Motor protection method, motor controller and vehicle

Abstract

The embodiment of the invention provides a motor protection method, a motor controller and a vehicle. The method comprises the following steps: acquiring a working current of a driving motor connected with the motor controller under the condition that a rotary transformer decoding module in the motor controller fails; determining the rotating speed of the driving motor based on the working current of the driving motor; and under the condition that the rotating speed of the driving motor meets the motor protection condition, obtaining a first protection strategy matched with the rotating speed of the driving motor, and executing the first protection strategy. According to the technical scheme provided by the embodiment of the invention, the problem that a proper motor protection strategy cannot be adopted due to the fact that the rotating speed of the driving motor cannot be acquired when the rotary transformer decoding module fails in the prior art is solved, and safe and reliable operation of the motor controller is ensured.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of motor protection, and particularly relate to a motor protection method, a motor controller and a vehicle. BACKGROUND

[0002] The motor controller is one of the most core components in a new energy vehicle, and the reliability of the motor controller protection scheme is crucial to the safety of the new energy vehicle.

[0003] In the related art, the motor controller includes a resolver decoding module, and the resolver decoding module can be used to obtain the rotating speed of the driving motor, and then a suitable protection strategy can be formulated according to the rotating speed of the driving motor.

[0004] However, when the resolver decoding module fails, the main control module cannot obtain the rotating speed of the driving motor, and thus cannot formulate a suitable protection strategy, which is insufficient in reliability. SUMMARY

[0005] Embodiments of the present application provide a motor protection method, a motor controller and a vehicle, aiming at improving the problem of insufficient reliability caused by the failure of the resolver decoding module in the related art, which leads to the inability to protect the motor based on the rotating speed of the driving motor.

[0006] In a first aspect, the embodiments of the present application provide a motor protection method applied to a motor controller, and the method comprises: obtaining the working current of a driving motor connected to the motor controller in the case that a resolver decoding module in the motor controller fails; determining the rotating speed of the driving motor based on the working current of the driving motor; and obtaining a first protection strategy matched with the rotating speed of the driving motor and executing the first protection strategy in the case that the rotating speed of the driving motor meets a motor protection condition.

[0007] In a second aspect, the embodiments of the present application provide a motor controller, which comprises: a current sampling module configured to obtain the working current of a driving motor connected to the motor controller; a rotating speed processing module connected to the current sampling module and configured to receive the working current of the driving motor sent by the current sampling module and determine the rotating speed of the driving motor based on the working current of the driving motor; and a main control module connected to the rotating speed processing module and configured to receive a first rotating speed signal of the driving motor sent by the rotating speed processing module in the case that a resolver decoding module in the motor controller fails, obtain a first protection strategy matched with the rotating speed indicated by the first rotating speed signal and execute the first protection strategy in the case that the rotating speed indicated by the first rotating speed signal meets a motor protection condition.

[0008] In a third aspect, the embodiments of the present application provide a vehicle, which comprises: the motor controller of the second aspect, and a driving motor connected to the motor controller.

[0009] Compared with the technical solution provided by the related art, the technical solution provided by the embodiment of the present application By acquiring the sampling current of the driving motor, the speed of the driving motor is determined according to the sampling current of the driving motor, and in the case that the speed of the driving motor meets the motor protection condition, the first protection strategy matched with the speed of the driving motor is executed, which solves the problem that the speed of the driving motor cannot be acquired when the resolver decoding module fails in the related art, and then the appropriate motor protection strategy cannot be taken, avoids the problem that the main control module controls the driving motor to stop working when the speed of the driving motor is too high, resulting in a higher back electromotive force of the driving motor and increasing the risk of failure of the motor controller, and also avoids the problem that the main control module controls the driving motor to stop working for short-circuit protection when the speed of the driving motor is too low, resulting in a larger current of the driving motor and bringing about a larger braking torque affecting the control feeling of the driver and increasing the risk of failure of the motor controller, ensuring that the motor controller can operate safely and reliably. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application; Figure 2 is a flowchart of a motor control method provided by an embodiment of the present application; Figure 3 is a flowchart of a motor control method provided by another embodiment of the present application; Figure 4 is a flowchart of a motor control method provided by another embodiment of the present application; Figure 5 is a structural block diagram of a motor controller provided by an embodiment of the present application; Figure 6 is a structural block diagram of a motor controller provided by another embodiment of the present application. DETAILED DESCRIPTION

