Motor torque monitoring device and method and high-voltage inverter comprising device

Abstract

The invention relates to a motor torque monitoring device, comprising: an input port; a first sampling channel and a second sampling channel; a first torque estimation unit configured to determine a first torque estimation value of the electric machine; a first calculation unit configured to calculate a first difference between the first torque estimation value and the torque request value; a second torque estimation unit configured to determine a second torque estimation value of the electric machine; a second calculation unit configured to calculate a second difference between the second torque estimation value and the first torque estimation value; the control unit is further configured to send a torque abnormal fault alarm and control the motor to enter a safety protection state under the condition that any one of the following conditions is met: the first difference value exceeds a first tolerance range; and the second difference exceeds the second tolerance range. The invention further relates to a motor torque monitoring method and a high-voltage inverter comprising the device.

Description

Technical Field

[0001] The present invention relates to the field of vehicle motors, and more specifically, to a motor torque monitoring device and a corresponding motor torque monitoring method, and a high-voltage inverter including the device. Background Art

[0002] With the rapid development of new energy vehicles (e.g., electric vehicles), vehicle high-voltage inverters, as core components in the electric vehicle drive system, play an increasingly important role. The performance of high-voltage inverters directly determines the overall performance of the motor. Therefore, how to maximize the performance of high-voltage inverters has become a core issue that electric vehicle manufacturers need to solve.

[0003] During the driving process of electric vehicles, the core of motor control is to ensure the accuracy of motor torque output, so the actual output torque of the motor is usually used as an important indicator to judge the driving safety of the vehicle. However, in some cases, due to software and hardware problems in the high-voltage inverter, electromagnetic interference, human error and other reasons, the motor torque output may be abnormal, which will bring great safety hazards to vehicle driving.

[0004] In existing high-voltage inverters, it is difficult to timely and accurately identify abnormal torque output in the motor, which poses a major safety hazard to vehicle driving safety. Summary of the invention

[0005] In view of this, according to a first aspect of the present invention, a motor torque monitoring device is proposed, the device comprising:

[0006] An input port, the input port is used to receive a torque request value of the motor from a vehicle CAN bus;

[0007] A first sampling channel and a second sampling channel are respectively used to obtain a first operating parameter and a second operating parameter of the motor from at least one sensor;

[0008] a first torque estimation unit, the first torque estimation unit being configured to determine a first torque estimation value of the motor according to the first operating parameter and a motor design parameter;

[0009] a first calculation unit configured to calculate a first difference between the first torque estimation value and the torque request value;

[0010] a second torque estimation unit, the second torque estimation unit being configured to determine a second torque estimation value of the motor according to the second operating parameter;

[0011] a second calculation unit configured to calculate a second difference between the second torque estimation value and the first torque estimation value; and

[0012] A control unit, the control unit is configured to determine whether the first difference and the second difference fall within a corresponding tolerance range, wherein the control unit is further configured to send a torque abnormality fault alarm and control the motor to enter a safety protection state when any of the following conditions is met:

[0013] A first difference between the first torque estimate and the torque request exceeds a first tolerance range; and

[0014] A second difference between the second torque estimate and the first torque estimate exceeds a second tolerance range.

[0015] Advantageously, the motor design parameters include the number of motor pole pairs, the first operating parameters include at least one of the motor's three-phase current, rotor position signal and rotor temperature, and the second operating parameters include at least one of the motor's three-phase current, motor speed, bus voltage, stator temperature and duty cycle of the motor inverter's PWM control signal.

[0016] Advantageously, the first torque estimation unit is configured to determine the rotor flux value based on the three-phase current and the rotor temperature according to a pre-calibrated flux lookup table, and further deduce the first torque estimation value based on the rotor flux value based on the first operating parameter, and

[0017] The second torque estimation unit is configured to determine the current power loss of the motor based on the three-phase current, the bus voltage and the motor speed according to a pre-calibrated power loss table, and further calculate the second torque estimation value based on the second operating parameter and the current power loss of the motor.

