Motor control device and method, steer-by-wire system and vehicle

Abstract

The invention relates to a motor control device and method, a steer-by-wire system and a vehicle, and the device comprises a three-phase bridge arm which is used for driving a steering motor to rotate; the first buffer module is used for closing the first buffer switch module when surge voltage or surge current occurs in the U phase of the steering motor so as to release the surge voltage or surge current on the U phase of the steering motor; the second buffer module is used for closing the second buffer switch module when surge voltage or surge current occurs in the V phase of the steering motor so as to release the surge voltage or surge current on the V phase of the steering motor; the third buffer switch module is used for closing the third buffer switch module when surge voltage or surge current occurs in the W phase of the steering motor so as to release the surge voltage or surge current on the W phase of the steering motor; the stability of the steer-by-wire system and the accuracy of road feeling can be enhanced; and the vehicle driving experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle steer-by-wire control, in particular to a motor control device, method, steer-by-wire system and vehicle. BACKGROUND

[0002] At present, the steer-by-wire system (SBW) is a new generation of steering system based on the EPS system, which completely gets rid of the traditional hydraulic steering structure dependent on mechanical structure, realizes mechanical decoupling between the steering wheel and the steering wheel, and is more portable, energy-saving, clean, safe and space-saving.

[0003] The steer-by-wire system is divided into a hand feel unit (HWA) and a lower steering actuator (RWA), the hand feel unit provides road feel feedback to the driver based on road feel information, the RWA executes the steering demand task of the driver, and the road feel simulation accuracy of the hand feel unit affects the driver's perception of road feel and the driving safety of the vehicle.

[0004] The road feel simulation of the hand feel unit produces a nonlinear surge noise voltage on the phase line of the motor during the freewheeling of the upper and lower bridge MOS tubes in the process of full-bridge inverter control switch switching, resulting in nonlinear distortion of the control voltage signal of the motor, the road feel simulation in the small current control state has a greater influence, and the expected hand feel simulation is not consistent, and the hand feel unit abnormally vibrates. SUMMARY

[0005] In order to solve the technical problems of the nonlinear distortion of the control voltage signal of the motor, the abnormal vibration of the hand feel unit and the like in the prior art, the present application provides a motor control device, method, steer-by-wire system and vehicle.

[0006] The technical solution of the present application to solve the above technical problems is as follows: A motor control device, comprising: a three-phase bridge arm connected to a U phase, a V phase and a W phase of a steering motor respectively, for driving the steering motor to rotate; a first buffer module connected to the U phase of the steering motor through a first buffer switch module, for closing the first buffer switch module when a surge voltage or a surge current occurs in the U phase of the steering motor, to release the surge voltage or the surge current on the U phase of the steering motor; a second buffer module connected to the V phase of the steering motor through a second buffer switch module, for closing the second buffer switch module when a surge voltage or a surge current occurs in the V phase of the steering motor, to release the surge voltage or the surge current on the V phase of the steering motor; The third buffer module is connected with the W phase of the steering motor through a third buffer switch module, and is used for closing the third buffer switch module to release the inrush voltage or inrush current on the W phase of the steering motor when the inrush voltage or inrush current occurs on the W phase of the steering motor.

[0007] The application has the beneficial effects that: by releasing the inrush voltage or inrush current of each phase of the steering motor, the abnormal vibration problem of the hand feeling unit under the small current driving control can be effectively improved; the stability and road feeling accuracy of the steer-by-wire system are enhanced; and the driving experience of the vehicle is improved.

[0008] Based on the above technical solution, the application can be further improved as follows.

[0009] Further, the first buffer module, the second buffer module and the third buffer module are RC series circuits.

