Motor control circuit, method and system, electromagnetic suspension system and automobile

Abstract

The invention discloses a motor control circuit, method and system, an electromagnetic suspension system and an automobile. The motor control circuit comprises a main control module, a damping switch circuit, a power supply switch circuit and a passive damping module, the first end of the power supply switch circuit is connected with the power supply module, and the second end is connected with the motor system; the first end of the damping switch circuit is connected with the main control module, and the second end is connected with a motor system through the passive damping module; and the main control module is connected with the damping switch circuit and the power supply switch circuit and is used for controlling the damping switch circuit to be closed and controlling the power supply switch circuit to be disconnected so as to enable the motor system to enter a passive damping working condition, or controlling the damping switch circuit to be disconnected and controlling the power supply switch circuit to be closed so as to enable the motor system to enter an active control working condition. The motor control circuit can avoid the problem of motor system damage caused by direct connection of the passive damping module and the power supply module due to simultaneous closing of the damping switch circuit and the power supply switch circuit, and guarantees circuit safety.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile suspension systems, and in particular to a motor control circuit, method and system, an electromagnetic suspension system and an automobile. Background Art

[0002] The suspension system is a general term for all force transmission connection devices between the vehicle body and the wheels. Its function is to transmit the vertical reaction force, longitudinal reaction force and lateral reaction force of the road surface on the wheels and the torque caused by these reaction forces to the vehicle body to ensure the normal driving of the car. The stiffness and damping of the passive suspension are determined according to experience or optimization design methods. The stiffness and damping of the suspension cannot be adjusted during the driving process of the vehicle. Therefore, it can only achieve the best performance under specific roads and driving speeds, and has poor adaptability. The stiffness and damping of the active suspension can be dynamically adjusted according to the changes in driving conditions, so that the suspension system is always in the best shock absorption state. Therefore, the active suspension greatly improves the smoothness and handling stability of the vehicle.

[0003] The electromagnetic suspension system is a type of active suspension, specifically a suspension system that converts the relative motion between the vehicle body and chassis into the motion of cutting magnetic flux lines of the motor through a certain transmission mechanism (such as a ball screw mechanism or a gear rack mechanism), or directly uses a linear motor to achieve the mutual conversion between kinetic energy and electrical energy. Since the electromagnetic suspension system converts kinetic energy and electrical energy during operation, if there are abnormal conditions in the environment where the motor is located, the kinetic electromotive force generated during the operation of the motor cannot be released in time, causing the motor to heat abnormally, affecting the safety of the motor. Summary of the invention

[0004] The embodiments of the present invention provide a motor control circuit, method and system, an electromagnetic suspension system and a car to solve the problem that abnormal heating exists in the working process of the existing motor system, which affects the safety of the motor.

[0005] A motor control circuit comprises a main control module, a damping switch circuit, a power supply switch circuit and a passive damping module;

[0006] The first end of the power switch circuit is used to connect to the power supply module, and the second end of the power switch circuit is used to connect to the motor system;

[0007] The first end of the damping switch circuit is connected to the main control module, and the second end of the damping switch circuit is used to connect to the motor system through the passive damping module;

[0008] The main control module is connected to the damping switch circuit and the power supply switch circuit, and is used to control the damping switch circuit to close and control the power supply switch circuit to open, so that the motor system enters a passive damping working state, or control the damping switch circuit to open and control the power supply switch circuit to close, so that the motor system enters an active control working state.

[0009] Preferably, the main control module is connected to the motor system and is used to obtain the first measured data after the motor system is powered on and started. When the first measured data meets the active control conditions, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, so that the motor system enters the active control working state.

[0010] Preferably, the main control module is used to obtain the initialization result and the motor system status after the motor system is powered on and started. When the initialization result is successful initialization, or the motor system status is not a motor system fault state or a motor system alarm state, the main control module controls the damping switch circuit to disconnect and controls the power supply switch circuit to close, so that the motor system enters an active control working condition.

[0011] Preferably, the main control module is used to obtain second measured data of the motor system under active control conditions, and when the second measured data meets the passive damping conditions, controls the damping switch circuit to close and controls the power supply switch circuit to open, so that the motor system enters the passive damping condition.

[0012] Preferably, the main control module is connected to the motor system and is used to obtain the motor system state of the motor system under active control conditions. When the motor system state is any one of a motor system fault state and a motor system alarm state, the damping switch circuit is controlled to close and the power supply switch circuit is controlled to disconnect, so that the motor system enters a passive damping condition.

[0013] Preferably, the main control module communicates with the associated system and is used to obtain the associated system state corresponding to the associated system when the motor system is in an active control condition, and when the associated system state is any one of an associated system fault state, an associated system alarm state and an associated system passive damping condition, control the damping switch circuit to close and control the power supply switch circuit to disconnect, so that the motor system enters a passive damping condition.

[0014] Preferably, the main control module includes at least one main control chip;

[0015] Each of the main control chips is connected to a controlled motor in the motor system, and is used to obtain the motor system state corresponding to the controlled motor when the motor system is in an active control state;

[0016] Each of the main control chips communicates with the associated system and is used to obtain the associated system state corresponding to the associated system when the motor system is in an active control condition;

[0017] Each of the main control chips is connected to the damping switch circuit and the power supply switch circuit, and is used to control the damping switch circuit to close and the power supply switch circuit to open when the motor system state is any one of a motor system fault state and a motor system alarm state, or when the associated system state is any one of an associated system fault state, an associated system alarm state, and an associated system passive damping condition, so that the motor system enters a passive damping condition.

[0018] Preferably, the main control module further includes a fault detection module;

[0019] The fault detection module is connected to at least one of the main control chips, the damping switch circuit and the power supply switch circuit, and is used to detect the chip hardware status corresponding to each of the main control chips when the motor system is in an active control condition. When the chip hardware status of at least one of the main control chips is a fault state, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected, so that the motor system enters a passive damping condition.

[0020] Preferably, the main control chip includes a first chip and a second chip, the first chip is used to connect the first motor in the motor system, and the second chip is used to connect the second motor in the motor system;

[0021] The first chip communicates with the second chip to obtain a second communication state corresponding to the second chip when the motor system is in an active control condition;

[0022] The second chip communicates with the first chip and is used to obtain a first communication state corresponding to the first chip when the motor system is in an active control condition;

[0023] When at least one of the first communication state and the second communication state is a fault state, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be opened, so that the motor system enters a passive damping working state.

[0024] Preferably, the damping switch circuit includes a first damping switch and a second damping switch; a first end of the first damping switch is connected to the first chip, and a second end of the first damping switch is connected to the first motor through the passive damping module; a first end of the second damping switch is connected to the first chip, and a second end of the second damping switch is connected to the second motor through the passive damping module;

[0025] The power supply switch circuit includes a first power supply switch and a second power supply switch; the first power supply switch is used to connect the power supply module and the first motor; the second power supply switch is used to connect the power supply module and the second motor;

[0026] The second chip communicates with the first chip, and is used to obtain a first communication state corresponding to the first chip when the motor system is in an active control state, and when the first communication state is a fault state, control the first damping switch to be closed and the first power supply switch to be disconnected, so that the first motor enters a passive damping state;

[0027] The first chip communicates with the second chip to obtain a second communication state corresponding to the second chip when the motor system is in an active control state, and when the second communication state is a fault state, controls the second damping switch to close and controls the second power supply switch to disconnect, so that the second motor enters a passive damping state.

[0028] Preferably, the motor control circuit further includes a power module and a drive module;

[0029] The first end of the power module is connected to the power switch circuit, and the second end of the power module is used to connect to the motor system;

[0030] The first end of the driving module is connected to the main control module, and the second end of the driving module is connected to the power module.

[0031] Preferably, the passive damping module comprises a damping resistor circuit, and the damping resistor circuit is used to connect to the motor system.

[0032] Preferably, the passive damping module further includes a damping energy tank circuit, one end of the damping energy tank circuit is connected to the power module, and the other end of the damping energy tank circuit is used to connect to the power supply module.

[0033] Preferably, the passive damping module further comprises a switching switch, one end of the switching switch is connected to the power module, and the other end of the switching switch is connected to the damping energy storage circuit;

[0034] The main control module is connected to the switch and is used to control the on and off of the switch to control the motor system to enter the first passive damping working condition or the second passive damping working condition.

[0035] Preferably, the main control module is also connected to the motor system to obtain the motor speed corresponding to the motor system; when the motor speed is less than a preset speed, the switching switch is controlled to be disconnected so that the motor system enters a first passive damping working condition; when the motor speed is not less than the preset speed, the switching switch is controlled to be closed so that the motor system enters a second passive damping working condition.

[0036] Preferably, the power module includes an IGBT tube and a freewheeling diode;

[0037] The control end of the IGBT tube is connected to the main control module, and the two connection ends of the IGBT tube are connected to the power supply module and the power module respectively;

[0038] The anode of the freewheeling diode is connected to the power module, and the cathode of the freewheeling diode is used to connect to the power supply module.

[0039] A motor control method, applied in the above motor control circuit, comprises:

[0040] Obtain the measured data of the motor system under the current working conditions;

[0041] According to the measured data, the motor system is controlled to enter an active control condition or a passive damping condition.

[0042] Preferably, the obtaining of measured data of the motor system under the current working condition includes:

[0043] Acquire first measured data after the motor system is powered on and started;

[0044] According to the measured data, controlling the motor system to enter an active control condition or a passive damping condition includes:

[0045] When the first measured data meets the active control condition, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, so that the motor system enters the active control working state.

[0046] Preferably, the obtaining of the first measured data after the motor system is powered on and started includes:

[0047] Obtaining the initialization result and the motor system status after the motor system is powered on;

[0048] When the first measured data meets the active control condition, controlling the damping switch circuit to be disconnected and controlling the power switch circuit to be closed so that the motor system enters the active control working state includes:

[0049] When the initialization result is successful initialization, or the motor system state is not a motor system fault state or a motor system alarm state, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, so that the motor system enters an active control working state.

[0050] Preferably, the obtaining of measured data of the motor system under the current working condition includes:

[0051] Acquiring second measured data of the motor system under active control conditions;

[0052] According to the measured data, controlling the motor system to enter an active control condition or a passive damping condition includes:

[0053] When the second measured data meets the passive damping condition, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected, so that the motor system enters the passive damping working state.

[0054] Preferably, the obtaining of the second measured data of the motor system in an active control condition includes:

[0055] Acquiring a motor system state of the motor system under active control conditions;

[0056] When the second measured data meets the passive damping condition, controlling the damping switch circuit to close and controlling the power switch circuit to open, so that the motor system enters the passive damping working state, includes:

[0057] When the motor system is in any one of a motor system fault state and a motor system alarm state, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected, so that the motor system enters a passive damping working state.