[0018] Advantageously, the control unit is further configured to compare the acquired motor speed with a set value, wherein a torque abnormality fault alarm is reported only when the acquired motor speed is greater than the set value and the second difference exceeds the second tolerance range.

[0019] Advantageously, the control unit is further configured to:

[0020] Compare the obtained motor speed with the set value;

[0021] When the acquired motor speed is greater than the set value, determining whether the second difference falls within a second tolerance range, and reporting a torque abnormality fault if the second difference exceeds the second tolerance range; and

[0022] When the acquired motor speed is less than or equal to the set value, it is determined whether the second difference falls within a third tolerance range, and if the second difference exceeds the third tolerance range, an abnormal torque fault is reported, wherein the third tolerance range is larger than the second tolerance range.

[0023] Advantageously, the first sampling channel uses a Σ-Δ analog-to-digital converter to obtain a first operating parameter of the motor from the at least one sensor; and / or the second sampling channel uses a successive approximation analog-to-digital converter to obtain a second operating parameter of the motor from the at least one sensor.

[0024] Advantageously, the device further comprises:

[0025] A first verification module, configured to perform validity detection on a torque request value received from a vehicle CAN bus; and / or

[0026] The second verification module is used to perform rationality verification on the first operating parameter and the second operating parameter.

[0027] According to a second aspect of the present invention, there is also provided a high-voltage inverter for a vehicle, the high-voltage inverter comprising:

[0028] a driver configured to drive the motor to perform a rotation operation; and

[0029] An inverter main control chip, the inverter main control chip comprises a motor torque monitoring device according to any one of claims 1 to 7, and is configured to control the driver based on a torque monitoring result of the device so that the motor enters a corresponding safety protection state.

[0030] Advantageously, the inverter main control chip is further configured to: adjust the torque output of the motor in real time according to the difference between the first torque estimation value and the torque request value.

[0031] According to a third aspect of the present invention, there is also provided a method for monitoring motor torque using the motor torque monitoring device as described above, the method comprising the following steps:

[0032] receiving a torque request value of the motor from a vehicle CAN bus via the input port;

[0033] Acquire a first operating parameter of the motor using the first sampling channel;

[0034] Determine a first torque estimation value of the motor based on the first operating parameter and the motor design parameter;

[0035] calculating a first difference between the first torque estimate and the torque request;

[0036] Acquire a second operating parameter of the motor using a second sampling channel;

[0037] determining a second torque estimate of the motor based on the second operating parameter;

[0038] calculating a second difference between the second torque estimate and the first torque estimate; and

[0039] It is determined whether the first difference and the second difference fall within respective tolerance ranges, wherein a torque abnormality fault alarm is sent by means of the control unit and the motor is controlled to enter a safety protection state when any of the following conditions is met:

[0040] A first difference between the first torque estimate and the torque request exceeds a first tolerance range; and

[0041] A second difference between the second torque estimate and the first torque estimate exceeds a second tolerance range.

[0042] The motor torque estimation device and method according to the present invention combine the characteristics of the two torque estimation methods, the flux method and the power method, and can improve the availability and safety of the entire vehicle without increasing the hardware cost, and meet the requirements of the functional safety level ASIL D. The method can achieve good torque anomaly identification effects under different working conditions of the motor, avoid the safety problems caused by abnormal motor torque output to the greatest extent, and improve the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] By incorporating the accompanying drawings and Figure 1 With reference to the specific embodiments used to illustrate certain principles of the present invention, other features and advantages of the method of the present invention will become clear or be described in more detail.

[0044] Figure 1 The software architecture of a high-voltage inverter main control chip commonly used in the prior art is shown.

[0045] Figure 2 The flowchart of the torque monitoring device in Level 2 according to the present invention is shown.

