Vehicle-mounted motor controller starting method and device, controller and vehicle

Abstract

The invention provides a starting method and device of a vehicle-mounted motor controller, the controller and a vehicle, a motor is a vehicle-mounted motor without a position sensor.The method comprises the steps that in response to a received starting enable signal for the motor, the motor is controlled to be started according to the rated input current of the motor; and if the actual rotating speed of the motor is lower than a preset proportion threshold value of the rated rotating speed of the motor within a preset duration, the input current of the motor is increased at least once, and enabling restarting is carried out after the input current is increased every time, so that the motor is restarted according to the increased input current. Therefore, only the vehicle-mounted motor controller needs to be enabled and restarted (that is, an insulated gate bipolar transistor (IGBT) module in the motor controller executes opening and closing actions again), and the motor does not need to be powered on again to start after the whole vehicle is powered off and a fault is checked, so that manpower and material resources are saved.

Description

Technical Field

[0001] One or more embodiments of the present disclosure relate to the technical field of motor fault recovery, and more particularly to a method, device, controller, and vehicle for starting a vehicle-mounted motor controller. Background Art

[0002] With the development of electric drive technology for new energy vehicles, the transition from traditional mechanical control to modern motor control has led to an increasing demand for low-power motors. These motors are often sensorless. During startup, these motors use an algorithm to self-learn the rotor angle, calculating a relatively accurate rotor angle to simulate the function of a position sensor. Due to their simplified structure and lower hardware and maintenance costs, sensorless motors are suitable for cost-sensitive or environmentally harsh applications. Consequently, they are widely used in new energy vehicles.

[0003] However, when the sensorless motor encounters excessive starting resistance (possibly caused by the oil becoming viscous at low temperatures) or instantaneous load fluctuations, the sensorless motor cannot directly obtain the rotor position during startup and needs to estimate it through an angle self-learning algorithm. It may not be able to adjust the output torque in time, and then the sensorless motor fails to start due to insufficient driving force, causing the vehicle to enter an uncontrolled state in a short period of time, which is prone to danger. Summary of the Invention

[0004] The present disclosure provides a method for starting a vehicle-mounted motor controller, wherein the motor is a vehicle-mounted position sensorless motor, and the method comprises:

[0005] In response to receiving a start enable signal for the motor, controlling the motor to start according to its rated input current;

[0006] If the actual speed of the motor is lower than a preset proportional threshold of its rated speed within a preset time period, the input current of the motor is increased at least once, and restart is enabled after each increase of the input current so that the motor restarts according to the increased input current.

[0007] Optionally, the method further includes:

[0008] After enabling restart, obtaining three-phase current and voltage data of the motor when it is running;

[0009] The rotor movement position of the motor is determined based on the three-phase current and voltage data and an angle self-learning algorithm.

[0010] Optionally, the input current amount increased each time is equal to the first proportion of the rated input current, and the input current after each increase is not greater than the maximum safe input current of the motor.

[0011] Optionally, after restarting the motor according to the increased input current, the method further includes:

[0012] If the stop condition is met, the input current of the motor is no longer increased;

[0013] The stopping condition includes at least one of the following:

[0014] The actual speed of the motor reaches a preset proportional threshold of its rated speed within a preset time period;

[0015] The input current of the motor has reached the maximum safe input current of the motor;

[0016] The number of times the input current of the motor is increased has reached a preset number; wherein the preset number is determined according to the rated input current, the maximum safe input current of the motor and the input current quota increased each time.

[0017] Optionally, the method further includes:

[0018] When the stop condition is met, if the actual speed of the motor is still lower than the preset proportional threshold of its rated speed within the preset time, the motor will be stopped and the fault information of the motor will be fed back to the preset relevant parties.

[0019] Optionally, in response to receiving a start enable signal for the motor, controlling the motor to start according to its rated input current includes:

[0020] In response to receiving a start-up enable signal and a unified diagnostic service message for the motor, the fault information generated in a previous start-up process of the motor is cleared, and after the clearing is completed, the motor is controlled to start according to its rated input current.

