Motor system, control method and device thereof, medium, electronic equipment and vehicle

Abstract

The invention relates to a motor system, a control method and device thereof, a medium, electronic equipment and a vehicle. The motor system comprises a first motor and a second motor, wherein the first motor and the second motor are electrically connected in series; and the control unit is electrically connected with the first motor or the second motor, and the first motor and the second motor operate based on control of the control unit. Based on the scheme, the first motor and the second motor are electrically connected in series, so that the control unit can control the first motor and the second motor only by being electrically connected with the first motor or the second motor. Therefore, a plurality of motors do not need to be controlled by using a plurality of control units, the complexity of the motor system is effectively reduced, the reliability of the motor system is improved, the cost is reduced, and in addition, the heat loss is also reduced due to the fact that the number of used control units is small.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to an electric motor system and its control method, device, medium, electronic device, and vehicle. Background Art

[0002] In order to dissipate heat from a vehicle and achieve overall vehicle thermal management, a fan composed of an electric motor system is generally used to dissipate heat from the vehicle. In the existing technical solutions, in order to reduce the layout space and meet the design requirements of air volume and air pressure, it is necessary to design two motors rotating in opposite directions. Moreover, in the existing technical solutions, generally two controllers are used to control one motor respectively, and each motor needs to be equipped with a full-bridge circuit and a control chip with relatively high computing power. This not only increases the complexity of the electric motor system, thereby reducing the reliability of the electric motor system, but also the cost is relatively high. In addition, the use of multiple controllers increases heat loss. Summary of the Invention

[0003] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides an electric motor system and its control method, device, medium, electronic device, and vehicle.

[0004] In a first aspect, the present application provides an electric motor system, including:

[0005] A first motor and a second motor, which are connected in series electrically between the first motor and the second motor;

[0006] A control unit, which is electrically connected to the first motor or the second motor, and both the first motor and the second motor operate based on the control of the control unit.

[0007] Optionally, the first motor includes a first stator winding, a second stator winding, and a third stator winding; the second motor includes a fourth stator winding, a fifth stator winding, and a sixth stator winding;

[0008] The first stator winding is connected in series with the fourth stator winding, the second stator winding is connected in series with the fifth stator winding, and the third stator winding is connected in series with the sixth stator winding.

[0009] Optionally, the first ends of the fourth stator winding, the fifth stator winding, and the sixth stator winding are interconnected;

[0010] The second end of the fourth stator winding is electrically connected to the first end of the first stator winding, the second end of the fifth stator winding is electrically connected to the first end of the second stator winding, and the second end of the sixth stator winding is electrically connected to the first end of the second stator winding.

[0011] Optionally, the first power supply terminal of the control unit is electrically connected to the second end of the first stator winding, the second power supply terminal of the control unit is electrically connected to the second end of the second stator winding, and the third power supply terminal of the control unit is electrically connected to the second end of the third stator winding.

[0012] Optionally, the first end of the fourth stator winding is electrically connected to the first end of the first stator winding, the second end of the fourth stator winding is electrically connected to the first end of the fifth stator winding, the second end of the fifth stator winding is electrically connected to the first end of the second stator winding, the second end of the second stator winding is electrically connected to the first end of the sixth stator winding, the second end of the sixth stator winding is electrically connected to the first end of the third stator winding, and the second end of the third stator winding is electrically connected to the second end of the first stator winding.

[0013] Optionally, the first power supply terminal of the control unit is electrically connected between the second end of the first stator winding and the second end of the third stator winding, the second power supply terminal of the control unit is electrically connected between the second end of the fourth stator winding and the first end of the fifth stator winding, and the third power supply terminal of the control unit is electrically connected between the second end of the second stator winding and the first end of the sixth stator winding.

[0014] Optionally, the rotation directions of the first motor and the second motor are opposite.

[0015] In a second aspect, the present application further provides a control method for a motor system, and the method is applied to the motor system according to any one of the first aspects; the method includes:

[0016] Obtain the phase angle of the first motor or the second motor;

[0017] Control the operation of the first motor and the second motor based on the phase angle.

