Motor control system and method and aircraft

Abstract

The invention provides a motor control system and method and an aircraft, and relates to the technical field of motor control, the motor control system comprises a plurality of control modules, a first motor comprises a plurality of first windings, a second motor comprises a plurality of second windings, and each control module comprises a plurality of control units. A control unit in the control module corresponds to a first winding in a first motor corresponding to the control module, the control unit in the control module corresponds to a second winding in a second motor corresponding to the control module, and the first winding and the second winding corresponding to the control unit are driven through the control unit. Therefore, under the condition that the abnormal control unit exists in the control module, the first motor and the second motor corresponding to the control module are driven through other control units except the abnormal control unit in the control module, compared with the prior art, the risk of driving failure of a single motor can be reduced, and the driving efficiency is improved. And thus, the risk of common driving failure of multiple motors is reduced.

Description

Technical Field

[0001] The present application belongs to the field of motor control technology, and specifically relates to a motor control system, method and aircraft. Background Art

[0002] The joint driving mode of multiple motors is widely used. For example, the rotor system of an aircraft is jointly driven by multiple motors to achieve normal operation of the aircraft. Specifically, the rotor system includes multiple rotors, each rotor has a corresponding motor, and the rotor corresponding to the motor is driven by the motor.

[0003] In the prior art, each of the plurality of motors has a corresponding control unit, and the motor corresponding to the control unit is driven by the control unit.

[0004] However, in actual production, the inventors found that there are at least the following problems in the prior art: since the motor corresponding to the control unit is driven by one control unit, when the control unit fails, the motor drive corresponding to the control unit fails, resulting in failure of the common drive of multiple motors. Summary of the invention

[0005] The present application aims to provide a motor control system, method and aircraft, which at least solve the problem in the prior art that since the motor corresponding to the control unit is driven by one control unit, when the control unit fails, the motor driving corresponding to the control unit will fail, resulting in the failure of the common driving of multiple motors.

[0006] In order to solve the above technical problems, this application is implemented as follows:

[0007] In a first aspect, an embodiment of the present application provides a motor control system, comprising a plurality of control modules, each of the control modules having a corresponding first motor and a second motor, the first motor comprising a plurality of first windings, and the second motor comprising a plurality of second windings;

[0008] Each of the control modules includes a plurality of control units, wherein the control unit in the control module corresponds to the first winding in the first motor corresponding to the control module, and the control unit in the control module corresponds to the second winding in the second motor corresponding to the control module;

[0009] The control unit is used to be electrically connected to an external power supply, and the control unit is also used to be electrically connected to a first winding and a second winding corresponding to the control unit, respectively, and drive the first winding and the second winding corresponding to the control unit;

[0010] Wherein, in the case where there is an abnormal control unit in the control module, the first motor and the second motor corresponding to the control module are driven by other control units other than the abnormal control unit in the control module.

[0011] In a second aspect, an embodiment of the present application provides a motor control method, which is applied to the motor control system as described in the first aspect, and the method includes:

[0012] By means of each of the control units in the control module, the first motor and the second motor corresponding to the control module are jointly driven;

[0013] In the case that there is an abnormal control unit in the control module, the first motor and the second motor corresponding to the control module are driven by other control units other than the abnormal control unit in the control module.

[0014] In a third aspect, an embodiment of the present application provides an aircraft, comprising a motor control system as described in the first aspect.

[0015] In the embodiment of the present application, since the first motor includes multiple first windings, the second motor includes multiple second windings, and the control module includes multiple control units, the control unit in the control module corresponds to the first winding in the first motor corresponding to the control module, and the control unit in the control module corresponds to the second winding in the second motor corresponding to the control module, and the first winding and the second winding corresponding to the control unit are driven by the control unit. Therefore, when there is an abnormal control unit in the control module, the first motor and the second motor corresponding to the control module can be driven by other control units other than the abnormal control unit in the control module. Compared with the prior art in which the motor corresponding to the control unit is driven by one control unit, which causes a driving failure of the motor corresponding to the control unit when the control unit fails, the risk of a single motor driving failure can be reduced, thereby reducing the risk of failure in driving multiple motors together. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for describing the embodiments are briefly introduced below.

[0017] Figure 1 is a structural schematic diagram of a motor control system provided in an embodiment of the present application;

[0018] Figure 2 is a structural schematic diagram of a control module provided in an embodiment of the present application;

[0019] Figure 3 is another structural schematic diagram of a control module provided in an embodiment of the present application;

[0020] Figure 4 is a specific structural diagram of a control unit provided in an embodiment of the present application;

[0021] Figure 5 is another specific structural diagram of the control unit provided in the embodiment of the present application;

[0022] Figure 6 is another specific structural diagram of the control unit provided in the embodiment of the present application;

[0023] Figure 7 is another specific structural diagram of the control unit provided in the embodiment of the present application;

[0024] Figure 8 is a schematic diagram of the winding structure of the motor provided in an embodiment of the present application;

[0025] Fig. 9 It is a flowchart of the steps of the motor control method provided in the embodiment of the present application.

[0026] Reference numerals:

[0027] 10-control module; 11-control unit; 111-first inverter circuit; 112-second inverter circuit; 113-first controller; 114-second controller; 20-first motor; 21-first winding; 30-second motor; 31-second winding; 40-external power supply. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0030] Reference Figure 1The embodiment of the present application provides a motor control system, including a plurality of control modules 10, each of the control modules 10 having a corresponding first motor 20 and a second motor 30, the first motor 20 including a plurality of first windings 21, and the second motor 30 including a plurality of second windings 31; each of the control modules 10 includes a plurality of control units 11, the control unit 11 in the control module 10 corresponds to the first winding 21 in the first motor 20 corresponding to the control module 10, and the control unit 11 in the control module 10 corresponds to the second winding 31 in the second motor 30 corresponding to the control module 10; the control unit 11 is used to be electrically connected to an external power supply 40, and the control unit 11 is also used to be electrically connected to the first winding 21 and the second winding 31 corresponding to the control unit 11, respectively, and drive the first winding 21 and the second winding 31 corresponding to the control unit 11;

[0031] Wherein, when there is an abnormal control unit 11 in the control module 10 , the first motor 20 and the second motor 30 corresponding to the control module 10 are driven by other control units 11 other than the abnormal control unit 11 in the control module 10 .

[0032] It should be noted that the motor control system is used to drive a motor group, which includes multiple motors. The multiple motors in the motor group specifically include multiple first motors 20 and multiple second motors 30; in some embodiments, the number of first motors 20 in the motor group is equal to the number of second motors 30, and the type of the first motor 20 is the same as the type of the second motor 30.

[0033] In some embodiments, the number of windings in the motor is equal to the number of control units 11 in the control module 10 corresponding to the motor. Specifically, the number of first windings 21 in the first motor 20 is equal to the number of control units 11 in the control module 10 corresponding to the first motor 20, and the number of second windings 31 in the second motor 30 is equal to the number of control units 11 in the control module 10 corresponding to the second motor 30.

[0034] In some embodiments, the type of motor in the motor group can be a 3×p-phase motor such as a six-phase motor, a nine-phase motor, a twelve-phase motor, a fifteen-phase motor, etc., where p is a positive integer. The 3×p-phase motor includes p three-phase windings, each three-phase winding can include 3 pole-phase groups, and the control module 10 corresponding to the 3×p-phase motor includes p control units 11, wherein the pole-phase group is a group of coils belonging to the same phase under a magnetic pole in the motor.

[0035] For example, the first motor 20 in the motor group is a six-phase motor, the first motor 20 includes two first windings 21, and the first winding 21 in the first motor 20 includes three first pole phase groups; the second motor 30 in the motor group is a six-phase motor, the second motor 30 includes two second windings 31, and the second winding 31 in the second motor 30 includes three second pole phase groups, wherein the control module 10 corresponding to the first motor 20 and the second motor 30 includes two control units 11.

[0036] In the winding of the motor, the connection mode between the pole-phase groups (ie the connection mode of the winding) includes star connection, triangle connection and the like.

[0037] In some embodiments, the motor includes two three-phase windings, each three-phase winding includes three pole-phase groups, the pole-phase groups in one three-phase winding correspond one-to-one to the pole-phase groups in another three-phase winding, and each three-phase winding is connected in a star connection. The neutral point of the electrically connected pole-phase group in one three-phase winding and the neutral point of the electrically connected pole-phase group in another three-phase winding are the same neutral point, or the neutral point of the electrically connected pole-phase group in one three-phase winding and the neutral point of the electrically connected pole-phase group in another three-phase winding are different neutral points; the phase difference between any two adjacent pole-phase groups in each three-phase winding is equal; there is a preset phase difference between the two three-phase windings, wherein the phase difference between the two three-phase windings is the phase difference between the pole-phase group in one three-phase winding and the pole-phase group in another three-phase winding corresponding to the pole-phase group.