[0021] Optionally, the method further includes:

[0022] After the fault information is fed back, a graph showing the current and frequency output by the vehicle-mounted motor controller changing with time is collected;

[0023] The fault type of the motor is determined based on the respectively collected curve graphs of the current and frequency changing with time.

[0024] The present disclosure also provides a starting device for a vehicle-mounted motor controller, wherein the motor is a vehicle-mounted position sensorless motor, and the device comprises:

[0025] a control unit, configured to control the motor to start according to its rated input current in response to receiving a start enable signal for the motor;

[0026] An increasing unit is used to increase the input current of the motor at least once if the actual speed of the motor is lower than a preset proportional threshold of its rated speed within a preset time period, and to enable restart after each increase of the input current so that the motor restarts according to the increased input current.

[0027] The present disclosure also provides a controller for a vehicle-mounted position sensorless motor, comprising:

[0028] processor;

[0029] a memory for storing processor-executable instructions;

[0030] The processor executes the above method by running the executable instructions.

[0031] The present disclosure also provides a vehicle equipped with a position sensorless motor and the above-mentioned controller.

[0032] Through the embodiments of the present disclosure, first, in response to receiving a start enable signal for the motor, the motor is controlled to start according to its rated input current; further, if the actual speed of the motor is lower than a preset proportional threshold of its rated speed within a preset time period, the input current of the motor is increased at least once, and restart is enabled after each increase in the input current, so that the motor is restarted according to the increased input current.

[0033] Through the above approach, the disclosed technical solution determines that a startup fault has occurred in a vehicle-mounted sensorless motor if the actual speed of the motor is lower than a preset proportional threshold of its rated speed within a preset time period. In this case, the input current of the vehicle-mounted sensorless motor is increased at least once, and after each increase in the input current, the vehicle-mounted motor controller is enabled and restarted, so that the vehicle-mounted sensorless motor restarts at the increased input current.

[0034] Since the on-board sensorless motor restarts according to the increased input current, the motor torque increases, thereby solving the problem of motor starting failure caused by excessive motor starting resistance. This process only requires enabling and restarting the on-board motor controller (that is, the insulated gate bipolar transistor (IGBT) module inside the motor controller re-executes the opening and closing action), without the need to power off the entire vehicle and check the fault before restarting the motor, thus saving manpower and material resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 is a flow chart showing a method for starting a vehicle motor controller according to an exemplary embodiment;

[0037] Figure 2 is a schematic diagram showing a method of controlling the start-up of a motor according to an exemplary embodiment;

[0038] Figure 3 is a flow chart showing another method for starting a vehicle motor controller according to an exemplary embodiment;

[0039] Figure 4 is a hardware structure diagram of an electronic device shown in an exemplary embodiment;

[0040] Figure 5 The figure is a block diagram showing a starting device of a vehicle-mounted motor controller according to an exemplary embodiment. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0042] It should be noted that in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this disclosure. In some other embodiments, the method may include more or fewer steps than those described in this disclosure. In addition, a single step described in this disclosure may be broken down into multiple steps for description in other embodiments; and multiple steps described in this disclosure may be combined into a single step for description in other embodiments.

[0043] With the development of electric drive technology for new energy vehicles, the transition from traditional mechanical control to modern motor control has led to an increasing demand for low-power motors. These motors are often sensorless. During startup, these motors use an algorithm to self-learn the rotor angle, calculating a relatively accurate rotor angle to simulate the function of a position sensor. Due to their simplified structure and lower hardware and maintenance costs, sensorless motors are suitable for cost-sensitive or environmentally harsh applications. Consequently, they are widely used in new energy vehicles.

[0044] However, when the sensorless motor encounters excessive starting resistance (possibly caused by the oil becoming viscous at low temperatures) or instantaneous load fluctuations, the sensorless motor cannot directly obtain the rotor position during startup and needs to estimate it through an angle self-learning algorithm. It may not be able to adjust the output torque in time, and then the sensorless motor fails to start due to insufficient driving force, causing the vehicle to enter an uncontrolled state in a short period of time, which is prone to danger.

[0045] In view of this, the present disclosure aims to propose a technical solution in which a motor controller increases the motor input current and enables restart after a position sensorless motor fails to start.

