Motor safety redundant circuit and control method thereof

Abstract

The invention discloses a motor safety redundant circuit and a control method thereof, and relates to the technical field of motor control. Comprising a power supply module and a brake motor driving module connected with the power supply module through a first contactor, and provides three-phase alternating current to the brake motor module through a third contactor; the steering motor driving module is connected with the power supply module through a second contactor and supplies the three-phase alternating current to the steering motor module through a fifth contactor; the fourth contactor is bridged between the three-phase alternating current lines of the brake motor module and the steering motor module through a three-phase line; a driving program and a steering program are arranged in the main control board module, the main control board module is used for controlling the contactor through the wire harness, and the driving program is used for transmitting a brake driving signal to the brake motor driving module through the wire harness; and the steering program is used for transmitting the steering driving signal to the steering motor driving module through the wire harness. According to the embodiment of the invention, the redundancy design of the circuit is realized by adopting a plurality of contactors.

Description

Technical Field

[0001] The present application belongs to the technical field of motor control, and in particular, relates to a motor safety redundant circuit and a control method thereof. Background Art

[0002] In new energy vehicles, especially pure electric vehicles, the steering and braking are assisted by the corresponding motors, so that the driver can steer and brake the vehicle. With the continuous development of new energy vehicles and the deepening of technology, the steering and braking systems are gradually driven directly from low voltage (12V or 24V) to high voltage (400~800V). The battery power of the whole vehicle leads the power to the brake motor drive circuit and the steering motor drive circuit through power distribution, and converts the DC power into three-phase AC power through two full-bridge inverter circuits, and drives the brake motor and the steering power motor through three-phase lines. Among them, the brake and steering motor drive circuits are transmitted to the corresponding motor drive circuits by the main control board and the built-in driver through the control harness, and if the motor drive circuit fails (such as IGBT damage), the fault information will be transmitted to the main control board through the control harness through the fault feedback circuit designed in the motor drive circuit, so that the fault information can be uploaded to the whole vehicle.

[0003] New energy vehicles are generally heavy, and their steering and braking are highly dependent on the power steering motor and the brake motor. Once one of the motor drive circuits fails, such as a steering motor drive failure, conventional mechanical steering will be difficult to function, especially in vehicles with a large weight, such as new energy heavy trucks. It is almost impossible to control the steering of new energy vehicles by relying on the driver's arm strength.

[0004] At present, the industry has no other redundant solutions for drive circuits, which mainly focus on improving the reliability of drive circuits and preventing them from being damaged. However, IGBTs and diodes in motor drive circuits are devices with relatively high failure rates in the industry at this stage, so drive safety redundant circuits are still an effective way to solve this problem. Summary of the invention

[0005] The purpose of the present application is to provide a motor safety redundancy circuit and a control method thereof, so as to achieve safety redundancy of the drive circuit by adding a contactor.

[0006] In order to achieve the above objectives, the solution of this application is: In a first aspect, an embodiment of the present application provides a brake and steering motor safety redundant circuit, comprising: A power module, used to provide a DC voltage for a motor safety redundant circuit; The brake motor drive module is connected to the power module through the first contactor, and is used to invert the DC voltage provided by the power module into three-phase AC power, and provide the three-phase AC power to the brake motor module through the third contactor; The steering motor drive module is connected to the power module through the second contactor, and is used to invert the DC voltage provided by the power module into three-phase AC power, and provide the three-phase AC power to the steering motor module through the fifth contactor; The fourth contactor is connected between the three-phase AC lines of the brake motor module and the steering motor module through a three-phase line, and is used for switching the circuit when a fault occurs in the brake motor drive module or the steering motor drive module; A main control board module has a built-in driver and steering program, and is used to control the first contactor, the second contactor, the third contactor, the fourth contactor and the fifth contactor through a wiring harness. The driver is used to transmit a brake drive signal to a brake motor drive module through a wiring harness; and the steering program is used to transmit a steering drive signal to a steering motor drive module through a wiring harness.

[0007] According to the above method of the embodiment of the present application, the following additional technical features may also be provided: Furthermore, the first contactor and the second contactor are single-circuit contactors; the third contactor, the fourth contactor and the fifth contactor are three-circuit simultaneously switching contactors.

[0008] Furthermore, when a fault occurs in the brake motor drive module or the steering motor drive module, the main control board switches between its built-in brake program and steering program.

[0009] In a second aspect, an embodiment of the present application provides a steering motor safety redundant circuit, including: A power module, used to provide a DC voltage for a motor safety redundant circuit; The brake motor drive module is directly connected to the power module, and is used to invert the DC voltage provided by the power module into three-phase AC power, and provide the three-phase AC power to the brake motor module through the third contactor; The steering motor drive module is connected to the power module through a second contactor, and is used to invert the DC voltage provided by the power module into three-phase AC power, and directly provide the three-phase AC power to the steering motor module; The fourth contactor is connected between the three-phase AC lines of the brake motor module and the steering motor module through a three-phase line, and is used for switching the circuit when a fault occurs in the brake motor drive module or the steering motor drive module; The main control board module has a built-in driver and steering program, and is used to control the second contactor, the third contactor and the fourth contactor through the wiring harness. The driver is used to transmit the brake drive signal to the brake motor drive module through the wiring harness; the steering program is used to transmit the steering drive signal to the steering motor drive module through the wiring harness.

