Motor fault self-recovery control method and controller thereof, and new energy vehicle

Abstract

The invention provides a motor fault self-recovery control method, a motor fault self-recovery controller and a new energy vehicle, and solves the technical problem that in the prior art, after a motor exits from an ASC (Active Short Circuit), due to huge sudden current change, abnormal sudden torque change of the motor occurs, so that the whole vehicle shakes. According to the fault self-recovery control method provided by the invention, when the motor is subjected to active short-circuit protection and the fault is eliminated, the working state of the motor is changed from the active short-circuit protection to the open-tube output torque, the current working parameter and the target working parameter of the motor are acquired, and the current working parameter of the motor is controlled to change to the target working parameter in a gradient manner; therefore, the working parameters of the motor are smoothly transited to the target working parameters, the output torque of the motor is smoothly transited to the target output torque, and the pause feeling of the whole vehicle is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to a control method for self-recovery of motor faults, a controller thereof, and new energy vehicles. Background Art

[0002] In the field of new energy vehicles, when a vehicle malfunction affects driving safety, it is necessary to formulate a reasonable safety protection strategy to put the vehicle into a safe state to ensure the safety of the vehicle and its occupants. For example, when a serious shutdown fault occurs in the motor controller, the motor controller will usually directly shut down for protection or enter ASC (Active Short Circuit) protection. However, when the motor enters ASC mode, the three-phase power of the motor will generate a large short-circuit current, causing the motor temperature to continue to increase, and there is a risk of motor demagnetization. Therefore, when the fault is eliminated, it is necessary to exit the ASC (active short circuit) mode; however, after exiting the ASC (active short circuit), the huge current mutation will cause the motor to experience an abnormal torque mutation, causing the entire vehicle to shake. Summary of the Invention

[0003] In view of this, the present application provides a control method for self-recovery of motor faults, a controller thereof, and a new energy vehicle. When the motor is actively short-circuited and the fault is eliminated, the working state of the motor changes from active short-circuit protection to open-tube output torque, and the current working parameters and target working parameters of the motor are obtained, and the current working parameters of the motor are controlled to change gradiently to the target working parameters, so that the working parameters of the motor smoothly transition to the target working parameters, so that the output torque of the motor smoothly transitions to the target output torque, thereby reducing the sense of frustration of the entire vehicle.

[0004] In order to achieve the above-mentioned purpose, the present application provides the following technical solutions: a fault self-recovery control method, which is applicable to new energy vehicles, wherein the new energy vehicles include a power supply, a control circuit, a motor and a controller, wherein the power supply provides electrical energy to the motor through the control circuit, the controller is connected to the control circuit and the motor, and the control circuit includes multiple transistors and / or multiple power devices; wherein the control method includes: when the protection strategy of the motor is active short-circuit protection and the fault is cleared, obtaining the current operating parameters of the motor; controlling all transistors and / or all power devices in the control circuit to be turned on, and controlling the current operating parameters of the motor to change gradually to the target operating parameters, so as to regulate the current output torque of the motor to change gradually to the target output torque.

[0005] In an embodiment of the present application, the current operating parameter is the current operating current.

[0006] In one embodiment of the present application, the current working current includes a current direct-axis current and a current quadrature-axis current; wherein, obtaining the current working parameters of the motor includes: obtaining the current direct-axis current, the current quadrature-axis current, the target direct-axis current, and the target quadrature-axis current of the motor; controlling the current working parameters of the motor to change gradiently to the target working parameters to regulate the current output torque of the motor to change gradiently to the target output torque includes: based on a first gradient change value, controlling the direct-axis current of the motor to change gradiently to the target direct-axis current with the current direct-axis current, and controlling the quadrature-axis current of the motor to change gradiently to the target quadrature-axis current with the current quadrature-axis current gradient change value based on a second gradient change value.

[0007] In one embodiment of the present application, obtaining the target direct-axis current and target quadrature-axis current of the motor includes: obtaining the current speed of the motor and the target torque of the motor; querying a preset database for a target direct-axis current and a target quadrature-axis current that match the current speed and the target torque based on the current speed and the target torque; wherein the preset database stores the torque and the direct-axis current and quadrature-axis current corresponding to the torque.

[0008] In an embodiment of the present application, the first gradient change values ​​between any two adjacent direct-axis currents are the same; and / or the second gradient change values ​​between any two adjacent quadrature-axis currents are the same.

