Dual-motor drive circuit and troubleshooting method for dual-motor drive circuit

Abstract

Embodiments of the present application relate to a dual-motor driving circuit and a troubleshooting method of the dual-motor driving circuit. The circuit comprises five bridge arms, two DC bus capacitors and a common selection unit. Each of the five bridge arms is provided with two switching units. The five bridge arms comprise one common bridge arm and four special bridge arms. The connection ends of the two switching units of the common bridge arm are connected to the first contact of the common selection unit. The common connection ends of the two DC bus capacitors are connected to the second contact of the common selection unit. The output end of the common selection unit is connected to the common phase of the first motor and the second motor. Embodiments of the present application realize timely response to the fault of the driving circuit, improve the stability of the motor driving, and the motor driving circuit can be flexibly switched between two bridge arm topologies, improve the use flexibility of the motor driving circuit, and expand the use scenarios.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and in particular to a dual-motor driving circuit and a fault elimination method of the dual-motor driving circuit. BACKGROUND

[0002] With the continuous progress of modern industrial technology, multi-motor driving control technology has been widely used in many fields. For example, numerical control machine tools, electric vehicles, industrial robots, etc. In numerical control machine tools, the movement of multiple axes is precisely controlled, which can significantly improve the machining precision and efficiency; in electric vehicles, multi-motor driving technology is used to improve the power output and control performance of the vehicle, while optimizing energy utilization; multi-motor cooperative control enables industrial robots to perform complex actions, improving production efficiency and flexibility. Control theory is the core of designing a control system, which can ensure that multiple motors work in coordination and remain synchronized. Current dual-permanent magnet synchronous motor control usually includes four-bridge arm and five-bridge arm topologies.

[0003] The four-bridge arm topology saves one bridge arm, i.e., two switching tubes, compared to the five-bridge arm topology, resulting in a reduction in cost. However, when the switching tubes in the bridge arm are short-circuited or open-circuited, one of the motors cannot operate, causing energy waste and increased operating costs.

[0004] The five-bridge arm topology has a complex control algorithm and higher control accuracy, and the bus voltage utilization rate has a greater advantage compared to the four-bridge arm. However, in the five-bridge arm topology, two motors share one bridge arm, which is used more frequently and has more losses, which has a greater impact on the stability and reliability of the system. SUMMARY

[0005] In view of this, to solve some or all of the above technical problems, the embodiments of the present application provide a dual-motor driving circuit and a fault elimination method of the dual-motor driving circuit.

[0006] In a first aspect, the embodiments of the present application provide a dual-motor driving circuit, which includes five bridge arms, two DC bus capacitors, and a common selection unit. Each of the five bridge arms is provided with two switching units. The five bridge arms include one common bridge arm and four dedicated bridge arms. The connection ends of the two switching units of the common bridge arm are connected to the first contact of the common selection unit, the common connection ends of the two DC bus capacitors are connected to the second contact of the common selection unit, and the output end of the common selection unit is connected to the common phase of the first motor and the second motor.

[0007] In a possible implementation, the circuit further comprises four special selection units; for each of the four special bridge arms, the connection ends of the two switch units of the special bridge arm are connected to the first contact of the corresponding special selection unit, the second contact of the corresponding special selection unit is connected to the common bridge arm, and the output end of the corresponding special selection unit is connected to one phase of the corresponding motor.

[0008] In a possible implementation, the circuit further comprises a controller and five current detection units, each of the five current detection units is connected to one bridge arm for detecting the current on the connected bridge arm; the controller is connected to each of the five current detection units for receiving the current detection signals output by the five current detection units and switching the states of the common selection unit and the four special selection units according to the current detection signals.

[0009] In a possible implementation, the circuit further comprises a first switch unit and a second switch unit; the first switch unit is arranged on the line between the output end of the common selection unit and the first motor; and the second switch unit is arranged on the line between the output end of the common selection unit and the second motor.