[0010] Further, the application further comprises: The phase line switch control module is used for outputting a first switch control signal, a second switch control signal and a third switch control signal. The first phase line switch module is connected with the three-phase bridge arm, the phase line switch control module and the steering motor, and is used for turning on or turning off the electrical connection between the three-phase bridge arm and the U phase of the steering motor under the control of the first switch control signal. The second phase line switch module is connected with the three-phase bridge arm, the phase line switch control module and the steering motor, and is used for turning on or turning off the electrical connection between the three-phase bridge arm and the V phase of the steering motor under the control of the second switch control signal. The third phase line switch module is connected with the three-phase bridge arm, the phase line switch control module and the steering motor, and is used for turning on or turning off the electrical connection between the three-phase bridge arm and the W phase of the steering motor under the control of the third switch control signal.

[0011] Further, the application further comprises: The pre-driving module is connected with the three-phase bridge arm, and is used for outputting a bridge arm switch control signal and a bridge arm driving control signal, so that the three-phase bridge arm drives the steering motor to rotate under the control of the bridge arm driving control signal. The bridge arm switch module is connected with the three-phase bridge arm and the pre-driving module, and is used for turning on or turning off the driving function of the three-phase bridge arm under the control of the bridge arm switch control signal; when the driving function of the three-phase bridge arm is turned on, the three-phase bridge arm drives the steering motor to rotate under the control of the bridge arm driving control signal; when the driving function of the three-phase bridge arm is turned off, the three-phase bridge arm cannot drive the steering motor to rotate.

[0012] Further comprising: The main control module is connected with the pre-driving module, and is configured to receive a steering wheel torque signal and an angle signal of the vehicle, and output a rotation control signal according to the steering wheel torque signal and the angle signal of the vehicle. The pre-driving module is specifically configured to output the bridge arm switch control signal and the bridge arm driving control signal according to the rotation control signal.

[0013] Further comprising: The first voltage acquisition module is connected with the U phase of the steering motor, and is configured to acquire a surge voltage on the U phase of the steering motor to obtain a first surge voltage. The second voltage acquisition module is connected with the V phase of the steering motor, and is configured to acquire a surge voltage on the V phase of the steering motor to obtain a second surge voltage. The third voltage acquisition module is connected with the W phase of the steering motor, and is configured to acquire a surge voltage on the W phase of the steering motor to obtain a third surge voltage. The main control module is connected with the first voltage acquisition module, the second voltage acquisition module and the third voltage acquisition module respectively, and the main control module is further configured to perform analog-to-digital conversion on the first surge voltage, the second surge voltage and the third surge voltage respectively to obtain first surge voltage data, second surge voltage data and third surge voltage data, and store the first surge voltage data, the second surge voltage data and the third surge voltage data.

[0014] Further comprising: The magnetic field orientation control module is connected with the main control module and the steering motor, and is configured to calculate a motor compensation voltage according to the first surge voltage data, the second surge voltage data and the third surge voltage data, and perform voltage compensation on the steering motor according to the motor compensation voltage.

[0015] In order to solve the above technical problems, the application further provides a motor control method, and the specific technical content is as follows: A motor control method applied to the motor control device, comprising the following steps: When a surge voltage or a surge current occurs in the U phase of the steering motor, the first buffer switch module is closed to release the surge voltage or the surge current on the U phase of the steering motor. When a surge voltage or a surge current occurs in the V phase of the steering motor, the second buffer switch module is closed to release the surge voltage or the surge current on the V phase of the steering motor. When a surge voltage or a surge current occurs in the W phase of the steering motor, the third buffer switch module is closed to release the surge voltage or the surge current on the W phase of the steering motor.

[0016] To address the aforementioned technical problems, the present invention also provides a steer-by-wire system, the specific technical details of which are as follows: A steer-by-wire system includes a steering motor for controlling the steering of a vehicle, the steering motor being controlled by the aforementioned motor control device.

[0017] To address the aforementioned technical problems, the present invention also provides a vehicle, the specific technical content of which is as follows: A vehicle includes the aforementioned motor control device, which controls the vehicle's steering motor to achieve vehicle steering control. Attached Figure Description

[0018] Figure 1 This is a structural block diagram of a motor control device according to an embodiment of the present invention; Figure 2 This is the circuit diagram of the three-phase bridge arm in an embodiment of the present invention; Figure 3 This is a circuit diagram of the first buffer module, the second buffer module, and the third buffer module in an embodiment of the present invention.

