Vehicle motor three-phase current control method, motor controller and vehicle

Abstract

The invention discloses a vehicle motor three-phase current control method, a motor controller and a vehicle, and belongs to the technical field of vehicle engineering. The control method comprises the following steps: detecting whether the three-phase line voltage of the motor is balanced; under the condition that the three-phase line voltage of the motor is balanced, obtaining the current of a first phase and the current of a second phase of the motor; acquiring current of a third phase of the motor based on the current of the first phase and the current of the second phase; and based on the current of the first phase, the current of the second phase and the current of the third phase, detecting whether the three-phase current of the motor is balanced. According to the vehicle motor three-phase current control method, the motor controller and the vehicle, whether the motor is balanced or not is recognized by detecting the three-phase voltage, under the condition that the three-phase line voltage of the motor is balanced, the current of the third phase is reversely deduced through the three-phase balanced current formula and the two-phase current, and the motor is controlled. Whether the current state of the motor reaches the three-phase balance state or not is reversely deduced through three-phase current back detection, and whether the three-phase current of the motor is balanced or not can be more timely and accurately determined.

Description

Technical Field

[0001] This application belongs to the field of vehicle engineering technology, and in particular relates to a method for controlling the three-phase current of a vehicle motor, a motor controller, and a vehicle. Background Technology

[0002] In related technologies, as electric vehicles become increasingly integrated, the reliability requirements for power domain controllers also increase. Maintaining a balanced three-phase current in the motor of an electric vehicle is crucial for ensuring the reliable operation of the power domain controller and driving safety. Currently, the balance of the three-phase current is typically determined by monitoring the motor's three-phase current. If the three-phase current is unbalanced, the motor is controlled to stop the three-phase current output. However, this method suffers from drawbacks such as a high false alarm rate and significant delay, making it difficult to determine the balance of the motor's three-phase current in a timely and accurate manner. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a method for controlling the three-phase current of a vehicle motor, a motor controller, and a vehicle, which can more timely and accurately determine whether the three-phase current of the motor is balanced.

[0004] In a first aspect, this application provides a method for controlling the three-phase current of a vehicle motor, the method comprising: Check whether the three-phase line voltages of the motor are balanced; When the three-phase line voltages of the motor are balanced, the current of the first phase and the current of the second phase of the motor are obtained; Based on the current of the first phase and the current of the second phase, the current of the third phase of the motor is obtained; Based on the current of the first phase, the current of the second phase, and the current of the third phase, the balance of the three-phase current of the motor is detected.

[0005] According to the vehicle motor three-phase current control method of this application, the motor balance is first identified by detecting the three-phase voltage. Then, when the three-phase line voltages of the motor are balanced, the current of the third phase is deduced from the two-phase current obtained by hard-wired monitoring using the three-phase balance current formula. Furthermore, the current of the motor is deduced by checking the three-phase current to determine whether the current of the motor has reached a three-phase balance state. Through redundant monitoring of the three-phase balance system, that is, by performing dual detection of whether the motor is in a three-phase balance state based on the three-phase voltage and three-phase current, the balance of the motor's three-phase current can be determined more timely and accurately. Moreover, through dual detection and dual monitoring, abnormal states of the motor can be detected at the first time, and alarm prompts can be issued more promptly to troubleshoot problems. It can also further clarify whether the abnormality is on the power supply side, the motor side (i.e., the load side), or the internal parsing of the motor controller. This can significantly improve the reliability of the motor controller in application scenarios, improve the reliability of motor control and the stability of motor operation, and effectively meet the stringent requirements of high-power scenarios in new energy vehicles.

[0006] According to one embodiment of this application, obtaining the current of the third phase of the motor based on the current of the first phase and the current of the second phase includes: Based on the supply voltage, the current of the first phase, and the conversion coefficient, a first conversion voltage corresponding to the current of the first phase is obtained, and based on the supply voltage, the current of the second phase, and the conversion coefficient, a second conversion voltage corresponding to the current of the second phase is obtained; the conversion coefficient is used to indicate the conversion relationship between voltage and current. Based on the supply voltage, the first conversion voltage, and the second conversion voltage, the third conversion voltage is obtained; The current of the third phase of the motor is obtained based on the supply voltage, the third conversion voltage, and the conversion coefficient.

[0007] According to one embodiment of this application, detecting whether the three-phase line voltages of the motor are balanced includes: The average value of the three-phase line voltages is obtained as the average line voltage; If the ratio of the maximum value of the difference between the three-phase line voltage and the average line voltage to the average line voltage is greater than a first threshold, the motor is determined to have unbalanced three-phase line voltages; and if the ratio of the maximum value of the difference between the three-phase line voltage and the average line voltage to the average line voltage is less than or equal to the first threshold, the motor is determined to have balanced three-phase line voltages.

[0008] According to one embodiment of this application, detecting whether the three-phase current of the motor is balanced based on the current of the first phase, the current of the second phase, and the current of the third phase includes: Based on the current of the first phase, the current of the second phase, and the current of the third phase, the effective value of the average current is obtained; If the ratio of the maximum value among the differences between the effective values ​​of the first phase current, the second phase current, and the third phase current and the effective value of the average current to the effective value of the average current is greater than a second threshold, the three-phase current of the motor is determined to be unbalanced; and if the ratio of the maximum value among the differences between the effective values ​​of the first phase current, the second phase current, and the third phase current and the effective value of the average current to the effective value of the average current is less than or equal to a second threshold, the three-phase current of the motor is determined to be balanced.

[0009] Secondly, this application provides a motor controller, which includes: a control module and a conversion circuit; the input terminal of the control module is connected to the output terminal of a voltage sensor, the output terminal of a first current sensor, the output terminal of a second current sensor, and the output terminal of the conversion circuit, respectively; the output terminals of the first current sensor and the second current sensor are connected to the input terminal of the conversion circuit, respectively. The voltage sensor is used to acquire and output the three-phase line voltage signal of the motor; The first current sensor is used to acquire and output a first signal; the first signal is a signal used to indicate the current of the first phase of the motor; The second current sensor is used to acquire and output a second signal; the second signal is a signal used to indicate the current of the second phase of the motor. The conversion circuit outputs a third signal based on the first signal and the second signal; the third signal is a signal used to indicate the current of the third phase of the motor. The control module is used to detect whether the three-phase line voltage of the motor is balanced based on the three-phase line voltage signal of the motor; and to detect whether the three-phase current of the motor is balanced based on the first signal, the second signal and the third signal.

[0010] According to the motor controller of this application, the control module first detects the three-phase voltage to identify whether the motor is balanced. Then, when the three-phase line voltages of the motor are balanced, the conversion circuit uses the three-phase balance current formula to infer the current of the third phase based on the two-phase current obtained from hard-wired monitoring. Furthermore, the control module uses the three-phase current feedback to infer whether the motor's current state has reached a three-phase balance state. Through redundant monitoring of the three-phase balance system, i.e., by performing dual detection based on three-phase voltage and three-phase current to determine whether the motor is in a three-phase balanced state, the balance of the motor's three-phase current can be determined more promptly and accurately. Moreover, through dual detection and dual monitoring, abnormal motor states can be detected immediately, allowing for timely alarm prompts to troubleshoot problems. It can also further clarify whether the abnormality is on the power supply side, the motor side (i.e., the load side), or the internal parsing of the motor controller, significantly improving the reliability of the motor controller in various application scenarios and enhancing the reliability of motor control and the stability of motor operation.

[0011] According to one embodiment of this application, the motor controller further includes: a first protection circuit and a second protection circuit; the first protection circuit and the second protection circuit are connected to the trigger of the power module of the motor; the input terminal of the first protection circuit is respectively connected to the output terminal of the first current sensor, the output terminal of the second current sensor and the output terminal of the conversion circuit; The first protection circuit is used to trigger the trigger to shut off the control signal sent by the control module to the power module when the current of any phase of the motor exceeds the corresponding current threshold. The second protection circuit is used to trigger the trigger to shut off the control signal sent by the control module to the power module when the temperature of the switching device of any phase in the power module exceeds the temperature threshold.

[0012] According to one embodiment of this application, the second protection circuit includes a first comparator, a second comparator, and a third comparator; The first input terminal of the first comparator is connected to the output terminal of the first current sensor; the input signal of the second input terminal of the first comparator is the signal corresponding to the current threshold of the first phase. The first input terminal of the second comparator is connected to the output terminal of the second current sensor; the input signal of the second input terminal of the second comparator is the signal corresponding to the current threshold of the second phase. The first input terminal of the third comparator is connected to the output terminal of the conversion circuit; the input signal of the second input terminal of the third comparator is the signal corresponding to the current threshold of the third phase. The outputs of the first comparator, the second comparator, and the third comparator are all connected to the flip-flop.

[0013] According to one embodiment of this application, the first protection circuit includes a comparison circuit; The input terminals of the comparator circuit are connected to the first temperature sensor, the second temperature sensor, and the third temperature sensor, respectively; the output terminal of the comparator circuit is connected to the trigger. The first temperature sensor, the second temperature sensor, and the third temperature sensor are used to acquire the temperature of the switching device of one phase in the power module.

[0014] According to one embodiment of this application, the comparison circuit includes a multiplexer and a fourth comparator; The three input terminals of the multiplexer are respectively connected to the first temperature sensor, the second temperature sensor, and the third temperature sensor; the output terminal of the multiplexer is connected to the first input terminal of the fourth comparator; the input signal of the second input terminal of the fourth comparator is the signal corresponding to the temperature threshold; the output terminal of the fourth comparator is connected to the trigger.

[0015] According to one embodiment of this application, the comparison circuit includes a maximum value detection circuit and a fifth comparator; The three input terminals of the maximum value detection circuit are respectively connected to the first temperature sensor, the second temperature sensor, and the third temperature sensor; the output terminal of the maximum value detection circuit is connected to the first input terminal of the fifth comparator; the input signal of the second input terminal of the fifth comparator is the signal corresponding to the temperature threshold; the output terminal of the fifth comparator is connected to the trigger. The maximum value of the signals input to each input terminal of the maximum value detection circuit is output from the output terminal of the maximum value detection circuit.