[0058] Preferably, the obtaining of the second measured data of the motor system in an active control condition includes:

[0059] When the motor system is in an active control condition, obtaining a state of an associated system corresponding to the associated system;

[0060] When the second measured data meets the passive damping condition, controlling the damping switch circuit to close and controlling the power switch circuit to open, so that the motor system enters the passive damping working state, includes:

[0061] When the associated system state is any one of an associated system fault state, an associated system alarm state and an associated system passive damping condition, the damping switch circuit is controlled to close and the power supply switch circuit is controlled to open, so that the motor system enters a passive damping condition.

[0062] Preferably, the obtaining of the second measured data of the motor system in an active control condition includes:

[0063] Obtaining chip hardware status corresponding to at least one main control chip;

[0064] When the second measured data meets the passive damping condition, controlling the damping switch circuit to close and controlling the power switch circuit to open, so that the motor system enters the passive damping working state, includes:

[0065] When the chip hardware status of at least one of the main control chips is a fault status, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected, so that the motor system enters a passive damping working state.

[0066] Preferably, the obtaining of the second measured data of the motor system in an active control condition includes:

[0067] Obtaining chip communication status corresponding to at least one main control chip;

[0068] When the second measured data meets the passive damping condition, controlling the damping switch circuit to close and controlling the power switch circuit to open, so that the motor system enters the passive damping working state, includes:

[0069] When the chip communication state of at least one of the main control chips is a fault state, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected, so that the motor system enters a passive damping working state.

[0070] Preferably, when the second measured data satisfies the passive damping condition, controlling the damping switch circuit to close and controlling the power switch circuit to open so that the motor system enters the passive damping working state includes:

[0071] When the second measured data meets the passive damping condition, obtaining a motor speed corresponding to the motor system;

[0072] When the motor speed is less than a preset speed, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, and the switch connected to the damping energy storage circuit is controlled to be disconnected, so that the motor system enters a first passive damping working state;

[0073] When the motor speed is not less than a preset speed, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, and the switching switch connected to the damping energy storage circuit is controlled to be closed, so that the motor system enters a second passive damping working state.

[0074] A motor control system comprises the above-mentioned motor control circuit and a motor system, wherein the motor control circuit is connected to the motor system and is used to switch and control the on and off of the damping switch circuit and the power supply switch circuit so that the motor system enters an active control condition or a passive damping condition.

[0075] An electromagnetic suspension system comprises an electromagnetic actuator and the above-mentioned motor controller, wherein the electromagnetic actuator comprises a motor system, and the motor control circuit is connected to the motor system and is used to switch and control the on and off of the damping switch circuit and the power supply switch circuit so that the motor system enters an active control condition or a passive damping condition.

[0076] A car comprises the electromagnetic suspension system and a power battery, wherein the power battery is connected to the power supply switch circuit.

[0077] The above-mentioned motor control circuit, method and system, electromagnetic suspension system and automobile, when the power supply module provides high voltage electricity to the motor system, according to the actual situation, control either the damping switch circuit or the power supply switch circuit to close and the other to open, so that it switches between the passive damping condition and the active control condition, avoiding the problem of the damping switch circuit and the power supply switch circuit being closed at the same time, so that the passive damping module is directly connected to the power supply module and causes damage to the motor system, so as to ensure circuit safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0079] Figure 1 is a circuit diagram of a motor control circuit in one embodiment of the present invention;

[0080] Figure 2 is another circuit diagram of a motor control circuit in one embodiment of the present invention;

[0081] Figure 3 This is a schematic diagram of a process of a motor control method in an embodiment of the present invention.

[0082] Figure 4 This is another process diagram of a motor control method in one embodiment of the present invention.

[0083] Figure 5 This is another process diagram of a motor control method in one embodiment of the present invention.

[0084] In the figure: 1. motor control circuit; 11. main control module; 111. first chip; 112. second chip; 12. damping switch circuit; 13. power supply switch circuit; 14. passive damping module; 141. damping resistor circuit; 142. damping energy storage circuit; 143. switching switch; 15. fault detection module; 151. first fault detection unit; 152. second fault detection unit; 16. power module; 161. first power unit; 162. second power unit; 17. drive module; 171. first drive unit; 172. second drive unit; 2. power supply module; 3. motor system; 31. first motor; 32. second motor; 4. associated system. DETAILED DESCRIPTION

[0085] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0086] It should be understood that the present invention can be implemented in different forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, providing these embodiments will make the disclosure thorough and complete and fully convey the scope of the present invention to those skilled in the art. In the accompanying drawings, the sizes and relative sizes of layers and regions may be exaggerated for clarity. The same reference numerals throughout represent the same elements.

[0087] It should be understood that when an element or layer is referred to as being "on, adjacent to, connected to or coupled to other elements or layers, it may be directly on, adjacent to, connected to or coupled to other elements or layers, or there may be intervening elements or layers. In contrast, when an element is referred to as being "directly on, directly adjacent to, directly connected to or directly coupled to other elements or layers, there may be no intervening elements or layers. It should be understood that, although the terms first, second, third, etc. may be used to describe various elements, components, regions, layers and / or parts, these elements, components, regions, layers and / or parts should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or part from another element, component, region, layer or part. Therefore, without departing from the teachings of the present invention, the first element, component, region, layer or part discussed below may be represented as a second element, component, region, layer or part.

[0088] Spatially relative terms such as "under," "beneath," "below," "under," "above," "above," and the like may be used herein for ease of description to describe the relationship of an element or feature shown in the figures to other elements or features. It should be understood that the spatially relative terms are intended to include different orientations of the device in use and operation in addition to the orientations shown in the figures. For example, if the device in the accompanying drawings is flipped, then the elements or features described as "under other elements" or "under" or "under" will be oriented as "above" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or other orientations) and the spatial descriptors used herein are interpreted accordingly.

[0089] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present invention. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0090] In order to fully understand the present invention, detailed structures and steps will be presented in the following description to illustrate the technical solutions proposed by the present invention. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0091] An embodiment of the present invention provides a motor control circuit 1, such as Figure 1 and Figure 2 As shown, the motor control circuit 1 includes a main control module 11, a damping switch circuit 12, a power supply switch circuit 13 and a passive damping module 14;

[0092] A first end of the power switch circuit 13 is used to connect to the power supply module 2, and a second end of the power switch circuit 13 is used to connect to the motor system 3;

[0093] A first end of the damping switch circuit 12 is connected to the main control module 11 , and a second end of the damping switch circuit 12 is used to connect to the motor system 3 through the passive damping module 14 ;

[0094] The main control module 11 is connected to the damping switch circuit 12 and the power supply switch circuit 13, and is used to control the damping switch circuit 12 to close and control the power supply switch circuit 13 to open, so that the motor system 3 enters a passive damping working state, or control the damping switch circuit 12 to open and control the power supply switch circuit 13 to close, so that the motor system 3 enters an active control working state.

[0095] Among them, the damping switch circuit 12 is a switch for controlling whether the motor system 3 enters the passive damping working condition. The power supply switch circuit 13 is a switch for whether the motor system 3 enters the active control working condition. The passive damping module 14 is a functional module for realizing damping control, specifically a functional module for providing a release path for the motional electromotive force generated by the motor system 3. The passive damping working condition refers to the working condition in which the motor system 3 needs to be controlled to release the motional electromotive force. The active control working condition refers to the working condition in which the motor system 3 is powered by the power supply module 2 so that the motor system 3 can realize active control.

[0096] The motor system 3 herein refers to a motor connected to the motor control circuit 1 and controlled by the motor control circuit 1 , and may specifically be, but not limited to, a motor system in an electromagnetic actuator, a servo motor, or a main drive motor.

[0097] The power supply module 2 here can be a high-voltage power supply module or a low-voltage power supply module, depending on the application scenario of the motor system that the motor control system needs to control. For example, when the motor system is a motor system in the electromagnetic suspension system of a car, the power supply module 2 is a high-voltage power supply module. At this time, the high-voltage power supply module includes a power battery, a DC switch circuit connected to the power battery, and a pre-charging circuit. The DC switch circuit is connected to the power switch circuit 13, and the pre-charging circuit can be connected to the damping energy storage circuit 142 in the passive damping module 14, so that the high-voltage power supply module cooperates with the motor control circuit 1 to control the motor system 3 to work.

[0098] As an example, the first end of the damping switch circuit 12 is connected to the main control module 11, and the second end of the damping switch circuit 12 is connected to the motor system 3 through the passive damping module 14. When the damping switch circuit 12 is closed, the passive damping module 14 can release the motional electromotive force generated by the motor system 3; when the damping switch circuit 12 is disconnected, the passive damping module 14 does not work.

[0099] As an example, the first end of the power supply switch circuit 13 is connected to the power supply module 2, and the second end of the power supply switch circuit 13 is connected to the motor system 3. When the power supply switch circuit 13 is closed, the power supply module 2 can supply power to the motor system 3 so that the motor system 3 can work normally; when the power supply switch circuit 13 is disconnected, the power supply module 2 does not supply power to the motor system 3.

[0100] As an example, the main control module 11 is connected to the damping switch circuit 12 and the power supply switch circuit 13. According to the actual situation, the damping switch circuit 12 can be controlled to close and the power supply switch circuit 13 can be controlled to open. At this time, the power supply module 2 does not supply power to the motor system 3, and the passive damping module 14 is required to release the motional electromotive force generated by the motor system 3 so that the motor system 3 enters the passive damping working state (such as Figure 1 and Figure 2 As shown by the thin lines in the figure), the problem of abnormal heating of the motor system 3 caused by the motional electromotive force and even abnormal heating of the main control module 11 connected to the motor system 3 is solved; or, the damping switch circuit 12 is controlled to be disconnected and the power supply switch circuit 13 is controlled to be closed. At this time, the power supply module 2 supplies power to the motor system 3 so that the motor system 3 enters the main control working state (such as Figure 1 and Figure 2 shown in bold).

[0101] In this example, when the power supply module 2 provides high voltage electricity to the motor system 3, it is necessary to control either one of the damping switch circuit 12 and the power supply switch circuit 13 to be closed and the other to be disconnected, so that it switches between the passive damping condition and the active control condition, to avoid the damping switch circuit 12 and the power supply switch circuit 13 being closed at the same time, so that the passive damping module 14 is directly connected to the power supply module 2 and causes damage to the motor system 3, so as to ensure circuit safety.

