal to the drive motor corresponding to the water pump. If the third level is high and the fourth level is low, the controller continuously sends the high level signal to the drive motor corresponding to the water pump. If the third level is low and the fourth level is high, the controller continuously sends the low level signal to the drive motor corresponding to the water pump.

[0111] When it is detected that the duration of sending the third level control signal reaches the third duration, the controller stops sending the third level control signal to the drive motor corresponding to the water pump, and starts sending the fourth level control signal to the drive motor corresponding to the water pump until the duration of sending the fourth level control signal reaches the fourth duration, that is, when it is detected that the duration of sending the fourth level control signal reaches the fourth duration, the controller stops sending the fourth level control signal to the drive motor corresponding to the water pump, thus completing the drive control of the drive motor corresponding to the water valve for one cycle. After the controller stops sending the fourth level control signal, it no longer sends any control signal to the drive motor corresponding to the water pump, enters a stop or sleep state, and waits for the next control instruction.

[0112] S130: Sending a third control signal to the driving motor corresponding to the water valve.

[0113] Specifically, the controller outputs a corresponding third control signal to the drive motor corresponding to the water valve through a suitable communication protocol (for example, CAN bus protocol). When the drive motor corresponding to the water valve receives the third control signal, it starts working immediately, drives the water valve to open or close, adjusts the liquid circuit, and ensures the reasonable flow of energy between the power battery, the electric drive system, the power system, the heater, the radiator and the passenger compartment.

[0114] Among them, the interval between the adjacent first control signal and the second control signal is the cycle duration of the first control signal of the drive motor corresponding to the driving expansion valve, that is, the preset time interval between the adjacent first control signal and the second control signal is the cycle duration of the previous first control signal. The interval between the adjacent second control signal and the third control signal is the cycle duration of the second control signal of the drive motor corresponding to the driving water pump, that is, the preset time interval between the adjacent second control signal and the third control signal is the cycle duration of the previous second control signal.

[0115] In some embodiments, if the number of water valves is at least two, the phases of adjacent third control signals differ by a third preset angle. It should be understood that the third preset angle can be any angle between 0-360°, and the third preset angle is preferably any one of 45°, 90°, 135°, 180°, 225° and 270°.

[0116] It should be noted that the first preset angle, the second preset angle and the third preset angle may be the same or different.

[0117] In some embodiments, sending a third control signal to a drive motor corresponding to the water valve includes but is not limited to the following steps S1301-S1303:

[0118] S1301: According to the duty cycle and period of the third control signal of the driving motor corresponding to the water valve, the fifth duration of the fifth-level control signal and the sixth duration of the sixth-level control signal in the third control signal are obtained, the period duration of the third control signal is equal to the sum of the fifth duration and the sixth duration, the fifth level is a high level, the sixth level is a low level, or the fifth level is a low level and the sixth level is a high level.

[0119] S1302: Sending a fifth level control signal to the driving motor corresponding to the water valve.

[0120] S1303: If the duration of sending the fifth level control signal reaches the fifth duration, stop sending the fifth level control signal and send the sixth level control signal to the drive motor corresponding to the water valve until the duration of sending the sixth level control signal reaches the sixth duration, and stop sending the sixth level control signal to the drive motor corresponding to the water valve.

[0121] Specifically, the controller calculates the fifth duration of the fifth level control signal and the sixth duration of the sixth level control signal in the third control signal according to the duty cycle and period of the third control signal of the drive motor corresponding to the water valve. Obviously, the period of the third control signal is equal to the sum of the fifth duration and the sixth duration. Assuming that the duty cycle and period of the third control signal are D3 and T3 respectively, the fifth duration t5 of the fifth level control signal is D3*T3, and the sixth duration t6 of the sixth level control signal is (1-D3)*T3, where T3=t5+t6.

[0122] It is easy to understand that the fifth level is a high level and the sixth level is a low level. Alternatively, the fifth level is a low level and the sixth level is a high level. When the fifth level is a high level and the sixth level is a low level, the drive motor corresponding to the water valve works during the fifth level for a duration of t5; stops working or sleeps during the sixth level for a duration of t6. If the fifth level is a low level and the sixth level is a high level, the drive motor corresponding to the water valve works during the sixth level for a duration of t5; stops working or sleeps during the fifth level for a duration of t6.

[0123] After calculating the fifth duration of the fifth level control signal and the sixth duration of the sixth level control signal in the third control signal, the controller continuously sends the fifth level control signal to the drive motor corresponding to the water valve. If the fifth level is high and the sixth level is low, the controller continuously sends the high level signal to the drive motor corresponding to the water valve. If the fifth level is low and the sixth level is high, the controller continuously sends the low level signal to the drive motor corresponding to the water valve.

