Motor controller active short circuit method and device, storage medium and program product

Abstract

The invention discloses an active short-circuit method and device for a motor controller, a storage medium and a program product, and relates to the technical field of motor control, and the method comprises the steps: monitoring the real-time voltage of a controller capacitor in the motor controller when it is detected that the motor controller needs to execute an active short-circuit task; determining a duty ratio limit value of a controller driving bridge arm in the motor controller according to the real-time voltage; and the duty ratio set value of the controller driving bridge arm is adjusted in real time based on the duty ratio limit value, so that the controller driving bridge arm is short-circuited based on the duty ratio set value adjusted in real time. According to the invention, aiming at the problem that the feedback current impacts and depends on the failure signal in the existing gradual change type ASC strategy, the impact of the three-phase current is avoided, the feedback power is effectively limited, and the stability and reliability of the motor controller under the working conditions of connection and disconnection of the direct-current relay are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a motor controller active short circuit method, device, storage medium and program product. BACKGROUND

[0002] When the synchronous motor controller encounters a serious fault and the motor operates at a high speed with a large back electromotive force, the motor three-phase ASC (Active Short Circuit) needs to be executed to make the motor system enter a safe state to avoid damage to the motor controller and the power supply caused by the high back electromotive force voltage. Currently, the controller executes the three-phase ASC by controlling the upper bridge short circuit and the lower bridge open circuit of the three-phase drive bridge arm or the lower bridge short circuit and the upper bridge open circuit, but direct execution of the motor three-phase ASC generally causes a large current impact, which may cause overcurrent damage to the motor controller or risk of motor demagnetization.

[0003] Therefore, the motor controller currently adopts a gradual ASC strategy, and the duty cycle of the drive bridge arm gradually transitions from non-full opening to full opening, thereby effectively reducing the impact of three-phase current, but this strategy generates a DC bus feedback current, which can be absorbed by the power supply battery when the DC relay is attracted. Therefore, it is also necessary to consider relevant restrictions on the feedback power corresponding to the feedback current. The disclosed scheme generally calculates relevant restriction parameters through battery voltage, motor speed and other information, and the calculation process is relatively complex, and among them, the battery voltage is generally obtained through communication, and communication abnormalities or motor speed abnormalities are generally the cause of the execution of the ASC by the motor controller, that is, these information has a high failure rate.

[0004] Therefore, how to accurately limit the feedback power when adopting the gradual ASC strategy is a problem that needs to be solved at present. SUMMARY

[0005] The main purpose of the present application is to provide a motor controller active short circuit method, which aims to solve the technical problem of how to accurately limit the feedback power when adopting the gradual ASC strategy.

[0006] To achieve the above-mentioned purpose, the present application provides a motor controller active short circuit method, which comprises:

[0007] In the case where it is detected that the motor controller needs to execute an active short circuit task, the real-time voltage of a controller capacitor in the motor controller is monitored;

[0008] The duty cycle limit value of a controller drive bridge arm in the motor controller is determined according to the real-time voltage;

[0009] adjusting a duty cycle setting value of the controller driving bridge arm in real time based on the duty cycle limit value, to short-circuit the controller driving bridge arm based on the duty cycle setting value adjusted in real time.

[0010] In an embodiment, the step of determining the duty cycle limit value of the controller driving bridge arm in the motor controller according to the real-time voltage comprises:

[0011] comparing the real-time voltage with a preset limit voltage range to obtain a numerical relationship between the real-time voltage and the limit voltage range;

[0012] determining the duty cycle limit value of the controller driving bridge arm in the motor controller according to the numerical relationship.

[0013] In an embodiment, the limit voltage range comprises a lower limit voltage and an upper limit voltage, and the step of determining the duty cycle limit value of the controller driving bridge arm in the motor controller according to the numerical relationship comprises:

[0014] if the numerical relationship is that the real-time voltage is less than the lower limit voltage, determining the duty cycle limit value of the controller driving bridge arm in the motor controller as a preset first percentage;

[0015] if the numerical relationship is that the real-time voltage is greater than the upper limit voltage, determining the duty cycle limit value of the controller driving bridge arm in the motor controller as a preset second percentage, wherein the preset second percentage is greater than the preset first percentage;

[0016] if the numerical relationship is that the real-time voltage is between the lower limit voltage and the upper limit voltage, determining the duty cycle limit value of the controller driving bridge arm in the motor controller according to the difference between the real-time voltage and the lower limit voltage and the difference between the real-time voltage and the upper limit voltage respectively.