[0046] Figure 3 A high voltage inverter torque monitoring method according to the present invention is shown. DETAILED DESCRIPTION

[0047] The following describes a method and device for monitoring torque of a high-voltage inverter of a whole vehicle based on functional safety according to an embodiment of the present invention with reference to the accompanying drawings. In the following description, many specific details are set forth so that technicians in the relevant technical field can have a more comprehensive understanding of the present invention. However, it is obvious to technicians in the relevant technical field that the implementation of the present invention may not have some of these specific details. In addition, it should be understood that the present invention is not limited to the specific embodiments described. On the contrary, it is contemplated to implement the present invention with any combination of the following features and elements, regardless of whether they involve different embodiments. Therefore, the following aspects, features, embodiments and advantages are for illustrative purposes only and should not be regarded as elements or limitations of the claims unless explicitly stated in the claims.

[0048] In the era of intelligent vehicles, in order to improve the safety of vehicle electronic and electrical products, the international standard ISO 26262 "Functional Safety of Road Vehicles" is usually used. ASIL (full name Automotive Safety Integrity Level) represents the vehicle safety level, which is a risk classification system defined by the ISO 26262 standard for the functional safety of road vehicles. ASIL is used to characterize the ability of the functional safety of a product to avoid unreasonable risks. It is divided into four levels: A, B, C and D. Among them, ASIL A represents the lowest level of vehicle hazard and ASIL D represents the highest level of vehicle hazard. In addition, there is also a safety requirement QM, but QM only indicates that it is developed in accordance with a general quality system (such as ISO9001, IATF16949), not the ASIL level, and it is sufficient to meet the quality management process.

[0049] For vehicle functional safety, the goal is to control the risk of personal injury caused by the failure of electronic and electrical systems within a reasonable range. The failure of electronic and electrical systems usually includes both systematic failures caused by software and hardware design errors and failures caused by random hardware failures. According to the system architecture, various safety mechanisms need to be designed to prevent and detect functional failures, and to avoid or reduce the occurrence of hazards when failures occur. This requires a powerful functional safety software architecture to manage and control these safety mechanisms and reduce the overall difficulty of functional safety development. At present, E-GAS (Standardized E-Gas Monitoring Concept for Gasoline and Diesel Engine ControlUnits) is the most widely used safety software architecture solution.

[0050] Figure 1The schematic diagram of the common E-GAS three-layer software architecture in the existing high-voltage inverter main control chip is shown. In the E-GAS three-layer software architecture design scheme, from top to bottom, there are three layers in total, Level 1-3. Level 1 performs complex torque function control (QM requirements), Level 2 performs torque monitoring to ensure torque safety targets and prevent unexpected acceleration, deceleration and other dangers (ASIL C or higher), and Level 3 is the underlying hardware monitoring (ASIL C or higher). Usually, a functional safety main chip with ASIL D safety level and an external power monitoring chip are used to ensure the safety level of Level 3.

[0051] In the level 2 torque monitoring process, the estimated motor output torque is compared with the vehicle controller's requested torque. If the difference between the two exceeds the predetermined tolerance range, the motor enters a safety protection state.

[0052] Common motor torque estimation methods include the flux method and the power method. However, these two torque estimation methods have certain limitations: on the one hand, the flux estimation method has high torque estimation accuracy, but when the motor has a zero angle offset or the permanent magnet magnetic permeability decreases, the estimated torque result deviates greatly from the actual torque, and cannot accurately identify torque abnormalities, which will lead to the risk of unexpected vehicle deceleration; on the other hand, the power estimation method is limited by the algorithm, and the torque estimation result deviates greatly from the actual torque under low-speed and high-torque conditions, which can easily cause unexpected vehicle shutdown.

[0053] The limitations of the above torque estimation method result in low monitoring accuracy of the existing motor torque monitoring method. Under certain motor working conditions, the abnormal torque situation cannot be accurately identified or it is easy to cause false alarm faults, thus affecting the driving safety of the whole vehicle. The present invention aims to solve one or more problems in the existing torque monitoring method and proposes a new motor torque monitoring method, which meets the requirements of functional safety ASIL C or ASIL D. For example, torque monitoring can be performed at level 2 based on the ASIL D inverter main control chip and the power monitoring chip.