[0010] In a possible implementation, the common selection unit is a double-way selection circuit breaker.

[0011] In a possible implementation, the common selection unit is a double-way selection circuit breaker.

[0012] In a possible implementation, after determining the faulty bridge arm from the five bridge arms included in the dual-motor driving circuit, the method further comprises: if the number of the faulty bridge arms is greater than or equal to two, determining the positions of the faulty bridge arms; and determining the target switch unit to be disconnected from the first switch unit and the second switch unit included in the dual-motor driving circuit according to the preset bridge arm switching rule.

[0013] In a possible implementation, after determining the faulty bridge arm from the five bridge arms included in the dual-motor driving circuit, the method further comprises: if the number of the faulty bridge arms is greater than or equal to two, determining the positions of the faulty bridge arms; and determining the target switch unit to be disconnected from the first switch unit and the second switch unit included in the dual-motor driving circuit according to the preset bridge arm switching rule.

[0014] The control target switch unit is turned off.

[0015] In a third aspect, the embodiments of the present application provide an electrical appliance, comprising: a rectifier module, a first motor, a second motor, and the dual-motor drive circuit in the first aspect. The rectifier module is connected with the voltage input end of the dual-motor drive circuit, the output end of the common selection unit of the dual-motor drive circuit is connected with the common phase of the first motor and the second motor, and the remaining phases of the first motor and the second motor are respectively connected with the output end of the corresponding special selection unit.

[0016] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method in any one of the embodiments of the fault elimination method of the dual-motor drive circuit in the second aspect is implemented.

[0017] The dual-motor drive circuit and the fault elimination method of the dual-motor drive circuit provided by the embodiments of the present application set five bridge arms, two DC bus capacitors and a common selection unit in the circuit, the five bridge arms include one common bridge arm and four special bridge arms, the connection end of the two switch units of the common bridge arm is connected with the first contact of the common selection unit, the common connection end of the two DC bus capacitors is connected with the second contact of the common selection unit, and the output end of the common selection unit is connected with the common phase of the first motor and the second motor. The embodiments of the present application realize that when the common bridge arm in the circuit fails, the common phase of the two motors can be switched from the common bridge arm to the DC bus capacitor by using the common selection unit, that is, from the five-bridge-arm topology to the four-bridge-arm topology, so that the fault of the drive circuit is timely responded, the stability of the motor drive is improved, and the motor drive circuit can be flexibly switched between the two bridge arm topologies, the use flexibility of the motor drive circuit is improved, and the use scenarios are expanded. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, those skilled in the art can obtain other drawings from these drawings without any creative effort.

[0020] One or more embodiments are exemplarily illustrated by pictures in the drawings corresponding thereto, and these exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified. The drawings in the drawings do not constitute a proportional limitation.

[0021] Figure 1 A structural schematic diagram of a dual-motor driving circuit provided by an embodiment of the present application is shown in FIG. 1.

[0022] Figure 2 A structural schematic diagram of a circuit after switching of a common selection unit provided by an embodiment of the present application is shown in FIG. 2.

[0023] Figure 3 A structural schematic diagram of a second dual-motor driving circuit provided by an embodiment of the present application is shown in FIG. 3.

[0024] Figure 4 A structural schematic diagram of a circuit after switching of a special selection unit provided by an embodiment of the present application is shown in FIG. 4.

[0025] Figure 5 A structural schematic diagram of a third dual-motor driving circuit provided by an embodiment of the present application is shown in FIG. 5.

[0026] Figure 6 A structural schematic diagram of a fourth dual-motor driving circuit provided by an embodiment of the present application is shown in FIG. 6.

[0027] Figure 7 A flowchart of a troubleshooting method of a dual-motor driving circuit provided by an embodiment of the present application is shown in FIG. 7.

[0028] Figure 8 A flowchart of another troubleshooting method of a dual-motor driving circuit provided by an embodiment of the present application is shown in FIG. 8.