[0017] In an embodiment, the step of adjusting the duty cycle setting value of the controller driving bridge arm in real time based on the duty cycle limit value further comprises:

[0018] when starting to perform the active short-circuit task, closing each to-be-short-circuited bridge arm in the controller driving bridge arm.

[0019] In an embodiment, the step of adjusting the duty cycle setting value of the controller driving bridge arm in real time based on the duty cycle limit value comprises:

[0020] comparing the duty cycle setting value of the controller driving bridge arm with the duty cycle limit value;

[0021] If the duty cycle setting value is less than the duty cycle limit value, the duty cycle setting value is adjusted to the duty cycle limit value.

[0022] In an embodiment, the step of comparing the duty cycle setting value of the controller drive bridge arm with the duty cycle limit value is preceded by:

[0023] determining whether the duty cycle setting value of the controller drive bridge arm reaches a preset second percentage;

[0024] If the duty cycle setting value does not reach the preset second percentage, the duty cycle setting value is adjusted according to a preset gradual adjustment scheme for a single time, and the step of comparing the duty cycle setting value of the controller drive bridge arm with the duty cycle limit value is executed based on the duty cycle setting value after the single-time adjustment;

[0025] The step of adjusting the duty cycle setting value to the duty cycle limit value is further preceded by:

[0026] returning to the step of determining whether the duty cycle setting value of the controller drive bridge arm reaches a preset second percentage.

[0027] In an embodiment, the step of adjusting the duty cycle setting value according to a preset gradual adjustment scheme for a single time comprises:

[0028] adjusting the duty cycle setting value for a single time according to a preset step;

[0029] or

[0030] adjusting the duty cycle setting value for a single time according to a preset first-order low-pass filter filter coefficient.

[0031] In addition, to achieve the above object, the present application also provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the motor controller active short circuit method as described above.

[0032] In addition, to achieve the above object, the present application also provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the motor controller active short circuit method as described above.

[0033] In addition, to achieve the above object, the present application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the motor controller active short circuit method as described above.

[0034] The one or more technical solutions provided in the application have at least the following technical effects:

[0035] In the case where it is detected that the motor controller needs to perform the active short-circuit task, the real-time voltage of the controller capacitor in the motor controller is monitored, and the duty cycle limit value of the controller drive bridge arm in the motor controller is determined according to the real-time voltage, so as to limit the duty cycle of the controller drive bridge arm when performing the active short-circuit task by directly monitoring the real-time voltage of the controller capacitor and converting the real-time voltage into the corresponding duty cycle limit value, thereby effectively suppressing the three-phase current impact; then the duty cycle setting value of the controller drive bridge arm is adjusted in real time based on the duty cycle limit value, so as to short-circuit the controller drive bridge arm based on the real-time adjusted duty cycle setting value, thereby gradually making the duty cycle of the drive bridge arm reach the limit value, realizing the dynamic adjustment of the gradual bridge arm short-circuit, avoiding the abnormal lifting of the controller bus voltage, and ensuring the smooth transition of the motor controller to the safe state.

[0036] As can be seen from the above, by monitoring the real-time voltage of the controller capacitor, dynamically adjusting the duty cycle limit value of the drive bridge arm, and gradually adjusting the duty cycle of the drive bridge arm based on the limit value to complete the short-circuit, the impact of the three-phase current is avoided, and the feedback power is effectively limited, thereby significantly improving the stability and reliability of the motor controller under the DC relay attraction and disconnection working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the application.

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0039] Figure 1 A flowchart is provided for the motor controller active short-circuit method embodiment one of the present application;

[0040] Figure 2 A flowchart is provided for the motor controller active short-circuit method embodiment two of the present application;

[0041] Figure 3 A circuit schematic diagram is provided for the motor controller active short-circuit method of the embodiment two of the present application;

[0042] Figure 4Brief flow diagram of motor controller active short circuit method provided for embodiment two of the application;

[0043] Figure 5 Device structure diagram of hardware operating environment involved in the motor controller active short circuit method in the embodiments of the application.

[0044] The object implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the application, and not to limit the application.