[0054] Figure 2 The following is an architecture diagram of a torque monitoring device according to an exemplary embodiment of the present invention. The torque monitoring device can be integrated into a main control chip of a high-voltage inverter as a separate hardware module to monitor the motor torque in real time during the operation of the motor.

[0055] The special feature of this torque monitoring architecture is that the motor torque can be estimated by the flux method and the power method in the high-voltage inverter main control chip, and the estimation results of the two can be used to verify each other to accurately identify the actual situation of the motor torque output. In the flux method, the flux information is first determined using the working parameters of the motor, and then the flux information is used (for example, based on the motor's flux-torque characteristic curve or lookup table) to estimate the motor torque. In the power method, the motor power loss is calculated based on the motor's working parameters, and then the motor torque is calculated based on the motor power loss. This process does not require obtaining the flux value inside the motor.

[0056] In this article, the "power loss" of the motor can be determined using conventional loss calculation methods. For example, it can be predetermined based on the current three-phase voltage, three-phase current, speed, and hysteresis loss, copper loss, motor load and other comprehensive factors of the motor. It is worth noting that the core concept of the present invention is not how to calculate "power loss", "motor flux" or "motor power", but to use the two torque estimation results to check each other to improve the accuracy of the torque abnormality identification results as a whole.

[0057] Refer to the following Figure 2 The working principle of the torque monitoring device is introduced in detail.

[0058] First, the vehicle CAN bus can communicate with the high-voltage inverter main control chip via the input port. When a torque request signal (the signal is in the form of a CAN message) is received from the CAN bus via the input port, the E2E verification module can be used to perform end-to-end verification on the CAN message. E2E verification can effectively detect whether errors or tampering occur in the CAN message during transmission, thereby improving the reliability and security of signal transmission.

[0059] The torque monitoring device may also include a first sampling channel and a second sampling channel, respectively used to obtain a first operating parameter and a second operating parameter of the motor. Here, the first operating parameter includes at least one of the three-phase current of the motor, the rotor position signal, and the rotor temperature, and the second operating parameter may include at least one of the three-phase current of the motor, the motor speed, the bus voltage, the stator temperature, and the duty cycle of the PWM control signal of the motor inverter.

[0060] As an example, the first sampling channel can use a Σ-Δ analog-to-digital converter (Σ-ΔADC) to obtain corresponding operating parameters from a sensor (for example, a current sensor, a motor position sensor, a thermometer, etc. arranged inside a high-voltage inverter), while the second sampling channel can use a successive approximation analog-to-digital converter (ADC) to obtain corresponding operating parameters from a sensor (for example, a voltage sensor, a motor position sensor, etc.).

[0061] Among them, Σ-Δ ADC is an ADC based on oversampling technology. It oversamples the input signal at a high rate and then digitizes the signal using Σ-Δ modulation technology. The Σ-Δ modulator converts the input signal into a 1-bit bit stream, and then averages it through a digital filter to obtain a high-resolution digital output. Σ-Δ ADC usually has a higher resolution and a lower sampling rate, and is suitable for application scenarios that require high precision and noise resistance.

[0062] The successive approximation ADC is a common high-precision, high-speed ADC. Its working principle is to obtain the digital representation of the input analog signal through stepwise approximation. The ADC approximates the actual value of the input signal by comparing bits one by one, thereby converting the analog signal into a digital signal. The successive approximation ADC gradually adjusts the comparison bits until the digital representation closest to the input signal is reached, thus achieving high-precision analog-to-digital conversion.

[0063] Likewise, before processing and calculating the operating parameters obtained from the first and second sampling channels, a rationality check operation may be performed on these parameters to ensure the reliability of the sampling results.

