Motor control driving system and method

Abstract

The invention relates to the technical field of motor control, particularly provides a motor control driving system and method, and aims to solve the problem that safety design is not carried out for common fault problems in a motor control system in the prior art. In order to achieve the purpose, the motor control driving system provided by the invention comprises a power management and control module and two groups of independent three-phase bridge driving modules, and each group of three-phase bridge driving modules is electrically connected with the power management and control module and a single three-phase motor on one side of single three-phase motors on the two sides of the six-phase motor; the power management and control module is configured to be respectively connected with a power supply and the two groups of independent three-phase bridge driving modules, and control the three-phase bridge driving modules based on the operation state of the power supply, the operation state of the power management and control module, the operation state of each group of three-phase bridge driving modules and the operation state of the motor. And controlling the two groups of independent three-phase bridge driving modules so as to respectively drive or turn off single three-phase motors on the two sides of the six-phase motor.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a motor control drive system and method. Background Art

[0002] Currently, in the field of chassis, when it comes to front-wheel steering (EPS) and rear-wheel steering (RWS) systems, redundant design is one of the key factors to ensure the safe operation of the vehicle. By implementing redundancy in power supply, control, drive, and motor, the reliability and safety of the system can be significantly improved. Even if a component fails, the system can continue to work or at least enter a safe state. However, this comprehensive redundant design will greatly increase the complexity and cost of the system, which may be unacceptable in certain market segments or cost-sensitive application scenarios. In the field of motor drive, the proportion of motor failure, power supply failure, and drive failure is much higher than that of control-end failure. Therefore, when designing a redundant solution, it may be a more cost-effective strategy to give priority to these high-risk components.

[0003] Accordingly, the art needs a new motor control driving solution to solve the above problems. Summary of the invention

[0004] In order to overcome the above-mentioned defects, the present application is proposed to solve or at least partially solve the technical problem that the prior art does not have a safety design for common fault problems in motor control systems.

[0005] In a first aspect, a motor control drive system is provided, which is applied to a six-phase motor, and the system includes: a power management and control module and two groups of independent three-phase bridge drive modules, and each group of the three-phase bridge drive modules is electrically connected to the power management and control module and one side of the single three-phase motors on both sides of the six-phase motor; the power management and control module is configured to connect the power supply and the two groups of independent three-phase bridge drive modules respectively, and based on the power supply operating status, the operating status of the power management and control module, the operating status of each group of the three-phase bridge drive modules and the motor operating status, the two groups of independent three-phase bridge drive modules are controlled to respectively drive or shut down the single three-phase motors on both sides of the six-phase motor.

[0006] In a technical solution of the above-mentioned motor control drive system, each group of the three-phase bridge drive modules includes a logic control module, a three-phase bridge safety drive module, a three-phase bridge circuit, a power supply safety switch module and a motor drive safety switch module, wherein the input end of the logic control module is connected to the power management and control module, and the output end is connected to the three-phase bridge safety drive module; the input end of the three-phase bridge safety drive module is respectively connected to the logic control module and the power management and control module, and the output end is respectively connected to the power supply safety switch module, the motor drive safety switch module and the three-phase bridge circuit; the input end of the power supply safety switch module is respectively connected to the power supply and the three-phase bridge safety drive module, and the output end is respectively connected to the three-phase bridge safety drive module and the three-phase bridge circuit; the output end of the three-phase bridge circuit is connected to the motor drive safety switch module; the output end of the motor drive safety switch module is connected to a single three-phase motor on one side of the six-phase motor.

[0007] In a technical solution of the above-mentioned motor control drive system, the logic control module includes a first logic AND gate and a second logic AND gate; the first signal input terminal and the second signal input terminal of the first logic AND gate and the second logic AND gate are respectively connected to the signal output terminal of the power management and control module, and the signal output terminals of the first logic AND gate and the second logic AND gate are respectively connected to the signal input terminal of the three-phase bridge safety drive module.

[0008] In a technical solution of the above-mentioned motor control drive system, the three-phase bridge safety drive module includes a safety shutdown pre-drive module and a three-phase bridge pre-drive module; the signal input end of the safety shutdown pre-drive module is connected to the signal output end of the first logic AND gate, the first signal output end is connected to the power supply safety switch module, and the second signal output end is connected to the motor drive safety switch module.

[0009] In a technical solution of the above-mentioned motor control drive system, the first signal input terminal of the three-phase bridge pre-drive module is connected to the signal output terminal of the second logic AND gate, the second signal input terminal is connected to the signal output terminal of the power management and control module, the first signal output terminal is connected to the signal input terminal of the power management and control module, and the second signal output terminal is connected to the signal input terminal of the three-phase bridge circuit.

[0010] In a technical solution of the above-mentioned motor control drive system, the power management and control module includes a power management chip and a main control chip; the power input end of the power management chip is electrically connected to the power supply, and the power output end is respectively connected to the power input end of the main control chip, the logic control module, and the three-phase bridge safety drive module; the signal input end of the power management chip is connected to the signal output end of the main control chip, and the signal output end is respectively connected to the signal input end of the main control chip and the logic control module; the signal output end of the main control chip is respectively connected to the signal input end of the logic control module and the three-phase bridge pre-drive module, and the signal input end is respectively connected to the signal output end of the power management chip and the three-phase bridge pre-drive module.

[0011] In a technical solution of the above-mentioned motor control drive system, the signal input end of the power management chip is connected to the first signal output end of the main control chip, the first signal output end of the power management chip is connected to the first signal input end of the main control chip, and the second signal output end is respectively connected to the first signal input end of each logic AND gate in the logic control module.

[0012] In a technical solution of the above-mentioned motor control drive system, the main control chip includes a first core and a second core, and the first core and the second core are communicatively connected; the first signal output ends of the first core and the second core are respectively connected to the second signal input ends of the corresponding first logic AND gate and the second logic AND gate, the second signal output ends are connected to the second signal input end of the three-phase bridge pre-driver module, and the first signal input ends are connected to the second signal output end of the three-phase bridge pre-driver module; the first signal input and output end of the first core is connected to the first signal input and output end of the second core, and the third signal output end of the first core is connected to the second signal input end of the second core.

[0013] In a technical solution of the above motor control drive system, the system further includes an anti-reverse diode, the anode of the anti-reverse diode is connected to the positive electrode of the power supply, and the cathode is connected to the power input terminal of the power management chip.

[0014] In a technical solution of the above-mentioned motor control drive system, the power supply safety switch module includes a first anti-reverse module and a first power supply safety switch; the input end of the first anti-reverse module is connected to the positive pole of the power supply, and the output end is connected to the first power supply safety switch; the input end of the first power supply safety switch is respectively connected to the three-phase bridge circuit, the safety shutdown pre-drive module and the three-phase bridge pre-drive module, and the input end of the first power supply safety switch is connected to the first signal output end of the safety shutdown pre-drive module.

[0015] In a technical solution of the above-mentioned motor control drive system, the motor drive safety switch module includes a first switch, a second switch and a third switch; the input ends of the first switch, the second switch and the third switch are respectively connected to the second signal output end of the three-phase bridge circuit and the safety shutdown pre-drive module, and the output ends are connected to the single three-phase motor.