[0102] In one embodiment, the main control module 11 is used to obtain the first measured data after the motor system 3 is powered on and started. When the first measured data meets the active control condition, the damping switch circuit 12 is controlled to be disconnected and the power supply switch circuit 13 is controlled to be closed, so that the motor system 3 enters the active control state.

[0103] The first measured data refers to the measured data collected after the motor system 3 is powered on and started, and the first measured data is data used to evaluate whether it is necessary to control the motor system 3 to enter the active control state. The active control condition is a pre-set condition for evaluating whether it is necessary to control the motor system 3 to enter the active control state.

[0104] As an example, the main control module 11 is connected to the motor system 3. Before the motor system 3 is powered on, the damping switch circuit 12 and the power supply switch circuit 3 must be disconnected first, and low voltage power must be supplied to the motor system 3 to start and initialize the motor system 3. In this process, the first measured data can be obtained, and the first measured data can be compared with the active control conditions corresponding to the active control working condition. When the first measured data meets the active control conditions, it can be determined that the motor system 3 is normal. At this time, the damping switch circuit 12 is controlled to be disconnected and the power supply switch circuit 13 is controlled to be closed, so that the motor system 3 enters the active control working condition, so that the motor system 3 can receive the power supply of the power supply module 2 for active control.

[0105] In one embodiment, the main control module 11 is used to obtain the initialization result and the motor system status after the motor system 3 is powered on. When the initialization result is successful initialization, or the motor system status is not a motor system fault state or a motor system alarm state, the damping switch circuit 12 is controlled to be disconnected and the power supply switch circuit 13 is controlled to be closed, so that the motor system 3 enters an active control state.

[0106] Among them, the initialization result is the result after the motor system 3 is initialized. As an example, the initialization result can be one of initialization success and initialization failure. The motor system state refers to the state of the motor system 3 monitored in real time. The motor system state here includes but is not limited to the motor system initialization state, the motor system preparation state, the motor system torque control state, the motor system speed control state, the motor system angle control state, the motor system rotary transformer self-learning state, the motor system passive damping state, the motor system fault state and the motor system alarm state.

[0107] As an example, after low voltage electricity is applied to the motor system 3 so that the motor system 3 is started and initialized, the main control module 11 will obtain the initialization result corresponding to the motor system 3. When the initialization result is initialization failure, the main control module 11 will maintain the state in which the damping switch circuit 12 and the power supply switch circuit 3 are both disconnected; when the initialization result is initialization success, it means that the motor system 3 can work normally. At this time, the main control module 11 controls the damping switch circuit 12 to disconnect and controls the power supply switch circuit 13 to close, so that the motor system 3 enters the active control working condition. The motor system 3 monitors its motor system state in real time. When the motor system state is not the motor system fault state and the motor system alarm state, for example, when the motor system state is the motor system preparation state, the motor system torque control state, the motor system speed control state, the motor system angle control state, the motor system rotary transformer self-learning state, and the motor system passive damping state, it can be determined that the motor system works normally, and the damping switch circuit 12 can be maintained to be disconnected and the power supply switch circuit 13 can be controlled to be closed, so that the motor system 3 enters the active control working condition.

[0108] In one embodiment, the main control module 11 is used to obtain second measured data of the motor system 3 under active control conditions. When the second measured data meets the passive damping condition, the damping switch circuit 12 is controlled to close and the power supply switch circuit 13 is controlled to open, so that the motor system 3 enters the passive damping condition.

[0109] The second measured data refers to the measured data collected when the motor system 3 is in an active control condition, and the second measured data is data used to evaluate whether it is necessary to control the motor system to enter a passive damping condition. The passive damping condition is a pre-set condition for evaluating whether it is necessary to control the motor system 3 to enter a passive damping condition.

[0110] As an example, when the motor system 3 is in an active control condition, that is, the damping switch circuit 12 is disconnected and the power supply switch circuit 13 is controlled to be closed, the main control module 11 needs to obtain second measured data, and compare the obtained second measured data with the passive damping condition corresponding to the passive damping condition. When the second measured data meets the passive damping condition, it can be determined that there is an abnormality in the motor system 3 itself or in its environment. At this time, it is necessary to control the damping switch circuit 12 to be closed and the power supply switch circuit 13 to be disconnected, so that the motor system 3 enters the passive damping condition, so as to release the motional electromotive force generated by the motor system 3 in the active control condition, so as to solve the problem that the motional electromotive force causes abnormal heating of the motor system 3, and even causes abnormal heating of the main control module 11 connected to the motor system 3, so as to ensure the safety of the motor system 3.

[0111] The main control module 11 is connected to the motor system 3 and is used to obtain the motor system state of the motor system 3 under the active control condition. When the motor system state is any one of the motor system fault state and the motor system alarm state, the damping switch circuit 12 is controlled to close and the power supply switch circuit 13 is controlled to disconnect, so that the motor system 3 enters the passive damping condition.

[0112] The motor system state refers to the state of the motor system 3 monitored in real time. The motor system state here includes but is not limited to the motor system initialization state, the motor system preparation state, the motor system torque control state, the motor system speed control state, the motor system angle control state, the motor system rotary transformer self-learning state, the motor system passive damping state, the motor system fault state and the motor system alarm state.

[0113] As an example, when the motor system 3 is in an active control condition, it is necessary to monitor its own state in real time and send the monitored motor system state to the main control module 11, so that the main control module 11 can determine that there is an abnormality in the motor system 3 itself based on the received motor system state when the motor system state is any one of the motor system fault state and the motor system alarm state. At this time, it is necessary to control the damping switch circuit 12 to close and control the power supply switch circuit 13 to disconnect, cut off the power supply path of the power supply module 2, and use the passive damping module 14 to release the motional electromotive force generated by the motor system 3, so that the motor system 3 enters the passive damping condition, so as to solve the problem that the motional electromotive force causes abnormal heating of the motor system 3, and even causes abnormal heating of the main control module 11 connected to the motor system 3, so as to ensure the safety of the motor system 3.

[0114] In this example, when the normal operation of the motor system 3 is affected by the overtemperature of the motor system 3, the motor system 3 is overvoltage or undervoltage, the communication of the motor system 3 is lost, the internal sensor of the motor system 3 is faulty, the motor system 3 is overloaded, etc., the motor system state monitored is the motor system fault state or the motor system alarm state.

[0115] In one embodiment, the main control module 11 communicates with the associated system 4 and is used to obtain the associated system state corresponding to the associated system 4 when the motor system 3 is in an active control condition. When the associated system state is any one of an associated system fault state, an associated system alarm state and a passive damping condition of the associated system 4, the damping switch circuit 12 is controlled to close and the power supply switch circuit 13 is controlled to disconnect, so that the motor system 3 enters a passive damping condition.

[0116] Among them, the associated system state refers to the state of the motor system 3 monitored in real time. The associated system state here includes but is not limited to the associated system initialization state, the associated system preparation state, the associated system torque control state, the associated system speed control state, the associated system angle control state, the associated system rotary self-learning state, the associated system passive damping state, the associated system fault state and the associated system alarm state. The motor system 3 here is a system associated with the motor system 3. For example, when the motor system 3 is the motor system 3 of the electromagnetic suspension system on the car, the associated system 4 can be a vehicle-level system set on the car, which can communicate with the motor system 3. Only when the associated system 4 can work normally, the motor system 3 can work normally. Therefore, it is necessary to monitor the associated system state so as to control the motor system 3 to work according to the associated system state.

[0117] As an example, when the motor system 3 is working, the main control module 11 needs to establish communication with the associated system 4, so as to obtain the associated system status sent by the associated system 4 in real time when the motor system 3 is in an active control condition. According to the received associated system status, when the associated system status is any one of the associated system fault state, the associated system alarm state and the passive damping condition of the associated system 4, it can be determined whether there is an abnormality in the environment where the motor system 3 is located, that is, the associated system 4 may have a situation where the temperature is too high, the overvoltage or undervoltage, the communication is lost, the internal sensor failure or the overload triggers the associated system fault state or the associated system alarm state, or it can be determined that the associated system 4 enters the passive damping condition to release the motional electromotive force. When these situations occur in the associated system 4, if the motor system 3 is continued to be controlled to work normally, it may also cause the motor system 3 to fail or other situations that affect its normal operation. Therefore, it is necessary to control the motor system 3 to enter the passive damping condition to release the motional electromotive force generated by the motor system 3 to avoid abnormal heating of the motor system 3 and the main control module 11, so as to ensure the safety of the motor system 3 and the main control module 11.

[0118] In one embodiment, the main control module 11 includes at least one main control chip;

[0119] Each main control chip is connected to a controlled motor in the motor system 3, and is used to obtain the motor system state corresponding to the controlled motor when the motor system 3 is in an active control state;

[0120] Each main control chip communicates with the associated system 4 and is used to obtain the associated system state corresponding to the associated system 4 when the motor system 3 is in the active control working condition;

[0121] Each main control chip is connected to the damping switch circuit 12 and the power supply switch circuit 13, and is used to control the damping switch circuit 12 to close and the power supply switch circuit 13 to open when the motor system state is any one of the motor system fault state and the motor system alarm state, or the associated system state is any one of the associated system fault state, the associated system alarm state and the associated system 4 passive damping working condition, so that the motor system 3 enters the passive damping working condition.

[0122] As an example, at least one motor is provided on the motor system 3. Accordingly, the main control module 11 includes at least one main control chip, each of which is connected to a controlled motor in the motor system 3 to control the operation of the controlled motor.

[0123] As an example, when the motor system 3 of the controlled motor connected to it is in the active control condition, each main control chip obtains the motor system state corresponding to the controlled motor. When the motor system state is any one of the motor system fault state and the motor system alarm state, when it is determined that the motor system state meets the passive damping condition, the damping switch circuit 12 can be controlled to close and the power supply switch circuit 13 can be controlled to open, so that the motor system 3 enters the passive damping condition; when the motor system state does not meet the passive damping condition, the damping switch circuit 12 can be maintained disconnected and the power supply switch circuit 13 can be controlled to close, so that the motor system 3 continues to work under the active control condition.

[0124] As an example, each main control chip is connected to the associated system 4. When the controlled motor connected to it is in the active control condition of the motor system 3, the main control chip obtains the associated system status sent by the associated system 4. When the associated system status is any one of the associated system fault status, the associated system alarm status and the passive damping condition of the associated system 4, when it is determined that the associated system status meets the passive damping condition, the main control chip can control the damping switch circuit 12 to close and control the power supply switch circuit 13 to open, so that the motor system 3 enters the passive damping condition; when the associated system status does not meet the passive damping condition, the damping switch circuit 12 can be kept open and the power supply switch circuit 13 can be controlled to close, so that the motor system 3 continues to work under the active control condition.