[0010] According to the above method of the embodiment of the present application, the following additional technical features may also be provided: Furthermore, the second contactor is a single-circuit contactor; the third contactor and the fourth contactor are three-circuit simultaneously switching contactors.

[0011] Furthermore, when a fault occurs in the brake motor drive module or the steering motor drive module, the main control board switches between its built-in brake program and steering program.

[0012] In a third aspect, an embodiment of the present application provides a brake motor safety redundant circuit, including: A power module, used to provide a DC voltage for a motor safety redundant circuit; The brake motor drive module is connected to the power module through the first contactor, and is used to invert the DC voltage provided by the power module into three-phase AC power, and directly provide the three-phase AC power to the brake motor module; The steering motor drive module is directly connected to the power module and is used to invert the DC voltage provided by the power module into three-phase AC power, and provide the three-phase AC power to the steering motor module through the fifth contactor; The fourth contactor is connected between the three-phase AC lines of the brake motor module and the steering motor module through a three-phase line, and is used for switching the circuit when a fault occurs in the brake motor drive module or the steering motor drive module; The main control board module has a built-in driver and steering program, and is used to control the first contactor, the fourth contactor and the fifth contactor through the wiring harness. The driver is used to transmit the brake drive signal to the brake motor drive module through the wiring harness; the steering program is used to transmit the steering drive signal to the steering motor drive module through the wiring harness.

[0013] According to the above method of the embodiment of the present application, the following additional technical features may also be provided: Furthermore, the first contactor is a single-circuit contactor; the fourth contactor and the fifth contactor are three-circuit simultaneously switching contactors.

[0014] Furthermore, when the brake motor drive module fails, the main control board switches its built-in braking program and steering program to each other.

[0015] In a fourth aspect, an embodiment of the present application provides a control method of a brake and steering motor safety redundant circuit as in the first aspect, comprising: When the brake motor drive module and the steering motor drive module are both working normally, the built-in driver program and the steering program of the main control board module do not switch with each other, and the brake motor module and the steering motor module work normally; When both the brake motor drive module and the steering motor drive module fail, the brake and steering motor safety redundant circuits stop working; When the steering motor drive module fails and the brake motor drive module works normally, the main control board module performs priority judgment. If the steering priority is greater than the braking priority, the second contactor and the third contactor are disconnected, the fourth contactor is closed, and the braking program built into the main control board module is switched to the steering program. The brake motor drive module works normally, and the steering motor module works normally. If the braking priority is greater than the steering priority, the second contactor and the fifth contactor are disconnected, the first contactor and the third contactor are kept closed, the braking program built into the main control board module is not switched, the brake motor drive module works normally, and the brake motor module works normally. When the brake motor drive module fails and the steering motor drive module works normally, the main control board module performs a priority judgment. If the steering priority is greater than the braking priority, the first contactor and the third contactor are disconnected, and the second contactor and the fifth contactor are kept closed. The steering program built into the main control board module is not switched, and the steering motor drive module works normally, and the steering motor module works normally. If the braking priority is greater than the steering priority, the first contactor and the fifth contactor are disconnected, and the fourth contactor is closed. The steering program built into the main control board module is switched to the braking program, the steering motor drive module works normally, and the brake motor module works normally.

[0016] In a fifth aspect, an embodiment of the present application provides a control method of a steering motor safety redundant circuit as in the second aspect, comprising: When the brake motor drive module and the steering motor drive module are both working normally, the built-in driver program and the steering program of the main control board module do not switch with each other, and the brake motor module and the steering motor module work normally; When both the brake motor drive module and the steering motor drive module fail, the brake and steering motor safety redundant circuits stop working; When the steering motor drive module fails and the brake motor drive module works normally, the main control board module performs a priority judgment. If the steering priority is greater than the braking priority, the second contactor and the third contactor are disconnected, and the fourth contactor is closed. The braking program built into the main control board module is switched to the steering program, and the brake motor drive module works normally, and the steering motor module works normally. If the braking priority is greater than the steering priority, the second contactor is disconnected, and the third contactor is kept closed. The braking program built into the main control board module is not switched, the brake motor drive module works normally, and the brake motor module works normally.