[0016] In a second aspect, a motor control and drive method is provided, which is applied to a six-phase motor. The method is executed based on the motor control and drive system described in any one of the technical solutions of the above-mentioned motor control and drive system, and the method includes: a power management and control module obtains a power supply operation status, an operation status of the power management and control module, an operation status of each group of three-phase bridge drive modules, and an operation status of a single three-phase motor of the six-phase motor; the power management and control module controls the three-phase bridge drive module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operation status, the operation status of the power management and control module, the operation status of each group of three-phase bridge drive modules, and the operation status of the single three-phase motor of the six-phase motor, so as to respectively drive or shut down the single three-phase motors on both sides of the six-phase motor.

[0017] In a technical solution of the above-mentioned motor control and driving method, the power management and control module controls the three-phase bridge drive module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge drive modules and the operation state of the single three-phase motor of the six-phase motor, so as to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively, including: when the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge drive modules and the operation state of the single three-phase motors on both sides are not faulty, the power management chip outputs a fault feedback signal to the first logic AND gate and the second logic AND gate of the two groups of three-phase bridge drive modules, and the main control chip outputs a control signal to the first logic AND gate of the two groups of three-phase bridge drive modules AND gate, a second logic AND gate and a three-phase bridge pre-drive module; wherein, the fault feedback signal is a high level; the first logic AND gate and the second logic AND gate determine the output signal based on the fault feedback signal and the control signal, and send it to the safety shutdown pre-drive module and the three-phase bridge pre-drive module; the safety shutdown pre-drive module and the three-phase bridge pre-drive module drive the first power supply safety switch and the motor drive safety switch module to turn on based on the output signal and the control signal, drive the three-phase bridge circuit to work, and the power supply is transmitted to the three-phase bridge circuit through the first anti-reverse module and the first power supply safety switch. The AC current processed by the three-phase bridge circuit is transmitted to the single three-phase motors on both sides of the six-phase motor through the first power supply safety switch module, driving the single three-phase motors on both sides of the six-phase motor to work; wherein, the output signal is a high level.

[0018] In a technical solution of the above-mentioned motor control driving method, the power management and control module controls the three-phase bridge driving module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge driving modules and the operation state of the single three-phase motor of the six-phase motor, so as to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively, including: when the power supply operation state, the operation state of the power management chip or the main control chip fails, the power management chip outputs a reset signal to the main control chip to reset the main control chip, and outputs a fault feedback signal to the first logic AND gate and the second logic AND gate of the two groups of three-phase bridge driving modules, wherein the fault The feedback signal is at a low level; the first logic AND gate determines the output signal based on the fault feedback signal, and sends it to the corresponding safety shutdown pre-drive module. The safety shutdown pre-drive module controls the first power supply safety switch and the motor drive safety switch module to shut down based on the output signal, so that the power supply of the three-phase bridge circuit corresponding to the single three-phase motors on both sides is stopped, and the single three-phase motors on both sides are disconnected from the corresponding three-phase bridge circuit; the second logic AND gate determines the output signal based on the fault feedback signal, and sends it to the three-phase bridge pre-drive module. The three-phase bridge pre-drive module controls the three-phase bridge circuit corresponding to the single three-phase motors on both sides to shut down based on the output signal, so that the driving of the three-phase bridge circuit corresponding to the single three-phase motors on both sides is stopped; wherein, the output signal is at a low level.

[0019] In a technical solution of the above-mentioned motor control driving method, the power management and control module controls the three-phase bridge drive module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge drive modules and the operation state of the single three-phase motor of the six-phase motor, so as to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively, including: when the operation state of one group of the three-phase bridge drive modules, the operation state of one side of the single three-phase motor, and the communication state between the first core and the second core fail, the power management chip sends a first logic AND gate and a second logic gate corresponding to the failed three-phase bridge drive module, the single three-phase motor, the first core or the second core to the failed three-phase bridge drive module, the single three-phase motor, the first core or the second core. The logic AND gate outputs a fault feedback signal, wherein the fault feedback signal is at a low level; the first logic AND gate determines an output signal based on the fault feedback signal, and sends it to the corresponding safety shutdown pre-drive module, and the safety shutdown pre-drive module controls the corresponding first power supply safety switch and motor drive safety switch module to shut down based on the output signal, and the power supply of the three-phase bridge circuit corresponding to the single three-phase motor on one side is shut down; the second logic AND gate determines an output signal based on the fault feedback signal, and sends it to the three-phase bridge pre-drive module, and the three-phase bridge pre-drive module controls the corresponding three-phase bridge circuit to shut down based on the output signal, and the driving of the three-phase bridge circuit corresponding to the single three-phase motor on one side is stopped, and the system enters a degraded operation state; wherein the output signal is at a low level.

[0020] In a technical solution of the above-mentioned motor control drive method, the method also includes: the first core and / or the second core outputs a control signal to the corresponding first logic AND gate, the first logic AND gate determines the output signal based on the control signal, and sends it to the corresponding safety shutdown pre-driver module, the safety shutdown pre-driver module controls the corresponding first power supply safety switch and motor drive safety switch module to shut down based on the output signal, and the power supply of the three-phase bridge circuit corresponding to the first core and / or the second core is stopped; or, the first core and / or the second core outputs a control signal to the three-phase bridge pre-driver module, the three-phase bridge pre-driver module controls the corresponding three-phase bridge circuit to shut down based on the control signal, and the driving of the three-phase bridge circuit corresponding to the first core and / or the second core is stopped; wherein, the control signal and the output signal are low level.

[0021] In a technical solution of the above-mentioned motor control drive method, the method also includes: using an anti-reverse diode to connect to the power supply, the power supply is transmitted to the power management chip through the anti-reverse diode, and the power management chip converts the power supply to supply power to the main control chip, the logic control module and the three-phase bridge safety drive module; and / or, using a first anti-reverse module to connect to the power supply, the power supply is transmitted to the first power supply safety switch through the first anti-reverse module, and the first power supply safety switch supplies power to the three-phase bridge circuit, the safety shutdown pre-drive module and the three-phase bridge pre-drive module based on the control of the safety shutdown pre-drive module.

[0022] Solution 1. A motor control drive system, applied to a six-phase motor, characterized in that the system includes: a power management and control module and two groups of independent three-phase bridge drive modules, and each group of the three-phase bridge drive modules is electrically connected to the power management and control module and one side of the single three-phase motors on both sides of the six-phase motor; the power management and control module is configured to connect the power supply and the two groups of independent three-phase bridge drive modules respectively, and based on the power supply operating status, the operating status of the power management and control module, the operating status of each group of the three-phase bridge drive modules and the motor operating status, the two groups of independent three-phase bridge drive modules are controlled to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively.

[0023] Solution 2. The motor control drive system according to Solution 1 is characterized in that each group of the three-phase bridge drive modules includes a logic control module, a three-phase bridge safety drive module, a three-phase bridge circuit, a power supply safety switch module and a motor drive safety switch module, wherein the input end of the logic control module is connected to the power management and control module, and the output end is connected to the three-phase bridge safety drive module; the input end of the three-phase bridge safety drive module is respectively connected to the logic control module and the power management and control module, and the output end is respectively connected to the power supply safety switch module, the motor drive safety switch module and the three-phase bridge circuit; the input end of the power supply safety switch module is respectively connected to the power supply and the three-phase bridge safety drive module, and the output end is respectively connected to the three-phase bridge safety drive module and the three-phase bridge circuit; the output end of the three-phase bridge circuit is connected to the motor drive safety switch module; the output end of the motor drive safety switch module is connected to a single three-phase motor on one side of the six-phase motor.