[0018] Optionally, the obtaining the phase angle of the first motor or the second motor includes:

[0019] Determine a state variable y representing the back electromotive force and a state variable x representing the magnetic flux linkage;

[0020] Determine the differential value of the state variable x; wherein, the differential value of the state variable x is equal to the value of the state variable y;

[0021] Determine the phase angle based on the differential value of the state variable x and the value of the state variable y.

[0022] Optionally,

[0023] The state variable x and the state variable y are respectively:

[0024]

[0025]

[0026] The differential value of the state variable x is:

[0027]

[0028] Determining the phase angle based on the differential value of the state variable x and the value of the state variable y includes:

[0029] Determining the phase angle θ according to the following formula:

[0030]

[0031] where Φ r is the magnetic flux, i α and i β are the currents in the α-β coordinate system, and i A 、i B and i C represent the three-phase currents of the first motor or the second motor, R s represents the equivalent resistance of the first motor and the second motor, U α and U β are the voltages in the α-β coordinate system, L = L q +L d ,L q and L d represent the d-axis and q-axis inductances of the first motor and the second motor respectively, and t represents time.

[0032] Optionally, controlling the operation of the first motor and the second motor based on the phase angle includes:

[0033] Determining the voltages of the first motor and the second motor in the α-β coordinate system based on the phase angle;

[0034] Determining the three-phase voltages of the first motor and the second motor based on the voltages of the first motor and the second motor in the α-β coordinate system;

[0035] Controlling the operation of the first motor and the second motor based on the three-phase voltages of the first motor and the second motor.

[0036] Optionally, determining the voltages of the first motor and the second motor in the α-β coordinate system based on the phase angle includes:

[0037] Determining the voltages U α and Uβ They are respectively:

[0038]

[0039] Determining the three-phase voltages of the first motor and the second motor based on the voltages of the first motor and the second motor in the α-β coordinate system includes:

[0040] Determining the three-phase voltages U A 、U B and U C of the first motor and the second motor respectively according to the following formula:

[0041]

[0042] where ΔL = L q -L d , L α = L + ΔLcos2θ, L β = L - ΔLcos2θ, L αβ = ΔLsin2θ, and ω e is the electrical angular velocity.

[0043] In a third aspect, the present application further provides a control device for a motor system, and the control device is applied to the motor system according to any one of the first aspects; the device includes:

[0044] An acquisition module, configured to acquire the phase angle of the first motor or the second motor;

[0045] A control module, configured to control the operation of the first motor and the second motor based on the phase angle.

[0046] In a fourth aspect, the present application further provides a computer-readable storage medium, and the computer-readable storage medium stores programs or instructions, and the programs or instructions enable a computer to execute the steps of the method according to any one of the second aspects.

[0047] In a fifth aspect, the present application further provides an electronic device, including: a processor and a memory;

[0048] The processor is configured to execute the steps of the method according to any one of the second aspects by calling the programs or instructions stored in the memory.

[0049] In a sixth aspect, the present application further provides a vehicle, including the motor system according to any one of the first aspects.

[0050] The present application provides a motor system and its control method, device, medium, electronic device, and vehicle. The motor system includes: a first motor and a second motor, which are electrically connected in series; a control unit, which is electrically connected to the first motor or the second motor, and both the first motor and the second motor operate based on the control of the control unit. Based on the above solution, since the first motor and the second motor in the present application are electrically connected in series, the control unit only needs to be electrically connected to the first motor or the second motor to achieve the control of the first motor and the second motor. Therefore, the present application no longer needs to use multiple control units to control multiple motors, effectively reducing the complexity of the motor system, thereby improving the reliability of the motor system, reducing costs, and in addition, since fewer control units are used, heat loss is also reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 FIG. is a schematic structural diagram of a motor system provided by an embodiment of the present application;

[0052] Figure 2 FIG. is another schematic structural diagram of a motor system provided by an embodiment of the present application;

[0053] Figure 3 FIG. is another schematic structural diagram of a motor system provided by an embodiment of the present application;

[0054] Figure 4 FIG. is a schematic structural diagram of the first motor and the second motor provided by an embodiment of the present application;

[0055] Figure 5 FIG. is a schematic flow chart of a control method for a motor system provided by an embodiment of the present application;

[0056] Figure 6 FIG. is a schematic structural diagram of a control device for a motor system provided by an embodiment of the present application;

[0057] Figure 7 FIG. is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] In order to more clearly understand the above objects, features, and advantages of the present application, the solutions of the present application will be further described below. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0059] In the following description, many specific details are set forth in order to fully understand the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present application, rather than all of the embodiments.

