Motor operation mode switching method, device and equipment and vehicle

Abstract

The invention relates to a motor operation mode switching method, device and equipment and a vehicle, and the method comprises the steps: monitoring the phase current of each bridge arm in response to a mode switching instruction sent by a vehicle control unit; and on the basis of the phase current of each bridge arm, sequentially turning off each bridge arm. And when the motor is in the working mode, the motor controller monitors the phase current of each bridge arm of the motor after receiving a mode switching instruction of the motor, and sequentially disconnects all the bridge arms of the motor, so that the motor enters a free rotation mode. Therefore, by closing the bridge arms of the motor in sequence, the problem that phase currents of all the bridge arms are suddenly changed due to the fact that all the bridge arms of the motor are directly switched off can be avoided, then the problem that currents intensively flow to the bus side and consequently the bus voltage is suddenly increased can be avoided, and the overvoltage risk in the mode switching process of the motor is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of motor control technology, and in particular to a motor operation mode switching method, device, equipment and vehicle. Background Art

[0002] With the development of automobile technology, more and more people are choosing to use electric vehicles due to the excellent acceleration performance brought by the use of motor drive in electric vehicles. When the motor switches from the working mode to the freewheeling mode (freewheeling, FW mode), if the power devices in all the motor bridge arms are directly disconnected, when the induced voltage generated by the motor is too large, the induced voltage will be output to the power battery through the reverse conduction diode of the power device, which may cause damage to the electronic devices in the car and even cause safety accidents in serious cases. Therefore, how to smoothly disconnect all the bridge arms of the motor and reduce the overvoltage risk during the mode switching process of the motor has become a technical problem that technicians in this field need to solve urgently. Summary of the invention

[0003] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a motor operation mode switching method, device, equipment and vehicle.

[0004] In a first aspect, the present disclosure provides a method for switching an operating mode of a motor, comprising: monitoring the phase current of each bridge arm in response to a mode switching instruction sent by a vehicle controller; and shutting down each bridge arm in turn based on the phase current of each bridge arm.

[0005] Optionally, in response to a mode switching instruction sent by the vehicle controller, the phase current of each bridge arm is monitored, including: in response to a mode switching instruction sent by the vehicle controller, the speed of the motor is monitored; when the speed of the motor meets a preset condition, the phase current of each bridge arm is monitored.

[0006] Optionally, when the motor speed meets preset conditions, the phase current of each bridge arm is monitored, including: obtaining a first corresponding relationship between a preset motor speed and back electromotive force; determining the back electromotive force corresponding to the motor speed from the first corresponding relationship; and when the back electromotive force is less than a preset voltage, monitoring the phase current of each bridge arm.

[0007] Optionally, the motor includes a first bridge arm, a second bridge arm and a third bridge arm; based on the phase current of each bridge arm, each bridge arm is turned off in turn, including: obtaining the phase current and current change trend of the three bridge arms at the current moment; based on the phase current and current change trend of the three bridge arms, determining the shutdown order of the three bridge arms; and turning off the three bridge arms in turn based on the shutdown order.

[0008] Optionally, based on the phase currents and current change trends of the three bridge arms, the shutdown order of the three bridge arms is determined, including: based on the phase currents and current change trends of the three bridge arms, determining the corresponding time for the phase current of each bridge arm to reach the shutdown condition; based on the corresponding time lengths of the three bridge arms, determining the shutdown order of the three bridge arms in ascending order of the corresponding time lengths.

[0009] Optionally, based on the phase currents of the three bridge arms and the current change trends, the corresponding time required for the phase currents of each bridge arm to reach the shutdown condition is determined, including: based on the phase currents of the three bridge arms and the current change trends, the corresponding time required for the phase currents of each bridge arm to reach a preset current threshold is determined.

[0010] Optionally, the method further includes: when a hardware failure occurs in the motor, stopping outputting drive control signals to each bridge arm.

[0011] In the second aspect, the present disclosure also provides a motor operation mode switching device, including: a phase current monitoring module, used to monitor the phase current of each bridge arm in response to a mode switching instruction sent by a vehicle controller; a bridge arm shutdown module, used to shut down each bridge arm in turn based on the phase current of each bridge arm.