[0038] For example, refer to Figure 8 (a), the motor includes two three-phase windings, each of which includes three pole-phase groups, wherein one three-phase winding includes pole-phase group E1, pole-phase group E3, and pole-phase group E5, and the other three-phase winding includes pole-phase group E2, pole-phase group E4, and pole-phase group E6. Each three-phase winding is connected in a star connection, one end of pole-phase group E1, one end of pole-phase group E3, and one end of pole-phase group E5 are electrically connected to the neutral point of the motor, and the phase difference between pole-phase group E1 and pole-phase group E3, and the phase difference between pole-phase group E3 and pole-phase group E5 are The phase difference between pole phase group E2 and pole phase group E4, and the phase difference between pole phase group E4 and pole phase group E6, are all 120 degrees; one end of pole phase group E2, one end of pole phase group E4, and one end of pole phase group E6 are all connected to the neutral point of the motor, and the phase difference between pole phase group E2 and pole phase group E4, the phase difference between pole phase group E4 and pole phase group E6, and the phase difference between pole phase group E6 and pole phase group E2 are all 120 degrees; the phase difference between two three-phase windings (such as the phase difference e between pole phase group E5 and pole phase group E6) is 30 degrees.

[0039] For example, refer to Figure 8(b), the motor includes two three-phase windings, each of which includes three pole-phase groups, wherein one three-phase winding includes pole-phase group F1, pole-phase group F3, and pole-phase group F5, and the other three-phase winding includes pole-phase group F2, pole-phase group F4, and pole-phase group F6. Each three-phase winding is connected in a star connection, one end of pole-phase group F1, one end of pole-phase group F3, and one end of pole-phase group F5 are all electrically connected to the neutral point of the motor, and the phase difference between pole-phase group F1 and pole-phase group F3, and the phase difference between pole-phase group F3 and pole-phase group F5 are all equal. The phase difference between pole phase group F5 and pole phase group F1 is 120 degrees; one end of pole phase group F2, one end of pole phase group F4 and one end of pole phase group F6 are all connected to the neutral point of the motor, and the phase difference between pole phase group F2 and pole phase group F4, the phase difference between pole phase group F4 and pole phase group F6, and the phase difference between pole phase group F6 and pole phase group F2 are all 120 degrees; the phase difference between two three-phase windings (such as the phase difference f between pole phase group F5 and pole phase group F6) is 60 degrees.

[0040] Specifically, refer to Figure 2 In some embodiments, the first motor 20 includes two first windings 21, one first winding 21 includes a first pole phase group A1, a first pole phase group A3, and a first pole phase group A5, and the other first winding 21 includes a first pole phase group A2, a first pole phase group A4, and a first pole phase group A6, and each first winding 21 is connected in a star connection; the second motor 30 includes two second windings 31, one second winding 31 includes a second pole phase group B1, a second pole phase group B3, and a second pole phase group B5, and the other second winding 31 includes a second pole phase group B2, a second pole phase group B4, and a second pole phase group B6, and each second winding 31 is connected in a star connection;

[0041] The control module 10 includes two control units 11, a first control end of a control unit 11 is electrically connected to a first end of a first pole phase group A1 in a first winding 21 corresponding to the control unit 11, a second control end of a control unit 11 is electrically connected to a first end of a first pole phase group A3 in a first winding 21 corresponding to the control unit 11, a third control end of a control unit 11 is electrically connected to a first end of a first pole phase group A5 in a first winding 21 corresponding to the control unit 11; a fourth control end of a control unit 11 is electrically connected to a first end of a second pole phase group B1 in a second winding 31 corresponding to the control unit 11 The first end is electrically connected, the fifth control end of a control unit 11 is electrically connected to the first end of the second pole phase group B3 in the second winding 31 corresponding to the control unit 11, the sixth control end of a control unit 11 is electrically connected to the first end of the second pole phase group B5 in the second winding 31 corresponding to the control unit 11, the second end of the first pole phase group A1, the second end of the first pole phase group A3, and the second end of the first pole phase group A5 are all electrically connected to the neutral point of the first motor 20, and the second end of the second pole phase group B1, the second end of the second pole phase group B3, and the second end of the second pole phase group B5 are all electrically connected to the neutral point of the second motor 30;

[0042] The first control end of another control unit 11 is electrically connected to the first end of the first pole phase group A2 in the first winding 21 corresponding to the other control unit 11, the second control end of another control unit 11 is electrically connected to the first end of the first pole phase group A4 in the first winding 21 corresponding to the other control unit 11, the third control end of another control unit 11 is electrically connected to the first end of the first pole phase group A6 in the first winding 21 corresponding to the other control unit 11; the fourth control end of another control unit 11 is electrically connected to the first end of the second pole phase group B2 in the second winding 31 corresponding to the other control unit 11, The fifth control end of the other control unit 11 is electrically connected to the first end of the second pole phase group B4 in the second winding 31 corresponding to the other control unit 11, the sixth control end of the other control unit 11 is electrically connected to the first end of the second pole phase group B6 in the second winding 31 corresponding to the other control unit 11, the second end of the first pole phase group A2, the second end of the first pole phase group A4, and the second end of the first pole phase group A6 are all electrically connected to the neutral point of the first motor 20, and the second end of the second pole phase group B2, the second end of the second pole phase group B4, and the second end of the second pole phase group B6 are all electrically connected to the neutral point of the second motor 30;

[0043] Among them, the first pole phase group A1, the first pole phase group A3, the first pole phase group A5, the second pole phase group B1, the second pole phase group B3, and the second pole phase group B5 are driven by a control unit 11, and the first pole phase group A2, the first pole phase group A4, the first pole phase group A6, the second pole phase group B2, the second pole phase group B4, and the second pole phase group B6 are driven by another control unit 11. Therefore, when there is an abnormal control unit 11 in the control module 10, the first motor 20 and the second motor 30 corresponding to the control module 10 can be driven by other control units 11 other than the abnormal control unit 11 in the control module 10. For example, when one control unit 11 in the control module 10 is abnormal, the first motor 20 and the second motor 30 corresponding to the control module 10 can be driven by another control unit 11 in the control module 10.

[0044] Specifically, refer to Figure 3 In other embodiments, the first motor 20 includes two first windings 21, one first winding 21 includes a first pole phase group C1, a first pole phase group C3, and a first pole phase group C5, and the other first winding 21 includes a first pole phase group C2, a first pole phase group C4, and a first pole phase group C6, and each first winding 21 is connected in a triangle connection; the second motor 30 includes two second windings 31, one second winding 31 includes a second pole phase group D1, a second pole phase group D3, and a second pole phase group D5, and the other second winding 31 includes a second pole phase group D2, a second pole phase group D4, and a second pole phase group D6, and each second winding 31 is connected in a triangle connection;

[0045] The control module 10 includes two control units 11, wherein a first control end of one control unit 11 is electrically connected to a first end of a first pole phase group C1 and a second end of a first pole phase group C5 in a first winding 21 corresponding to the one control unit 11, a second control end of one control unit 11 is electrically connected to a first end of a first pole phase group C3 and a second end of a first pole phase group C1 in a first winding 21 corresponding to the one control unit 11, and a third control end of one control unit 11 is electrically connected to a first end of a first pole phase group C5 and a second end of a first pole phase group C5 in a first winding 21 corresponding to the one control unit 11. 3; a fourth control end of a control unit 11 is respectively electrically connected to the first end of the second pole phase group D1 and the second end of the second pole phase group D5 in the second winding 31 corresponding to the control unit 11, a fifth control end of a control unit 11 is respectively electrically connected to the first end of the second pole phase group D3 and the second end of the second pole phase group D1 in the second winding 31 corresponding to the control unit 11, and a sixth control end of a control unit 11 is respectively electrically connected to the first end of the second pole phase group D5 and the second end of the second pole phase group D3 in the second winding 31 corresponding to the control unit 11;

[0046] The first control end of the other control unit 11 is electrically connected to the first end of the first pole phase group C2 and the second end of the first pole phase group C6 in the first winding 21 corresponding to the other control unit 11, respectively; the second control end of the other control unit 11 is electrically connected to the first end of the first pole phase group C4 and the second end of the first pole phase group C2 in the first winding 21 corresponding to the other control unit 11, respectively; the third control end of the other control unit 11 is electrically connected to the first end of the first pole phase group C6 and the second end of the first pole phase group C4 in the first winding 21 corresponding to the other control unit 11, respectively; The fourth control end of the other control unit 11 is electrically connected to the first end of the second pole phase group D2 and the second end of the second pole phase group D6 in the second winding 31 corresponding to the other control unit 11, respectively; the fifth control end of the other control unit 11 is electrically connected to the first end of the second pole phase group D4 and the second end of the second pole phase group D2 in the second winding 31 corresponding to the other control unit 11, respectively; the sixth control end of the other control unit 11 is electrically connected to the first end of the second pole phase group D6 and the second end of the second pole phase group D4 in the second winding 31 corresponding to the other control unit 11, respectively.

