Motor controller, method, program product, storage medium, assembly and vehicle

Abstract

The invention provides a motor controller, a method, a program product, a storage medium, an assembly and a vehicle, and relates to the technical field of motor control, the state of an inverter is fed back to a main control chip through the inverter, and a phase voltage signal and / or a phase current signal of at least one phase of a motor are / is acquired through an acquisition module; and then the main control chip controls to cut off the power supply loop of the motor on the basis that the state of the inverter is abnormal and the phase voltage signal and / or the phase current signal is abnormal, so that compared with the prior art that the state of the inverter is detected only through an intelligent power module in the inverter, the detection of the phase voltage signal and / or the phase current signal is added, and the detection efficiency is improved. The detection accuracy of the inverter is improved, and the possibility that a power supply loop of the motor is abnormally cut off is reduced.

Description

Technical Field

[0001] The present invention relates to the field of motor control technology, and in particular to a motor controller, method, program product, storage medium, assembly and vehicle. Background Art

[0002] The motor controller is an electronic device that controls the operation of the motor. The motor controller is mainly used to adjust the speed, torque and rotation direction of the motor.

[0003] It should be noted that the motor controller includes an inverter. A fault in the inverter causes the motor to generate a reverse electromotive force, and the reverse electromotive force of the motor acts on the motor controller, causing damage to the motor controller.

[0004] In the related art, when the intelligent power module (IPM) in the inverter detects that the state of the intelligent power module is abnormal, the power supply circuit of the motor is cut off to avoid the problem that when the inverter failure causes the motor to generate reverse electromotive force, the reverse electromotive force of the motor acts on the motor controller, causing damage to the motor controller.

[0005] However, when the intelligent power module detects an error, the power supply circuit of the motor will be abnormally cut off. Summary of the invention

[0006] The embodiments of the present application provide a motor controller, method, program product, storage medium, assembly and vehicle to solve the problem in the related art that when the intelligent power module detects an error, the power supply circuit of the motor will be abnormally cut off.

[0007] In a first aspect, an embodiment of the present application provides a motor controller, which is suitable for connecting to a motor and controlling the operation of the motor, and includes: a main control chip, an inverter, and a collection module;

[0008] The inverter is electrically connected to the main control chip and the acquisition module respectively, and the inverter is used to be electrically connected to a power source and to feed back the state of the inverter to the main control chip;

[0009] The acquisition module is electrically connected to the main control chip, and the acquisition module is used to acquire a phase voltage signal and / or a phase current signal of at least one phase of the motor;

[0010] The main control chip is configured to control cutting off the power supply circuit of the motor based on the fact that the state of the inverter is abnormal and the phase voltage signal and / or the phase current signal are abnormal.

[0011] Optionally, the main control chip is also used to determine that the phase voltage signal is abnormal when the maximum voltage value of the phase voltage signal exceeds a preset voltage range, or the minimum voltage value of the phase voltage signal exceeds the preset voltage range, or the reference value of the phase voltage signal exceeds the preset voltage range; wherein the reference value of the phase voltage signal is the average of the maximum voltage value of the phase voltage signal and the minimum voltage value of the phase voltage signal.

[0012] Optionally, the main control chip is also used to determine that the phase current signal is abnormal when the maximum current value of the phase current signal exceeds a preset current range, or the minimum current value of the phase current signal exceeds the preset current range, or the reference value of the phase current signal exceeds the preset current range; wherein the reference value of the phase current signal is the average of the maximum current value of the phase current signal and the minimum current value of the phase current signal.

[0013] Optionally, the main control chip is further used to determine that the state of the inverter is abnormal when the voltage and / or current inside the inverter is abnormal.

[0014] Optionally, the motor controller also includes a switch module; the main control chip is used to send a cut-off signal to the switch module when the state of the inverter is abnormal and the phase voltage signal and / or the phase current signal is abnormal; the control end of the switch module is connected to the main control chip, and the switch module is suitable for being connected between the acquisition module and the motor, and cutting off the power supply circuit of the motor when the cut-off signal is obtained.

[0015] Optionally, the switch module includes multiple parallel branches, the acquisition module includes multiple first connection ends, and the branches correspond to the first connection ends one by one; the motor includes a multi-phase winding, and the branches correspond to the windings one by one; the first end of the branch is electrically connected to the first connection end corresponding to the branch, and the second end of the branch is used to be electrically connected to the first end of the winding corresponding to the branch; a control submodule is provided on at least a part of the branches, the first end of the control submodule is electrically connected to the first end of the branch to which the control submodule belongs, the second end of the control submodule is electrically connected to the second end of the branch to which the control submodule belongs, the control end of the control submodule is electrically connected to the first control end of the main control chip, and the control submodule is used to disconnect the first end of the control submodule from the second end of the control submodule when the cut-off signal is obtained; the main control chip is specifically used to send the cut-off signal to each of the control submodules when the state of the inverter is abnormal and the phase voltage signal and / or the phase current signal are abnormal.

[0016] Optionally, the acquisition module includes multiple first acquisition sub-modules, and the first acquisition sub-modules correspond to the branches one-to-one; the inverter includes multiple second connection terminals, and the first acquisition sub-modules correspond to the second connection terminals one-to-one; the main control chip includes multiple first input terminals, and the first acquisition sub-module corresponds to the first input terminal one-to-one; the first end of the first acquisition sub-module is electrically connected to the second connection terminal corresponding to the first acquisition sub-module and the first input terminal corresponding to the first acquisition sub-module respectively, the first end of the first acquisition sub-module is used to electrically connect to the first end of the branch corresponding to the first acquisition sub-module, the second end of the first acquisition sub-module is used to electrically connect to the negative pole of the power supply, and the first acquisition sub-module is used to collect the phase voltage signal of the corresponding phase of the first acquisition sub-module; the first end of the branch corresponding to the first acquisition sub-module is electrically connected to the second connection terminal corresponding to the first acquisition sub-module.

[0017] Optionally, the acquisition module includes a plurality of first acquisition submodules and a plurality of second acquisition submodules, the first acquisition submodule corresponds to the second acquisition submodule one-to-one, and the second acquisition submodule corresponds to the branch one-to-one; the inverter includes a plurality of second connection terminals, the second acquisition submodule corresponds to the second connection terminal one-to-one; the main control chip includes a plurality of first input terminals and a plurality of second input terminals, the first acquisition submodule corresponds to the first input terminal one-to-one, and the second acquisition submodule corresponds to the second input terminal one-to-one; the first end of the first acquisition submodule is electrically connected to the second acquisition submodule corresponding to the first acquisition submodule and the first input terminal corresponding to the first acquisition submodule, and the second end of the first acquisition submodule is used to be electrically connected to the negative pole of the power supply and to acquire the phase voltage signal of the corresponding phase of the first acquisition submodule; the first end of the second acquisition submodule is electrically connected to the second connection terminal corresponding to the second acquisition submodule, the second end of the second acquisition submodule is electrically connected to the first end of the branch corresponding to the second acquisition submodule, the output end of the second acquisition submodule is electrically connected to the second input terminal corresponding to the second acquisition submodule, and the second acquisition submodule is used to acquire the phase current signal of the corresponding phase of the second acquisition submodule.

[0018] Optionally, the inverter includes a multi-phase bridge arm, and the bridge arm corresponds to the second connection end one by one; each phase of the bridge arm includes a first intelligent power module and a second intelligent power module; the main control chip also includes a plurality of third input ends, each of the first intelligent power modules has a corresponding third input end, and each of the second intelligent power modules has a corresponding third input end; the state of the inverter includes the state of each of the first intelligent power modules and the state of each of the second intelligent power modules; in the bridge arm, the first end of the first intelligent power module is electrically connected to the positive electrode of the power supply, the second end of the first intelligent power module is electrically connected to the first end of the second intelligent power module and the second connection end corresponding to the bridge arm respectively, and the first intelligent power module The output end of the rate module is electrically connected to the third input end corresponding to the first intelligent power module, and the first intelligent power module is used to obtain the state of the first intelligent power module; the first end of the second intelligent power module is electrically connected to the second connection end corresponding to the bridge arm, the second end of the second intelligent power module is electrically connected to the negative pole of the power supply, the output end of the second intelligent power module is electrically connected to the third input end corresponding to the second intelligent power module, and the second intelligent power module is used to obtain the state of the second intelligent power module; the main control chip is also used to determine that the state of the inverter is abnormal when the state of at least one of the first intelligent power modules is abnormal, or the state of at least one of the second intelligent power modules is abnormal.

[0019] Optionally, the first intelligent power module includes a first power switch, and the second intelligent power module includes a second power switch; the main control chip also includes multiple second control ends, each of the first power switches has a corresponding second control end, and each of the second power switches has a corresponding second control end; the first end of the first power switch is electrically connected to the first end of the first intelligent power module, the second end of the first power switch is electrically connected to the second end of the first intelligent power module, and the control end of the first power switch is electrically connected to the second control end corresponding to the first power switch; the first end of the second power switch is electrically connected to the first end of the second intelligent power module, the second end of the second power switch is electrically connected to the second end of the second intelligent power module, and the control end of the second power switch is electrically connected to the second control end corresponding to the second power switch.