[0012] In a third aspect, the present disclosure further provides a motor operation mode switching device, the device comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the motor operation mode switching method of the first aspect is implemented.

[0013] In a fourth aspect, the present disclosure further provides a vehicle, the vehicle comprising the motor operation mode switching device of the third aspect.

[0014] The present disclosure provides a method, device, equipment and vehicle for switching the operation mode of a motor. When the motor is in the working mode, after the motor controller receives the mode switching instruction sent from the vehicle controller, it will monitor the phase current of each bridge arm of the motor in real time. When it is detected that the phase current of any bridge arm reaches the preset current threshold, the motor controller will disconnect the bridge arm and continue to monitor the phase current of other bridge arms. After all bridge arms are turned off in sequence, the motor enters the free wheeling mode. The present disclosure can avoid the problem of sudden changes in the phase current of all bridge arms due to directly turning off all bridge arms of the motor by turning off each bridge arm of the motor in sequence, and further avoid the problem of current concentrated on the bus side, causing the bus voltage to increase suddenly. In this way, all bridge arms of the motor can be smoothly disconnected, reducing the risk of overvoltage during the mode switching process of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic flow chart of a method for switching a motor operation mode provided in an embodiment of the present disclosure.

[0017] Figure 2 A schematic flow chart of a preferred method for switching motor operation modes provided in an embodiment of the present disclosure.

[0018] Figure 3 A schematic diagram of the structure of a motor operation mode switching device provided in an embodiment of the present disclosure.

[0019] Figure 4 A schematic diagram of the structure of a motor operation mode switching device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] The features and exemplary embodiments of various aspects of the application will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the application. However, it is obvious to those skilled in the art that the application can be implemented when some details in these specific details are not needed. The following description of the embodiments is only to provide a better understanding of the application by illustrating the example of the application.

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The embodiments will be described in detail below in conjunction with the accompanying drawings.

[0022] Figure 1 A flow chart of a method for switching a motor operation mode provided by an embodiment of the present disclosure is shown in FIG. Figure 1 As shown, the motor operation mode switching method includes: S110 and S120.

[0023] S110 , in response to the mode switching instruction sent by the vehicle controller, monitoring the phase current of each bridge arm.

[0024] Specifically, when the motor is in normal working mode, if the motor needs to be switched from normal working mode to free-wheeling mode, the vehicle controller will send a mode switching instruction to the motor controller. The motor controller starts to monitor the phase current of each bridge arm of the motor in real time based on the received mode switching instruction.

[0025] S120 , shutting down each bridge arm in sequence based on the phase current of each bridge arm.

[0026] Specifically, the motor controller will monitor the current value of the phase current of each bridge arm of the motor in real time. When the current value of the phase current of any bridge arm reaches the preset current threshold, the motor controller will disconnect the bridge arm. The preset current threshold is 0. The motor controller will continue to monitor the current value of the phase current of other bridge arms, and turn off the other remaining bridge arms when the current value of the phase current reaches the preset current threshold until all the bridge arms are disconnected, thereby realizing that all the bridge arms of the motor are turned off in sequence, and the motor enters the free wheeling mode. If the bridge arm is disconnected before the phase current of the bridge arm reaches 0, a sudden change of the phase current of the bridge arm from any current value to 0 will occur. Therefore, the present disclosure can avoid the problem of sudden change of the phase current of the bridge arm caused by directly disconnecting the bridge arm by successively turning off the bridge arm whose phase current reaches 0 in the motor, and further avoid the problem of current concentratedly flowing to the bus side, causing the bus voltage to suddenly increase. This achieves a smooth disconnection of all the bridge arms of the motor and reduces the risk of overvoltage during the mode switching process of the motor.

[0027] In some embodiments, in response to a mode switching instruction sent by a vehicle controller, the phase current of each bridge arm is monitored, including: S210 and S220.

[0028] S210, in response to the mode switching instruction sent by the vehicle controller, monitoring the speed of the motor;

[0029] S220: When the rotation speed of the motor meets a preset condition, monitor the phase current of each bridge arm.

