Multi-motor system and control method thereof, storage medium, controller and vehicle

Abstract

The invention discloses a multi-motor system and a control method thereof, a storage medium, a controller and a vehicle, and relates to the technical field of motors. The multi-motor system comprises a switching circuit, a plurality of motor loads and a plurality of battery packs, each motor load comprises an energy storage unit, a driving unit and a motor, the energy storage unit is connected with the direct current end of the corresponding driving unit, and the alternating current end of the driving unit is connected with the winding of the corresponding motor. The switching circuit is connected with the battery packs, the energy storage units and the center line of the at least one motor. Wherein the switching circuit is configured to selectively establish connection between the at least one battery pack and the at least one energy storage unit, selectively establish connection between the at least one battery pack and a center line of the at least one motor, and selectively establish connection between the energy storage units. According to the system, when any battery pack breaks down, the multiple motors can still operate normally, and the fault-tolerant capability of the multi-motor system is improved.

Description

Technical Field

[0001] The present application relates to the technical field of motors, and in particular, to a multi-motor system, a control method thereof, a storage medium, a controller, and a vehicle. Background Art

[0002] Due to advantages such as large driving power and high reliability, multi-motor systems are widely used in various fields. For electric vehicles, multi-motor systems can make electric vehicles have stronger acceleration performance and smoother driving. For example, in a dual-motor system, the power system is divided into two parallel paths, each path consisting of a motor and a transmission component, suitable for dual-axis drive or dual-wheel drive; another example is a four-motor system, where the power system is divided into four parallel paths, each path consisting of a motor and a transmission component, suitable for four-wheel drive.

[0003] In related technologies, two battery packs in a multi-motor system supply power to corresponding motor loads respectively. When any one of the battery packs fails, some motor loads cannot operate, resulting in a significant decrease in the motor driving ability. Summary of the Invention

[0004] An object of the present application is to provide a multi-motor system, a control method thereof, a storage medium, a controller, and a vehicle, so that the multi-motor can still operate normally when any battery pack fails, and the fault tolerance of the multi-motor system is improved.

[0005] In a first aspect, an embodiment of the present application provides a multi-motor system, characterized in that the system includes: a switching circuit, a plurality of motor loads, and a plurality of battery packs. The motor load includes an energy storage unit, a driving unit, and a motor. The energy storage unit is connected to the DC terminal of the corresponding driving unit, the AC terminal of the driving unit is connected to the winding of the corresponding motor, and the switching circuit is respectively connected to each of the battery packs, each of the energy storage units, and the neutral line of at least one of the motors; wherein, the switching circuit is configured to selectively establish a connection between at least one of the battery packs and at least one of the energy storage units, selectively establish a connection between at least one of the battery packs and the neutral line of at least one of the motors, and selectively establish a connection between each of the energy storage units.

[0006] In a second aspect, an embodiment of the present application provides a control method for a multi-motor system, used to control the multi-motor system according to the embodiment of the first aspect. The method includes: in response to a driving instruction, controlling the switching circuit and the driving unit to drive each of the motors to operate.

[0007] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the method described in the embodiment of the second aspect is implemented.

[0008] Fourthly, an embodiment of the present application provides a controller, including a memory and a processor, and a computer program stored on the memory. When the computer program is executed by the processor, the method described in the embodiment of the second aspect above is implemented.

[0009] Fifthly, an embodiment of the present application provides a vehicle, including: the multi-motor system described in the embodiment of the first aspect above, and / or the controller described in the embodiment of the fourth aspect above

[0010] In the multi-motor system, its control method, storage medium, controller and vehicle according to the embodiments of the present application, by connecting the switching circuit to the midlines of each battery pack, each energy storage unit and at least one motor respectively, and setting the switching circuit to selectively establish the connection between at least one battery pack and at least one energy storage unit, selectively establish the connection between at least one battery pack and the midline of at least one motor, and selectively establish the connection between each energy storage unit, when any battery pack fails, the multi-motor can still operate normally, improving the fault tolerance of the multi-motor system.