[0020] Optionally, the first acquisition submodule is a resistor.

[0021] Optionally, the second acquisition submodule is a Hall current sensor.

[0022] Optionally, the control submodule is a switch device or a fuse device.

[0023] In a second aspect, an embodiment of the present application further provides a method for detecting a motor controller, the method comprising:

[0024] Acquire the state of the inverter in the motor controller, and collect the phase voltage signal and / or phase current signal of at least one phase of the motor;

[0025] When the state of the inverter is abnormal and the phase voltage signal and / or the phase current signal is abnormal, control is performed to cut off the power supply circuit of the motor.

[0026] Optionally, the method also includes: determining that the phase voltage signal is abnormal when the maximum voltage value of the phase voltage signal exceeds a preset voltage range, or the minimum voltage value of the phase voltage signal exceeds the preset voltage range, or the reference value of the phase voltage signal exceeds the preset voltage range; wherein the reference value of the phase voltage signal is the average of the maximum voltage value of the phase voltage signal and the minimum voltage value of the phase voltage signal.

[0027] Optionally, the method also includes: determining that the phase current signal is abnormal when the maximum current value of the phase current signal exceeds a preset current range, or the minimum current value of the phase current signal exceeds the preset current range, or the reference value of the phase current signal exceeds the preset current range; wherein the reference value of the phase current signal is the average of the maximum current value of the phase current signal and the minimum current value of the phase current signal.

[0028] In a third aspect, an embodiment of the present application further provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the detection method for the motor controller as described in the second aspect.

[0029] In a fourth aspect, an embodiment of the present application further provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the detection method of the motor controller as described in the second aspect are implemented.

[0030] In a fifth aspect, an embodiment of the present application further provides an electric assembly, comprising a motor controller as described in the first aspect.

[0031] In a sixth aspect, an embodiment of the present application further provides a vehicle, comprising a motor controller as described in the first aspect, or an electronic device as described in the third aspect, or a readable storage medium as described in the fourth aspect, or an electric assembly as described in the fifth aspect.

[0032] In summary, in the embodiment of the present application, the state of the inverter is fed back to the main control chip through the inverter, and the phase voltage signal and / or phase current signal of at least one phase of the motor is collected through the acquisition module. Then, the main control chip controls the cutting off of the power supply circuit of the motor based on the fact that the state of the inverter is abnormal and the phase voltage signal and / or phase current signal are abnormal. Compared with the related art in which the state of the inverter is only detected by the intelligent power module in the inverter, the detection of the phase voltage signal and / or phase current signal is added, the accuracy of the inverter detection is improved, and the possibility of abnormal cutting off of the power supply circuit of the motor is reduced.

[0033] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for describing the embodiments are briefly introduced below.

[0035] Figure 1 A schematic diagram of the structure of a motor controller provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the structure of another motor controller provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of a specific structure of a motor controller provided in an embodiment of the present application;

[0038] Figure 4 Another specific structural diagram of the motor controller provided in the embodiment of the present application;

[0039] Figure 5 A schematic diagram of a curve of a phase voltage signal provided in an embodiment of the present application;

[0040] Figure 6 A schematic diagram of a curve of a phase current signal provided in an embodiment of the present application;

[0041] Figure 7 A schematic diagram of another phase current signal curve provided in an embodiment of the present application;

[0042] Figure 8 A schematic diagram of a curve of another phase current signal provided in an embodiment of the present application;

[0043] Fig. 9 A schematic diagram of a detection process of a motor controller provided in an embodiment of the present application;

[0044] Fig.10 A flowchart of the steps of a detection method for a motor controller provided in an embodiment of the present application.

[0045] Reference numerals:

[0046] 10-main control chip; 20-inverter; 21-bridge arm; 211-first intelligent power module; 212-second intelligent power module; 30-acquisition module; 31-first acquisition submodule; 32-second acquisition submodule; 40-switch module; 41-branch; 411-control submodule; 50-motor; 60-power supply; Q1-first power switch; Q2-second power switch; L-winding; C1-capacitor. DETAILED DESCRIPTION

[0047] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can also be implemented in any form and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0048] Reference Figure 1 The embodiment of the present application provides a motor controller, which is suitable for connecting to a motor 50 and controlling the operation of the motor 50, and includes: a main control chip 10, an inverter 20 and a collection module 30; the inverter 20 is electrically connected to the main control chip 10 and the collection module 30 respectively, the inverter 20 is used to be electrically connected to a power supply 60, and to feed back the state of the inverter 20 to the main control chip 10; the collection module 30 is electrically connected to the main control chip 10, and the collection module 30 is used to collect a phase voltage signal and / or a phase current signal of at least one phase of the motor 50; the main control chip 10 is configured to control cutting off the power supply circuit of the motor 50 based on the state of the inverter 20 being abnormal and the phase voltage signal and / or the phase current signal being abnormal.

[0049] It should be noted that the motor 50 is a multi-phase motor 50, for example, the motor 50 is a three-phase motor 50; the inverter 20 failure causes the motor 50 to generate a reverse electromotive force, and the reverse electromotive force of the motor 50 acts on the controller of the motor 50, which may cause damage to the controller of the motor 50, or even cause the controller of the motor 50 to catch fire; the main control chip 10 is also used to determine that the inverter 20 is not faulty when the state of the inverter 20 is normal, or the phase voltage signal is normal, or the phase current signal is normal, and keep the internal conduction of the switch module 40, that is, when the phase voltage signal is abnormal, but the state of the inverter 20 is normal, or When the phase current signal is abnormal but the state of the inverter 20 is normal, it is determined that the inverter 20 has no faults and the internal conduction of the switch module 40 is maintained to avoid erroneously cutting off the power supply circuit of the motor 50, thereby affecting the normal operation of the motor 50; when the state of the inverter 20 is abnormal but the phase voltage signal is normal, or when the state of the inverter 20 is abnormal but the phase current signal is normal, it is determined that the inverter 20 has no faults and the internal conduction of the switch module 40 is maintained to avoid the inverter 20 falsely reporting that the state of the inverter 20 is abnormal and erroneously cutting off the power supply circuit of the motor 50, thereby affecting the normal operation of the motor 50.

[0050] When the maximum voltage value of the phase voltage signal is within the preset voltage range, the minimum voltage value of the phase voltage signal is within the preset voltage range, and the reference value of the phase voltage signal is within the preset voltage range, the phase voltage signal is determined to be normal; when the maximum voltage value of the phase voltage signal exceeds the preset voltage range, or the minimum voltage value of the phase voltage signal exceeds the preset voltage range, or the reference value of the phase voltage signal exceeds the preset voltage range, the phase voltage signal is determined to be abnormal, wherein the reference value of the phase voltage signal is the average of the maximum voltage value of the phase voltage signal and the minimum voltage value of the phase voltage signal.

[0051] The voltage value of the phase voltage signal is positively correlated with the current value of the phase current signal; when the maximum current value of the phase current signal is within the preset current range, and the minimum current value of the phase current signal is within the preset current range, and the reference value of the phase current signal is within the preset current range, the phase current signal is determined to be normal; when the maximum current value of the phase current signal exceeds the preset current range, or the minimum current value of the phase current signal exceeds the preset current range, or the reference value of the phase current signal exceeds the preset current range, the phase current signal is determined to be abnormal, wherein the reference value of the phase current signal is the average of the maximum current value of the phase current signal and the minimum current value of the phase current signal.

[0052] In some embodiments, the main control chip 10 may be a microcontroller unit (MCU); the power source 60 may be a battery pack.

[0053] In some embodiments, the inverter 20 sends a signal representing the state of the inverter 20 to the main control chip 10, so that the main control chip 10 obtains the state of the inverter 20. For example, when the signal representing the state of the inverter 20 is at a high level, the state of the inverter 20 is normal; when the signal representing the state of the inverter 20 is at a low level, the state of the inverter 20 is abnormal.

[0054] In the embodiment of the present application, the state of the inverter 20 is fed back to the main control chip 10 through the inverter 20, and the phase voltage signal and / or phase current signal of at least one phase of the motor 50 are collected through the acquisition module 30. Then, the main control chip 10 controls to cut off the power supply circuit of the motor 50 based on the fact that the state of the inverter 20 is abnormal and the phase voltage signal and / or phase current signal are abnormal. Compared with the related art in which the state of the inverter is detected only by the intelligent power module in the inverter, the detection of the phase voltage signal and / or phase current signal is added, the detection accuracy of the inverter 20 is improved, and the possibility of abnormal cutting off of the power supply circuit of the motor 50 is reduced.

[0055] Optionally, in some embodiments, the main control chip 10 is also used to determine that the phase voltage signal is abnormal when the maximum voltage value of the phase voltage signal exceeds a preset voltage range, or the minimum voltage value of the phase voltage signal exceeds the preset voltage range, or the reference value of the phase voltage signal exceeds the preset voltage range; wherein the reference value of the phase voltage signal is the average of the maximum voltage value of the phase voltage signal and the minimum voltage value of the phase voltage signal.