[0011] In order to make the technical problems, technical solutions and beneficial effects solved by the present application clearer, the present application will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0012] Embodiment One The present application introduces the implementation environment related to the motor protection method, please refer to Figure 1 The implementation environment includes a vehicle 100. The vehicle 100 can be a new energy vehicle or a hybrid vehicle. The vehicle 100 includes a motor controller 10, a low-voltage power supply 20, a high-voltage power supply 30, and a driving motor 40. In the case that the vehicle 100 is a hybrid vehicle, the motor controller 10 is a hybrid controller, and the vehicle 100 further includes an engine 50 and a generator 60.

[0013] The motor controller 10 is a core device for controlling the operation of the drive motor 40, and its main functions include adjusting the speed, torque and steering of the drive motor 40, realizing energy recovery, and providing overload, overheating and other protection mechanisms. In the case of a hybrid controller, it is also used to adjust the speed, torque and steering of the generator 60, realize energy recovery, and provide overload, overheating and other protection mechanisms. The specific structure of the motor controller 10 will be described in the embodiments below.

[0014] The low-voltage power supply 20 is connected to the motor controller 10 and is used to provide low voltage, such as 12V or 24V, to the motor controller 10. The low-voltage power supply 20 can be a battery. The high-voltage power supply 30 is connected to the motor controller 10 and is used to provide high voltage, such as 336V or 384V, to the motor controller 10.

[0015] The drive motor 40 converts the electrical energy stored in the power battery into mechanical energy and drives the wheels through a transmission device. The engine 50 can act as a range extender, and when the battery power is insufficient, the engine 50 starts to generate electricity to charge the battery, ensuring the normal driving of the vehicle 100. The generator 60 converts the mechanical energy of the engine 50 into electrical energy to power the electrical equipment in the vehicle 100 and charge the battery.

[0016] Embodiment two The embodiment of the present application introduces a motor protection method, which is applied to the motor controller in Figure 1 Please refer to Figure 2 , which includes the following processes.

[0017] S10, in the case of monitoring the failure of the resolver decoding module, obtaining the sampling current of the drive motor connected to the motor controller.

[0018] The resolver decoding module is used to detect the speed of the motor connected to the motor controller. The above-mentioned motor can include the first or all of the drive motor and the generator. In the case of the motor controller not being a hybrid motor controller, the above-mentioned motor includes the drive motor; in the case of the motor controller being a hybrid motor controller, the above-mentioned motor includes the drive motor and the generator.

[0019] The resolver decoding module includes a speed detection sensor arranged on the side of the motor and a decoding chip. The decoding chip is connected to the speed detection sensor. The speed detection sensor can be a resolver sensor, a Hall sensor, etc.

[0020] When the rotor of the motor rotates, the speed detection sensor detects the change of the magnetic field caused by the change of the rotor position, converts the mechanical angle into an electrical signal and transmits it to the decoding module, the decoding module decodes the electrical signal, obtains the position of the rotor, and finally calculates the speed of the drive motor through difference.

[0021] In some embodiments, in the case that the motor controller is connected with the driving motor only, the master module acquires the rotating speed of the driving motor output by the resolver decoding module, and determines that the resolver decoding module is failed in the case that the rotating speed of the driving motor does not belong to a first rotating speed interval, or the amplitude of the signal transmitted by the rotating speed decoding module to the master module does not belong to a specified amplitude interval. The first rotating speed interval refers to an interval to which the rotating speed of the driving motor in a normal working state belongs. In some embodiments, in the case that the motor controller is connected with the driving motor and the generator respectively, the master module acquires the rotating speed of the driving motor output by the resolver decoding module and the rotating speed of the generator, and determines that the resolver decoding module is failed in the case that the rotating speed of the driving motor does not belong to the first rotating speed interval, or / and, in the case that the rotating speed of the generator does not belong to a second rotating speed interval. The second rotating speed interval refers to an interval to which the rotating speed of the generator in a normal working state belongs.