[0047] Among them, the first pole phase group C1, the first pole phase group C3, the first pole phase group C5, the second pole phase group D1, the second pole phase group D3, and the second pole phase group D5 are driven by a control unit 11, and the first pole phase group C2, the first pole phase group C4, the first pole phase group C6, the second pole phase group D2, the second pole phase group D4, and the second pole phase group D6 are driven by another control unit 11. Therefore, when there is an abnormal control unit 11 in the control module 10, the first motor 20 and the second motor 30 corresponding to the control module 10 can be driven by other control units 11 other than the abnormal control unit 11 in the control module 10. For example, when one control unit 11 in the control module 10 is abnormal, the first motor 20 and the second motor 30 corresponding to the control module 10 can be driven by another control unit 11 in the control module 10.

[0048] In the embodiment of the present application, since the first motor 20 includes multiple first windings 21, the second motor 30 includes multiple second windings 31, and the control module 10 includes multiple control units 11, the control unit 11 in the control module 10 corresponds to the first winding 21 in the first motor 20 corresponding to the control module 10, and the control unit 11 in the control module 10 corresponds to the second winding 31 in the second motor 30 corresponding to the control module 10, and the first winding 21 and the second winding 31 corresponding to the control unit 11 are driven by the control unit 11, so that when there is an abnormal control unit 11 in the control module 10, the first motor 20 and the second motor 30 corresponding to the control module 10 can be driven by other control units 11 other than the abnormal control unit 11 in the control module 10. Compared with the prior art in which one control unit drives the motor corresponding to the control unit, which causes a motor drive failure corresponding to the control unit when the control unit fails, the risk of a single motor drive failure can be reduced, thereby reducing the risk of failure of driving multiple motors together.

[0049] Optional, see Figure 4 In some embodiments, each of the control units 11 includes a first inverter circuit 111, a second inverter circuit 112, a first controller 113 and a second controller 114; in the control unit 11, the first inverter circuit 111 is used to be electrically connected to the external power supply 40 and the first winding 21 corresponding to the control unit 11, respectively; the second inverter circuit 112 is used to be electrically connected to the external power supply 40 and the second winding 31 corresponding to the control unit 11, respectively; the first controller 113 is electrically connected to the first inverter circuit 111, and the first controller 113 is used to control the first inverter circuit 111 to drive the first winding 21 corresponding to the control unit 11; the second controller 114 is electrically connected to the second inverter circuit 112, and the second controller 114 is used to control the second inverter circuit 112 to drive the second winding 31 corresponding to the control unit 11.

[0050] In some embodiments, the control unit 11 has functions such as calculation, storage, communication, and control. The output voltage amplitude and phase of each phase of the control unit 11 are adjustable. The control unit 11 transmits and monitors information through a communication bus network. Each control unit 11 can read the output voltage amplitude, phase, current, temperature and other parameters of other control units 11 in real time through the communication bus network; the topological structure types of the communication bus network include but are not limited to bus type, ring type, star type, daisy chain type, mesh type, etc.

[0051] In the control module 10, different control units 11 are located in different areas to prevent a control unit 11 in an abnormal state (such as overheating) from affecting other control units 11, further improving the independence of different control units 11 in motor driving. For example, the control module 10 includes two control units 11, one control unit 11 is arranged in an area near the first motor 20, and the other control unit 11 is arranged in an area near the second motor 30. In the event of an overheating failure of one control unit 11, the temperature of the other control unit 11 is not affected.

[0052] In the embodiment of the present application, the first inverter circuit 111 is controlled by the first controller 113 to drive the first winding 21 corresponding to the control unit 11, and the second inverter circuit 112 is controlled by the second controller 114 to drive the second winding 31 corresponding to the control unit 11, so that the control unit 11 drives the first winding 21 and the second winding 31 corresponding to the control unit 11, and the driving of the first winding 21 and the driving of the second winding 31 corresponding to the control unit 11 are independent of each other and do not affect each other, that is, in the event of a failure of the first controller 113 or the first inverter circuit 111, the driving of the second winding 31 by the second controller 114 and the second inverter circuit 112 is not affected, and in the event of a failure of the second controller 114 or the second inverter circuit 112, the driving of the first winding 21 by the first controller 113 and the first inverter circuit 111 is not affected.

[0053] Optionally, in some embodiments, the first winding 21 includes multiple first pole phase groups, the first inverter circuit 111 includes multiple first bridge arms, and the first bridge arm in the first inverter circuit 111 corresponds to the first pole phase group in the first winding 21 electrically connected to the first inverter circuit 111; each of the first bridge arms includes a first switch and a second switch; in the first bridge arm, the first end of the first switch is used to be electrically connected to the positive pole of the external power supply 40, the second end of the first switch is electrically connected to the first end of the second switch, and the second end of the first switch is used to be electrically connected to the first end of the first pole phase group corresponding to the first bridge arm; the first end of the second switch is used to be electrically connected to the first end of the first pole phase group corresponding to the first bridge arm, and the second end of the second switch is used to be electrically connected to the negative pole of the external power supply 40; in the control unit 11, the first controller 113 is electrically connected to the control end of each first switch and the control end of each second switch, respectively; the second end of each first pole phase group is electrically connected to the neutral point of the first motor 20.

[0054] For example, refer to Figure 5, the first winding 21 includes a first pole phase group A1, a first pole phase group A3, and a first pole phase group A5, the first inverter circuit 111 includes a first bridge arm 111a, a first bridge arm 111b, and a first bridge arm 111c, the first bridge arm 111a includes a first switch Q1a and a second switch Q2a, the first bridge arm 111b includes a first switch Q1b and a second switch Q2b, the first bridge arm 111c includes a first switch Q1c and a second switch Q2c, the first bridge arm 111a in the first inverter circuit 111 corresponds to the first pole phase group A5 in the first winding 21 electrically connected to the first inverter circuit 111; the first bridge arm 111b in the first inverter circuit 111 corresponds to the first pole phase group A3 in the first winding 21 electrically connected to the first inverter circuit 111; the first bridge arm 111c in the first inverter circuit 111 corresponds to the first pole phase group A1 in the first winding 21 electrically connected to the first inverter circuit 111;

[0055] In the first bridge arm 111a, the first end of the first switch Q1a is used to be electrically connected to the positive electrode of the external power source 40, the second end of the first switch Q1a is electrically connected to the first end of the second switch Q2a, and the second end of the first switch Q1a is used to be electrically connected to the first end of the first pole phase group A5 corresponding to the first bridge arm 111a;

[0056] The first end of the second switch Q2a is used to be electrically connected to the first end of the first pole phase group A5 corresponding to the first bridge arm 111a, and the second end of the second switch Q2a is used to be electrically connected to the negative pole of the external power source 40;

[0057] In the first bridge arm 111b, the first end of the first switch Q1b is used to be electrically connected to the positive electrode of the external power source 40, the second end of the first switch Q1b is electrically connected to the first end of the second switch Q2b, and the second end of the first switch Q1b is used to be electrically connected to the first end of the first pole phase group A3 corresponding to the first bridge arm 111b;

[0058] The first end of the second switch Q2b is used to be electrically connected to the first end of the first pole phase group A3 corresponding to the first bridge arm 111b, and the second end of the second switch Q2b is used to be electrically connected to the negative pole of the external power source 40;

[0059] In the first bridge arm 111c, the first end of the first switch Q1c is used to be electrically connected to the positive electrode of the external power source 40, the second end of the first switch Q1c is electrically connected to the first end of the second switch Q2c, and the second end of the first switch Q1c is used to be electrically connected to the first end of the first pole phase group A1 corresponding to the first bridge arm 111c;

[0060] The first end of the second switch Q2c is used to be electrically connected to the first end of the first pole phase group A1 corresponding to the first bridge arm 111c, and the second end of the second switch Q2c is used to be electrically connected to the negative pole of the external power source 40;

[0061] The first controller 113 is electrically connected to the control end of the first switch Q1a, the control end of the second switch Q2a, the control end of the first switch Q1b, the control end of the second switch Q2b, the control end of the first switch Q1c, and the control end of the second switch Q2c respectively;

[0062] The second end of the first pole phase group A1 , the second end of the first pole phase group A3 , and the second end of the first pole phase group A5 are all electrically connected to the neutral point of the first motor 20 .