[0056] In an embodiment of the present application, the main control chip 10 determines that the phase voltage signal is abnormal when the maximum voltage value of the phase voltage signal exceeds the preset voltage range, or the minimum voltage value of the phase voltage signal exceeds the preset voltage range, or the reference value of the phase voltage signal exceeds the preset voltage range. Based on the abnormal state of the inverter 20 and the abnormal phase voltage signal and / or phase current signal, it is determined that the inverter 20 is faulty and a cut-off signal is sent to cut off the power supply circuit of the motor 50.

[0057] Optionally, in some embodiments, the main control chip 10 is also used to determine that the phase current signal is abnormal when the maximum current value of the phase current signal exceeds a preset current range, or the minimum current value of the phase current signal exceeds the preset current range, or the reference value of the phase current signal exceeds the preset current range; wherein the reference value of the phase current signal is the average of the maximum current value of the phase current signal and the minimum current value of the phase current signal.

[0058] In an embodiment of the present application, the main control chip 10 determines that the phase current signal is abnormal when the maximum current value of the phase current signal exceeds the preset current range, or the minimum current value of the phase current signal exceeds the preset current range, or the reference value of the phase current signal exceeds the preset current range. Based on the abnormal state of the inverter 20 and the abnormal phase voltage signal and / or phase current signal, it is determined that the inverter 20 is faulty and a cut-off signal is sent to cut off the power supply circuit of the motor 50.

[0059] Optionally, in some embodiments, the main control chip 10 is further used to determine that the state of the inverter 20 is abnormal when the voltage and / or current inside the inverter 20 is abnormal.

[0060] In the embodiment of the present application, the main control chip 10 determines that the state of the inverter 20 is abnormal when the voltage and / or current inside the inverter 20 is abnormal, and thus determines that the inverter 20 is faulty based on the fact that the state of the inverter 20 is abnormal and the phase voltage signal and / or phase current signal are abnormal, and sends a cut-off signal to cut off the power supply circuit of the motor 50.

[0061] Optionally, refer to Figure 2 In some embodiments, the motor controller also includes a switch module 40; the main control chip 10 is used to send a cut-off signal to the switch module 40 when the state of the inverter 20 is abnormal and the phase voltage signal and / or the phase current signal is abnormal; the control end of the switch module 40 is connected to the main control chip 10, and the switch module 40 is suitable for being connected between the acquisition module 30 and the motor 50, and cutting off the power supply circuit of the motor 50 when the cut-off signal is obtained.

[0062] In the embodiment of the present application, when the state of the inverter 20 is abnormal and the phase voltage signal and / or the phase current signal is abnormal, the main control chip 10 sends a cut-off signal to the switch module 40, and then the switch module 40 cuts off the power supply circuit of the motor 50 when the cut-off signal is obtained, thereby avoiding the problem that when the inverter failure causes the motor to generate a reverse electromotive force, the reverse electromotive force of the motor acts on the motor controller, causing damage to the motor controller.

[0063] Optionally, refer to Figure 3In some embodiments, the switch module 40 includes a plurality of parallel branches 41, the acquisition module 30 includes a plurality of first connection ends, and the branches 41 correspond to the first connection ends one by one; the motor 50 includes a multi-phase winding L, and the branches 41 correspond to the winding L one by one; the first end of the branch 41 is electrically connected to the first connection end corresponding to the branch 41, and the second end of the branch 41 is used to be electrically connected to the first end of the winding L corresponding to the branch 41; at least a portion of the branches 41 is provided with a control submodule 411, and the first end of the control submodule 411 is connected to the branch 411 to which the control submodule 411 belongs 1, the second end of the control submodule 411 is electrically connected to the second end of the branch 41 to which the control submodule 411 belongs, the control end of the control submodule 411 is electrically connected to the first control end of the main control chip 10, and the control submodule 411 is used to disconnect the first end of the control submodule 411 from the second end of the control submodule 411 when the disconnection signal is obtained; the main control chip 10 is specifically used to send the disconnection signal to each of the control submodules 411 when the state of the inverter 20 is abnormal and the phase voltage signal and / or the phase current signal are abnormal.

[0064] It should be noted that the main control chip 10 includes multiple first control terminals, and the control sub-modules 411 correspond to the first control terminals one by one; the control terminal of the control sub-module 411 is electrically connected to the first control terminal corresponding to the control sub-module 411; the branch 41 where the control sub-module 411 is not set is a wire, that is, the first end of the branch 41 where the control sub-module 411 is not set is electrically connected to the second end of the branch 41 where the control sub-module 411 is not set.

[0065] Specifically, in some embodiments, the switch module 40 includes three parallel branches 41, the acquisition module 30 includes three first connection ends, and the branches 41 correspond to the first connection ends one by one; the motor 50 includes a three-phase winding L, and the branches 41 correspond to the winding L one by one; wherein, control submodules 411 are provided on two branches 41; in other embodiments, control submodules 411 are provided on three branches 41.

[0066] In an embodiment of the present application, when the state of the inverter 20 is abnormal and the phase voltage signal and / or the phase current signal is abnormal, the main control chip 10 sends a cut-off signal to each control sub-module 411, and then when the control sub-module 411 obtains the cut-off signal, the first end of the control sub-module 411 is disconnected from the second end of the control sub-module 411, so that the first end of the branch 41 to which the control sub-module 411 belongs is disconnected from the second end of the branch 41 to which the control sub-module 411 belongs, so as to cut off the power supply circuit of the motor 50.

[0067] Optionally, in some embodiments, the control submodule 411 is a switch device or a fuse device.

[0068] Specifically, in some embodiments, the control submodule 411 is a MOS tube (Metal-Oxide-SemiconductorField-Effect Transistor), and the MOS tube includes a PMOS tube (positive channel Metal Oxide Semiconductor) and an NMOS tube (Negative channel-Metal-Oxide-Semiconductor); in some embodiments, the control submodule 411 is an NPN transistor or a PNP transistor, wherein the NPN transistor is composed of three semiconductors, including two N (Negative Electricity) type semiconductors (electronic semiconductors) and one P (Positive Electricity) type semiconductor. The control submodule 411 is composed of a P-type semiconductor (hole-type semiconductor), with a P-type semiconductor in the middle and two N-type semiconductors on both sides; the PNP-type transistor is composed of three semiconductors, including an N-type semiconductor and two P-type semiconductors, with the N-type semiconductor in the middle and two P-type semiconductors on both sides; in other embodiments, the control submodule 411 is a fuse chip, for example, the control submodule 411 is a smart fuse chip.

[0069] In the embodiment of the present application, since the control submodule 411 is a switch device or a fuse device, when the control submodule 411 obtains a cut-off signal, the first end of the control submodule 411 is disconnected from the second end of the control submodule 411, so that the first end of the branch 41 to which the control submodule 411 belongs is disconnected from the second end of the branch 41 to which the control submodule 411 belongs, thereby cutting off the power supply circuit of the motor 50.

[0070] Optionally, refer to Figure 4In some embodiments, the acquisition module 30 includes a plurality of first acquisition submodules 31, and the first acquisition submodules 31 correspond to the branches 41 one by one; the inverter 20 includes a plurality of second connection terminals, and the first acquisition submodules 31 correspond to the second connection terminals one by one; the main control chip 10 includes a plurality of first input terminals, and the first acquisition submodules 31 correspond to the first input terminals one by one; the first end of the first acquisition submodule 31 is electrically connected to the second connection terminal corresponding to the first acquisition submodule 31 and the first input terminal corresponding to the first acquisition submodule 31 respectively, the first end of the first acquisition submodule 31 is used to be electrically connected to the first end of the branch 41 corresponding to the first acquisition submodule 31, the second end of the first acquisition submodule 31 is used to be electrically connected to the negative electrode of the power supply 60, and the first acquisition submodule 31 is used to acquire the phase voltage signal of the corresponding phase of the first acquisition submodule 31; the first end of the branch 41 corresponding to the first acquisition submodule 31 is electrically connected to the second connection terminal corresponding to the first acquisition submodule 31.

[0071] For example, the switch module 40 includes three parallel branches 41; the motor 50 includes a three-phase winding L, and the branch 41 corresponds to the winding L one by one; the acquisition module 30 includes three first acquisition sub-modules 31, and the first acquisition sub-modules 31 correspond to the branches 41 one by one; the inverter 20 includes three second connection terminals, and the first acquisition sub-modules 31 correspond to the second connection terminals one by one; the main control chip 10 includes three first input terminals, and the first acquisition sub-modules 31 correspond to the first input terminals one by one; wherein the first first acquisition sub-module 31 acquires the phase voltage signal of the first phase, the second first acquisition sub-module 31 acquires the phase voltage signal of the second phase, and the third first acquisition sub-module 31 acquires the phase voltage signal of the third phase.