[0022] The current sampling module is configured to periodically sample the current of the driving motor to obtain a sampling current. In the embodiments of the present application, the motor controller acquires the sampling current of the driving motor by using the rotating speed processing module. Specifically, in the case that the master module in the motor controller monitors that the resolver decoding module is failed, the master module sends a current acquisition instruction to the rotating speed processing module, and the rotating speed processing module acquires the sampling current of the driving motor output by the current sampling module based on the current acquisition instruction.

[0023] S20, determining the rotating speed of the driving motor based on the sampling current of the driving motor.

[0024] The motor controller determines the rotating speed of the driving motor based on the sampling current of the driving motor by using the rotating speed processing module. Optionally, the rotating speed processing module converts the collected analog current signal into a PWM square wave signal, the frequency of the PWM square wave signal is consistent with the electric frequency of the current of the driving motor, and the actual rotating speed of the driving motor is calculated by combining a motor rotating speed and electric frequency relationship formula.

[0025] The motor rotating speed and electric frequency relationship formula can be represented by the following calculation formula: rotating speed=(60*f) / p. f refers to the electric frequency of the current of the driving motor, and p is the pole pair number of the driving motor.

[0026] The rotating speed processing module inputs the processed frequency signal to the master module, so that the master module adopts a protection strategy based on the rotating speed.

[0027] S30, acquiring a first protection strategy matched with the rotating speed of the driving motor in the case that the rotating speed of the driving motor satisfies a motor protection condition, and executing the first protection strategy.

[0028] The rotation speed of the driving motor is too high or too low, and corresponding protection strategies need to be taken. For example, when the rotation speed of the driving motor is too high, short circuit protection needs to be performed, so that the back electromotive force capability of the motor can be converted into heat energy consumption, to avoid overvoltage damage to the equipment due to high-speed rotation. For another example, when the rotation speed of the driving motor is too low, the protection of closing the valve needs to be performed.

[0029] In some embodiments, S30 includes S310: in the case that the rotation speed of the driving motor meets the motor protection condition, the first protection strategy is acquired by the master control module, and the first protection strategy is executed.

[0030] Optionally, the motor protection condition is that the rotation speed of the driving motor is greater than a first rotation speed threshold, and the corresponding first protection strategy is a short circuit protection strategy. That is, the master control module executes the short circuit protection strategy in the case that the rotation speed of the driving motor is greater than the first rotation speed threshold, so that the three-phase winding in the driving motor is short-circuited. At this time, the back electromotive force capability of the motor can be converted into heat energy consumption, to avoid overvoltage damage to the equipment due to high-speed rotation. Optionally, the master control module executes the first protection strategy in a software manner. In some embodiments, the master control module executes the short circuit protection strategy, and the specific implementation is that all upper bridge arms are turned on, and all lower bridge arms are turned off, so that the inside of the three-phase winding is short-circuited; or all lower bridge arms are turned on, and all upper bridge arms are turned off, so that the inside of the three-phase winding is short-circuited.

[0031] Optionally, the motor protection condition is that the rotation speed of the driving motor is less than a second rotation speed threshold, and the corresponding second protection strategy is a shutdown protection strategy. That is, the master control module executes the shutdown protection strategy in the case that the rotation speed of the driving motor is less than the second rotation speed threshold, to cut off the power supply of the driving motor. At this time, the driving motor stops working. The second rotation speed threshold is less than the first rotation speed threshold.