[0009] In an embodiment of the present application, a first gradient change value between two adjacent direct-axis currents changes in a gradient; and / or a second gradient change value between two adjacent quadrature-axis currents changes in a gradient.

[0010] In one embodiment of the present application, when the protection strategy of the motor is active short-circuit protection and the fault is cleared, before obtaining the current operating parameters of the motor, the control method also includes: determining the protection strategy of the motor based on the speed of the vehicle when the fault occurs and the rated speed of the motor.

[0011] In one embodiment of the present application, the protection strategy of the motor is determined based on the rotational speed of the vehicle when the failure occurs and the rated speed of the motor, including: when the rotational speed of the vehicle when the failure occurs is greater than the rated speed of the motor, determining that the protection strategy of the motor is active short-circuit protection.

[0012] As a second aspect of the present application, the present application also provides a fault self-recovery controller, including: a data acquisition module, used to obtain the current operating parameters of the motor when the protection strategy of the motor is active short-circuit protection and the fault is cleared; a control module, used to control all transistors and / or all power devices in the control circuit to be turned on, and control the current operating parameters of the motor to change gradiently to the target operating parameters, so as to regulate the current output torque of the motor to change gradiently to the target output torque.

[0013] As the third aspect of this application, this application also provides a new energy vehicle, including: a power supply; a control circuit, the control circuit including multiple transistors and / or multiple power devices; a motor; and the controller described above; wherein, the power supply provides electrical energy to the motor through the control circuit, and the controller is connected to the control circuit, the power supply and the motor.

[0014] The present application provides a fault self-recovery control method. When the motor is actively short-circuited and the fault is eliminated, the working state of the motor changes from active short-circuit protection to open-tube output torque, the current working parameters and target working parameters of the motor are obtained, and the current working parameters of the motor are controlled to change gradually to the target working parameters, so that the working parameters of the motor are smoothly transitioned to the target working parameters, so that the output torque of the motor is smoothly transitioned to the target output torque, thereby reducing the sense of frustration of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0016] Figure 1 This is a working block diagram of a new energy vehicle provided in an embodiment of the present application.

[0017] Figure 2 The figure is a flow chart of a fault self-recovery control method provided by an embodiment of the present application.

[0018] Figure 3 The figure is a flow chart of a fault self-recovery control method provided by another embodiment of the present application.

[0019] Figure 4 The figure is a flow chart of a fault self-recovery control method provided by another embodiment of the present application.

[0020] Figure 5The figure shows a working block diagram of a fault self-recovery controller provided by another embodiment of the present application. DETAILED DESCRIPTION

[0021] The technical solution of the embodiment of the present application is applicable to the application scenarios of new energy vehicles, which can be passenger cars or commercial vehicles.

[0022] Figure 1 The figure shows a working block diagram of a new energy vehicle provided by this application, such as Figure 1 As shown, the new energy vehicle includes: a power supply, a control circuit, a motor and a controller, wherein the power supply provides electrical energy to the motor through the control circuit, the controller is connected to the control circuit and the motor, and the control circuit includes multiple transistors (IGBT insulated gate bipolar transistors) and / or multiple power devices (SIC power devices).

[0023] In the field of new energy vehicles, when a vehicle fault affects driving safety, the motor controller will usually directly shut down the tube for protection (that is, control all transistors and / or all power devices in the control circuit to be disconnected, so that all transistors and / or all power devices are disconnected from working) or enter ASC (Active Short Circuit) protection. When entering ASC protection, the direct-axis current and quadrature-axis current of the motor are both large. When the fault is eliminated, there is a large current difference when the motor switches from ASC protection to open-tube output torque, resulting in abnormal torque mutation, causing the entire vehicle to shake.

[0024] Therefore, the inventors proposed during the research process:

[0025] When the controller enters ASC protection, the direct-axis voltage and quadrature-axis voltage of the motor are shown in the following formula 1, and the direct-axis current and quadrature-axis current are shown in the following formula 2:

[0026]

[0027] In formula 1, u d is the direct axis voltage of the motor, u q is the quadrature axis voltage of the motor.

[0028]

[0029] In formula 2, i d 、i q are the direct axis current and quadrature axis current respectively; ω is the rotor electrical angular velocity; R s is the stator resistance; L d , L q They are direct-axis inductance and quadrature-axis inductance; ψ f is the permanent magnet flux linkage.