[0046] This technical solution first responds to receiving a start enable signal for the motor, controlling the motor to start according to its rated input current; further, if the actual speed of the motor is lower than a preset proportional threshold of its rated speed within a preset time period, the input current of the motor is increased at least once, and restart is enabled after each increase in the input current, so that the motor is restarted according to the increased input current.

[0047] For example, in the electrical system of a new energy vehicle, a steering oil pump motor (an on-board sensorless motor) is used as the vehicle's power output. Its rated power is 100W, rated voltage is 12V, and rated current is 8.33A. When the steering oil pump motor controller receives a start enable signal for the steering oil pump motor, it first controls the steering oil pump motor to start according to its rated input current of 8.33A. If the actual speed of the steering oil pump motor fails to reach half of its rated speed of 2000 rpm, that is, 1000 rpm, within 3 seconds, the steering oil pump motor controller will increase the input current of the steering oil pump motor at least once, each time by a certain percentage (such as 15% of the rated current of the steering oil pump motor). After increasing the motor input current, the steering oil pump motor controller will enable restart so that the steering oil pump motor will restart according to the increased rated input current of 115%. If the stop condition is met, for example, after increasing the input current of the steering oil pump motor three times in succession, the steering oil pump motor still cannot reach half of the rated speed within 3 seconds, then it is determined that there is an irrecoverable fault in the steering oil pump motor. The motor controller will no longer increase the input current of the steering oil pump motor, will execute the shutdown action and feedback the irrecoverable fault code and fault level of the steering oil pump motor to the vehicle controller.

[0048] Through the above approach, the technical solution disclosed herein determines that a startup fault has occurred in a vehicle-mounted sensorless motor when the actual speed of the motor is lower than a preset proportional threshold of its rated speed within a preset time period. In this case, the input current of the vehicle-mounted sensorless motor is increased at least once, and after each increase in the input current, the vehicle-mounted motor controller is enabled and restarted, so that the vehicle-mounted sensorless motor restarts at the increased input current until the stop condition is met and the input current of the vehicle-mounted sensorless motor is no longer increased.

[0049] Since the on-board sensorless motor restarts according to the increased input current, the motor torque increases, thereby solving the problem of motor starting failure caused by excessive motor starting resistance. This process only requires enabling and restarting the on-board motor controller (that is, the insulated gate bipolar transistor (IGBT) module inside the motor controller re-executes the opening and closing action), without the need to power off the entire vehicle and check the fault before restarting the motor, thus saving manpower and material resources.

[0050] The present disclosure is described below through specific embodiments in combination with specific application scenarios.

[0051] See Figure 1 , Figure 1 This is a flowchart of a method for starting a vehicle-mounted motor controller according to an exemplary embodiment. The motor is a vehicle-mounted position sensorless motor, and the method may perform the following steps:

[0052] Step 102 : In response to receiving a start enable signal for the motor, controlling the motor to start according to its rated input current.

[0053] See Figure 2 , Figure 2 FIG. 1 is a schematic diagram showing a method of controlling the start of a motor according to an exemplary embodiment. Figure 2 As shown in the figure, the vehicle controller is responsible for monitoring the overall vehicle operating status and issuing commands. When the motor needs to start, the vehicle controller sends a start enable signal to the motor controller. As a key component connecting the vehicle controller and the motor, the motor controller receives the start enable signal from the vehicle controller and controls the motor starting process accordingly. The motor controller is connected to the motor via three-phase power lines (U, V, and W). It controls the motor with three-phase AC power, ensuring that the motor starts according to its rated input current. After receiving the control signal from the motor controller, the motor begins operating at the set rated input current, providing the necessary power support for the entire vehicle.

[0054] For example, in the electrical system of a new energy vehicle, a steering oil pump motor (an onboard sensorless motor) is used as the vehicle's power output. Its rated power is 100W, rated voltage is 12V, and rated current is 8.33A. When the steering oil pump motor controller receives a start enable signal for the steering oil pump motor, it first controls the steering oil pump motor to start according to its rated input current of 8.33A.