[0032] In summary, the technical scheme provided by the embodiments of the present application acquires the sampling current of the driving motor, determines the rotation speed of the driving motor according to the sampling current of the driving motor, and executes the first protection strategy matched with the rotation speed of the driving motor in the case that the rotation speed of the driving motor meets the motor protection condition, thereby solving the problem in the related art that the rotation speed of the driving motor cannot be acquired when the resolver decoding module fails, and thus the appropriate motor protection strategy cannot be taken. The problem that the master control module controls the driving motor to stop working when the rotation speed of the driving motor is too high, resulting in a high back electromotive force of the driving motor and increasing the risk of failure of the motor controller, is avoided. The problem that the master control module controls the driving motor to stop working for short circuit protection when the rotation speed of the driving motor is too low, resulting in a large current of the driving motor, affecting the control feeling of the driver and increasing the risk of failure of the motor controller, is also avoided, and the safe and reliable operation of the motor controller is ensured.

[0033] Embodiment three The embodiment of the application introduces a motor protection method, please refer to Figure 3 The method is applied to Figure 1 The motor controller. In the optional embodiment provided by the embodiment based on Figure 2 S30 is replaced by S320. The method comprises the following processes.

[0034] S10, in the case that the resolver decoding module in the motor controller is invalid, the working current of the driving motor connected with the motor controller is acquired.

[0035] S20, the rotating speed of the driving motor is determined based on the working current of the driving motor.

[0036] In the embodiment of the application, the motor control system is additionally provided with a hardware protection module, the hardware protection module is connected with the rotating speed processing module, and the rotating speed processing module reports the rotating speed of the driving motor to the hardware protection module.

[0037] In the embodiment, the rotating speed processing module first processes the collected current analog signal into a PWM square wave signal, the PWM square wave signal is input into a frequency selection circuit, the frequency selection circuit outputs a first signal when the frequency of the PWM square wave signal is higher than a first rotating speed threshold, and outputs a second signal when the frequency of the PWM square wave signal is lower than a second rotating speed threshold, the first signal and the second signal are different, for example, the first signal is a high-level signal, and the second signal is a low-level signal.

[0038] The rotating speed processing module transmits the first signal or the second signal to the hardware protection module, so that the hardware protection module adopts a protection strategy based on the rotating speed.

[0039] S320, in the case that the rotating speed of the driving motor meets the motor protection condition, a first protection strategy is acquired through the hardware protection module, and the first protection strategy is executed.

[0040] In the embodiment of the application, the hardware protection module connected with the rotating speed processing module is additionally provided in the motor controller, which can acquire the first protection strategy and execute the first protection strategy in the case that the rotating speed of the driving motor meets the motor protection condition, a backup mechanism of motor protection is realized, even if the main control module is invalid, the hardware protection module can acquire the rotating speed of the driving motor and adopt a suitable protection strategy, the problem that the driving motor generates a high back electromotive force when the driving motor is controlled to stop working due to the high rotating speed of the driving motor, increasing the risk of failure of the motor controller is avoided, the problem that the driving motor generates a large current when the driving motor is controlled to stop working for short-circuit protection due to the low rotating speed of the driving motor, bringing the problem of large braking torque affecting the control feeling of the driver and increasing the risk of failure of the motor controller is avoided, and the safe and reliable operation of the motor controller is ensured.

[0041] In some embodiments, the motor controller further comprises a backup power module connected with the hardware protection module, the speed processing module and the current sampling module, for supplying power to the hardware protection module in case of failure of the basic power module, at which time the hardware protection module acquires the first protection strategy and executes the first protection strategy.

[0042] The basic power module is used to supply power to most modules in the motor controller, such as the main control module, the resolver decoding module, etc., and in case of failure of the basic power module, the modules supplied by the basic power module cannot work, such as the resolver decoding module cannot output the speed information, and the main control module stops working, at which time the speed of the driving motor cannot be monitored and appropriate protection strategies cannot be taken, and the safety of the entire electric drive system including the driving motor and the motor controller cannot be guaranteed.