[0125] In this embodiment, the main control module 11 includes at least two main control chips. Each main control chip can be connected to the motor system 3 and the associated system 4 to control the DC passive damping condition or active control condition of the motor system 3 according to the state of the motor system and the state of the associated system, so as to achieve the purpose of taking into account both the safety and normal operation of the motor system 3.

[0126] In one embodiment, the main control module 11 further includes a fault detection module 15;

[0127] The fault detection module 15 is connected to at least one main control chip, the damping switch circuit 12 and the power supply switch circuit 13, and is used to detect the chip hardware status corresponding to each main control chip when the motor system 3 is in an active control state. When the chip hardware status of at least one main control chip is a fault state, the damping switch circuit 12 is controlled to be closed and the power supply switch circuit 13 is controlled to be disconnected, so that the motor system 3 enters a passive damping state.

[0128] The fault detection module 15 is a module for performing hardware detection on the chip to determine whether the chip has a fault. The chip hardware state refers to the state in which the fault detection module 15 detects the chip to determine whether it has a fault.

[0129] As an example, the main control module 11 also includes a fault detection module 15, which is connected to at least one main control chip to detect the chip hardware state corresponding to each main control chip, and the chip hardware state can be a fault state or a normal state. When it is detected that the chip hardware state of at least one main control chip is a fault state, it can be determined that at least one main control chip has a fault, so that the main control chip with the fault cannot control the corresponding controlled motor to work normally. At this time, the damping switch circuit 12 can be controlled to close and the power supply switch circuit 13 can be controlled to be disconnected, so that the motor system 3 enters a passive damping condition to release the motional electromotive force of the motor system 3 to ensure the safety of the motor system 3. When the chip hardware state of all main control chips is a normal state, it can be determined that all main control chips are normal, and the controlled motors connected thereto can be controlled to work normally. Therefore, the damping switch circuit 12 can be controlled to be disconnected and the power supply switch circuit 13 can be controlled to be closed, so that the motor system 3 enters an active control condition to ensure the normal operation of the motor system 3.

[0130] In one embodiment, the main control chip includes a first chip 111 and a second chip 112, the first chip 111 is used to connect to the first motor 31 in the motor system 3, and the second chip 112 is used to connect to the second motor 32 in the motor system 3;

[0131] The first chip 111 communicates with the second chip 112 and is used to obtain a second communication state corresponding to the second chip 112 when the motor system 3 is in an active control condition;

[0132] The second chip 112 communicates with the first chip 111 and is used to obtain a first communication state corresponding to the first chip 111 when the motor system 3 is in an active control state;

[0133] When at least one of the first communication state and the second communication state is a fault state, the damping switch circuit 12 is controlled to be closed and the power supply switch circuit 13 is controlled to be opened, so that the motor system 3 enters a passive damping working state.

[0134] As an example, the main control module 11 includes two main control chips, namely a first chip 111 and a second chip 112. The first chip 111 is connected to the first motor 31 in the motor system 3, and is used to control the operation of the first motor 31. Specifically, the motor system state corresponding to the first motor 31 can be collected, so as to switch into a passive damping condition or an active control condition based on the motor system state. The second chip 112 is connected to the second motor 32 in the motor system 3, and is used to control the operation of the second motor 32. Specifically, the motor system state corresponding to the second motor 32 can be collected, so as to switch into a passive damping condition or an active control condition based on the motor system state.

[0135] As an example, the first chip 111 communicates with the second chip 112, and when the motor system 3 is in an active control condition, the second communication state corresponding to the second chip 112 can be obtained. The second communication state here is used to reflect whether the second chip 112 has a fault, and can be any one of a fault state and a normal state. In this example, the first chip 111 can send verification data to the second chip 112, and wait for the response data of the second chip 112 within a preset time. If there is data loss, delay, or verification abnormality, it can be determined that the second chip 112 has a fault, so as to determine that the second communication state is a fault state; conversely, if there is no such abnormality, it can be determined that the second communication state is a normal state. Similarly, the second chip 112 communicates with the first chip 111, and can obtain the first communication state corresponding to the first chip 111. Its processing process is the same as the second communication state acquisition process. To avoid repetition, it is not repeated here.

[0136] As an example, when the main control module 11 includes at least two main control chips, any two main control chips are respectively determined as the first chip 111 and the second chip 112, and the first chip 111 and the second chip 112 communicate so that the first chip 111 can obtain the second communication state, and the second chip 112 can obtain the first communication state. When at least one of the first communication state and the second communication state is a fault state, it can be determined that at least one of the first chip 111 and the second chip 112 is faulty, so that the faulty chip cannot normally control the motor connected to it, that is, the environment where the motor system 3 is located is abnormal, therefore, it is necessary to control the damping switch circuit 12 to close and control the power supply switch circuit 13 to disconnect, so that the motor system 3 enters the passive damping state, so that the motor system 3 releases the motional electromotive force, and ensures the safety of the motor system 3. When the first chip 111 and the second chip 112 are both in normal state, it can be determined that the two communication states do not meet the passive damping conditions, it can be determined that the first chip 111 can normally control the first motor 31 to work and the second chip 112 can normally control the second motor 32 to work, and the damping switch circuit 12 can be controlled to be disconnected and the power supply switch circuit 13 can be controlled to be closed, so that the motor system 3 continues to work under active control conditions to ensure the normal operation of the motor system 3.

[0137] In one embodiment, the damping switch circuit 12 includes a first damping switch and a second damping switch; a first end of the first damping switch is connected to the first chip 111, and a second end of the first damping switch is connected to the first motor 31 through the passive damping module 14; a first end of the second damping switch is connected to the first chip 111, and a second end of the second damping switch is connected to the second motor 32 through the passive damping module 14;

[0138] The power supply switch circuit 13 includes a first power supply switch and a second power supply switch; the first power supply switch is used to connect the power supply module 2 and the first motor 31; the second power supply switch is used to connect the power supply module 2 and the second motor 32;

[0139] The second chip 112 communicates with the first chip 111, and is used to obtain a first communication state corresponding to the first chip 111 when the motor system 3 is in an active control state, and when the first communication state is a fault state, control the first damping switch to be closed and the first power supply switch to be disconnected, so that the first motor 31 enters a passive damping state;

[0140] The first chip 111 communicates with the second chip 112 and is used to obtain the second communication state corresponding to the second chip 112 when the motor system 3 is in an active control state. When the second communication state is a fault state, the second damping switch is controlled to be closed and the second power supply switch is controlled to be disconnected so that the second motor 32 enters a passive damping state.

[0141] As an example, when the motor system 3 includes the first motor 31 and the second motor 32, the power switch circuit 13 may include the first power switch and the second power switch, and the damping switch circuit 12 may include the first damping switch and the second damping switch. The first power switch is used to connect the power supply module 2 and the first motor 31 to transmit the power output of the power supply module 2 to the first motor 31 so that the first motor 31 can work normally; the second power switch is used to connect the power supply module 2 and the second motor 32 to transmit the power output of the power supply module 2 to the second motor 32 so that the second motor 32 can work normally.

[0142] The first end of the first damping switch is connected to the first chip 111, and the second end of the first damping switch is connected to the first motor 31 through the passive damping module 14, so as to control whether the passive damping module 14 is connected to the first motor 31 through the first damping switch; the first end of the second damping switch is connected to the first chip 111, and the second end of the second damping switch is connected to the second motor 32 through the passive damping module 14, so as to control whether the passive damping module 14 is connected to the second motor 32 through the second damping switch.

[0143] As an example, the second chip 112 communicates with the first chip 111 to obtain the first communication state corresponding to the first chip 111 when the motor system 3 is in an active control state. When the first communication state is a fault state, the second chip 112 can control the first damping switch to close and the first power switch to disconnect, so that the first motor 31 enters a passive damping state to release the kinetic electromotive force generated by the first motor 31. When the first communication state detected by the second chip 112 is a normal state, it can be determined that the first chip 111 can work normally, and the first damping switch can be controlled to be disconnected and the first power switch can be controlled to be closed, so that the first motor 31 continues to work under the active control state to ensure the normal operation of the first motor 31. In this example, the second chip 112 can control the on and off of the first power switch and the first damping switch according to the detected first communication state, so that the first motor 31 enters a passive damping state or an active control state.

[0144] As an example, the first chip 111 communicates with the second chip 112 to obtain the second communication state corresponding to the second chip 112 when the motor system 3 is in an active control condition. When the second communication state is a fault state, the first chip 111 can control the second damping switch to close and the second power supply switch to disconnect, so that the second motor 32 enters a passive damping condition to release the kinetic electromotive force generated by the second motor 32. When the first chip 111 detects that the second communication state is a normal state, it can determine that the second chip 112 can work normally, and can maintain the control of the second damping switch to disconnect and the second power supply switch to close, so that the second motor 32 continues to work under the active control condition to ensure the normal operation of the second motor 32. In this example, the first chip 111 can control the on and off of the second power supply switch and the second damping switch according to the detected second communication state, so that the second motor 32 enters a passive damping condition or an active control condition.

[0145] In this embodiment, when the motor system 3 includes at least two controlled motors, any two controlled motors are respectively determined as the first motor 31 and the second motor 32; accordingly, any two main control chips in the main control module 11 are determined as the first chip 111 and the second chip 112, the first motor 31 is used to control the operation of the first motor 31, and the second chip 112 is used to control the operation of the second motor 32. The first chip 111 and the second chip 112 communicate with each other, obtain the communication status of the chip communicating with them, and control the controlled motor controlled by the chip communicating with them to enter the passive damping working condition or the active control working condition according to the detected communication status, so as to ensure the safety of the motor system 3.

[0146] In one embodiment, the main control module 11 further includes a first fault detection unit 151 and a second fault detection unit 152;

[0147] A first fault detection unit 151 is connected to the first chip 111, the damping switch circuit 12 and the power switch circuit 13, and is used to obtain a first hardware state corresponding to the first chip 111 when the motor system 3 is in an active control state, and output the first hardware state to the damping switch circuit 12 and the power switch circuit 13;

[0148] The second fault detection unit 152 is connected to the second chip 112, the damping switch circuit 12 and the power supply switch circuit 13, and is used to obtain the second hardware state corresponding to the second chip 112 when the motor system 3 is in the active control state, and output the second hardware state to the damping switch circuit 12 and the power supply switch circuit 13;

[0149] When at least one of the first hardware state and the second hardware state is a fault state, the damping switch circuit 12 is controlled to be closed and the power supply switch circuit 13 is controlled to be opened, so that the motor system 3 enters a passive damping working state.