[0030] In S210, when the motor is in the normal working mode, if the motor needs to be switched from the normal working mode to the free-wheeling mode, the vehicle controller sends a mode switching instruction to the motor controller, and the motor controller starts to monitor the motor speed in real time according to the received mode switching instruction.

[0031] In S220, since the voltage value of the motor depends on the speed of the motor, if the working mode of the motor is switched when the voltage value of the motor is too large, the voltage value of the motor will be greater than the voltage value of the DC power supply on the bus side, thereby causing the motor to output current to the bus side, that is, the phenomenon of current backflow occurs and the bus is damaged. Therefore, the present disclosure sets corresponding preset conditions for the speed of the motor. The working mode of the motor can only be switched when the speed of the motor is not greater than the voltage value of the bus. If the speed of the motor does not meet the preset conditions, the motor controller is in a waiting state until the motor speed meets the preset conditions, and then starts to switch the working mode of the motor. The present disclosure monitors the speed of the motor in real time through the motor controller, and switches the working mode of the motor when the speed of the motor meets the preset conditions. At this time, the motor controller will start to monitor the phase current of each bridge arm of the motor, and turn off the bridge arm whose current value of the phase current reaches 0 in turn, so that the motor enters the free wheeling mode. In this way, all bridge arms of the motor are smoothly disconnected, and while protecting the DC power supply of the bus, the overvoltage risk during the motor mode switching process is reduced.

[0032] In some embodiments, when the rotation speed of the motor meets a preset condition, the phase current of each bridge arm is monitored, including: S310 to S330.

[0033] S310, obtaining a first corresponding relationship between a preset motor speed and a back electromotive force;

[0034] S320, determining the back electromotive force corresponding to the rotation speed of the motor from the first corresponding relationship;

[0035] S330. When the back electromotive force is less than a preset voltage, monitor the phase current of each bridge arm.

[0036] In S310, the first correspondence includes a one-to-one correspondence between the motor speed and the back electromotive force. When the motor is in the normal working mode, if the motor needs to be switched from the normal working mode to the free wheeling mode, the vehicle controller sends a mode switching instruction to the motor controller, and the motor controller obtains the first correspondence according to the received mode switching instruction.

[0037] In S320, the motor controller starts to monitor the motor speed in real time, and obtains the corresponding back electromotive force through the first corresponding relationship based on the monitored motor speed. The obtained back electromotive force can be regarded as the voltage value of the motor, thereby enabling real-time monitoring of the motor voltage value by real-time monitoring of the motor speed.

[0038] In S330, the motor controller monitors the motor speed in real time, and then obtains the back electromotive force corresponding to the monitored motor speed through the first corresponding relationship. When the back electromotive force obtained in real time is less than the preset voltage, it is determined that the motor speed is in a state that will not make the motor voltage value greater than the bus voltage value. Therefore, switching the working mode of the motor at this time can avoid the problem of current backflow and bus damage caused by the motor voltage value being greater than the voltage value of the DC power supply on the bus side. The present disclosure monitors the motor speed in real time through the motor controller, and then obtains the back electromotive force corresponding to the monitored motor speed through the first corresponding relationship, thereby realizing real-time monitoring of the motor voltage value. When the back electromotive force is less than the preset voltage, the motor controller starts to switch the working mode of the motor, and the motor controller monitors the phase current of each bridge arm of the motor, and turns off the bridge arm whose current value of the phase current reaches 0 in turn, so that the motor enters the free wheeling mode. In this way, all bridge arms of the motor are smoothly disconnected, and while protecting the DC power supply on the bus side, the overvoltage risk during the motor mode switching process is reduced.

[0039] In some embodiments, the motor includes a first bridge arm, a second bridge arm, and a third bridge arm; based on the phase current of each bridge arm, each bridge arm is turned off in turn, including: S410 to S430.

[0040] S410, obtaining the phase currents and current change trends of the three bridge arms at the current moment;

[0041] S420, determining a shut-down order of the three bridge arms based on the phase currents of the three bridge arms and the current change trends;

[0042] S430, shutting down the three bridge arms in sequence based on the shut-down sequence.

[0043] For example, during the operation of the motor, the motor controller monitors the phase current of each bridge arm of the motor in real time. By summing up the phase current of the bridge arm at each moment, and the phase current of the bridge arm changes periodically, the current change of each bridge arm can be obtained.