[0072] In the embodiment of the present application, the first acquisition submodule 31 is used to collect the phase voltage signal of the corresponding phase of the first acquisition submodule 31, so that the main control chip 10 can determine that the inverter 20 is faulty and send a cut-off signal to the switch module 40 when the state of the inverter 20 is abnormal and the phase voltage signal is abnormal.

[0073] Optionally, in some embodiments, the acquisition module 30 includes a plurality of first acquisition submodules 31 and a plurality of second acquisition submodules 32, the first acquisition submodules 31 correspond to the second acquisition submodules 32 one-to-one, and the second acquisition submodules 32 correspond to the branch 41 one-to-one; the inverter 20 includes a plurality of second connection terminals, the second acquisition submodules 32 correspond to the second connection terminals one-to-one; the main control chip 10 includes a plurality of first input terminals and a plurality of second input terminals, the first acquisition submodules 31 correspond to the first input terminals one-to-one, and the second acquisition submodules 32 correspond to the second input terminals one-to-one; the first terminal of the first acquisition submodule 31 corresponds to the first terminal corresponding to the first acquisition submodule 31. The second acquisition submodule 32 is electrically connected to the first input terminal corresponding to the first acquisition submodule 31, and the second terminal of the first acquisition submodule 31 is used to be electrically connected to the negative pole of the power supply 60, and to acquire the phase voltage signal of the corresponding phase of the first acquisition submodule 31; the first terminal of the second acquisition submodule 32 is electrically connected to the second connection terminal corresponding to the second acquisition submodule 32, the second terminal of the second acquisition submodule 32 is electrically connected to the first terminal of the branch 41 corresponding to the second acquisition submodule 32, the output terminal of the second acquisition submodule 32 is electrically connected to the second input terminal corresponding to the second acquisition submodule 32, and the second acquisition submodule 32 is used to acquire the phase current signal of the corresponding phase of the second acquisition submodule 32.

[0074] For example, the switch module 40 includes three parallel branches 41; the motor 50 includes a three-phase winding L, and the branch 41 corresponds to the winding L one by one; the acquisition module 30 includes three first acquisition submodules 31 and three second acquisition submodules 32, the first acquisition submodule 31 corresponds to the second acquisition submodule 32 one by one, and the second acquisition submodule 32 corresponds to the branch 41 one by one; the inverter 20 includes three second connection terminals, and the second acquisition submodule 32 corresponds to the second connection terminal one by one; the main control chip 10 includes three first input terminals and three second input terminals, the first acquisition submodule 31 corresponds to the second acquisition submodule 32, and the second acquisition submodule 32 corresponds to the branch 41 one by one; The collection submodule 31 corresponds one-to-one to the first input terminal, and the second collection submodule 32 corresponds one-to-one to the second input terminal; wherein, the first first collection submodule 31 collects the phase voltage signal of the first phase, the second first collection submodule 31 collects the phase voltage signal of the second phase, and the third first collection submodule 31 collects the phase voltage signal of the third phase; the first second collection submodule 32 collects the phase current signal of the first phase, the second second collection submodule 32 collects the phase current signal of the second phase, and the third second collection submodule 32 collects the phase current signal of the third phase.

[0075] In the embodiment of the present application, the phase voltage signal of the phase corresponding to the first acquisition submodule 31 is collected by the first acquisition submodule 31, and the phase current signal of the phase corresponding to the second acquisition submodule 32 is collected by the second acquisition submodule 32, so that the main control chip 10 can determine that the inverter 20 is faulty and send a cut-off signal to the switch module 40 when the state of the inverter 20 is abnormal, the phase voltage signal is abnormal, and the phase current signal is abnormal.

[0076] In some embodiments, the main control chip 10 is specifically used to determine that the inverter 20 is faulty and send a cut-off signal to the switch module 40 when the state of the inverter 20 is abnormal, at least one phase voltage signal is abnormal, and at least one phase current signal is abnormal.

[0077] Optionally, in some embodiments, the first acquisition submodule 31 is a resistor.

[0078] In the embodiment of the present application, since the first acquisition submodule 31 is a resistor, the phase voltage signal of the corresponding phase of the first acquisition submodule 31 is obtained by acquiring the voltage of the first acquisition submodule 31 .

[0079] Optionally, in some embodiments, the second acquisition submodule 32 is a Hall current sensor.

[0080] In the embodiment of the present application, since the second acquisition submodule 32 is a Hall current sensor, the phase current signal of the phase corresponding to the second acquisition submodule 32 can be acquired by the second acquisition submodule 32 .

[0081] Optionally, in some embodiments, the inverter 20 includes a multi-phase bridge arm 21, and the bridge arm 21 corresponds to the second connection end one by one; each phase of the bridge arm 21 includes a first intelligent power module 211 and a second intelligent power module 212; the main control chip 10 also includes a plurality of third input ends, each of the first intelligent power modules 211 has a corresponding third input end, and each of the second intelligent power modules 212 has a corresponding third input end; the state of the inverter 20 includes the state of each of the first intelligent power modules 211 and the state of each of the second intelligent power modules 212; in the bridge arm 21, the first end of the first intelligent power module 211 is electrically connected to the positive electrode of the power supply 60, and the second end of the first intelligent power module 211 is electrically connected to the first end of the second intelligent power module 212 and the second connection end corresponding to the bridge arm 21, respectively, and the The output end of the first intelligent power module 211 is electrically connected to the third input end corresponding to the first intelligent power module 211, and the first intelligent power module 211 is used to obtain the state of the first intelligent power module 211; the first end of the second intelligent power module 212 is electrically connected to the second connection end corresponding to the bridge arm 21, the second end of the second intelligent power module 212 is electrically connected to the negative pole of the power supply 60, the output end of the second intelligent power module 212 is electrically connected to the third input end corresponding to the second intelligent power module 212, and the second intelligent power module 212 is used to obtain the state of the second intelligent power module 212; the main control chip 10 is also used to determine that the state of the inverter 20 is abnormal when the state of at least one of the first intelligent power modules 211 is abnormal, or the state of at least one of the second intelligent power modules 212 is abnormal.

[0082] Specifically, in some embodiments, the first intelligent power module 211 and the second intelligent power module 212 are both intelligent power modules; when the intelligent power module detects abnormalities in parameters such as current and voltage inside the intelligent power module, the intelligent power module determines that the state of the intelligent power module is abnormal, and outputs a signal used to characterize that the state of the intelligent power module is abnormal.

[0083] For example, the inverter 20 includes a three-phase bridge arm 21, and the bridge arm 21 corresponds one-to-one to the second connection end; each phase bridge arm 21 includes a first intelligent power module 211 and a second intelligent power module 212; the main control chip 10 also includes 6 third input terminals, each first intelligent power module 211 has a corresponding third input terminal, and each second intelligent power module 212 has a corresponding third input terminal.

[0084] Optionally, in some embodiments, the inverter 20 also includes a capacitor C1, which is a filter capacitor C1. The first end of the capacitor C1 is used to be electrically connected to the positive electrode of the power supply 60, and the second end of the capacitor C1 is used to be electrically connected to the negative electrode of the power supply 60; the first end of the capacitor C1 is respectively electrically connected to the first end of each first intelligent power module 211, and the second end of the capacitor C1 is respectively electrically connected to the second end of each second intelligent power module 212.

[0085] In the embodiment of the present application, the state of the first intelligent power module 211 is obtained through the first intelligent power module 211, and the state of the second intelligent power module 212 is obtained through the second intelligent power module 212, and then the main control chip 10 determines that the state of the inverter 20 is abnormal when the state of at least one first intelligent power module 211 is abnormal, or the state of at least one second intelligent power module 212 is abnormal, and then when the state of the inverter 20 is abnormal and the phase voltage signal and / or the phase current signal are abnormal, it is determined that the inverter 20 is faulty and a cut-off signal is sent to the switch module 40.

[0086] Optionally, in some embodiments, the first intelligent power module 211 includes a first power switch Q1, and the second intelligent power module 212 includes a second power switch Q2; the main control chip 10 also includes a plurality of second control terminals, each of the first power switch Q1 has a corresponding second control terminal, and each of the second power switch Q2 has a corresponding second control terminal; the first end of the first power switch Q1 is electrically connected to the first end of the first intelligent power module 211, the second end of the first power switch Q1 is electrically connected to the second end of the first intelligent power module 211, and the control end of the first power switch Q1 is electrically connected to the second control end corresponding to the first power switch Q1; the first end of the second power switch Q2 is electrically connected to the first end of the second intelligent power module 212, the second end of the second power switch Q2 is electrically connected to the second end of the second intelligent power module 212, and the control end of the second power switch Q2 is electrically connected to the second control end corresponding to the second power switch Q2.

[0087] In some embodiments, the main control chip 10 uses a sinusoidal pulse width modulation (SPWM) method to control each first power switch Q1 and each second power switch Q2.