[0064] The operating parameters acquired by the first and second sampling channels can be transmitted to the first and second torque estimation units, respectively. In the first torque estimation unit, for example, the flux method can be used to estimate the motor torque. Specifically, the first torque estimation unit can determine the rotor flux value based on a part of the first operating parameters (for example, three-phase current and rotor temperature) according to the flux lookup table, and further determine the first torque estimation value of the motor based on the rotor flux value, motor design parameters (for example, motor pole pair number, etc.) and another part of the first operating parameters (for example, three-phase current, inductance).

[0065] In the second torque estimation unit, for example, a power method may be used to estimate the motor torque. Specifically, the second torque estimation unit may determine the current power loss of the motor based on a part of the second operating parameters (e.g., three-phase current, bus voltage, and motor speed) according to a pre-calibrated power loss table, and determine the second torque estimation value of the motor based on the power loss and another part of the second operating parameters (e.g., bus voltage, three-phase current).

[0066] In addition, the device may further include a first calculation unit, a second calculation unit, and a control unit, wherein the first calculation unit may be used to calculate a first difference between the first torque estimation value and the torque request value received by the input port, and the second calculation unit may be used to calculate a second difference between the second torque estimation value and the first torque estimation value. The difference calculation results of the first and second calculation units may be further sent to the control unit, where a judgment operation may be performed as to whether the first difference and the second difference fall within a corresponding tolerance range.

[0067] Wherein, when any of the following conditions is met, the control unit may, for example, send a torque abnormality fault alarm to the CAN bus and control the motor to enter a corresponding safety protection state (for example, an active short circuit state or a freewheeling state):

[0068] A first difference between the first torque estimate and the torque request exceeds a first tolerance range; and

[0069] A second difference between the second torque estimate and the first torque estimate exceeds a second tolerance range.

[0070] According to an optional embodiment of the present invention, in the process of executing torque judgment, in addition to considering the difference between the estimation results of the flux method and the estimation results of the power method, the current speed of the motor can also be additionally considered, and the overall condition of the motor torque output can be judged based on the comprehensive results of the two.

[0071] As an example, a torque abnormality fault alarm is reported only when the second difference exceeds the second tolerance range under the premise that the acquired motor speed is greater than the set value; on the contrary, if the motor speed is less than the set value, it is assumed that the difference between the two torque estimation results will not have a serious impact on the vehicle driving, so the torque abnormality fault alarm is not sent.

[0072] As another alternative example, when the acquired motor speed is greater than the set value, the control unit may further determine whether the second difference falls within the second tolerance range, and if the second difference exceeds the second tolerance range, a torque abnormality fault is reported. When the acquired motor speed is less than or equal to the set value, the control unit may alternatively determine whether the second difference falls within the third tolerance range (assuming that the third tolerance range is greater than the second tolerance range), and if the second difference exceeds the third tolerance range, a torque abnormality fault is reported. That is, compared with high motor speed, at low motor speed, the difference between the two torque estimation results that the control unit can accept / allow is greater.

[0073] In this document, the term "tolerance range" is a broad term and is given its ordinary and customary meaning to ordinary technicians in the field, without being limited to a special or customized meaning. Specifically, the term can refer to, but is not limited to, the range of errors or deviations allowed in a specific manufacturing, measurement or design process, which is usually defined by an upper limit value and a lower limit value. For example, the expression "the third tolerance range is greater than the second tolerance range" specifically means that the second tolerance range falls within the third tolerance range, that is, the upper limit value of the second tolerance range is less than the upper limit value of the third tolerance range and the lower limit value of the second tolerance range is greater than the lower limit value of the third tolerance range.

[0074] Figure 3 The operation flow chart of the motor torque estimation method according to an exemplary embodiment of the present invention is shown. In the estimation method, in addition to comparing the vehicle torque request value with the torque calculated by the flux method, the torque calculated by the flux method is also compared with the torque calculated by the power method. If one of the two comparison results does not meet the requirements or both comparison results do not meet the requirements, a torque abnormality fault alarm is reported to the vehicle CAN, and the motor drive mechanism is controlled to make the motor enter a corresponding safety protection state, for example, the three-phase full-bridge drive circuit is turned off.