[0046] In order to better understand the technical solutions of the application, the specific embodiments will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] The main solution of the embodiments of the application is that, in the case of detecting that the motor controller needs to perform an active short circuit task, the real-time voltage of a controller capacitor in the motor controller is monitored; the duty cycle limit value of a controller drive bridge arm in the motor controller is determined according to the real-time voltage; the duty cycle setting value of the controller drive bridge arm is adjusted in real time based on the duty cycle limit value, so as to short circuit the controller drive bridge arm based on the real-time adjusted duty cycle setting value.

[0048] Since the current motor controller adopts a gradual ASC strategy, the duty cycle of the drive bridge arm gradually transitions from non-full opening to full opening, thereby effectively reducing the impact of three-phase current. However, this strategy generates a direct current bus feedback current, which can be absorbed by the power supply battery when the direct current relay is attracted. Therefore, it is also necessary to consider the relevant restrictions on the feedback power corresponding to the feedback current. The disclosed scheme generally calculates the relevant restriction parameters through battery voltage, motor speed and other information. The calculation process is relatively complex, and among them, the battery voltage is generally obtained through communication, and communication abnormalities or motor speed abnormalities are generally the cause of the motor controller to perform ASC, that is, these information has a high failure rate. Therefore, how to accurately limit the feedback power when using the gradual ASC strategy is a problem that needs to be solved at present.

[0049] The application provides a solution by monitoring the real-time voltage of the controller capacitor, dynamically adjusting the duty cycle limit value of the drive bridge arm, and gradually adjusting the duty cycle of the drive bridge arm based on the limit value to complete the short circuit, thereby avoiding the impact of three-phase current while effectively limiting the feedback power when addressing the problems of feedback current impact and dependence on invalid signals in the existing gradual ASC strategy, significantly improving the stability and reliability of the motor controller under the working conditions of direct current relay attraction and disconnection.

[0050] It should be noted that the execution subject of the embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone or the like, or an electronic device capable of realizing the above functions. The embodiment and the following embodiments are described below by taking an electronic device as an example.

[0051] Based on this, the motor controller active short-circuit method provided in the embodiments of the present application is provided with the motor controller active short-circuit method provided in the embodiments of the present application. Figure 1 Figure 1 The flowchart of the first embodiment of the motor controller active short-circuit method of the present application is shown in the figure.

[0052] In the embodiment, the motor controller active short-circuit method comprises steps S10-S30:

[0053] Step S10, in the case where it is detected that the motor controller needs to perform an active short-circuit task, monitoring the real-time voltage of a controller capacitor in the motor controller;

[0054] It should be noted that when the motor controller detects a system anomaly, the active short-circuit task is triggered, and the motor winding is short-circuited by controlling the three-phase drive bridge arm, so as to quickly reduce the back electromotive force and three-phase current impact and ensure system safety; the controller capacitor is an energy storage element for smoothing the DC bus voltage in the motor controller, which can reflect the power state of the bus and serve as a feedback signal to help the controller dynamically adjust the bridge arm duty cycle.

[0055] It can be understood that since the existing scheme relies on external signals such as battery voltage and motor speed, these signals may fail when the controller performs ASC, resulting in feedback power control failure, so step S10 is performed to monitor the real-time voltage of the controller capacitor, providing a highly reliable internal feedback signal and avoiding dependence on external failure signals, thereby improving the stability of the controller under abnormal working conditions.

[0056] Step S20, determining a duty cycle limit value of a controller drive bridge arm in the motor controller according to the real-time voltage;

[0057] It should be noted that the controller drive bridge arm refers to the upper and lower bridge arm modules in the motor controller, which are responsible for driving the motor winding. In the short-circuit task, the component realizes winding short-circuit by simultaneously turning on, while at ordinary times it generates PWM (Pulse-Width Modulation) signals by alternating on and off to drive the motor; the duty cycle limit value is the lower limit of the PWM signal duty cycle dynamically determined according to the real-time voltage of the controller capacitor in the short-circuit task, which is used to limit the current impact and bus voltage anomaly in the ASC process and ensure the safety of ASC operation. ​

[0058] It can be understood that the gradual ASC strategy is prone to cause excessive feedback current, and if the step setting is not properly adjusted, it may also cause current impact problems, so step S20 is performed to dynamically adjust the duty cycle limit value in real time, so as to dynamically match the effectiveness of the feedback current and the current impact according to the current bus voltage state of the controller, which can limit the feedback current and avoid current impact during short circuit.