[0017] In a sixth aspect, an embodiment of the present application provides a control method for a brake motor safety redundant circuit as in the third aspect, comprising: When the brake motor drive module and the steering motor drive module are both working normally, the built-in driver program and the steering program of the main control board module do not switch with each other, and the brake motor module and the steering motor module work normally; When both the brake motor drive module and the steering motor drive module fail, the brake and steering motor safety redundant circuits stop working; When the brake motor drive module fails and the steering motor drive module works normally, the main control board module performs a priority judgment. If the steering priority is greater than the braking priority, the first contactor is disconnected and the fifth contactor is kept closed. The steering program built into the main control board module is not switched, and the steering motor drive module and the steering motor module work normally. If the braking priority is greater than the steering priority, the first contactor and the fifth contactor are disconnected, and the fourth contactor is closed. The steering program built into the main control board module is switched to the braking program, and the steering motor drive module and the brake motor module work normally.

[0018] Compared with the prior art, the motor safety redundant circuit provided by the embodiment of the present application has the following beneficial technical effects: The embodiment of the present application realizes a redundant circuit design by using multiple contactors, motor drive modules, and a fourth contactor connected across the three-phase AC line. When one of the motor drive modules fails, the fourth contactor can be switched to allow another motor drive module to take over the work of the failed module, thereby preventing vehicle safety accidents caused by vehicle steering or brake motor drive circuit failures and improving vehicle functional safety.

[0019] The main control board module has built-in drivers and steering programs, and has a fault switching function. When a motor drive module fault is detected, the main control board will automatically switch the built-in braking program and steering program according to the priority judgment result to maintain the normal operation of the system. This fault switching logic greatly reduces the system downtime caused by faults. The main control board module controls each contactor through the wiring harness to achieve precise control of the motor drive module. The drive circuit is simple and reliable, and with little increase in hardware cost, the steering and brake motor drive circuits are mutually safe and redundant, improving the functional safety of the vehicle's steering and braking systems and providing double safety protection for the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The structure block diagram of the brake and steering motor safety redundancy circuit of the embodiment of the present application is shown; Figure 2 A structural block diagram of a safety redundant circuit for a steering motor according to an embodiment of the present application is shown; Figure 3 A structural block diagram of a brake motor safety redundant circuit according to an embodiment of the present application is shown; Figure 4 A schematic diagram showing the structure of a safety redundant circuit for a brake and steering motor according to an embodiment of the present application is shown; Figure 5 A schematic diagram showing the structure of a steering motor safety redundant circuit according to an embodiment of the present application is shown; Figure 6 A schematic diagram showing the structure of a brake motor safety redundant circuit according to an embodiment of the present application is shown; Figure 7 A schematic flow chart showing a control method of a safety redundant circuit for a brake and steering motor according to an embodiment of the present application; Figure 8 A schematic flow chart showing a control method of a steering motor safety redundant circuit according to an embodiment of the present application is shown; Fig. 9 A schematic flow chart showing a control method of a brake motor safety redundant circuit according to an embodiment of the present application is shown; Fig.10 A schematic structural diagram of a safety redundant circuit for a brake and steering motor according to another embodiment of the present application is shown.

[0021] Explanation of the accompanying drawings: 10, power input; 20, positive branch; 40, brake motor drive circuit; 50, steering motor drive circuit; 60, three-phase AC line; 80, brake motor; 90, steering motor; 21, first branch; 22, second branch; K1, first contactor; K2, second contactor; K3, third contactor; K4, fourth contactor; K5, fifth contactor; K6, sixth contactor; K7, seventh contactor; 100, main control board; 101, first wiring harness; 102, second wiring harness; 103, third wiring harness; 104, fourth wiring harness; 105, fifth wiring harness; 106, sixth wiring harness; 107, seventh wiring harness; 108, eighth wiring harness; 109, ninth wiring harness. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0023] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0024] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0025] like Figure 1 As shown, the first embodiment of the present application provides a braking and steering motor safety redundant circuit, which is designed to provide dual safety protection for the braking and steering systems, and ensures that basic functions can be maintained when a single component fails through redundant design.

[0026] Among them, the power module is the energy supply of the entire circuit. It is responsible for providing a stable DC voltage and is the basis for the circuit to work. The brake motor drive module is connected to the power module through the first contactor K1, responsible for inverting the DC voltage into three-phase AC power, and transmitting the electric energy to the brake motor module through the third contactor K3. It is a key component to realize the braking function. The steering motor drive module is similar to the brake motor drive module. It is connected to the power module through the second contactor K2, and inverts the DC voltage into three-phase AC power, and then transmits it to the steering motor module through the fifth contactor K5. It is the core part of realizing the steering function. The fourth contactor K4 is a key redundant design element. It is connected across the three-phase AC line 60 of the brake motor module and the steering motor module. When the brake motor drive module or the steering motor drive module fails, the fourth contactor K4 can quickly switch the circuit to ensure that the other motor module can continue to work. The main control board module is the control center of the entire circuit. It has a built-in driver and steering program. Through the wiring harness, the main control board module can accurately control the opening and closing of each contactor, thereby realizing accurate control of the brake motor 80 and the steering motor 90. In addition, when a motor drive module fails, the main control board module can also switch programs according to the preset priority to ensure the continuous operation of the circuit. The embodiment of the present application uses redundant design, so that even if a component fails, the system can still maintain basic functions, thereby greatly improving the reliability of the entire system. The safety redundancy design can significantly reduce the risk of safety accidents caused by system failures.