[0055] Among them, a position sensorless motor refers to a type of motor that does not rely on a physical position sensor (such as a Hall effect sensor or encoder) to detect the rotor position. This type of motor usually calculates the rotor position information through an algorithm to achieve precise speed and position control. Common position sensorless motors include steering oil pump motors, brake air pump motors, etc. The present disclosure does not limit the types of position sensorless motors. The start enable signal is a command signal issued by the vehicle controller to instruct the motor controller to start. The start enable signal is usually generated based on the current operating requirements of the vehicle, such as triggering the steering oil pump motor to start when the driver operates the steering wheel, or triggering the brake air pump motor to start when the brake pedal is pressed. After receiving the signal, the motor controller will perform the startup operation according to the predetermined program, including setting the motor input current value, monitoring the motor status, etc.

[0056] Step 104: If the actual speed of the motor is lower than a preset proportional threshold of its rated speed within a preset time period, the input current of the motor is increased at least once, and restart is enabled after each increase of the input current so that the motor restarts according to the increased input current.

[0057] For example, if the actual speed of the steering oil pump motor fails to reach half of its rated speed of 2000 rpm, that is, 1000 rpm, within 3 seconds, the steering oil pump motor controller will increase the input current of the steering oil pump motor at least once, each time by a certain percentage (such as 15% of the rated current of the steering oil pump motor), and after increasing the input current, the steering oil pump motor controller itself will enable restart so that the steering oil pump motor will restart according to the increased rated input current of 115%.

[0058] The motor's input current is the controller's output current. Controlling the motor to restart according to the increased input current means the controller outputs the increased current to the motor. Unlike sensorless motors and sensorless motors, sensorless motors can accurately obtain rotor position and speed information in real time through sensors (such as encoders or Hall effect elements). When encountering excessive resistance or load fluctuations, the sensorless motor's controller can immediately adjust the current and phase based on sensor feedback to directly match the rotor's actual position, thereby consistently providing optimal driving force. However, sensorless motors cannot directly obtain rotor position during startup and must instead estimate it using an angle self-learning algorithm. When encountering excessive resistance or transient load fluctuations, the output torque may not be adjusted in a timely manner, leading to insufficient driving force and resulting in startup failure of the sensorless motor. In this embodiment, increasing the sensorless motor's input current can increase its torque, thereby resolving the issue of excessive starting resistance.

[0059] In one embodiment shown, the method further includes: obtaining three-phase current and voltage data of the motor during operation after enabling restart; and determining the rotor motion position of the motor based on an angle self-learning algorithm according to the three-phase current and voltage data.

[0060] For example, after enabling and restarting, the steering pump motor controller acquires the three-phase current and voltage data of the steering pump motor during operation. The currents are 5A for phase A, -2.5A for phase B, and -2.5A for phase C. The corresponding line voltages are 12V between phases AB, 12V between phases BC, and 12V between phases CA. Based on this data, the steering pump motor controller uses a back-EMF estimation method as part of its angle self-learning algorithm to determine the rotor position of the steering pump motor. Specifically, the steering pump motor controller first processes the collected three-phase current and voltage data using a Kalman filter to remove noise interference and calculate the back-EMF. Then, based on a model of the relationship between back-EMF and rotor position, it infers the current exact position of the steering pump motor rotor.

[0061] Among them, in order to accurately estimate the rotor position of the position sensorless motor, the position sensorless motor controller usually adopts an angle self-learning algorithm. The angle self-learning algorithm calculates the angular position of the rotor based on the electrical signal (such as back electromotive force) generated when the motor is running through a mathematical model and filtering technology. In this embodiment, considering that when the angle self-learning algorithm is estimated inaccurately, it may also cause the position sensorless motor to fail to start, after the position sensorless motor controller is enabled and restarted, the angle self-learning will be re-performed to recalculate the rotor position of the position sensorless motor to solve the problem of inaccurate estimation of the angle self-learning algorithm of the position sensorless motor.

[0062] In one embodiment shown, the input current rating increased each time is equal to a first proportion of the rated input current, and the input current after each increase is no greater than the maximum safe input current of the motor.