[0029] Figure 9 A flowchart of still another troubleshooting method of a dual-motor driving circuit provided by an embodiment of the present application is shown in FIG. 9.

[0030] Figure 10 A structural schematic diagram of an electrical appliance provided by an embodiment of the present application is shown in FIG. 10. DETAILED DESCRIPTION

[0031] Various exemplary embodiments of the present application will now be described in detail by referring to the drawings. It is obvious that the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments of the present application. It should be noted that the relative arrangement, numerical expression and values of the components and steps set forth in these embodiments do not limit the scope of the present application, unless otherwise specifically stated.

[0032] Those skilled in the art can understand that the terms "first", "second" and the like in the embodiments of the present application are only used to distinguish different steps, devices or modules, and do not represent any specific technical meaning, nor represent the logical order between them.

[0033] It should also be understood that in the present embodiments, "a plurality of" can mean two or more, and "at least one" can mean one, two or more.

[0034] It should also be understood that, with respect to any part of the present application mentioned in the embodiments, one or more can be understood in general, without explicit limitation or in the context of the opposite implications.

[0035] In addition, the term "and / or" in the present application is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. In addition, the character " / " in the present application generally represents that the front and rear associated objects are in an "or" relationship.

[0036] It should also be understood that the description of the embodiments of the present application emphasizes the differences between the embodiments, and the same or similar parts can be referred to each other, and for the sake of brevity, will not be repeated.

[0037] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application or its application or use.

[0038] Techniques, circuits, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered part of the specification where appropriate.

[0039] It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0040] It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict. In order to understand the embodiments of the present application, the following will be described in detail with reference to the drawings and in combination with the embodiments. Obviously, the described embodiments are part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0041] Figure 1 A structure diagram of a dual-motor driving circuit 100 provided by the embodiments of the present application, which can be applied to various scenes requiring motor driving. For example, household appliances, numerical control machine tools, electric vehicles, etc. The circuit specifically includes five bridge arms, two DC bus capacitors and a common selection unit. Two switch units are arranged on each of the five bridge arms.

[0042] As Figure 1As shown, S1-S10 are switch units, each including a diode and a switch tube (usually IGBT). S1, S2 are connected to form a bridge arm; S3, S4 are connected to form a bridge arm; S5, S6 are connected to form a bridge arm; S7, S8 are connected to form a bridge arm; S9, S10 are connected to form a bridge arm. QF_D1 is a common selection unit.

[0043] The five bridge arms include a common bridge arm and four special bridge arms, the connection ends of the two switch units of the common bridge arm are connected to the first contact of the common selection unit, the common connection ends of the two DC bus capacitors are connected to the second contact of the common selection unit, and the output end of the common selection unit is connected to the common phase of the first motor and the second motor.

[0044] As shown in FIG. 1, the bridge arm formed by S9 and S10 is a common bridge arm. The common selection unit includes two contacts and an output end, the contact marked as “1” in FIG. 1 is the first contact, and the contact marked as “2” is the second contact. Figure 1

[0045] The common phase of the first motor M1 and the second motor M2 is commonly connected to the output end of the common selection unit. The output end of the common selection unit can be connected to the first contact or the second contact included therein. When the output end is connected to the first contact, the common bridge arm formed by S9 and S10 is simultaneously connected to the common phase (c1, c2) of the motors M1 and M2, the special bridge arms formed by S1 and S2 and S3 and S4 are respectively connected to the a1 phase and the b1 phase of the motor M1, and the special bridge arms formed by S5 and S6 and S7 and S8 are connected to the a2 phase and the b2 phase of the motor M2. The driving algorithm adopted by the circuit can be half-cycle SVPWM (Space Vector Pulse Width Modulation) modulation, and the motor is driven to start.