[0011] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. Description of the Drawings

[0012] Figure 1 is a structural block diagram of a multi-motor system according to an embodiment of the present application;

[0013] Figure 2 is a structural block diagram of a multi-motor system according to another embodiment of the present application;

[0014] Figure 3 is a structural schematic diagram of a multi-motor system according to the first embodiment of the present application;

[0015] Figure 4 is a schematic diagram of the multi-motor system according to the first embodiment of the present application realizing battery self-heating;

[0016] Figure 5 is a structural schematic diagram of a multi-motor system according to the second embodiment of the present application;

[0017] Figure 6 is a schematic diagram of the multi-motor system according to the second embodiment of the present application during fault tolerance;

[0018] Figure 7 is a structural schematic diagram of a multi-motor system according to the third embodiment of the present application;

[0019] Figure 8 is a structural schematic diagram of a multi-motor system according to the fourth embodiment of the present application;

[0020] Figure 9 It is a structural block diagram of the controller according to an embodiment of the present application. Detailed implementation manners

[0021] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as a limitation to the present application.

[0022] The multi-motor system and its control method, storage medium, controller and vehicle according to the embodiments of the present application will be described below with reference to the accompanying drawings.

[0023] Figure 1 It is a structural block diagram of a multi-motor system according to an embodiment of the present application.

[0024] As Figure 1 shown, the multi-motor system 100 includes: a switching circuit 10, a plurality of motor loads 20, and a plurality of battery packs 30. The motor load 20 includes an energy storage unit 21, a driving unit 22, and a motor M. The energy storage unit 21 is connected to the DC terminal of the corresponding driving unit 22, and the AC terminal of the driving unit 22 is connected to the winding of the corresponding motor M. The switching circuit 10 is respectively connected to each battery pack 30, each energy storage unit 21, and the neutral line of at least one motor M. Among them, the switching circuit 10 is configured to selectively establish a connection between at least one battery pack 30 and at least one energy storage unit 21, and selectively establish a connection between at least one battery pack 30 and the neutral line of at least one motor M.

[0025] Specifically, refer to Figure 1, for battery packs 30 and motors M with comparable rated voltages (such as both being 600V, both being 300V, etc.), the switch circuit 10 can be controlled to establish a connection between the battery pack 30 and the motor load 20 where the motor M is located, so as to directly supply power to the motor load 20 from the battery pack 30. At this time, the drive unit 22 in the motor load 20 can be controlled to drive the motor M to operate normally. For battery packs 30 and motors M with non-comparable rated voltages, for example, the rated voltage of the battery pack 30 is 300V and the voltage of the motor M is 600V, the switch circuit 10 can be controlled to establish a connection between the battery pack 30 and the neutral line of the motor M, so as to realize the battery pack 30 to boost and charge the corresponding energy storage unit 21 (such as an electronic control capacitor) through the buck-boost module composed of the motor winding and the drive unit 22. When the voltage of the energy storage unit 21 rises to 600V, the corresponding drive unit 22 can be controlled to drive the motor M to operate normally, and the boost charging and drive control are carried out in a cycle; another example is that the rated voltage of the battery pack 30 is 600V and the voltage of the motor M is 300V, the switch circuit 10 can be controlled to establish a connection between the battery pack 30 and the neutral line of the motor M, so as to realize the battery pack 30 to step-down and charge the corresponding energy storage unit 21 through the buck-boost module composed of the motor winding and the drive unit 22. When the voltage of the energy storage unit 21 rises to 300V, the corresponding drive unit 22 can be controlled to drive the motor M to operate normally, and the step-down charging and drive control are carried out in a cycle.

[0026] When any battery pack 30 fails, power supply can continue through other non-failed battery packs 30. For example, when the 600V battery pack 30 directly supplying power to the 600V motor M fails, at this time, the switch circuit 10 can be controlled to make the non-failed 300V battery pack 30 boost and charge the corresponding energy storage unit 21 of the motor M connected to the external neutral line (i.e., connected to the switch circuit 10), and then supply power to other 600V motors through this energy storage unit 21. Another example is that when the 300V battery pack 30 supplying power to the 600V motor M by boosting and charging the energy storage unit 21 fails, at this time, the switch circuit 10 can be controlled to make the non-failed 600V battery pack 30 directly supply power to this 600V motor. Another example is that when the rated voltages of multiple battery packs 30 are the same, such as both being 300V, these battery packs 30 can be connected in parallel, and the switch circuit 10 can be controlled. On the one hand, the parallel-connected battery packs 30 can directly supply power to the 300V motor, and on the other hand, the parallel-connected battery packs 30 can supply power to the 600V motor after boosting and charging the energy storage unit 21. Thus, whether using battery packs with the same voltage level for power supply or battery packs with different voltage levels for power supply, it can be ensured that even if one of the battery packs fails, the motor can still be driven to work, thereby improving the endurance and fault tolerance of the multi-motor system.