[0075] First, when a torque request signal (the signal is in the form of a CAN message) is received from the CAN bus via the input port, the data sampling and torque estimation processes under the above two algorithms can be triggered.

[0076] Specifically, in the flux estimation method: the first channel (such as Σ-Δ ADC) is used to sample the three-phase current and rotor position signals, and the flux torque is calculated based on the phase current, rotor position signal, motor rotor temperature and related parameters, and compared with the vehicle request torque. If it exceeds the tolerance range T0 (also referred to as the "first tolerance range" in this article), the motor enters a safe state and reports a fault.

[0077] In the power method estimation process: first, the second channel (such as a successive approximation ADC) is used to sample the three-phase current, motor speed, and bus voltage, and the power method calculation result is obtained based on the phase current, motor speed, bus voltage, motor stator temperature, and PWM signal duty cycle. Then, the obtained motor speed is compared with the set speed n1. When the speed is less than n1, the power method calculation result is compared with the flux method calculation result. If the difference between the two exceeds the tolerance range T1 (also referred to as the "third tolerance range" in this article), the motor is put into a safe state and a fault is reported; when the speed is greater than or equal to n1, the power method calculation result is compared with the flux method calculation result. If the difference between the two exceeds the tolerance range T2 (also referred to as the "second tolerance range" in this article), the motor is put into a safe state and a fault is reported. Here, the tolerance range T1 can be set to be greater than T2, because at low motor speeds, the difference between the two torque estimation results that the control unit can accept / allow is greater.

[0078] The motor torque estimation device and method according to the present invention combine the characteristics of the two torque estimation methods, the flux method and the power method, and can improve the availability and safety of the entire vehicle without increasing the hardware cost, and meet the requirements of the functional safety level ASIL D. The method can achieve good torque anomaly identification effects under different working conditions of the motor, avoid the safety problems caused by abnormal motor torque output to the greatest extent, and improve the safety of vehicle driving.

[0079] It will be appreciated by those skilled in the art that the method steps described in the present invention can be performed in a given order. However, it should be noted that different orders are also possible. The method may include additional method steps that are not listed. In addition, one or more of the method steps may be performed once or repeatedly. In addition, two or more of the method steps may be performed simultaneously or in a temporally overlapping manner. In addition, in the present invention, terms such as "comprising" and "including" indicate that in addition to the steps that are directly and clearly stated in the specification and claims, the technical solution of the present application does not exclude the situation of having other steps that are not directly or clearly stated.

[0080] Although the present invention has been disclosed as above with preferred embodiments, the present invention is not limited thereto. Any changes and modifications made by any person skilled in the art without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention, and therefore the protection scope of the present invention should be subject to the scope defined by the claims.

Claims

1. A motor torque monitoring device, characterized in that: The device comprises: An input port, the input port is used to receive a torque request value of the motor from a vehicle CAN bus; A first sampling channel and a second sampling channel are respectively used to obtain a first operating parameter and a second operating parameter of the motor from at least one sensor; a first torque estimation unit, the first torque estimation unit being configured to determine a first torque estimation value of the motor according to the first operating parameter and a motor design parameter; a first calculation unit configured to calculate a first difference between the first torque estimation value and the torque request value; a second torque estimation unit, the second torque estimation unit being configured to determine a second torque estimation value of the motor according to the second operating parameter; a second calculation unit configured to calculate a second difference between the second torque estimation value and the first torque estimation value; and A control unit, the control unit is configured to determine whether the first difference and the second difference fall within a corresponding tolerance range, wherein the control unit is further configured to send a torque abnormality fault alarm and control the motor to enter a safety protection state when any of the following conditions is met: - a first difference between the first torque estimate and the torque request exceeds a first tolerance range; and A second difference between the second torque estimate and the first torque estimate exceeds a second tolerance range.