[0150] As an example, the main control module 11 includes two main control chips, namely a first chip 111 and a second chip 112. The first chip 111 is connected to the first motor 31 in the motor system 3, and is used to control the operation of the first motor 31; the second chip 112 is connected to the second motor 32 in the motor system 3, and is used to control the operation of the second motor 32.

[0151] The main control module 11 includes a fault detection module 15, which includes a first fault detection unit 151 and a second fault detection unit 152. The first fault detection unit 151 is connected to the first chip 111, and is used to obtain the first hardware state of the first chip 111 when the motor system 3 is in an active control state, and send the potential signal corresponding to the first hardware state to the damping switch circuit 12 and the power supply switch circuit 13. The second fault detection unit 152 is connected to the second chip 112, and is used to obtain the second hardware state of the second chip 112 when the motor system 3 is in an active control state, and send the potential signal corresponding to the second hardware state to the damping switch circuit 12 and the power supply switch circuit 13.

[0152] In this example, the damping switch circuit 12 and the power switch circuit 13 can both receive a potential signal corresponding to the first hardware state and a potential signal corresponding to the second hardware state; when it is determined according to the two potential signals that at least one of the first hardware state and the second hardware state is in a fault state, it can be determined that the first chip 111 and / or the second chip 112 is faulty, making it impossible to control the first motor 31 and / or the second motor 32 to work normally, and therefore, the damping switch circuit 12 can be controlled to close and the power switch circuit 13 can be controlled to open, so that the motor system 3 enters a passive damping condition to release the motional electromotive force of the motor system 3 to ensure the safety of the motor system 3. When it is determined according to the two potential signals that the first hardware state and the second hardware state are both in normal states, it can be determined that the first chip 111 and the second chip 112 are both normal, and the damping switch circuit 12 can be controlled to open and the power switch circuit 13 can be controlled to close, so that the motor system 3 continues to work under the active control condition to ensure the normal operation of the first motor 31 and the second motor 32.

[0153] Furthermore, when both the first communication state and the second communication state are fault states, it can be determined that the communication fault between the first chip 111 and the second chip 112 is likely that there is a fault in the first chip 111 and the second chip 112 themselves. Therefore, the first fault detection unit 151 is used to detect the first hardware state corresponding to the first chip 111, and the second fault detection unit 152 is used to detect the second hardware state corresponding to the second chip 112. When at least one of the first hardware state and the second hardware state is a fault state, it can be determined that the first chip 111 and / or the second chip 112 cannot normally send control signals to the damping switch circuit 12 and the power supply switch circuit 13, so that the two switch circuits cannot switch the switch state. At this time, the damping switch circuit 12 and the power supply switch circuit 13 can be controlled to switch the switch state according to the potential signals corresponding to the two hardware states output by the first fault detection unit 151 and the second fault detection unit 152 to achieve redundant protection.

[0154] In one embodiment, the motor control circuit 1 further includes a power module 16 and a drive module 17;

[0155] A first end of the power module 16 is connected to the power switch circuit 13 , and a second end of the power module 16 is used to connect to the motor system 3 ;

[0156] A first end of the driving module 17 is connected to the main control module 11 , and a second end of the driving module 17 is connected to the power module 16 .

[0157] Among them, the power module 16 is a functional module for realizing power conversion. The power module 16 is arranged between the power supply switch circuit 13 and the motor system 3. When the power supply switch circuit 13 is closed, the power module 16 can convert the DC signal (such as high voltage DC) output by the power supply module 2 into an AC signal to drive the motor system 3 to work; when the power supply switch circuit 13 is disconnected, the power supply module 2 does not supply power to the motor system 3 through the power module 16. The drive module 17 is a module arranged between the main control module 11 and the power module 16 for realizing the drive function.

[0158] As an example, the main control module 11 is connected to the power module 16 through the driving module 17, and is used to output a control signal to the driving module 17 so that the driving module 17 and the power module 16 output a driving signal, so that the power module 16 can perform power conversion to convert the DC signal output by the power supply module 2 into an AC signal that can control the normal operation of the motor system 3; or, when the motor system 3 is in a passive damping condition, the motional electromotive force energy generated by the motor system 3 is converted into a DC signal and outputted in reverse to the power supply module 2.

[0159] In one embodiment, the power module 16 includes a first power unit 161 and a second power unit 162, and correspondingly, the driving module 17 includes a first driving unit 171 and a second driving unit 172. The first end of the first power unit 161 is connected to the power supply switch circuit 13, and the second end of the first power unit 161 is connected to the first motor 31; the first chip 111 is connected to the first power unit 161 through the first driving unit 171, and the first chip 111 outputs a control signal to the first driving unit 171, so that the first driving unit 171 drives and controls the first power unit 161 to perform power conversion. The first end of the second power unit 162 is connected to the power supply switch circuit 13, and the second end of the second power unit 162 is connected to the second motor 32; the second chip 112 is connected to the second power unit 162 through the second driving unit 172, and the second chip 112 outputs a control signal to the second driving unit 172, so that the second driving unit 172 drives and controls the second power unit 162 to perform power conversion.

[0160] As an example, the power module 16 includes a first power unit 161, which is used to connect the power supply switch circuit 13 and the first motor 31, and is connected to the first chip 111, and performs power conversion under the control of the first chip 111, so as to convert the DC signal output by the power supply module 2 into the AC signal required by the first motor 31, or reversely rectify the AC signal output by the first motor 31 into a DC signal output to the power supply module 2. Correspondingly, the power module 16 also includes a second power unit 162, which is used to connect the power supply switch circuit 13 and the second motor 32, and is connected to the second chip 112, and performs power conversion under the control of the second chip 112, so as to convert the DC signal output by the power supply module 2 into the AC signal required by the second motor 32, or reversely rectify the AC signal output by the second motor 32 to output a DC signal driven by an external power supply.

[0161] In one embodiment, the passive damping module 14 includes a damping resistor circuit 141 , and the damping resistor circuit 141 is used to connect to the motor system 3 .

[0162] Among them, the damping resistor circuit 141 is a resistor formed by a resistor for consuming the motional electromotive force energy formed by the motor system 3. The damping resistor circuit 141 can be a resistor or a circuit formed by connecting multiple resistors in series and in parallel. As an example, when the motor system 3 needs to enter the passive damping working condition, the motional electromotive force energy released by it can be directly output to the damping resistor circuit 141, and the damping resistor circuit 141 is used to consume energy to achieve the effect of releasing the motional electromotive force energy. In this example, the damping resistor circuit 141 is also connected to the power supply switch circuit 13, and the motional electromotive force energy generated by it can be rectified into direct current through the power module 16, and output to the damping resistor circuit 141 in reverse, and the damping resistor circuit 141 is used to consume energy, and the motional electromotive force energy formed by the motor system 3 is consumed in the form of heat energy to achieve the effect of releasing the motional electromotive force energy.

[0163] In the present invention, one or more damping resistor circuits 141 may be provided in the passive damping module 14, and multiple damping resistor circuits 141 are arranged in parallel, and multiple damping resistor circuits 141 are used to consume energy to ensure the release effect of motional electromotive force. It can be understood that when multiple damping resistor circuits 141 are arranged in parallel, the passive damping function will fail only when all damping resistor circuits 141 fail, so the safety level of the motor system 3 can be effectively improved.

[0164] In one embodiment, the passive damping module 14 further includes a damping energy tank circuit 142 , one end of the damping energy tank circuit 142 is connected to the power module 16 , and the other end of the damping energy tank circuit 142 is used to connect to the power supply module 2 .

[0165] Among them, the damping energy storage circuit 142 is a circuit for achieving the energy storage effect. As an example, when the motor system 3 enters the passive damping working state, the motional electromotive force energy output by the motor system 3 through the power module 16 can be received and energy can be stored to convert the motional electromotive force energy formed by the motor system 3 into chemical energy storage; when the motor system 3 enters the active control working state, the energy output by the power supply module 2 can be obtained and stored, so that when the damping energy storage circuit 142 is needed to power the motor power supply system, the power module 16 can be used to power the motor system 3.

[0166] In this example, the damping energy storage circuit 142 may include one or more pre-charged capacitors that can perform charging and discharging functions, and utilize the charging and discharging of the pre-charged capacitors to achieve the purpose of releasing the motional electromotive force of the motor system 3 or supplying power to the motor system 3.

[0167] In one embodiment, the passive damping module 14 further includes a switch 143, one end of the switch 143 is connected to the power module 16, and the other end of the switch 143 is connected to the damping energy storage circuit 142;

[0168] The main control module 11 is connected to the switch 143 and is used to control the on and off of the switch 143 to control the motor system 3 to enter the first passive damping working condition or the second passive damping working condition.

[0169] The switch 143 is arranged between the power module 16 and the damping energy storage circuit 142, and is used to control whether the damping energy storage circuit 142 participates in the release of the motional electromotive force of the motor system 3. The first passive damping working condition is a working condition where energy is consumed only by the damping resistor circuit 141. The second passive damping working condition is a working condition where energy is consumed by both the damping resistor circuit 141 and the damping energy storage circuit 142.

[0170] As an example, the passive damping module 14 also includes a switching switch 143 arranged between the power module 16 and the damping energy storage circuit 142. The main control module 11 is connected to the switching switch 143 and can control the switching switch 143 to be disconnected so that the motor system 3 enters the first passive damping working condition. At this time, the damping energy storage circuit 142 is not connected to the power module 16, and the motional electromotive force of the motor system 3 is completely consumed by the damping resistance circuit 141; the switching switch 143 can also be controlled to be closed so that the motor system 3 enters the second passive damping working condition. At this time, the damping energy storage circuit 142 is connected to the power module 16, and the motional electromotive force of the motor system 3 can be consumed by the damping resistance circuit 141, and can also be rectified and output to the damping energy storage circuit 142 for storage through the power module 16, so as to release the motional electromotive force of the motor system 3 and ensure the safety of the motor system 3.

[0171] In one embodiment, the main control module 11 is also connected to the motor system 3 to obtain the motor speed corresponding to the motor system 3; when the motor speed is less than the preset speed, the control switching switch 143 is disconnected to allow the motor system 3 to enter the first passive damping working condition; when the motor speed is not less than the preset speed, the control switching switch 143 is closed to allow the motor system 3 to enter the second passive damping working condition.

[0172] The preset rotational speed is a preset rotational speed for switching between the first passive damping working condition and the second passive damping working condition.