[0027] In some embodiments of the present application, such as Figure 2As shown, a plurality of battery packs 30 include a first battery pack 31 and a second battery pack 32. The negative electrode of the first battery pack 31 is connected to the negative electrode of the second battery pack 32 and is connected to the first ends of the respective energy storage units 21. The switch circuit 10 is respectively connected to the positive electrode of the second battery pack 32, the positive electrode of the first battery pack 31, the second ends of the respective energy storage units 21, and the neutral line of at least one motor M. Among them, the switch circuit 10 is configured to selectively establish a connection between the positive electrode of the second battery pack 32 and the second ends of the respective energy storage units 21, and selectively establish a connection between the positive electrode of the first battery pack 31 and the neutral line of at least one motor.

[0028] Specifically, the voltage levels of the first battery pack 31 and the second battery pack 32 may be the same or different. When the voltage levels are the same, the first battery pack 31 and the second battery pack 3 can be connected in parallel. At this time, no matter which one of the first battery pack 31 and the second battery pack 32 fails, the other non-failed battery pack can still continue to supply power, and the motor drive control method remains unchanged. When the voltage levels are different, the second battery pack 32 can be used to directly supply power to the motor M with the corresponding voltage level, and the first battery pack 31 can be used to step up or down the voltage of the energy storage unit 21 corresponding to the motor M with the neutral line externally connected for charging, and supply power to the corresponding motor M through the energy storage unit 21, or can also supply power to other motors M. At this time, even if one of the first battery pack 31 and the second battery pack 32 fails, the other non-failed battery pack can still continue to supply power, but the motor drive control method changes.

[0029] Exemplarily, as Figures 3 - 8 shown, the energy storage unit 21 includes an energy storage electronic control capacitor C, and the drive unit 22 includes a three-phase inverter (including a three-phase bridge arm composed of six switching tubes). The first end of the energy storage electronic control capacitor C is used as the first end of the energy storage unit 21, the second end of the energy storage electronic control capacitor C is used as the second end of the energy storage unit 21, the DC end of the three-phase inverter is used as the DC end of the drive unit 22, and the AC end of the three-phase inverter is used as the AC end of the drive unit 22.

[0030] In some embodiments of the present application, refer to Figures 3 - 8, a plurality of motors M include a first motor M1, a second motor M2, and a third motor M3. The switching circuit 10 includes: a power supply unit 11, a first switching unit 12, and a second switching unit 13. The power supply unit 11 includes a positive electrode switch K1. The first switching unit 12 includes a first switch K4. The second switching unit 13 includes a second switch K5. The first end of the positive electrode switch K1 is connected to the positive electrode of the second battery pack 32. The second end of the positive electrode switch K1 is respectively connected to the first end of the first switch K4, the second end of the energy storage unit corresponding to the second motor M2, and the second end of the energy storage unit corresponding to the third motor M3. The second end of the first switch K4 is connected to the second end of the energy storage unit corresponding to the first motor M1. The first end of the second switch K5 is connected to the positive electrode of the first battery pack 31. The second end of the second switch K5 is connected to the neutral line of the first motor M1.

[0031] In some examples, refer to Figures 3 - 8 , the power supply unit 11 further includes a negative electrode switch K2. The first end of the negative electrode switch K2 is respectively connected to the negative electrode of the first battery pack 31 and the negative electrode of the second battery pack 32. The second end of the negative electrode switch K2 is respectively connected to the second ends of the energy storage units.

[0032] The negative electrode switch K2 can control the connection and disconnection between the negative electrode of the battery pack 30 and the load circuit, further ensuring the safety and controllability of the power supply process.

[0033] In some examples, refer to Figures 3 - 8 , the switching circuit 10 further includes a pre-charge unit 14. The pre-charge unit 14 includes a pre-charge resistor R and a pre-charge switch K3. The pre-charge resistor R and the pre-charge switch K3 are connected in series, and after being connected in series, they are connected in parallel with the positive electrode switch K1.

[0034] Specifically, the pre-charge unit 14 can be used to pre-charge each energy storage unit 21 when the multi-motor system 100 is powered on, thereby preventing current impact when the high-voltage system is powered on and protecting high-voltage components from damage.