[0024] Solution 3. The motor control drive system according to Solution 2 is characterized in that the logic control module includes a first logic AND gate and a second logic AND gate; the first signal input terminal and the second signal input terminal of the first logic AND gate and the second logic AND gate are respectively connected to the signal output terminal of the power management and control module, and the signal output terminals of the first logic AND gate and the second logic AND gate are respectively connected to the signal input terminal of the three-phase bridge safety drive module.

[0025] Solution 4. The motor control drive system according to Solution 3 is characterized in that the three-phase bridge safety drive module includes a safety shutdown pre-drive module and a three-phase bridge pre-drive module;

[0026] The signal input end of the safety shutdown pre-driver module is connected to the signal output end of the first logic AND gate, the first signal output end is connected to the power supply safety switch module, and the second signal output end is connected to the motor drive safety switch module.

[0027] Solution 5. The motor control drive system according to Solution 4 is characterized in that the first signal input terminal of the three-phase bridge pre-drive module is connected to the signal output terminal of the second logic AND gate, the second signal input terminal is connected to the signal output terminal of the power management and control module, the first signal output terminal is connected to the signal input terminal of the power management and control module, and the second signal output terminal is connected to the signal input terminal of the three-phase bridge circuit.

[0028] Solution 6. The motor control drive system according to Solution 2 is characterized in that the power management and control module includes a power management chip and a main control chip;

[0029] The power input end of the power management chip is electrically connected to the power supply, the power output end is respectively connected to the power input end of the main control chip, the logic control module, and the three-phase bridge safety drive module, the signal input end of the power management chip is connected to the signal output end of the main control chip, and the signal output end is respectively connected to the signal input end of the main control chip and the logic control module;

[0030] The signal output end of the main control chip is connected to the signal input end of the logic control module and the three-phase bridge pre-driver module respectively, and the signal input end is connected to the signal output end of the power management chip and the three-phase bridge pre-driver module respectively.

[0031] Solution 7. The motor control drive system according to Solution 6 is characterized in that the signal input terminal of the power management chip is connected to the first signal output terminal of the main control chip, the first signal output terminal of the power management chip is connected to the first signal input terminal of the main control chip, and the second signal output terminal is respectively connected to the first signal input terminal of each logic AND gate in the logic control module.

[0032] Solution 8. The motor control drive system according to Solution 6 is characterized in that the main control chip includes a first core and a second core, and the first core and the second core are communicatively connected; the first signal output ends of the first core and the second core are respectively connected to the second signal input ends of the corresponding first logic AND gate and the second logic AND gate, the second signal output ends are connected to the second signal input end of the three-phase bridge pre-driver module, and the first signal input ends are connected to the second signal output end of the three-phase bridge pre-driver module;

[0033] The first signal input / output terminal of the first core is connected to the first signal input / output terminal of the second core, and the third signal output terminal of the first core is connected to the second signal input terminal of the second core.

[0034] Solution 9. The motor control drive system according to Solution 6 is characterized in that the system also includes an anti-reverse diode, the anode of the anti-reverse diode is connected to the positive electrode of the power supply, and the cathode is connected to the power input terminal of the power management chip.

[0035] Solution 10. The motor control drive system according to Solution 4 is characterized in that the power supply safety switch module includes a first anti-reverse module and a first power supply safety switch;

[0036] The input end of the first anti-reverse module is connected to the positive electrode of the power supply, and the output end is connected to the first power supply safety switch;

[0037] The output end of the first power supply safety switch is respectively connected to the three-phase bridge circuit, the safety shutdown pre-driver module and the three-phase bridge pre-driver module, and the input end of the first power supply safety switch is connected to the first signal output end of the safety shutdown pre-driver module.

[0038] Solution 11. The motor control drive system according to Solution 5, characterized in that the motor drive safety switch module includes a first switch, a second switch and a third switch;

[0039] The input ends of the first switch, the second switch and the third switch are respectively connected to the three-phase bridge circuit and the second signal output end of the safety shutdown pre-driver module, and the output ends are connected to the single three-phase motor.

[0040] Solution 12. A motor control driving method, the method is applied to a six-phase motor, the method is executed based on the motor control driving system according to any one of Solutions 1 to 11, and is characterized in that the method comprises:

[0041] The power management and control module obtains the power supply operation status, the operation status of the power management and control module, the operation status of each group of three-phase bridge drive modules, and the single three-phase motor operation status of the six-phase motor;

[0042] The power management and control module controls the three-phase bridge drive module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operating status, the operating status of the power management and control module, the operating status of each group of three-phase bridge drive modules, and the operating status of the single three-phase motor of the six-phase motor, so as to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively.

[0043] Solution 13. The motor control driving method according to Solution 12 is characterized in that the power management and control module controls the three-phase bridge driving module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge driving modules, and the operation state of the single three-phase motor of the six-phase motor, so as to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively, including:

[0044] In the case that the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge drive modules, and the operation state of the single three-phase motors on both sides are not faulty, the power management chip outputs a fault feedback signal to the first logic AND gate and the second logic AND gate of the two groups of three-phase bridge drive modules, and the main control chip outputs a control signal to the first logic AND gate, the second logic AND gate and the three-phase bridge pre-drive module of the two groups of three-phase bridge drive modules; wherein the fault feedback signal is a high level;

[0045] The first logic AND gate and the second logic AND gate determine an output signal based on the fault feedback signal and the control signal, and send the output signal to the safety shutdown pre-driver module and the three-phase bridge pre-driver module;

[0046] Based on the output signal and the control signal, the safety shutdown pre-drive module and the three-phase bridge pre-drive module drive the first power supply safety switch and the motor drive safety switch module to turn on, drive the three-phase bridge circuit to work, and the power supply is transmitted to the three-phase bridge circuit through the first anti-reverse module and the first power supply safety switch. The AC current processed by the three-phase bridge circuit is transmitted to the single three-phase motors on both sides of the six-phase motor through the first power supply safety switch module, driving the single three-phase motors on both sides of the six-phase motor to work; wherein, the output signal is a high level.

[0047] Solution 14. The motor control driving method according to Solution 13 is characterized in that the power management and control module controls the three-phase bridge driving module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge driving modules, and the operation state of the single three-phase motor of the six-phase motor, so as to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively, including:

[0048] When a fault occurs in the operating state of the power supply, the operating state of the power management chip or the main control chip, the power management chip outputs a reset signal to the main control chip to reset the main control chip, and outputs a fault feedback signal to the first logic AND gate and the second logic AND gate of the two groups of three-phase bridge drive modules, wherein the fault feedback signal is a low level;

[0049] The first logic AND gate determines an output signal based on the fault feedback signal and sends it to the corresponding safety shutdown pre-driving module. The safety shutdown pre-driving module controls the first power supply safety switch and the motor drive safety switch module to shut down based on the output signal, so that the power supply of the three-phase bridge circuit corresponding to the single-phase three-phase motors on both sides is stopped, and the single-phase three-phase motors on both sides are disconnected from the corresponding three-phase bridge circuit;

[0050] The second logic AND gate determines the output signal based on the fault feedback signal and sends it to the three-phase bridge pre-drive module. The three-phase bridge pre-drive module controls the three-phase bridge circuits corresponding to the single three-phase motors on both sides to shut down based on the output signal, so that the driving of the three-phase bridge circuits corresponding to the single three-phase motors on both sides is stopped; wherein the output signal is a low level.