[0063] For example, the steering oil pump motor controller will increase the input current of the steering oil pump motor at least once, each time increasing it by a certain percentage (such as 15% of the rated current of the steering oil pump motor). The input current after the first increase is 115% of the rated current of the steering oil pump motor, the input current after the second increase is 130% of the rated current of the steering oil pump motor, and the input current after the third increase is 145% of the rated current of the steering oil pump motor. The input current after each increase is not greater than the maximum safe input current of the steering oil pump motor, which is 175% of the rated current of the steering oil pump motor.

[0064] In this embodiment, the increased input current is no greater than the maximum safe input current of the motor, mainly to protect the motor from damage caused by sudden high current input.

[0065] The rated input current refers to the maximum current value at which the motor can operate continuously without damage under standard operating conditions. This is the basis for ensuring long-term stable operation based on the motor's design specifications. The maximum safe input current refers to the maximum current value the motor can withstand without overheating or other potential damage. In this embodiment, the steering oil pump motor's maximum safe input current is 175% of its rated input current, meaning it can withstand higher current loads for short periods without immediately failing. If this value is exceeded, the sensorless motor may be damaged, or the sensorless motor controller may report an overcurrent fault.

[0066] In one embodiment shown, after the motor is restarted according to the increased input current, the method further includes: if the stop condition is met, the input current of the motor is no longer increased; wherein, the stop condition is met, including at least one of the following: within a preset time length, the actual speed of the motor reaches a preset proportional threshold of its rated speed; the input current of the motor has reached the maximum safe input current of the motor; the number of times the input current of the motor has been increased has reached a preset number; wherein, the preset number is determined based on the rated input current, the maximum safe input current of the motor and the amount of input current increased each time.

[0067] For example, if the actual speed of the steering oil pump motor can reach half of its rated speed of 2000 rpm, that is, 1000 rpm, within 3 seconds, the steering oil pump motor can start normally, the stop condition is met, and the steering oil pump motor controller no longer increases the input current of the steering oil pump motor.

[0068] For example, if the input current of the steering oil pump motor has reached the maximum safe input current of the steering oil pump motor, that is, 175% of the rated current of the steering oil pump motor, the stop condition is met and the steering oil pump motor controller no longer increases the input current of the steering oil pump motor.

[0069] For example, if the steering oil pump motor's input current is increased by 20% of the motor's rated current each time, and the steering oil pump motor's maximum safe input current is 175% of the motor's rated current, then the steering oil pump motor's input current can be increased a maximum of three times to ensure safe operation. If the steering oil pump motor's input current has been increased three times, the stop condition is met, and the steering oil pump motor controller no longer increases the steering oil pump motor's input current.

[0070] To ensure the safe operation of the steering oil pump motor and prevent failures due to excessive input current, the steering oil pump motor controller monitors the steering oil pump motor's input current and the number of times it has been increased. If the steering oil pump motor's input current has reached the maximum safe input current, or if the steering oil pump motor's input current has been increased three times, the steering oil pump motor controller will stop increasing the current further to protect the steering oil pump motor from damage, even if the steering oil pump motor's actual speed has not reached a preset proportional threshold of the rated speed within a preset time. Furthermore, the steering oil pump motor controller continuously monitors the steering oil pump motor's actual speed. If it reaches a preset proportional threshold of the rated speed (e.g., 1000 rpm) within a preset time of three seconds, it indicates that the steering oil pump motor can start normally and there is no need to increase the steering oil pump motor's input current.

[0071] In one embodiment shown, the method further includes: when the stop condition is met, if the actual speed of the motor is still lower than a preset proportional threshold of its rated speed within a preset time period, stopping starting the motor and feeding back the fault information of the motor to a preset relevant party.

[0072] For example, when the conditions for stopping increasing the input current of the steering oil pump motor are met, if the actual speed of the steering oil pump motor is still lower than the preset proportional threshold of its rated speed (such as 1000 rpm) within the preset time of 3 seconds, it is determined that there is an irrecoverable fault in the steering oil pump motor, the steering oil pump motor is stopped and started, and the fault code and fault level of the steering oil pump motor are fed back to the vehicle controller.