[0027] Specifically, Figure 4 As shown, the brake and steering motor safety redundant circuit of the embodiment of the present application is divided into two branches after starting from the positive branch 20 of the power input 10, wherein the first branch 21 is connected to the brake motor drive circuit 40 after passing through the first contactor K1, the first contactor K1 is connected to the main control board 100 through the third wiring harness 103, the second branch 22 is connected to the steering motor drive circuit 50 after passing through the second contactor K2, the second contactor K2 is connected to the main control board 100 through the fourth wiring harness 104, the brake motor drive circuit 40 and the steering motor drive circuit 50 are both full-bridge inverter circuits, which invert the DC voltage provided by the power input 10 into three-phase AC power and then provide it to the brake motor 80 and the steering motor 90 respectively, and between the brake motor 80 and the brake motor drive circuit 40, a third The contactor K3 is connected, the third contactor K3 is connected to the main control board 100 through the sixth wiring harness 106, and is connected between the steering motor 90 and the steering motor drive circuit 50 through the fifth contactor K5, and the fifth contactor K5 is connected to the main control board 100 through the seventh wiring harness 107. The fourth contactor K4 is bridged between the three-phase AC line 60 and the three-phase AC line 60 of the brake motor drive circuit 40 and the steering motor drive circuit 50, and the fourth contactor K4 is connected to the main control board 100 through the fifth wiring harness 105. The brake motor drive circuit 40 is connected to the built-in braking program of the main control board 100 through the second wiring harness 102, and the steering motor drive circuit 50 is connected to the built-in steering program of the main control board 100 through the first wiring harness 101, and the braking program and the steering program can be switched between each other.

[0028] like Figure 7 As shown, in this embodiment, a control method for a brake and steering motor safety redundant circuit is also provided. Under normal working conditions, the first contactor K1, the second contactor K2, the third contactor K3 and the fifth contactor K5 are in a closed state, and the fourth contactor K4 is in a disconnected state. When the brake motor drive module and the steering motor drive module are both working normally, the driver program and the steering program built into the main control board module do not switch with each other. This means that the two motor modules operate independently and do not interfere with each other, ensuring the normal braking and steering functions of the vehicle. In this state, the brake motor module and the steering motor module both work normally to provide the required braking force and steering force.

[0029] When both the brake motor drive module and the steering motor drive module fail, the brake and steering motor safety redundancy circuits stop working. This is a safety measure to prevent vehicle accidents when critical systems fail. In this case, immediate measures need to be taken to repair the fault to ensure safe operation of the vehicle.

[0030] When the steering motor drive module fails and the brake motor drive module is normal, if the steering priority is greater than the braking priority, the main control board module will disconnect the second contactor K2 and the third contactor K3, close the fourth contactor K4, and switch the built-in braking program to the steering program. In this way, the brake motor drive module will take over the function of the steering motor 90 to ensure that the vehicle can continue to turn. If the braking priority is greater than the steering priority, the main control board module will disconnect the second contactor K2 and the fifth contactor K5, while keeping the first contactor K1 and the third contactor K3 closed. At this time, the brake motor drive module continues to work normally, but the steering function will fail.

[0031] When the brake motor drive module fails and the steering motor drive module is normal, if the steering priority is greater than the braking priority, the main control board module will disconnect the first contactor K1 and the third contactor K3, while keeping the second contactor K2 and the fifth contactor K5 closed. In this way, the steering motor drive module will continue to work normally to ensure that the steering function of the vehicle is not affected. If the braking priority is greater than the steering priority, the main control board module will disconnect the first contactor K1 and the fifth contactor K5, and close the fourth contactor K4. At this time, the steering motor drive module will switch to the braking program and take over the function of the brake motor 80. However, it should be noted that this switching may not always be ideal, because there may be differences in the design of the steering motor 90 and the brake motor 80, which may result in a decrease in braking performance.

[0032] This safety redundancy design is essential to ensure the reliability and safety of the vehicle. In a complex driving environment, the failure of any single system may lead to serious consequences. By introducing redundant circuits and control logic, it is possible to quickly switch to the backup system when a system fails, thereby minimizing the impact of the failure on vehicle operation.

[0033] like Figure 2 As shown, the second embodiment of the present application provides a steering motor safety redundant circuit, which aims to improve the safety and reliability of the steering system in electric vehicles or autonomous driving vehicles. The circuit introduces redundant design and intelligent control strategy to ensure that when a steering motor drive module fails, it can quickly switch to a backup path to ensure the continuous operation of the steering function.

[0034] Among them, the power module provides a stable DC voltage for the entire motor safety redundant circuit. It usually has high efficiency and good voltage regulation performance, ensuring that the circuit can work normally under various working conditions.