[0019] The attached diagram lists the components represented by each number as follows: 1. First buffer switch module; 2. Second buffer switch module; 3. Third buffer switch module; 4. First buffer module; 5. Second buffer module; 6. Third buffer module; 7. First phase line switch module; 8. Second phase line switch module; 9. Third phase line switch module; 10. Phase line switch control module; 11. Three-phase bridge arm; 12. Bridge arm switch module; 13. Pre-drive module; 14. Main control module; 15. First voltage acquisition module; 16. Second voltage acquisition module; 17. Third voltage acquisition module; 18. Magnetic field guidance control module. Detailed Implementation

[0020] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0021] like Figure 1 As shown, this embodiment provides a motor control device, including: The three-phase bridge arm 11 is connected to the U phase, V phase and W phase of the steering motor M respectively, and is used to drive the steering motor M to rotate. The first buffer module 4 is connected to the U phase of the steering motor M through the first buffer switch module 1. When a surge voltage or surge current occurs on the U phase of the steering motor M, the first buffer switch module 1 is closed to release the surge voltage or surge current on the U phase of the steering motor M. The second buffer module 5 is connected with the V phase of the steering motor M through the second buffer switch module 2, and is used for closing the second buffer switch module 2 to release the surge voltage or surge current on the V phase of the steering motor M when the surge voltage or surge current occurs on the V phase of the steering motor M. The third buffer module 6 is connected with the W phase of the steering motor M through the third buffer switch module 3, and is used for closing the third buffer switch module 3 to release the surge voltage or surge current on the W phase of the steering motor M when the surge voltage or surge current occurs on the W phase of the steering motor M.

[0022] The first buffer module 4, the second buffer module 5 and the third buffer module 6 are RC series circuits.

[0023] The embodiment of the present application can effectively improve the abnormal vibration problem of the hand feeling unit under the small current driving control by releasing the surge voltage or surge current of each phase of the steering motor M, can enhance the stability and road feeling accuracy of the drive-by-wire steering system, and can improve the driving experience of the vehicle.

[0024] In some embodiments, the motor control device further comprises: The phase line switch control module 10 is used for outputting a first switch control signal, a second switch control signal and a third switch control signal. The first phase line switch module 7 is connected with the three-phase bridge arm 11, the phase line switch control module 10 and the steering motor M, and is used for turning on or turning off the electrical connection between the three-phase bridge arm 11 and the U phase of the steering motor M under the control of the first switch control signal. The second phase line switch module 8 is connected with the three-phase bridge arm 11, the phase line switch control module 10 and the steering motor M, and is used for turning on or turning off the electrical connection between the three-phase bridge arm 11 and the V phase of the steering motor M under the control of the second switch control signal. The third phase line switch module 9 is connected with the three-phase bridge arm 11, the phase line switch control module 10 and the steering motor M, and is used for turning on or turning off the electrical connection between the three-phase bridge arm 11 and the W phase of the steering motor M under the control of the third switch control signal. The pre-driving module 13 is connected with the three-phase bridge arm 11, and is used for outputting a bridge arm switch control signal and a bridge arm driving control signal, so that the three-phase bridge arm 11 drives the steering motor M to rotate under the control of the bridge arm driving control signal. The bridge arm switch module 12 is connected with the three-phase bridge arm 11 and the pre-drive module 13, and is used for opening or closing the driving function of the three-phase bridge arm 11 under the control of the bridge arm switch control signal; when the driving function of the three-phase bridge arm 11 is opened, the three-phase bridge arm 11 drives the steering motor M to rotate under the control of the bridge arm driving control signal; when the driving function of the three-phase bridge arm 11 is closed, the three-phase bridge arm 11 cannot drive the steering motor M to rotate.

[0025] The main control module 14 is connected with the pre-drive module 13, and is used for receiving the steering wheel torque signal and the steering wheel angle signal, and outputting the rotation control signal according to the steering wheel torque signal and the steering wheel angle signal. The pre-drive module 13 is specifically used for outputting the bridge arm switch control signal and the bridge arm driving control signal according to the rotation control signal.