[0063] In the embodiment of the present application, the first controller 113 in the control unit 11 controls the first switch and the second switch in each first bridge arm, so that the first controller 113 controls the first inverter circuit 111 and drives the first winding 21 corresponding to the control unit 11 .

[0064] Optionally, in some embodiments, the first winding 21 includes n first pole phase groups, the first end of the i-th first pole phase group is electrically connected to the second end of the i+1-th first pole phase group, the second end of the first first pole phase group is electrically connected to the first end of the n-th first pole phase group, n is a positive integer, and i is a positive integer less than n; the first inverter circuit 111 includes a plurality of first bridge arms, each of the first bridge arms has a corresponding first connection point, and the first connection point is an electrical connection point of two first pole phase groups in the first winding 21 to which the first inverter circuit 111 is electrically connected; each of the first bridge arms includes a first switch and a second switch; in the first bridge arm, the first end of the first switch is used to be electrically connected to the positive pole of the external power supply 40, the second end of the first switch is electrically connected to the first end of the second switch, and the second end of the first switch is used to be electrically connected to the first connection point corresponding to the first bridge arm; the first end of the second switch is used to be electrically connected to the first connection point corresponding to the first bridge arm, and the second end of the second switch is used to be electrically connected to the negative pole of the external power supply 40; in the control unit 11, the first controller 113 is respectively electrically connected to the control end of each of the first switches and the control end of each of the second switches.

[0065] For example, refer to Figure 6 , each control unit 11 includes a first inverter circuit 111, a second inverter circuit 112, a first controller 113 and a second controller 114; in the control unit 11, the first inverter circuit 111 is used to be electrically connected to the external power supply 40 and the first winding 21 corresponding to the control unit 11 respectively; the second inverter circuit 112 is used to be electrically connected to the external power supply 40 and the second winding 31 corresponding to the control unit 11 respectively; the first controller 113 is electrically connected to the first inverter circuit 111; the second controller 114 is electrically connected to the second inverter circuit 112;

[0066] Reference Figure 7, the first winding 21 includes a first pole phase group C1, a first pole phase group C3, and a first pole phase group C5, the first inverter circuit 111 includes a first bridge arm 111a, a first bridge arm 111b, and a first bridge arm 111c, the first bridge arm 111a includes a first switch Q1a and a second switch Q2a, the first bridge arm 111b includes a first switch Q1b and a second switch Q2b, and the first bridge arm 111c includes a first switch Q1c and a second switch Q2c;

[0067] The first end of the first pole phase group C1 is electrically connected to the second end of the first pole phase group C3, the first end of the first pole phase group C3 is electrically connected to the second end of the first pole phase group C5, and the first end of the first pole phase group C5 is electrically connected to the second end of the first pole phase group C1;

[0068] The first bridge arm 111a corresponds to the first connection point x2, which is the electrical connection point between the first pole phase group C5 and the first pole phase group C1 in the first winding 21 electrically connected to the first inverter circuit 111; the first bridge arm 111b corresponds to the first connection point x3, which is the electrical connection point between the first pole phase group C5 and the first pole phase group C3 in the first winding 21 electrically connected to the first inverter circuit 111; the first bridge arm 111c corresponds to the first connection point x1, which is the electrical connection point between the first pole phase group C3 and the first pole phase group C1 in the first winding 21 electrically connected to the first inverter circuit 111;

[0069] In the first bridge arm 111a, the first end of the first switch Q1a is used to be electrically connected to the positive electrode of the external power source 40, the second end of the first switch Q1a is electrically connected to the first end of the second switch Q2a, and the second end of the first switch Q1a is used to be electrically connected to the first connection point x2 corresponding to the first bridge arm 111a;

[0070] A first end of the second switch Q2a is used to be electrically connected to a first connection point x2 corresponding to the first bridge arm 111a, and a second end of the second switch Q2a is used to be electrically connected to a negative electrode of an external power source 40;

[0071] In the first bridge arm 111b, the first end of the first switch Q1b is used to be electrically connected to the positive electrode of the external power source 40, the second end of the first switch Q1b is electrically connected to the first end of the second switch Q2b, and the second end of the first switch Q1b is used to be electrically connected to the first connection point x3 corresponding to the first bridge arm 111b;

[0072] A first end of the second switch Q2b is used to be electrically connected to a first connection point x3 corresponding to the first bridge arm 111b, and a second end of the second switch Q2b is used to be electrically connected to a negative electrode of an external power source 40;

[0073] In the first bridge arm 111c, the first end of the first switch Q1c is used to be electrically connected to the positive electrode of the external power source 40, the second end of the first switch Q1c is electrically connected to the first end of the second switch Q2c, and the second end of the first switch Q1c is used to be electrically connected to the first connection point x1 corresponding to the first bridge arm 111c;

[0074] A first end of the second switch Q2c is used to be electrically connected to a first connection point x1 corresponding to the first bridge arm 111c, and a second end of the second switch Q2c is used to be electrically connected to a negative electrode of an external power source 40;

[0075] The first controller 113 is electrically connected to the control ends of the first switch Q1a, the second switch Q2a, the first switch Q1b, the second switch Q2b, the first switch Q1c, and the second switch Q2c, respectively.

[0076] In the embodiment of the present application, the first controller 113 in the control unit 11 controls the first switch and the second switch in each first bridge arm, so that the first controller 113 controls the first inverter circuit 111 and drives the first winding 21 corresponding to the control unit 11 .

[0077] Optionally, in some embodiments, the second winding 31 includes multiple second pole phase groups, the second inverter circuit 112 includes multiple second bridge arms, and the second bridge arm in the second inverter circuit 112 corresponds to the second pole phase group in the second winding 31 electrically connected to the second inverter circuit 112; each second bridge arm includes a third switch and a fourth switch; in the second bridge arm, the first end of the third switch is used to be electrically connected to the positive pole of the external power supply 40, the second end of the third switch is electrically connected to the first end of the fourth switch, and the second end of the third switch is used to be electrically connected to the first end of the second pole phase group corresponding to the second bridge arm; the first end of the fourth switch is used to be electrically connected to the first end of the second pole phase group corresponding to the second bridge arm, and the second end of the fourth switch is used to be electrically connected to the negative pole of the external power supply 40; in the control unit 11, the second controller 114 is electrically connected to the control end of each of the third switches and the control end of each of the fourth switches, respectively; the second end of each of the second pole phase groups is electrically connected to the neutral point of the second motor 30.

[0078] For example, refer to Figure 5, the second winding 31 includes a second pole phase group B1, a second pole phase group B3, and a second pole phase group B5, the second inverter circuit 112 includes a second bridge arm 112a, a second bridge arm 112b, and a second bridge arm 112c, the second bridge arm 112a includes a third switch Q3a and a fourth switch Q4a, the second bridge arm 112b includes a third switch Q3b and a fourth switch Q4b, the second bridge arm 112c includes a third switch Q3c and a fourth switch Q4c, the second bridge arm 112a in the second inverter circuit 112 corresponds to the second pole phase group B5 in the second winding 31 electrically connected to the second inverter circuit 112; the second bridge arm 112b in the second inverter circuit 112 corresponds to the second pole phase group B3 in the second winding 31 electrically connected to the second inverter circuit 112; the second bridge arm 112c in the second inverter circuit 112 corresponds to the second pole phase group B1 in the second winding 31 electrically connected to the second inverter circuit 112;

[0079] In the second bridge arm 112a, the second end of the third switch Q3a is used to be electrically connected to the positive electrode of the external power source 40, the second end of the third switch Q3a is electrically connected to the second end of the fourth switch Q4a, and the second end of the third switch Q3a is used to be electrically connected to the second end of the second pole phase group B5 corresponding to the second bridge arm 112a;

[0080] The second end of the fourth switch Q4a is used to be electrically connected to the second end of the second pole phase group B5 corresponding to the second bridge arm 112a, and the second end of the fourth switch Q4a is used to be electrically connected to the negative pole of the external power source 40;