[0035] The brake motor drive module is directly connected to the power module, inverts the DC voltage provided by the power module into three-phase AC power, and transmits the electric energy to the brake motor module through the third contactor K3. When braking is required, it provides power to the brake motor 80 to achieve vehicle deceleration or parking. The steering motor drive module is connected to the power module through the second contactor K2, and also inverts the DC voltage into three-phase AC power, but directly transmits the electric energy to the steering motor module to drive the steering motor 90 to achieve the steering operation of the vehicle. The fourth contactor K4 is connected between the three-phase AC line 60 of the brake motor module and the steering motor module through a three-phase line. When the brake motor drive module or the steering motor drive module fails, the circuit is switched to ensure that at least one motor can continue to work. The main control board module has a built-in driver and steering program, and each contactor is controlled through a wiring harness. The driver is responsible for transmitting the brake drive signal to the brake motor drive module. The steering program is responsible for transmitting the steering drive signal to the steering motor drive module. When the steering motor drive module fails, the main control board 100 can intelligently switch the built-in braking program and steering program to ensure the continuity of the steering function.

[0036] The second contactor K2 is a single-circuit contactor, which is used to control the on-off between the steering motor drive module and the power module. The third contactor K3 and the fourth contactor K4 are three-way contactors that switch simultaneously, ensuring that the three-phase AC line 60 can be opened or closed simultaneously when the circuit is switched to avoid short circuit or open circuit between phases. When the brake motor drive module or the steering motor drive module fails, the main control board 100 can quickly identify and switch the built-in brake program and steering program.

[0037] Specifically, Figure 5As shown, the steering motor safety redundant circuit of the embodiment of the present application is divided into two branches after starting from the positive branch 20 of the power input 10, wherein the first branch 21 is directly connected to the brake motor drive circuit 40, and the second branch 22 is connected to the steering motor drive circuit 50 after passing through the second contactor K2, and the second contactor K2 is connected to the main control board 100 through the fourth wiring harness 104. The brake motor drive circuit 40 and the steering motor drive circuit 50 are both full-bridge inverter circuits, which invert the DC voltage provided by the power input 10 into three-phase AC power and provide it to the brake motor 80 and the steering motor 90 respectively. Between the brake motor 80 and the brake motor drive circuit 40, through the first Three contactors K3 are connected, the third contactor K3 is connected to the main control board 100 through the sixth wiring harness 106, and is directly connected between the steering motor 90 and the steering motor drive circuit 50. The fourth contactor K4 is bridged between the three-phase AC line 60 of the brake motor drive circuit 40 and the steering motor drive circuit 50. The fourth contactor K4 is connected to the main control board 100 through the fifth wiring harness 105. The brake motor drive circuit 40 is connected to the built-in braking program of the main control board 100 through the second wiring harness 102. The steering motor drive circuit 50 is connected to the built-in steering program of the main control board 100 through the first wiring harness 101, and the braking program and the steering program can be switched between each other.

[0038] like Figure 8As shown, in this embodiment, a control method for a steering motor safety redundant circuit is also provided. Under normal working conditions, the second contactor K2 and the third contactor K3 are in a closed state, and the fourth contactor K4 is in an open state. When the brake motor drive module and the steering motor drive module are both in normal working conditions, the driver program and the steering program in the main control board module will not switch with each other. This means that the brake motor module and the steering motor module will work normally according to the preset functions to realize the braking and steering functions of the vehicle. When both the brake motor drive module and the steering motor drive module fail, the entire brake and steering motor safety redundant circuit will stop working. This is to prevent safety problems that may be caused by the continued operation of the vehicle when a critical system fails. When the steering motor drive module fails and the brake motor drive module is still working normally, the main control board module will perform a priority judgment. If the steering priority is greater than the braking priority, the main control board 100 will perform the following operations: disconnect the second contactor K2 and the third contactor K3, and close the fourth contactor K4. In this way, the brake motor drive module will be reconfigured to drive the steering motor module to realize the steering function. At the same time, the braking program in the main control board module will be switched to the steering program to adapt to this configuration change. If the braking priority is greater than the steering priority, the main control board 100 will only disconnect the second contactor K2 and keep the third contactor K3 closed. In this way, the brake motor drive module will continue to drive the brake motor module to achieve the braking function. The braking program in the main control board module will not be switched, and the normal operation of the braking function is maintained.

[0039] The embodiment of the present application designs a safety redundant circuit for the steering motor 90. When the steering motor drive module fails, the brake motor drive module can take over part or all of the functions, thereby improving the reliability and safety of the system. The main control board module can flexibly switch between different functions according to priority judgment to adapt to different fault conditions. With clear module division and control logic, maintenance and troubleshooting become easier.

[0040] like Figure 3 As shown, the third embodiment of the present application provides a brake motor safety redundant circuit, which aims to improve the safety and reliability of the braking system in electric vehicles or autonomous driving vehicles. The circuit introduces redundant design and intelligent control strategy to ensure that when a brake motor drive module fails, it can quickly switch to a backup path to ensure the continuous operation of the braking function.