[0124] When it is detected that the duration of sending the fifth level control signal reaches the fifth duration, the controller stops sending the fifth level control signal to the drive motor corresponding to the water valve, and starts sending the sixth level control signal to the drive motor corresponding to the water valve until the duration of sending the sixth level control signal reaches the sixth duration, that is, when it is detected that the duration of sending the sixth level control signal reaches the sixth duration, the controller stops sending the sixth level control signal to the drive motor corresponding to the water valve, thus completing the drive control of the drive motor corresponding to the water valve for one cycle. After the controller stops sending the sixth level control signal, it no longer sends any control signal to the drive motor corresponding to the water valve, enters a stop or sleep state, and waits for the next control instruction.

[0125] To summarize, the motor starting method provided in an embodiment of the present invention is applied to a controller, the controller is connected to an electronic control unit of a vehicle, the vehicle includes multiple liquid control components and multiple drive motors respectively connected to the liquid control components, each liquid control component is connected to a drive motor, and the controller is also respectively connected to the multiple drive motors; the motor starting method includes: in response to a motor starting instruction received from the electronic control unit, outputting control signals to the multiple drive motors respectively, so that the multiple drive motors start working at different times to drive the corresponding liquid control components.

[0126] The motor starting method provided by the embodiment of the present invention effectively reduces surge current and the occurrence of excessive starting current by controlling multiple drive motors to start working at different times, thereby increasing the service life of the controller and improving vehicle performance.

[0127] See also Figure 6 , Figure 6 The schematic diagram of the structure of the motor starting device 200 provided in some embodiments of the present invention is shown schematically. The motor starting device 200 can be configured in a controller, or can be an independent device, equipment or component, etc., and integrated in a thermal management integrated module.

[0128] Specifically, the motor starting device 200 includes:

[0129] The driving module 210 is used to respond to the motor starting instruction sent by the electronic control unit, and output control signals to the multiple driving motors respectively, so that the multiple driving motors start working at different times to drive the corresponding liquid control components.

[0130] In some embodiments, the liquid control component includes at least two types, the number of liquid control components of each type is at least one, and the control signal is a PWM control signal;

[0131] When adjacent control signals are used to control driving motors corresponding to different types of liquid control components, adjacent control signals are separated by a preset time interval;

[0132] When adjacent control signals are respectively used to control drive motors corresponding to the same type of liquid control components, the phases of the adjacent control signals differ by a preset angle.

[0133] In some embodiments, the preset time interval is the cycle length of the preceding control signal in the control signal of the drive motor corresponding to the different types of liquid control components.

[0134] In some embodiments, the preset angle is any one of 45°, 90°, 135°, 180°, 225° and 270°.

[0135] In some embodiments, for drive motors corresponding to different types of liquid control components, the control signal corresponding to the drive motor with a larger drive cycle is placed first;

[0136] Alternatively, for drive motors corresponding to different types of liquid control components, the control signal corresponding to the drive motor with a smaller drive period comes first.

[0137] In some embodiments, the liquid control assembly includes a water pump, a water valve, and an expansion valve, and the number of the water pump, the water valve, and the expansion valve are at least one;

[0138] The driving module 210 is specifically used to send a first control signal to a driving motor corresponding to the expansion valve;

[0139] Sending a second control signal to a drive motor corresponding to the water pump;

[0140] Sending a third control signal to a drive motor corresponding to the water valve;

[0141] The first control signal and the second control signal adjacent to each other are separated by a period of the first control signal of the drive motor corresponding to the expansion valve, and the second control signal and the third control signal adjacent to each other are separated by a period of the second control signal of the drive motor corresponding to the water pump;

[0142] If the number of the expansion valves is at least two, the phases of adjacent first control signals differ by a first preset angle;

[0143] If the number of the water pumps is at least two, the phases of adjacent second control signals differ by a second preset angle;

[0144] If the number of the water valves is at least two, the phases of adjacent third control signals differ by a third preset angle, wherein the first preset angle, the second preset angle and the third preset angle are the same or different.

[0145] In some embodiments, the driving module 210 is further used for:

[0146] According to the duty cycle and period of the first control signal of the drive motor corresponding to the expansion valve, a first duration of the first level control signal and a second duration of the second level control signal in the first control signal are obtained, the period of the first control signal is equal to the sum of the first duration and the second duration, the first level is a high level, the second level is a low level, or the first level is a low level, and the second level is a high level;

[0147] Sending a first level control signal to a drive motor corresponding to the expansion valve;

[0148] If the duration of sending the first level control signal reaches the first duration, the first level control signal is stopped from being sent, and the second level control signal is sent to the drive motor corresponding to the expansion valve, until the duration of sending the second level control signal reaches the second duration, and the second level control signal is stopped from being sent to the drive motor corresponding to the expansion valve.