[0043] In the present embodiment, a backup power module is additionally provided and connected with the hardware protection module, the current sampling module and the speed processing module, so that in case of failure of the basic power module, the backup power module supplies power to the hardware protection module, the current sampling module and the speed processing module, so that the hardware protection module can still normally acquire the speed of the driving motor and execute appropriate protection strategies, avoiding the problem that the main control module controls the driving motor to stop working when the speed of the driving motor is too high, resulting in a high back electromotive force of the driving motor and increasing the risk of failure of the motor controller, and also avoiding the problem that the main control module controls the driving motor to stop working for short-circuit protection when the speed of the driving motor is too low, resulting in a large current of the driving motor and bringing about a large braking torque, affecting the control feeling of the driver and increasing the risk of failure of the motor controller, and ensuring that the motor controller can be safely and reliably operated.

[0044] It should be noted that since the resolver decoding module cannot be supplied with power in case of failure of the basic power module, it also belongs to the failure state.

[0045] Embodiment Four The present application introduces a motor protection method, please refer to Figure 4 , based on Figure 2 or Figure 3 The optional embodiments provided by the embodiment provide the method further comprising S40-S60. The method comprises the following processes.

[0046] S40, in case of failure of the resolver decoding module in the motor controller, acquiring the speed of the engine connected with the motor controller.

[0047] In the present embodiment, a communication module is additionally provided in the motor controller, one end of the communication module is connected with the main control module, and the other end is connected with the engine, and the main control module in the motor controller can acquire the speed of the engine through the communication module.

[0048] In the embodiment of the present application, the motor controller can also determine the rotating speed of the generator based on the rotating speed of the engine, and obtain the rotating speed of the generator output by the resolver decoding module. If the difference between the two is greater than a preset difference, it is determined that the resolver decoding module is invalid. The preset difference is set according to experiments or experience, and the embodiment of the present application is not limited thereto.

[0049] S50, determining the rotating speed of the generator connected to the motor controller based on the rotating speed of the engine.

[0050] Since the engine and the generator are connected by gears, the rotating speeds of the two are in a fixed ratio. In the case of determining the rotating speed of the engine, the rotating speed of the generator can be determined according to the fixed ratio.

[0051] S60, in the case that the rotating speed of the generator meets the generator protection condition, obtaining a second protection strategy matched with the rotating speed of the generator, and executing the second protection strategy.

[0052] The rotating speed of the generator motor is too high or too low, and the corresponding protection strategy needs to be taken, for example, short-circuit protection needs to be performed when the rotating speed of the generator is too high, and for example, the tube needs to be closed when the rotating speed of the generator is too low.

[0053] In some embodiments, S60 is specifically implemented as: in the case that the rotating speed of the generator meets the generator protection condition, obtaining the second protection strategy by the master control module and executing the second protection strategy.

[0054] In some embodiments, optionally, the generator protection condition is that the rotating speed of the generator is greater than a third rotating speed threshold, and the corresponding second protection strategy is a short-circuit protection strategy, that is, the master control module executes the short-circuit protection strategy in the case that the rotating speed of the generator is greater than the third rotating speed threshold, so that the three-phase winding in the generator is short-circuited, at this time, the counter electromotive force capability of the generator can be converted into heat energy consumption to avoid overvoltage damage to equipment due to high-speed rotation. In some embodiments, the master control module executes the short-circuit protection strategy, which is specifically implemented as: turning on all upper bridge arms and turning off lower bridge arms, so that the inside of the three-phase winding is short-circuited; or, turning on all lower bridge arms and turning off all upper bridge arms, so that the inside of the three-phase winding is short-circuited.

[0055] Optionally, the generator protection condition is that the rotating speed of the generator is less than a fourth rotating speed threshold, and the corresponding second protection strategy is a shutdown protection strategy, that is, the master control module executes the shutdown protection strategy in the case that the rotating speed of the generator is less than the fourth rotating speed threshold, so as to cut off the power supply of the generator, at this time, the generator stops working. The fourth rotating speed threshold is less than the third rotating speed threshold.