[0081] In the second bridge arm 112b, the second end of the third switch Q3b is used to be electrically connected to the positive electrode of the external power source 40, the second end of the third switch Q3b is electrically connected to the second end of the fourth switch Q4b, and the second end of the third switch Q3b is used to be electrically connected to the second end of the second pole phase group B3 corresponding to the second bridge arm 112b;

[0082] The second end of the fourth switch Q4b is used to be electrically connected to the second end of the second pole phase group B3 corresponding to the second bridge arm 112b, and the second end of the fourth switch Q4b is used to be electrically connected to the negative pole of the external power source 40;

[0083] In the second bridge arm 112c, the second end of the third switch Q3c is used to be electrically connected to the positive electrode of the external power source 40, the second end of the third switch Q3c is electrically connected to the second end of the fourth switch Q4c, and the second end of the third switch Q3c is used to be electrically connected to the second end of the second pole phase group B1 corresponding to the second bridge arm 112c;

[0084] The second end of the fourth switch Q4c is used to be electrically connected to the second end of the second pole phase group B1 corresponding to the second bridge arm 112c, and the second end of the fourth switch Q4c is used to be electrically connected to the negative pole of the external power source 40;

[0085] The second controller 114 is electrically connected to the control end of the third switch Q3a, the control end of the fourth switch Q4a, the control end of the third switch Q3b, the control end of the fourth switch Q4b, the control end of the third switch Q3c, and the control end of the fourth switch Q4c respectively;

[0086] The second end of the second pole phase group B1 , the second end of the second pole phase group B3 , and the second end of the second pole phase group B5 are all electrically connected to the neutral point of the second motor 30 .

[0087] In the embodiment of the present application, the third switch and the fourth switch in each second bridge arm are controlled by the second controller 114 in the control unit 11, so that the second controller 114 controls the second inverter circuit 112 and drives the second winding 31 corresponding to the control unit 11.

[0088] Optionally, in some embodiments, the second winding 31 includes m second pole phase groups, the first end of the jth second pole phase group is electrically connected to the second end of the j+1th second pole phase group, the second end of the first second pole phase group is electrically connected to the first end of the mth second pole phase group, m is a positive integer, and j is a positive integer less than m; the second inverter circuit 112 includes a plurality of second bridge arms, each of the second bridge arms has a corresponding second connection point, and the second connection point is an electrical connection point of two second pole phase groups in the second winding 31 to which the second inverter circuit 112 is electrically connected; each of the second bridge arms includes a third switch and a fourth switch; in the second bridge arm, the first end of the third switch is used to be electrically connected to the positive pole of the external power supply 40, the second end of the third switch is electrically connected to the first end of the fourth switch, and the second end of the third switch is used to be electrically connected to the second connection point corresponding to the second bridge arm; the first end of the fourth switch is used to be electrically connected to the second connection point corresponding to the second bridge arm, and the second end of the fourth switch is used to be electrically connected to the negative pole of the external power supply 40; in the control unit 11, the second controller 114 is respectively electrically connected to the control end of each of the third switches and the control end of each of the fourth switches.

[0089] For example, refer to Figure 7 , the second winding 31 includes a second pole phase group D1, a second pole phase group D3, and a second pole phase group D5, the second inverter circuit 112 includes a second bridge arm 112a, a second bridge arm 112b, and a second bridge arm 112c, the second bridge arm 112a includes a third switch Q3a and a fourth switch Q4a, the second bridge arm 112b includes a third switch Q3b and a fourth switch Q4b, and the second bridge arm 112c includes a third switch Q3c and a fourth switch Q4c;

[0090] The second end of the second pole phase group D1 is electrically connected to the second end of the second pole phase group D3, the second end of the second pole phase group D3 is electrically connected to the second end of the second pole phase group D5, and the second end of the second pole phase group D5 is electrically connected to the second end of the second pole phase group D1;

[0091] The second bridge arm 112a corresponds to the second connection point y2, which is the electrical connection point between the second pole phase group D5 and the second pole phase group D1 in the second winding 31 electrically connected to the second inverter circuit 112; the second bridge arm 112b corresponds to the second connection point y3, which is the electrical connection point between the second pole phase group D5 and the second pole phase group D3 in the second winding 31 electrically connected to the second inverter circuit 112; the second bridge arm 112c corresponds to the second connection point y1, which is the electrical connection point between the second pole phase group D3 and the second pole phase group D1 in the second winding 31 electrically connected to the second inverter circuit 112;

[0092] In the second bridge arm 112a, the second end of the third switch Q3a is used to be electrically connected to the positive electrode of the external power source 40, the second end of the third switch Q3a is electrically connected to the second end of the fourth switch Q4a, and the second end of the third switch Q3a is used to be electrically connected to the second connection point y2 corresponding to the second bridge arm 112a;

[0093] The second end of the fourth switch Q4a is used to be electrically connected to the second connection point y2 corresponding to the second bridge arm 112a, and the second end of the fourth switch Q4a is used to be electrically connected to the negative electrode of the external power source 40;

[0094] In the second bridge arm 112b, the second end of the third switch Q3b is used to be electrically connected to the positive electrode of the external power source 40, the second end of the third switch Q3b is electrically connected to the second end of the fourth switch Q4b, and the second end of the third switch Q3b is used to be electrically connected to the second connection point y3 corresponding to the second bridge arm 112b;

[0095] The second end of the fourth switch Q4b is used to be electrically connected to the second connection point y3 corresponding to the second bridge arm 112b, and the second end of the fourth switch Q4b is used to be electrically connected to the negative electrode of the external power source 40;

[0096] In the second bridge arm 112c, the second end of the third switch Q3c is used to be electrically connected to the positive electrode of the external power source 40, the second end of the third switch Q3c is electrically connected to the second end of the fourth switch Q4c, and the second end of the third switch Q3c is used to be electrically connected to the second connection point y1 corresponding to the second bridge arm 112c;

[0097] The second end of the fourth switch Q4c is used to be electrically connected to the second connection point y1 corresponding to the second bridge arm 112c, and the second end of the fourth switch Q4c is used to be electrically connected to the negative electrode of the external power source 40;

[0098] The second controller 114 is electrically connected to control ends of the third switch Q3a, the fourth switch Q4a, the third switch Q3b, the fourth switch Q4b, the third switch Q3c, and the fourth switch Q4c, respectively.

[0099] In the embodiment of the present application, the third switch and the fourth switch in each second bridge arm are controlled by the second controller 114 in the control unit 11, so that the second controller 114 controls the second inverter circuit 112 and drives the second winding 31 corresponding to the control unit 11.

[0100] Optionally, in some embodiments, the first winding 21 includes multiple first pole phase groups, and the phase difference between any two adjacent first pole phase groups is equal; the second winding 31 includes multiple second pole phase groups, and the phase difference between any two adjacent second pole phase groups is equal.

[0101] In the embodiment of the present application, since the phase difference between any two adjacent first pole phase groups in the first winding 21 is equal, each first winding 21 can realize the function of a motor, and since the phase difference between any two adjacent second pole phase groups in the second winding 31 is equal, each second winding 31 can realize the function of a motor, and the first motor 20 includes multiple first windings 21, and the second motor 30 includes multiple second windings 31. The control unit 11 can drive the first winding 21 and the second winding 31 corresponding to the control unit 11, so that when there is an abnormal control unit 11 in the control module 10, the first motor 20 and the second motor 30 corresponding to the control module 10 can be driven by other control units 11 other than the abnormal control unit 11 in the control module 10.

[0102] To summarize, in the embodiment of the present application, since the first motor 20 includes multiple first windings 21, the second motor 30 includes multiple second windings 31, and the control module 10 includes multiple control units 11, the control unit 11 in the control module 10 corresponds to the first winding 21 in the first motor 20 corresponding to the control module 10, and the control unit 11 in the control module 10 corresponds to the second winding 31 in the second motor 30 corresponding to the control module 10, and the first winding 21 and the second winding 31 corresponding to the control unit 11 are driven by the control unit 11, so that when there is an abnormal control unit 11 in the control module 10, the first motor 20 and the second motor 30 corresponding to the control module 10 can be driven by other control units 11 other than the abnormal control unit 11 in the control module 10. Compared with the prior art in which one control unit drives the motor corresponding to the control unit, which causes a motor drive failure corresponding to the control unit when the control unit fails, the risk of a single motor drive failure can be reduced, thereby reducing the risk of failure of driving multiple motors together.