[0059] Step S30, based on the duty cycle limit value, the duty cycle setting value of the controller driving bridge arm is adjusted in real time, and the controller driving bridge arm is short-circuited based on the real-time adjusted duty cycle setting value.

[0060] It should be noted that the duty cycle setting value refers to the duty cycle of the PWM signal actually output by the controller, which is gradually adjusted according to the duty cycle limit value during the short-circuit task to achieve smooth transition of the short-circuit operation. The lower limit of the duty cycle setting value is the duty cycle limit value.

[0061] It can be understood that since the gradual ASC strategy may not be able to dynamically respond to the change of the capacitor voltage if the step is fixed, the short-circuit process is not smooth, so step S30 is performed to dynamically match the real-time voltage condition by adjusting the bridge arm duty cycle in real time, which ensures smooth transition of the gradual ASC process, avoids three-phase current impact, suppresses abnormal occurrence of feedback current, and can also consider ASC operation under DC relay attraction and disconnection conditions.

[0062] The embodiment provides a motor controller active short-circuit method, which monitors the real-time voltage of the controller capacitor, dynamically adjusts the duty cycle limit value of the driving bridge arm, and gradually adjusts the driving bridge arm duty cycle based on the limit value to complete the short-circuit, thereby avoiding three-phase current impact while effectively limiting feedback power when addressing the feedback current impact and dependence on invalid signals in the existing gradual ASC strategy, and significantly improving the stability and reliability of the motor controller under DC relay attraction and disconnection conditions.

[0063] In a feasible implementation, step S20 can include steps S21-S22:

[0064] Step S21, comparing the real-time voltage with the preset limit voltage range to obtain the numerical relationship between the real-time voltage and the limit voltage range;

[0065] It can be understood that, since the existing scheme relies on external signals (such as battery voltage, motor speed) to judge the feedback power, but these signals may fail in abnormal conditions, resulting in inaccurate duty cycle control, so step S21 is performed, by comparing the real-time voltage with the preset limit voltage range, thereby using the internal and stable signal of the controller capacitor voltage to accurately reflect the controller bus power state, which can avoid the control deviation caused by the failure of external signals, and provide a reliable basis for subsequent duty cycle adjustment.

[0066] Step S22, determining the duty cycle limit value of the controller drive bridge arm in the motor controller according to the numerical relationship.

[0067] It can be understood that, since the duty cycle adjustment logic of the traditional scheme is difficult to flexibly respond to the dynamic changes of the bus voltage, it is easy to cause excessive or insufficient duty cycle adjustment, so step S22 is performed, the duty cycle limit value is determined according to the numerical relationship, which can dynamically match the duty cycle according to the real-time bus voltage state, can effectively avoid the current impact and controller damage risk caused by abnormal bus voltage, ensures the smooth and fast completion of ASC task, and improves the adaptability and reliability of the system.

[0068] In specific implementation, the limit voltage range includes a limit voltage lower limit and a limit voltage upper limit, and the step of determining the duty cycle limit value of the controller drive bridge arm in the motor controller according to the numerical relationship includes: if the numerical relationship is that the real-time voltage is less than the limit voltage lower limit, determining the duty cycle limit value of the controller drive bridge arm in the motor controller as a preset first percentage; if the numerical relationship is that the real-time voltage is greater than the limit voltage upper limit, determining the duty cycle limit value of the controller drive bridge arm in the motor controller as a preset second percentage, wherein the preset second percentage is greater than the preset first percentage; and if the numerical relationship is that the real-time voltage is between the limit voltage lower limit and the limit voltage upper limit, determining the duty cycle limit value of the controller drive bridge arm in the motor controller according to the difference between the real-time voltage and the limit voltage lower limit and the limit voltage upper limit, respectively.

[0069] The limit voltage range refers to a preset voltage interval, including a limit voltage lower limit and a limit voltage upper limit, for measuring whether the real-time voltage of the controller capacitor is in a normal working interval, so as to determine the adjustment strategy of the duty cycle limit value; the preset first percentage refers to a lower duty cycle limit value set for protecting system safety when the real-time voltage of the controller capacitor is lower than the limit voltage lower limit, which is usually a smaller percentage value, for limiting current impact and ensuring system stability; and the preset second percentage refers to a higher duty cycle limit value set for quickly transitioning to a full short-circuit state while avoiding excessively high bus voltage when the real-time voltage of the controller capacitor is higher than the limit voltage upper limit, which is usually greater than the preset first percentage, for accelerating the short-circuit process and improving system safety.