[0026] The first voltage acquisition module 15 is connected with the U phase of the steering motor M, and is used for acquiring the inrush voltage on the U phase of the steering motor M to obtain the first inrush voltage. The second voltage acquisition module 16 is connected with the V phase of the steering motor M, and is used for acquiring the inrush voltage on the V phase of the steering motor M to obtain the second inrush voltage. The third voltage acquisition module 17 is connected with the W phase of the steering motor M, and is used for acquiring the inrush voltage on the W phase of the steering motor M to obtain the third inrush voltage. The main control module 14 is connected with the first voltage acquisition module 15, the second voltage acquisition module 16 and the third voltage acquisition module 17 respectively, and the main control module 14 is further used for respectively performing analog-to-digital conversion on the first inrush voltage, the second inrush voltage and the third inrush voltage to obtain the first inrush voltage data, the second inrush voltage data and the third inrush voltage data, and storing the first inrush voltage data, the second inrush voltage data and the third inrush voltage data.

[0027] The magnetic field orientation control module 18 is connected with the main control module 14 and the steering motor M, and is used for calculating the motor compensation voltage according to the first inrush voltage data, the second inrush voltage data and the third inrush voltage data, and performing voltage compensation on the steering motor M according to the motor compensation voltage.

[0028] As shown in FIG. 1, Figure 2 In some embodiments, the bridge arm switch module 12 includes a switch tube NM0, the three-phase bridge arm 11 includes a first MOS tube NM1, a second MOS tube NM2, a third MOS tube NM3, a fourth MOS tube NM4, a fifth MOS tube NM5, a sixth MOS tube NM6, a first resistor R1, a second resistor R2 and a third resistor R3.

[0029] The source of the switch tube NM0 is connected to the power supply voltage VBAT, the gate of the switch tube NM0 is connected to the pre-driving module 13, and the drain of the switch tube NM0 is connected to the source of the first MOS tube NM1, the source of the third MOS tube NM3 and the source of the fifth MOS tube NM5 respectively; the drain of the first MOS tube NM1 is connected to the source of the second MOS tube NM2, the drain of the second MOS tube NM2 is connected to one end of the first resistor R1, and the other end of the first resistor R1 is grounded. The drain of the third MOS tube NM3 is connected to the source of the fourth MOS tube NM4, the drain of the fourth MOS tube NM4 is connected to one end of the second resistor R2, and the other end of the second resistor R2 is grounded. The drain of the fifth MOS tube NM5 is connected to the source of the sixth MOS tube NM6, the drain of the sixth MOS tube NM6 is connected to one end of the third resistor R3, and the other end of the third resistor R3 is grounded; the drain of the first MOS tube NM1 is connected to the U phase of the steering motor M, the drain of the third MOS tube NM3 is connected to the V phase of the steering motor M, and the drain of the fifth MOS tube NM5 is connected to the W phase of the steering motor M. The pre-driving module 13 is connected to the two ends of the first resistor R1, the two ends of the second resistor R2 and the two ends of the third resistor R3 respectively, and is used for collecting the voltage across the first resistor R1, the voltage across the second resistor R2 and the voltage across the third resistor R3.

[0030] In some embodiments, the first voltage collecting module 15 includes an eleventh resistor R11 and a twelfth resistor R12, one end of the eleventh resistor R11 is connected to the U phase of the steering motor M, the other end of the eleventh resistor R11 is connected to one end of the twelfth resistor R12, the other end of the twelfth resistor R12 is grounded, and one end of the twelfth resistor R12 is connected to the main control module 14.

[0031] The second voltage collecting module 16 includes a ninth resistor R9 and a tenth resistor R10, one end of the ninth resistor R9 is connected to the V phase of the steering motor M, the other end of the ninth resistor R9 is connected to one end of the tenth resistor R10, the other end of the tenth resistor R10 is grounded, and one end of the tenth resistor R10 is connected to the main control module 14.