[0035] Exemplarily, refer to Figure 3, the first battery pack 31 is a low-voltage battery pack (e.g., 300V), and the second battery pack 32 is a high-voltage battery pack (e.g., 600V). Among them, the first motor M1, the second motor M2, and the third motor M3 are all high-voltage platform motors (e.g., 600V). When the multi-motor system 100 is powered on, the switches K2 and K3, K4 can be controlled to close first to perform high-voltage pre-charging on the 3 motors. After the pre-charging is completed, the switch K1 is controlled to close, and the switches K3, K4 are controlled to open. After that, the switch K5 can be controlled to close, and the low-voltage first battery pack 31 boosts the voltage of the electric control capacitor C to 600V through the neutral line, the winding of the first motor M1, and the switching tube (such as an IGBT (Insulate-Gate Bipolar Transistor) tube), and then the electric control capacitor C discharges to drive the winding of the first motor M1. The process of boosting the voltage to 600V can be controlled by the ratio of the zero vectors (0, 0, 0) and (1, 1, 1) of SVPWM (Space Vector Pulse Width Modulation), and the remaining 6 effective vectors are used to drive the motor. Figure 3 Fig. shows one state of SVPWM control. The second motor M2 and the third motor M3 can be driven in a direct connection manner with the second battery pack 32.

[0036] When a fault occurs in the first battery pack 31, the switch K4 can be controlled to close, and the first motor M1 is changed to a direct connection method for driving; when a fault occurs in the second battery pack 32, the voltage can continue to be boosted through the first battery pack 31 to control the first motor M1, and at the same time, the second motor M2 and the third motor M3 can also be controlled.

[0037] See Figure 4 , when self-heating of the battery pack 30 is required, the first battery pack 31 boosts the voltage through the Boost circuit composed of the winding of the first motor M1 and the switching tube. When the boosted voltage is greater than the voltage of the second battery pack 32, the first battery pack 31 and the winding charge the second battery pack 32; when the boosted voltage is less than the voltage of the second battery pack 32, the second battery pack 32 charges the first battery pack 31 through the winding. Thus, by charging and discharging between the first battery pack 31 and the second battery pack 32, the purpose of self-heating can be achieved.

[0038] In some embodiments of the present application, such as Figure 5 , Figure 6 , Figure 8As shown, the first switch unit 12 further includes a third switch K6, the second switch unit 13 further includes a fourth switch K7 and a fifth switch K8. The first end of the third switch K6 is connected to the second end of the positive electrode switch K1, and the second end of the third switch K6 is connected to the second end of the energy storage unit corresponding to the second motor M2. The first end of the fourth switch K7 is connected to the positive electrode of the first battery pack 31, the second end of the fourth switch K7 is connected to the neutral line of the second motor M2, the first end of the fifth switch K8 is connected to the positive electrode of the first battery pack 31, and the second end of the fifth switch K8 is connected to the neutral line of the third motor M3.

[0039] Exemplarily, referring to Figure 5 , the first battery pack 31 is a low-voltage battery pack (e.g., 300V), the second battery pack 32 is a high-voltage battery pack (e.g., 600V), and the first motor M1, the second motor M2, and the third motor M3 are all high-voltage platform motors (e.g., 600V). This example is different from the example shown in Figure 3 , Figure 4 in that, referring to Figure 6 , when the second battery pack 32 fails, the switches K7 and K8 can be controlled to close. At this time, the first battery pack 31 can boost the voltage to drive the first motor M1, the second motor M2, and the third motor M3, or the voltage can be boosted through the electronic control of the first motor M1 and then used to drive the second motor M2 and the third motor M3. In this example, the first battery pack 31 and the second battery pack 32 can also perform self-heating, and the principle is similar to the example shown in Figure 4 , and compared with Figure 4 , the battery self-heating can also be achieved through the windings and related components of the second motor M2 and the third motor M3.

[0040] In some embodiments of the present application, as shown in Figure 7 , Figure 8 , the positive electrode of the first battery pack 31 is also connected to the positive electrode of the second battery pack 32. In this embodiment, the voltage levels of the first battery pack 31 and the second battery pack 32 are the same.

[0041] Specifically, in some examples, referring to Figure 7, the two battery packs are both low-voltage battery packs (e.g., 300V), which can be formed by paralleling n battery groups (n >= 2), thus increasing the battery capacity. Among them, the first motor M1 is a high-voltage platform motor (e.g., 600V), and the second motor M2 and the third motor M3 are low-voltage platform motors (e.g., 300V). The switches K1, K2 and K3, K4 can jointly participate in the high-voltage pre-charging function of the three motors. After the pre-charging is completed, the switches K3, K4 are disconnected. Then, the switch K5 closes, and the first battery pack 31 boosts the voltage of the electronic control capacitor C to 600V through the neutral line, the winding of the first motor M1, and the switching tube. Then, the electronic control capacitor C discharges to drive the three-phase windings of the first motor M1. Among them, the process of boosting the voltage to 600V can be controlled by the proportion of the zero vectors (0, 0, 0) and (1, 1, 1) of SVPWM, and the remaining 6 effective vectors are used for motor drive. Figure 7 shows one of the states of SVPWM control. The second motor M2 and the third motor M3 are low-voltage platforms and can be driven in a direct connection mode of the battery pack. Even if any one group of battery packs fails, the normal operation of each motor can be ensured.