[0046] When the output end is connected to the second contact, the common bridge arm formed by S9 and S10 is disconnected from the motors M1 and M2, and the common phase c1 and c2 of the motors M1 and M2 is connected to the DC bus capacitors C1 and C2. The topology of the circuit is shown in FIG. 2. The entire circuit is changed to a four-bridge-arm topology, and the algorithm adopted by the circuit is switched to a three-phase four-switch SVPWM modulation driving algorithm, and the motor is driven to start. Figure 2

[0047] Usually, in the case where no fault occurs in the common bridge arm, the output end of the common selection unit is connected to the first contact, and the five-bridge-arm topology is adopted to drive the dual-motor operation. When a short circuit or open circuit fault occurs in the common bridge arm, the common selection unit can be switched to be connected to the second contact, and the four-bridge-arm topology is adopted to drive the dual-motor operation.

[0048] ​​The double-motor driving circuit provided by the embodiments of the present application is provided with five bridge arms, two DC bus capacitors and a common selection unit, the five bridge arms include one common bridge arm and four special bridge arms, the connection ends of the two switch units of the common bridge arm are connected with the first contact of the common selection unit, the common connection ends of the two DC bus capacitors are connected with the second contact of the common selection unit, and the output end of the common selection unit is connected with the common phase of the first motor and the second motor. The embodiments of the present application realize that when the common bridge arm in the circuit fails, the common phase of the two motors can be switched from the common bridge arm to the DC bus capacitor by using the common selection unit, that is, the five-bridge-arm topology is switched to the four-bridge-arm topology, so that the failure of the driving circuit is responded in time, the stability of motor driving is improved, and the motor driving circuit can be flexibly switched between the two bridge arm topologies, the use flexibility of the motor driving circuit is improved, and the use scenarios are expanded.

[0049] In some optional implementation manners of the embodiments, as shown in Figure 3 the circuit further includes four special selection units QF_D2, QF_D3, QF_D4 and QF_D5.

[0050] For each special bridge arm of the four special bridge arms, the connection ends of the two switch units of the special bridge arm are connected with the first contact of the corresponding special selection unit, the second contact of the corresponding special selection unit is connected with the common bridge arm, and the output end of the corresponding special selection unit is connected with one phase of the corresponding motor.

[0051] Generally, in the case that each bridge arm fails, each special selection unit is connected to the first contact, and the whole circuit constitutes a five-bridge-arm topology. If a special bridge arm fails, the corresponding special selection unit can be used to disconnect the failed bridge arm from the motor, and the special selection unit is switched to the second contact, so that the common bridge arm replaces the failed bridge arm. At the same time, the common selection unit is switched to the second contact, so that the common phase of the two motors is switched to be connected with the two DC bus capacitors.

[0052] Taking the bridge arm composed of S1 and S2 as an example, in the case that the bridge arm does not fail, the bridge arm is connected with the first contact of the special selection unit QF_D2, the second contact of QF_D2 is connected with the common bridge arm composed of S9 and S10, and the output end of QF_D2 is connected with the a1 phase of the first motor M1. When the bridge arm fails in short circuit or open circuit, the output end of QF_D2 is switched to be connected with the second contact, and at the same time, the output end of QF_D1 is switched to be connected with the second contact, so that the common phase of the motors M1 and M2 is connected to the capacitors C1 and C2, and the a1 phase of the motor M1 is connected to the common bridge arm. The whole circuit operates according to the four-bridge-arm topology. The topology structure of the circuit is shown in Figure 4 .

[0053] The embodiment sets a corresponding special selection unit for each special bridge arm, so that when a fault occurs in a special bridge arm, the special bridge arm can replace the fault bridge arm to operate, thereby realizing timely response to the fault and improving the stability of motor operation.

[0054] In some optional implementation manners of the embodiment, as shown in Figure 5 The circuit further includes a controller 301 and five current detection units 302-306, each of the five current detection units being connected to a bridge arm for detecting the current I on the connected bridge arm.

[0055] The controller is connected to each of the five current detection units for receiving the current detection signals output by the five current detection units and switching the states of the common selection unit and the four special selection units according to the current detection signals.