[0016] According to one embodiment of this application, the maximum value detection circuit includes at least three branches; each branch includes a first operational amplifier and a unidirectional conduction component; The first input terminal of each of the three branches of the first operational amplifier is connected to the first temperature sensor, the second temperature sensor and the third temperature sensor, respectively. The second input terminal of the first operational amplifier in the branch is connected to the second terminal of the unidirectional conduction component, and the output terminal of the first operational amplifier is connected to the first terminal of the unidirectional conduction component. The second terminal of each of the unidirectional conducting components is connected to the output terminal of the maximum value detection circuit; when the voltage at the first terminal of the unidirectional conducting component is greater than the voltage at the second terminal of the unidirectional conducting component, the unidirectional conducting component is in the conducting state.

[0017] According to one embodiment of this application, the conversion circuit includes: a second operational amplifier; the second operational amplifier includes a first operational amplifier unit and a second operational amplifier unit; the input signal at the first input terminal of the first operational amplifier unit is a power supply voltage signal; the output terminals of the first current sensor and the second current sensor are respectively connected to the second input terminal of the first operational amplifier unit; the output terminal of the first operational amplifier unit is connected to the first input terminal of the second operational amplifier unit; the second input terminal of the second operational amplifier unit is grounded; the output terminal of the second operational amplifier unit is connected to the output terminal of the conversion circuit. The first operational amplifier unit is used to subtract the first signal and the second signal from the power supply voltage signal to obtain a third signal, and output the third signal after reducing it by a target ratio; The second operational amplifier unit is used to amplify the input signal by a target factor and then output it; the target factor is the reciprocal of the target ratio.

[0018] Thirdly, this application provides a vehicle comprising: a generator, a drive motor, and two motor controllers as described in the second aspect; the two motor controllers are respectively used to control the generator and the drive motor.

[0019] According to one embodiment of this application, the device further includes a power module for the generator, a power module for the drive motor, and two sensor groups; each sensor group includes a current sensor, a second current sensor, a first temperature sensor, a second temperature sensor, and a third temperature sensor; the two sensor groups correspond to the generator and the drive motor, respectively. The two motor controllers are integrated on the control board; the conversion circuit and the first protection circuit of the two motor controllers are integrated into a current sampling processing unit; the second protection circuit of the two motor controllers is integrated into a temperature processing unit.

[0020] According to one embodiment of this application, both the first current sensor and the second current sensor are Hall sensors; Both the first current sensor and the second current sensor are disposed on a Hall magnetic induction circuit board; the Hall magnetic induction circuit board is provided with multiple pairs of shielding plates; each pair of shielding plates is used to isolate the first current sensor or the second current sensor from other first current sensors and other second current sensors.

[0021] Fourthly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method for the three-phase current of a vehicle motor as described in the first aspect above.

[0022] Fifthly, this application provides a non-volatile computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for the three-phase current of a vehicle motor as described in the first aspect above.

[0023] In a sixth aspect, this application provides a chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the vehicle motor three-phase current control method as described in the first aspect.

[0024] In a seventh aspect, this application provides a computer program product, including a computer program that, when executed by a processor, implements the control method for the three-phase current of a vehicle motor as described in the first aspect above.

[0025] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0026] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart illustrating the method for controlling the three-phase current of a vehicle motor according to an embodiment of this application; Figure 2 This is a circuit topology diagram of an application scenario for the vehicle motor three-phase current control method provided in this application embodiment; Figure 3 This is a schematic diagram of the structure of the motor controller provided in the embodiment of this application; Figure 4 This is a schematic diagram of the working process of the motor controller provided in the embodiments of this application; Figure 5 This is a topology diagram of the hardware protection components in the motor controller provided in the embodiments of this application; Figure 6 This is one of the circuit diagrams of the conversion circuit in the motor controller provided in the embodiments of this application; Figure 7 This is the second circuit diagram of the conversion circuit in the motor controller provided in the embodiments of this application; Figure 8This is a simulation waveform diagram of the process of reconstructing the third-phase current in the conversion circuit of the motor controller provided in the embodiment of this application; Figure 9 This is a simulation waveform diagram of the conversion circuit in the motor controller provided in this application reconstructing the third phase current based on the two-phase current; Figure 10 This is a partial structural schematic diagram of the vehicle provided in an embodiment of this application; Figure 11 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0028] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] The following description, in conjunction with the accompanying drawings, details the vehicle motor three-phase current control method, motor controller, vehicle, electronic equipment, and readable storage medium provided in this application through specific embodiments and application scenarios.

[0030] The control method for the three-phase current of the vehicle motor can be applied to the terminal, and can be executed by the hardware or software in the terminal.

[0031] The vehicle motor three-phase current control method provided in this application embodiment can be executed by an electronic device or a functional module or entity in an electronic device that can implement the vehicle motor three-phase current control method. The electronic devices mentioned in this application embodiment include, but are not limited to, mobile phones, tablets, computers, cameras and wearable devices. The following uses an electronic device as the execution subject to describe the vehicle motor three-phase current control method provided in this application embodiment.

[0032] like Figure 1As shown, the control method for the three-phase current of the vehicle motor includes steps 110, 120, 130 and 140.

[0033] In practical implementation, the circuit topology diagram for the application scenario of the vehicle motor three-phase current control method can be as follows: Figure 2 As shown. Reference Figure 2 The motor power module 210 may include three sets of switching devices, such as insulated-gate bipolar transistors (IGBTs) and other power switching transistors, to control the switching on and off of the motor's U, V, and W phases, respectively. One set of power switching transistors includes Q... U1 and Q U2 These are used to control the opening and closing of the upper and lower bridge arms of the motor's U phase, respectively; another set of power switching transistors includes Q... V1 and Q V2 These are used to control the switching on and off of the upper and lower bridge arms of the V phase of the motor, respectively; there is also a set of power switching transistors including Q... W1 and Q W2 These are used to control the opening and closing of the upper and lower bridge arms of the W phase of the motor, respectively.

[0034] In some embodiments, the motor power module 210 can be powered by a battery, the battery voltage being U. DC .

[0035] In some embodiments, the power module 210 of the motor may be connected in parallel with the capacitor Cx. The capacitor Cx may serve as a support capacitor for the input of a motor controller used to control the motor, thereby reducing voltage ripple and stabilizing the DC voltage.

[0036] In some embodiments, the aforementioned vehicle may be an electric vehicle (EV) or a hybrid electric vehicle (HEV).

[0037] Step 110: Check whether the three-phase line voltages of the motor are balanced.

[0038] In actual implementation, the three-phase line voltage of the motor can be obtained first. This motor can be any motor in an electric vehicle, such as a generator (Generate Machine or Generator, GM) or a drive motor (Transient Machine, TM), etc. This motor is a three-phase system.

[0039] In some embodiments, a voltage sensor can be provided between every two phases of the motor to obtain the line voltage of that phase collected by the voltage sensor.

[0040] After obtaining the three-phase line voltage of the motor, the balance of the three-phase system can be identified by detecting the three-phase line voltage.

[0041] In some embodiments, reference Figure 2 The three-phase line voltage U of the motor winding 220 can be measured using voltage sensors, etc. AB U BC and U CA Monitoring is performed to convert the original high voltage into a low voltage analog signal u. AB u BC and u CA Among them, U AB U BC and U CA These can be the voltage difference between phases V and W of the motor, the voltage difference between phase U and W, and the voltage difference between phase U and V, respectively. Low-voltage analog signal u AB u BC and u CA They can be used to indicate U respectively AB U BC and U CA Size, low voltage analog signal u AB u BC and u CA The amplitude can be compared with U respectively AB U BC and U CA Proportional.

[0042] It is understandable that when the motor is in a three-phase balanced state, u AB =u BC =u CA =u line Among them, u line U is the average line voltage. line =(u AB +u BC +u CA ) / 3. Therefore, it can be determined by judging u AB u BC u CA and u line Does u satisfy the above three-phase equilibrium state? AB u BC u CA and u line The relationship between u AB u BC and u CA Is it balanced? If so, then u can be determined. AB u BC and u CABalance means that the three-phase line voltages of the motor are balanced, which can preliminarily determine that the motor is in a three-phase balanced state; if it is not satisfied, then u can be determined. AB u BC and u CA Imbalance refers to an imbalance in the three-phase line voltages of the motor.

[0043] In some embodiments, when the three-phase line voltage of the motor is unbalanced, a wave alarm can be quickly turned off, and the fault of the three-phase line voltage imbalance can be troubleshooted by instruments.

[0044] In some embodiments, when the three-phase line voltage of the motor is unbalanced, troubleshooting faults such as loose screws and power grid fluctuations that may cause the three-phase line voltage imbalance of the motor is performed.

[0045] Step 120: Under the condition that the three-phase line voltages of the motor are balanced, obtain the current of the first phase and the current of the second phase of the motor.

[0046] In actual implementation, when the three-phase line voltages of the motor are balanced, current monitoring can be further performed to use the three-phase balance current formula to deduce the third-phase current from the two-phase currents. Based on this, the three-phase system can be rechecked using three-phase current detection to re-determine whether the motor is in a three-phase balanced state.

[0047] In some embodiments, the current of the first phase and the current of the second phase of the motor can be obtained through hard-wired monitoring. It should be noted that the first phase and the second phase can be any two of the three phases U, V, and W. For ease of description, refer to... Figure 2 As shown, taking the first phase and the second phase as U phase and V phase respectively as examples, the process of inferring the third phase current from the two phase currents is described.