[0030] In formula 2, It is a transient current, which will become smaller and smaller as time goes by until it is approximately equal to 0. is the steady-state current. Therefore, when the motor is stabilized by ASC protection, the direct-axis current and quadrature-axis current of the motor are as shown in the following formula 3:

[0031]

[0032] In formula 3, i d 、i q are the direct axis current and quadrature axis current respectively; ω is the rotor electrical angular velocity; R s is the stator resistance; L d , L q They are direct-axis inductance and quadrature-axis inductance; ψ f is the permanent magnet flux linkage.

[0033] When the motor is protected by ASC and the fault is eliminated, all transistors and / or all power devices in the control circuit are controlled to be turned on, so that the working state of the motor is changed from ASC protection to open-tube output torque. The actual feedback current controlled by the current loop is shown in Formula 3. At this time, the current direct-axis current and the current quadrature-axis current of the motor can be determined based on Formula 3, and then the current direct-axis current gradient is controlled to change to the target direct-axis current, and the current quadrature-axis current gradient changes to the target quadrature-axis current, so that the current of the motor smoothly transitions to the target current, so that the output torque of the motor smoothly transitions to the target output torque, thereby reducing the sense of frustration of the entire vehicle.

[0034] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0035] Exemplary Methods

[0036] As a first aspect of the present application, the present application provides a control method for fault self-recovery. Figure 2 FIG. 1 is a flow chart of a fault self-recovery control method provided by an embodiment of the present application, as shown in FIG. Figure 2 A fault self-recovery control method includes the following steps:

[0037] S101: When the motor protection strategy is active short-circuit protection and the fault is cleared, obtain the current operating parameters of the motor;

[0038] Specifically, when a vehicle malfunctions, such as an excessively high or abnormal motor speed, a faulty switch in the motor controller circuit, a battery failure in the power battery, or a vehicle operating at high speed, the controller activates motor protection strategies, such as shutoff protection or active short-circuit protection.

[0039] Among them, active short-circuit protection is: the three-phase winding of the motor is short-circuited to form a low-impedance loop, so that the energy generated by the motor is quickly consumed in the winding resistance through the short circuit, avoiding energy feedback to the power supply side or damage to other components.

[0040] When a vehicle breaks down, regardless of whether the protection strategy adopted is shutdown protection or active short-circuit protection, the corresponding protection strategy will be recorded. For example, the adopted protection strategy will be saved in a protection strategy database. Therefore, when the controller adopts a protection strategy for the motor, the specific protection strategy adopted by the motor can be queried in the strategy database.

[0041] When the controller takes active short-circuit protection for the motor, it also takes corresponding measures to eliminate the fault. Therefore, when the fault is eliminated, the current operating parameters of the motor can be obtained.

[0042] Specifically, the current operating parameter may be the current current of the motor and the current voltage of the motor. The current current may include the current direct-axis current and the current quadrature-axis current. Similarly, the current voltage may include the current direct-axis voltage and the current quadrature-axis voltage.

[0043] S102: Control all transistors and / or all power devices in the control circuit to be turned on, and control the current operating parameters of the motor to change gradually to the target operating parameters, so as to regulate the current output torque of the motor to change gradually to the target output torque.

[0044] Specifically, all transistors and / or all power devices in the control circuit are controlled to be conductive, so that all transistors and / or all power devices in the control circuit begin to operate, allowing current from the power supply to flow through the control circuit to the motor, and adjusting the motor's operating state from ASC protection to open-tube output torque. The motor's current operating parameters are then controlled to change gradually to target operating parameters, thereby causing the motor's current output torque to change gradually to the target output torque.

[0045] Specifically, the target operating parameter can be obtained according to the target output torque.

[0046] The present application provides a fault self-recovery control method. When the motor is actively short-circuited and the fault is eliminated, the working state of the motor changes from active short-circuit protection to open-tube output torque, the current working parameters and target working parameters of the motor are obtained, and the current working parameters of the motor are controlled to change gradually to the target working parameters, so that the working parameters of the motor are smoothly transitioned to the target working parameters, so that the output torque of the motor is smoothly transitioned to the target output torque, thereby reducing the sense of frustration of the entire vehicle.