[0056] The controller 301 can control each selection unit so that the output end of each selection unit is connected to the first contact or the second contact.

[0057] As shown in Figure 5 When the controller detects that the current on the common bridge arm exceeds the upper limit threshold of the current or is less than the lower limit threshold of the current, the QF_D1 can be controlled to switch to the second contact to connect the common phase of the motors M1 and M2 to the capacitors C1 and C2; when the controller detects that the current on a special bridge arm exceeds the upper limit threshold of the current or is less than the lower limit threshold of the current, the corresponding special selection unit can be controlled to switch to the second contact, and the QF_D1 is controlled to switch to the second contact to connect the common phase of the motors M1 and M2 to the capacitors C1 and C2, and the common bridge arm replaces the fault bridge arm.

[0058] The embodiment sets a controller and a current detection unit, realizes monitoring of the current on each bridge arm by the controller and control of the selection unit corresponding to each bridge arm by the controller, so that the controller can more flexibly switch the states of each switch unit, improves the convenience of circuit control, and improves the automation degree of circuit operation.

[0059] In some optional implementation manners of the embodiment, as shown in Figure 6 The circuit further includes a first switch unit QF1 and a second switch unit QF2.

[0060] The first switch unit QF1 is arranged on the line between the output end of the common selection unit and the first motor M1 (i.e., on the c1 phase). The second switch unit QF2 is arranged on the line between the output end of the common selection unit and the second motor M2 (i.e., on the c2 phase).

[0061] The first switch unit QF1 and the second switch unit QF2 can be circuit breakers or controlled switches connected with the controller. Generally, when there are at least two faulty bridge arms in each bridge arm or only one motor needs to be controlled, the first switch unit QF1 and the second switch unit QF2 can be controlled to be disconnected, and the circuit in the embodiment drives one motor.

[0062] The first switch unit and the second switch unit are arranged in the embodiment, the access state of any motor can be controlled, the mode of fault processing is enriched, and the scene adaptability of the circuit is improved.

[0063] In some optional implementation manners of the embodiment, the common selection unit is a two-way selection circuit breaker. The two-way selection circuit breaker can automatically sense the current size of the bridge arm output, and can automatically switch the contact if the current is too large or too small.

[0064] Optionally, Figure 3 The four special selection units in the embodiment can also adopt the two-way selection circuit breaker.

[0065] The two-way selection circuit breaker is adopted as the selection unit in the embodiment, the selection unit can automatically sense the current size, an external controller is not needed, and the structural complexity of the circuit is reduced.

[0066] Figure 7 A flowchart of a fault elimination method of a double-motor driving circuit provided in the embodiment is shown. The method can be used for controlling the double-motor driving circuit in the above embodiment, and the method can be executed by a special-purpose controller or other general-purpose electronic devices connected with the double-motor driving circuit, such as industrial computers, notebook computers, smart phones, etc. The method can also be executed by the double-motor driving circuit itself, that is, the circuit itself can detect the fault condition of each bridge arm and switch the state of each selection unit. In addition, the execution subject of the method can be hardware or software. When the execution subject is hardware, the execution subject can be one or more of the above electronic devices. For example, a single electronic device can execute the method, or multiple electronic devices can cooperate with each other to execute the method. When the execution subject is software, the method can be implemented as multiple software or software modules, or as a single software or software module. No specific limitation is made herein.

[0067] As shown in Figure 7 , the method specifically includes:

[0068] In step 701, the faulty bridge arm is determined from the five bridge arms included in the double-motor driving circuit.

[0069] In some embodiments, whether a fault occurs can be determined according to the current size on each bridge arm. For example, the current size on each bridge arm can be detected by a current sensor, and whether a fault occurs can be determined according to the current size.Figure 5 The current detection unit shown collects the current of each bridge arm, and the controller determines whether the current is in the normal range. The current of each bridge arm can also be automatically sensed to determine whether it exceeds the upper limit of the current through the double-path selection circuit breaker (QF_D1-QF_D5 shown in the above Figure 1 、 Figure 2 .