[0048] In some embodiments, when the three-phase line voltages of the motor are balanced, the two-phase current I can be collected using a current sensor by means of the three-phase balanced current formula. U and I V And correspondingly converted into a voltage analog signal U IU_SENSOR and U IV_SENSOR Voltage analog signal U IU_SENSOR and U IV_SENSOR It can be used to indicate the two-phase current I respectively. U and I V The magnitude of the voltage analog signal U IU_SENSOR and U IV_SENSOR The amplitude can be compared with the two-phase current I. U and I V Proportional.

[0049] Step 130: Based on the current of the first phase and the current of the second phase, obtain the current of the third phase of the motor.

[0050] In practical implementation, the three-phase balance formula can be used to utilize the two-phase current I. U and I V And correspondingly converted into a voltage analog signal U IU_SENSOR and U IV_SENSOR The current I of the third phase (i.e., phase W) is completed. w The corresponding analog voltage signal U IW_SENSOR The calculation is used to reverse-engineer the current I of the third phase. w Acquire the analog voltage signal U IW_SENSOR Then, based on the performance specifications of the aforementioned current sensor, the voltage analog signal U can be... IW_SENSOR The current I converted to the third phase w .

[0051] It should be noted that by using two current sensors to collect the current of two phases respectively, and then inferring the current of the third phase from the current of the two phases, the number of sensors can be reduced, thereby reducing the cost and the weight of the motor controller.

[0052] Step 140: Based on the current of the first phase, the current of the second phase, and the current of the third phase, detect whether the three-phase current of the motor is balanced.

[0053] In actual implementation, the three-phase system can be rechecked based on the three-phase current of the motor to determine whether the motor is in a three-phase balanced state.

[0054] It is understandable that when the motor is in a three-phase balanced state, the three-phase currents satisfy I W =-(I U +I V It can be determined by judging the three-phase current I. w I U and I V Does it satisfy the above three-phase equilibrium state I? w I U and I V The relationship between the three-phase current I of the motor is detected. w I U and I V Is it balanced? If so, then I can be determined. w I U and I V Balance means that the three-phase current of the motor is balanced, which confirms that the motor is in a three-phase balanced state and can be normally driven and controlled. If this condition is not met, then I... w I U and I V Imbalance refers to the imbalance of the three-phase current in the motor.

[0055] In some embodiments, when the three-phase current of the motor is unbalanced, a rapid alarm can be triggered, prompting troubleshooting. In some embodiments, for the situation of unbalanced three-phase current in the motor, the three-phase current I of the motor can be analyzed using current analysis. w I U and I V We need to analyze the data to troubleshoot the cause of the problem.

[0056] According to the vehicle motor three-phase current control method provided in this application embodiment, the motor balance is first identified by detecting the three-phase voltage. Then, when the three-phase line voltages of the motor are balanced, the current of the third phase is deduced from the two-phase current obtained by hard-wired monitoring using the three-phase balance current formula. Furthermore, the current of the motor is deduced from the three-phase current back-check to determine whether the current state of the motor has reached a three-phase balance state. Through redundant monitoring of the three-phase balance system, that is, by performing dual detection based on the three-phase voltage and three-phase current to determine whether the motor is in a three-phase balance state, the balance of the motor's three-phase current can be determined more timely and accurately. Moreover, through dual detection and dual monitoring, abnormal motor states can be detected at the first time, and alarm prompts can be issued more promptly to troubleshoot problems. It can also further clarify whether the abnormality is on the power supply side, the motor side (i.e., the load side), or the internal parsing abnormality of the motor controller. This can significantly improve the reliability of the motor controller in application scenarios, improve the reliability of motor control and the stability of motor operation, and effectively meet the stringent requirements of high-power scenarios in new energy vehicles.

[0057] Furthermore, by using the two-phase current obtained through hard-wired monitoring to infer the third-phase current, it is possible to eliminate one phase current sensor while ensuring the balance of the three-phase system. Based on the relationship between the three-phase currents, the third-phase current can be inferred for rapid fault protection, which can reduce the number of sensors and thus reduce costs.

[0058] In some embodiments of this application, obtaining the current of the third phase of the motor based on the current of the first phase and the current of the second phase includes: obtaining a first conversion voltage corresponding to the current of the first phase based on the supply voltage, the current of the first phase and the conversion coefficient, and obtaining a second conversion voltage corresponding to the current of the second phase based on the supply voltage, the current of the second phase and the conversion coefficient; the conversion coefficient is used to indicate the conversion relationship between voltage and current.

[0059] In actual implementation, taking the first phase and the second phase as U phase and V phase respectively as an example, the current I of the first phase can be first... U The current I of the second phase V These are respectively converted into the corresponding first conversion voltage and second conversion voltage. The first conversion voltage and the second conversion voltage can be the aforementioned voltage analog signal U. IU_SENSOR and U IV_SENSOR The amplitude. The conversion can be performed using the following formula: IU =(U IU_SENSOR -VCC / 2) / Gain, I v =(U Iv_SENSOR -VCC / 2) / Gain. Where Gain represents the conversion factor and VCC represents the supply voltage.

[0060] It should be noted that Gain can be used to indicate the conversion relationship between voltage and current. Gain can be the current I of the first phase. U The current I of the second phase V The gain of the current sensor used for current acquisition.

[0061] In some embodiments, the specific value of VCC is not limited in this application. For example, VCC can be 5V or 3.3V, etc.

[0062] The third conversion voltage is obtained based on the supply voltage, the first conversion voltage, and the second conversion voltage.

[0063] In actual implementation, based on the supply voltage VCC and the first conversion voltage U... IU_SENSOR Second conversion voltage U Iv_SENSOR The third conversion voltage can be calculated using the following formula: U IW_SENSOR = (3 × VCC / 2) - U IU_SENSOR -U IV_SENSOR .

[0064] It should be noted that the third conversion voltage can be the aforementioned analog voltage signal U. IW_SENSOR The amplitude.

[0065] The current of the third phase of the motor is obtained based on the supply voltage, the third conversion voltage, and the conversion coefficient.

[0066] In actual implementation, based on the aforementioned conversion relationship between voltage and current, the third conversion voltage can be converted into the current I of the third phase of the motor. w :I W =(U IW_SENSOR -VCC / 2) / Gain.

[0067] According to the vehicle motor three-phase current control method provided in the embodiments of this application, by converting the current of the first phase of the motor into a first conversion voltage and a second conversion voltage respectively, and obtaining a third conversion voltage based on the supply voltage, the first conversion voltage and the second conversion voltage, and then converting the third conversion voltage into the current of the third phase of the motor, the current of the third phase can be obtained more quickly and accurately.

[0068] In some embodiments of this application, detecting whether the three-phase line voltages of the motor are balanced includes: obtaining the average value of the three-phase line voltages as the average line voltage.

[0069] In actual implementation, the average value of the three-phase line voltages can be obtained as the average line voltage. That is, u line =(u AB +u BC +u CA ) / 3.

[0070] If the ratio of the maximum value of the difference between the three-phase line voltage and the average line voltage to the average line voltage is greater than a first threshold, the motor is determined to have unbalanced three-phase line voltages; and if the ratio of the maximum value of the difference between the three-phase line voltage and the average line voltage to the average line voltage is less than or equal to the first threshold, the motor is determined to have balanced three-phase line voltages.

[0071] In actual implementation, when obtaining the average line voltage u line Then, the three-phase line voltage and the average line voltage u can be obtained. line Difference: |u AB -u line |、|u AB -u line | and |u AB -u line |

[0072] Obtain the three-phase line voltage and the average line voltage u line After calculating the difference, the line voltage imbalance of the motor can be obtained. The line voltage imbalance can be obtained using the following formula: Line voltage imbalance = [ max (| u AB -u line |,| u BC - u line |,| u CA - u line |) / u line ]×100%.

[0073] Line voltage imbalance can be used to indicate the degree of imbalance in the three-phase line voltages of a motor. The smaller the line voltage imbalance, the more balanced the three-phase line voltages of the motor; the larger the line voltage imbalance, the more unbalanced the three-phase line voltages of the motor.

[0074] In some embodiments, the balance of the three-phase line voltages of the motor can be determined by judging whether the line voltage imbalance is greater than a first threshold. If the line voltage imbalance is greater than the first threshold, it can be determined that the three-phase line voltages of the motor are unbalanced; if the line voltage imbalance is less than or equal to the first threshold, it can be determined that the three-phase line voltages of the motor are balanced.

[0075] The first threshold can be a small positive value, and the specific value of the first threshold is not limited in the embodiments of this application. For example, the first threshold can be 5% or 3%, etc.

[0076] It should be noted that, considering the actual operation of the motor, a certain degree of imbalance in the three-phase line voltage is allowed (i.e., the line voltage imbalance is less than or equal to the first threshold). Under this condition, the three-phase line voltage of the motor is considered to be balanced. It is not strictly required that the three-phase line voltage of the motor be considered balanced only when the line voltage imbalance is equal to zero.

[0077] According to the vehicle motor three-phase current control method provided in the embodiments of this application, when the ratio of the maximum value of the difference between the three-phase line voltage and the average line voltage to the average line voltage is greater than a first threshold, the three-phase line voltage imbalance of the motor is determined. This method can detect the three-phase imbalance at the fault initiation stage, thereby avoiding serious losses such as motor burnout due to long-term overheating, and can also achieve accurate fault location and root cause analysis.

[0078] In some embodiments of this application, detecting whether the three-phase current of the motor is balanced based on the current of the first phase, the current of the second phase, and the current of the third phase includes: obtaining the effective value of the average current based on the current of the first phase, the current of the second phase, and the current of the third phase.

[0079] In actual implementation, the current I of the first phase U The current I in the second phase V and the current I of the third phase w Since it is alternating current, the current I of the first phase can be obtained separately. U The current I in the second phase V and the current I of the third phase w The effective value of is denoted as I. U_RMS I V_RMS I W_RMS .

[0080] Get as I U_RMS I V_RMS I W_RMS The average value of the average current is taken as the effective value of the average current. That is, the effective value of the average current I. AV =(I U_RMS +I V_RMS +I W_RMS ) / 3.