[0042] In some other examples, refer to Figure 8 , the two battery packs are both low-voltage battery packs (e.g., 300V), which can be formed by paralleling n battery groups (n >= 2), thus increasing the battery capacity. Among them, the first motor M1, the second motor M2, and the third motor M3 are all high-voltage platform motors (e.g., 600V). The switches K1, K2 and K3, K4, K6 can jointly participate in the high-voltage pre-charging function of the three motors. After the pre-charging is completed, the switches K1, K3, K4, K6 are disconnected. Then, the switches K5, K7, K8 close, and the first motor M1, the second motor M2, and the third motor M3 boost the voltage of the corresponding electronic control capacitor C to 600V through the neutral line respectively. Then, the electronic control capacitor C discharges to drive the three-phase windings of the corresponding motor M. Among them, the process of boosting the voltage to 600V can be controlled by the proportion of the zero vectors (0, 0, 0) and (1, 1, 1) of SVPWM, and the remaining 6 effective vectors are used for motor drive. Figure 4 shows one of the states of SVPWM control. And, similar to the example shown in Figure 7 , even if any one group of battery packs fails, the normal operation of each motor can be ensured.

[0043] Exemplarily, the above switches K1, K2, K3, K4, K5, K6, K7, K8 can all be contactors, which have the advantages of efficient control, high reliability, long service life, high safety, strong flexibility, easy maintenance, good economy, and strong adaptability.

[0044] It should be noted that Figures 3 - 8 the arrows in indicate the direction of the current flow.

[0045] The multi-motor system according to the embodiments of the present application boosts the voltage through the motor neutral line to drive the motors on the high-voltage platform, and an additional boost circuit does not need to be added. At the same time, when driving multiple motors in parallel, the battery capacity can be increased, and the discharge and endurance capabilities can be improved. Moreover, whether the multi-motor system is driven by battery packs with the same voltage level or battery packs with different voltage levels, it can be ensured that the motors can continue to operate even if one of the battery packs fails, improving the system endurance and fault tolerance capabilities. In addition, the battery self-heating function can be realized under different voltage levels.

[0046] Based on the multi-motor system of the above embodiments, the present application proposes a control method for a multi-motor system to control the multi-motor system of the above embodiments.

[0047] In the embodiments of the present application, the control method of the multi-motor system includes the following step S1:

[0048] S1, in response to a driving instruction, control the switching circuit and the driving unit to drive each motor to operate.

[0049] Among them, the driving instruction may include the above-mentioned system power-on instruction.

[0050] In some embodiments of the present application, referring to Figures 3 - 8 , the multiple battery packs include a first battery pack and a second battery pack, the multiple motors include a first motor, a second motor, and a third motor, the switching circuit includes a power supply unit, a first switching unit, and a second switching unit, the power supply unit includes a positive switch (K1), the first switching unit includes a first switch (K4), and the second switching unit includes a second switch (K5); wherein, the negative electrode of the first battery pack is connected to the negative electrode of the second battery pack and is connected to the first ends of each energy storage unit, the first end of the positive switch (K1) is connected to the positive electrode of the second battery pack, the second end of the positive switch (K1) is respectively connected to the first end of the first switch (K4), the second end of the energy storage unit corresponding to the second motor, and the second end of the energy storage unit corresponding to the third motor, the second end of the first switch (K4) is connected to the second end of the energy storage unit corresponding to the first motor, the first end of the second switch (K5) is connected to the positive electrode of the first battery pack, and the second end of the second switch (K5) is connected to the neutral line of the first motor.

[0051] In some embodiments of the present application, referring to Figure 7, control the switching circuit and the driving unit to drive each motor to operate, including: when the voltage levels of the first battery pack and the second battery pack are the same, if the rated voltage of the first battery pack is equivalent to the rated voltages of the second motor and the third motor and less than the rated voltage of the first motor, control the positive electrode switch and the second switch to close, control the first switch to open, and control the driving unit corresponding to the second motor and the driving unit corresponding to the third motor according to the first control mode, and control the driving unit corresponding to the first motor according to the second control mode, so that the first battery pack and / or the second battery pack boost-charge the energy storage unit corresponding to the first motor. When the voltage of the energy storage unit rises to the rated voltage of the first motor, drive the first motor to operate.