[0103] Fig. 9 is a flow chart of steps of a motor control method provided in an embodiment of the present application, the motor control method is applied to the motor control system as described above, such as Fig. 9 As shown, the method may include:

[0104] Step 101 : driving the first motor 20 and the second motor 30 corresponding to the control module 10 together through each of the control units 11 in the control module 10 .

[0105] In the embodiment of the present application, each control unit 11 in the control module 10 jointly drives the first motor 20 and the second motor 30 corresponding to the control module 10 to achieve redundant control of the first motor 20 and the second motor 30 .

[0106] Optionally, in some embodiments, step 101 may include the following sub-steps:

[0107] Sub-step 1011 : driving the first winding 21 and the second winding 31 corresponding to the control unit 11 through the control unit 11 .

[0108] In the embodiment of the present application, the control unit 11 is used to drive the first winding 21 and the second winding 31 corresponding to the control unit 11, so that each control unit 11 in the control module 10 can independently control the first motor 20 and the second motor 30 corresponding to the control module 10.

[0109] Step 102 : When there is an abnormal control unit 11 in the control module 10 , the first motor 20 and the second motor 30 corresponding to the control module 10 are driven by other control units 11 other than the abnormal control unit 11 in the control module 10 .

[0110] In an embodiment of the present application, when there is an abnormal control unit 11 in the control module 10, the risk of motor driving failure can be reduced by driving the first motor 20 and the second motor 30 corresponding to the control module 10 through other control units 11 other than the abnormal control unit 11 in the control module 10.

[0111] Optionally, in some embodiments, driving the first motor 20 and the second motor 30 corresponding to the control module 10 by other control units 11 other than the abnormal control unit 11 in the control module 10 may include the following sub-steps:

[0112] Sub-step 1021 : driving the first winding 21 and the second winding 31 corresponding to the other control unit 11 through the other control unit 11 .

[0113] In an embodiment of the present application, by driving the first winding 21 and the second winding 31 corresponding to the other control unit 11 through other control units 11, it is possible to drive the first motor 20 and the second motor 30 corresponding to the control module 10 through other control units 11 when there is an abnormal control unit 11 in the control module 10.

[0114] It should be noted that, in some embodiments, the first motor 20 in the motor group is a six-phase motor, the first motor 20 includes two first windings 21, and the first winding 21 in the first motor 20 includes three first pole-phase groups; the second motor 30 in the motor group is a six-phase motor, the second motor 30 includes two second windings 31, and the second winding 31 in the second motor 30 includes three second pole-phase groups, wherein the control module 10 corresponding to the first motor 20 and the second motor 30 includes two control units 11;

[0115] The six-phase motor can be a 10-pole 12-slot or 12-pole 24-slot or other six-phase motor feasible slot-pole structure. The six-phase motor includes two three-phase windings, each three-phase winding includes 3 pole-phase groups, and the two three-phase windings of the six-phase motor can be operated as a full six-phase drive. When this full six-phase drive mode is adopted, the harmonic component of the six-phase motor is small and the torque is more stable; the six-phase motor can also drive only one three-phase winding and operate as a three-phase motor drive. Compared with the full six-phase drive mode, the drive mode of operating as a three-phase motor drive has a large harmonic component, poor rotation noise and stability; in addition, in the process of the six-phase motor adopting the full six-phase drive operation, when a single phase or three phases are missing, the six-phase motor rotation can be maintained by isolating the faulty phase and adjusting the control strategy.

[0116] For example, refer to Figure 2 , each first winding 21 of the first motor 20 is connected in a star connection. In the first motor 20, when a first pole phase group A1 of a first winding 21 is disconnected or has a phase-loss fault, the control unit 11 corresponding to the first winding 21 with the disconnected or phase-loss fault reports the fault state to the communication bus network, and other control units 11 receive the fault information;

[0117] In some embodiments, the first motor 20 is adjusted to five-phase operation, that is, the control unit 11 corresponding to the first winding 21 with a circuit break or phase loss fault turns off the phase voltage output of the first pole phase group A1, so that the voltage and current of the first pole phase group A1 are both 0, and the voltage phase and amplitude of the first pole phase group A3 and the first pole phase group A5 are adjusted to maintain the power of the first winding 21 with a circuit break or phase loss fault. At the same time, another control unit 11 adjusts the phase and amplitude of the first pole phase group A2, the first pole phase group A4, and the first pole phase group A6, and cooperates with the control unit 11 corresponding to the first winding 21 with a circuit break or phase loss fault to jointly enable the first motor 20 to maintain the output torque and speed in a five-phase operation environment;

[0118] In other embodiments, the first motor 20 is adjusted to three-phase operation, and the control unit 11 corresponding to the first winding 21 with a circuit break or phase loss fault shuts down the three-phase voltage output of the first pole phase group A1, the first pole phase group A3, and the first pole phase group A5, so that the phase voltages of the first pole phase group A1, the first pole phase group A3, and the first pole phase group A5 are all 0. At the same time, another control unit 11 adjusts the phase and amplitude of the first pole phase group A2, the first pole phase group A4, and the first pole phase group A6 to drive the first motor 20 to operate and enable the first motor 20 to maintain output torque and speed in a three-phase operation environment.

[0119] For example, refer to Figure 2 , each first winding 21 of the first motor 20 is connected in a star connection. In the first motor 20, when the first pole phase group A1 of one first winding 21 and the first pole phase group A2 of another first winding 21 are both short-circuit faults, a control unit 11 corresponding to the first winding 21 with the short-circuit fault and another control unit 11 corresponding to the other first winding 21 with the short-circuit fault report the fault status to the communication bus network, and the other control units 11 receive the fault information, and then adjust the first motor 20 to four-phase operation, one control unit 11 turns off the phase voltage output of the first pole phase group A1, so that the voltage and current of the first pole phase group A1 are both 0, and adjusts the voltage and amplitude of the first pole phase group A3 and the first pole phase group A5, and at the same time, the other control unit 11 turns off the phase voltage output of the first pole phase group A2, so that the voltage and current of the first pole phase group A2 are both 0, and adjusts the voltage and amplitude of the first pole phase group A4 and the first pole phase group A6, and the two control units 11 cooperate to enable the first motor 20 to maintain the output torque and speed in the four-phase operation environment.

[0120] For example, refer to Figure 3 , the first winding 21 of the first motor 20 is connected in a triangle. In the first motor 20, when a first pole-phase group C1 of a first winding 21 is open-circuited, lacks a phase or is short-circuited, the control unit 11 corresponding to the first winding 21 with the open-circuit, lacks a phase or is short-circuited fault reports the fault state to the communication bus network, and other control units 11 receive the fault information; then the first motor 20 is adjusted to three-phase operation, and the control unit 11 corresponding to the first winding 21 with the open-circuit, lacks a phase or is short-circuited fault turns off the three-phase voltage output of the first pole-phase group C1, the first pole-phase group C3, and the first pole-phase group C5, so that the phase voltages of the first pole-phase group C1, the first pole-phase group C3, and the first pole-phase group C5 are all 0, and at the same time, another control unit 11 adjusts the phase and amplitude of the first pole-phase group C2, the first pole-phase group C4, and the first pole-phase group C6 to drive the first motor 20 to operate, and enable the first motor 20 to maintain the output torque and speed in a three-phase operation environment.

[0121] For example, refer to Figure 5 , when the first controller 113 of a control unit 11 fails, resulting in a phase failure in the first pole phase group A1, the first pole phase group A3, and the first pole phase group A5 of the first motor 20, the control unit 11 with the first controller 113 failure reports the fault status to the communication bus network, and other control units 11 receive the fault information: refer to Figure 2 , adjust the first motor 20 to three-phase operation, the control unit 11 of the first controller 113 that fails turns off the three-phase voltage output of the first pole phase group A1, the first pole phase group A3, and the first pole phase group A5, so that the phase voltages of the first pole phase group A1, the first pole phase group A3, and the first pole phase group A5 are all 0, and at the same time, another control unit 11 adjusts the phase and amplitude of the first pole phase group A2, the first pole phase group A4, and the first pole phase group A6 to drive the first motor 20 to operate, and enable the first motor 20 to maintain the output torque and speed in a three-phase operation environment.