[0060] Exemplary descriptions will be given below in conjunction with the accompanying drawings for the motor system, its control method, device, medium, electronic device, and vehicle provided in the embodiments of the present application.

[0061] Figure 1 FIG. 4 is a schematic structural diagram of a motor system provided in an embodiment of the present application. The motor system includes: a first motor 100 and a second motor 200, which are connected in series electrically between the first motor 100 and the second motor 200; a control unit 300, the control unit 300 is electrically connected to the first motor 100 or the second motor 200, and both the first motor 100 and the second motor 200 operate based on the control of the control unit 300.

[0062] The first motor 100 and the second motor 200 in the embodiments of the present application can be permanent magnet synchronous motors or brushless DC motors, and the first motor 100 and the second motor 200 in the embodiments of the present application can be any single-phase or polyphase motor, which is not limited herein in the embodiments of the present application. The control unit 300 is a functional unit for outputting timing signals to the first motor 100 and the second motor 200 so that the first motor 100 and the second motor 200 can rotate. In the embodiments of the present application, the first motor 100 and the second motor 200 are connected in series electrically, so one control unit 300 can be electrically connected to the first motor 100 and the second motor 200. The currents of the first motor 100 and the second motor 200 are the same, and the voltage phases of the first motor 100 and the second motor 200 are also the same. Both the first motor 100 and the second motor 200 operate based on the control of the control unit 300.

[0063] Based on the above solution, since the first motor 100 and the second motor 200 are connected in series electrically in the embodiments of the present application, the control unit 300 only needs to be electrically connected to the first motor 100 or the second motor 200 to achieve the control of the first motor 100 and the second motor 200. Therefore, in the embodiments of the present application, it is no longer necessary to use multiple control units 300 to control multiple motors, effectively reducing the complexity of the motor system, thereby improving the reliability of the motor system, reducing the cost. In addition, since fewer multiple control units 300 are used, the heat loss is also reduced.

[0064] In some embodiments, the first motor 100 includes a first stator winding 101, a second stator winding 102, and a third stator winding 103; the second motor 200 includes a fourth stator winding 201, a fifth stator winding 202, and a sixth stator winding 203; the first stator winding 101 is connected in series with the fourth stator winding 201, the second stator winding 102 is connected in series with the fifth stator winding 202, and the third stator winding 103 is connected in series with the sixth stator winding 203.

[0065] Exemplarily, the first motor 100 and the second motor 200 in the embodiments of the present application may be three-phase motors. The first motor 100 and the second motor 200 are each composed of at least a three-phase winding and a permanent magnet. The three-phase winding serves as the stator, and the permanent magnet serves as the rotor. In the embodiments of the present application, the three-phase windings in the first motor 100 are respectively the first stator winding 101, the second stator winding 102, and the third stator winding 103, and the three-phase windings in the second motor 200 are respectively the fourth stator winding 201, the fifth stator winding 202, and the sixth stator winding 203.

[0066] In the embodiments of the present application, the first stator winding 101 is connected in series with the fourth stator winding 201, the second stator winding 102 is connected in series with the fifth stator winding 202, and the third stator winding 103 is connected in series with the sixth stator winding 203. Therefore, the control unit 300 can output specific timing signals to the first stator winding 101 and the fourth stator winding 201, the second stator winding 102 and the fifth stator winding 202, and the third stator winding 103 and the sixth stator winding 203 respectively, thereby forming a rotating magnetic field, so that both the first motor 100 and the second motor 200 rotate and operate under the control of one control unit 300.