[0070] For example, if U lo is the lower limit of the duty cycle limit voltage, U up is the upper limit of the duty cycle limit voltage, U dc is the real-time voltage, and D lmt is the duty cycle limit value of the controller drive bridge arm in the motor controller, the value range of which is 0% to 100%, when U dc <U lo , D lmt takes the preset first percentage 0%; when U dc >U up , D lmt takes the preset second percentage 100%; and when U dc is between [U lo , U up ], D lmt =(U dc -U lo ) / (U up -U lo ).

[0071] In this embodiment, by comparing the real-time voltage of the controller capacitor with the preset limit voltage range, the duty cycle limit value of the controller drive bridge arm is dynamically determined, thereby avoiding the problems of current dependence on external signals, single adjustment means, and inability to adapt to bus voltage changes, and realizing dynamic adjustment of the duty cycle limit value according to the bus voltage, effectively suppressing the current impact and abnormal bus voltage rise during the ASC process, ensuring smooth and safe execution of the ASC task, and significantly improving the adaptability and reliability of the system.

[0072] In a feasible embodiment, step S30 can include steps S31-S22:

[0073] Step S31, comparing the duty cycle setting value of the controller drive bridge arm with the duty cycle limit value;

[0074] Step S32, if the duty cycle setting value is less than the duty cycle limit value, the duty cycle setting value is adjusted to the duty cycle limit value.

[0075] It can be understood that the duty cycle setting value may not respond quickly to the change of the duty cycle limit value due to algorithm hysteresis or hardware delay, resulting in current impact and bus voltage abnormality during short circuit process. Therefore, by comparing the duty cycle setting value and the limit value, when the setting value is less than the limit value, the setting value is immediately adjusted to the limit value, avoiding the short circuit delay caused by the hysteresis of the setting value, realizing the smooth transition of the ASC process, effectively suppressing the current impact and bus voltage abnormality, and enhancing the reliability and safety of the motor controller when performing the active short circuit task.

[0076] In a feasible implementation, before step S31, steps S301-S302 can also be included:

[0077] Step S301, judging whether the duty cycle setting value of the controller driving bridge arm reaches a preset second percentage;

[0078] Step S302, if the duty cycle setting value does not reach the preset second percentage, the duty cycle setting value is adjusted according to a preset gradual adjustment scheme, and the step of comparing the duty cycle setting value of the controller driving bridge arm with the duty cycle limit value is performed based on the duty cycle setting value after single adjustment.

[0079] It can be understood that, since there is currently a lack of judgment on whether the duty cycle setting value reaches the preset target value when adjusting the duty cycle setting value, it is easy to cause the duty cycle setting value to jump directly to the maximum value, causing a large current impact, damaging the motor controller and the motor body, and unable to adapt to the dynamic change of the bus voltage. Therefore, by performing step S302, the current impact problem caused by the direct jump of the duty cycle setting value to the maximum value can be avoided, and by using the gradual adjustment scheme, the preset second percentage is gradually approached smoothly, making the short circuit process more stable and controllable, reducing the damage risk to the motor controller and the motor body, realizing the precise control of the duty cycle setting value, making it gradually approach the preset second percentage smoothly, thereby effectively suppressing the current impact at the initial stage of short circuit, ensuring the smooth completion of the ASC task within a safe range, and also adapting to the dynamic change of the bus voltage.

[0080] As an example, the step of adjusting the duty cycle setting value according to a preset gradual adjustment scheme includes: adjusting the duty cycle setting value according to a preset step length; or adjusting the duty cycle setting value according to a preset first-order low-pass filter filter coefficient.

[0081] If there is a transition unsmooth problem when adjusting the duty cycle setting value, current impact is easily caused, therefore, the preset step size is used to adjust the duty cycle setting value once, which can avoid current impact caused by sudden change of duty cycle, and realize smooth transition of duty cycle; if single adjustment is made according to the preset first-order low-pass filter coefficient, dynamic adaptation to bus voltage change can be realized, the limitation of fixed step size adjustment can be avoided, and more accurate and smooth adjustment of duty cycle can be realized.