[0032] The third voltage collecting module 17 includes a seventh resistor R7 and an eighth resistor R8, one end of the seventh resistor R7 is connected to the W phase of the steering motor M, the other end of the seventh resistor R7 is connected to one end of the eighth resistor R8, the other end of the eighth resistor R8 is grounded, and one end of the eighth resistor R8 is connected to the main control module 14.

[0033] As Figure 3As shown, the first phase line switch module 7 includes a seventh MOS tube NM7, the drain of the seventh MOS tube NM7 is connected to the drain of the first MOS tube NM1, and the source of the seventh MOS tube NM7 is connected to the U phase of the steering motor M. The second phase line switch module 8 includes an eighth MOS tube NM8, the drain of the eighth MOS tube NM8 is connected to the drain of the third MOS tube NM3, and the source of the eighth MOS tube NM8 is connected to the V phase of the steering motor M.

[0034] The third phase line switch module 9 includes a ninth MOS tube NM9, the drain of the ninth MOS tube NM9 is connected to the drain of the fifth MOS tube NM5, and the source of the ninth MOS tube NM9 is connected to the W phase of the steering motor M. The phase line switch control module 10 is connected to the gate of the seventh MOS tube NM7, the gate of the eighth MOS tube NM8, and the gate of the ninth MOS tube NM9, respectively.

[0035] The first buffer switch module 1 includes a first electrically controlled switch K1, the second buffer switch module 2 includes a second electrically controlled switch K2, and the third buffer switch module 3 includes a third electrically controlled switch K3; the first buffer module 4 includes a fourth resistor R4 and a first capacitor C1, the second buffer module 5 includes a fifth resistor R5 and a second capacitor C2, and the third buffer module 6 includes a sixth resistor R6 and a third capacitor C3.

[0036] One end of the first electrically controlled switch K1 is connected to the drain of the first MOS tube NM1, the other end of the first electrically controlled switch K1 is connected to one end of the fourth resistor R4, the other end of the fourth resistor R4 is connected to one end of the first capacitor C1, the other end of the first capacitor C1 is grounded, and the controlled end of the first electrically controlled switch K1 is connected to the master control module 14.

[0037] One end of the second electrically controlled switch K2 is connected to the drain of the third MOS tube NM3, the other end of the second electrically controlled switch K2 is connected to one end of the fifth resistor R5, the other end of the fifth resistor R5 is connected to one end of the second capacitor C2, the other end of the second capacitor C2 is grounded, and the controlled end of the second electrically controlled switch K2 is connected to the master control module 14.

[0038] One end of the third electrically controlled switch K3 is connected to the source of the ninth MOS tube NM9, the other end of the third electrically controlled switch K3 is connected to one end of the sixth resistor R6, the other end of the sixth resistor R6 is connected to one end of the third capacitor C3, the other end of the third capacitor C3 is grounded, and the controlled end of the third electrically controlled switch K3 is connected to the master control module 14.

[0039] When the lower bridge MOS diode of the three-phase bridge arm 11 is used as a freewheeling circuit: When the fourth MOS NM4 and the sixth MOS NM6 are opened, the second MOS NM2, the third MOS NM3, the fifth MOS NM5 are closed, and the first MOS NM1 is switched from on to off, at this time, the first electric control switch K1 is opened, the circuit R4 and the first capacitor C1 absorb the switching surge noise of the U phase, when the first MOS NM1 is switched from off to on, at this time, the main control chip controls the first electric control switch K1 to be disconnected through the control 4 control signal, the switching surge noise is absorbed and closed, and the power consumption of the phase line charging and discharging process is reduced.

[0040] When the second MOS NM2 and the sixth MOS NM6 are opened, the first MOS NM1, the fourth MOS NM4, the fifth MOS NM5 are closed, and the third MOS NM3 is switched from on to off, at this time, the second electric control switch K2 is opened, the circuit R5 and the second capacitor C2 absorb the switching surge noise of the V phase, when the third MOS NM3 is switched from off to on, at this time, the main control chip controls the second electric control switch K2 to be disconnected through the control 5 control signal, the switching surge noise is absorbed and closed, and the power consumption of the phase line charging and discharging process is reduced.