[0081] If the ratio of the maximum value among the differences between the effective values ​​of the first phase current, the second phase current, and the third phase current and the effective value of the average current to the effective value of the average current is greater than a second threshold, the three-phase current of the motor is determined to be unbalanced; and if the ratio of the maximum value among the differences between the effective values ​​of the first phase current, the second phase current, and the third phase current and the effective value of the average current to the effective value of the average current is less than or equal to the second threshold, the three-phase current of the motor is determined to be balanced.

[0082] In actual implementation, when obtaining the effective value I of the average current... AV Then, the effective values ​​of the three-phase current and the effective value of the average current I can be obtained. AV The difference: |I U_RMS -I AV |、|I V_RMS -I AV |and|I W_RMS -I AV |

[0083] Obtain the effective value of the three-phase current and the effective value of the average current I AV After calculating the difference, the three-phase current imbalance of the motor can be obtained. The three-phase current imbalance can be obtained using the following formula: Three-phase current imbalance = [ max (|I U_RMS -I AV |,|I V_RMS -I AV |,|I W_RMS -I AV |) / I AV ]×100%.

[0084] Three-phase current imbalance can be used to indicate the degree of imbalance in the three-phase current of a motor. The smaller the three-phase current imbalance, the more balanced the three-phase current of the motor; the larger the three-phase current imbalance, the more unbalanced the three-phase current of the motor.

[0085] In some embodiments, the balance of the three-phase current of the motor can be determined by judging whether the three-phase current imbalance is greater than a second threshold. If the three-phase current imbalance is greater than the second threshold, the motor's three-phase current is determined to be unbalanced; if the three-phase current imbalance is less than or equal to the second threshold, the motor's three-phase current is determined to be balanced.

[0086] The second threshold can be a small positive value, and the specific value of the second threshold is not limited in the embodiments of this application. For example, the second threshold can be 5% or 3%, etc.

[0087] It should be noted that, considering the actual operation of the motor, a certain degree of imbalance in the three-phase current of the motor is allowed (i.e., the three-phase current imbalance is less than or equal to the second threshold). Under this condition, the three-phase current of the motor is considered to be balanced. It is not strictly required that the three-phase current be equal to zero in order to be considered to be balanced.

[0088] According to the vehicle motor three-phase current control method provided in the embodiments of this application, when the ratio of the maximum value of the difference between the effective value of the three-phase current and the effective value of the average current to the effective value of the average current is greater than a second threshold, the three-phase current imbalance of the motor is determined. This method can detect the three-phase imbalance at the fault initiation stage, thereby avoiding serious losses such as motor burnout due to long-term overheating, and can also achieve accurate fault location and root cause analysis.

[0089] refer to Figure 3 This application also provides a motor controller. The motor controller 300 includes: a control module 310 and a conversion circuit 320; the input terminals of the control module 310 are respectively connected to the output terminals of a voltage sensor, a first current sensor 330, a second current sensor 340, and the conversion circuit 320; the output terminals of the first current sensor 330 and the second current sensor 340 are respectively connected to the input terminals of the conversion circuit 320; the voltage sensor is used to acquire and output the three-phase line voltage signal of the motor; the first current sensor 330 is used to acquire and output a first signal; the first signal is a signal used to indicate the current of the first phase of the motor; the second current sensor 340 is used to acquire and output a second signal; the second signal is a signal used to indicate the current of the second phase of the motor.

[0090] In practical implementation, the motor controller can be the controller of one of the motors on the vehicle. The motor on the vehicle can be any motor in an electric vehicle, such as a generator or drive motor. This motor is a three-phase system. The motor controller may include components such as a control module 310 and a conversion circuit 320.

[0091] It is understood that the motor controller may also include the motor's power module 210 and capacitor Cx, etc. For a description of the power module 210 and capacitor Cx, please refer to the foregoing embodiments; to avoid repetition, they will not be repeated here.

[0092] The output terminals of the voltage sensor, the first current sensor 330, and the second current sensor 340 are all connected to the input terminal of the control module 310, thereby allowing the voltage sensor to collect the three-phase line voltage signal u of the motor. AB u BC and u CA The first signal U collected by the first current sensor 330 IU_SENSORThe second signal U acquired by the second current sensor 340 IV_SENSOR All can be input into the control module 310 (taking the first phase and the second phase as U phase and V phase respectively as an example).

[0093] The output terminals of the first current sensor 330 and the second current sensor 340 are both connected to the conversion circuit 320, thereby enabling the first current sensor 330 to acquire the first signal U. IU_SENSOR The second signal U acquired by the second current sensor 340 IV_SENSOR All can be input to the conversion circuit 320.

[0094] The conversion circuit 320 outputs a third signal based on the first and second signals; the third signal is a signal used to indicate the current of the third phase of the motor.

[0095] In actual implementation, a hardware circuit can be used to deduce the current of the third phase from the current of the two-phase motor. This hardware circuit is the conversion circuit 320. The specific circuit structure of the conversion circuit 320 is not limited in this embodiment; it is sufficient to implement the aforementioned steps of deduce the current of the third phase from the current of the two-phase motor.

[0096] The control module 310 is used to detect whether the three-phase line voltage of the motor is balanced based on the three-phase line voltage signal of the motor; and to detect whether the three-phase current of the motor is balanced based on the first signal, the second signal and the third signal.

[0097] In actual operation, the output of the conversion circuit 320 can be connected to the input of the control module 310, thereby enabling the conversion circuit 320 to convert the third signal U... IW_SENSOR Input control module 310.

[0098] In some embodiments, the control module 310 may include a microcontroller unit (MCU). The microcontroller unit may also be referred to as a main control chip or a microprocessor.

[0099] In some embodiments, the control module 310 may obtain the average value of the three-phase line voltage based on the three-phase line voltage signal of the motor, and use it as the average line voltage; if the ratio of the maximum value of the difference between the three-phase line voltage and the average line voltage to the average line voltage is greater than a first threshold, the control module 310 may determine that the three-phase line voltage of the motor is unbalanced; and if the ratio of the maximum value of the difference between the three-phase line voltage and the average line voltage to the average line voltage is less than or equal to the first threshold, the control module 310 may determine that the three-phase line voltage of the motor is balanced.

[0100] In some embodiments, the control module 310 can convert the first signal, the second signal, and the third signal into currents of the first phase, the second phase, and the third phase, respectively; obtain the effective value of the average current based on the currents of the first phase, the second phase, and the third phase; determine that the three-phase current of the motor is unbalanced if the ratio of the maximum value among the differences between the effective values ​​of the first phase current, the second phase current, and the third phase current and the effective value of the average current to the effective value of the average current is greater than a second threshold; and determine that the three-phase current of the motor is balanced if the ratio of the maximum value among the differences between the effective values ​​of the first phase current, the second phase current, and the third phase current and the effective value of the average current to the effective value of the average current is less than or equal to the second threshold.

[0101] In some embodiments, the operation of the motor controller 300 can be as follows: Figure 4 As shown. Reference Figure 4 The operation of the motor controller 300 may include the following steps.

[0102] Step 410: Three-phase balance test.

[0103] The control module 310 can perform three-phase balance detection from the voltage dimension, that is, based on the three-phase line voltage signal of the motor, it can detect whether the three-phase line voltage of the motor is balanced.

[0104] If the three phases are balanced, step 420 can be executed; if the three phases are unbalanced, step 440 can be executed.

[0105] Step 420: Current monitoring.

[0106] The current of the first phase and the current of the second phase of the motor can be monitored by the first current sensor 330 and the second current sensor 340, so that the motor controller 300 can acquire a first signal for indicating the current of the first phase of the motor and a second signal for indicating the current of the second phase of the motor.

[0107] The conversion circuit 320 can use the first and second signals to deduce the third signal used to indicate the current of the third phase of the motor.

[0108] Step 430: Three-phase current balance check.

[0109] The control module 310 can perform three-phase balance detection again from the current dimension, that is, based on the first signal, the second signal and the third signal, detect whether the three-phase current of the motor is balanced.

[0110] If the three phases are balanced, step 460 can be executed; if the three phases are unbalanced, step 450 can be executed.

[0111] Step 440: Check for loose screws / power grid fluctuations.

[0112] Staff can troubleshoot motor issues such as loose screws and / or power grid fluctuations to restore the motor to a three-phase balanced state as soon as possible.

[0113] Step 450: Troubleshooting and analyzing the current.

[0114] Staff can troubleshoot faults such as abnormal internal current analysis in the motor controller 300 to restore the motor to a three-phase balanced state as soon as possible.

[0115] Step 460: Three-phase overcurrent protection.

[0116] According to the motor controller provided in this application embodiment, the control module first detects the three-phase voltage to identify whether the motor is balanced. Then, when the three-phase line voltages of the motor are balanced, the conversion circuit uses the three-phase balance current formula to infer the current of the third phase based on the two-phase current obtained from hard-wired monitoring. Furthermore, the control module uses the three-phase current feedback to infer whether the motor's current state has reached a three-phase balance state. Through redundant monitoring of the three-phase balance system, i.e., by performing dual detection based on three-phase voltage and three-phase current to determine whether the motor is in a three-phase balanced state, the balance of the motor's three-phase current can be determined more promptly and accurately. Moreover, through dual detection and dual monitoring, abnormal motor states can be detected immediately, allowing for timely alarm prompts to troubleshoot problems. It can also further clarify whether the abnormality is on the power supply side, the motor side (i.e., the load side), or the internal parsing of the motor controller, significantly improving the reliability of the motor controller in various application scenarios and enhancing the reliability of motor control and the stability of motor operation.

[0117] Furthermore, by using the two-phase current obtained through hard-wired monitoring to infer the third-phase current, it is possible to eliminate one phase current sensor while ensuring the balance of the three-phase system. Based on the relationship between the three-phase currents, the third-phase current can be inferred for rapid fault protection, which can reduce the number of sensors and thus reduce costs.