[0073] Among them, if the actual speed of the steering oil pump motor is lower than the preset proportional threshold of its rated speed within a preset time of 3 seconds when the input current of the steering oil pump motor has not yet been stopped, there is no need to shut down the machine, and attempts can be continued. Each time a failure occurs, a fault code can be reported internally without reporting the fault level (the fault level can only be reported after the machine is shut down), thereby avoiding the inconvenience caused by shutdown maintenance. If the actual speed of the steering oil pump motor is still lower than the preset proportional threshold of its rated speed within a preset time of 3 seconds when the input current of the steering oil pump motor is stopped, the steering oil pump motor controller can feedback the fault code and fault level together to the preset relevant parties, such as the vehicle controller. The fault code is a digital code used to specifically identify the problem of motor starting failure; the fault level indicates the severity of the problem and guides subsequent treatment measures.

[0074] In one embodiment shown, in response to receiving a start enable signal for the motor, controlling the motor to start according to its rated input current includes: in response to receiving a start enable signal and a unified diagnostic service message for the motor, clearing fault information generated in a previous start-up process of the motor, and controlling the motor to start according to its rated input current after clearing is completed.

[0075] See Figure 3 , Figure 3 FIG. 1 is a flow chart showing another method for starting a vehicle motor controller according to an exemplary embodiment. Figure 3As shown, the onboard motor controller receives a start enable signal and a unified diagnostic service message for the motor, clears fault information generated during the previous motor startup, and controls the motor to start at its rated input current. The onboard motor controller then continuously monitors the motor's actual speed. If the motor's actual speed does not reach a preset proportional threshold of the rated speed within a preset time, it indicates that the motor cannot start normally and needs to increase the motor's input current at least once. After each increase in input current, the controller records the number of increases and enables the onboard motor controller to restart, restarting the motor at the increased input current. The controller also performs angle self-learning to calculate the motor's rotor position. If the motor's actual speed reaches the preset proportional threshold of the rated speed within a preset time, the motor can start normally and no further current increase is required. If the motor's current has been increased for the preset number of times, it indicates that the motor has an unrecoverable fault and no further current increase is required. The onboard motor controller directly controls the motor to shut down and reports the motor's fault information.

[0076] The unified diagnostic service message is a standardized diagnostic communication protocol used to clear fault information stored in the motor controller. This may involve clearing the fault codes and fault levels stored within the motor controller. Clearing fault information before the motor starts ensures that the motor controller can begin the new start-up process without interference from previous faults, thereby improving the success rate of the start-up and system reliability.

[0077] Fault information can help technicians quickly locate the problem, but it also needs to be analyzed in combination with the actual situation to locate the actual cause of the fault. For example, in a position sensorless motor, the angle self-learning algorithm estimates the position of the motor rotor by analyzing the electrical signals (such as back electromotive force or high-frequency signals) when the motor is running. If the angle self-learning algorithm fails to correctly calculate the rotor position, the three-phase current output by the controller will not be distributed according to the expected waveform and amplitude, resulting in current imbalance, such as one phase current is too high (ie: overcurrent), and one phase current is too low or even close to zero (ie: phase loss). Whether the specific fault information is overcurrent or phase loss depends on the design logic of the motor controller of different manufacturers.

[0078] In one embodiment shown, the method further includes: after feeding back the fault information, collecting curve graphs of the current and frequency output by the vehicle-mounted motor controller changing with time; and determining the fault type of the motor based on the respectively collected curve graphs of the current and frequency changing with time.

[0079] For example, after the steering oil pump motor controller feeds back fault information about the steering oil pump motor, graphs of the current and frequency output by the steering oil pump motor controller changing with time are collected. If the current output by the steering oil pump motor controller increases but the frequency output by the steering oil pump motor controller increases slowly, it is determined that the fault type of the steering oil pump motor is excessive starting resistance; if the frequency output by the steering oil pump motor controller is zero when the current output by the steering oil pump motor controller reaches the maximum limit, it is determined that the fault type of the steering oil pump motor is inaccurate angle self-learning.

[0080] The current versus time graph shows how the current output from the motor controller to the motor changes over time. By monitoring this graph, you can determine whether the motor is experiencing abnormal loads or control issues during startup or operation. For example, if the current continues to rise while the corresponding speed (frequency) increases slowly, this indicates that the motor may be encountering significant mechanical resistance during startup.