[0041] When the second MOS NM2 and the fourth MOS NM4 are opened, the first MOS NM1, the third MOS NM3, the sixth MOS NM6 are closed, and the fifth MOS NM5 is switched from on to off, at this time, the third electric control switch K3 is opened, the circuit R6 and the third capacitor C3 absorb the switching surge noise of the W phase, when the fifth MOS NM5 is switched from off to on, at this time, the main control chip controls the third electric control switch K3 to be disconnected through the control 6 control signal, the switching surge noise is absorbed and closed, and the power consumption of the phase line charging and discharging process is reduced.

[0042] When the upper bridge MOS diode of the three-phase bridge arm 11 is used as a freewheeling circuit: When the first MOS NM1 is opened, the second MOS NM2, the third MOS NM3, the fifth MOS NM5 are closed, and the fourth MOS NM4 and the sixth MOS NM6 are switched from on to off, at this time, the second electric control switch K2 and the third electric control switch K3 are opened, the fifth resistor R5 and the second capacitor C2, R6 and the third capacitor C3 absorb the switching surge noise of the V and W phases, when the fourth MOS NM4 and the sixth MOS NM6 are switched from off to on, at this time, the main control chip controls the second electric control switch K2 and the third electric control switch K3 to be disconnected through the control 5 control signal and the control 6 control signal, the switching surge noise is absorbed and closed, and the power consumption of the phase line charging and discharging process is reduced.

[0043] When the third MOS NM3 is opened, the first MOS NM1, the fourth MOS NM4, the fifth MOS NM5 are closed, and the second MOS NM2 and the sixth MOS NM6 are switched from open to closed, at this time, the first electric control switch K1 and the third electric control switch K3 are opened, and the circuit R4 and the first capacitor C1, the sixth resistor R6 and the third capacitor C3 absorb the switching surge noise of U and W phases. When the second MOS NM2 and the sixth MOS NM6 are switched from closed to open, at this time, the first electric control switch K1 and the third electric control switch K3 are controlled to be disconnected by the control chip through the control signals cotrol4 and cotrol6, the switching surge noise is absorbed and closed, and the power consumption of the phase line charging and discharging process is reduced.

[0044] When the fifth MOS NM5 is opened, the first MOS NM1, the third MOS NM3, the sixth MOS NM6 are closed, and the second MOS NM2 and the fourth MOS NM4 are switched from open to closed, at this time, the first electric control switch K1 and the second electric control switch K2 are opened, and the circuit R4 and the first capacitor C1, the fifth resistor R5 and the second capacitor C2 absorb the switching surge noise of U and V phases. When the second MOS NM2 and the fourth MOS NM4 are switched from closed to open, at this time, the first electric control switch K1 and the second electric control switch K2 are controlled to be disconnected by the control chip through the control signals cotrol4 and cotrol5, the switching surge noise is absorbed and closed, and the power consumption of the phase line charging and discharging process is reduced.

[0045] In some other embodiments, in order to prevent the above improvement scheme from not achieving the expected effect, the seventh resistor R7, the eighth resistor R8, the ninth resistor R9, the tenth resistor R10, the eleventh resistor R11 and the twelfth resistor R12 are added to the ADC acquisition voltage division circuit. The surge voltage during the switching process is collected under the condition that the current control is less than 3A, and the collection method is as follows: Current driving condition: linearly increase from 0.1A to 3A; Voltage acquisition: collect the average switching surge voltage under each current driving condition: the voltage calculation formula is as follows: AD0=U*R8 / (R7+R8); AD1=V*R10(R9+R10); AD2=W*R12(R11+R12); Wherein, AD0 represents the voltage output by the first voltage acquisition module 15, AD1 represents the voltage output by the second voltage acquisition module 16, AD3 represents the voltage output by the third voltage acquisition module 17, U represents the switching surge voltage on the U phase of the steering motor M during the switching process, V represents the switching surge voltage on the V phase of the steering motor M during the switching process, and W represents the switching surge voltage on the W phase of the steering motor M during the switching process; R7 represents the resistance value of the seventh resistor R7, R8 represents the resistance value of the eighth resistor R8, R9 represents the resistance value of the ninth resistor R9, R10 represents the resistance value of the tenth resistor R10, R11 represents the resistance value of the eleventh resistor R11, and R12 represents the resistance value of the twelfth resistor R12.