[0149] In some embodiments, the driving module 210 is further used for:

[0150] According to the duty cycle and period of the second control signal of the drive motor corresponding to the water pump, a third duration of the third level control signal and a fourth duration of the fourth level control signal in the second control signal are obtained, the cycle duration of the second control signal is equal to the sum of the third duration and the fourth duration, the third level is a high level, the fourth level is a low level, or the third level is a low level, and the fourth level is a high level;

[0151] Sending a third level control signal to a drive motor corresponding to the water pump;

[0152] If the duration of sending the third level control signal reaches the third duration, the third level control signal is stopped from being sent, and the fourth level control signal is sent to the drive motor corresponding to the water pump, until the duration of sending the fourth level control signal reaches the fourth duration, and the fourth level control signal is stopped from being sent to the drive motor corresponding to the water pump.

[0153] In some embodiments, the driving module 210 is further used for:

[0154] According to the duty cycle and period of the third control signal of the driving motor corresponding to the water valve, a fifth duration of the fifth-level control signal and a sixth duration of the sixth-level control signal in the third control signal are obtained, the cycle duration of the third control signal is equal to the sum of the fifth duration and the sixth duration, the fifth level is a high level, the sixth level is a low level, or the fifth level is a low level, and the sixth level is a high level;

[0155] Sending a fifth level control signal to a driving motor corresponding to the water valve;

[0156] If the duration of sending the fifth level control signal reaches the fifth duration, stop sending the fifth level control signal and send the sixth level control signal to the drive motor corresponding to the water valve until the duration of sending the sixth level control signal reaches the sixth duration, and stop sending the sixth level control signal to the drive motor corresponding to the water valve.

[0157] It is worth noting that, for the sake of simplicity and brevity of description, the motor starting device 200 can execute the functional modules and beneficial effects corresponding to the motor starting method provided in the embodiment of the present invention. For technical details not fully described in the embodiment of the motor starting device 200, reference can be made to the motor starting method provided in the embodiment of the present invention. The specific working process of the motor starting device 200 can also refer to the specific execution process corresponding to the motor starting method provided in the embodiment of the present invention, and will not be described one by one here.

[0158] It should be understood that the content playback device 200 provided in the above-mentioned embodiment of the present invention can be a software module, which includes a number of instructions stored in a memory. The processor can access the memory and call the instructions for execution to complete the motor starting method described in the above-mentioned embodiments.

[0159] In some other feasible implementations, the content playback device 200 can also be constructed by hardware devices. For example, the content playback device 200 can be constructed by one or more chips, and each chip can work in coordination with each other to implement the motor starting method described in the above embodiments. In some embodiments, the content playback device 200 can also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a single-chip microcomputer, a field programmable gate array (FPGA), an ARM (Acorn RISC Machine) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any combination of these devices or components.

[0160] An embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor executes any motor starting method provided by the embodiment of the present invention, or executes steps in any possible implementation manner of any motor starting method provided by the embodiment of the present invention.

[0161] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface storage, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, and an electrically erasable programmable ROM, or any other form of storage medium known in the technical field, or various devices including one or any combination of the above storage media.

[0162] In some embodiments, computer program instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0163] As an example, computer program instructions may, but do not necessarily, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, for example, in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0164] As an example, the computer program instructions may be deployed to be executed on a computing device (including devices such as smart terminals and servers), or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network. It is easy to understand that all or part of the steps of the method described in the embodiments of the present invention may be directly implemented using electronic hardware or processor executable computer program instructions, or a combination of the two.

[0165] Those skilled in the art will appreciate that the embodiments provided by the present invention are only illustrative, and the order of writing the steps in the method of the embodiment does not mean a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged and deleted according to actual needs, and the modules or sub-modules, units or sub-units in the device or system of the embodiment can be merged, divided and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0166] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0167] It should be noted that the above embodiments are intended to illustrate the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot be used to limit the scope of protection of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments can be implemented according to the technical solutions recorded in the embodiments of the present invention, or some of the technical features can be equivalently replaced. It can be understood that these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equal changes and modifications based on the embodiments of the present invention, and should all fall within the scope of the claims of the present invention.

Claims

1. A motor starting method, applied to a controller, characterized in that: The controller is connected to an electronic control unit of a vehicle, the vehicle comprises a plurality of liquid control components and a plurality of drive motors respectively connected to the liquid control components, each of the liquid control components is connected to one of the drive motors, and the controller is also respectively connected to the plurality of drive motors; The method comprises: In response to the motor start instruction received from the electronic control unit, control signals are output to the multiple drive motors respectively, so that the multiple drive motors start working at different times to drive the corresponding liquid control components.