[0081] The frequency versus time graph shows how the frequency of the AC power generated by the motor controller changes over time. Frequency directly affects the motor speed. By observing how the frequency changes over time, you can determine whether the motor is accelerating to the target speed as expected. If the angle self-learning algorithm inaccurately calculates the rotor position, the motor will not start properly. Even if the controller provides sufficient current, the current may have reached the maximum limit. However, due to the inability to correctly identify the rotor position, the motor frequency (speed) will remain zero.

[0082] In this embodiment, the cause of the motor startup failure can be specifically located by collecting the curve graphs of the current and frequency changing with time, which facilitates the detection and maintenance of the motor status.

[0083] Corresponding to the above-mentioned embodiment of the method for starting a vehicle-mounted motor controller, the present disclosure also provides an embodiment of a device for starting a vehicle-mounted motor controller.

[0084] See Figure 4 , Figure 4This is a hardware structure diagram of an electronic device shown in an exemplary embodiment. At the hardware level, the device includes a processor 402, an internal bus 404, a network interface 406, a memory 408, and a non-volatile memory 410, and of course may also include other required hardware. One or more embodiments of the present disclosure can be implemented based on software, such as the processor 402 reading the corresponding computer program from the non-volatile memory 410 into the memory 408 and then running it. Of course, in addition to software implementation, one or more embodiments of the present disclosure do not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0085] See Figure 5 , Figure 5 FIG. 5 is a block diagram of a starting device for a vehicle-mounted motor controller according to an exemplary embodiment. The starting device 500 for a vehicle-mounted motor controller can be applied to Figure 4 The electronic device shown in the figure is used to implement the technical solution of the present disclosure. The motor is a vehicle-mounted position sensorless motor, and the device includes:

[0086] a control unit 502 for controlling the motor to start according to its rated input current in response to receiving a start enable signal for the motor;

[0087] The increasing unit 504 is used to increase the input current of the motor at least once if the actual speed of the motor is lower than the preset proportional threshold of its rated speed within a preset time period, and enable restart after each increase of the input current so that the motor restarts according to the increased input current.

[0088] In some embodiments, the apparatus further comprises:

[0089] an acquisition unit 506, configured to acquire three-phase current and voltage data of the motor when the motor is running after enabling restart;

[0090] The first determining unit 508 is configured to determine the rotor motion position of the motor based on the three-phase current and voltage data and an angle self-learning algorithm.

[0091] In some embodiments, the input current rating increased each time is equal to a first proportion of the rated input current, and the input current after each increase is no greater than the maximum safe input current of the motor.

[0092] In some embodiments, after restarting the motor according to the increased input current, the method further comprises:

[0093] If the stop condition is met, the input current of the motor is no longer increased;

[0094] The stopping condition includes at least one of the following:

[0095] The actual speed of the motor reaches a preset proportional threshold of its rated speed within a preset time period;

[0096] The input current of the motor has reached the maximum safe input current of the motor;

[0097] The number of times the input current of the motor is increased has reached a preset number; wherein the preset number is determined according to the rated input current, the maximum safe input current of the motor and the input current quota increased each time.

[0098] In some embodiments, the apparatus further comprises:

[0099] The stopping unit 510 is used to stop starting the motor and feed back the fault information of the motor to the preset relevant parties if the actual speed of the motor is still lower than the preset proportional threshold of its rated speed within the preset time period when the stopping condition is met.

[0100] In some embodiments, the control unit is specifically configured to:

[0101] In response to receiving a start-up enable signal and a unified diagnostic service message for the motor, the fault information generated in a previous start-up process of the motor is cleared, and after the clearing is completed, the motor is controlled to start according to its rated input current.

[0102] In some embodiments, the apparatus further comprises:

[0103] The acquisition unit 512 is configured to acquire a graph showing changes in the current and frequency output by the vehicle-mounted motor controller over time after the fault information is fed back;

[0104] The second determining unit 514 is configured to determine the fault type of the motor according to the respectively collected curve graphs of the current and frequency changing with time.