[0047] In one embodiment of the present application, the current operating parameter is the current operating current, which includes the current direct axis current I d And the current quadrature axis current I q ;

[0048] like Figure 3 As shown, at this time, S101 (when the motor protection strategy is active short-circuit protection and the fault is cleared, obtaining the current operating parameters of the motor) specifically includes the following steps:

[0049] S1011: Obtain the current direct-axis current, the current quadrature-axis current, the target direct-axis current, and the target quadrature-axis current of the motor;

[0050] As mentioned above, after the motor is stabilized by ASC protection, the direct-axis current and quadrature-axis current of the motor are as shown in the following formula 3:

[0051]

[0052] In formula 3, i d 、i q are the direct axis current and quadrature axis current respectively; ω is the rotor electrical angular velocity; R s is the stator resistance; L d , L q They are direct-axis inductance and quadrature-axis inductance; ψ f is the permanent magnet flux linkage.

[0053] Therefore, the current direct-axis current and the current quadrature-axis current of the motor can be calculated according to Formula 3.

[0054] S102 (controlling the current operating parameters of the motor to change gradually to the target operating parameters) specifically includes the following steps:

[0055] S1021: Based on the first gradient change value, control the direct-axis current of the motor to change from the current direct-axis current gradient to the target direct-axis current, and based on the second gradient change value, control the quadrature-axis current of the motor to change from the current quadrature-axis current gradient to the target quadrature-axis current.

[0056] After the current direct-axis current and the current quadrature-axis current of the motor are calculated, the current direct-axis current can be controlled to change in a gradient to the target direct-axis current based on the first gradient change value. That is, the difference between the latter direct-axis current and the previous direct-axis current of two adjacent direct-axis currents is the first gradient change value.

[0057] At the same time, the current quadrature-axis current is controlled to change gradiently to the target quadrature-axis current based on the second gradient change value. That is, the difference between the latter and the previous quadrature-axis currents of two adjacent quadrature-axis currents is the second gradient change value.

[0058] Optionally, the first gradient change value is equal to the second gradient change value, so that the direct-axis current can be gradient-changed synchronously with the quadrature-axis current.

[0059] Optionally, the first gradient change values ​​between any two adjacent direct-axis currents are the same, that is, the direct-axis current changes to the target direct-axis current with a uniform gradient.

[0060] The second gradient change value between any two adjacent quadrature-axis currents is the same, that is, the quadrature-axis current changes to the target quadrature-axis current with a uniform gradient.

[0061] Optionally, the first gradient change value between two adjacent direct-axis currents changes in a gradient; that is, when the direct-axis current changes in a gradient to the target direct-axis current, the first gradient change value itself also changes in a gradient. For example, the first gradient change value gradually decreases, that is, as the direct-axis current gradually approaches the target direct-axis current during the change. Another example is that the first gradient change value gradually increases, that is, as the direct-axis current gradually approaches the target direct-axis current during the change.

[0062] Optionally, the second gradient change value between two adjacent quadrature-axis currents changes in a gradient; that is, when the quadrature-axis current changes in a gradient to a target quadrature-axis current, the second gradient change value itself also changes in a gradient. For example, the second gradient change value gradually decreases, that is, as the quadrature-axis current gradually approaches the target quadrature-axis current during the change. Another example is that the second gradient change value gradually increases, that is, as the quadrature-axis current gradually approaches the target quadrature-axis current during the change.

[0063] In the present application, when the motor is protected by ASC and the fault is eliminated, all transistors and / or all power devices in the control circuit are controlled to be turned on, so that the working state of the motor is changed from ASC protection to open-tube output torque. The actual feedback current controlled by the current loop is shown in Formula 3. At this time, the current direct-axis current and the current quadrature-axis current of the motor can be determined based on Formula 3, and then the current direct-axis current gradient is controlled to change to the target direct-axis current, and the current quadrature-axis current gradient changes to the target quadrature-axis current, so that the current of the motor smoothly transitions to the target current, so that the output torque of the motor smoothly transitions to the target output torque, thereby reducing the sense of frustration of the entire vehicle.

[0064] In one embodiment of the present application, S1011 (obtaining the current direct-axis current, the current quadrature-axis current, the target direct-axis current, and the target quadrature-axis current of the motor) specifically includes the following steps:

[0065] S10111: Obtain the current speed and target torque of the motor;

[0066] Specifically, the current rotation speed of the motor can be detected by a rotation speed sensor.