[0056] In conclusion, the technical scheme provided by the embodiment of the application solves the problem that the rotation speed of the generator cannot be acquired when the resolver decoding module is invalid in the related art, and thus a suitable protection strategy cannot be taken, avoids the problem that the main control module controls the generator to stop working when the rotation speed of the generator is too high, thereby causing the generator to generate a relatively high counter electromotive force and increasing the risk of failure of the motor controller, and also avoids the problem that the main control module controls the generator to stop working for short-circuit protection when the rotation speed of the generator is too low, thereby causing the generator to generate a relatively large current, bringing about a relatively large braking torque, affecting the control feeling of the driver, and increasing the risk of failure of the motor controller, and ensures that the motor controller can be safely and reliably operated.

[0057] Embodiment Four The embodiment of the application introduces a motor controller, please refer to Figure 5 The motor controller 10 comprises a current sampling module 1010, a rotation speed processing module 1020, and a main control module 1030.

[0058] The current sampling module 1010 is configured to acquire the working current of the driving motor connected to the motor controller 10.

[0059] The rotation speed processing module 1020 is connected to the current sampling module 1010 and is configured to receive the working current of the driving motor sent by the current sampling module 110, and determine the first rotation speed signal of the driving motor based on the working current of the driving motor.

[0060] The main control module 1030 is connected to the rotation speed processing module 1020 and is configured to, in the case that the resolver decoding module in the motor controller 10 is invalid, receive the first rotation speed signal sent by the rotation speed processing module 1020, acquire the first protection strategy matched with the rotation speed indicated by the first rotation speed signal in the case that the rotation speed indicated by the first rotation speed signal meets the motor protection condition, and execute the first protection strategy.

[0061] The first rotation speed signal carries the rotation speed of the driving motor.

[0062] In summary, the technical solution provided in this application obtains the sampled current of the drive motor through the current sampling module 1010 and reports the sampled current to the speed processing module 1020. The speed processing module 1020 determines the speed of the drive motor based on the sampled current of the drive motor and reports the speed of the drive motor to the main control module 1030. When the speed of the drive motor meets the motor protection conditions, the main control module 1030 executes a first protection strategy that matches the speed of the drive motor. This solves the problem in related technologies where the resolver decoding module fails and cannot obtain the speed of the drive motor, thus making it impossible to take a suitable motor protection strategy. It avoids the problem of controlling the drive motor to stop working when the speed of the drive motor is too high, which would cause the drive motor to generate a high back electromotive force and increase the risk of motor controller failure. It also avoids the problem of controlling the drive motor to stop working for short circuit protection when the speed of the drive motor is too low, which would cause the drive motor to generate a large current, resulting in excessive braking torque that affects the driver's control and increases the risk of motor controller failure. This ensures that the motor controller 10 can operate safely and reliably.

[0063] Example 5 This application describes a motor controller. Please refer to the embodiments described herein. Figure 6 The motor controller 10 also includes a hardware protection module 1040, which is connected to the speed processing module 1020.

[0064] The hardware protection module 1040 is used to receive the second speed signal sent by the speed processing module 1020, obtain a first protection strategy that matches the speed indicated by the second speed signal, and execute the first protection strategy.

[0065] The second speed signal includes either the first signal or the second signal. The first signal indicates that the speed of the drive motor is higher than a first speed threshold, and the second signal indicates that the speed of the drive motor is lower than a second speed threshold. For example, the first signal is a high-level signal, and the second signal is a low-level signal. Optionally, when the hardware protection module 1040 receives the first signal sent by the speed processing module 1020, a short-circuit protection strategy is executed, that is, the three-phase windings in the drive motor are short-circuited; when the hardware protection module 1040 receives the second signal sent by the speed processing module 1020, a shutdown protection strategy is executed, that is, the drive motor is stopped.

[0066] Based on Figure 5 In the optional embodiments provided in the examples, please refer again. Figure 6The motor controller 10 also includes a backup power supply module 1050, which is connected to the hardware protection module 1040, the current sampling module 1010, and the speed processing module 1020, respectively. The backup power supply module 1050 is used to supply power to the hardware protection module 1040, the current sampling module 1010, and the speed processing module 1020 in the event of a failure of the basic power supply module in the motor controller 10.