[0105] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0106] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial description of the method embodiments. The device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the disclosed solution. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0107] Corresponding to the embodiment of the method for enabling restarting of the vehicle-mounted motor controller described above, the present disclosure further provides a controller for a vehicle-mounted position sensorless motor, comprising:

[0108] processor;

[0109] a memory for storing processor-executable instructions;

[0110] The processor executes the above method by running the executable instructions.

[0111] Corresponding to the embodiment of the method for enabling restarting of the vehicle-mounted motor controller described above, the present disclosure further provides a vehicle equipped with a position sensorless motor and the controller described above.

[0112] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer, which may be in the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email transceiver, game console, tablet computer, wearable device, or any combination of these devices.

[0113] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0114] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0115] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0116] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0117] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0118] The foregoing description describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0119] The terms used in one or more embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of the present disclosure. The singular forms "a," "the," and "the" used in one or more embodiments of the present disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0120] It should be understood that although the terms first, second, third, etc. may be used to describe various information in one or more embodiments of the present disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0121] The above description is merely a preferred embodiment of one or more embodiments of the present disclosure and is not intended to limit one or more embodiments of the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present disclosure shall be included in the scope of protection of one or more embodiments of the present disclosure.

Claims

1. A method for starting a vehicle motor controller, characterized in that: The motor is a vehicle-mounted position sensorless motor, and the method includes: In response to receiving a start enable signal for the motor, controlling the motor to start according to its rated input current; If the actual speed of the motor is lower than a preset proportional threshold of its rated speed within a preset time period, the input current of the motor is increased at least once, and restart is enabled after each increase of the input current so that the motor restarts according to the increased input current.

2. The method according to claim 1, characterized in that The method further comprises: After enabling restart, obtaining three-phase current and voltage data of the motor when it is running; The rotor movement position of the motor is determined based on the three-phase current and voltage data and an angle self-learning algorithm.

3. The method according to claim 1, characterized in that The input current rating increased each time is equal to the first proportion of the rated input current, and the input current after each increase is no greater than the maximum safe input current of the motor.

4. The method according to claim 3, characterized in that After restarting the motor according to the increased input current, the method further includes: If the stop condition is met, the input current of the motor is no longer increased; The stopping condition includes at least one of the following: The actual speed of the motor reaches a preset proportional threshold of its rated speed within a preset time period; The input current of the motor has reached the maximum safe input current of the motor; The number of times the input current of the motor is increased has reached a preset number; wherein the preset number is determined according to the rated input current, the maximum safe input current of the motor and the input current quota increased each time.

5. The method according to claim 4, characterized in that The method further comprises: When the stop condition is met, if the actual speed of the motor is still lower than the preset proportional threshold of its rated speed within the preset time, the motor will be stopped and the fault information of the motor will be fed back to the preset relevant parties.

6. The method according to claim 5, characterized in that In response to receiving a start enable signal for the motor, controlling the motor to start according to its rated input current includes: In response to receiving a start-up enable signal and a unified diagnostic service message for the motor, the fault information generated in a previous start-up process of the motor is cleared, and after the clearing is completed, the motor is controlled to start according to its rated input current.

7. The method according to claim 5, characterized in that The method further comprises: After the fault information is fed back, a graph showing the current and frequency output by the vehicle-mounted motor controller changing with time is collected; The fault type of the motor is determined based on the respectively collected curve graphs of the current and frequency changing with time.

8. A starting device for a vehicle-mounted motor controller, characterized in that: The motor is a vehicle-mounted position sensorless motor, and the device comprises: a control unit, configured to control the motor to start according to its rated input current in response to receiving a start enable signal for the motor; An increasing unit is used to increase the input current of the motor at least once if the actual speed of the motor is lower than a preset proportional threshold of its rated speed within a preset time period, and to enable restart after each increase of the input current so that the motor restarts according to the increased input current.

9. A controller for a vehicle-mounted position sensorless motor, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor implements the steps of the method according to any one of claims 1 to 7 by running the executable instructions.

10. A vehicle equipped with a position sensorless motor and the controller according to claim 9.

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