[0118] Furthermore, by employing a hardware logic circuit-based conversion circuit for hardware fitting of the motor's third-phase current and rapid fault protection, the implementation method and circuit design are simpler, the cost is lower, and the third-phase current can be obtained more quickly and accurately.

[0119] In some embodiments of this application, reference is made to Figure 5The motor controller also includes: a first protection circuit 510 and a second protection circuit 520; the first protection circuit 510 and the second protection circuit 520 are connected to the trigger 530 of the power module 210 of the motor; the input terminal of the first protection circuit 510 is connected to the output terminal of the first current sensor 330, the output terminal of the second current sensor 340 and the output terminal of the conversion circuit 320, respectively. The first protection circuit 510 is used to trigger the trigger 530 to shut down the control signal sent from the control module 310 to the power module 210 when the current of any phase of the motor exceeds the corresponding current threshold. The second protection circuit 520 is used to trigger the trigger 530 to shut down the control signal sent from the control module 310 to the power module 210 when the temperature of the switching device of any phase in the power module 210 exceeds the temperature threshold.

[0120] In actual operation, the motor controller can also be equipped with hardware protection components to protect the motor and the motor power module 210. The hardware protection components may include a first protection circuit 510 and a second protection circuit 520. The first protection circuit 510 can be used for overcurrent protection. The second protection circuit 520 can be used for overtemperature protection.

[0121] It should be noted that, based on the structural layout of the motor's power module and three-phase copper busbars and other high-voltage control components to meet 1200V creepage and clearance requirements, the motor controller can monitor the balance of the motor's three-phase current and handle faults.

[0122] It is understood that the motor power module 210 may include three sets of switching devices, which are used to control the switching on and off of the U, V, and W phases of the motor, respectively. The control module 310 can send control signals to the power module 210, and the switching on and off of each of the three sets of power switching transistors is controlled by the aforementioned control signals.

[0123] In some embodiments, the control signal described above may be a pulse width modulation (PWM) signal or other signals.

[0124] The output terminals of the first current sensor 330, the second current sensor 340, and the conversion circuit 320 can all be connected to the input terminal of the control module 310, so that the first signal, the second signal, and the third signal can be input into the first protection circuit 510.

[0125] The first protection circuit 510 can determine whether the current of each phase of the motor exceeds the current threshold corresponding to that phase. In some embodiments, if the current of any phase exceeds the current threshold corresponding to that phase, the first protection circuit 510 can send an overcurrent flag to the trigger 530 to trigger the trigger 530 to send the control signal sent by the power module 210 to the power module 210 to the power module 210. After the control signal of the power module 210 is turned off, the control signal is not input to the control terminal of the power module 210, and the power module 210 switches to the off state.

[0126] Understandably, if the trigger 530 does not receive the overcurrent flag, the trigger 530 will not shut off the control signal sent by the control module 310 to the power module 210. The control signal output by the control module 310 can be input to the input terminal of the power module 210 after passing through the trigger 530.

[0127] It should be noted that in this embodiment, the first protection circuit 510 can provide overcurrent protection for the current signal of each phase. If any phase of the motor experiences an overcurrent fault, the power module 210 will be quickly shut down. This can ensure that even if one current sensor is removed, overcurrent protection can still be provided for the current signal of each phase, thereby improving the safety of the system.

[0128] The second protection circuit 520 can monitor the temperature of each group of switching devices in the motor's power module 210 in real time; and determine whether the temperature of each group of switching devices in the motor's power module 210 exceeds a temperature threshold. In some embodiments, if the temperature of any group of switching devices exceeds the temperature threshold, the second protection circuit 520 can send an over-temperature flag to the trigger 530 to trigger the trigger 530 to shut down the control signal sent by the control module 310 to the power module 210. After the control signal of the power module 210 is shut down, the control signal is not input to the control terminal of the power module 210, and the power module 210 switches to the off state.

[0129] It should be noted that during motor operation, overcurrent faults (such as stall or short circuit) can cause the switching devices such as IGBTs in the power module 210 to heat up rapidly. If the current is not cut off in time, the switching devices may burn out or the motor may be damaged. Traditional overcurrent protection relies on current sensors and software algorithms. In this embodiment, current monitoring and temperature monitoring form dual redundancy, and the first protection circuit 510 and the second protection circuit 520 provide dual protection. Even if one circuit fails, the other circuit can still trigger protection. Furthermore, by implementing hardware circuitry, it operates independently of software, which can reduce or even completely avoid protection failures caused by software deadlock or delay. If any phase of the motor experiences an overcurrent or overtemperature fault, the overcurrent or overtemperature flag will be triggered, achieving rapid hardware shutdown. This reduces the response time of the fault protection system to the microsecond (µs) or nanosecond (ns) level, which is a significant improvement in response speed compared to software protection methods.

[0130] It should be noted that, in this embodiment of the application, by monitoring the temperature of each group of switching devices, the temperature change of the switching devices can also reflect the working status of the motor and the entire system. Even if the current sensor sends a fault or the signal is interfered with, the protection can still be triggered by the abnormal temperature of the switching devices in the power module 210, which can improve the reliability of the system.

[0131] refer to Figure 4 The operation of the motor controller 300 may include the following steps.

[0132] Step 460: Three-phase overcurrent protection.

[0133] Overcurrent protection is provided for the three-phase current to prevent serious losses such as motor burnout due to overheating caused by the three-phase current exceeding the threshold. The first protection circuit 510 can trigger the trigger 530 to shut down the control signal sent by the control module 310 to the power module 210 when the current in any phase of the motor exceeds the corresponding current threshold, thereby shutting down the power module 210 and turning off the motor.

[0134] Step 470: Temperature detection and protection.

[0135] To protect against overheating of the motor's power module, the second protection circuit 520 can trigger the trigger 530 to shut down the control signal sent from the control module 310 to the power module 210 when the temperature of the switching device in any phase of the motor exceeds the temperature threshold. This shuts down the power module 210 and thus the motor, preventing serious losses such as burnout due to overheating of the power module or failure of motor control due to overheating.

[0136] According to the motor controller provided in the embodiments of this application, overcurrent protection is achieved through a first protection circuit and overtemperature protection is achieved through a second protection circuit, thus realizing dual protection. It can quickly shut down the switching devices of the power module in abnormal situations such as the current of one phase of the motor exceeding the current threshold or the temperature of the switching devices of the power module exceeding the temperature threshold. This can improve the reliability and electromagnetic compatibility (EMC) capability of the system and effectively meet the stringent requirements of high-power scenarios in new energy vehicles.

[0137] Furthermore, both overcurrent and overtemperature protection are implemented through hardware circuits. Compared to internal software calculations and the transmission of fault alarm signals via inter-core communication, hardware circuits respond much faster when a fault occurs, improving system reliability. Moreover, hardware circuits do not rely on the execution cycle of software algorithms, enabling millisecond-level or even smaller time-granularity responses to current anomalies, reducing or even eliminating missed detections caused by software delays.

[0138] refer to Figure 5 In some embodiments of this application, the first protection circuit 510 includes a first comparator 511, a second comparator, and a third comparator; the first input terminal of the first comparator 511 is connected to the output terminal of the first current sensor 330; the input signal of the second input terminal of the first comparator 511 is the signal corresponding to the current threshold of the first phase current; the first input terminal of the second comparator is connected to the output terminal of the second current sensor 340; the input signal of the second input terminal of the second comparator is the signal corresponding to the current threshold of the second phase current; the first input terminal of the third comparator is connected to the output terminal of the conversion circuit 320; the input signal of the second input terminal of the third comparator is the signal corresponding to the current threshold of the third phase current; the output terminals of the first comparator 511, the second comparator, and the third comparator are all connected to the trigger 530.

[0139] In actual operation, for each phase current of the motor, the current of that phase can be compared with the current threshold corresponding to that phase current using a comparator. The first protection circuit 510 may include at least three comparators: a first comparator 511, a second comparator, and a third comparator. Each of the first, second, and third comparators can send an overcurrent flag to the trigger 530 when the signal input at the first input terminal is greater than the signal input at the second input terminal, thereby triggering the trigger 530 to shut down the control signal sent from the control module 310 to the power module 210.

[0140] In some embodiments, the first comparator 511 can be used to compare a first signal with a current threshold corresponding to the current of the first phase (taking phase U as an example). The two input terminals of the first comparator 511 can respectively receive the first signal output by the first current sensor 330 and the signal corresponding to the current threshold of the first phase.

[0141] In some embodiments, the second comparator can be used to compare the second signal with the current threshold corresponding to the current of the second phase (taking phase V as an example). The two input terminals of the second comparator can respectively receive the second signal output by the second current sensor 340 and the signal corresponding to the current threshold of the current of the second phase.

[0142] In some embodiments, the second comparator can be used to compare the third signal with the current threshold corresponding to the current of the third phase (taking phase W as an example). The two input terminals of the second comparator can respectively receive the third signal output by the conversion circuit 320 and the signal corresponding to the current threshold corresponding to the current of the third phase.

[0143] According to the motor controller provided in the embodiments of this application, by providing overcurrent protection for the current signal of each phase, the switching devices of the power module can be quickly turned off in the abnormal situation where the current of one phase of the motor exceeds the current threshold. This can reduce or even avoid missed detections, improve the reliability of the system, effectively meet the stringent requirements of high-power scenarios in new energy vehicles, and, by implementing it through hardware circuitry, the response speed is faster, which can improve the reliability of the system.

[0144] refer to Figure 5 In some embodiments of this application, the second protection circuit 520 includes a comparison circuit 521; the input terminals of the comparison circuit 521 are respectively connected to the first temperature sensor, the second temperature sensor and the third temperature sensor; the output terminal of the comparison circuit is connected to the trigger 530; the first temperature sensor, the second temperature sensor and the third temperature sensor are respectively used to obtain the temperature of the switching device of one phase in the power module 210.

[0145] In actual operation, the temperature of the switching devices in the power module 210 directly reflects its physical state. By monitoring the temperature of the switching devices in the motor's power module 210, rapid protection shutdown of the power module 210 can be achieved.