[0044] In S410, after the motor controller receives the mode switching instruction, the motor controller starts to obtain the phase currents of the first bridge arm, the second bridge arm and the third bridge arm at the current moment, and obtains the current change trend at the current moment.

[0045] In S420, the motor controller may sort the first bridge arm, the second bridge arm and the third bridge arm according to the order in which the phase current reaches 0 by obtaining the current phase current and the current variation trend, thereby determining the shutdown order of the three bridge arms.

[0046] In S430, if the shutdown order of the determined bridge arm is the first bridge arm, the second bridge arm and the third bridge arm. The motor controller will first continuously monitor the phase current of the first bridge arm, and when it is detected that the phase current of the first bridge arm reaches 0, the first bridge arm will be turned off, and the phase current of the second bridge arm will be monitored in real time. When the phase current of the second bridge arm reaches 0, the second bridge arm will be turned off, and finally the phase current of the third bridge arm will be monitored in real time. When the phase current of the third bridge arm reaches 0, the third bridge arm will be turned off, thereby realizing that all the bridge arms of the motor are turned off in sequence, and the motor enters the free wheeling mode. The present disclosure can avoid the problem of sudden change of the phase current of the bridge arm caused by directly disconnecting the bridge arm by turning off the bridge arm whose phase current reaches 0 in the motor in sequence, and further avoid the problem of current concentratedly flowing to the bus side, causing the bus voltage to increase suddenly. In this way, all the bridge arms of the motor can be smoothly disconnected, reducing the risk of overvoltage during the mode switching process of the motor.

[0047] It should be noted that the order of shutting down the bridge arms, namely the first bridge arm, the second bridge arm and the third bridge arm, is only an example, and the specific order of shutting down the bridge arms needs to be set according to actual conditions, and is not specifically limited here.

[0048] In some embodiments, based on the phase currents and current variation trends of the three bridge arms, the shutdown sequence of the three bridge arms is determined, including: S510 and S520.

[0049] S510, based on the phase currents of the three bridge arms and the current change trends, determining the corresponding duration for the phase current of each bridge arm to reach the shutdown condition;

[0050] S520 , based on the corresponding durations of the three bridge arms, determine a shut-down order of the three bridge arms in ascending order of the corresponding durations.

[0051] Exemplarily, in S510, when the motor controller receives the mode switching instruction, the motor controller starts to obtain the phase currents of the first bridge arm, the second bridge arm, and the third bridge arm at the current moment, and obtains the current change trend at the current moment. The motor controller can obtain the first time when the first bridge arm reaches the shutdown condition from the phase current at the current moment through the phase current of the first bridge arm at the current moment and the current change trend. The second time when the second bridge arm reaches the shutdown condition from the phase current at the current moment through the phase current of the second bridge arm at the current moment and the current change trend. The third time when the third bridge arm reaches the shutdown condition from the phase current at the current moment through the phase current of the third bridge arm at the current moment and the current change trend.

[0052] In S520, the motor controller compares the first time, the second time, and the third time, and sorts them from small to large according to the size relationship between the first time, the second time, and the third time, and determines the shutdown order of the corresponding bridge arm according to the sorted order. For example, the first time is less than the second time and less than the third time, that is, the phase current of the first bridge arm reaches the shutdown condition first, the time when the phase current of the second bridge arm reaches the shutdown condition is second, and the phase current of the third bridge arm reaches the shutdown condition last, thereby determining the shutdown order of the three bridge arms, first shutting down the first bridge arm, then shutting down the second bridge arm, and finally shutting down the third bridge arm. Therefore, the present disclosure realizes that the shutdown order of each bridge arm can be determined by determining the time when the phase current of each bridge arm reaches the shutdown condition.

[0053] In some embodiments, based on the phase currents of the three bridge arms and the current change trends, the corresponding time required for the phase currents of each bridge arm to reach the shutdown condition is determined, including: based on the phase currents of the three bridge arms and the current change trends, the corresponding time required for the phase currents of each bridge arm to reach a preset current threshold is determined.