[0067] The target torque can be sent through the vehicle controller (VCU controller).

[0068] S10112: Querying a preset database for a target direct-axis current and a target quadrature-axis current that match the current speed and the target torque according to the current speed and the target torque; wherein the preset database stores torque and the direct-axis current and the quadrature-axis current corresponding to the torque.

[0069] Specifically, a pre-built database is constructed, storing torques and the corresponding direct-axis and quadrature-axis currents. The current torque of the motor can be calculated using its current speed. Then, the corresponding target direct-axis and quadrature-axis currents are retrieved from the pre-built database based on the current and target torques.

[0070] In one embodiment of the present application, before S101 (when the protection strategy of the motor is active short-circuit protection and the fault is cleared, obtaining the current operating parameters of the motor), the control method further includes the following steps:

[0071] S100: Determine a motor protection strategy based on the motor speed when the vehicle fails and the rated speed of the motor.

[0072] That is, the motor protection strategy is based on the vehicle speed when the fault occurs and the rated speed of the motor.

[0073] Specifically, such as Figure 4As shown, S100 (determining a motor protection strategy based on the motor speed when the vehicle fails and the rated speed of the motor) specifically includes the following steps:

[0074] S110: Obtaining the motor speed when the vehicle fails;

[0075] S111: Determine whether the motor speed when the vehicle fails is greater than the rated speed of the motor;

[0076] If the result of S111 is yes, the motor protection strategy is determined to be active short-circuit protection, and S112 is executed. That is, the three-phase windings of the motor are short-circuited to form a low-impedance loop. Through the short circuit, the energy generated by the motor is quickly consumed in the winding resistance, preventing energy from being fed back to the power supply side or damaging other components.

[0077] When the judgment result of S111 is no, the protection strategy of the motor is determined to be switch-off protection, that is, all transistors and / or all power devices in the control circuit are controlled to be turned off, so that all transistors and / or all power devices are turned off.

[0078] S112: Determine that the protection strategy of the motor is active short-circuit protection.

[0079] Specifically, active short-circuit protection is: the three-phase winding of the motor is short-circuited to form a low-impedance loop, so that the energy generated by the motor is quickly consumed in the winding resistance through the short circuit, avoiding energy feedback to the power supply side or damage to other components.

[0080] Exemplary Controller

[0081] As a second aspect of the present application, the present application also provides a fault self-recovery controller, Figure 5 FIG. 1 is a working block diagram of a fault self-recovery controller provided by an embodiment of the present application, as shown in FIG. Figure 5 As shown, the fault self-recovery controller 400 includes:

[0082] The data acquisition module 401 is configured to acquire the current operating parameters of the motor when the motor protection strategy is active short-circuit protection and the fault is cleared;

[0083] Specifically, the data acquisition module 401 is used to execute S101 in the above-mentioned fault self-recovery control method (when the protection strategy of the motor is active short-circuit protection and the fault is cleared, obtain the current operating parameters of the motor).

[0084] The control module 402 is used to control all transistors and / or all power devices in the control circuit to be turned on, and control the current operating parameters of the motor to change gradually to the target operating parameters, so as to regulate the current output torque of the motor to change gradually to the target output torque.

[0085] Specifically, the control module 402 is used to execute S102 in the fault self-recovery control method described above (controlling all transistors and / or all power devices in the control circuit to be turned on, and controlling the current operating parameters of the motor to change gradually to the target operating parameters, so as to regulate the current output torque of the motor to change gradually to the target output torque).

[0086] The present application provides a fault self-recovery controller. When the motor is actively short-circuited and the fault is eliminated, the working state of the motor changes from active short-circuit protection to open-tube output torque, obtains the current working parameters and target working parameters of the motor, and controls the current working parameters of the motor to change gradually to the target working parameters, so that the working parameters of the motor smoothly transition to the target working parameters, so that the output torque of the motor smoothly transitions to the target output torque, thereby reducing the sense of frustration of the entire vehicle.

[0087] The methods of this application can be implemented in whole or in part using software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions that, when loaded and executed on a computer, fully or partially execute the processes or functions of this application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, a core network device, an OAM, or other programmable device.