[0051] Solution 15. The motor control driving method according to Solution 13 is characterized in that the power management and control module controls the three-phase bridge driving module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge driving modules, and the operation state of the single three-phase motor of the six-phase motor, so as to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively, including:

[0052] When a fault occurs in the operating state of a group of the three-phase bridge drive modules, the operating state of the single three-phase motor on one side, or the communication state between the first core and the second core, the power management chip outputs a fault feedback signal to the first logic AND gate and the second logic AND gate corresponding to the three-phase bridge drive module, the single three-phase motor, the first core, or the second core where the fault occurs, wherein the fault feedback signal is a low level;

[0053] The first logic AND gate determines an output signal based on the fault feedback signal and sends it to the corresponding safety shutdown pre-driver module. The safety shutdown pre-driver module controls the corresponding first power supply safety switch and motor drive safety switch module to shut down based on the output signal, and the power supply of the three-phase bridge circuit corresponding to the single three-phase motor on one side is shut down;

[0054] The second logic AND gate determines an output signal based on the fault feedback signal and sends it to the three-phase bridge pre-drive module. The three-phase bridge pre-drive module controls the corresponding three-phase bridge circuit to shut down based on the output signal, and the driving of the three-phase bridge circuit corresponding to the single three-phase motor on one side stops, and the system enters a degraded operating state; wherein the output signal is a low level.

[0055] Solution 16. The motor control driving method according to Solution 13, characterized in that the method further comprises:

[0056] The first core and / or the second core outputs a control signal to the corresponding first logic AND gate, the first logic AND gate determines an output signal based on the control signal and sends it to the corresponding safety shutdown pre-driver module, the safety shutdown pre-driver module controls the corresponding first power supply safety switch and motor drive safety switch module to shut down based on the output signal, and the power supply of the three-phase bridge circuit corresponding to the first core and / or the second core is stopped; or,

[0057] The first core and / or the second core outputs a control signal to the three-phase bridge pre-driver module, and the three-phase bridge pre-driver module controls the corresponding three-phase bridge circuit to shut down based on the control signal, and the driving of the three-phase bridge circuit corresponding to the first core and / or the second core is stopped; wherein the control signal and the output signal are at a low level.

[0058] Solution 17. The motor control driving method according to Solution 12, characterized in that the method further comprises:

[0059] The power supply is connected by an anti-reverse diode, and the power supply is transmitted to the power management chip through the anti-reverse diode. After the power management chip converts the power supply, it supplies power to the main control chip, the logic control module and the three-phase bridge safety drive module; and / or,

[0060] The power supply is connected by the first anti-reverse module, and the power supply is transmitted to the first power supply safety switch through the first anti-reverse module. The first power supply safety switch supplies power to the three-phase bridge circuit, the safety shutdown pre-driver module and the three-phase bridge pre-driver module based on the control of the safety shutdown pre-driver module.

[0061] The above one or more technical solutions of the present application have at least one or more of the following beneficial effects:

[0062] The motor control drive system provided by the present application is applied to a six-phase motor, and the system includes: a power management and control module and two groups of independent three-phase bridge drive modules, and each group of the three-phase bridge drive modules is electrically connected to the power management and control module and one side of the single three-phase motors on both sides of the six-phase motor; the power management and control module is configured to connect the power supply and the two groups of independent three-phase bridge drive modules respectively, and based on the power supply operation state, the operation state of the power management and control module, the operation state of each group of the three-phase bridge drive modules and the motor operation state, the two groups of independent three-phase bridge drive modules are controlled to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively. The present application realizes the simultaneous or selective driving and shutting down of the single three-phase motors on both sides of a six-phase motor by designing two groups of independent three-phase bridge drive modules, which significantly improves the flexibility of the system; for the common motor failures, power supply failures and drive failures in the motor drive system, a safety redundancy design is carried out, which not only enhances the robustness of the system, but also effectively controls the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The disclosure of the present application will become easier to understand with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present application. Among them:

[0064] Figure 1 is a main structural diagram of a motor control drive system according to an embodiment of the present application;

[0065] Figure 2 is a main structural schematic diagram of a motor control drive system according to another embodiment of the present application;

[0066] Figure 3 is a detailed structural schematic diagram of a motor control drive system applied to rear wheel steering according to another embodiment of the present application;

[0067] Figure 4 It is a flowchart of the main steps of a motor control driving method according to an embodiment of the present application. DETAILED DESCRIPTION

[0068] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0069] In the description of the present application, "module" and "processor" may include hardware, software or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, memory, and may also include software parts, such as program code, or a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware or a combination of the two. Computer-readable storage media include any suitable medium that can store program code, such as a disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and / or B" and may include only A, only B or A and B. The singular terms "one" and "the" may also include plural forms.

[0070] At present, by implementing redundancy in power supply, control, drive and motor, the reliability and safety of the system can be significantly improved. Even if a component fails, the system can continue to work or at least enter a safe state. However, comprehensive redundant design will greatly increase the complexity and cost of the system. In the field of motor drive, the proportion of motor failure, power supply failure and drive failure is much higher than that of control end failure. Therefore, when designing a redundant solution, giving priority to these high-risk components may be a more cost-effective strategy.

[0071] To this end, the motor control drive system provided by the present application is applied to a six-phase motor, and the system includes: a power management and control module and two groups of independent three-phase bridge drive modules, and each group of the three-phase bridge drive modules is electrically connected to the power management and control module and one side of the single three-phase motors on both sides of the six-phase motor; the power management and control module is configured to connect the power supply and the two groups of independent three-phase bridge drive modules respectively, and based on the power supply operation state, the operation state of the power management and control module, the operation state of each group of the three-phase bridge drive modules and the motor operation state, the two groups of independent three-phase bridge drive modules are controlled to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively. The present application realizes the simultaneous or selective driving and shutting down of the single three-phase motors on both sides of a six-phase motor by designing two groups of independent three-phase bridge drive modules, which significantly improves the flexibility of the system; for the common motor failures, power supply failures and drive failures in the motor drive system, a safety redundancy design is carried out, which not only enhances the robustness of the system, but also effectively controls the cost.

[0072] See attached Figure 1 , Figure 1FIG. 1 is a schematic diagram of the main structure of a motor control drive system according to an embodiment of the present application. Figure 1 As shown, in this embodiment, the motor control drive system is applied to a six-phase motor, and the system includes: a power management and control module and two groups of independent three-phase bridge drive modules, and each group of the three-phase bridge drive modules is electrically connected to the power management and control module and one side of the single three-phase motors on both sides of the six-phase motor; the power management and control module is configured to connect the power supply and the two groups of independent three-phase bridge drive modules respectively, and based on the power supply operating status, the operating status of the power management and control module, the operating status of each group of the three-phase bridge drive modules and the motor operating status, the two groups of independent three-phase bridge drive modules are controlled to respectively drive or shut down the single three-phase motors on both sides of the six-phase motor.

[0073] Specifically, the motor control drive system includes a power management and control module and two independent three-phase bridge drive modules. The power supply of the motor control drive system comes from the power supply. The positive pole of the power supply is connected to the power input terminal of the power management and control module, and is transmitted to the two independent three-phase bridge drive modules through the power output terminal of the power management and control module, and then the six-phase motor is powered by the three-phase bridge drive module.

[0074] During system operation, the power management and control module controls the two independent three-phase bridge drive modules by monitoring the power supply operating status, local operating status, the operating status of each three-phase bridge drive module, and the operating status of the single three-phase motors on both sides, so that the two independent three-phase bridge drive modules can control the single three-phase motors on both sides of the six-phase motor to work or shut down separately or simultaneously.