[0082] For example, in the scheme of adjusting by preset step size, the fixed step size can be gradually increased by circulation until the target duty cycle is reached. For example, the initial duty cycle is 0%, the target duty cycle is 100%, and the step size is 5%, then 5% is added every iteration until the target value is reached, which is suitable for scenes requiring simple and smooth adjustment. In the scheme of adjusting by first-order low-pass filter, the preset first-order low-pass filter coefficient can be used to calculate the new duty cycle value by recursive formula. The formula is: D_new = a*D_target + (1-a)*D_current, where a is the filter coefficient, D_new is the new duty cycle setting value after adjustment, D_target is the target adjustment value of the duty cycle setting value, such as 100%, and D_current is the duty cycle setting value before the current adjustment. For example, when the bus voltage changes greatly, a can be dynamically adjusted. This way can dynamically adapt to the change of bus voltage, realize smooth transition of duty cycle, and is suitable for dynamic scenes that require real-time detection of bus voltage and adjustment.

[0083] After step S32, step S303 can also be included:

[0084] Step S303: return to execute the step of judging whether the duty cycle setting value of the controller driving bridge arm reaches the preset second percentage.

[0085] It can be understood that, since the existing scheme lacks continuous dynamic adjustment and monitoring mechanism during the ASC operation execution process, the duty cycle setting value cannot be adjusted in real time according to the change of bus voltage and system state, which leads to the possibility of unsmooth short-circuit process, and even the problem of transition period current impact fluctuation, so step S303 is performed to form a loop control mechanism by returning to execute the judgment step, which can avoid the problem of too large adjustment range of duty cycle in short-circuit process or mismatch of short-circuit state, ensure that the short-circuit process is always in a dynamic adjustment state, effectively adapt to the change of bus voltage, and ensure that the preset duty cycle target value can be finally reached to complete the smooth short-circuit operation.

[0086] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above-mentioned first embodiment can be referred to the above introduction, and will not be described in detail. On this basis, please refer to Figure 2, before step S30, the motor controller active short-circuit method further comprises step S01:

[0087] Step S01, when starting to execute the active short-circuit task, each to-be-short-circuit bridge arm in the controller drive bridge arm is closed.

[0088] It can be understood that, since at the beginning of the active short-circuit task, if each to-be-short-circuit bridge arm in the motor controller drive bridge arm is still turned on, it may cause current mutation and system instability, thereby affecting the accuracy and safety of the short-circuit operation, therefore, by cutting off the drive signal in the drive bridge arm at the beginning of the ASC task, the bridge arm is in a closed state, which can avoid the problem of current mutation and system instability at the beginning of the short-circuit, and provide stable initial conditions for subsequent duty cycle adjustment, thereby optimizing the controllability and safety of the entire short-circuit process, protecting the motor controller and ensuring smooth start of the short-circuit operation.

[0089] In this embodiment, by closing each to-be-short-circuit bridge arm in the controller drive bridge arm at the beginning of the active short-circuit task, a stable initial condition is provided for subsequent duty cycle adjustment, the current impact at the beginning of the short-circuit is avoided, the smooth transition of the short-circuit process is realized, and the reliability and safety of the system are enhanced.

[0090] For the purpose of facilitating understanding of the implementation process of the motor controller active short-circuit method obtained after the above-mentioned embodiment one, please refer to Figure 3 and Figure 4 , Figure 3 a circuit schematic diagram of a motor controller active short-circuit method is provided, Figure 4 a brief flowchart of a motor controller active short-circuit method is provided.

[0091] Specifically, the motor controller active short-circuit circuit comprises:

[0092] a power supply battery;

[0093] a relay, a first end of a main relay output of the battery is connected to a positive electrode of the power supply battery;

[0094] a controller capacitor, a first end of the controller capacitor is connected to a second end of the relay, and a second end of the controller capacitor is connected to a negative electrode of the power supply battery;

[0095] a controller drive bridge arm, a first end of the controller drive bridge arm is connected to the second end of the relay, and a second end of the controller drive bridge arm is connected to the negative electrode of the power supply battery;

[0096] a motor, the motor is connected to the controller drive bridge arm.

[0097] Figure 3 The middle dotted box is a motor controller, ① can be a high-voltage power supply battery, ② can be a battery output main relay, ③ is a controller capacitor in the motor controller, ④ is a controller drive bridge arm in the motor controller, and ⑤ can be a permanent magnet synchronous motor PMSM. Among them, the controller drive bridge arm is a three-phase bridge arm.