[0122] For example, refer to Figure 2 In the case of an overall failure of a control unit 11, the first motor 20 and the second motor 30 corresponding to the overall failed control unit 11 will have a phase failure, and the overall failed control unit 11 will report a communication bus network system failure or the communication bus network will detect that the communication signal of the overall failed control unit 11 is missing, and then the first motor 20 and the second motor 30 corresponding to the overall failed control unit 11 will be adjusted to three-phase operation, and the overall failed control unit 11 will turn off the voltage output of the first pole phase group A1, the first pole phase group A3, the first pole phase group A5, the second pole phase group B1, the second pole phase group B3, and the second pole phase group B5, and the six-phase voltages are all 0. At the same time, another control unit 11 adjusts the phase and amplitude of the first pole phase group A2, the first pole phase group A4, the first pole phase group A6, the second pole phase group B2, the second pole phase group B4, and the second pole phase group B6 to drive the first motor 20 and the second motor 30 to operate in the three-phase drive mode respectively, so that the first motor 20 and the second motor 30 maintain the output torque and speed.

[0123] Therefore, for various fault types including motor phase loss, phase short circuit, controller failure, etc., the motor operating mode can be adjusted to maintain the motor operating torque and speed, and the fault-tolerant operation performance of the motor and control unit 11 is guaranteed by motor winding redundancy and cross-drive of the control unit 11.

[0124] In summary, this architecture solution uses a six-phase motor to decouple the two sets of three-phase winding drive hardware of a single motor, and combines it with a cross-redundant control architecture to improve the system fault tolerance from multiple dimensions. In the face of various system failures, the system can perform fault isolation and system stability control by switching the corresponding control strategy.

[0125] In the embodiment of the present application, since the first motor 20 includes multiple first windings 21, the second motor 30 includes multiple second windings 31, and the control module 10 includes multiple control units 11, the control unit 11 in the control module 10 corresponds to the first winding 21 in the first motor 20 corresponding to the control module 10, and the control unit 11 in the control module 10 corresponds to the second winding 31 in the second motor 30 corresponding to the control module 10, and the first winding 21 and the second winding 31 corresponding to the control unit 11 are driven by the control unit 11, so that when there is an abnormal control unit 11 in the control module 10, the first motor 20 and the second motor 30 corresponding to the control module 10 can be driven by other control units 11 other than the abnormal control unit 11 in the control module 10. Compared with the prior art in which one control unit drives the motor corresponding to the control unit, which causes a motor drive failure corresponding to the control unit when the control unit fails, the risk of a single motor drive failure can be reduced, thereby reducing the risk of failure of driving multiple motors together.

[0126] An embodiment of the present application also provides an aircraft, comprising a motor control system as described above.

[0127] The specific implementation process of the motor control system in the aircraft is similar to the implementation process of the aforementioned motor control system, and will not be repeated here.

[0128] Specifically, in some embodiments, the aircraft is a multi-rotor power structure, that is, the aircraft includes multiple rotors; the aircraft also includes a motor group, the motor group of the aircraft includes multiple first motors 20 and multiple second motors 30, the first motors 20 and the second motors 30 are six-phase motors, each first motor 20 has a corresponding rotor, and each second motor 30 has a corresponding rotor; the first motor 20 includes multiple first windings 21, the second motor 30 includes multiple second windings 31, the first windings 21 and the second windings 31 are three-phase windings; the motor control system of the aircraft includes multiple control modules 10, each control module 10 has a corresponding The control module 10 includes a plurality of control units 11, the control unit 11 in the control module 10 corresponds to the first winding 21 in the first motor 20 corresponding to the control module 10, and the control unit 11 in the control module 10 corresponds to the second winding 31 in the second motor 30 corresponding to the control module 10; the control unit 11 is electrically connected to an external power supply 40, and the control unit 11 is also electrically connected to the first winding 21 and the second winding 31 corresponding to the control unit 11, respectively; the first motor 20 is electrically connected to the rotor corresponding to the first motor 20, and the second motor 30 is electrically connected to the rotor corresponding to the second motor 30.

[0129] For example, the aircraft has a 4-rotor power structure, that is, the aircraft includes 4 rotors; the aircraft also includes a motor group, the motor group of the aircraft includes 2 first motors 20 and 2 second motors 30, the first motors 20 and the second motors 30 are six-phase motors, each first motor 20 has a corresponding rotor, and each second motor 30 has a corresponding rotor; the first motor 20 includes 2 first windings 21, the second motor 30 includes 2 second windings 31, the first winding 21 and the second winding 31 are three-phase windings; the motor control system of the aircraft includes 2 control modules 10, each control module 10 has a corresponding first Motor 20 and a second motor 30; each control module 10 includes two control units 11, the control unit 11 in the control module 10 corresponds to the first winding 21 in the first motor 20 corresponding to the control module 10, and the control unit 11 in the control module 10 corresponds to the second winding 31 in the second motor 30 corresponding to the control module 10; the control unit 11 is electrically connected to an external power supply 40, and the control unit 11 is also electrically connected to the first winding 21 and the second winding 31 corresponding to the control unit 11 respectively; the first motor 20 is electrically connected to the rotor corresponding to the first motor 20, and the second motor 30 is electrically connected to the rotor corresponding to the second motor 30.

[0130] By using a six-phase motor combined with a control unit 11 of a dual three-phase full-bridge circuit and a cross-drive architecture of the control unit 11, the fault tolerance rate and fault-tolerant operation performance of the aircraft power system are improved. Compared with the redundant multiple three-phase motors of the aircraft in the related art, the six-phase motor has the electrical advantage of lack-phase operation, which reduces the number and weight of motors and structural parts. The control unit 11 of the dual three-phase full-bridge circuit integrates two controllers into one control unit 11, which reduces the hardware cost and weight while improving the system integration and stability. The designed four control units 11 cross-three-phase control architecture decouples the two sets of three-phase drives of the six-phase motor from the hardware, which can avoid the motor stall failure caused by the failure of a single controller. At the same time, the cross-three-phase control architecture of the four control units 11 also has a higher safety advantage in the hardware structure. When a single control unit 11 fails, the motor can be driven by other control units 11 to ensure the stability of the motor operation.

[0131] The control unit 11 drives the first winding 21 and the second winding 31 corresponding to the control unit 11, so that each control unit 11 in the control module 10 can independently control the first motor 20 and the second motor 30 corresponding to the control module 10. When there is an abnormal control unit 11 in the control module 10, the first motor 20 and the second motor 30 corresponding to the control module 10 are driven by other control units 11 other than the abnormal control unit 11 in the control module 10, thereby reducing the risk of a single motor drive failure, thereby reducing the risk of a crash caused by a single rotor failure.

[0132] Optionally, in some embodiments, in the control module 10, different control units 11 are arranged in different areas on the aircraft. Compared with arranging each control unit 11 in the same area of ​​the aircraft and placing different control units 11 adjacent to each other, which results in a control unit 11 with an abnormal state (such as overheating) affecting other control units 11, it is possible to avoid the control unit 11 with an abnormal state affecting other control units 11, thereby further improving the independence of different control units 11 in driving the motor.

[0133] For example, the control module 10 includes two control units 11, one control unit 11 is arranged in the vicinity of the first motor 20, and the other control unit 11 is arranged in the vicinity of the second motor 30. In the event of an overheating failure of one control unit 11, the temperature of the other control unit 11 is not affected.

[0134] In the related technology, the motor of the aircraft is a three-phase permanent magnet synchronous motor. Any motor winding failure may cause the power system to fail. Common winding failures include winding short circuit, phase loss, ground fault, turn-to-turn short circuit, and phase-to-phase short circuit. Winding failure may cause the motor to stop or burn out. When one of the aircraft's motors fails, the rotor driven by the faulty motor may fail, causing changes in the aircraft's power distribution and power balance. The unbalanced power may cause the aircraft to oscillate, and in severe cases, may lead to a crash.

[0135] In the embodiment of the present application, the aircraft further includes a motor group, the motor group of the aircraft includes a plurality of first motors 20 and a plurality of second motors 30, the motor control system of the aircraft includes a plurality of control modules 10, each control module 10 has a corresponding first motor 20 and a second motor 30, the first motor 20 includes a plurality of first windings 21, the second motor 30 includes a plurality of second windings 31, each first winding 21 can realize the function of a motor, each second winding 31 can realize the function of a motor, each control module 10 includes a plurality of control units 11, and the control unit 11 drives the first winding 21 and the second winding 31 corresponding to the control unit 11, Thereby, each control unit 11 in the control module 10 can independently control the first motor 20 and the second motor 30 corresponding to the control module 10. When a first winding 21 in the first motor 20 fails, the control unit 11 corresponding to the failed first winding 21 in the control module 10 controls the failed first winding 21 to stop working, and other control units 11 other than the control unit 11 corresponding to the failed first winding 21 in the control module 10 drive the first motor 20 and the second motor 30 corresponding to the control module 10, thereby reducing the risk of a single motor failure, and further reducing the risk of a crash caused by a rotor failure driven by a single motor.