[0067] Figure 2 It is a schematic structural diagram of another motor system provided by the embodiments of the present application. In some embodiments, the first ends of the fourth stator winding 201, the fifth stator winding 202, and the sixth stator winding 203 are interconnected; the second end of the fourth stator winding 201 is electrically connected to the first end of the first stator winding 101, the second end of the fifth stator winding 202 is electrically connected to the first end of the second stator winding 102, and the second end of the sixth stator winding 203 is electrically connected to the first end of the second stator winding 102.

[0068] The winding forms of the first motor 100 and the second motor 200 in the embodiments of the present application may be star windings. As Figure 2 shown, the first motor 100 and the second motor 200 form a series connection based on the Figure 2 structure. In the Figure 2 corresponding structure, the three-phase windings of the first motor 100 are not directly electrically connected.

[0069] Continuing to refer to Figure 2 , in some embodiments, the first power supply terminal of the control unit 300 is electrically connected to the second end of the first stator winding 101, the second power supply terminal of the control unit 300 is electrically connected to the second end of the second stator winding 102, and the third power supply terminal of the control unit 300 is electrically connected to the second end of the third stator winding 103.

[0070] As Figure 2As shown, the first power supply terminal of the control unit 300 outputs a timing signal to the second end of the first stator winding 101. Since the first stator winding 101 is electrically connected to the fourth stator winding 201, the fourth stator winding 201 can also receive the same timing signal as the first stator winding 101. The second power supply terminal of the control unit 300 outputs a timing signal to the second end of the second stator winding 102. Since the second stator winding 102 is electrically connected to the fifth stator winding 202, the fifth stator winding 202 can also receive the same timing signal as the second stator winding 102. The third power supply terminal of the control unit 300 outputs a timing signal to the second end of the third stator winding 103. Since the third stator winding 103 is electrically connected to the sixth stator winding 203, the sixth stator winding 203 can also receive the same timing signal as the third stator winding 103. Therefore, the timing signals received between the first motor 100 and the second motor 200 are the same, so the same control unit 300 can control the operation of the first motor 100 and the second motor 200.

[0071] Figure 3 It is a schematic diagram of another motor system structure provided by an embodiment of the present application. In some embodiments, the first end of the fourth stator winding 201 is electrically connected to the first end of the first stator winding 101, the second end of the fourth stator winding 201 is electrically connected to the first end of the fifth stator winding 202, the second end of the fifth stator winding 202 is electrically connected to the first end of the second stator winding 102, the second end of the second stator winding 102 is electrically connected to the first end of the sixth stator winding 203, the second end of the sixth stator winding 203 is electrically connected to the first end of the third stator winding 103, and the second end of the third stator winding 103 is electrically connected to the second end of the first stator winding 101.

[0072] The winding forms of the first motor 100 and the second motor 200 in the embodiments of the present application can also be delta windings, as Figure 3 shown, the first motor 100 and the second motor 200 form a series connection based on the Figure 3 structure.

[0073] Continue to refer to Figure 3 , in some embodiments, the first power supply terminal of the control unit 300 is electrically connected between the second end of the first stator winding 101 and the second end of the third stator winding 103, the second power supply terminal of the control unit 300 is electrically connected between the second end of the fourth stator winding 201 and the first end of the fifth stator winding 202, and the third power supply terminal of the control unit 300 is electrically connected between the second end of the second stator winding 102 and the first end of the sixth stator winding 203.

[0074] As Figure 3As shown, the first power supply terminal of the control unit 300 outputs a timing signal to the second end of the first stator winding 101. Since the first stator winding 101 is electrically connected to the fourth stator winding 201, the fourth stator winding 201 can also receive the same timing signal as the first stator winding 101. The second power supply terminal of the control unit 300 outputs a timing signal to the first end of the fifth stator winding 202. Since the second stator winding 102 is electrically connected to the fifth stator winding 202, the second stator winding 102 can also receive the same timing signal as the fifth stator winding 202. The third power supply terminal of the control unit 300 outputs a timing signal to the first end of the sixth stator winding 203. Since the third stator winding 103 is electrically connected to the sixth stator winding 203, the third stator winding 103 can also receive the same timing signal as the sixth stator winding 203. Therefore, the timing signals received between the first motor 100 and the second motor 200 are the same, so the same control unit 300 can control the operation of the first motor 100 and the second motor 200.