[0075] This application realizes the simultaneous or selective driving and shutting down of single three-phase motors on both sides of a six-phase motor by designing two sets of independent three-phase bridge drive modules, which significantly improves the flexibility of the system; and carries out safety redundancy design for common motor failures, power supply failures and drive failures in the motor drive system, which not only enhances the robustness of the system but also effectively controls the cost.

[0076] In one embodiment, each group of the three-phase bridge drive modules includes a logic control module, a three-phase bridge safety drive module, a three-phase bridge circuit, a power supply safety switch module and a motor drive safety switch module, wherein the input end of the logic control module is connected to the power management and control module, and the output end is connected to the three-phase bridge safety drive module; the input end of the three-phase bridge safety drive module is respectively connected to the logic control module and the power management and control module, and the output end is respectively connected to the power supply safety switch module, the motor drive safety switch module and the three-phase bridge circuit; the input end of the power supply safety switch module is respectively connected to the power supply and the three-phase bridge safety drive module, and the output end is respectively connected to the three-phase bridge safety drive module and the three-phase bridge circuit; the output end of the three-phase bridge circuit is connected to the motor drive safety switch module; the output end of the motor drive safety switch module is connected to a single three-phase motor on one side of the six-phase motor.

[0077] Specifically, the input end of the logic control module is connected to the output end of the power management and control module, and the output end is connected to the three-phase bridge safety drive module. The logic control module is used to receive the signal output by the power management and control module, and send it to the three-phase bridge safety drive module after logical processing.

[0078] The output end of the three-phase bridge safety drive module is connected to the power supply safety switch module, the motor drive safety switch module and the three-phase bridge circuit. The three-phase bridge safety drive module controls the three-phase bridge circuit, the power supply safety switch module and the motor drive safety switch module according to the signal sent by the logic control module to realize the control of a single three-phase motor on one side of the six-phase motor.

[0079] In one embodiment, the logic control module includes a first logic AND gate and a second logic AND gate; the first signal input terminal and the second signal input terminal of the first logic AND gate and the second logic AND gate are respectively connected to the signal output terminal of the power management and control module, and the signal output terminals of the first logic AND gate and the second logic AND gate are respectively connected to the signal input terminal of the three-phase bridge safety drive module.

[0080] Specifically, each logic control module includes a first logic AND gate and a second logic AND gate. The logic AND gate refers to a chip that can perform a logic AND operation. The logic AND gate will output a high level only when all input signals are at a high level.

[0081] The first signal input terminal and the second signal input terminal of the first logic AND gate and the second logic AND gate are respectively connected to the signal output terminal of the power management and control module, and are used to receive the fault feedback signal and the control signal output by the power management and control module; the signal output terminals of the first logic AND gate and the second logic AND gate are respectively connected to the signal input terminal of the three-phase bridge safety drive module, and are used to output the output signal after logic processing to the three-phase bridge safety drive module, and the output signal is a high level or a low level.

[0082] In one embodiment, the three-phase bridge safety drive module includes a safety shutdown pre-drive module and a three-phase bridge pre-drive module; the signal input end of the safety shutdown pre-drive module is connected to the signal output end of the first logic AND gate, the first signal output end is connected to the power supply safety switch module, and the second signal output end is connected to the motor drive safety switch module.

[0083] Specifically, the first logic AND gate is arranged corresponding to the safety shutdown pre-driver module, the signal input end of the safety shutdown pre-driver module is connected to the signal output end of the first logic AND gate, receives the output signal of the first logic AND gate, determines the switch control signal based on the output signal, the switch control signal is a high level or a low level, and the safety shutdown pre-driver module outputs the switch control signal to the power supply safety switch module through the first signal output end, and outputs it to the motor drive safety switch module through the second signal output end, so as to control the opening and closing states of the power supply safety switch module and the motor drive safety switch module.

[0084] In one embodiment, the power supply safety switch module includes a first anti-reverse module and a first power supply safety switch; the input end of the first anti-reverse module is connected to the positive electrode of the power supply, and the output end is connected to the drain of the first power supply safety switch; the output end of the first power supply safety switch is respectively connected to the three-phase bridge circuit, the safety shutdown pre-drive module and the three-phase bridge pre-drive module, and the input end of the first power supply safety switch is connected to the first signal output end of the safety shutdown pre-drive module.

[0085] Specifically, the first anti-reverse module can be an anti-reverse diode. The first anti-reverse module is used to connect to the power supply. After the power supply is anti-reverse processed, it is transmitted to the first power supply safety switch to supply power to the first power supply safety switch; the first power supply safety switch decides whether to transmit the power supply to the three-phase bridge circuit and the safety shutdown pre-drive module and the three-phase bridge pre-drive module according to the switch control signal output by the safety shutdown pre-drive module to control the power supply of the three-phase bridge circuit. The first anti-reverse module and the first power supply safety switch transmit power electricity.

[0086] Specifically, when the switch control signal is at a high level, the first power supply safety switch is turned on to transfer power to the three-phase bridge circuit and the safety shutdown pre-drive module and the three-phase bridge pre-drive module; when the switch control signal is at a low level, the first power supply safety switch is turned off and power is not transferred.

[0087] In some embodiments, the first anti-reverse module and the first power supply safety switch may be N-type semiconductors with an anti-reverse function, such as MOSFET metal-oxide semiconductor field effect transistors.

[0088] like Figure 2 As shown, the source of the first anti-reverse module is connected to the positive electrode of the power supply, and the drain is connected to the drain of the first power supply safety switch; the source of the first power supply safety switch is respectively connected to the three-phase bridge circuit, the safety shutdown pre-drive module and the three-phase bridge pre-drive module, and the gate of the first power supply safety switch is connected to the first signal output end of the safety shutdown pre-drive module.

[0089] In one embodiment, the first signal input terminal of the three-phase bridge pre-driver module is connected to the signal output terminal of the second logic AND gate, the second signal input terminal is connected to the signal output terminal of the power management and control module, the first signal output terminal is connected to the signal input terminal of the power management and control module, and the second signal output terminal is connected to the signal input terminal of the three-phase bridge circuit.

[0090] Specifically, the three-phase bridge pre-driver module is arranged corresponding to the second logic AND gate, and the first signal input terminal of the three-phase bridge pre-driver module is connected to the signal output terminal of the second logic AND gate for receiving the output signal of the second logic AND gate; the second signal input terminal is connected to the signal output terminal of the main control chip for receiving the control signal of the main control chip, and the first signal output terminal is connected to the signal input terminal of the main control chip for feeding back working status information or fault status information to the main control chip; the second signal output terminal is connected to the signal input terminal of the three-phase bridge circuit, and the three-phase bridge pre-driver module generates a driving control signal based on the output signal of the second logic AND gate and the control signal of the main control chip, and sends it to the three-phase bridge circuit to control the operation of the three-phase bridge circuit.

[0091] In one embodiment, the three-phase bridge circuit includes a first bridge arm, a second bridge arm and a third bridge arm, and the first bridge arm, the second bridge arm and the third bridge arm each include two diodes, and the two diodes of the first bridge arm, the second bridge arm and the third bridge arm are all connected in series; the signal input end of the three-phase bridge circuit is connected to the second signal output end of the three-phase bridge pre-driver module.

[0092] Specifically, the three-phase bridge circuit works according to the driving control signal from the three-phase bridge pre-driving module, converts direct current into three-phase alternating current, and transmits the converted three-phase alternating current to the motor drive safety switch module.