[0052] Wherein, the first control mode is a conventional control mode for driving a three-phase motor, and the second control mode adds a boost-charge control compared with the first control mode.

[0053] In some embodiments of the present application, refer to Figure 5 , Figure 6 and Figure 8 , the first switch unit further includes a third switch (K6), the second switch unit further includes a fourth switch (K7) and a fifth switch (K8). The first end of the third switch is connected to the second end of the positive electrode switch. The second end of the third switch (K5) is connected to the second end of the energy storage unit corresponding to the second motor. The first end of the fourth switch (K7) is connected to the positive electrode of the first battery pack. The second end of the fourth switch (K7) is connected to the neutral line of the second motor. The first end of the fifth switch (K8) is connected to the positive electrode of the first battery pack. The second end of the fifth switch (K8) is connected to the neutral line of the third motor.

[0054] In this embodiment, control the switching circuit and the driving unit to drive each motor to operate, including: if the rated voltage of the first battery pack is less than the rated voltages of each motor, control the second switch, the fourth switch and the fifth switch to close, and control each driving unit according to the second control mode, so that the first battery pack and / or the second battery pack boost-charge each energy storage unit. When the voltage of the energy storage unit rises to the rated voltage of the corresponding motor, drive the corresponding motor to operate.

[0055] In some embodiments of the present application, refer to Figure 3, control the switching circuit and the driving unit to drive each motor to operate, including: when the voltage level of the first battery pack is less than that of the second battery pack, if the rated voltage of the second battery pack is equivalent to the rated voltage of each motor, control the positive electrode switch and the second switch to close, control the first switch to open, and control the driving unit corresponding to the second motor and the driving unit corresponding to the third motor according to the first control mode, and control the driving unit corresponding to the first motor according to the second control mode, so that the first battery pack boosts the voltage of the energy storage unit corresponding to the first motor for charging. When the voltage of the energy storage unit rises to the rated voltage of the first motor, drive the first motor to operate.

[0056] Exemplarily, refer to Figure 3 , control the switching circuit and the driving unit to drive each motor to operate, further including: if a fault occurs in the first battery pack, control the first switch to close and control the driving unit corresponding to the first motor according to the first control mode; and / or, if a fault occurs in the second battery pack, control the first switch to close and control the driving unit corresponding to the second motor and the driving unit corresponding to the third motor according to the third control mode.

[0057] Among them, compared with the second control mode, the third control mode does not require boost charging control.

[0058] In some embodiments of the present application, refer to Figure 4 、 Figure 6 , the method further includes: in response to the self-heating instruction, control the positive electrode switch, the first switch and the second switch to close, and control the driving unit corresponding to the first motor according to the fourth control mode.

[0059] Among them, the fourth control mode refers to a control method for realizing self-heating of the two battery packs.

[0060] Exemplarily, refer to Figures 3 - 8 , the switching circuit further includes a pre-charge unit connected in parallel with the positive electrode switch. The pre-charge unit includes a pre-charge resistor and a pre-charge switch connected in series. When receiving the power-on instruction, before controlling the positive electrode switch to close, the pre-charge switch can be controlled to close first. After the pre-charge is completed, control the positive electrode switch to close and control the pre-charge switch to open.

[0061] Based on the control method of the multi-motor system in the above embodiments, the present application proposes a computer-readable storage medium. In this embodiment, a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the control method of the multi-motor system in the above embodiments is implemented.

[0062] Figure 9 is a structural block diagram of the controller in the embodiments of the present application.

[0063] As Figure 9As shown, the controller 500 includes a processor 501 and a memory 503. Among them, the processor 501 and the memory 503 are connected, such as through a bus 502. Optionally, the controller 500 may further include a transceiver 504. It should be noted that in practical applications, the transceiver 504 is not limited to one, and the structure of the controller 500 does not constitute a limitation to the embodiments of the present application.

[0064] The processor 501 may be a CPU (Central Processing Unit, central processor), a general-purpose processor, a DSP (Digital Signal Processor, digital signal processor), an ASIC (Application Specific Integrated Circuit, application-specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in combination with the disclosure of the present application. The processor 501 may also be a combination that implements a computing function, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0065] The bus 502 may include a path for transmitting information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture, extended industry standard architecture) bus, etc. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 9 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0066] The memory 503 is used to store a computer program corresponding to the control method of the multi-motor system in the above embodiments of the present application, and this computer program is controlled and executed by the processor 501. The processor 501 is used to execute the computer program stored in the memory 503 to implement the content shown in the foregoing method embodiments.