[0054] Exemplarily, the motor controller obtains the first time when the phase current of the first bridge arm changes to 0 from the current moment through the phase current and the current change trend of the first bridge arm at the current moment. The second time when the phase current of the second bridge arm changes to 0 from the current moment is obtained through the phase current and the current change trend of the second bridge arm at the current moment. The third time when the phase current of the third bridge arm changes to 0 from the current moment is obtained through the phase current and the current change trend of the third bridge arm at the current moment. The first time, the second time and the third time are compared, and the order of the corresponding bridge arm shutdown is determined according to the order of arrangement. For example, the first time is less than the second time and less than the third time, that is, the phase current of the first bridge arm changes to 0 first, the time when the phase current of the second bridge arm changes to 0 is second, and the phase current of the third bridge arm changes to 0 last, thereby determining the shutdown order of the three bridge arms as follows: first shut down the first bridge arm, then shut down the second bridge arm, and finally shut down the third bridge arm.

[0055] In some embodiments, the motor operation mode switching method further includes: when a hardware failure occurs in the motor, stopping outputting drive control signals to each bridge arm.

[0056] For example, if an overcurrent fault occurs in the motor and its related circuits, an operating fault in the inverter, or a hardware fault such as a safety-related CAN communication fault interfering with torque control occurs, the motor controller stops outputting drive control signals to each bridge arm, turns off the IGBT on each bridge arm, and switches the motor from the normal operating mode to the free-wheeling mode.

[0057] It should be noted that the hardware failures of the motor include overcurrent failures of the motor and its related circuits, operating failures of the inverter, and safety-related CAN communication failures interfering with torque control are all examples. The specific type of hardware failure is determined based on actual conditions and is not specifically limited here.

[0058] Figure 2 A schematic flow chart of a preferred motor operation mode switching method provided by an embodiment of the present disclosure, wherein the motor includes a first bridge arm, a second bridge arm and a third bridge arm, such as Figure 2 As shown, the method includes: S610 to S680.

[0059] S610: In response to a mode switching instruction sent by a vehicle controller, monitor the rotation speed of the motor.

[0060] S620: Obtain a first corresponding relationship between a preset motor speed and back electromotive force.

[0061] S630: Determine the back electromotive force corresponding to the rotation speed of the motor from the first corresponding relationship.

[0062] S640: When the back electromotive force is less than a preset voltage, monitor the phase current of each bridge arm.

[0063] In S610, when the motor is in the normal working mode, if the motor needs to be switched from the normal working mode to the free-wheeling mode, the vehicle controller sends a mode switching instruction to the motor controller, and the motor controller starts to monitor the motor speed in real time based on the received mode switching instruction.

[0064] In S620, the first correspondence includes a one-to-one correspondence between the motor speed and the back electromotive force. When the motor is in the normal working mode, if the motor needs to be switched from the normal working mode to the free wheeling mode, the vehicle controller sends a mode switching instruction to the motor controller, and the motor controller obtains the first correspondence according to the received mode switching instruction.

[0065] In S630, the motor controller starts to monitor the motor speed in real time, and obtains the back electromotive force corresponding to the motor speed through a first corresponding relationship based on the acquired motor speed. The obtained back electromotive force can be regarded as the voltage value of the motor, thereby enabling real-time monitoring of the motor voltage value by real-time monitoring of the motor speed.

[0066] In S640, when the back electromotive force obtained in real time is less than the preset voltage, the motor controller determines that the motor speed is not such that the motor voltage value is greater than the bus voltage value, so switching the motor working mode at this time can avoid the problem of current backflow and bus damage caused by the motor voltage value being greater than the voltage value of the DC power supply on the bus side. Therefore, when the back electromotive force is less than the preset voltage, the motor controller is allowed to start switching the motor working mode, and the motor controller monitors the phase current of each bridge arm.

[0067] S650: Obtain the phase currents and current change trends of the three bridge arms at the current moment.

[0068] S660: Based on the phase currents of the three bridge arms and the current variation trends, determine the corresponding time required for the phase current of each bridge arm to reach a preset current threshold.

[0069] S670: Based on the corresponding durations of the three bridge arms, determine the shut-down order of the three bridge arms in ascending order of the corresponding durations.

[0070] S680, shut down the three bridge arms in sequence based on the shutdown order.