[0093] In one embodiment, the motor drive safety switch module includes a first switch, a second switch and a third switch; the input ends of the first switch, the second switch and the third switch are respectively connected to the three-phase bridge circuit and the second signal output end of the safety shutdown pre-drive module, and the output ends are connected to the single three-phase motor.

[0094] Specifically, a switch is set on each phase path of the three bridge arms of the three-phase bridge circuit and the three-phase motor, namely the first switch, the second switch and the third switch. The first switch, the second switch and the third switch are used to decide whether to pass the three-phase alternating current output by the three-phase bridge circuit to the single-sided three-phase motor based on the switch control signal output by the safety shutdown module.

[0095] In some embodiments, the first switch, the second switch, and the third switch may be configured as MOSFET metal-oxide semiconductor field effect transistors. Figure 2 As shown, the drains of the first switch, the second switch and the third switch are respectively connected to the three-phase bridge circuit, the sources are connected to the single three-phase motor, and the gates are connected to the second signal output terminal of the safety shutdown pre-driver module.

[0096] In one embodiment, the power management and control module includes a power management chip and a main control chip; the power input end of the power management chip is electrically connected to the power supply, and the power output end is respectively connected to the power input end of the main control chip, the logic control module, and the three-phase bridge safety drive module; the signal input end of the power management chip is connected to the signal output end of the main control chip, and the signal output end is respectively connected to the signal input end of the main control chip and the logic control module; the signal output end of the main control chip is respectively connected to the signal input end of the logic control module and the three-phase bridge pre-drive module, and the signal input end is respectively connected to the signal output end of the power management chip and the three-phase bridge pre-drive module.

[0097] In one embodiment, the signal input end of the power management chip is connected to the first signal output end of the main control chip, the first signal output end of the power management chip is connected to the first signal input end of the main control chip, and the second signal output end is respectively connected to the first signal input end of each logic AND gate in the logic control module.

[0098] Specifically, the power management chip refers to PMIC (Power Management IC). The power input end of the power management chip is electrically connected to the power supply. The power management chip converts the connected power supply into the working power required by the chip and outputs it to power the main control chip, logic control module, safety shutdown pre-driver module and three-phase bridge pre-driver module.

[0099] The signal input end of the power management chip is connected to the first signal output end of the main control chip, and is used to receive the status signal of the main control chip. The status signal can be a dog feeding signal sent by the main control chip to the watchdog inside the power management chip. The power management chip can determine whether the operating status of the main control chip is faulty based on the dog feeding signal.

[0100] The first signal output terminal of the power management chip is connected to the first signal input terminal of the main control chip, and is used to send a reset signal to the main control chip when the operating state of the main control chip fails; the second signal output terminal is respectively connected to the first signal input terminal of each logic AND gate in the logic control module, and is used to send a fault feedback signal to each logic AND gate.

[0101] In one embodiment, the main control chip includes a first core and a second core, and the first core and the second core are communicatively connected; the first signal output ends of the first core and the second core are respectively connected to the second signal input ends of the corresponding first logic AND gate and the second logic AND gate, the second signal output ends are connected to the second signal input end of the three-phase bridge pre-driver module, and the first signal input ends are connected to the second signal output end of the three-phase bridge pre-driver module; the first signal input and output end of the first core is connected to the first signal input and output end of the second core, and the third signal output end of the first core is connected to the second signal input end of the second core.

[0102] The main control chip refers to MCU (Microcontroller Unit), and the main control chip includes a first core and a second core. It can be understood that the main control chip can also include multiple cores, and other cores can be used to control other chips or functions.

[0103] The first core and the second core are respectively arranged corresponding to a group of three-phase bridge drive modules and a single three-phase motor on one side; the first core and the second core each include two first signal output terminals, and the two first signal output terminals are respectively connected to the second signal input terminals of the first logic AND gate and the second logic AND gate corresponding to each core, and are used to send port control signals to the first logic AND gate and the second logic AND gate, and the port control signals are low level or high level.

[0104] The first core and the second core both include a second signal output terminal, which is connected to the second signal input terminal of the three-phase bridge pre-driver module corresponding to each core, and is used to send a drive control signal to the three-phase bridge pre-driver module to control the three-phase bridge pre-driver module to drive the motor.

[0105] The generation process of the drive control signal is as follows: the first core or the second core receives and processes the motor drive instruction from the upper layer of the system, and converts it into specific motor speed and torque requirements. Torque is allocated according to these requirements, and the corresponding PWM signal or SPI signal is determined as the control signal according to the allocated torque value.

[0106] The first core and the second core both include a first signal input terminal, which is connected to the first signal output terminal of the corresponding three-phase bridge pre-driver module to receive working status information and fault status information of the three-phase bridge pre-driver module.

[0107] The first core includes a first signal input / output terminal and a third signal output terminal, and the second core includes a first signal input / output terminal and a second signal input terminal, wherein the first signal input / output terminal of the first core is connected to the first signal input / output terminal of the second core, and the third signal output terminal of the first core is connected to the second signal input terminal of the second core; the first core and the second core adopt two different communication methods to realize information exchange between the first core and the second core, and monitor each other's working status.

[0108] For example, when a fault is detected in the first core or the second core, the three-phase bridge and safety switch module corresponding to the faulty core can be cut off, and the single three-phase circuit on the other side will continue to work, ensuring that some functions of the system are not affected and maintaining basic operations, thereby improving the stability of the system.

[0109] In one embodiment, the specific logic of the motor control and drive of the present application can be found in Table 1. Table 1 Motor control and drive operation truth table

[0110] In one embodiment, the system further includes an anti-reverse diode, wherein an anode of the anti-reverse diode is connected to a positive electrode of a power source, and a cathode of the anti-reverse diode is connected to a power input terminal of the power management chip.

[0111] Specifically, the anti-reverse diode is used to connect to the power supply, and the power supply is transmitted to the power management chip after anti-reverse processing to power the power management and control module, two independent three-phase bridge drive modules and the six-phase motor.

[0112] See attached Figure 3 , Figure 3 FIG. 1 is a detailed structural diagram of a motor control drive system for rear wheel steering according to another embodiment of the present application. Figure 3As shown, in one embodiment, a vehicle signal interface module, a communication interface module, a steering rod position sensor signal measurement and monitoring module, a motor position measurement and monitoring module, a motor current measurement and monitoring module, and a motor voltage measurement and monitoring module are added to the motor control drive system to form a rear-wheel steering control and drive system architecture with redundant safety.

[0113] See attached Figure 4 , Figure 4 is a detailed structural diagram of a motor control drive system according to another embodiment of the present application; Figure 4 As shown, the motor control driving method of the present application is applied to a six-phase motor. The method is executed based on the motor control driving system described in any one of the embodiments of the motor control driving system, and the method includes:

[0114] Step S101: the power management and control module obtains the power supply operation status, the operation status of the power management and control module, the operation status of each group of three-phase bridge drive modules, and the single three-phase motor operation status of the six-phase motor.

[0115] Specifically, the power management chip can determine the power supply operating status through the status of the power supply connection, determine the operating status of the main control chip according to the status signal feedback from the main control chip, determine the operating status of the power management chip according to the local operating status, determine the operating status of each group of three-phase bridge drive modules according to the feedback signal of the three-phase bridge drive module, and determine the operating status of a single three-phase motor in the six-phase motor according to the feedback signal of the single three-phase motor.