[0067] Figure 9 The shown controller 500 is only an example and should not bring any limitation to the functions and usage scopes of the embodiments of the present application.

[0068] The present application also proposes a vehicle, including: the multi-motor system 100 of the above embodiments, and / or, the controller 500 of the above embodiments.

[0069] Note that the logic and / or steps represented in the flowchart or described otherwise herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection part with one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0070] It should be understood that each part of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having suitable combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0071] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0072] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the present application.

[0073] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0074] In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0075] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0076] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as a limitation on the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A multi-motor system, characterized in that, The system includes: a switching circuit, a plurality of motor loads, and a plurality of battery packs. The motor loads include an energy storage unit, a driving unit, and a motor. The energy storage unit is connected to the DC terminal of the corresponding driving unit. The AC terminal of the driving unit is connected to the winding of the corresponding motor. The switching circuit is respectively connected to each of the battery packs, each of the energy storage units, and the neutral line of at least one of the motors; Wherein, the switching circuit is configured to selectively establish a connection between at least one of the battery packs and at least one of the energy storage units, selectively establish a connection between at least one of the battery packs and the neutral line of at least one of the motors, and selectively establish a connection between each of the energy storage units.

2. The multi-motor system according to claim 1, wherein The plurality of battery packs include a first battery pack and a second battery pack. The negative electrode of the first battery pack is connected to the negative electrode of the second battery pack and is connected to the first ends of each of the energy storage units. The switching circuit is respectively connected to the positive electrode of the second battery pack, the positive electrode of the first battery pack, the second ends of each of the energy storage units, and the neutral line of at least one of the motors; Wherein, the switching circuit is configured to selectively establish a connection between the positive electrode of the second battery pack and the second ends of each of the energy storage units, and selectively establish a connection between the positive electrode of the first battery pack and the neutral line of at least one of the motors.

3. The multi-motor system according to claim 2, wherein The plurality of motors include a first motor, a second motor, and a third motor; The switching circuit includes: a power supply unit, a first switching unit, and a second switching unit. The power supply unit includes a positive electrode switch. The first switching unit includes a first switch. The second switching unit includes a second switch. The first end of the positive electrode switch is connected to the positive electrode of the second battery pack. The second end of the positive electrode switch is respectively connected to the first end of the first switch, the second end of the energy storage unit corresponding to the second motor, and the second end of the energy storage unit corresponding to the third motor. The second end of the first switch is connected to the second end of the energy storage unit corresponding to the first motor. The first end of the second switch is connected to the positive electrode of the first battery pack. The second end of the second switch is connected to the neutral line of the first motor.

4. The multi-motor system according to claim 3, wherein, The first switching unit further includes a third switch. The second switching unit further includes a fourth switch and a fifth switch. The first end of the third switch is connected to the second end of the positive electrode switch. The second end of the third switch is connected to the second end of the energy storage unit corresponding to the second motor. The first end of the fourth switch is connected to the positive electrode of the first battery pack. The second end of the fourth switch is connected to the neutral line of the second motor. The first end of the fifth switch is connected to the positive electrode of the first battery pack. The second end of the fifth switch is connected to the neutral line of the third motor.

5. The multi-motor system according to claim 3 or 4, characterized in that, The positive electrode of the first battery pack is further connected to the positive electrode of the second battery pack.

6. The multi-motor system according to claim 3 or 4, characterized in that, The power supply unit further includes a negative electrode switch. The first end of the negative electrode switch is respectively connected to the negative electrode of the first battery pack and the negative electrode of the second battery pack. The second end of the negative electrode switch is respectively connected to the second ends of each of the energy storage units.

7. The multi-motor system according to claim 3 or 4, characterized in that The switch circuit further includes a pre-charging unit, and the pre-charging unit includes a pre-charge resistor and a pre-charge switch. The pre-charge resistor and the pre-charge switch are connected in series, and after being connected in series, they are connected in parallel with the positive-pole switch.

8. The multi-motor system according to any one of claims 1-4, characterized in that, The energy storage unit includes an energy storage electronic control capacitor, and the driving unit includes a three-phase inverter. The first end of the energy storage electronic control capacitor serves as the first end of the energy storage unit, the second end of the energy storage electronic control capacitor serves as the second end of the energy storage unit, the DC end of the three-phase inverter serves as the DC end of the driving unit, and the AC end of the three-phase inverter serves as the AC end of the driving unit.