[0088] In the embodiment of the present application, when the first power switch Q1 in the first intelligent power module 211 breaks down and is abnormally turned on, the first intelligent power module 211 detects that the current, voltage and other parameters inside the first intelligent power module 211 are abnormal, and the first intelligent power module 211 determines that the state of the first intelligent power module 211 is abnormal; when the second power switch Q2 in the second intelligent power module 212 breaks down and is abnormally turned on, the second intelligent power module 212 detects that the current, voltage and other parameters inside the second intelligent power module 212 are abnormal, and the second intelligent power module 212 determines that the state of the second intelligent power module 212 is abnormal.

[0089] Optionally, in some embodiments, the motor 50 includes n windings L, the first end of the i-th winding L is electrically connected to the second end of the i+1-th winding L, the second end of the 1st winding L is electrically connected to the first end of the n-th winding L, n is a positive integer, and i is a positive integer less than n; or: the second end of each winding L is electrically connected to the neutral point of the motor 50.

[0090] In the embodiment of the present application, when the second end of each winding L is electrically connected to the neutral point of the motor 50, the windings L of the motor 50 are star-connected; when the first end of the i-th winding L of the motor 50 is electrically connected to the second end of the i+1-th winding L, and the second end of the 1st winding L is electrically connected to the first end of the n-th winding L, the windings L of the motor 50 are triangle-connected.

[0091] Specifically, in some embodiments, the controller of the motor 50 includes: a main control chip 10, an inverter 20, a collection module 30 and a switch module 40; the switch module 40 includes three parallel branches 41, wherein the first branch 41 is a wire, and the second branch 41 and the third branch 41 are both provided with a control submodule 411; the collection module 30 includes three first collection submodules 31 and three second collection submodules 32, the first collection submodule 31 corresponds to the second collection submodule 32 one-to-one, and the second collection submodule 32 corresponds to the branch 41 one-to-one; the motor 50 includes a three-phase winding L, and the branch 41 corresponds to the winding L one-to-one; the main control chip 10 includes three first input terminals and three second input terminals, the first collection submodule 31 corresponds to the first input terminal one-to-one, and the second collection submodule 32 corresponds to the second input terminal one-to-one; the inverter 20 includes 3 Phase bridge arm 21; each phase bridge arm 21 includes a first intelligent power module 211 and a second intelligent power module 212; the main control chip 10 also includes 6 third input terminals, each first intelligent power module 211 has a corresponding third input terminal, and each second intelligent power module 212 has a corresponding third input terminal; the state of the inverter 20 includes the state of each first intelligent power module 211 and the state of each second intelligent power module 212; the first intelligent power module 211 includes a first power switch Q1, and the second intelligent power module 212 includes a second power switch Q2; the main control chip 10 also includes 6 second control terminals, each first power switch Q1 has a corresponding second control terminal, and each second power switch Q2 has a corresponding second control terminal; the main control chip 10 includes 2 first control terminals, and the control submodule 411 corresponds to the first control terminal one by one;

[0092] The first end of the first first intelligent power module 211 is electrically connected to the positive electrode of the power supply 60, the second end of the first first intelligent power module 211 is electrically connected to the first end of the first second intelligent power module 212, the first end of the first first acquisition submodule 31 and the first end of the first second acquisition submodule 32 respectively, the output end of the first first intelligent power module 211 is electrically connected to the first third input end, and the first first intelligent power module 211 is used to obtain the state of the first first intelligent power module 211; the first end of the first second intelligent power module 212 is electrically connected to the first end of the first first acquisition submodule 31 and the first end of the first second acquisition submodule 32 respectively, the second end of the first second intelligent power module 212 is electrically connected to the negative electrode of the power supply 60, the output end of the first second intelligent power module 212 is electrically connected to the second third input end, and the first second intelligent power module 212 is used to obtain the state of the first second intelligent power module 212;

[0093] The first end of the second first intelligent power module 211 is electrically connected to the positive electrode of the power supply 60, the second end of the second first intelligent power module 211 is electrically connected to the first end of the second second intelligent power module 212, the first end of the second first acquisition submodule 31 and the first end of the second second acquisition submodule 32 respectively, the output end of the second first intelligent power module 211 is electrically connected to the third third input end, and the second first intelligent power module 211 is used to obtain the state of the second first intelligent power module 211; the first end of the second second intelligent power module 212 is electrically connected to the first end of the second first acquisition submodule 31 and the first end of the second second acquisition submodule 32 respectively, the second end of the second second intelligent power module 212 is electrically connected to the negative electrode of the power supply 60, the output end of the second second intelligent power module 212 is electrically connected to the fourth third input end, and the second second intelligent power module 212 is used to obtain the state of the second second intelligent power module 212;

[0094] The first end of the third first intelligent power module 211 is electrically connected to the positive electrode of the power source 60, the second end of the third first intelligent power module 211 is electrically connected to the first end of the third second intelligent power module 212, the first end of the third first acquisition submodule 31 and the first end of the third second acquisition submodule 32 respectively, the output end of the third first intelligent power module 211 is electrically connected to the fifth third input end, and the third first intelligent power module 211 is used to obtain the state of the third first intelligent power module 211; the first end of the third second intelligent power module 212 is electrically connected to the first end of the third first acquisition submodule 31 and the first end of the third second acquisition submodule 32 respectively, the second end of the third second intelligent power module 212 is electrically connected to the negative electrode of the power source 60, the output end of the third second intelligent power module 212 is electrically connected to the sixth third input end, and the third second intelligent power module 212 is used to obtain the state of the third second intelligent power module 212;

[0095] A first end of the first first power switch Q1 is electrically connected to a first end of the first first intelligent power module 211, a second end of the first first power switch Q1 is electrically connected to a second end of the first first intelligent power module 211, and a control end of the first first power switch Q1 is electrically connected to a first second control end; a first end of the first second power switch Q2 is electrically connected to a first end of the first second intelligent power module 212, a second end of the first second power switch Q2 is electrically connected to a second end of the first second intelligent power module 212, and a control end of the first second power switch Q2 is electrically connected to a second second control end;

[0096] The first end of the second first power switch Q1 is electrically connected to the first end of the second first intelligent power module 211, the second end of the second first power switch Q1 is electrically connected to the second end of the second first intelligent power module 211, and the control end of the second first power switch Q1 is electrically connected to the third second control end; the first end of the second second power switch Q2 is electrically connected to the first end of the second second intelligent power module 212, the second end of the second second power switch Q2 is electrically connected to the second end of the second second intelligent power module 212, and the control end of the second second power switch Q2 is electrically connected to the fourth second control end;

[0097] The first end of the third first power switch Q1 is electrically connected to the first end of the third first intelligent power module 211, the second end of the third first power switch Q1 is electrically connected to the second end of the third first intelligent power module 211, and the control end of the third first power switch Q1 is electrically connected to the fifth second control end; the first end of the third second power switch Q2 is electrically connected to the first end of the third second intelligent power module 212, the second end of the third second power switch Q2 is electrically connected to the second end of the third second intelligent power module 212, and the control end of the third second power switch Q2 is electrically connected to the sixth second control end;

[0098] The first end of the first first acquisition submodule 31 is electrically connected to the first end of the first second acquisition submodule 32 and the first first input end respectively, the second end of the first first acquisition submodule 31 is used to be electrically connected to the negative electrode of the power supply 60, and the first first acquisition submodule 31 is used to acquire the phase voltage signal of the first phase;

[0099] The first end of the second first acquisition submodule 31 is electrically connected to the first end of the second second acquisition submodule 32 and the second first input end respectively, the second end of the second first acquisition submodule 31 is used to be electrically connected to the negative electrode of the power supply 60, and the second first acquisition submodule 31 is used to collect the phase voltage signal of the second phase;

[0100] The first end of the third first acquisition submodule 31 is electrically connected to the first end of the third second acquisition submodule 32 and the third first input end respectively, the second end of the third first acquisition submodule 31 is used to be electrically connected to the negative electrode of the power supply 60, and the third first acquisition submodule 31 is used to collect the phase voltage signal of the third phase;

[0101] The second end of the first second acquisition submodule 32 is electrically connected to the first end of the first branch 41, and the first branch 41 is a wire. The second end of the first second acquisition submodule 32 is used to be electrically connected to the first end of the winding L of the first phase; the output end of the first second acquisition submodule 32 is electrically connected to the first second input end; the first second acquisition submodule 32 is used to collect the phase current signal of the first phase;

[0102] The second end of the second second acquisition submodule 32 is electrically connected to the first end of the second branch 41, that is, the second end of the second second acquisition submodule 32 is electrically connected to the first end of the control submodule 411 on the second branch 41, and the output end of the second second acquisition submodule 32 is electrically connected to the second second input end; the second second acquisition submodule 32 is used to collect the phase current signal of the second phase;

[0103] The second end of the third second acquisition submodule 32 is electrically connected to the first end of the third branch 41, that is, the second end of the third second acquisition submodule 32 is electrically connected to the first end of the control submodule 411 on the third branch 41, and the output end of the third second acquisition submodule 32 is electrically connected to the third second input end; the third second acquisition submodule 32 is used to collect the phase current signal of the third phase;

[0104] The first end of the first branch 41 is electrically connected to the second end of the first branch 41, and the second end of the first branch 41 is used to be electrically connected to the first end of the winding L of the first phase; the second end of the control submodule 411 on the second branch 41 is used to be electrically connected to the first end of the winding L of the second phase, and the control end of the control submodule 411 on the second branch 41 is electrically connected to the first first control end; the second end of the control submodule 411 on the third branch 41 is used to be electrically connected to the first end of the winding L of the third phase, and the control end of the control submodule 411 on the third branch 41 is electrically connected to the second first control end; the second end of the winding L of each phase is electrically connected to the neutral point of the motor 50.