[0041] Among them, the power supply module is responsible for providing a stable DC voltage for the entire motor safety redundant circuit. It is the energy source of the entire circuit, ensuring that each module can work normally. The brake motor drive module is connected to the power supply module through the first contactor K1. Its main function is to invert the DC voltage provided by the power supply module into three-phase AC power and directly provide this three-phase AC power to the brake motor module. In this way, the brake motor 80 can obtain the required power to perform the braking operation. The steering motor drive module is different from the brake motor drive module. The steering motor drive module is directly connected to the power supply module. It is also responsible for inverting the DC voltage into three-phase AC power, but this time it provides power to the steering motor module through the fifth contactor K5, so the steering motor 90 can obtain power to perform the steering operation. The fourth contactor K4 is a key redundant component. It is connected between the three-phase AC line 60 of the brake motor module and the steering motor module through a three-phase line. When the brake motor drive module fails, the fourth contactor K4 can perform circuit switching to ensure that at least one motor module can continue to work.

[0042] The main control board module is the control center of the circuit, with a built-in driver and steering program, which controls the first contactor K1, the fourth contactor K4 and the fifth contactor K5 through the wiring harness. The driver is responsible for transmitting the brake drive signal to the brake motor drive module, while the steering program is responsible for transmitting the steering drive signal to the steering motor drive module. Among them, the first contactor K1 is designed as a single-way contactor, while the fourth contactor K4 and the fifth contactor K5 are three-way contactors that switch simultaneously. This design ensures the stability and reliability of the circuit during switching.

[0043] When the brake motor drive module fails, the main control board module can switch between its built-in brake program and steering program. This means that if the brake motor drive module fails to work properly, the main control board 100 can switch programs and use the brake motor drive module to perform steering operations.

[0044] Under normal circumstances, the brake motor drive module and the steering motor drive module both work normally, and respectively control the operation of the brake motor 80 and the steering motor 90. When the brake drive module fails, the main control board module will switch the circuit by controlling the opening and closing of the contactor according to the preset priority and logical judgment to ensure that at least one motor can continue to work. If the brake motor drive module fails, and the steering motor drive module is still normal, the main control board 100 will switch the program and use the steering motor drive module to replace the function of the brake motor drive module.

[0045] Specifically, Figure 6As shown, the brake motor safety redundant circuit of the embodiment of the present application is divided into two branches after starting from the positive branch 20 of the power input 10, wherein the first branch 21 is connected to the brake motor drive circuit 40 after passing through the first contactor K1, the first contactor K1 is connected to the main control board 100 through the third wiring harness 103, and the second branch 22 is directly connected to the steering motor drive circuit 50. The brake motor drive circuit 40 and the steering motor drive circuit 50 are both full-bridge inverter circuits, which invert the DC voltage provided by the power input 10 into three-phase AC power and provide it to the brake motor 80 and the steering motor 90 respectively, and directly between the brake motor 80 and the brake motor drive circuit 40, The steering motor 90 and the steering motor drive circuit 50 are connected through the fifth contactor K5, and the fifth contactor K5 is connected to the main control board 100 through the seventh wiring harness 107. The fourth contactor K4 is connected between the three-phase AC line 60 of the brake motor drive circuit 40 and the steering motor drive circuit 50, and the fourth contactor K4 is connected to the main control board 100 through the fifth wiring harness 105. The brake motor drive circuit 40 is connected to the built-in brake program of the main control board 100 through the second wiring harness 102, and the steering motor drive circuit 50 is connected to the built-in steering program of the main control board 100 through the first wiring harness 101. The brake program and the steering program can be switched between each other.

[0046] like Fig. 9 As shown, in this embodiment, a control method for a brake motor safety redundant circuit is also provided. Under normal working conditions, the first contactor K1 and the fifth contactor K5 are in a closed state, and the fourth contactor K4 is in an open state. When the brake motor drive module and the steering motor drive module are both in normal working conditions, the driver program and the steering program in the main control board module will not switch with each other. This means that both the brake motor module and the steering motor module will work normally according to the preset functions, respectively realizing the braking and steering functions of the vehicle. When both the brake motor drive module and the steering motor drive module fail, the entire brake and steering motor safety redundant circuit will stop working. This is to prevent safety problems that may be caused by the continued operation of the vehicle when a critical system fails.

[0047] When the brake motor drive module fails and the steering motor drive module is still working normally, the main control board module will perform a priority judgment. If the steering priority is greater than the braking priority, the main control board 100 will perform the following operations: disconnect the first contactor K1 and keep the fifth contactor K5 closed. In this way, the steering motor drive module will continue to drive the steering motor module to achieve the steering function. The steering program in the main control board module will not switch to maintain the normal operation of the steering function. If the braking priority is greater than the steering priority, the main control board 100 will perform the following operations: disconnect the first contactor K1 and the fifth contactor K5, and close the fourth contactor K4. In this way, the steering motor drive module will be reconfigured to drive the brake motor module to achieve the braking function. At the same time, the steering program in the main control board module will switch to the braking program to adapt to this configuration change.