[0098] Figure 4 The motor controller active short-circuit method is performed in the following steps:

[0099] Step 1: Enter the ASC execution mode;

[0100] Step 2: Turn off all drive bridge arms and set D set to 0%;

[0101] Step 3: Determine whether D set is 100%, if it is 100%, jump to step 8, otherwise execute the next step Step 4;

[0102] Step 4: Gradually increase D set to 100%;

[0103] Step 5: Calculate D dc according to the current U lmt , and the calculation result of D lmt is limited to 0% to 100%;

[0104] Step 6: Determine whether D set is less than D lmt , if so, jump to step 8, otherwise jump to step 7;

[0105] Step 7: Set D set =D lmt ;

[0106] Step 8: Update the actual duty cycle with D set ; return to step 3 in the next calculation period.

[0107] It should be noted that the ASC entry and exit strategy is irrelevant to the specific ASC execution process, and the ASC entry and exit strategy is not described here. The motor controller active short-circuit method mainly describes the specific process of ASC execution.

[0108] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the motor controller active short-circuit method of the present application. Based on this technical concept, more forms of simple transformation are within the protection scope of the present application.

[0109] The application provides an electronic device, comprising: at least one processor; and a memory connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the motor controller active short circuit method in the above embodiment one.

[0110] Reference is made below in conjunction with Figure 5 which shows a structural schematic diagram of an electronic device suitable for implementing the embodiments of the application. The electronic device in the embodiments of the application can include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description), PMPs (Portable Media Player), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 5 The electronic device shown is merely an example and should not impose any limitation on the functions and use range of the embodiments of the application.

[0111] As Figure 5 shown, the electronic device can include a processing device 1001 (such as a central processor, a graphics processor, or the like) that can perform various appropriate actions and processes according to programs stored in a read-only memory 1002 or loaded from a storage device 1003 into a random access memory 1004. Various programs and data required for operation of the electronic device are also stored in the random access memory 1004. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other through a bus 1005. An input / output interface 1006 is also connected to the bus. Generally, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, and the like; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, and the like; the storage device 1003 including, for example, a magnetic tape, a hard disk, and the like; and a communication device 1009. The communication device 1009 can allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although the electronic device with various systems is shown in the figure, it should be understood that all the systems shown are not required to be implemented or possessed. More or fewer systems can be alternatively implemented or possessed.

[0112] In particular, according to embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network through a communication device, or installed from the storage device 1003, or installed from the read-only memory 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiments disclosed in the present application are executed.

[0113] The electronic device provided by the present application adopts the motor controller active short circuit method in the above embodiments, which can solve the technical problem of how to accurately limit the feedback power when the gradual ASC strategy is adopted. Compared with the prior art, the electronic device provided by the present application has the same beneficial effects as the motor controller active short circuit method provided by the above embodiments, and other technical features in the electronic device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0114] It should be understood that parts of the present application can be realized by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0115] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0116] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e. computer program) for executing the motor controller active short circuit method in the above embodiments.

[0117] The computer readable storage medium provided in the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system or device, or any combination of the above. More specific examples of the computer readable storage medium may include, but are not limited to, an electric connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), etc., or any suitable combination of the above.

[0118] The above computer readable storage medium may be contained in an electronic device, or may exist separately without being assembled into an electronic device.

[0119] The above computer readable storage medium carries one or more programs, which, when executed by an electronic device, cause the electronic device to: monitor a real-time voltage of a controller capacitor in a motor controller in a case where it is detected that the motor controller needs to perform an active short-circuit task; determine a duty cycle limit value of a controller drive bridge arm in the motor controller according to the real-time voltage; adjust a duty cycle setting value of the controller drive bridge arm in real time based on the duty cycle limit value, to short-circuit the controller drive bridge arm based on the real-time adjusted duty cycle setting value.

[0120] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0121] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0122] The modules involved in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0123] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e., a computer program) for executing the motor controller active short circuit method. The computer readable program instructions can solve the technical problem of how to accurately limit the feedback power when the gradual ASC strategy is adopted. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the motor controller active short circuit method provided by the above-mentioned embodiments, which will not be described here.

[0124] The application further provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the motor controller active short-circuit method as described above.