[0067] Based on Figure 5 In the optional embodiments provided in the examples, please refer again. Figure 6 The motor controller also includes a communication module 1060, which is connected to the engine; the engine is connected to the generator drive.

[0068] The communication module 1060 is used to acquire the engine speed and send the engine speed to the main control module 1030. The main control module 1030 is also used to: determine the speed of the generator connected to the motor controller 10 based on the engine speed; and, if the generator speed meets the generator protection conditions, acquire a second protection strategy that matches the generator speed and execute the second protection strategy.

[0069] Optionally, the generator protection condition is that the generator speed is greater than a third speed threshold. The corresponding second protection strategy is a short-circuit protection strategy. That is, when the generator speed is greater than the third speed threshold, the main control module 1030 executes the short-circuit protection strategy to short-circuit the three-phase windings in the generator. Optionally, the generator protection condition is that the generator speed is less than a fourth speed threshold. The corresponding second protection strategy is a shutdown protection strategy. That is, when the generator speed is less than the fourth speed threshold, the main control module 1030 executes the shutdown protection strategy to cut off the power supply to the generator.

[0070] In some embodiments, please refer again Figure 6 The motor controller 10 also includes a voltage regulator module 1070, a basic power supply module 1080, a resolver decoding module 1090, a drive module 1100, a power module 1110, a diode D1, and a diode D2.

[0071] The input end of the voltage stabilizing module 1070 is connected with an external low-voltage power supply. The output end of the voltage stabilizing module 1070 is connected with the input end of the basic power supply module 1080, the input end of the driving module 1100 and the rotary variable decoding module 1090. The output end of the basic power supply module 1080 is connected with the main control module 1030, the rotary variable decoding module 1090 and the communication module 1060 respectively. The main control module 1030 is connected with the rotary variable decoding module 1090, the communication module 1060 and the driving module 1100 respectively. The output end of the driving module 1100 is connected with the power module 1110. The power module 1110 is connected with an external high-voltage power supply, a driving motor and a generator respectively. The communication module 1060 is connected with the engine. The rotary variable decoding module 1090 is connected with the driving motor and the generator respectively. The diode D1 is connected between the basic power supply module 1080 and the current sampling module 1010. The diode D2 is connected between the backup power supply module 1060 and the current sampling module 1010.

[0072] The voltage stabilizing module 1070 is used for stabilizing the voltage provided by the low-voltage power supply at a set value, so as to ensure the stable operation of the circuit. The basic power supply module 1080 is used for converting the voltage output by the voltage stabilizing module 1070 into a power supply voltage matched by each subsequent module, so as to provide the subsequent circuit with basic power supply. The rotary variable decoding module 1090 is used for determining the rotating speed of the driving motor and the rotating speed of the generator. The driving module 1100 is used for driving the driving motor. The power module 1110 is used for converting direct current into alternating current, so as to drive the driving motor to rotate.

[0073] The embodiment of the present application further provides a vehicle, which comprises the motor controller 10 as shown in Figure 5 or Figure 6 and a driving motor connected with the motor controller 10.

[0074] In some embodiments, the vehicle further comprises a generator and an engine, the motor controller 10 is connected with the generator and the engine respectively, and the generator and the engine are in driving connection.

[0075] In the present application, multiple refers to two or more than two.

[0076] In the present application, unless otherwise explicitly limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0077] The terms "first", "second", "third", "fourth" and the like in the present application, if any, are used to distinguish similar objects, and do not necessarily indicate a particular order or sequence.

[0078] The term "and / or" in the present application is only used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent three cases of A alone, A and B together, and B alone. In addition, the character " / " in the present application generally represents an "or" relationship between the associated objects before and after it.

[0079] If not specifically stated, all steps in the present application can be performed in sequence or randomly. For example, the method comprises steps A and B, which means that the method can comprise steps A and B performed in sequence, or steps B and A performed in sequence. For example, the method can further comprise step C, which means that step C can be added to the method in any order, for example, the method can comprise steps A, B and C, or steps A, C and B, or steps C, A and B, etc.