[0173] As an example, the main control module 11 is also connected to the motor system 3, and can obtain the motor speed output by the motor system 3 in real time, and compare the motor speed with the preset speed; if the motor speed is less than the preset speed, it can be determined that the motor speed of the motor system 3 is relatively low, and the motional electromotive force energy generated by it is relatively small, which can be completely consumed by the damping resistance circuit 141 connected to the motor system 3. Therefore, the switching switch 143 can be controlled to be disconnected, so that the damping energy storage circuit 142 does not participate in the release of the motional electromotive force energy of the motor system 3; if the motor speed is not less than the preset speed, it can be determined that the motor speed of the motor system 3 is relatively high, and the motional electromotive force energy generated by it is relatively large, which cannot be completely consumed by the damping resistance circuit 141 connected to the motor system 3. Therefore, it is necessary to control the switching switch 143 to be closed, so that the damping energy storage circuit 142 participates in the release of the motional electromotive force energy of the motor system 3 to ensure the safety of the motor system 3.

[0174] In one embodiment, the power module 16 includes an IGBT tube and a freewheeling diode;

[0175] The control end of the IGBT tube is connected to the main control module 11, and the two connection ends of the IGBT tube are connected to the power supply module 2 and the power module 16 respectively;

[0176] The anode of the freewheeling diode is connected to the power module 16 , and the cathode of the freewheeling diode is used to connect to the power supply module 2 .

[0177] As an example, the power module 16 includes an IGBT tube, and the two connection ends of the IGBT tube are respectively connected to the power supply module 2 and the power module 16. The control end of the IGBT tube is connected to the main control module 11, and the on-off of the IGBT tube can be controlled according to the control signal output by the main control module 11 to control the on-off of the circuit between the power supply module 2 and the power module 16. The freewheeling diode is arranged on the IGBT tube, the anode of the freewheeling diode is connected to the power module 16, and the cathode of the freewheeling diode is used to connect the power supply module 2. When the motor system 3 enters the passive damping working condition, the motor system 3 is changed from a motor to a generator, and the motional electromotive force generated by it will be reversely transmitted to the IGBT tube through the power module 16. When the motional electromotive force is greater than the output voltage of the power supply module 2, it will be reversely charged to the power supply module 2 through the IGBT tube to achieve the purpose of reverse charging.

[0178] In one embodiment, a motor control method is provided, such as Figure 3 As shown, the motor control method can be applied to the motor control circuit 1 described in the above embodiment, including:

[0179] S301: Acquire measured data of the motor system 3 under the current working condition;

[0180] S302: According to the measured data, the motor system 3 is controlled to enter an active control condition or a passive damping condition.

[0181] Among them, the current working condition refers to the working condition of the motor system at the current moment. The measured data refers to the data collected at the current moment. The passive damping working condition refers to the working condition in which the motor system 3 needs to be controlled to release the motional electromotive force. The active control working condition refers to the working condition in which the motor system 3 is powered by the power supply module 2 so that the motor system 3 can be actively controlled.

[0182] As an example, when the motor system 3 is in the current working condition, the main control module 11 can obtain measured data, and compare the measured data obtained in the current working condition with the pre-set active control conditions and passive damping conditions. When the measured data meets the active control conditions, the motor system 3 is controlled to enter the active control condition, specifically, the damping switch circuit 12 is controlled to be disconnected and the power supply switch circuit 13 is controlled to be closed. At this time, the power supply module 2 supplies power to the motor system 3 to enable the motor system 3 to work normally; when the measured data meets the passive damping condition, the motor system 3 is controlled to enter the passive damping condition, specifically, the damping switch circuit 12 is controlled to be closed and the power supply switch circuit 13 is controlled to be disconnected. At this time, the power supply module 2 does not supply power to the motor system 3, and the passive damping module 14 is required to release the motional electromotive force generated by the motor system 3 so that the motor system 3 enters the passive damping condition, so as to solve the problem that the motional electromotive force causes abnormal heating of the motor system 3, and even causes abnormal heating of the main control module 11 connected to the motor system 3.

[0183] In this example, when the power supply module 2 provides high voltage electricity to the motor system 3, it is necessary to control either the damping switch circuit 12 or the power supply switch circuit 13 to be closed and the other to be disconnected according to the measured data, so that it switches between the passive damping condition and the active control condition, to avoid the damping switch circuit 12 and the power supply switch circuit 13 being closed at the same time, so that the passive damping module 14 is directly connected to the power supply module 2 and causes damage to the motor system 3, so as to ensure circuit safety.

[0184] In one embodiment, a motor control method is provided, such as Figure 4 As shown, including:

[0185] S401: Acquire the first measured data after the motor system 3 is powered on and started;

[0186] S402: When the first measured data meets the active control condition, the damping switch circuit 12 is controlled to be disconnected and the power supply switch circuit 13 is controlled to be closed, so that the motor system 3 enters the active control working state.

[0187] The first measured data refers to the measured data collected after the motor system 3 is powered on and started, and the first measured data is data used to evaluate whether it is necessary to control the motor system 3 to enter the active control state. The active control condition is a pre-set condition for evaluating whether it is necessary to control the motor system 3 to enter the active control state.

[0188] As an example, the main control module 11 is connected to the motor system 3. Before the motor system 3 is powered on, the damping switch circuit 12 and the power supply switch circuit 3 must be disconnected first, and low voltage power must be supplied to the motor system 3 first, so that the motor system 3 is started and initialized. In this process, the first measured data can be obtained, and the first measured data can be compared with the active control condition corresponding to the active control condition. When the first measured data meets the active control condition, it can be determined that the motor system 3 is normal. At this time, the damping switch circuit 12 is controlled to disconnect and the power supply switch circuit 13 is controlled to close, so that the motor system 3 enters the active control condition, so that the motor system 3 can receive the power supply of the power supply module 2 for active control, so that the motor system 3 switches from power-on to the active control condition to ensure the safety of the motor system 3.

[0189] In one embodiment, a motor control method is provided, comprising:

[0190] A4011: Get the initialization result and motor system status of motor system 3 after power-on.

[0191] A4021: When the initialization result is successful initialization, or the motor system state is not the motor system fault state and the motor system alarm state, the damping switch circuit 12 is controlled to be disconnected and the power supply switch circuit 13 is controlled to be closed, so that the motor system 3 enters the active control state.

[0192] Among them, step A4011 is a specific implementation of step S401, and step A4021 is a specific implementation of step S402.

[0193] As an example, after low voltage electricity is applied to the motor system 3 so that the motor system 3 is started and initialized, the main control module 11 will obtain the initialization result corresponding to the motor system 3. When the initialization result is initialization failure, the main control module 11 will maintain the state in which the damping switch circuit 12 and the power supply switch circuit 3 are both disconnected; when the initialization result is initialization success, it means that the motor system 3 can work normally. At this time, the main control module 11 controls the damping switch circuit 12 to disconnect and controls the power supply switch circuit 13 to close, so that the motor system 3 enters the active control working condition. The motor system 3 monitors its motor system state in real time. When the motor system state is not the motor system fault state and the motor system alarm state, for example, when the motor system state is the motor system preparation state, the motor system torque control state, the motor system speed control state, the motor system angle control state, the motor system rotary transformer self-learning state, and the motor system passive damping state, it can be determined that the motor system works normally, and the damping switch circuit 12 can be maintained to be disconnected and the power supply switch circuit 13 can be controlled to be closed, so that the motor system 3 enters the active control working condition.

[0194] In one embodiment, a motor control method is provided, such as Figure 4 As shown, including:

[0195] S501: Acquire second measured data of the motor system 3 under the active control condition;

[0196] S502: When the second measured data meets the passive damping condition, the damping switch circuit 12 is controlled to be closed and the power supply switch circuit 13 is controlled to be disconnected, so that the motor system 3 enters the passive damping working state.

[0197] The second measured data refers to the measured data collected when the motor system 3 is in an active control condition, and the second measured data is data used to evaluate whether it is necessary to control the motor system to enter a passive damping condition. The passive damping condition is a pre-set condition for evaluating whether it is necessary to control the motor system 3 to enter a passive damping condition.

[0198] As an example, when the motor system 3 is in an active control condition, that is, the damping switch circuit 12 is disconnected and the power supply switch circuit 13 is controlled to be closed, the main control module 11 needs to obtain second measured data, and compare the obtained second measured data with the passive damping condition corresponding to the passive damping condition. When the second measured data meets the passive damping condition, it can be determined that there is an abnormality in the motor system 3 itself or in its environment. At this time, it is necessary to control the damping switch circuit 12 to be closed and the power supply switch circuit 13 to be disconnected, so that the motor system 3 enters the passive damping condition, so as to release the motional electromotive force generated by the motor system 3 in the active control condition, so as to solve the problem that the motional electromotive force causes abnormal heating of the motor system 3, and even causes abnormal heating of the main control module 11 connected to the motor system 3, so as to ensure the safety of the motor system 3.

[0199] In one embodiment, a motor control method is provided, comprising:

[0200] A5011: Obtain the motor system state of the motor system 3 under active control conditions;

[0201] A5012: When the motor system is in any of the motor system fault state and the motor system alarm state, the damping switch circuit 12 is controlled to close and the power supply switch circuit 13 is controlled to open, so that the motor system 3 enters the passive damping working state.

[0202] Among them, step A5011 is a specific implementation of step S501, and step A5021 is a specific implementation of step S502.

[0203] As an example, when the motor system 3 is in the active control condition, the main control module 11 needs to monitor its own state in real time, that is, monitor the motor system state in real time. When the motor system state is any one of the motor system fault state and the motor system alarm state, it can be determined that the motor system 3 itself has an abnormality. At this time, it is necessary to control the damping switch circuit 12 to close and control the power supply switch circuit 13 to open, cut off the power supply path of the power supply module 2, and use the passive damping module 14 to release the motional electromotive force generated by the motor system 3, so that the motor system 3 enters the passive damping condition, so as to solve the problem that the motional electromotive force causes the motor system 3 to heat abnormally, and even causes the main control module 11 connected to the motor system 3 to heat abnormally, so as to ensure the safety of the motor system 3. In this example, when the motor system 3 is in the active control condition, it is determined that the motor system 3 itself has an abnormality, and it is necessary to switch to the passive damping condition to release the motional electromotive force and ensure the safety of the motor system 3.

[0204] In one embodiment, a motor control method is provided, comprising:

[0205] B5011: when the motor system 3 is in the active control condition, obtaining the associated system state corresponding to the associated system 4;

[0206] B5012: When the associated system state is any one of the associated system fault state, the associated system alarm state and the associated system 4 passive damping condition, the damping switch circuit 12 is controlled to close and the power supply switch circuit 13 is controlled to open, so that the motor system 3 enters the passive damping condition.