[0125] The computer program product provided by the application can solve the technical problem of how to accurately limit the feedback power when a gradual ASC strategy is adopted. Compared with the prior art, the computer program product provided by the application has the same beneficial effects as the motor controller active short-circuit method provided by the above-mentioned embodiments, and will not be described here.

[0126] The above only describes some embodiments of the application, and does not limit the patent scope of the application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like made by using the content of the application specification and drawings within the technical concept of the application is included in the patent protection scope of the application.

Claims

1. A method for actively short-circuiting a motor controller, characterized in that, The active short-circuit method for the motor controller includes: If it is detected that the motor controller needs to perform an active short-circuit task, monitor the real-time voltage of the controller capacitor in the motor controller; The duty cycle limit value of the controller drive bridge arm in the motor controller is determined based on the real-time voltage. The duty cycle setting value of the controller drive bridge arm is adjusted in real time based on the duty cycle limit value, so as to short-circuit the controller drive bridge arm based on the real-time adjusted duty cycle setting value.

2. The method for actively short-circuiting a motor controller as described in claim 1, characterized in that, The step of determining the duty cycle limit value of the controller drive bridge arm in the motor controller based on the real-time voltage includes: By comparing the real-time voltage with a preset limiting voltage range, the numerical relationship between the real-time voltage and the limiting voltage range is obtained; The duty cycle limit value of the controller drive bridge arm in the motor controller is determined based on the numerical relationship.

3. The method for actively short-circuiting a motor controller as described in claim 2, characterized in that, The voltage limiting range includes a lower voltage limit and an upper voltage limit. The step of determining the duty cycle limit value of the controller drive bridge arm in the motor controller based on the numerical relationship includes: If the numerical relationship is that the real-time voltage is less than the lower limit of the limiting voltage, then the duty cycle limit value of the controller drive bridge arm in the motor controller is determined to be a preset first percentage. If the numerical relationship is that the real-time voltage is greater than the upper limit of the limiting voltage, then the duty cycle limit value of the controller drive bridge arm in the motor controller is determined to be a preset second percentage, wherein the preset second percentage is greater than the preset first percentage; If the numerical relationship is that the real-time voltage is between the lower limit of the limiting voltage and the upper limit of the limiting voltage, then the duty cycle limit value of the controller drive bridge arm in the motor controller is determined according to the difference between the real-time voltage and the lower limit of the limiting voltage and the upper limit of the limiting voltage.

4. The method for actively short-circuiting a motor controller as described in claim 1, characterized in that, Before the step of adjusting the duty cycle setting value of the controller drive bridge arm in real time based on the duty cycle limit value, the method further includes: When the active short-circuit task is started, the controller drives each bridge arm to be short-circuited to shut down.

5. The method for actively short-circuiting a motor controller as described in claim 1, characterized in that, The step of adjusting the duty cycle setting value of the controller drive bridge arm in real time based on the duty cycle limit value includes: Compare the duty cycle setting value of the controller drive bridge arm with the duty cycle limit value; If the duty cycle setting value is less than the duty cycle limit value, then the duty cycle setting value is adjusted to the duty cycle limit value.

6. The method for actively short-circuiting a motor controller as described in claim 5, characterized in that, Before the step of comparing the duty cycle setting value and the duty cycle limit value of the controller drive bridge arm, the method further includes: Determine whether the duty cycle setting value of the controller drive bridge arm has reached the preset second percentage; If the duty cycle setting value does not reach the preset second percentage, the duty cycle setting value is adjusted once according to the preset progressive adjustment scheme, and the step of comparing the duty cycle setting value of the controller drive bridge arm and the duty cycle limit value is performed based on the duty cycle setting value after the single adjustment. The step of adjusting the duty cycle setting value to the duty cycle limit value further includes: Return to the step of determining whether the duty cycle setting value of the controller drive bridge arm has reached the preset second percentage.

7. The method for actively short-circuiting a motor controller as described in claim 6, characterized in that, The step of adjusting the duty cycle setting value in a single step according to a preset progressive adjustment scheme includes: The duty cycle setting value is adjusted once according to the preset step size; or The duty cycle setting value is adjusted once according to the filter coefficient of the preset first-order low-pass filter.

8. An electronic device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the motor controller active short-circuit method as described in any one of claims 1 to 7.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the motor controller active short-circuit method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the motor controller active short-circuit method as described in any one of claims 1 to 7.

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