9. A control method for a multi-motor system, characterized in that, For controlling the multi-motor system according to any one of claims 1-7, the method includes: In response to a driving instruction, controlling the switch circuit and the driving unit to drive each of the motors to operate.

10. The control method of the multi-motor system according to claim 9, wherein The plurality of battery packs include a first battery pack and a second battery pack, the plurality of motors include a first motor, a second motor, and a third motor, the switch circuit includes a power supply unit, a first switch unit, and a second switch unit, the power supply unit includes a positive-pole switch, the first switch unit includes a first switch, and the second switch unit includes a second switch; Wherein, the negative poles of the first battery pack and the second battery pack are connected and connected to the first ends of the respective energy storage units, the first end of the positive-pole switch is connected to the positive pole of the second battery pack, the second end of the positive-pole switch is respectively connected to the first end of the first switch, the second end of the energy storage unit corresponding to the second motor, and the second end of the energy storage unit corresponding to the third motor, the second end of the first switch is connected to the second end of the energy storage unit corresponding to the first motor, the first end of the second switch is connected to the positive pole of the first battery pack, and the second end of the second switch is connected to the neutral line of the first motor.

11. The control method of the multi-motor system according to claim 10, characterized in that, The controlling the switch circuit and the driving unit to drive each of the motors to operate includes: When the voltage levels of the first battery pack and the second battery pack are the same, if the rated voltage of the first battery pack is equivalent to the rated voltages of the second motor and the third motor and is less than the rated voltage of the first motor, then controlling the positive-pole switch and the second switch to close, controlling the first switch to open, and controlling the driving unit corresponding to the second motor and the driving unit corresponding to the third motor according to a first control mode, and controlling the driving unit corresponding to the first motor according to a second control mode, so that the first battery pack and / or the second battery pack boost-charge the energy storage unit corresponding to the first motor. When the voltage of the energy storage unit rises to the rated voltage of the first motor, driving the first motor to operate.

12. The control method of the multi-motor system according to claim 10, wherein The first switch unit further includes a third switch, the second switch unit further includes a fourth switch and a fifth switch. The first end of the third switch is connected to the second end of the positive electrode switch, and the second end of the third switch is connected to the second end of the energy storage unit corresponding to the second motor. The first end of the fourth switch is connected to the positive electrode of the first battery pack, the second end of the fourth switch is connected to the neutral line of the second motor, the first end of the fifth switch is connected to the positive electrode of the first battery pack, and the second end of the fifth switch is connected to the neutral line of the third motor; Controlling the switch circuit and the driving unit to drive each of the motors to operate includes: If the rated voltage of the first battery pack is less than the rated voltage of each of the motors, control the second switch, the fourth switch, and the fifth switch to close, and control each of the driving units according to a second control mode to boost the voltage of the first battery pack and / or the second battery pack to charge the energy storage units. When the voltage of the energy storage unit rises to the rated voltage of the corresponding motor, drive the corresponding motor to operate.

13. The control method of the multi-motor system according to claim 10, characterized in that, Controlling the switch circuit and the driving unit to drive each of the motors to operate includes: When the voltage level of the first battery pack is less than the voltage level of the second battery pack, if the rated voltage of the second battery pack is equivalent to the rated voltage of each of the motors, control the positive electrode switch and the second switch to close, control the first switch to open, and control the driving unit corresponding to the second motor and the driving unit corresponding to the third motor according to a first control mode, and control the driving unit corresponding to the first motor according to a second control mode, so that the first battery pack boosts the voltage of the energy storage unit corresponding to the first motor to charge. When the voltage of the energy storage unit rises to the rated voltage of the first motor, drive the first motor to operate.

14. The control method of the multi-motor system according to claim 13, characterized in that, Controlling the switch circuit and the driving unit to drive each of the motors to operate further includes: If the first battery pack fails, control the first switch to close and control the driving unit corresponding to the first motor according to the first control mode; and / or, If the second battery pack fails, control the first switch to close and control the driving unit corresponding to the second motor and the driving unit corresponding to the third motor according to a third control mode.

15. The control method of the multi-motor system according to claim 13, characterized in that, The method further includes: In response to a self-heating instruction, control the positive electrode switch, the first switch, and the second switch to close, and control the driving unit corresponding to the first motor according to a fourth control mode.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the method according to any one of claims 9-15 is implemented.

17. A controller, comprising a memory and a processor, and a computer program stored on the memory, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 9-15 is implemented.

18. A vehicle, characterized in that, including: The multi-motor system according to any one of claims 1-8, and / or, the controller according to claim 17.

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