[0207] Among them, step B5011 is a specific implementation of step S501, and step B5021 is a specific implementation of step S502.

[0208] As an example, when the motor system 3 is in an active control condition, the main control module 11 needs to establish communication with the associated system 4 and obtain the associated system status sent by the associated system 4 in real time. According to the received associated system status, when the associated system status is any one of the associated system fault state, the associated system alarm state and the passive damping condition of the associated system 4, it can be determined whether there is an abnormality in the environment where the motor system 3 is located, that is, the associated system 4 may have a situation where the temperature is too high, the overvoltage or undervoltage, the communication is lost, the internal sensor failure or the overload triggers the associated system fault state or the associated system alarm state, or it can be determined that the associated system 4 enters the passive damping condition to release the motional electromotive force. When these situations occur in the associated system 4, if the motor system 3 is continued to be controlled to work normally, it may also cause the motor system 3 to fail or other situations that affect its normal operation. Therefore, it is necessary to control the motor system 3 to enter the passive damping condition to release the motional electromotive force generated by the motor system 3 to avoid abnormal heating of the motor system 3 and the main control module 11, so as to ensure the safety of the motor system 3 and the main control module 11. In this example, when the motor system 3 is in the active control condition, it is determined that there is an abnormality in the associated system 4, and it is necessary to switch to the passive damping condition to release the motional electromotive potential energy and ensure the safety of the motor system 3.

[0209] In one embodiment, a motor control method is provided, comprising:

[0210] C5011: Get the chip hardware status corresponding to at least one main control chip;

[0211] C5012: When the chip hardware status of at least one main control chip is a fault status, the damping switch circuit 12 is controlled to be closed and the power supply switch circuit 13 is controlled to be disconnected, so that the motor system 3 enters a passive damping working state.

[0212] Among them, step C5011 is a specific implementation of step S501, and step C5021 is a specific implementation of step S502.

[0213] As an example, when the motor system 3 is in the active control working condition, the main control module 11 can detect the chip hardware state corresponding to at least one main control chip in real time through the built-in fault detection module 15. When it is detected that the chip hardware state of at least one main control chip is in a fault state, it can be determined that at least one main control chip used to control the normal operation of the motor system 3 is faulty, and the faulty main control chip cannot control the corresponding controlled motor to work normally. At this time, the damping switch circuit 12 can be controlled to close and the power supply switch circuit 13 can be controlled to open, so that the motor system 3 enters the passive damping working condition to release the motional electromotive force of the motor system 3 to ensure the safety of the motor system 3. When the chip hardware states of all main control chips are in a normal state, it can be determined that all main control chips are normal, and the controlled motors connected thereto can be controlled to work normally. Therefore, the damping switch circuit 12 can be controlled to open and the power supply switch circuit 13 can be controlled to close, so that the motor system 3 enters the active control working condition to ensure the normal operation of the motor system 3. In this example, when the motor system 3 is in the active control condition, it is determined that there is an abnormality in the main control chip used to control the operation of the motor system, and it is necessary to switch to the passive damping condition to release the motional electromotive potential energy and ensure the safety of the motor system 3.

[0214] In one embodiment, a motor control method is provided, comprising:

[0215] D5011: Obtain the chip communication status corresponding to at least one main control chip. The chip communication status is the data obtained by the communication between any two main control chips;

[0216] D5021: When the chip communication state of at least one main control chip is a fault state, the damping switch circuit 12 is controlled to be closed and the power supply switch circuit 13 is controlled to be disconnected, so that the motor system 3 enters a passive damping working state.

[0217] Among them, step D5011 is a specific implementation of step S501, and step D5021 is a specific implementation of step S502.

[0218] The chip communication status is used to reflect whether a certain master control chip can communicate normally with other master control chips.

[0219] As an example, when the main control module 11 includes at least two main control chips, any two main control chips are allowed to communicate with each other, so that any main control chip can obtain the chip communication status corresponding to the other main control chip. Specifically, any main control chip sends verification data to the other main control chip, and waits for the response data of the other main control chip within a preset time. If there is data loss, delay or verification abnormality, it can be determined that the other main control chip has a fault, so as to determine that the chip communication status corresponding to the other main control chip is a fault state; conversely, if the above abnormal situation does not exist, it can be determined that the chip communication status corresponding to the other main control chip is a normal state. When the chip communication status of at least one main control chip is a fault state, the main control module 11 can determine that at least one main chip has a communication fault, and the faulty main control chip cannot control the corresponding controlled motor to work normally. At this time, the damping switch circuit 12 can be controlled to close and the power supply switch circuit 13 can be controlled to disconnect, so that the motor system 3 enters the passive damping working state. In this example, when the motor system 3 is in the active control condition, it is determined that the main control chip used to control the operation of the motor system has a communication failure, and it is necessary to switch to the passive damping condition to release the motional electromotive force and ensure the safety of the motor system 3.

[0220] For example, any two main control chips are respectively determined as the first chip 111 and the second chip 112, and the first chip 111 and the second chip 112 communicate so that the first chip 111 can obtain the second communication state, and the second chip 112 can obtain the first communication state. When at least one of the first communication state and the second communication state is a fault state, it can be determined that at least one of the first chip 111 and the second chip 112 is faulty, so that the faulty chip cannot normally control the motor connected to it, that is, the environment where the motor system 3 is located is abnormal, therefore, it is necessary to control the damping switch circuit 12 to close and control the power supply switch circuit 13 to disconnect, so that the motor system 3 enters the passive damping state, so that the motor system 3 releases the motional electromotive force, and ensures the safety of the motor system 3. When the first chip 111 and the second chip 112 are both in normal state, it can be determined that the two communication states do not meet the passive damping conditions, it can be determined that the first chip 111 can normally control the first motor 31 to work and the second chip 112 can normally control the second motor 32 to work, and the damping switch circuit 12 can be controlled to be disconnected and the power supply switch circuit 13 can be controlled to be closed, so that the motor system 3 continues to work under active control conditions to ensure the normal operation of the motor system 3.

[0221] In one embodiment, step S502, i.e., when the second measured data meets the passive damping condition, controlling the damping switch circuit to close and controlling the power supply switch circuit to open, so that the motor system enters the passive damping working state, includes:

[0222] S5021: When the second measured data meets the passive damping condition, obtain a motor speed corresponding to the motor system;

[0223] S5022: When the motor speed is less than the preset speed, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, and the switch connected to the damping energy storage circuit 142 is controlled to be disconnected, so that the motor system enters the first passive damping working state;

[0224] S5023: When the motor speed is not less than the preset speed, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, and the switching switch connected to the damping energy storage circuit 142 is controlled to be closed, so that the motor system enters the second passive damping working state.

[0225] The preset rotational speed is a preset rotational speed for switching between the first passive damping working condition and the second passive damping working condition.

[0226] As an example, the main control module 11 is also connected to the motor system 3, and can obtain the motor speed output by the motor system 3 in real time, and compare the motor speed with the preset speed; if the motor speed is less than the preset speed, it can be determined that the motor speed of the motor system 3 is low, and the motional electromotive force energy generated by it is small, which can be completely consumed by the damping resistance circuit 141 connected to the motor system 3. Therefore, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, and the switching switch 143 is controlled to be disconnected, so that the damping energy storage circuit 142 does not participate in the release of the motional electromotive force energy of the motor system 3; if the motor speed is not less than the preset speed, it can be determined that the motor speed of the motor system 3 is high, and the motional electromotive force energy generated by it is large, which cannot be completely consumed by the damping resistance circuit 141 connected to the motor system 3. Therefore, it is necessary to control the damping switch circuit to be disconnected and the power supply switch circuit to be closed, and the switching switch 143 is controlled to be closed, so that the damping energy storage circuit 142 participates in the release of the motional electromotive force energy of the motor system 3 to ensure the safety of the motor system 3.

[0227] In one embodiment, a motor control system includes the above-mentioned motor control circuit 1 and the motor system, wherein the motor control circuit 1 is connected to the motor system and is used to switch the on and off of the damping switch circuit 12 and the power supply switch circuit 13 so that the motor system 3 enters an active control condition or a passive damping condition.

[0228] As an example, the power supply switch circuit 13 and the passive damping module 14 in the motor control circuit 1 are both connected to the motor system, and the main control module 11 is connected to the damping switch circuit 12 and the power supply switch circuit 13. According to actual conditions, the damping switch circuit 12 can be controlled to be closed and the power supply switch circuit 13 can be controlled to be disconnected. At this time, the power supply module 2 does not supply power to the motor system 3, and the passive damping module 14 is required to release the motional electromotive force generated by the motor system 3 so that the motor system 3 enters a passive damping working condition to solve the problem that the motional electromotive force causes abnormal heating of the motor system 3, and even causes abnormal heating of the main control module 11 connected to the motor system 3; or, the damping switch circuit 12 is controlled to be disconnected and the power supply switch circuit 13 is controlled to be closed. At this time, the power supply module 2 supplies power to the motor system 3 so that the motor system 3 works normally. When the power supply module 2 provides high voltage electricity to the motor system 3, it is necessary to control either one of the damping switch circuit 12 and the power supply switch circuit 13 to be closed and the other to be disconnected, so that it switches between the passive damping working condition and the active control working condition, to avoid the damping switch circuit 12 and the power supply switch circuit 13 being closed at the same time, so that the passive damping module 14 is directly connected to the power supply module 2 and causes damage to the motor system 3, so as to ensure circuit safety.

[0229] In one embodiment, an electromagnetic suspension system includes an electromagnetic actuator and the above-mentioned motor controller, the electromagnetic actuator includes a motor system, the motor control circuit 1 is connected to the motor system, and is used to switch the on and off of the damping switch circuit 12 and the power supply switch circuit 13 to enable the motor system 3 to enter an active control state or a passive damping state.

[0230] In one embodiment, a car includes an electromagnetic suspension system and a power battery, wherein the power battery is connected to a power supply switch circuit 13 for supplying power to a motor system 3 so that the motor system 3 operates under a main control condition.

[0231] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A motor control circuit, characterized in that: It includes a main control module, a damping switch circuit, a power supply switch circuit and a passive damping module; The first end of the power switch circuit is used to connect to the power supply module, and the second end of the power switch circuit is used to connect to the motor system; The first end of the damping switch circuit is connected to the main control module, and the second end of the damping switch circuit is used to connect to the motor system through the passive damping module; The main control module is connected to the damping switch circuit and the power supply switch circuit, and is used to control the damping switch circuit to close and control the power supply switch circuit to open, so that the motor system enters a passive damping working state, or control the damping switch circuit to open and control the power supply switch circuit to close, so that the motor system enters an active control working state.