[0071] Exemplarily, in S650, when the motor controller is allowed to start switching the motor operating mode, the motor controller starts to obtain the phase currents of the first bridge arm, the second bridge arm and the third bridge arm at the current moment, and obtains the current change trend at the current moment. The motor controller can obtain the phase current and current change trend at the current moment.

[0072] In S660, the motor controller obtains the first time when the phase current of the first bridge arm changes from the current moment to 0 through the phase current and the current change trend of the first bridge arm at the current moment. The second time when the phase current of the second bridge arm changes from the current moment to 0 is obtained through the phase current and the current change trend of the second bridge arm at the current moment. The third time when the phase current of the third bridge arm changes from the current moment to 0 is obtained through the phase current and the current change trend of the third bridge arm at the current moment.

[0073] In S670, the motor controller compares the first time, the second time, and the third time, and sorts them from small to large according to the size relationship between the first time, the second time, and the third time, and determines the shutdown order of the corresponding bridge arms according to the sorted order. For example, the first time is less than the second time and less than the third time, that is, the phase current of the first bridge arm changes to 0 first, the time when the phase current of the second bridge arm changes to 0 is second, and the phase current of the third bridge arm changes to 0 last, thereby determining the shutdown order of the three bridge arms to be first shut down the first bridge arm, then shut down the second bridge arm, and finally shut down the third bridge arm.

[0074] In S680, after the motor controller determines that the order of shutting down the bridge arm is the first bridge arm, the second bridge arm and the third bridge arm, the motor controller will first continuously monitor the phase current of the first bridge arm. When the phase current of the first bridge arm is detected to be 0, the first bridge arm will be shut down, and the phase current of the second bridge arm will be monitored in real time. When the phase current of the second bridge arm is detected to be 0, the second bridge arm will be shut down, and finally the phase current of the third bridge arm will be monitored in real time. When the phase current of the third bridge arm is detected to be 0, the third bridge arm will be shut down, thereby realizing that all the bridge arms of the motor are shut down in sequence, and the motor enters the free wheeling mode. The present disclosure can avoid the problem of sudden change of the phase current of the bridge arm caused by directly disconnecting the bridge arm by shutting down the bridge arm whose phase current reaches 0 in sequence, and further avoid the problem of current concentratedly flowing to the bus side, causing the bus voltage to increase suddenly. In this way, all the bridge arms of the motor can be smoothly disconnected, reducing the risk of overvoltage during the mode switching process of the motor.

[0075] Figure 3 A schematic diagram of a motor operation mode switching device provided in an embodiment of the present disclosure is shown in FIG. Figure 3 As shown, the motor operation mode switching device includes: a phase current monitoring module 710 and a bridge arm shutoff module 720 .

[0076] The phase current monitoring module 710 is used to monitor the phase current of each bridge arm in response to the mode switching instruction sent by the vehicle controller.

[0077] Specifically, when the motor is in the normal working mode, if the motor needs to be switched from the normal working mode to the free-wheeling mode, the vehicle controller will send a mode switching instruction to the motor controller. The motor controller will start to monitor the phase current of each bridge arm of the motor in real time through the phase current monitoring module 710 based on the received mode switching instruction.

[0078] The bridge arm shut-off module 720 is used to shut down each bridge arm in turn based on the phase current of each bridge arm.

[0079] Specifically, the motor controller will monitor the current value of the phase current of each bridge arm of the motor in real time through the phase current monitoring module 710. When the current value of the phase current of any bridge arm reaches the preset current threshold, the bridge arm shutoff module 720 will disconnect the bridge arm. The preset current threshold is 0. The motor controller will continue to monitor the current value of the phase current of other bridge arms through the phase current monitoring module 710, and shut down the other remaining bridge arms through the bridge arm shutoff module 720 when the current value of the phase current reaches the preset current threshold, until all the bridge arms are disconnected, thereby realizing that all the bridge arms of the motor are shut down in sequence, and the motor enters the free wheeling mode. If the bridge arm is disconnected before the phase current of the bridge arm reaches 0, a sudden change of the phase current of the bridge arm from any current value to 0 will occur. Therefore, the present disclosure can avoid the problem of sudden change of the phase current of the bridge arm caused by directly disconnecting the bridge arm by successively shutting down the bridge arm whose phase current reaches 0 in the motor, and further avoid the problem of current concentrated to the bus side, causing the bus voltage to suddenly increase. This allows all bridge arms of the motor to be disconnected smoothly, reducing the risk of overvoltage during mode switching of the motor.