[0080] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for protecting a motor, characterized in that, Applied to a motor controller, the method includes: In the event that the resolver decoding module in the motor controller fails, the operating current of the drive motor connected to the motor controller is obtained; The speed of the drive motor is determined based on the operating current of the drive motor; If the speed of the drive motor meets the motor protection conditions, a first protection strategy matching the speed of the drive motor is obtained and executed.

2. The method according to claim 1, characterized in that, The motor controller includes a hardware protection module. The step of acquiring and executing a first protection strategy that matches the rotational speed of the drive motor includes: The first protection policy is obtained through the hardware protection module, and the first protection policy is executed.

3. The method according to claim 2, characterized in that, The motor controller further includes a backup power module, which is connected to the hardware protection module. The step of obtaining the first protection strategy through the hardware protection module and executing the first protection strategy includes: If the basic power supply module in the motor controller fails, and the hardware protection module is powered by the backup power supply module, the first protection strategy is obtained through the hardware protection module and executed.

4. The method according to claim 1, characterized in that, The method further includes: If the resolver decoding module in the motor controller fails, the rotational speed of the engine connected to the motor controller is obtained. The rotational speed of the generator connected to the motor controller is determined based on the rotational speed of the engine. If the generator speed meets the generator protection conditions, a second protection strategy matching the generator speed is obtained and executed.

5. The method according to any one of claims 1 to 4, characterized in that, The step of obtaining and executing a first protection strategy that matches the rotational speed of the drive motor includes: If the speed of the drive motor is greater than a first speed threshold, the three-phase windings in the drive motor are controlled to be short-circuited. If the rotational speed of the drive motor is less than the second speed threshold, the drive motor is controlled to stop working; The second speed threshold is less than the first speed threshold.

6. A motor controller, characterized in that, include: The current sampling module is used to: acquire the operating current of the drive motor connected to the motor controller; A speed processing module, connected to the current sampling module, is used to: receive the operating current of the drive motor sent by the current sampling module, and determine the speed of the drive motor based on the operating current of the drive motor; The main control module, connected to the speed processing module, is used to: receive the first speed signal of the drive motor sent by the speed processing module when the resolver decoding module fails in the motor controller; and, if the speed indicated by the first speed signal meets the motor protection conditions, obtain a first protection strategy that matches the speed indicated by the first speed signal and execute the first protection strategy.

7. The motor controller according to claim 6, characterized in that, The motor controller also includes a hardware protection module, which is connected to the speed processing module. The hardware protection module is configured to: receive a second speed signal of the drive motor sent by the speed processing module, the second speed signal including a first signal or a second signal, the first signal indicating that the speed of the drive motor is higher than a first speed threshold, and the second signal indicating that the speed of the drive motor is lower than a second speed threshold; obtain a first protection strategy matching the speed indicated by the second speed signal, and execute the first protection strategy.

8. The motor controller according to claim 6, characterized in that, The motor controller also includes a communication module, which is connected to the engine; the engine is connected to the generator drive. The communication module is used to acquire the engine speed and send the engine speed to the main control module; The main control module is further configured to: determine the speed of the generator connected to the motor controller based on the speed of the engine; and, if the speed of the generator meets the generator protection conditions, obtain a second protection strategy that matches the speed of the generator and execute the second protection strategy.

9. The motor controller according to any one of claims 6 to 8, characterized in that, The main control module is specifically used to: control the three-phase windings in the drive motor to short-circuit when the speed indicated by the first speed signal is greater than the first speed threshold; and control the drive motor to stop working when the speed indicated by the first speed signal is less than the second speed threshold; wherein the second speed threshold is less than the first speed threshold.

10. A vehicle, characterized in that, include: The motor controller as described in any one of claims 6-9, and the drive motor connected to the motor controller.

11. The vehicle according to claim 10, characterized in that, Also includes: A generator and an engine, wherein the generator and the engine are respectively connected to the motor controller.

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