[0070] Step 702, if the faulty bridge arm is a common bridge arm, the output end of the common selection unit included in the double-motor drive circuit is connected to the second contact to connect the common phase of the first motor and the second motor to the common connection end of the two DC bus capacitors included in the double-motor drive circuit.

[0071] In some embodiments, if the faulty bridge arm is a common bridge arm, the state of the common selection unit shown in Figure 1 can be switched, and the double-motor drive circuit operates according to the topology shown in Figure 2 .

[0072] The fault elimination method of the double-motor drive circuit provided by the embodiments of the present application detects the fault state of each bridge arm in the double-motor drive circuit in real time, and switches to a four-bridge-arm topology in the case of a common bridge arm failure, thereby achieving timely response to the drive circuit failure, improving the stability of motor driving, and the motor drive circuit can be flexibly switched between two bridge-arm topologies, improving the use flexibility of the motor drive circuit and expanding the use scenarios.

[0073] In some optional implementation manners, as shown in Figure 8 , after step 701, the method further includes:

[0074] Step 703, if the faulty bridge arm is a dedicated bridge arm, the output end of the common selection unit is connected to the second contact, and the output end of the dedicated selection unit corresponding to the faulty bridge arm is connected to the second contact, so that the common bridge arm replaces the faulty bridge arm.

[0075] The embodiments are applicable to the corresponding circuit structure described above Figure 3 . If the faulty bridge arm is a dedicated bridge arm, the state of the dedicated selection unit corresponding to the dedicated bridge arm can be switched, and the state of the common selection unit can be switched. The dedicated selection unit is switched to the second contact, and the common bridge arm replaces the faulty bridge arm. At the same time, the common selection unit is switched to the second contact, so that the common phase of the two motors is switched to be connected to the two DC bus capacitors.

[0076] As shown in Figure 3As shown, taking the bridge arm composed of S1 and S2 as an example, in the case where no fault occurs, the bridge arm is connected with the first contact of the special selection unit QF_D2, the second contact of QF_D2 is connected with the common bridge arm composed of S9 and S10, and the output end of QF_D2 is connected with a1 of the first motor M1. When a short circuit or open circuit fault occurs in the bridge arm, the output end of QF_D2 is switched to be connected with the second contact, and at the same time, the output end of QF_D1 is switched to be connected with the second contact, so that the common phase of the motors M1 and M2 is connected to the capacitors C1 and C2, and a1 of the motor M1 is connected to the common bridge arm. The whole circuit operates according to the four-bridge-arm topology. The topology of the circuit is as shown in Figure 4 .

[0077] The embodiment can replace the fault bridge arm with a special bridge arm to operate in the case where a fault occurs in a certain special bridge arm, so that timely response to the fault is realized, and the stability of motor operation is improved.

[0078] In some optional implementation manners, as shown in Figure 9 , after step 701, the method further includes:

[0079] Step 704: If the number of fault bridge arms is greater than or equal to two, the positions of the fault bridge arms are determined.

[0080] Specifically, by monitoring the fault states of each bridge arm, it can be determined which bridge arm has a fault.

[0081] Step 705: According to a preset bridge arm switching rule, a target switch unit to be disconnected is determined from the first switch unit and the second switch unit included in the dual-motor drive circuit.

[0082] Specifically, when only one bridge arm among the five bridge arms has a fault, the bridge arm can be switched according to the above embodiment. If the number of fault bridge arms is greater than or equal to two, one of the motors needs to be stopped according to the bridge arm switching rule, and the other motor is driven by using the fault-free bridge arm. Referring to the above Figure 6 , the target switch unit is QF1 or QF2.

[0083] Step 706: The target switch unit is controlled to be disconnected.