[0116] Step S102: The power management and control module controls the three-phase bridge drive module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operating status, the operating status of the power management and control module, the operating status of each group of three-phase bridge drive modules, and the operating status of the single three-phase motor of the six-phase motor, so as to respectively drive or shut down the single three-phase motors on both sides of the six-phase motor.

[0117] For step S102, in one embodiment, the power management and control module controls the three-phase bridge drive module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge drive modules, and the operation state of the single three-phase motor of the six-phase motor, so as to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively, including: when the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge drive modules, and the operation state of the single three-phase motors on both sides are not faulty, the power management chip outputs a fault feedback signal to the first logic AND gate and the second logic AND gate of the two groups of three-phase bridge drive modules, and the main control chip outputs a control signal to the first logic AND gate of the two groups of three-phase bridge drive modules AND gate, a second logic AND gate and a three-phase bridge pre-drive module; wherein, the fault feedback signal is a high level; the first logic AND gate and the second logic AND gate determine the output signal based on the fault feedback signal and the control signal, and send it to the safety shutdown pre-drive module and the three-phase bridge pre-drive module; the safety shutdown pre-drive module and the three-phase bridge pre-drive module drive the first power supply safety switch and the motor drive safety switch module to turn on based on the output signal and the control signal, drive the three-phase bridge circuit to work, and the power supply is transmitted to the three-phase bridge circuit through the first anti-reverse module and the first power supply safety switch. The AC current processed by the three-phase bridge circuit is transmitted to the single three-phase motors on both sides of the six-phase motor through the first power supply safety switch module, driving the single three-phase motors on both sides of the six-phase motor to work; wherein, the output signal is a high level.

[0118] Specifically, when there is no fault in the power supply operating state, the communication state between the first core and the second core, the operating state of the main control chip, the operating state of the power management chip, the operating state of each group of three-phase bridge drive modules, and the operating state of the single three-phase motors on both sides, the fault feedback signal output by the power management chip is a high level, and is sent to the first logic AND gate and the second logic AND gate of the two groups of three-phase bridge drive modules respectively. The output signal determined by the first logic AND gate and the second logic AND gate based on the fault feedback signal and the control signal of the main control chip is also a high level, and the output signal is sent to the safety shutdown pre-drive module and the three-phase bridge pre-drive module. The safety shutdown pre-drive module and the three-phase bridge pre-drive module determine the drive control signal and the switch control signal based on the output signal.

[0119] The switch control signal controls the first power supply safety switch and the motor drive safety switch module connected to the safety shutdown pre-drive module to be turned on, and the drive control signal drives the three-phase bridge circuit connected to the three-phase bridge pre-drive module to work. The power supply is transmitted to the three-phase bridge circuit through the first anti-reverse module and the first power supply safety switch, and the three-phase AC current is obtained after being processed by the three-phase bridge circuit. The three-phase AC current is then transmitted to the single three-phase motors on both sides of the six-phase motor through the motor drive safety switch module, driving the single three-phase motors on both sides of the six-phase motor to work.

[0120] In one embodiment, the power management and control module controls the three-phase bridge drive module corresponding to the single three-phase motor of the six-phase motor based on at least one of the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge drive modules, and the operation state of the single three-phase motor of the six-phase motor, so as to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively, including: when the power supply operation state, the operation state of the power management chip or the main control chip fails, the power management chip outputs a reset signal to the main control chip to reset the main control chip, and outputs a fault feedback signal to the first logic AND gate and the second logic AND gate of the two groups of three-phase bridge drive modules, wherein the fault feedback signal is low level; the first logic AND gate determines the output signal based on the fault feedback signal, and sends it to the corresponding safety shutdown pre-drive module. The safety shutdown pre-drive module controls the first power supply safety switch and the motor drive safety switch module to shut down based on the output signal, so that the power supply of the three-phase bridge circuit corresponding to the single three-phase motors on both sides is stopped, and the single three-phase motors on both sides are disconnected from the corresponding three-phase bridge circuit; the second logic AND gate determines the output signal based on the fault feedback signal, and sends it to the three-phase bridge pre-drive module. The three-phase bridge pre-drive module controls the three-phase bridge circuit corresponding to the single three-phase motors on both sides to shut down based on the output signal, so that the driving of the three-phase bridge circuit corresponding to the single three-phase motors on both sides is stopped; wherein, the output signal is a low level.

[0121] Specifically, when a fault occurs in the power supply operation state, the power management chip or the operation state of the main control chip, the power management chip outputs a reset signal to the main control chip to reset the main control chip; at the same time, the power management chip outputs a fault feedback signal (low level), and sends the fault feedback signal to the logic control modules of the two groups of three-phase bridge drive modules. The logic control module determines that the output signal is also low level based on the low-level fault feedback signal, and sends the output signal to the safety shutdown pre-drive module and the three-phase bridge pre-drive module. The safety shutdown pre-drive module determines that the switch control signal is low level based on the output signal, and controls the first power supply safety switch and the motor drive safety switch module to shut down. At this time, the power supply of the three-phase bridge circuits on both sides is cut off, and the outputs of the three-phase bridge circuits on both sides are disconnected from the single three-phase motors on both sides. The three-phase bridge pre-drive module determines the drive control signal based on the output signal, controls the three-phase bridge circuits corresponding to the single three-phase motors on both sides to shut down, and stops the drive of the three-phase bridge circuits corresponding to the single three-phase motors on both sides, and the system stops working.

[0122] In one embodiment, the power management and control module controls the three-phase bridge drive module corresponding to the single three-phase motor of the six-phase motor based on the power supply operation state, the operation state of the power management and control module, the operation state of each group of three-phase bridge drive modules, and at least one of the operation states of the single three-phase motor of the six-phase motor, so as to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively, including: when the operation state of one group of the three-phase bridge drive modules, the operation state of one side of the single three-phase motor, or the communication state between the first core and the second core fails, the power management chip outputs to the first logic AND gate and the second logic AND gate corresponding to the failed three-phase bridge drive module, the single three-phase motor, the first core, or the second core A fault feedback signal is output, wherein the fault feedback signal is at a low level; the first logic AND gate determines an output signal based on the fault feedback signal, and sends it to the corresponding safety shutdown pre-drive module, and the safety shutdown pre-drive module controls the corresponding first power supply safety switch and motor drive safety switch module to shut down based on the output signal, and the power supply of the three-phase bridge circuit corresponding to the single three-phase motor on one side is shut down; the second logic AND gate determines an output signal based on the fault feedback signal, and sends it to the three-phase bridge pre-drive module, and the three-phase bridge pre-drive module controls the corresponding three-phase bridge circuit to shut down based on the output signal, and the driving of the three-phase bridge circuit corresponding to the single three-phase motor on one side is stopped, and the system enters a degraded operation state; wherein the output signal is at a low level.

[0123] Specifically, when a group of three-phase bridge drive modules fail in operation, or a single three-phase motor on one side fails in operation, or the first core cannot receive the communication signal of the second core, or the second core cannot receive the communication signal of the first core, the power management chip sends a fault feedback signal (low level) to the logic control module corresponding to the failed three-phase bridge drive module, the single three-phase motor, the first core or the second core. The logic control module determines that the output signal is a low level based on the fault feedback signal, and sends the output signal to the corresponding safety shutdown pre-driver module and the three-phase bridge pre-driver module respectively.