[0048] By designing the safety redundant circuits of the brake motor 80 and the steering motor 90, when the brake motor drive module fails, the steering motor drive module can take over part or all of the functions, thereby improving the reliability and safety of the system. The main control board module can flexibly switch between different functions according to priority judgment to adapt to different fault conditions. Since the system has clear module division and control logic, maintenance and troubleshooting become easier.

[0049] This control method of the brake motor safety redundant circuit is particularly suitable for vehicle systems that require high reliability and safety, such as autonomous vehicles, electric vehicles, etc. In these application scenarios, any system failure may cause serious safety problems, so it is crucial to adopt redundant design and flexible control strategies.

[0050] Among them, the first contactor K1 is a single-way contactor, while the fourth contactor K4 and the fifth contactor K5 are three-way contactors that switch simultaneously. This design ensures the stability and reliability of the circuit during switching. The driver and steering program built into the main control board module can be switched with each other as needed to adapt to different fault conditions. This design improves the flexibility and adaptability of the system.

[0051] like Fig.10 As shown, the fourth embodiment of the present application provides another braking and steering motor safety redundant circuit, Figure 4The difference between the braking and steering motor safety redundant circuit shown is that the sixth contactor K6 in this embodiment replaces the original first contactor K1, and the seventh contactor K7 replaces the original second contactor K2. In terms of positional relationship, the sixth contactor K6 connected between the braking motor drive circuit 40 and the fourth bridged contactor K4 replaces the first contactor K1 originally connected between the positive pole of the power output and the braking motor drive circuit 40, and the seventh contactor K7 connected between the steering motor drive circuit 50 and the fourth bridged contactor K4 replaces the second contactor K2 originally connected between the positive pole of the power output and the steering motor drive circuit 50. The sixth contactor K6 is connected to the main control board 100 through the eighth wiring harness 108, and the seventh contactor K7 is connected to the main control board 100 through the ninth wiring harness 109. The working principle is the same as that of the first embodiment and will not be repeated here.

[0052] In the fourth embodiment, if only redundancy of steering drive is required, the sixth contactor K6 is removed and the remaining contactors are retained. If only redundancy of braking drive is required, the seventh contactor K7 is removed and the remaining contactors are retained. The working principle is the same as described above and will not be repeated here.

[0053] It should be noted that the contactor mentioned in the embodiment of the present application can also be replaced by IGBT, power transistor, SiC module, MOS, etc.

[0054] In the present application, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted 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.

[0055] 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 safety redundant circuit for a braking and steering motor, characterized in that: include: A power supply module, used for providing a DC voltage to the motor safety redundant circuit; A brake motor drive module is connected to the power module through a first contactor, and is used to invert the DC voltage provided by the power module into three-phase AC power, and provide the three-phase AC power to the brake motor module through a third contactor; a steering motor drive module, connected to the power module via a second contactor, for inverting the DC voltage provided by the power module into three-phase AC power, and providing the three-phase AC power to the steering motor module via a fifth contactor; A fourth contactor is connected between the three-phase AC lines of the brake motor module and the steering motor module through a three-phase line, and is used for switching the circuit when the brake motor drive module or the steering motor drive module fails; A main control board module, with a built-in driver and steering program, is used to control the first contactor, the second contactor, the third contactor, the fourth contactor and the fifth contactor through a wiring harness, the driver is used to transmit the braking drive signal to the braking motor drive module through a wiring harness; the steering program is used to transmit the steering drive signal to the steering motor drive module through a wiring harness.

2. The brake and steering motor safety redundant circuit according to claim 1, characterized in that: The first contactor and the second contactor are single-circuit contactors; the third contactor, the fourth contactor and the fifth contactor are three-circuit simultaneously switching contactors.

3. The brake and steering motor safety redundant circuit according to claim 1, characterized in that: When the brake motor drive module or the steering motor drive module fails, the main control board switches between its built-in brake program and steering program.

4. A steering motor safety redundant circuit, characterized in that: include: A power supply module, used for providing a DC voltage to the motor safety redundant circuit; A brake motor drive module is directly connected to the power module, and is used to invert the DC voltage provided by the power module into three-phase AC power, and provide the three-phase AC power to the brake motor module through a third contactor; A steering motor drive module is connected to the power module via a second contactor, and is used to invert the DC voltage provided by the power module into three-phase AC power, and directly provide the three-phase AC power to the steering motor module; A fourth contactor is connected between the three-phase AC lines of the brake motor module and the steering motor module through a three-phase line, and is used for switching the circuit when the brake motor drive module or the steering motor drive module fails; A main control board module, with a built-in driver and steering program, is used to control the second contactor, the third contactor and the fourth contactor through a wiring harness. The driver is used to transmit the braking drive signal to the braking motor drive module through a wiring harness; the steering program is used to transmit the steering drive signal to the steering motor drive module through a wiring harness.