[0146] refer to Figure 5NTC1, NTC2, and NTC3 are the U, V, and W phase temperature sensors of the generator power module 210, respectively. NTC1, NTC2, and NTC3 are the first, second, and third temperature sensors of the generator power module 210, respectively. NTC4, NTC5, and NTC6 are the U, V, and W phase temperature sensors of the drive motor power module 210, respectively. NTC4, NTC5, and NTC6 are the first, second, and third temperature sensors of the drive motor power module 210, respectively.

[0147] In some embodiments, the temperature sensor described above may be a temperature sensor based on a negative temperature coefficient thermistor. In some embodiments, the first temperature sensor, the second temperature sensor, and the third temperature sensor for each motor may be pre-embedded according to the highest temperature point of the same set of half-bridge simulations.

[0148] The temperatures collected by NTC1, NTC2, NTC3, NTC4, NTC5, and NTC6 can be converted into an analog voltage signal G_T. U G_T V G_T W M_T U M_T V M_T W Understandably, G_T U G_T V G_T W M_T U M_T V M_T W These are used to indicate the temperatures of the U, V, and W phase switching devices of the generator's power module 210, and the temperatures of the U, V, and W phase switching devices of the drive motor's power module 210, respectively. G_T U G_T V G_T W M_T U M_T V M_T W The amplitude can be proportional to the temperature of the U, V, and W phase switching devices of the generator power module 210 and the temperature of the U, V, and W phase switching devices of the drive motor power module 210, respectively.

[0149] In some embodiments, the comparison circuit 521 can compare the temperature collected by each temperature sensor with a temperature threshold, and if it determines that the temperature of any of the above-mentioned paths exceeds the temperature threshold, it can forcibly shut down the power module 210 by sending an over-temperature flag to the trigger 530. For example, the over-temperature flag can be used to pull down the PWM-driver enable pin of the trigger 530, causing the trigger 530 to shut down the control signal sent by the control module 310 to the power module 210.

[0150] In some embodiments, the comparator circuit 521 can be implemented using various circuit structures. The specific circuit structure of the comparator circuit 521 is not limited in this application embodiment. For example, Figure 5 Way1 and Way2 in the diagram illustrate two implementations of the comparator circuit 521.

[0151] In some embodiments, the input of the comparator circuit 521 can be connected to multiple sets of temperature sensors. Each set of temperature sensors may include a first temperature sensor, a second temperature sensor, and a third temperature sensor. Each set of temperature sensors may correspond to one motor. If the temperature collected by any of the multiple sets of temperature sensors exceeds a temperature threshold, the output of the comparator circuit 521 can send an over-temperature flag to the trigger 530. That is, in the case of multiple motors, the motor controllers of the multiple motors can share a single comparator circuit 521. For example, the aforementioned temperature sensor G_T U G_T V G_T W M_T U M_T V M_T W The output signal can be input to one of the input terminals of the comparator circuit 521.

[0152] According to the motor controller provided in the embodiments of this application, the temperature of the switching devices in the power module of the motor can be monitored in real time and quickly shut down by combining the hardware comparison circuit with the over-temperature protection mechanism of the temperature threshold. This can improve reliability and effectively meet the stringent requirements of high-power scenarios in new energy vehicles.

[0153] refer to Figure 5 In some embodiments of this application, the comparison circuit 521 includes a multiplexer 522 and a fourth comparator 523.

[0154] In practical implementation, the comparator circuit 521 can employ a multiplexer (MUX) combined with a single comparator to achieve overcurrent monitoring of multiple analog-to-digital conversion (AD or ADC) signals, thereby reducing costs. (Reference) Figure 5 The Way1 in the circuit 521 may include a multiplexer 522 and a fourth comparator 523.

[0155] In some embodiments, the temperature threshold for temperature protection can be uniform, and over-temperature protection can be achieved through the same comparator (i.e., the fourth comparator 523).

[0156] The three input terminals of the multiplexer 522 are connected to the first temperature sensor, the second temperature sensor, and the third temperature sensor, respectively; the output terminal of the multiplexer 522 is connected to the first input terminal of the fourth comparator 523; the input signal of the second input terminal of the fourth comparator 523 is the signal corresponding to the temperature threshold; the output terminal of the fourth comparator 523 is connected to the trigger 530.

[0157] In actual operation, the outputs of the first, second, and third temperature sensors can each be connected to one input of the multiplexer 522. The first input of the fourth comparator 523 is connected to the output of the multiplexer 522, the second input of the fourth comparator 523 is the signal corresponding to the temperature threshold, and the output of the fourth comparator 523 is connected to the trigger 530.

[0158] In some embodiments, the control module 310 can control the channel switching of the multiplexer 522, and poll and collect multiple temperature signals input to the input terminal of the multiplexer 522 to the output terminal of the multiplexer 522.

[0159] The fourth comparator 523 can compare the signal output by the multiplexer 522 with the signal corresponding to the temperature threshold to determine the output state of the fourth comparator 523.

[0160] In some embodiments, the signal corresponding to the temperature threshold can be the voltage corresponding to the temperature threshold, to prevent the switching device from switching frequently due to temperature fluctuations.

[0161] Understandably, if the temperature of any input channel of the multiplexer 522 exceeds the temperature threshold, an over-temperature protection interrupt or event recording can be triggered. Triggering the over-temperature protection interrupt may include automatically cutting off the PWM signal input to the power module 210 to protect the power module 210 from high-temperature damage.

[0162] It should be noted that temperature signals are signals with a small rate of change over time and have low requirements for time variation. Therefore, polling or multiplexing can be used to determine whether the temperature exceeds the temperature threshold for multiple collected temperature signals, thus saving hardware resources.

[0163] In some embodiments, the input terminals of the multiplexer 522 can be connected to multiple sets of temperature sensors respectively. Each set of temperature sensors may include a first temperature sensor, a second temperature sensor, and a third temperature sensor. Each set of temperature sensors may correspond to one motor. That is, in the case of multiple motors, the motor controllers of the above-mentioned multiple motors can share a single multiplexer 522. For example, the aforementioned temperature sensor G_T U G_T V G_T W M_T U M_T V M_T W The output signals can be input to one input terminal of the multiplexer 522.

[0164] According to the motor controller provided in the embodiments of this application, by taking turns using multiple temperature signals input to the input terminal of the multiplexer as the output of the multiplexer, the switching speed of the multiplexer can meet the response requirements of over-temperature detection, thereby reducing power consumption and hardware costs.

[0165] refer to Figure 5 In some embodiments of this application, the comparison circuit includes a maximum value detection circuit 525 and a fifth comparator 524.

[0166] In practical implementation, the comparator circuit 521 can also employ a circuit structure combining maximum value detection with a single comparator to achieve an overcurrent monitoring scheme for multiple analog-to-digital conversion signals, thereby reducing costs. (Reference) Figure 5 Way2 in the comparison circuit 521 may include a multi-channel maximum value detection circuit 525 and a fifth comparator 524.

[0167] The three input terminals of the maximum value detection circuit 525 are connected to the first temperature sensor, the second temperature sensor, and the third temperature sensor, respectively; the output terminal of the maximum value detection circuit 525 is connected to the first input terminal of the fifth comparator 524; the input signal of the second input terminal of the fifth comparator 524 is the signal corresponding to the temperature threshold; the output terminal of the fifth comparator 524 is connected to the trigger 530; the maximum value of the signals input to each input terminal of the maximum value detection circuit 525 is output from the output terminal of the maximum value detection circuit 525.

[0168] In actual implementation, the maximum value detection circuit 525 is a hardware circuit used for maximum detection, which outputs the largest of its input signals. The outputs of the first, second, and third temperature sensors can each be connected to one input of the maximum value detection circuit 525. The first input of the fifth comparator 524 is connected to the output of the maximum value detection circuit 525, the second input of the fifth comparator 524 is the signal corresponding to the temperature threshold, and the output of the fifth comparator 524 is connected to the trigger 530.

[0169] It is understandable that if at least one temperature signal is greater than the signal corresponding to the temperature threshold, the fifth comparator 524 can be triggered to output an over-temperature flag.

[0170] In some embodiments, the input terminals of the maximum value detection circuit 525 can be connected to multiple sets of temperature sensors. Each set of temperature sensors may include a first temperature sensor, a second temperature sensor, and a third temperature sensor. Each set of temperature sensors may correspond to one motor. That is, in the case of multiple motors, the motor controllers of the above-mentioned multiple motors can share a single maximum value detection circuit 525. For example, the aforementioned temperature sensor G_T U G_T V G_T W M_T U M_T V M_T W The output signal can be input to one of the input terminals of the maximum value detection circuit 525.

[0171] According to the motor controller provided in the embodiments of this application, over-temperature detection is performed by using a maximum value detection circuit and a fifth comparator. There is no need to configure an independent comparator for each temperature signal, nor is there a need for the control module to poll or intervene. This enables pure hardware real-time over-temperature protection, reduces power consumption and hardware cost, and improves the response speed of over-temperature protection.

[0172] refer to Figure 5In some embodiments of this application, the maximum value detection circuit 525 includes at least three branches; each branch includes a first operational amplifier 526 and a unidirectional conduction component 527. The first input terminal of each of the three branches' first operational amplifiers 526 is connected to a first temperature sensor, a second temperature sensor, and a third temperature sensor, respectively; the second input terminal of each branch's first operational amplifier 526 is connected to the second terminal of the unidirectional conduction component 527, and the output terminal of the first operational amplifier 526 is connected to the first terminal of the unidirectional conduction component 527; the second terminals of all unidirectional conduction components 527 are connected to the output terminal of the maximum value detection circuit 525; when the voltage at the first terminal of the unidirectional conduction component 527 is greater than the voltage at the second terminal of the unidirectional conduction component 527, the unidirectional conduction component 527 is in a conducting state.