[0084] For example, referring to the above Figure 6 , if the common bridge arm and one of the special bridge arms (for example, the bridge arm composed of S1 and S2) have a fault, the common bridge arm is disconnected from c1 and c2, c1 and c2 are connected to the capacitors C1 and C2, and the motor (for example, M1) corresponding to the fault special bridge arm is disconnected, that is, the switch unit (for example, QF1) corresponding to the motor is controlled to be disconnected.

[0085] For example, if a common bridge arm and two of its dedicated bridge arms (e.g., S1, S2, and the two bridge arms formed by S3 and S4) fail, and the two faulty dedicated bridge arms correspond to the same motor (e.g., M1), then the common bridge arm is disconnected from phases c1 and c2, phases c1 and c2 are connected to capacitors C1 and C2, and the motor corresponding to the faulty dedicated bridge arm is disconnected, i.e., the switching unit (e.g., QF1) corresponding to that motor is disconnected.

[0086] For example, if three dedicated bridge arms fail, the motors connected to two of the failed bridge arms can be disconnected by controlling QF1 or QF2, and the common bridge arm can be disconnected from phases C1 and C2. Phases C1 and C2 can be connected to capacitors C1 and C2. At the same time, the other failed bridge arm can be replaced with the common bridge arm by controlling the dedicated selection unit.

[0087] For example, if the common bridge arm and two or more of its dedicated bridge arms fail, or if three or more of the dedicated bridge arms fail, neither motor can be driven. In this case, both the first and second switching units can be used as target switching units to disconnect the two motors. Fault indication messages can also be output to prompt the user to manually handle the fault.

[0088] In this embodiment, when the number of faulty bridge arms is greater than or equal to two, the connection status of the motor is controlled according to the location of the faulty bridge arm, thereby enabling the handling of more complex fault situations and improving the adaptability of the motor drive scenario.

[0089] Figure 10 This is a schematic diagram of the structure of an electrical device 1000 provided in an embodiment of this application. The electrical device 1000 includes: a rectifier module (including an AC power supply and rectifier diodes D1-D4), a first motor M1, a second motor M2, and a dual-motor drive circuit 100 described in any of the above embodiments.

[0090] like Figure 10 As shown, the rectifier module is connected to the voltage input terminal of the dual-motor drive circuit, and the output terminal of the common selection unit of the dual-motor drive circuit is connected to the common phase of the first motor and the second motor.

[0091] The electrical equipment provided in this embodiment can be various devices that include motors, such as air conditioners, electric vehicles, robots, etc.

[0092] The electrical equipment provided in this application embodiment, by applying the above-described dual-motor drive circuit, enables timely response to faults and improves the stability of motor drive.

[0093] The embodiment of the present application further provides a storage medium (computer readable storage medium). The storage medium stores one or more programs. The storage medium can include a volatile memory such as a random access memory, and / or a non-volatile memory such as a read-only memory, a flash memory, a hard disk, or a solid state disk, and / or a combination thereof.

[0094] The one or more programs stored in the storage medium can be executed by the one or more processors to implement the above-described method for troubleshooting the dual-motor driving circuit on the side of the electronic device.

[0095] The processor is configured to execute the program stored in the memory to implement the following steps of the above-described method for troubleshooting the dual-motor driving circuit on the side of the electronic device.

[0096] The processor is configured to execute the program stored in the memory to implement the following steps of the above-described method for troubleshooting the dual-motor driving circuit on the side of the electronic device.

[0097] Those skilled in the art will further appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or any combination thereof. To clearly illustrate the interchangeability of hardware and software, the various examples have been described generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the particular application and design constraints imposed on the overall system. Skilled persons can implement the described functionality in varying ways for each particular application, but such implementation should not be interpreted to cause a departure from the scope of the present application.