[0105] In some embodiments, the main control chip 10 is also used to determine the internal conduction of the switch module 40 and the formation of a loop between the motor 50 and the controller of the motor 50 when the voltage value of each phase voltage signal changes with time and the current value of each phase current signal changes with time; determine that the power supply circuit of the motor 50 is cut off when the voltage value of the phase voltage signal remains unchanged or the current value of the phase current signal remains unchanged; specifically, determine that the power supply circuit of the motor 50 is cut off when the voltage value of each phase voltage signal is 0 volts or the voltage value of the power supply 60 (bus voltage value), or the current value of each phase current signal is 0 volts.

[0106] Reference Figure 5In some embodiments, in a coordinate system with voltage U as the vertical axis and time t as the horizontal axis, curve h1 is the curve of the phase voltage signal of the first phase, curve h2 is the curve of the phase voltage signal of the second phase, and curve h3 is the curve of the phase voltage signal of the third phase, wherein the maximum voltage value of the phase voltage signal of the first phase, the maximum voltage value of the phase voltage signal of the second phase, and the maximum voltage value of the phase voltage signal of the third phase are all U3, the reference value of the phase voltage signal of the first phase, the reference value of the phase voltage signal of the second phase, and the reference value of the phase voltage signal of the third phase are all U2, and the minimum voltage value of the phase voltage signal of the first phase, the minimum voltage value of the phase voltage signal of the second phase, and the minimum voltage value of the phase voltage signal of the third phase are all U1; when the curve of the phase voltage signal of the first phase is curve h1, the state of the phase voltage signal of the first phase is normal; when the curve of the phase voltage signal of the second phase is curve h2, the state of the phase voltage signal of the second phase is normal; when the curve of the phase voltage signal of the third phase is curve h3, the state of the phase voltage signal of the third phase is normal; the preset voltage range is U1 to U3.

[0107] For example, U3 is 200 volts, U2 is 0 volts, and U1 is -200 volts; the preset voltage range is -200 volts to 200 volts (U1 to U3).

[0108] Reference Figure 6 In some embodiments, in a coordinate system with current I as the vertical axis and time t as the horizontal axis, curve h4 is a curve of the phase current signal of the second phase, curve h5 is a curve of the phase current signal of the first phase, and curve h6 is a curve of the phase current signal of the third phase, wherein the maximum current value of the phase current signal of the first phase, the maximum current value of the phase current signal of the second phase, and the maximum current value of the phase current signal of the third phase are all I3, the reference value of the phase current signal of the first phase, the reference value of the phase current signal of the second phase, and the reference value of the phase current signal of the third phase are all I2, the minimum current value of the phase current signal of the first phase, the minimum current value of the phase current signal of the second phase The minimum current value of the current signal and the minimum current value of the phase current signal of the third phase are both I1, and the amplitude of the phase current signal of the first phase, the amplitude of the phase current signal of the second phase and the amplitude of the phase current signal of the third phase are all absolute values ​​of I3-I1; when the curve of the phase current signal of the first phase is curve h5, the state of the phase current signal of the first phase is normal; when the curve of the phase current signal of the second phase is curve h4, the state of the phase current signal of the second phase is normal; when the curve of the phase current signal of the third phase is curve h6, the state of the phase current signal of the third phase is normal; the preset current range is I1 to I3.

[0109] For example, I3 is 75 amperes, I2 is 0 amperes, and I1 is -75 amperes; the amplitude of the phase current signal of the first phase, the amplitude of the phase current signal of the second phase, and the amplitude of the phase current signal of the third phase are all 150 amperes (absolute value of I3-I1); the preset current range is -75 amperes to 75 amperes (I1 to I3).

[0110] Reference Figure 7 In some embodiments, in a coordinate system with current I as the vertical axis and time t as the horizontal axis, curve h7 is a curve of the phase current signal of the third phase, curve h8 is a curve of the phase current signal of the first phase, and curve h9 is a curve of the phase current signal of the second phase; before time t1, the phase current signal state of the first phase, the phase current signal state of the second phase, and the phase current signal state of the third phase are all normal, wherein the maximum current value of the phase current signal of the first phase, the maximum current value of the phase current signal of the second phase, and the maximum current value of the phase current signal of the third phase are all I3, the reference value of the phase current signal of the first phase, the reference value of the phase current signal of the second phase, and the reference value of the phase current signal of the third phase are all I2, the minimum current value of the phase current signal of the first phase, the minimum current value of the phase current signal of the second phase, and the minimum current value of the phase current signal of the third phase are all I1, and the amplitude of the phase current signal of the first phase, the amplitude of the phase current signal of the second phase, and the amplitude of the phase current signal of the third phase are all absolute values ​​of I3-I1;

[0111] After time t1, the third first power switch Q1 breaks down and turns on abnormally, and the phase current signal states of the first phase, the second phase and the third phase are all abnormal, wherein the maximum current value of the phase current signal of the first phase and the maximum current value of the phase current signal of the second phase are both I9, the reference value of the phase current signal of the first phase and the reference value of the phase current signal of the second phase are both I8, the minimum current value of the phase current signal of the first phase and the minimum current value of the phase current signal of the second phase are both I7, the amplitude of the phase current signal of the first phase and the amplitude of the phase current signal of the second phase are both the absolute value of I9-I7; the maximum current value of the phase current signal of the third phase is I6, the The reference value of the three-phase phase current signal is I5, the minimum current value of the phase current signal of the third phase is I4, and the amplitudes of the phase current signals of the third phase are all the absolute values ​​of I6-I4; I6 is greater than I5, I5 is greater than I4, I4 is greater than I3, I3 is greater than I2, I2 is greater than I9, I9 is ​​greater than I1, I1 is greater than I8, and I8 is greater than I7; the preset current range is I1 to I3; therefore, after time t1, the amplitude of the phase current signal of the third phase decreases, the reference value of the phase current signal of the third phase increases, the amplitude of the phase current signal of the first phase and the amplitude of the phase current signal of the second phase both decrease, and the reference value of the phase current signal of the first phase and the reference value of the phase current signal of the second phase both decrease.

[0112] For example, I3 is 75 amperes, I2 is 0 amperes, and I3 is -75 amperes; I6 is 224 amperes, I5 is 200 amperes, and I4 is 175.6 amperes; I9 is ​​-163 amperes, I8 is -98.5 amperes, and I7 is -34 amperes; time t1 is 100 milliseconds. Before time t1, the amplitude of the phase current signal of the first phase, the amplitude of the phase current signal of the second phase, and the amplitude of the phase current signal of the third phase are all 150 amperes (the absolute value of I3-I1); after time t1, the amplitude of the phase current signal of the first phase and the amplitude of the phase current signal of the second phase are both 129 amperes (the absolute value of I9-I7), and the amplitude of the phase current signal of the third phase is 48.4 amperes (the absolute value of I6-I4); the preset current range is -75 amperes to 75 amperes (I1 to I3).

[0113] Reference Figure 8 In some embodiments, in a coordinate system with current I as the vertical axis and time t as the horizontal axis, curve h10 is a curve of the phase current signal of the second phase, curve h11 is a curve of the phase current signal of the first phase, and curve h12 is a curve of the phase current signal of the third phase; before time t2, the phase current signal state of the first phase, the phase current signal state of the second phase, and the phase current signal state of the third phase are all normal, wherein the maximum current value of the phase current signal of the first phase, the maximum current value of the phase current signal of the second phase, and the maximum current value of the phase current signal of the third phase are all I3, the reference value of the phase current signal of the first phase, the reference value of the phase current signal of the second phase, and the reference value of the phase current signal of the third phase are all I2, the minimum current value of the phase current signal of the first phase, the minimum current value of the phase current signal of the second phase, and the minimum current value of the phase current signal of the third phase are all I1, and the amplitude of the phase current signal of the first phase, the amplitude of the phase current signal of the second phase, and the amplitude of the phase current signal of the third phase are all absolute values ​​of I3-I1;

[0114] After time t2, the second second power switch Q2 breaks down and abnormally turns on, and the phase current signal states of the first phase, the second phase and the third phase are all abnormal, wherein the maximum current value of the phase current signal of the first phase and the maximum current value of the phase current signal of the third phase are both I15, the reference value of the phase current signal of the first phase and the reference value of the phase current signal of the third phase are both I14, the minimum current value of the phase current signal of the first phase and the minimum current value of the phase current signal of the third phase are both I13, and the amplitude of the phase current signal of the first phase and the amplitude of the phase current signal of the third phase are both the absolute value of I15-I13; the maximum current value of the phase current signal of the second phase is I12, and the amplitude of the phase current signal of the second phase is I14-I15. The reference value of the phase current signal is I11, the minimum current value of the phase current signal of the second phase is I10, and the amplitude of the phase current signal of the second phase is the absolute value of I12-I10; I15 is greater than I14, I14 is greater than I3, I3 is greater than I13, I13 is greater than I2, I2 is greater than I1, I1 is greater than I12, I12 is greater than I11, and I11 is greater than I10; the preset current range is I1 to I3; therefore, after time t2, the amplitude of the phase current signal of the second phase decreases, the reference value of the phase current signal of the second phase decreases, the amplitude of the phase current signal of the first phase and the amplitude of the phase current signal of the third phase both decrease, and the reference value of the phase current signal of the first phase and the reference value of the phase current signal of the third phase both increase.