[0173] In actual implementation, the maximum value detection circuit 525 may include multiple branches. Each branch can be used to input a temperature signal, and the output of each branch is connected to the first input of the fifth comparator 524.

[0174] In some embodiments, for each branch, from the input terminal to the output terminal of the branch, a first operational amplifier 526 and a unidirectional conduction component 527 may be sequentially arranged. The second input terminal of the first operational amplifier 526 is connected to the second terminal of the unidirectional conduction component 527; the output terminal of the first operational amplifier 526 is connected to the first terminal of the unidirectional conduction component 527; and both the second input terminal of the first operational amplifier 526 and the second terminal of the unidirectional conduction component 527 are connected to the output terminal of the maximum value detection circuit 525.

[0175] The unidirectional conducting component 527 has unidirectional conductivity, allowing signals to flow only from its first terminal to its second terminal, but not from its second terminal to its first terminal. When the voltage at the first terminal of the unidirectional conducting component 527 is greater than the voltage at its second terminal, the unidirectional conducting component 527 is in the ON state, allowing signals to flow from its first terminal to its second terminal. Otherwise, the unidirectional conducting component 527 is in the OFF or ON state.

[0176] It should be noted that the inverting input terminal (i.e., the second input terminal) of the first operational amplifier 526 is connected to the output terminal to form a virtual short. The voltages at the non-inverting and inverting input terminals (i.e., the first and second input terminals) of the first operational amplifier 526 are the same. At this time, the input voltage and output voltage of the corresponding branch are identical, which resolves the influence of the forward voltage drop of the unidirectional conduction component 527 on the output. The true voltage value of the temperature signal can be reflected through the second terminal (i.e., the output terminal) of the unidirectional conduction component 527.

[0177] Understandably, by utilizing the "open-loop comparison" characteristic of the operational amplifier, the maximum value detection circuit 525 can compare each input signal step by step and output the maximum value.

[0178] In some embodiments, the unidirectional conduction component 527 may be a diode. The anode and cathode of the diode are the first and second terminals of the unidirectional conduction component 527, respectively.

[0179] According to the motor controller provided in the embodiments of this application, high-precision signal voltage acquisition is achieved through operational amplifiers and unidirectional conduction components, and the conduction voltage drop of the unidirectional conduction components can be compensated, thereby improving the response speed and accuracy of over-temperature protection.

[0180] refer to Figure 6 In some embodiments of this application, the conversion circuit 320 includes: a second operational amplifier; the second operational amplifier includes a first operational amplifier unit 321 and a second operational amplifier unit 322; the input signal at the first input terminal of the first operational amplifier unit 321 is a power supply voltage signal; the output terminal of the first current sensor 330 and the output terminal of the second current sensor 340 are respectively connected to the second input terminal of the first operational amplifier unit 321; the output terminal of the first operational amplifier unit 321 is connected to the first input terminal of the second operational amplifier unit 322; the second input terminal of the second operational amplifier unit 322 is grounded; the output terminal of the second operational amplifier unit 322 is connected to the output terminal of the conversion circuit. The first operational amplifier unit 321 is used to subtract the first signal and the second signal from the power supply voltage signal to obtain the third signal, and then output the third signal after reducing it by a target ratio. The second operational amplifier unit 322 is used to amplify the input signal by a target factor before outputting it; the target factor is the reciprocal of the target ratio.

[0181] In actual implementation, a hardware circuit can be built using a two-channel integrated operational amplifier, which is the conversion circuit 320. This operational amplifier can be a second operational amplifier IC1. The second operational amplifier IC1 can integrate two channels, namely a first operational amplifier unit 321 and a second operational amplifier unit 322.

[0182] In some embodiments, the first input terminal (i.e., the non-inverting input terminal) of the first operational amplifier unit 321 can be connected to the supply voltage signal through a first resistor R1 and grounded through a second resistor R2; the second input terminal (i.e., the inverting input terminal) of the first operational amplifier unit 321 can be connected to the output terminal of the first current sensor 330 through a third resistor R3 and to the output terminal of the second current sensor 340 through a third resistor R4; the output terminal of the first operational amplifier unit 321 can be connected to the first input terminal (i.e., the non-inverting input terminal) of the second operational amplifier unit 322 through a sixth resistor. The second input terminal of the first operational amplifier unit 321 can be connected to the output terminal of the first operational amplifier unit 321 through a fifth resistor.

[0183] In some embodiments, the first operational amplifier unit 321 can amplify an externally input voltage signal (including a first signal U). IU_SENSOR Second signal U IV_SENSOR The third signal is obtained by weighting the first operational amplifier unit 321 with a fixed bias voltage VCC (i.e., the supply voltage) by a certain proportion, and then outputting it. Through the cooperation of the first operational amplifier unit 321 and the resistor, the amplitude of the third signal can be reduced by a target ratio. The target ratio can be determined according to the actual situation of different motors, such as 2 / 3. The specific value of the target ratio is not limited in this embodiment.

[0184] It should be noted that reducing the amplitude of the third signal by the target ratio can achieve hardware current reconfiguration without adding a new power network or exceeding the op-amp voltage rail.

[0185] In some embodiments, the second input terminal (i.e., the inverting input terminal) of the second operational amplifier unit 322 can be grounded through the seventh resistor R7, and the second input terminal of the second operational amplifier unit 322 can be connected to the output terminal of the second operational amplifier unit 322 through the eighth resistor R8.

[0186] In some embodiments, the function of the second operational amplifier unit 322 is to amplify the output of the first operational amplifier unit 321 by using R6, R7, and R8 to amplify it by the target factor, thereby obtaining U. IW_SENSOR The specific value of the target multiple is not limited in this application embodiment, as long as the target ratio and the target multiple are reciprocals of each other. For example, when the target ratio is 2 / 3, the target multiple is 3 / 2.

[0187] It can be built as follows Figure 7 The simulation model of the conversion circuit 320 shown verifies the feasibility of its implementation. The first operational amplifier unit 321 and the second operational amplifier unit 322 are... Figure 9 These are IC1A and IC1B, respectively. VCC is set to 5V by default; U IU_SENSOR、 U IV_SENSOR This is a voltage analog signal generated by sampling and converting the U and V phase currents of the motor. In the simulation, the parameters of the two signals are set as sinusoidal signals with an amplitude of 0 to 5V, a frequency of 10kHz, and a phase difference of 120°. (Reference) Figure 8 U IW_SENSOR To reconstruct the analog voltage signal corresponding to the phase current W, at a certain moment in the waveform diagram of the reconstructed third phase current process. t 1. Capture the output of IC1A and the amplitude of the reconstructed phase current W voltage signal. The two are 3 / 2 times each, meeting the design requirements. Furthermore, it can be verified that the hardware reconstruction process does not exceed the op-amp voltage rail, thus avoiding clipping. Input U IU_SENSOR U IV_SENSOR Signals and Reconstruction U IW_SENSOR Signal comparison reference Figure 9 .like Figure 9 As shown, the reconstructed U IW_SENSOR The signal can still maintain normal amplitude and satisfy the three-phase current balance relationship with the other two phases with a 120° phase difference. Based on the simulation results, the feasibility of implementing the hardware circuit for reconstructing the third phase current can be proven.

[0188] According to the motor controller provided in the embodiments of this application, the hardware fitting of the current of the third phase of the motor and the fast fault protection are performed by adopting a conversion circuit in the form of hardware logic circuit. The implementation method and circuit architecture and design are simpler, the cost is lower, and the third phase current can be obtained more quickly and accurately.

[0189] In some embodiments of this application, a vehicle includes: a generator, a drive motor, and two motor controllers; the two motor controllers are used to control the generator and the drive motor, respectively.

[0190] In actual implementation, the vehicle can employ two motor controllers, one for controlling the generator and the other for controlling the drive motor. These two motor controllers can be any of the motor controllers provided in the above embodiments.

[0191] According to the vehicle provided in the embodiments of this application, the current detection of the drive motor and the generator can be carried out by collecting the current of two phases and then inferring the current of the third phase. Through structural design, the current interference between the drive motor and the generator can be greatly avoided, and the complexity and cost of the architecture can be reduced.

[0192] In some embodiments of this application, the vehicle further includes a generator power module 1040, a drive motor power module 1030, and two sensor groups; the sensor groups include a first current sensor, a second current sensor, a first temperature sensor, a second temperature sensor, and a third temperature sensor; the two sensor groups correspond to the generator and the drive motor, respectively. Two motor controllers are integrated on the control board 1090; the control modules, conversion circuits and first protection circuits of the two motor controllers are integrated into a current sampling and processing unit; the second protection circuits of the two motor controllers are integrated into a temperature processing unit.

[0193] In actual implementation, a partial structure of a vehicle may include a generator power module 1040, a drive motor power module 1030, and two sensor groups. Both the generator power module 1040 and the drive motor power module 1030 may be equipped with three corresponding probe terminals 1020 for U, V, and W.

[0194] In some embodiments, the control board 1090 may integrate a multi-function processing unit. The multi-function processing unit may include a current sampling processing unit, a temperature sampling processing unit, and a main control chip.

[0195] In some embodiments, the multi-functional processing unit can perform functions such as two-phase current sampling, third-phase current reconstruction, and overcurrent detection. That is, the control modules, conversion circuits, and first protection circuits of the two motor controllers can be integrated into a current sampling processing unit.

[0196] In some embodiments, the temperature sampling processing unit can perform multi-channel temperature sampling and dynamic (polling or maximum value mode) threshold comparison, comparing the temperature of the switching device with a temperature threshold. That is, the second protection circuitry of the two motor controllers can be integrated into the temperature sampling processing unit.

[0197] In some embodiments, the main control chip can be used to record all states in real time.

[0198] In some embodiments, the system has a rapid protection response capability. Once any fault indicator (including overcurrent and overtemperature indicators) is triggered, the system can immediately lock the waveform (including cutting off the control signal of the power module 210, etc.) to ensure system safety.