[0046] The voltage acquisition values are input to the ADC module of the main control module 14 for conversion and storage, and the effective voltage controlled by the magnetic field orientation control module 18 in the small current control mode is adjusted by using the lookup table method for calibration and adjustment. The calculation formula of the output voltage of the calibrated steering motor is as follows: U_Motor=U0+a*AD0+b*AD1+c*AD2; Wherein U0 is the effective output voltage of the uncalibrated steering motor M, (a*AD0+b*AD1+c*AD2) is the compensation voltage output by the steering motor, and U_Motor is the calibrated output voltage. a, b, and c are respectively the first compensation coefficient, the second compensation coefficient, and the third compensation coefficient.

[0047] Through the above specific embodiments, the abnormal jitter problem of the steer-by-wire system SBW hand feeling unit in the small current control state is solved, and the standby current exceeding the specification problem caused by the charging and discharging of the buffer module in the standby state is prevented. At the same time, the effective output voltage of the motor is calibrated, further improving the non-linear problem of the motor control output voltage, and realizing smooth and comfortable hand feeling simulation.

[0048] In some other embodiments, a motor control method is also provided, which is applied to the above motor control device and includes the following steps: When a surge voltage or a surge current occurs on the U phase of the steering motor M, the first buffer switch module 1 is closed to release the surge voltage or the surge current on the U phase of the steering motor M; When a surge voltage or a surge current occurs on the V phase of the steering motor M, the second buffer switch module 2 is closed to release the surge voltage or the surge current on the V phase of the steering motor M; When a surge voltage or a surge current occurs on the W phase of the steering motor M, the third buffer switch module 3 is closed to release the surge voltage or the surge current on the W phase of the steering motor M.

[0049] In some other embodiments, there is also provided a steer-by-wire system comprising a steering motor M for controlling steering of a vehicle, the steering motor M being controlled by the above motor control device.

[0050] In some other embodiments, there is also provided a vehicle comprising the above motor control device for controlling a steering motor M of the vehicle to achieve steering control of the vehicle.

[0051] The above merely provides the preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A motor control device, characterized in that, include: The three-phase bridge arm (11) is connected to the U phase, V phase and W phase of the steering motor (M) respectively, and is used to drive the steering motor (M) to rotate; The first buffer module (4) is connected to the U phase of the steering motor (M) through the first buffer switch module (1). It is used to close the first buffer switch module (1) when a surge voltage or surge current occurs on the U phase of the steering motor (M) to release the surge voltage or surge current on the U phase of the steering motor (M). The second buffer module (5) is connected to the V phase of the steering motor (M) through the second buffer switch module (2). It is used to close the second buffer switch module (2) when a surge voltage or surge current occurs on the V phase of the steering motor (M) to release the surge voltage or surge current on the V phase of the steering motor (M). The third buffer module (6) is connected to the W phase of the steering motor (M) through the third buffer switch module (3). When a surge voltage or surge current occurs in the W phase of the steering motor (M), the third buffer switch module (3) is closed to release the surge voltage or surge current on the W phase of the steering motor (M).

2. The motor control device according to claim 1, characterized in that, The first buffer module (4), the second buffer module (5) and the third buffer module (6) are all RC series circuits.

3. The motor control device according to claim 1, characterized in that, Also includes: The phase line switch control module (10) is used to output the first switch control signal, the second switch control signal and the third switch control signal; The first phase line switch module (7) is connected to the three-phase bridge arm (11), the phase line switch control module (10) and the steering motor (M), and is used to connect or disconnect the electrical connection between the three-phase bridge arm (11) and the U phase of the steering motor (M) under the control of the first switch control signal. The second phase line switch module (8) is connected to the three-phase bridge arm (11), the phase line switch control module (10), and the steering motor (M), and is used to connect or disconnect the electrical connection between the three-phase bridge arm (11) and the V phase of the steering motor (M) under the control of the second switch control signal. The third phase line switch module (9) connects the three-phase bridge arm (11), the phase line switch control module (10), and the steering motor (M), and is used to connect or disconnect the electrical connection between the three-phase bridge arm (11) and the W phase of the steering motor (M) under the control of the third switch control signal.