[0115] For example, I3 is 75 amperes, I2 is 0 amperes, and I3 is -75 amperes; I12 is -224 amperes, I11 is -200 amperes, and I10 is -175.6 amperes; I15 is 163 amperes, I14 is 98.5 amperes, and I13 is 34 amperes; time t2 is 100 milliseconds. Before time t2, the amplitude of the phase current signal of the first phase, the amplitude of the phase current signal of the second phase, and the amplitude of the phase current signal of the third phase are all 150 amperes (the absolute value of I3-I1); after time t2, the amplitude of the phase current signal of the first phase and the amplitude of the phase current signal of the third phase are both 129 amperes (the absolute value of I15-I13), and the amplitude of the phase current signal of the second phase is 48.4 amperes (the absolute value of I12-I10); the preset current range is -75 amperes to 75 amperes (I1 to I3).

[0116] Reference Fig. 9In some embodiments, the detection process of the controller of the motor 50 includes: X1, intelligent power module error reporting, that is, the first intelligent power module 211 obtains the state of the first intelligent power module 211, and the state of the first intelligent power module 211 is abnormal, or the second intelligent power module 212 obtains the state of the second intelligent power module 212, and the state of the second intelligent power module 212 is abnormal; X2, phase voltage sampling, that is, the first acquisition submodule 31 is used to collect the phase voltage signal of the corresponding phase of the first acquisition submodule 31; X3, phase current sampling, that is, the second acquisition Submodule 32 is used to collect the phase current signal of the phase corresponding to the second collection submodule 32; X4, the main control chip 10 determines that the inverter 20 is faulty, and sends a cut-off signal to the switch module 40, that is, the main control chip 10 determines that the inverter 20 is faulty when the state of the inverter 20 is abnormal, and the phase voltage signal is abnormal, and the phase current signal is abnormal, and the inverter 20 is faulty, and sends a cut-off signal to the switch module 40; X5, cut-off circuit, that is, the switch module 40 cuts off the power supply circuit of the motor 50 when the cut-off signal is obtained. The specific implementation process is similar to the above and will not be repeated here.

[0117] Through the embodiments of the present application, a cutting strategy combining IPM detection, phase voltage detection and phase current detection can be implemented; when the control submodule 411 is an irreversible fuse, the possibility of abnormal cutting of the irreversible fuse caused by IPM false alarm can be reduced by combining IPM detection, phase voltage detection and phase current detection; setting the acquisition module 30 between the inverter 20 and the switch module 40, and setting the acquisition module 30 between the switch module 40 and the motor 50 can reduce the wiring of the electrical connection between the acquisition module 30 and the battery pack, and perform rapid detection.

[0118] In summary, in the embodiment of the present application, the state of the inverter 20 is fed back to the main control chip 10 through the inverter 20, and the phase voltage signal and / or phase current signal of at least one phase of the motor 50 are collected through the acquisition module 30. Then, the main control chip 10 controls to cut off the power supply circuit of the motor 50 based on the fact that the state of the inverter 20 is abnormal and the phase voltage signal and / or phase current signal are abnormal. Compared with the related art in which the state of the inverter is detected only by the intelligent power module in the inverter, the detection of the phase voltage signal and / or phase current signal is added, the detection accuracy of the inverter 20 is improved, and the possibility of abnormal cutting off of the power supply circuit of the motor 50 is reduced.

[0119] Reference Fig.10 , the embodiment of the present application also provides a detection method of a motor controller, the method comprising:

[0120] Step 101: Acquire the state of an inverter in a motor controller, and collect a phase voltage signal and / or a phase current signal of at least one phase of the motor.

[0121] The implementation method of this step is similar to the specific implementation process of the motor controller mentioned above, and will not be repeated here.

[0122] Step 102: When the state of the inverter is abnormal and the phase voltage signal and / or the phase current signal are abnormal, control to cut off the power supply circuit of the motor.

[0123] The implementation method of this step is similar to the specific implementation process of the motor controller mentioned above, and will not be repeated here.

[0124] Optionally, in some embodiments, the method further comprises the following steps:

[0125] Step 103, when the maximum voltage value of the phase voltage signal exceeds the preset voltage range, or the minimum voltage value of the phase voltage signal exceeds the preset voltage range, or the reference value of the phase voltage signal exceeds the preset voltage range, determine that the phase voltage signal is abnormal; wherein the reference value of the phase voltage signal is the average value of the maximum voltage value of the phase voltage signal and the minimum voltage value of the phase voltage signal.

[0126] The implementation method of this step is similar to the specific implementation process of the motor controller mentioned above, and will not be repeated here.

[0127] Optionally, in some embodiments, the method further comprises the following steps:

[0128] Step 104: Determine that the phase current signal is abnormal when the maximum current value of the phase current signal exceeds a preset current range, or the minimum current value of the phase current signal exceeds the preset current range, or the reference value of the phase current signal exceeds the preset current range; wherein the reference value of the phase current signal is the average of the maximum current value of the phase current signal and the minimum current value of the phase current signal.

[0129] The implementation method of this step is similar to the specific implementation process of the motor controller mentioned above, and will not be repeated here.

[0130] An embodiment of the present application also provides an electronic device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the detection method of the motor controller as described above are implemented. The specific implementation process is similar to that described above and will not be repeated here.

[0131] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the detection method of the motor controller as described above are implemented. The specific implementation process is similar to the above and will not be repeated here.

[0132] An embodiment of the present application also provides an electric assembly, including a motor controller as described above. The specific implementation process is similar to the above and will not be repeated here.

[0133] An embodiment of the present application also provides a vehicle, including a motor controller as described above, or an electronic device as described above, or a readable storage medium as described above, or an electric assembly as described above. The specific implementation process is similar to the above and will not be repeated here.

[0134] In summary, in the embodiment of the present application, the state of the inverter 20 is fed back to the main control chip 10 through the inverter 20, and the phase voltage signal and / or phase current signal of at least one phase of the motor 50 are collected through the acquisition module 30. Then, the main control chip 10 controls to cut off the power supply circuit of the motor 50 based on the fact that the state of the inverter 20 is abnormal and the phase voltage signal and / or phase current signal are abnormal. Compared with the related art in which the state of the inverter is detected only by the intelligent power module in the inverter, the detection of the phase voltage signal and / or phase current signal is added, the detection accuracy of the inverter 20 is improved, and the possibility of abnormal cutting off of the power supply circuit of the motor 50 is reduced.

[0135] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0136] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. For the embodiments of the device, electronic device, computer-readable storage medium and computer program products containing instructions, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0137] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A motor controller, adapted to be connected to a motor (50) and to control the operation of the motor (50), characterized in that: include: A main control chip (10), an inverter (20) and a collection module (30); The inverter (20) is electrically connected to the main control chip (10) and the acquisition module (30) respectively, and the inverter (20) is used to be electrically connected to a power source (60) and to feed back the state of the inverter (20) to the main control chip (10); The acquisition module (30) is electrically connected to the main control chip (10), and the acquisition module (30) is used to acquire a phase voltage signal and / or a phase current signal of at least one phase of the motor (50); The main control chip (10) is configured to control cutting off the power supply circuit of the motor (50) based on the state of the inverter (20) being abnormal and the phase voltage signal and / or the phase current signal being abnormal.

2. The motor controller according to claim 1, characterized in that: The main control chip (10) is also used to determine that the phase voltage signal is abnormal when the maximum voltage value of the phase voltage signal exceeds a preset voltage range, or the minimum voltage value of the phase voltage signal exceeds the preset voltage range, or the reference value of the phase voltage signal exceeds the preset voltage range; The reference value of the phase voltage signal is an average value of a maximum voltage value of the phase voltage signal and a minimum voltage value of the phase voltage signal.

3. The motor controller according to claim 1, characterized in that: The main control chip (10) is further used to determine that the phase current signal is abnormal when the maximum current value of the phase current signal exceeds a preset current range, or the minimum current value of the phase current signal exceeds the preset current range, or the reference value of the phase current signal exceeds the preset current range; The reference value of the phase current signal is an average value of a maximum current value of the phase current signal and a minimum current value of the phase current signal.