[0124] The safety shutdown pre-driver module determines that the switch control signal is at a low level based on the output signal, controls the corresponding first power supply safety switch and motor drive safety switch module to shut down, and the power supply of the corresponding single-side three-phase bridge circuit is cut off; the three-phase bridge pre-driver module outputs a drive control signal according to the output signal, and the drive of the corresponding three-phase bridge circuit stops. At this time, the three-phase bridge driver module and the single three-phase motor on the other side that have not failed can continue to work, and the system is in a degraded operating state.

[0125] In one embodiment, the method also includes: the first core and / or the second core outputs a control signal to the corresponding first logic AND gate, the first logic AND gate determines the output signal based on the control signal and sends it to the corresponding safety shutdown pre-driver module, the safety shutdown pre-driver module controls the corresponding first power supply safety switch and motor drive safety switch module to shut down based on the output signal, and the power supply of the three-phase bridge circuit corresponding to the first core and / or the second core is stopped; or, the first core and / or the second core outputs a control signal to the three-phase bridge pre-driver module, the three-phase bridge pre-driver module controls the corresponding three-phase bridge circuit to shut down based on the control signal, and the driving of the three-phase bridge circuit corresponding to the first core and / or the second core is stopped; wherein, the control signal and the output signal are low level.

[0126] Specifically, when the main control chip needs to actively shut down the three-phase bridge drive module, or actively disconnect the first power supply safety switch and the motor drive safety switch module, the main control chip outputs an active shutdown control signal, and the control signal is a low level, which can shut down the three-phase bridge drive module and the first power supply safety switch and the motor drive safety switch module.

[0127] In one embodiment, the method also includes: using an anti-reverse diode to connect to the power supply, the power supply is transmitted to the power management chip through the anti-reverse diode, and the power management chip converts the power supply to supply power to the main control chip, the logic control module and the three-phase bridge safety drive module; and / or, using a first anti-reverse module to connect to the power supply, the power supply is transmitted to the first power supply safety switch through the first anti-reverse module, and the first power supply safety switch supplies power to the three-phase bridge circuit, the safety shutdown pre-drive module and the three-phase bridge pre-drive module based on the control of the safety shutdown pre-drive module.

[0128] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art can understand that in order to achieve the effect of the present application, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in other orders. These adjusted schemes are equivalent to the technical schemes described in this application, and therefore will also fall within the scope of protection of this application.

[0129] It is understood by those skilled in the art that all or part of the processes in the method for implementing the above-mentioned embodiment of the present application can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunication signal and software distribution medium, etc. that can carry the computer program code.

[0130] So far, the technical solution of the present application has been described in conjunction with an embodiment shown in the accompanying drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A motor control drive system, applied to a six-phase motor, characterized in that: The system includes: a power management and control module and two groups of independent three-phase bridge drive modules, and each group of the three-phase bridge drive modules is electrically connected to the power management and control module and one side of the single three-phase motors on both sides of the six-phase motor; the power management and control module is configured to connect the power supply and the two groups of independent three-phase bridge drive modules respectively, and based on the operating status of the power supply, the operating status of the power management and control module, the operating status of each group of the three-phase bridge drive modules and the motor operating status, the two groups of independent three-phase bridge drive modules are controlled to drive or shut down the single three-phase motors on both sides of the six-phase motor respectively.

2. The motor control drive system according to claim 1, characterized in that: Each group of the three-phase bridge drive modules includes a logic control module, a three-phase bridge safety drive module, a three-phase bridge circuit, a power supply safety switch module and a motor drive safety switch module, wherein the input end of the logic control module is connected to the power management and control module, and the output end is connected to the three-phase bridge safety drive module; the input end of the three-phase bridge safety drive module is respectively connected to the logic control module and the power management and control module, and the output end is respectively connected to the power supply safety switch module, the motor drive safety switch module and the three-phase bridge circuit; the input end of the power supply safety switch module is respectively connected to the power supply and the three-phase bridge safety drive module, and the output end is respectively connected to the three-phase bridge safety drive module and the three-phase bridge circuit; the output end of the three-phase bridge circuit is connected to the motor drive safety switch module; the output end of the motor drive safety switch module is connected to a single three-phase motor on one side of the six-phase motor.

3. The motor control drive system according to claim 2, characterized in that: The logic control module includes a first logic AND gate and a second logic AND gate; the first signal input terminal and the second signal input terminal of the first logic AND gate and the second logic AND gate are respectively connected to the signal output terminal of the power management and control module, and the signal output terminals of the first logic AND gate and the second logic AND gate are respectively connected to the signal input terminal of the three-phase bridge safety drive module.

4. The motor control drive system according to claim 3, characterized in that: The three-phase bridge safety drive module includes a safety shutdown pre-drive module and a three-phase bridge pre-drive module; The signal input end of the safety shutdown pre-driver module is connected to the signal output end of the first logic AND gate, the first signal output end is connected to the power supply safety switch module, and the second signal output end is connected to the motor drive safety switch module.

5. The motor control drive system according to claim 4, characterized in that: The first signal input end of the three-phase bridge pre-driver module is connected to the signal output end of the second logic AND gate, the second signal input end is connected to the signal output end of the power management and control module, the first signal output end is connected to the signal input end of the power management and control module, and the second signal output end is connected to the signal input end of the three-phase bridge circuit.

6. The motor control drive system according to claim 2, characterized in that: The power management and control module includes a power management chip and a main control chip; The power input end of the power management chip is electrically connected to the power supply, the power output end is respectively connected to the power input end of the main control chip, the logic control module, and the three-phase bridge safety drive module, the signal input end of the power management chip is connected to the signal output end of the main control chip, and the signal output end is respectively connected to the signal input end of the main control chip and the logic control module; The signal output end of the main control chip is connected to the signal input end of the logic control module and the three-phase bridge pre-driver module respectively, and the signal input end is connected to the signal output end of the power management chip and the three-phase bridge pre-driver module respectively.

7. The motor control drive system according to claim 6, characterized in that: The signal input end of the power management chip is connected to the first signal output end of the main control chip, the first signal output end of the power management chip is connected to the first signal input end of the main control chip, and the second signal output end is respectively connected to the first signal input end of each logic AND gate in the logic control module.

8. The motor control drive system according to claim 6, characterized in that: The main control chip includes a first core and a second core, and the first core and the second core are communicatively connected; the first signal output ends of the first core and the second core are respectively connected to the second signal input ends of the corresponding first logic AND gate and the second logic AND gate, the second signal output ends are connected to the second signal input end of the three-phase bridge pre-driver module, and the first signal input ends are connected to the second signal output end of the three-phase bridge pre-driver module; The first signal input / output terminal of the first core is connected to the first signal input / output terminal of the second core, and the third signal output terminal of the first core is connected to the second signal input terminal of the second core.

9. The motor control drive system according to claim 6, characterized in that: The system also includes an anti-reverse diode, wherein the anode of the anti-reverse diode is connected to the positive electrode of the power supply, and the cathode is connected to the power input terminal of the power management chip.

10. The motor control drive system according to claim 4, characterized in that: The power supply safety switch module includes a first anti-reverse module and a first power supply safety switch; The input end of the first anti-reverse module is connected to the positive electrode of the power supply, and the output end is connected to the first power supply safety switch; The output end of the first power supply safety switch is respectively connected to the three-phase bridge circuit, the safety shutdown pre-driver module and the three-phase bridge pre-driver module, and the input end of the first power supply safety switch is connected to the first signal output end of the safety shutdown pre-driver module.

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