2. The motor control circuit according to claim 1, characterized in that: The main control module is connected to the motor system and is used to obtain the first measured data after the motor system is powered on and started. When the first measured data meets the active control condition, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, so that the motor system enters the active control state.

3. The motor control circuit according to claim 2, characterized in that: The main control module is used to obtain the initialization result and the motor system status after the motor system is powered on. When the initialization result is successful initialization, or the motor system status is not a motor system fault state or a motor system alarm state, the main control module controls the damping switch circuit to open and controls the power supply switch circuit to close, so that the motor system enters an active control working state.

4. The motor control circuit according to claim 1, characterized in that: The main control module is used to obtain second measured data of the motor system in an active control condition. When the second measured data meets the passive damping condition, the main control module controls the damping switch circuit to close and controls the power supply switch circuit to open, so that the motor system enters a passive damping condition.

5. The motor control circuit according to claim 4, characterized in that: The main control module is connected to the motor system and is used to obtain the motor system state when the motor system is in an active control condition. When the motor system state is any one of a motor system fault state and a motor system alarm state, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected so that the motor system enters a passive damping condition.

6. The motor control circuit according to claim 4, characterized in that: The main control module communicates with the associated system and is used to obtain the associated system state corresponding to the associated system when the motor system is in an active control condition, and when the associated system state is any one of an associated system fault state, an associated system alarm state and an associated system passive damping condition, control the damping switch circuit to close and control the power supply switch circuit to disconnect, so that the motor system enters a passive damping condition.

7. The motor control circuit according to claim 4, characterized in that: The main control module includes at least one main control chip; Each of the main control chips is connected to a controlled motor in the motor system, and is used to obtain the motor system state corresponding to the controlled motor when the motor system is in an active control state; Each of the main control chips communicates with the associated system and is used to obtain the associated system state corresponding to the associated system when the motor system is in an active control condition; Each of the main control chips is connected to the damping switch circuit and the power supply switch circuit, and is used to control the damping switch circuit to close and the power supply switch circuit to open when the motor system state is any one of a motor system fault state and a motor system alarm state, or when the associated system state is any one of an associated system fault state, an associated system alarm state, and an associated system passive damping condition, so that the motor system enters a passive damping condition.

8. The motor control circuit according to claim 7, characterized in that: The main control module also includes a fault detection module; The fault detection module is connected to at least one of the main control chips, the damping switch circuit and the power supply switch circuit, and is used to detect the chip hardware status corresponding to each of the main control chips when the motor system is in an active control condition. When the chip hardware status of at least one of the main control chips is a fault state, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected, so that the motor system enters a passive damping condition.

9. The motor control circuit according to claim 7, characterized in that: The main control chip includes a first chip and a second chip, the first chip is used to connect the first motor in the motor system, and the second chip is used to connect the second motor in the motor system; The first chip communicates with the second chip to obtain a second communication state corresponding to the second chip when the motor system is in an active control condition; The second chip communicates with the first chip and is used to obtain a first communication state corresponding to the first chip when the motor system is in an active control condition; When at least one of the first communication state and the second communication state is a fault state, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be opened, so that the motor system enters a passive damping working state.

10. The motor control circuit according to claim 9, characterized in that: The damping switch circuit includes a first damping switch and a second damping switch; a first end of the first damping switch is connected to the first chip, and a second end of the first damping switch is connected to the first motor through the passive damping module; a first end of the second damping switch is connected to the first chip, and a second end of the second damping switch is connected to the second motor through the passive damping module; The power switch circuit includes a first power switch and a second power switch; The first power supply switch is used to connect the power supply module and the first motor; The second power supply switch is used to connect the power supply module and the second motor; The second chip communicates with the first chip, and is used to obtain a first communication state corresponding to the first chip when the motor system is in an active control state, and when the first communication state is a fault state, control the first damping switch to be closed and the first power supply switch to be disconnected, so that the first motor enters a passive damping state; The first chip communicates with the second chip to obtain a second communication state corresponding to the second chip when the motor system is in an active control state, and when the second communication state is a fault state, controls the second damping switch to close and controls the second power supply switch to disconnect, so that the second motor enters a passive damping state.

11. The motor control circuit according to claim 1, characterized in that: The motor control circuit also includes a power module and a drive module; The first end of the power module is connected to the power switch circuit, and the second end of the power module is used to connect to the motor system; The first end of the driving module is connected to the main control module, and the second end of the driving module is connected to the power module.

12. The motor control circuit according to claim 11, characterized in that: The passive damping module includes a damping resistor circuit, and the damping resistor circuit is used to connect to the motor system.

13. The motor control circuit according to claim 12, characterized in that: The passive damping module further includes a damping energy storage circuit, one end of which is connected to the power module, and the other end of which is used to connect to the power supply module.

14. The motor control circuit according to claim 13, characterized in that: The passive damping module further comprises a switching switch, one end of which is connected to the power module, and the other end of which is connected to the damping energy storage circuit; The main control module is connected to the switch and is used to control the on and off of the switch to control the motor system to enter the first passive damping working condition or the second passive damping working condition.

15. The motor control circuit according to claim 14, characterized in that: The main control module is also connected to the motor system to obtain the motor speed corresponding to the motor system; when the motor speed is less than the preset speed, the switching switch is controlled to be disconnected so that the motor system enters the first passive damping working state; When the motor speed is not less than the preset speed, the switching switch is controlled to close so that the motor system enters the second passive damping working state.

16. The motor control circuit according to claim 11, characterized in that: The power module includes an IGBT tube and a freewheeling diode; The control end of the IGBT tube is connected to the main control module, and the two connection ends of the IGBT tube are connected to the power supply module and the power module respectively; The anode of the freewheeling diode is connected to the power module, and the cathode of the freewheeling diode is used to connect to the power supply module.

17. A motor control method, characterized in that: The motor control circuit according to any one of claims 1 to 16 comprises: Obtain the measured data of the motor system under the current working conditions; According to the measured data, the motor system is controlled to enter an active control condition or a passive damping condition.

18. The motor control method according to claim 17, characterized in that: The obtaining of measured data of the motor system under the current working condition includes: Acquire first measured data after the motor system is powered on and started; According to the measured data, controlling the motor system to enter an active control condition or a passive damping condition includes: When the first measured data meets the active control condition, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, so that the motor system enters the active control working state.

19. The motor control method according to claim 18, characterized in that: The obtaining of first measured data after the motor system is powered on and started includes: Obtaining the initialization result and the motor system status after the motor system is powered on; When the first measured data meets the active control condition, controlling the damping switch circuit to be disconnected and controlling the power switch circuit to be closed so that the motor system enters the active control working state includes: When the initialization result is successful initialization, or the motor system state is not a motor system fault state or a motor system alarm state, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, so that the motor system enters an active control working state.

20. The motor control method according to claim 17, characterized in that: The obtaining of measured data of the motor system under the current working condition includes: Acquiring second measured data of the motor system under active control conditions; According to the measured data, controlling the motor system to enter an active control condition or a passive damping condition includes: When the second measured data meets the passive damping condition, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected, so that the motor system enters the passive damping working state.

21. The motor control method according to claim 20, characterized in that: The obtaining of second measured data of the motor system in an active control condition includes: Acquiring a motor system state of the motor system under active control conditions; When the second measured data meets the passive damping condition, controlling the damping switch circuit to close and controlling the power switch circuit to open, so that the motor system enters the passive damping working state, includes: When the motor system is in any one of a motor system fault state and a motor system alarm state, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected, so that the motor system enters a passive damping working state.

22. The motor control method according to claim 20, characterized in that: The obtaining of second measured data of the motor system in an active control condition includes: When the motor system is in an active control condition, obtaining a state of an associated system corresponding to the associated system; When the second measured data meets the passive damping condition, controlling the damping switch circuit to close and controlling the power switch circuit to open, so that the motor system enters the passive damping working state, includes: When the associated system state is any one of an associated system fault state, an associated system alarm state and an associated system passive damping condition, the damping switch circuit is controlled to close and the power supply switch circuit is controlled to open, so that the motor system enters a passive damping condition.

23. The motor control method according to claim 20, characterized in that: The obtaining of second measured data of the motor system in an active control condition includes: Obtaining chip hardware status corresponding to at least one main control chip; When the second measured data meets the passive damping condition, controlling the damping switch circuit to close and controlling the power switch circuit to open, so that the motor system enters the passive damping working state, includes: When the chip hardware status of at least one of the main control chips is a fault status, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected, so that the motor system enters a passive damping working state.

24. The motor control method according to claim 20, characterized in that: The obtaining of second measured data of the motor system in an active control condition includes: Obtaining chip communication status corresponding to at least one main control chip; When the second measured data meets the passive damping condition, controlling the damping switch circuit to close and controlling the power switch circuit to open, so that the motor system enters the passive damping working state, includes: When the chip communication state of at least one of the main control chips is a fault state, the damping switch circuit is controlled to be closed and the power supply switch circuit is controlled to be disconnected, so that the motor system enters a passive damping working state.

25. The motor control method according to claim 20, characterized in that: When the second measured data meets the passive damping condition, controlling the damping switch circuit to close and controlling the power switch circuit to open, so that the motor system enters the passive damping working state, includes: When the second measured data meets the passive damping condition, obtaining a motor speed corresponding to the motor system; When the motor speed is less than a preset speed, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, and the switch connected to the damping energy storage circuit is controlled to be disconnected, so that the motor system enters a first passive damping working state; When the motor speed is not less than a preset speed, the damping switch circuit is controlled to be disconnected and the power supply switch circuit is controlled to be closed, and the switching switch connected to the damping energy storage circuit is controlled to be closed, so that the motor system enters a second passive damping working state.

26. A motor control system, characterized in that: It comprises the motor control circuit and the motor system as described in any one of claims 1 to 16, wherein the motor control circuit is connected to the motor system and is used to switch on and off the damping switch circuit and the power supply switch circuit so that the motor system enters an active control state or a passive damping state.

27. An electromagnetic suspension system, characterized in that: It comprises an electromagnetic actuator and the motor controller as described in any one of claims 1 to 16, wherein the electromagnetic actuator comprises a motor system, and the motor control circuit is connected to the motor system and is used for switching on and off the damping switch circuit and the power supply switch circuit to enable the motor system to enter an active control state or a passive damping state.

28. An automobile, characterized in that: It comprises the electromagnetic suspension system of claim 27 and a power battery, wherein the power battery is connected to the power supply switch circuit.

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