2. The method according to claim 1, characterized in that The liquid control components include at least two types, the number of each type of liquid control components is at least one, and the control signal is a PWM control signal; When adjacent control signals are used to control driving motors corresponding to different types of liquid control components, adjacent control signals are separated by a preset time interval; When adjacent control signals are respectively used to control drive motors corresponding to the same type of liquid control components, the phases of the adjacent control signals differ by a preset angle.

3. The method according to claim 2, characterized in that The preset time interval is the cycle length of the preceding control signal among the control signals of the drive motors corresponding to the different types of liquid control components.

4. The method according to claim 2, characterized in that: The preset angle is any one of 45°, 90°, 135°, 180°, 225° and 270°.

5. The method according to claim 2, characterized in that: For drive motors corresponding to different types of liquid control components, the control signal corresponding to the drive motor with a larger drive cycle is in front; Alternatively, for drive motors corresponding to different types of liquid control components, the control signal corresponding to the drive motor with a smaller drive period comes first.

6. The method according to any one of claims 1 to 5, characterized in that: The liquid control assembly includes a water pump, a water valve and an expansion valve, and the number of each of the water pump, the water valve and the expansion valve is at least one; The outputting control signals to the plurality of drive motors respectively comprises: Sending a first control signal to a drive motor corresponding to the expansion valve; Sending a second control signal to a drive motor corresponding to the water pump; Sending a third control signal to a drive motor corresponding to the water valve; The adjacent first control signal and the second control signal are separated by a period of the first control signal for driving the drive motor corresponding to the expansion valve, and the adjacent second control signal and the third control signal are separated by a period of the second control signal for driving the drive motor corresponding to the water pump; If the number of the expansion valves is at least two, the phases of adjacent first control signals differ by a first preset angle; If the number of the water pumps is at least two, the phases of adjacent second control signals differ by a second preset angle; If the number of the water valves is at least two, the phases of adjacent third control signals differ by a third preset angle, wherein the first preset angle, the second preset angle and the third preset angle are the same or different.

7. The method according to claim 6, characterized in that The sending of a first control signal to a drive motor corresponding to the expansion valve comprises: According to the duty cycle and period of the first control signal of the drive motor corresponding to the expansion valve, a first duration of the first level control signal and a second duration of the second level control signal in the first control signal are obtained, the period of the first control signal is equal to the sum of the first duration and the second duration, the first level is a high level, the second level is a low level, or the first level is a low level, and the second level is a high level; sending the first level control signal to a drive motor corresponding to the expansion valve; If the duration of sending the first-level control signal reaches the first duration, stop sending the first-level control signal, and send the second-level control signal to the drive motor corresponding to the expansion valve until the duration of sending the second-level control signal reaches the second duration, and stop sending the second-level control signal to the drive motor corresponding to the expansion valve.

8. The method according to claim 6, characterized in that The sending of a second control signal to a drive motor corresponding to the water pump comprises: According to the duty cycle and period of the second control signal of the drive motor corresponding to the water pump, a third duration of the third level control signal and a fourth duration of the fourth level control signal in the second control signal are obtained, the period of the second control signal is equal to the sum of the third duration and the fourth duration, the third level is a high level, the fourth level is a low level, or the third level is a low level, and the fourth level is a high level; Sending the third level control signal to the driving motor corresponding to the water pump; If the duration of sending the third-level control signal reaches the third duration, the third-level control signal is stopped from being sent, and the fourth-level control signal is sent to the drive motor corresponding to the water pump, until the duration of sending the fourth-level control signal reaches the fourth duration, and the fourth-level control signal is stopped from being sent to the drive motor corresponding to the water pump.

9. The method according to claim 6, characterized in that The sending of a third control signal to a driving motor corresponding to the water valve comprises: According to the duty cycle and period of the third control signal of the drive motor corresponding to the water valve, a fifth duration of the fifth-level control signal and a sixth duration of the sixth-level control signal in the third control signal are obtained, the period of the third control signal is equal to the sum of the fifth duration and the sixth duration, the fifth level is a high level, the sixth level is a low level, or the fifth level is a low level, and the sixth level is a high level; Sending the fifth level control signal to the driving motor corresponding to the water valve; If the duration of sending the fifth level control signal reaches the fifth duration, stop sending the fifth level control signal, and send the sixth level control signal to the drive motor corresponding to the water valve until the duration of sending the sixth level control signal reaches the sixth duration, and stop sending the sixth level control signal to the drive motor corresponding to the water valve.

10. A controller, characterized in that: include: A processor and a memory communicatively connected to the processor; The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes the motor starting method according to any one of claims 1 to 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions executable by a processor, and when the computer program instructions are called by the processor, the processor executes the motor starting method according to any one of claims 1 to 9.

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