4. The motor controller according to claim 1, characterized in that: The main control chip (10) is also used to determine that the state of the inverter (20) is abnormal when the voltage and / or current inside the inverter (20) is abnormal.

5. The motor controller according to claim 1, characterized in that: The motor controller also includes a switch module (40); The main control chip (10) is used to send a cutoff signal to the switch module (40) when the state of the inverter (20) is abnormal and the phase voltage signal and / or the phase current signal are abnormal; The control end of the switch module (40) is connected to the main control chip (10), and the switch module (40) is suitable for being connected between the acquisition module (30) and the motor (50), and cutting off the power supply circuit of the motor (50) when the cutting-off signal is obtained.

6. The motor controller according to claim 5, characterized in that: The switch module (40) comprises a plurality of parallel branches (41); the acquisition module (30) comprises a plurality of first connection ends, the branches (41) corresponding one-to-one to the first connection ends; the motor (50) comprises a multi-phase winding (L), the branches (41) corresponding one-to-one to the winding (L); The first end of the branch (41) is electrically connected to a first connection end corresponding to the branch (41), and the second end of the branch (41) is used to electrically connect to a first end of a winding (L) corresponding to the branch (41); A control submodule (411) is provided on at least a portion of the branches (41); a first end of the control submodule (411) is electrically connected to a first end of the branch (41) to which the control submodule (411) belongs; a second end of the control submodule (411) is electrically connected to a second end of the branch (41) to which the control submodule (411) belongs; a control end of the control submodule (411) is electrically connected to a first control end of the main control chip (10); and the control submodule (411) is used to disconnect the first end of the control submodule (411) from the second end of the control submodule (411) when the disconnection signal is obtained; The main control chip (10) is specifically used to send the cutoff signal to each of the control submodules (411) when the state of the inverter (20) is abnormal and the phase voltage signal and / or the phase current signal are abnormal.

7. The motor controller according to claim 6, characterized in that: The acquisition module (30) comprises a plurality of first acquisition submodules (31), and the first acquisition submodules (31) correspond to the branches (41) one by one; the inverter (20) comprises a plurality of second connection terminals, and the first acquisition submodules (31) correspond to the second connection terminals one by one; the main control chip (10) comprises a plurality of first input terminals, and the first acquisition submodules (31) correspond to the first input terminals one by one; The first end of the first acquisition submodule (31) is electrically connected to the second connection end corresponding to the first acquisition submodule (31) and the first input end corresponding to the first acquisition submodule (31), respectively; the first end of the first acquisition submodule (31) is used to be electrically connected to the first end of the branch (41) corresponding to the first acquisition submodule (31); the second end of the first acquisition submodule (31) is used to be electrically connected to the negative electrode of the power supply (60); the first acquisition submodule (31) is used to acquire a phase voltage signal of a phase corresponding to the first acquisition submodule (31); The first end of the branch (41) corresponding to the first acquisition submodule (31) is electrically connected to the second connection end corresponding to the first acquisition submodule (31).

8. The motor controller according to claim 6, characterized in that: The acquisition module (30) comprises a plurality of first acquisition submodules (31) and a plurality of second acquisition submodules (32), the first acquisition submodules (31) corresponding to the second acquisition submodules (32) one-to-one, and the second acquisition submodules (32) corresponding to the branches (41) one-to-one; the inverter (20) comprises a plurality of second connection terminals, the second acquisition submodules (32) corresponding to the second connection terminals one-to-one; the main control chip (10) comprises a plurality of first input terminals and a plurality of second input terminals, the first acquisition submodules (31) corresponding to the first input terminals one-to-one, and the second acquisition submodules (32) corresponding to the second input terminals one-to-one; The first end of the first acquisition submodule (31) is electrically connected to a second acquisition submodule (32) corresponding to the first acquisition submodule (31) and a first input end corresponding to the first acquisition submodule (31); the second end of the first acquisition submodule (31) is used to be electrically connected to the negative electrode of the power supply (60) and to acquire a phase voltage signal of a phase corresponding to the first acquisition submodule (31); The first end of the second acquisition submodule (32) is electrically connected to a second connection end corresponding to the second acquisition submodule (32), the second end of the second acquisition submodule (32) is electrically connected to a first end of a branch (41) corresponding to the second acquisition submodule (32), the output end of the second acquisition submodule (32) is electrically connected to a second input end corresponding to the second acquisition submodule (32), and the second acquisition submodule (32) is used to acquire a phase current signal of a phase corresponding to the second acquisition submodule (32).

9. The motor controller according to claim 7 or 8, characterized in that: The inverter (20) comprises a multi-phase bridge arm (21), wherein the bridge arm (21) corresponds to the second connection end one by one; each phase of the bridge arm (21) comprises a first intelligent power module (211) and a second intelligent power module (212); the main control chip (10) further comprises a plurality of third input ends, wherein each of the first intelligent power modules (211) has a corresponding third input end, and each of the second intelligent power modules (212) has a corresponding third input end; the state of the inverter (20) comprises the state of each of the first intelligent power modules (211) and the state of each of the second intelligent power modules (212); In the bridge arm (21), the first end of the first intelligent power module (211) is electrically connected to the positive electrode of the power source (60), the second end of the first intelligent power module (211) is electrically connected to the first end of the second intelligent power module (212) and the second connection end corresponding to the bridge arm (21) respectively, the output end of the first intelligent power module (211) is electrically connected to the third input end corresponding to the first intelligent power module (211), and the first intelligent power module (211) is used to obtain the state of the first intelligent power module (211); the first end of the second intelligent power module (212) is electrically connected to the second connection end corresponding to the bridge arm (21), the second end of the second intelligent power module (212) is electrically connected to the negative electrode of the power source (60), the output end of the second intelligent power module (212) is electrically connected to the third input end corresponding to the second intelligent power module (212), and the second intelligent power module (212) is used to obtain the state of the second intelligent power module (212); The main control chip (10) is also used to determine that the state of the inverter (20) is abnormal when the state of at least one of the first intelligent power modules (211) is abnormal, or the state of at least one of the second intelligent power modules (212) is abnormal.

10. The motor controller according to claim 9, characterized in that: The first intelligent power module (211) comprises a first power switch (Q1), and the second intelligent power module (212) comprises a second power switch (Q2); the main control chip (10) further comprises a plurality of second control terminals, each of the first power switches (Q1) having a corresponding second control terminal, and each of the second power switches (Q2) having a corresponding second control terminal; The first end of the first power switch (Q1) is electrically connected to the first end of the first intelligent power module (211), the second end of the first power switch (Q1) is electrically connected to the second end of the first intelligent power module (211), and the control end of the first power switch (Q1) is electrically connected to the second control end corresponding to the first power switch (Q1); The first end of the second power switch (Q2) is electrically connected to the first end of the second intelligent power module (212), the second end of the second power switch (Q2) is electrically connected to the second end of the second intelligent power module (212), and the control end of the second power switch (Q2) is electrically connected to the second control end corresponding to the second power switch (Q2).

11. The motor controller according to claim 7 or 8, characterized in that: The first acquisition submodule (31) is a resistor.

12. The motor controller according to claim 8, characterized in that: The second acquisition submodule (32) is a Hall current sensor.

13. The motor controller according to claim 6, characterized in that: The control submodule (411) is a switch device or a fuse device.

14. A method for detecting a motor controller, characterized in that: The method comprises: Acquire the state of the inverter in the motor controller, and collect the phase voltage signal and / or phase current signal of at least one phase of the motor; When the state of the inverter is abnormal and the phase voltage signal and / or the phase current signal is abnormal, control is performed to cut off the power supply circuit of the motor.

15. The method according to claim 14, characterized in that The method further comprises: In the case where the maximum voltage value of the phase voltage signal exceeds the preset voltage range, or the minimum voltage value of the phase voltage signal exceeds the preset voltage range, or the reference value of the phase voltage signal exceeds the preset voltage range, determining that the phase voltage signal is abnormal; The reference value of the phase voltage signal is an average value of a maximum voltage value of the phase voltage signal and a minimum voltage value of the phase voltage signal.

16. The method according to claim 14, characterized in that The method further comprises: In the case where the maximum current value of the phase current signal exceeds the preset current range, or the minimum current value of the phase current signal exceeds the preset current range, or the reference value of the phase current signal exceeds the preset current range, determining that the phase current signal is abnormal; The reference value of the phase current signal is an average value of a maximum current value of the phase current signal and a minimum current value of the phase current signal.

17. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the detection method of the motor controller according to any one of claims 14 to 16 are implemented.

18. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the detection method of the motor controller as described in any one of claims 14 to 16 are implemented.

19. An electric assembly, characterized in that: Comprising a motor controller as claimed in any one of claims 1 to 13.

20. A vehicle, characterized in that: Includes the motor controller as described in any one of claims 1 to 13, or includes the electronic device as described in claim 17, or includes the readable storage medium as described in claim 18, or includes the electric assembly as described in claim 19.

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