5. The steering motor safety redundant circuit according to claim 4, characterized in that: The second contactor is a single-circuit contactor; the third contactor and the fourth contactor are three-circuit simultaneously switching contactors.

6. The steering motor safety redundant circuit according to claim 4, characterized in that: When the steering motor drive module fails, the main control board switches between its built-in braking program and steering program.

7. A brake motor safety redundant circuit, characterized in that: include: A power supply module, used for providing a DC voltage to the motor safety redundant circuit; A brake motor drive module is connected to the power module via a first contactor, and is used to invert the DC voltage provided by the power module into three-phase AC power, and directly provide the three-phase AC power to the brake motor module; A steering motor drive module, directly connected to the power module, for inverting the DC voltage provided by the power module into three-phase AC power, and providing the three-phase AC power to the steering motor module through a fifth contactor; A fourth contactor is connected between the three-phase AC lines of the brake motor module and the steering motor module through a three-phase line, and is used for switching the circuit when the brake motor drive module or the steering motor drive module fails; A main control board module, with a built-in driver and steering program, is used to control the first contactor, the fourth contactor and the fifth contactor through a wiring harness, the driver is used to transmit the braking drive signal to the braking motor drive module through a wiring harness; the steering program is used to transmit the steering drive signal to the steering motor drive module through a wiring harness.

8. The brake motor safety redundant circuit according to claim 7, characterized in that: The first contactor is a single-circuit contactor; the fourth contactor and the fifth contactor are three-circuit simultaneously switching contactors.

9. The brake motor safety redundant circuit according to claim 7, characterized in that: When the brake motor drive module fails, the main control board switches its built-in brake program and steering program to each other.

10. A control method for a brake and steering motor safety redundant circuit according to any one of claims 1 to 3, characterized in that: include: When the brake motor drive module and the steering motor drive module are both operating normally, the built-in driver program and the steering program of the main control board module do not switch with each other, and the brake motor module and the steering motor module operate normally; When both the brake motor drive module and the steering motor drive module fail, the brake and steering motor safety redundant circuit stops working; When the steering motor drive module fails and the brake motor drive module works normally, the main control board module performs a priority judgment. If the steering priority is greater than the braking priority, the second contactor and the third contactor are disconnected, the fourth contactor is closed, and the braking program built into the main control board module is switched to the steering program, the brake motor drive module works normally, and the steering motor module works normally; if the braking priority is greater than the steering priority, the second contactor and the fifth contactor are disconnected, the first contactor and the third contactor are kept closed, the braking program built into the main control board module is not switched, the brake motor drive module works normally, and the brake motor module works normally; When the brake motor drive module fails and the steering motor drive module works normally, the main control board module performs a priority judgment. If the steering priority is greater than the braking priority, the first contactor and the third contactor are disconnected, and the second contactor and the fifth contactor are kept closed. The steering program built into the main control board module is not switched, and the steering motor drive module works normally. The steering motor module works normally. If the braking priority is greater than the steering priority, the first contactor and the fifth contactor are disconnected, and the fourth contactor is closed. The steering program built into the main control board module is switched to the braking program, the steering motor drive module works normally, and the brake motor module works normally.

11. A control method for a steering motor safety redundant circuit according to any one of claims 4 to 6, characterized in that: include: When the brake motor drive module and the steering motor drive module are both operating normally, the built-in driver program and the steering program of the main control board module do not switch with each other, and the brake motor module and the steering motor module operate normally; When both the brake motor drive module and the steering motor drive module fail, the brake and steering motor safety redundant circuit stops working; When the steering motor drive module fails and the brake motor drive module works normally, the main control board module performs a priority judgment. If the steering priority is greater than the braking priority, the second contactor and the third contactor are disconnected, and the fourth contactor is closed. The braking program built into the main control board module is switched to the steering program, and the brake motor drive module works normally, and the steering motor module works normally. If the braking priority is greater than the steering priority, the second contactor is disconnected, and the third contactor is kept closed. The braking program built into the main control board module is not switched, the brake motor drive module works normally, and the brake motor module works normally.

12. A control method for a brake motor safety redundant circuit according to any one of claims 7 to 9, characterized in that: include: When the brake motor drive module and the steering motor drive module are both operating normally, the built-in driver program and the steering program of the main control board module do not switch with each other, and the brake motor module and the steering motor module operate normally; When both the brake motor drive module and the steering motor drive module fail, the brake and steering motor safety redundant circuit stops working; When the brake motor drive module fails and the steering motor drive module works normally, the main control board module performs a priority judgment. If the steering priority is greater than the braking priority, the first contactor is disconnected and the fifth contactor is kept closed, the steering program built into the main control board module is not switched, the steering motor drive module works normally, and the steering motor module works normally; if the braking priority is greater than the steering priority, the first contactor and the fifth contactor are disconnected, the fourth contactor is closed, the steering program built into the main control board module is switched to the braking program, the steering motor drive module works normally, and the brake motor module works normally.

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