2. The motor torque monitoring device according to claim 1, characterized in that: The motor design parameters include the number of motor pole pairs, the first operating parameters include at least one of the three-phase current of the motor, the rotor position signal and the rotor temperature, and the second operating parameters include at least one of the three-phase current of the motor, the motor speed, the bus voltage, the stator temperature and the duty cycle of the PWM control signal of the motor inverter.

3. The motor torque monitoring device according to claim 2, characterized in that: The first torque estimation unit is configured to determine a rotor flux value based on the three-phase current and the rotor temperature according to a pre-calibrated flux lookup table, and further infer the first torque estimation value based on the rotor flux value based on the first operating parameter, and The second torque estimation unit is configured to determine the current power loss of the motor based on the three-phase current, the bus voltage and the motor speed according to a pre-calibrated power loss table, and further calculate the second torque estimation value based on the second operating parameter and the current power loss of the motor.

4. The motor torque monitoring device according to claim 2, characterized in that: The control unit is further configured as: The obtained motor speed is compared with the set value, wherein the torque abnormality fault alarm is reported only when the obtained motor speed is greater than the set value and the second difference exceeds the second tolerance range.

5. The motor torque monitoring device according to claim 2, characterized in that: The control unit is further configured as: Compare the obtained motor speed with the set value; When the acquired motor speed is greater than the set value, determining whether the second difference falls within a second tolerance range, and if the second difference exceeds the second tolerance range, reporting a torque abnormality fault; as well as When the acquired motor speed is less than or equal to the set value, it is determined whether the second difference falls within a third tolerance range, and if the second difference exceeds the third tolerance range, an abnormal torque fault is reported, wherein the third tolerance range is larger than the second tolerance range.

6. The motor torque monitoring device according to any one of claims 1 to 5, characterized in that: The first sampling channel uses a Σ-Δ analog-to-digital converter to obtain a first operating parameter of the motor from the at least one sensor; and / or the second sampling channel uses a successive approximation analog-to-digital converter to obtain a second operating parameter of the motor from the at least one sensor.

7. The motor torque monitoring device according to any one of claims 1 to 5, characterized in that: The device further comprises: A first verification module, configured to perform validity detection on a torque request value received from a vehicle CAN bus; and / or The second verification module is used to perform rationality verification on the first operating parameter and the second operating parameter.

8. A high voltage inverter for a vehicle, characterized in that: The high voltage inverter comprises: a driver configured to drive the motor to perform a rotation operation; and An inverter main control chip, the inverter main control chip comprises a motor torque monitoring device according to any one of claims 1 to 7, and is configured to control the driver based on a torque monitoring result of the device so that the motor enters a corresponding safety protection state.

9. The high voltage inverter according to claim 8, characterized in that: The inverter main control chip is further configured to adjust the torque output of the motor in real time according to the difference between the first torque estimation value and the torque request value.

10. A method for monitoring motor torque using the motor torque monitoring device according to any one of claims 1 to 7, characterized in that: The method comprises the following steps: receiving a torque request value of the motor from a vehicle CAN bus via the input port; Acquire a first operating parameter of the motor using the first sampling channel; Determine a first torque estimate of the motor based on the first operating parameter and motor design parameters; calculating a first difference between the first torque estimate and the torque request; Acquire a second operating parameter of the motor using a second sampling channel; determining a second torque estimate of the motor based on the second operating parameter; calculating a second difference between the second torque estimate and the first torque estimate; and It is determined whether the first difference and the second difference fall within respective tolerance ranges, wherein a torque abnormality fault alarm is sent by means of the control unit and the motor is controlled to enter a safety protection state when any of the following conditions is met: - a first difference between the first torque estimate and the torque request exceeds a first tolerance range; and A second difference between the second torque estimate and the first torque estimate exceeds a second tolerance range.

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