[0075] Figure 4 FIG. is a schematic structural diagram of the first motor and the second motor provided by the embodiment of the present application. In some embodiments, the rotation directions of the first motor 100 and the second motor 200 are opposite.

[0076] As Figure 4 shown, the motor system in the embodiment of the present application can be used to form a contra-rotating fan system. The first motor 100 and the second motor 200 can respectively drive the fan blades 401 to rotate to form an air duct. Since the first motor 100 and the second motor 200 in the embodiment of the present application receive the same timing signal, the rotation modes of the first motor 100 and the second motor 200 are also the same. The embodiment of the present application can arrange the first motor 100 and the second motor 200 in the manner as Figure 4 shown. Thus, in any direction along the Figure 4 X-axis in, the rotation directions of the first motor 100 and the second motor 200 are opposite, thereby forming a contra-rotating fan system.

[0077] Figure 5 FIG. is a schematic flow chart of a control method for a motor system provided by the embodiment of the present application. This method is applied to the motor system in any one of the above motor system embodiments; the control method includes:

[0078] S501. Obtain the phase angle of the first motor or the second motor.

[0079] S502. Control the operation of the first motor and the second motor based on the phase angle.

[0080] The method provided by the embodiments of the present application can be executed by the control unit in the above embodiments. The embodiments of the present application can collect the phase angles of the first motor or the second motor, and output timing signals (three-phase voltages) according to the phase angles of the first motor or the second motor to control the operation of the first motor and the second motor.

[0081] The method provided by the embodiments of the present application is applied to the above motor system, so the same or at least similar technical effects as those of the above motor system can be achieved, which will not be elaborated here.

[0082] In some embodiments, obtaining the phase angle of the first motor or the second motor includes:

[0083] Determine the state variable y representing the back electromotive force and the state variable x representing the magnetic flux linkage.

[0084] Determine the differential value of the state variable x; wherein, the differential value of the state variable x is equal to the value of the state variable y.

[0085] Determine the phase angle based on the differential value of the state variable x and the value of the state variable y.

[0086] In some embodiments, the state variable x and the state variable y are respectively:

[0087]

[0088]

[0089] The differential value of the state variable x is:

[0090]

[0091] Determining the phase angle based on the differential value of the state variable x and the value of the state variable y includes:

[0092] Determine the phase angle θ according to the following formula:

[0093]

[0094] where, Φ r is the magnetic flux, i α and i β are the currents in the α-β coordinate system, and

[0095]

[0096] i A 、i B and i C represent the three-phase currents of the first motor or the second motor, R s represents the equivalent resistance of the first motor and the second motor, U α and Uβ is the voltage in the α-β coordinate system, L = L q + L d , L q and L d respectively represent the d-axis and q-axis inductances of the first motor and the second motor, and t represents time.

[0097] In some embodiments, controlling the operation of the first motor and the second motor based on the phase angle includes:

[0098] Determining the voltages of the first motor and the second motor in the α-β coordinate system based on the phase angle.

[0099] Determining the three-phase voltages of the first motor and the second motor based on the voltages of the first motor and the second motor in the α-β coordinate system.

[0100] Controlling the operation of the first motor and the second motor based on the three-phase voltages of the first motor and the second motor.

[0101] In some embodiments, determining the voltages of the first motor and the second motor in the α-β coordinate system based on the phase angle includes:

[0102] Determining the voltages U α and U β in the α-β coordinate system are respectively:

[0103]

[0104] Determining the three-phase voltages of the first motor and the second motor based on the voltages of the first motor and the second motor in the α-β coordinate system includes:

[0105] Determining the three-phase voltages U A 、U B and U C of the first motor and the second motor based on the following equations are respectively:

[0106]

[0107] Controlling the operation of the first motor and the second motor based on the three-phase voltages.

[0108] where ΔL = L q - L d , L α = L + ΔLcos2θ, L β = L - ΔLcos2θ, L αβ = ΔLsin2θ, ω e is the electrical angular velocity.