[0098] The circuit or algorithm steps described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can be stored in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0099] It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The steps, processes, and operations described herein are not to be construed as necessarily requiring their

[0100] The previous description is of a few particular embodiments. Numerous modifications and changes will become apparent to those skilled in the art once they read this above description. It is intended that all such modifications and changes be included within this application's scope. The application is not limited to the described embodiments, but instead includes all alternatives consistent with the principles and novel features as set forth in the following claims.

Claims

1. A dual-motor drive circuit, characterized by, The circuit comprises five bridge arms, two DC bus capacitors and a common selection unit; two switch units are arranged on each of the five bridge arms; The five bridge arms comprise a common bridge arm and four special bridge arms, the connection ends of the two switch units of the common bridge arm are connected with the first contact of the common selection unit, the common connection ends of the two DC bus capacitors are connected with the second contact of the common selection unit, and the output end of the common selection unit is connected with the common phase of the first motor and the second motor; The circuit further comprises four special selection units; For each of the four special bridge arms, the connection ends of the two switch units of the special bridge arm are connected with the first contact of the corresponding special selection unit, the second contact of the corresponding special selection unit is connected with the common bridge arm, and the output end of the corresponding special selection unit is connected with one phase of the corresponding motor; The circuit further comprises a first switch unit and a second switch unit; The first switch unit is arranged on the line between the output end of the common selection unit and the first motor; The second switch unit is arranged on the line between the output end of the common selection unit and the second motor; The dual-motor drive circuit further comprises a controller, and the controller is configured to: determine the faulty bridge arm from the five bridge arms comprised by the dual-motor drive circuit; if the number of the faulty bridge arms is greater than or equal to two, determine the positions of the faulty bridge arms; determine the target switch unit to be turned off from the first switch unit and the second switch unit comprised by the dual-motor drive circuit according to a preset bridge arm switching rule; control the target switch unit to be turned off.

2. The circuit of claim 1, wherein, The circuit further comprises five current detection units, each of the five current detection units is connected to a bridge arm, and is configured to detect the current on the connected bridge arm; The controller is connected with each of the five current detection units, configured to receive the current detection signals output by the five current detection units, and switch the states of the common selection unit and the four special selection units according to the current detection signals.

3. The circuit of claim 1, wherein, The common selection unit is a double-way selection circuit breaker.

4. A method of troubleshooting a dual-motor drive circuit, the method comprising: The dual-motor drive circuit is the dual-motor drive circuit according to any one of claims 1-3; and the method comprises: determining the faulty bridge arm from the five bridge arms comprised by the dual-motor drive circuit; if the faulty bridge arm is the common bridge arm, controlling the output end of the common selection unit comprised by the dual-motor drive circuit to be connected with the second contact, so that the common phase of the first motor and the second motor is connected to the common connection end of the two DC bus capacitors comprised by the dual-motor drive circuit; if the faulty bridge arm is the special bridge arm, controlling the output end of the common selection unit to be connected with the second contact, and controlling the output end of the special selection unit corresponding to the faulty bridge arm to be connected with the second contact, so that the common bridge arm replaces the faulty bridge arm; after the determination of the faulty bridge arm from the five bridge arms comprised by the dual-motor drive circuit, the method further comprises: If the number of the failed bridge arms is greater than or equal to two, the positions of the failed bridge arms are determined; According to a preset bridge arm switching rule, a target switch unit to be turned off is determined from a first switch unit and a second switch unit included in the dual-motor drive circuit; The target switch unit is turned off.

5. An electrical appliance characterized by The electrical appliance comprises a rectifier module, a first motor, a second motor, and the dual-motor drive circuit according to any one of claims 1-3. The rectifier module is connected with a voltage input end of the dual-motor drive circuit, an output end of a common selection unit of the dual-motor drive circuit is connected with common phases of the first motor and the second motor, and the remaining phases of the first motor and the second motor are respectively connected with output ends of corresponding special selection units.

6. A storage medium having stored thereon a computer program, characterized in that The computer program is executed by a processor to implement the fault elimination method of the dual-motor drive circuit according to claim 4.

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