4. The motor control device according to claim 1, characterized in that, Also includes: The pre-drive module (13) is connected to the three-phase bridge arm (11) and is used to output bridge arm switch control signal and bridge arm drive control signal so that the three-phase bridge arm (11) drives the steering motor (M) to rotate under the control of the bridge arm drive control signal. The bridge arm switch module (12) is connected to the three-phase bridge arm (11) and the pre-drive module (13), and is used to turn on or off the drive function of the three-phase bridge arm (11) under the control of the bridge arm switch control signal; wherein, when the drive function of the three-phase bridge arm (11) is turned on, the three-phase bridge arm (11) drives the steering motor (M) to rotate under the control of the bridge arm drive control signal; when the drive function of the three-phase bridge arm (11) is turned off, the three-phase bridge arm (11) cannot drive the steering motor (M) to rotate.

5. The motor control device according to claim 4, characterized in that, Also includes: The main control module (14) is connected to the pre-drive module (13) and is used to receive the torque signal and angle signal of the car steering wheel, and output the rotation control signal according to the torque signal and angle signal of the car steering wheel; The pre-drive module (13) is specifically used to output the arm switch control signal and the arm drive control signal according to the rotation control signal.

6. The motor control device according to claim 5, characterized in that, Also includes: The first voltage acquisition module (15) is connected to the U phase of the steering motor (M) and is used to acquire the surge voltage on the U phase of the steering motor (M) to obtain the first surge voltage. The second voltage acquisition module (16) is connected to the V phase of the steering motor (M) and is used to acquire the surge voltage on the V phase of the steering motor (M) to obtain the second surge voltage. The third voltage acquisition module (17) is connected to the W phase of the steering motor (M) and is used to acquire the surge voltage on the W phase of the steering motor (M) to obtain the third surge voltage. The main control module (14) is connected to the first voltage acquisition module (15), the second voltage acquisition module (16) and the third voltage acquisition module (17) respectively. The main control module (14) is also used to perform analog-to-digital conversion on the first surge voltage, the second surge voltage and the third surge voltage to obtain the first surge voltage data, the second surge voltage data and the third surge voltage data respectively; and to store the first surge voltage data, the second surge voltage data and the third surge voltage data.

7. The motor control device according to claim 6, characterized in that, Also includes: The magnetic field guidance control module (18) is connected to the main control module (14) and the steering motor (M). It is used to calculate the motor compensation voltage based on the first surge voltage data, the second surge voltage data and the third surge voltage data, and to perform voltage compensation on the steering motor (M) based on the motor compensation voltage.

8. A motor control method, characterized in that, The method applied to the motor control device as described in any one of claims 1 to 7 includes the following steps: When a surge voltage or surge current occurs on the U phase of the steering motor (M), the first buffer switch module (1) is closed to release the surge voltage or surge current on the U phase of the steering motor (M); When a surge voltage or surge current occurs on the V phase of the steering motor (M), the second buffer switch module (2) is closed to release the surge voltage or surge current on the V phase of the steering motor (M); When a surge voltage or surge current occurs on the W phase of the steering motor (M), the third buffer switch module (3) is closed to release the surge voltage or surge current on the W phase of the steering motor (M).

9. A steer-by-wire system, characterized in that, Includes a steering motor (M) for controlling the steering of a vehicle, said steering motor (M) being controlled by a motor control device as described in any one of claims 1 to 7.

10. A vehicle, characterized in that, Includes the motor control device as described in any one of claims 1 to 7, the motor control device being used to control the vehicle's steering motor (M) to achieve vehicle steering control.

Images