[0109] Since the first motor and the second motor in the embodiments of the present application are connected in series electrically, the voltage across each winding in each motor is respectively half of the three-phase voltage output by the control unit, and the voltages across the windings of the first motor and the second motor connected in series are the same. Therefore, there is a coefficient of 1 / 2 in the above formula (7).

[0110] Based on the above solution, the phase angle of the first motor or the second motor can be determined, and the three-phase voltages U A , U B and U C of the controller can be determined based on the phase angle, and then the first motor and the second motor can be controlled to operate by a single control unit.

[0111] Figure 6 FIG. is a schematic structural diagram of a control device for a motor system provided by an embodiment of the present application. The control device is applied to a motor system according to any one of the above motor system embodiments; the control device includes:

[0112] An acquisition module 601, configured to acquire the phase angle of the first motor or the second motor.

[0113] A control module 602, configured to control the operation of the first motor and the second motor based on the phase angle.

[0114] The control device of the motor system provided by the embodiments of the present application corresponds to the above control method of the motor system, and thus can achieve the same or at least similar technical effects as the above control method of the motor system, which will not be elaborated herein.

[0115] The embodiments of the present application further provide a computer-readable storage medium. The computer-readable storage medium stores a program or instructions, and the program or instructions cause a computer to execute the steps of any one of the methods provided by the above embodiments.

[0116] In some embodiments, when the computer-executable instructions are executed by a computer processor, they can also be used to execute the technical solutions of the above methods provided by the embodiments of the present application to achieve corresponding beneficial effects.

[0117] The embodiments of the present application further provide an electronic device, including: a processor and a memory; the processor is configured to execute the steps of any one of the methods provided by the above embodiments by calling the program or instructions stored in the memory to achieve corresponding beneficial effects.

[0118] Figure 7 FIG. is a schematic structural diagram of the electronic device provided by the embodiment of the present application. As Figure 7 shown, the electronic device includes one or more processors 701 and a memory 702.

[0119] The processor 701 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device to perform desired functions.

[0120] The memory 702 can include one or more computer program products, and the computer program products can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory can include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory can include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions can be stored on the computer-readable storage media, and the processor 701 can run the program instructions to implement the methods of the embodiments of the present application described above, and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. can also be stored in the computer-readable storage media.

[0121] In one example, the electronic device can further include: an input device 703 and an output device 704, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0122] In addition, the input device 703 can further include, for example, a keyboard, a mouse, etc.

[0123] The output device 704 can output various information to the outside, including the determined distance information, direction information, etc. The output device 704 can include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0124] Of course, for simplicity, Figure 7 only some of the components related to the present application in the electronic device are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device can further include any other appropriate components.

[0125] It should be noted that the above-mentioned electronic device can be set in a vehicle, specifically in an in-vehicle system, such as a battery management system; it can also be other terminal devices outside the vehicle, such as a mobile phone, a computer, a smart wearable device, and other electronic devices, which are not limited here.

[0126] The embodiments of the present application further provide a vehicle, and the vehicle includes the motor system in the embodiments of the above-mentioned motor system, so it can also achieve the same or at least similar technical effects as the above-mentioned motor system.

[0127] It should be noted that, in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the said element.

[0128] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

Claims

1. A motor system, characterized in that, Including: A first motor and a second motor, which are connected in series electrically between the first motor and the second motor; A control unit, the control unit is electrically connected to the first motor or the second motor, and both the first motor and the second motor operate based on the control of the control unit.

2. The motor system according to claim 1, wherein The first motor includes a first stator winding, a second stator winding, and a third stator winding; the second motor includes a fourth stator winding, a fifth stator winding, and a sixth stator winding; The first stator winding is connected in series with the fourth stator winding, the second stator winding is connected in series with the fifth stator winding, and the third stator winding is connected in series with the sixth stator winding.

3. The motor system according to claim 2, wherein The first ends of the fourth stator winding, the fifth stator winding, and the sixth stator winding are interconnected; The second end of the fourth stator winding is electrically connected to the first end of the first stator winding, the second end of the fifth stator winding is electrically connected to the first end of the second stator winding, and the second end of the sixth stator winding is electrically connected to the first end of the second stator winding.