[0088] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0089] A computer program or instruction can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, a computer program or instruction can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. A computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that integrates one or more available media. Available media can be magnetic media, such as floppy disks, hard disks, or magnetic tapes; optical media, such as digital video disks; or semiconductor media, such as solid-state drives. The computer-readable storage medium can be volatile or non-volatile, or can include both volatile and non-volatile types of storage media.

[0090] In addition, an embodiment of the present application may also be a storage medium having a computer program stored thereon, and the computer program is used by a processor to execute the steps of a fault self-recovery control method described in any of the above embodiments of this specification:

[0091] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0092] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0093] The steps in the methods of the various embodiments of the present application can be adjusted in order, combined, or deleted according to actual needs, and the technical features recorded in the various embodiments can be replaced or combined. The devices in the various embodiments of the present application can be combined, divided, or deleted according to actual needs.

[0094] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0095] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0096] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0097] The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A fault self-recovery control method, characterized in that: The control method is applicable to a new energy vehicle, which includes a power supply, a control circuit, a motor, and a controller, wherein the power supply provides electrical energy to the motor through the control circuit, the controller is connected to the control circuit and the motor, and the control circuit includes multiple transistors and / or multiple power devices; Wherein, the control method includes: When the protection strategy of the motor is active short-circuit protection and the fault is cleared, obtaining current operating parameters of the motor; Control all transistors and / or all power devices in the control circuit to be turned on, and control the current operating parameters of the motor to change in a gradient to the target operating parameters, so as to regulate the current output torque of the motor to change in a gradient to the target output torque.

2. The control method according to claim 1, characterized in that: The current operating parameter is the current operating current.

3. The control method according to claim 2, characterized in that: The current operating current includes a current direct-axis current and a current quadrature-axis current; The step of obtaining the current operating parameters of the motor includes: Obtaining a current direct-axis current, a current quadrature-axis current, a target direct-axis current, and a target quadrature-axis current of the motor; Controlling the current operating parameters of the motor to change gradually to the target operating parameters, so as to adjust the current output torque of the motor to change gradually to the target output torque, including: Based on a first gradient change value, the direct-axis current of the motor is controlled to change to the target direct-axis current with the current direct-axis current gradient, and based on a second gradient change value, the quadrature-axis current of the motor is controlled to change to the target quadrature-axis current with the current quadrature-axis current gradient value.

4. The control method according to claim 3, characterized in that: Obtaining a target direct-axis current and a target quadrature-axis current of the motor includes: Obtaining the current speed of the motor and the target torque of the motor; According to the current speed and the target torque, a preset database is searched for a target direct-axis current and a target quadrature-axis current that match the current speed and the target torque; The preset database stores torque and direct-axis current and quadrature-axis current corresponding to the torque.

5. The control method according to claim 3, characterized in that: The first gradient change values ​​between any two adjacent direct-axis currents are the same; and / or The second gradient change values ​​between any two adjacent quadrature-axis currents are the same.

6. The control method according to claim 1, characterized in that: The first gradient change value between two adjacent direct-axis currents changes in a gradient; and / or The second gradient change value between two adjacent quadrature-axis currents changes in a gradient.

7. The control method according to claim 1, characterized in that: When the protection strategy of the motor is active short-circuit protection and the fault is cleared, before obtaining the current operating parameters of the motor, the control method further includes: A protection strategy for the motor is determined based on the motor speed when a vehicle failure occurs and the rated speed of the motor.

8. The control method according to claim 7, characterized in that: Determining a protection strategy for the motor based on the motor speed at the time of the vehicle failure and the rated speed of the motor, including: When the motor speed when the vehicle fails is greater than the rated speed of the motor, the protection strategy of the motor is determined to be active short-circuit protection.

9. A fault self-recovery controller, characterized in that: include: A data acquisition module, configured to acquire current operating parameters of the motor when the motor protection strategy is active short-circuit protection and the fault is cleared; The control module is used to control all transistors and / or all power devices in the control circuit to be turned on, and to control the current operating parameters of the motor to change gradually to the target operating parameters, so as to regulate the current output torque of the motor to change gradually to the target output torque.

10. A new energy vehicle, characterized in that: include: power supply; a control circuit, the control circuit comprising a plurality of transistors and / or a plurality of power devices; Motor; as well as The controller according to claim 9; The power supply provides electrical energy to the motor through the control circuit, and the controller is connected to the control circuit, the power supply and the motor.

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