[0136] In the related art, a redundant rotor system and motor group are added on the basis of the original rotor system and motor group of the aircraft, so that when a motor failure causes a rotor failure, the redundant rotors can be driven by redundant motors, thereby reducing the risk of crashing due to the failure of a rotor driven by a single motor. However, the redundant rotor system and motor group increase the weight of the entire aircraft and increase the cost.

[0137] However, in the embodiment of the present application, there is no need to add redundant rotor systems and motor groups, so as to avoid redundant rotor systems and motor groups leading to increased weight and cost of the entire machine.

[0138] To summarize, in the embodiment of the present application, since the first motor 20 includes multiple first windings 21, the second motor 30 includes multiple second windings 31, and the control module 10 includes multiple control units 11, the control unit 11 in the control module 10 corresponds to the first winding 21 in the first motor 20 corresponding to the control module 10, and the control unit 11 in the control module 10 corresponds to the second winding 31 in the second motor 30 corresponding to the control module 10, and the first winding 21 and the second winding 31 corresponding to the control unit 11 are driven by the control unit 11, so that when there is an abnormal control unit 11 in the control module 10, the first motor 20 and the second motor 30 corresponding to the control module 10 can be driven by other control units 11 other than the abnormal control unit 11 in the control module 10. Compared with the prior art in which one control unit drives the motor corresponding to the control unit, which causes a motor drive failure corresponding to the control unit when the control unit fails, the risk of a single motor drive failure can be reduced, thereby reducing the risk of failure of driving multiple motors together.

[0139] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0140] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A motor control system, characterized in that: The invention comprises a plurality of control modules, each of the control modules has a corresponding first motor and a second motor, the first motor comprises a plurality of first windings, and the second motor comprises a plurality of second windings; Each of the control modules includes a plurality of control units, wherein the control unit in the control module corresponds to the first winding in the first motor corresponding to the control module, and the control unit in the control module corresponds to the second winding in the second motor corresponding to the control module; The control unit is used to be electrically connected to an external power supply, and the control unit is also used to be electrically connected to a first winding and a second winding corresponding to the control unit, respectively, and drive the first winding and the second winding corresponding to the control unit; Wherein, in the case where there is an abnormal control unit in the control module, the first motor and the second motor corresponding to the control module are driven by other control units other than the abnormal control unit in the control module.

2. The motor control system according to claim 1, characterized in that ,, each of the control units includes a first inverter circuit, a second inverter circuit, a first controller and a second controller; In the control unit, the first inverter circuit is used to be electrically connected to the external power supply and the first winding corresponding to the control unit respectively; The second inverter circuit is used to be electrically connected to the external power supply and the second winding corresponding to the control unit respectively; The first controller is electrically connected to the first inverter circuit, and the first controller is used to control the first inverter circuit to drive the first winding corresponding to the control unit; The second controller is electrically connected to the second inverter circuit, and the second controller is used to control the second inverter circuit to drive the second winding corresponding to the control unit.

3. The motor control system according to claim 2, characterized in that ,, the first winding includes a plurality of first pole-phase groups, the first inverter circuit includes a plurality of first bridge arms, the first bridge arm in the first inverter circuit corresponds to the first pole-phase group in the first winding electrically connected to the first inverter circuit; each of the first bridge arms includes a first switch and a second switch; In the first bridge arm, the first end of the first switch is used to be electrically connected to the positive electrode of the external power supply, the second end of the first switch is electrically connected to the first end of the second switch, and the second end of the first switch is used to be electrically connected to the first end of the first pole phase group corresponding to the first bridge arm; The first end of the second switch is used to be electrically connected to the first end of the first pole phase group corresponding to the first bridge arm, and the second end of the second switch is used to be electrically connected to the negative pole of the external power supply; In the control unit, the first controller is electrically connected to the control end of each of the first switches and the control end of each of the second switches respectively; The second end of each of the first pole phase groups is electrically connected to the neutral point of the first motor.

4. The motor control system according to claim 2, characterized in that: The first winding includes n first pole phase groups, the first end of the i-th first pole phase group is electrically connected to the second end of the i+1-th first pole phase group, the second end of the first first pole phase group is electrically connected to the first end of the n-th first pole phase group, n is a positive integer, and i is a positive integer less than n; The first inverter circuit includes a plurality of first bridge arms, each of the first bridge arms has a corresponding first connection point, and the first connection point is an electrical connection point of two first pole phase groups in the first winding electrically connected to the first inverter circuit; each of the first bridge arms includes a first switch and a second switch; In the first bridge arm, the first end of the first switch is used to be electrically connected to the positive electrode of the external power supply, the second end of the first switch is electrically connected to the first end of the second switch, and the second end of the first switch is used to be electrically connected to the first connection point corresponding to the first bridge arm; The first end of the second switch is used to be electrically connected to the first connection point corresponding to the first bridge arm, and the second end of the second switch is used to be electrically connected to the negative electrode of the external power supply; In the control unit, the first controller is electrically connected to a control end of each of the first switches and a control end of each of the second switches respectively.

5. The motor control system according to claim 2, characterized in that: The second winding includes a plurality of second pole-phase groups, the second inverter circuit includes a plurality of second bridge arms, the second bridge arms in the second inverter circuit correspond to the second pole-phase groups in the second winding electrically connected to the second inverter circuit; each of the second bridge arms includes a third switch and a fourth switch; In the second bridge arm, the first end of the third switch is used to be electrically connected to the positive electrode of the external power supply, the second end of the third switch is electrically connected to the first end of the fourth switch, and the second end of the third switch is used to be electrically connected to the first end of the second pole phase group corresponding to the second bridge arm; The first end of the fourth switch is used to be electrically connected to the first end of the second pole phase group corresponding to the second bridge arm, and the second end of the fourth switch is used to be electrically connected to the negative pole of the external power supply; In the control unit, the second controller is electrically connected to the control end of each of the third switches and the control end of each of the fourth switches respectively; The second end of each second pole phase group is electrically connected to the neutral point of the second motor.

6. The motor control system according to claim 2, characterized in that: The second winding includes m second pole phase groups, the first end of the jth second pole phase group is electrically connected to the second end of the j+1th second pole phase group, the second end of the first second pole phase group is electrically connected to the first end of the mth second pole phase group, m is a positive integer, and j is a positive integer less than m; The second inverter circuit includes a plurality of second bridge arms, each of the second bridge arms has a corresponding second connection point, and the second connection point is an electrical connection point of two second pole phase groups in the second winding electrically connected to the second inverter circuit; each of the second bridge arms includes a third switch and a fourth switch; In the second bridge arm, the first end of the third switch is used to be electrically connected to the positive electrode of the external power supply, the second end of the third switch is electrically connected to the first end of the fourth switch, and the second end of the third switch is used to be electrically connected to the second connection point corresponding to the second bridge arm; The first end of the fourth switch is used to be electrically connected to the second connection point corresponding to the second bridge arm, and the second end of the fourth switch is used to be electrically connected to the negative electrode of the external power supply; In the control unit, the second controller is electrically connected to a control end of each of the third switches and a control end of each of the fourth switches respectively.

7. The motor control system according to claim 1, characterized in that: The first winding includes a plurality of first pole phase groups, and the phase difference between any two adjacent first pole phase groups is equal; The second winding includes a plurality of second pole phase groups, and the phase difference between any two adjacent second pole phase groups is equal.

8. A motor control method, characterized in that: Applied to the motor control system according to any one of claims 1 to 7, the method comprises: By means of each of the control units in the control module, the first motor and the second motor corresponding to the control module are jointly driven; In the case that there is an abnormal control unit in the control module, the first motor and the second motor corresponding to the control module are driven by other control units other than the abnormal control unit in the control module.

9. The method according to claim 8, characterized in that The method of driving the first motor and the second motor corresponding to the control module together through each control unit in the control module includes: By means of the control unit, driving the first winding and the second winding corresponding to the control unit; The method of driving the first motor and the second motor corresponding to the control module by other control units other than the abnormal control unit in the control module includes: The first winding and the second winding corresponding to the other control unit are driven by the other control unit.

10. An aircraft, characterized in that: Comprising the motor control system according to any one of claims 1 to 7.

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