4. The motor system according to claim 3, characterized in that The first power supply terminal of the control unit is electrically connected to the second end of the first stator winding, the second power supply terminal of the control unit is electrically connected to the second end of the second stator winding, and the third power supply terminal of the control unit is electrically connected to the second end of the third stator winding.

5. The motor system according to claim 2, characterized in that, The first end of the fourth stator winding is electrically connected to the first end of the first stator winding, the second end of the fourth stator winding is electrically connected to the first end of the fifth stator winding, the second end of the fifth stator winding is electrically connected to the first end of the second stator winding, the second end of the second stator winding is electrically connected to the first end of the sixth stator winding, the second end of the sixth stator winding is electrically connected to the first end of the third stator winding, and the second end of the third stator winding is electrically connected to the second end of the first stator winding.

6. The motor system according to claim 5, characterized in that The first power supply terminal of the control unit is electrically connected between the second end of the first stator winding and the second end of the third stator winding, the second power supply terminal of the control unit is electrically connected between the second end of the fourth stator winding and the first end of the fifth stator winding, and the third power supply terminal of the control unit is electrically connected between the second end of the second stator winding and the first end of the sixth stator winding.

7. A control method for a motor system, characterized in that, The method is applied to the motor system according to any one of claims 1-6; the method includes: Obtaining the phase angle of the first motor or the second motor; Controlling the operation of the first motor and the second motor based on the phase angle.

8. The control method according to claim 7, wherein The obtaining the phase angle of the first motor or the second motor includes: Determining a state variable y representing the back electromotive force and a state variable x representing the magnetic flux linkage; Determining the differential value of the state variable x; wherein, the differential value of the state variable x is equal to the value of the state variable y; Determining the phase angle based on the differential value of the state variable x and the value of the state variable y.

9. According to the control method of claim 8, wherein, The state variable x and the state variable y are respectively: The differential value of the state variable x is as follows: The determining the phase angle based on the differential value of the state variable x and the value of the state variable y includes: Determining the phase angle θ according to the following formula: Among them, Φ r is the magnetic flux, i α and i β are the currents in the α-β coordinate system, and i A , i B and i C represent the three-phase currents of the first motor or the second motor, R s represents the equivalent resistance of the first motor and the second motor, U α and U β are the voltages in the α-β coordinate system, L = L q + L d , L q and L d respectively represent the d-axis and q-axis inductances of the first motor and the second motor, and t represents time.

10. The control method according to claim 9, wherein Controlling the operation of the first motor and the second motor based on the phase angle includes: Determining the voltages of the first motor and the second motor in the α-β coordinate system based on the phase angle; Determining the three-phase voltages of the first motor and the second motor based on the voltages of the first motor and the second motor in the α-β coordinate system; Controlling the operation of the first motor and the second motor based on the three-phase voltages of the first motor and the second motor.

11. The control method according to claim 10, wherein The determining the voltages of the first motor and the second motor in the α-β coordinate system based on the phase angle includes: Determine the voltage U in the α-β coordinate system α and U β are respectively as follows: The determining the three-phase voltages of the first motor and the second motor based on the voltages of the first motor and the second motor in the α-β coordinate system includes: Determine the three-phase voltages U A , U B and U C for the first motor and the second motor respectively as follows: where ΔL = L q - L d , L α = L + ΔLcos2θ, L β = L - ΔLcos2θ, L αβ = ΔLsin2θ, ω e is the electrical angular velocity.

12. A control device for a motor system, characterized in that, The control device is applied to the motor system according to any one of claims 1-6; the device includes: An acquisition module for acquiring the phase angle of the first motor or the second motor; A control module for controlling the operation of the first motor and the second motor based on the phase angle.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program or instructions, and the program or instructions cause a computer to execute the steps of the method according to any one of claims 7-11.

14. An electronic device, characterized in that, Including: A processor and a memory; The processor is configured to execute the steps of the method according to any one of claims 7-11 by calling the program or instructions stored in the memory.

15. A vehicle, characterized in that, Including the motor system according to any one of claims 1-6.

Images