[0080] Figure 4 A schematic diagram of a motor operation mode switching device provided in an embodiment of the present disclosure is shown in FIG. Figure 4 As shown, the motor operation mode switching device includes one or more processors 801 and a memory 802 .

[0081] The processor 801 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the motor operation mode switching device to perform desired functions.

[0082] The memory 802 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 801 may execute the program instructions to implement the motor operation mode switching method of the embodiment of the present disclosure described above, and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0083] In some embodiments, the motor operation mode switching device may further include: an input device 803 and an output device 804 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0084] The output device 804 can output various information to the outside, including the determined distance information, direction information, etc. The output device 804 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0085] Of course, to simplify, Figure 4 Only some of the components related to the present disclosure in the motor operation mode switching device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the motor operation mode switching device may also include any other appropriate components.

[0086] An embodiment of the present disclosure also provides a vehicle, which includes the motor operation mode switching device provided in the above embodiment.

[0087] It can be understood that the vehicle provided in the embodiment of the present application can achieve the corresponding beneficial effects of the motor operation mode switching device provided in the above-mentioned embodiment, which will not be elaborated here.

[0088] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0089] The above are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for switching a motor operation mode, characterized in that: include: In response to the mode switching instruction sent by the vehicle controller, the phase current of each bridge arm is monitored; Based on the phase current of each bridge arm, each bridge arm is turned off in turn.

2. The method according to claim 1, characterized in that The step of monitoring the phase current of each bridge arm in response to the mode switching instruction sent by the vehicle controller includes: In response to a mode switching instruction sent by a vehicle controller, monitoring the speed of the motor; When the speed of the motor meets the preset conditions, the phase current of each bridge arm is monitored.

3. The method according to claim 2, characterized in that When the rotation speed of the motor meets the preset condition, monitoring the phase current of each bridge arm includes: Obtaining a first corresponding relationship between a preset motor speed and a back electromotive force; Determine the back electromotive force corresponding to the rotation speed of the motor from the first corresponding relationship; When the back electromotive force is less than a preset voltage, the phase current of each bridge arm is monitored.

4. The method according to claim 1, characterized in that: The motor includes a first bridge arm, a second bridge arm and a third bridge arm; and the method of sequentially shutting down each bridge arm based on the phase current of each bridge arm includes: Obtain the phase currents and current change trends of the three bridge arms at the current moment; Based on the phase currents of the three bridge arms and the current variation trends, the shutdown sequence of the three bridge arms is determined; The three bridge arms are turned off in sequence based on the turn-off sequence.

5. The method according to claim 4, characterized in that The step of determining the shutdown sequence of the three bridge arms based on the phase currents and current variation trends of the three bridge arms includes: Based on the phase currents of the three bridge arms and the current change trends, determine the corresponding time for the phase current of each bridge arm to reach the shutdown condition; Based on the corresponding durations of the three bridge arms, a shut-off order of the three bridge arms is determined in an ascending order of the corresponding durations.

6. The method according to claim 5, characterized in that The determining, based on the phase currents of the three bridge arms and the current variation trends, of the corresponding duration for the phase current of each bridge arm to reach the shutdown condition comprises: Based on the phase currents of the three bridge arms and the current variation trends, the corresponding time required for the phase current of each bridge arm to reach a preset current threshold is determined.

7. The method according to claim 1, characterized in that The method further comprises: When a hardware failure occurs in the motor, the output of the driving control signal to each bridge arm is stopped.

8. A motor operation mode switching device, characterized in that: include: A phase current monitoring module, used to monitor the phase current of each bridge arm in response to a mode switching instruction sent by the vehicle controller; The bridge arm shutoff module is used to shut down each bridge arm in turn based on the phase current of each bridge arm.

9. A motor operation mode switching device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the motor operation mode switching method as described in any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: The vehicle includes the motor operation mode switching device as claimed in claim 9.

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