[0199] It should be noted that, in this embodiment, while achieving a compact dual-motor design, the requirements of lightweight design, cost reduction, and high reliability are also considered. One phase current sensor for each of the two motors is eliminated. Figure 5 and Figure 10 In this configuration, the generator is designated as the W phase and the drive motor as the U phase (but this is not a limitation). This avoids the high-frequency switching noise of the two motors interfering with each other, which could lead to distortion of the current detection signal.

[0200] In some embodiments, a phase current sensor near the water inlet (where the temperature is lower) of the generator's water channel 1010 can be removed. In some embodiments, a current sensor near the generator side of the drive motor can be removed to avoid interference from large current changes in the drive motor to the generator. A diagram illustrating the removed current sensor can be found in [reference needed]. Figure 10 The dashed box in the image (including the Hall sensor and its shielding plate). In practical applications, based on simulation results, the current sensor with the greatest impact from current changes can be removed for both the generator and the drive motor.

[0201] According to the vehicle provided in the embodiments of this application, by detecting the current of the drive motor and the generator, the current of the third phase can be deduced by collecting the current of two phases. Through structural design, the current interference between the drive motor and the generator can be greatly avoided.

[0202] According to the vehicle provided in the embodiments of this application, the current detection of the drive motor and the generator can be carried out by collecting the current of two phases and then inferring the current of the third phase. Through structural design, the current interference between the drive motor and the generator can be greatly avoided, and the complexity and cost of the architecture can be reduced.

[0203] In some embodiments of this application, both the first current sensor 330 and the second current sensor 340 are Hall sensors; both the first current sensor 330 and the second current sensor 340 are disposed on the Hall magnetic induction circuit board 1080; the Hall magnetic induction circuit board 1080 is provided with multiple pairs of shielding plates 1070; each pair of shielding plates 1070 is used to isolate the first current sensor 330 or the second current sensor 340 from other first current sensors 330 and other second current sensors 340.

[0204] In actual implementation, each sensor in the two sensor groups can be a Hall sensor. In some embodiments, the Hall sensor described above can be a patch Hall sensor.

[0205] In some embodiments, the shielding plate 1070 is a magnetic shielding plate.

[0206] In some embodiments, both the generator and the drive motor can be grounded using a three-phase copper busbar 1050.

[0207] According to the vehicle provided in the embodiments of this application, a high-sensitivity magnetic field acquisition module is formed by Hall sensors and magnetic shielding plates. Through the three-dimensional layout of the printed circuit board (PCB) design, non-contact accurate measurement and voltage conversion of large currents can be achieved. In addition, the structure adopts a cavity isolation design, which greatly reduces the interference between the two motors and improves the anti-interference capability of current sampling. Thus, it can provide accuracy and reliability of three-phase current acquisition, reverse calculation and three-phase current balance detection, effectively meeting the stringent requirements of high-power scenarios in new energy vehicles. Furthermore, the structural shell isolation design meets the signal isolation requirements and can improve the EMC level of the system.

[0208] In some embodiments, such as Figure 11 As shown, this application embodiment also provides an electronic device 1100, including a processor 1101, a memory 1102, and a computer program stored in the memory 1102 and executable on the processor 1101. When the computer program is executed by the processor 1101, it implements the various processes of the above-described vehicle motor three-phase current control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0209] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0210] This application also provides a non-volatile computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described vehicle motor three-phase current control method embodiment and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0211] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0212] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method for controlling the three-phase current of a vehicle motor.

[0213] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0214] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described vehicle motor three-phase current control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0215] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0216] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0217] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0218] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

[0219] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0220] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for controlling the three-phase current of a vehicle motor, characterized in that, include: Check whether the three-phase line voltages of the motor are balanced; When the three-phase line voltages of the motor are balanced, the current of the first phase and the current of the second phase of the motor are obtained; Based on the current of the first phase and the current of the second phase, the current of the third phase of the motor is obtained; Based on the current of the first phase, the current of the second phase, and the current of the third phase, the balance of the three-phase current of the motor is detected.

2. The method for controlling the three-phase current of a vehicle motor according to claim 1, characterized in that, The step of obtaining the current of the third phase of the motor based on the current of the first phase and the current of the second phase includes: Based on the supply voltage, the current of the first phase, and the conversion coefficient, a first conversion voltage corresponding to the current of the first phase is obtained, and based on the supply voltage, the current of the second phase, and the conversion coefficient, a second conversion voltage corresponding to the current of the second phase is obtained; the conversion coefficient is used to indicate the conversion relationship between voltage and current. Based on the supply voltage, the first conversion voltage, and the second conversion voltage, the third conversion voltage is obtained; The current of the third phase of the motor is obtained based on the supply voltage, the third conversion voltage, and the conversion coefficient.

3. The method for controlling the three-phase current of a vehicle motor according to claim 1 or 2, characterized in that, The method for detecting whether the three-phase line voltages of the motor are balanced includes: The average value of the three-phase line voltages is obtained as the average line voltage; If the ratio of the maximum value of the difference between the three-phase line voltage and the average line voltage to the average line voltage is greater than a first threshold, the motor is determined to have unbalanced three-phase line voltages; and if the ratio of the maximum value of the difference between the three-phase line voltage and the average line voltage to the average line voltage is less than or equal to the first threshold, the motor is determined to have balanced three-phase line voltages.

4. The method for controlling the three-phase current of a vehicle motor according to claim 1 or 2, characterized in that, The step of detecting whether the three-phase current of the motor is balanced based on the current of the first phase, the current of the second phase, and the current of the third phase includes: Based on the current of the first phase, the current of the second phase, and the current of the third phase, the effective value of the average current is obtained; If the ratio of the maximum value among the differences between the effective values ​​of the first phase current, the second phase current, and the third phase current and the effective value of the average current to the effective value of the average current is greater than a second threshold, the three-phase current of the motor is determined to be unbalanced; and if the ratio of the maximum value among the differences between the effective values ​​of the first phase current, the second phase current, and the third phase current and the effective value of the average current to the effective value of the average current is less than or equal to a second threshold, the three-phase current of the motor is determined to be balanced.

5. A motor controller, characterized in that, include: A control module and a conversion circuit; the input terminal of the control module is connected to the output terminal of the voltage sensor, the output terminal of the first current sensor, the output terminal of the second current sensor, and the output terminal of the conversion circuit, respectively; the output terminals of the first current sensor and the second current sensor are connected to the input terminal of the conversion circuit, respectively. The voltage sensor is used to acquire and output the three-phase line voltage signal of the motor; The first current sensor is used to acquire and output a first signal; the first signal is a signal used to indicate the current of the first phase of the motor; The second current sensor is used to acquire and output a second signal; the second signal is a signal used to indicate the current of the second phase of the motor. The conversion circuit outputs a third signal based on the first signal and the second signal; the third signal is a signal used to indicate the current of the third phase of the motor. The control module is used to detect whether the three-phase line voltage of the motor is balanced based on the three-phase line voltage signal of the motor; and to detect whether the three-phase current of the motor is balanced based on the first signal, the second signal and the third signal.

6. The motor controller according to claim 5, characterized in that, The motor controller further includes: a first protection circuit and a second protection circuit; the first protection circuit and the second protection circuit are connected to the trigger of the power module of the motor; the input terminal of the first protection circuit is connected to the output terminal of the first current sensor, the output terminal of the second current sensor and the output terminal of the conversion circuit, respectively. The first protection circuit is used to trigger the trigger to shut off the control signal sent by the control module to the power module when the current of any phase of the motor exceeds the corresponding current threshold. The second protection circuit is used to trigger the trigger to shut off the control signal sent by the control module to the power module when the temperature of the switching device of any phase in the power module exceeds the temperature threshold.

7. The motor controller according to claim 6, characterized in that, The second protection circuit includes a first comparator, a second comparator, and a third comparator; The first input terminal of the first comparator is connected to the output terminal of the first current sensor; the input signal of the second input terminal of the first comparator is the signal corresponding to the current threshold corresponding to the current of the first phase; The first input terminal of the second comparator is connected to the output terminal of the second current sensor; the input signal of the second input terminal of the second comparator is the signal corresponding to the current threshold of the second phase. The first input terminal of the third comparator is connected to the output terminal of the conversion circuit; the input signal of the second input terminal of the third comparator is the signal corresponding to the current threshold of the third phase. The outputs of the first comparator, the second comparator, and the third comparator are all connected to the flip-flop.

8. The motor controller according to claim 6, characterized in that, The first protection circuit includes a comparator circuit; The input terminals of the comparator circuit are connected to the first temperature sensor, the second temperature sensor, and the third temperature sensor, respectively; the output terminal of the comparator circuit is connected to the trigger. The first temperature sensor, the second temperature sensor, and the third temperature sensor are used to acquire the temperature of the switching device of one phase in the power module.

9. The motor controller according to claim 8, characterized in that, The comparison circuit includes a multiplexer and a fourth comparator; The three input terminals of the multiplexer are respectively connected to the first temperature sensor, the second temperature sensor, and the third temperature sensor; the output terminal of the multiplexer is connected to the first input terminal of the fourth comparator; the input signal of the second input terminal of the fourth comparator is the signal corresponding to the temperature threshold; the output terminal of the fourth comparator is connected to the trigger.

10. The motor controller according to claim 8, characterized in that, The comparison circuit includes a maximum value detection circuit and a fifth comparator; The three input terminals of the maximum value detection circuit are respectively connected to the first temperature sensor, the second temperature sensor, and the third temperature sensor; the output terminal of the maximum value detection circuit is connected to the first input terminal of the fifth comparator; the input signal of the second input terminal of the fifth comparator is the signal corresponding to the temperature threshold; the output terminal of the fifth comparator is connected to the trigger. The maximum value of the signals input to each input terminal of the maximum value detection circuit is output from the output terminal of the maximum value detection circuit.

11. The motor controller according to claim 10, characterized in that, The maximum value detection circuit includes at least three branches; each branch includes a first operational amplifier and a unidirectional conduction component; The first input terminal of each of the three branches of the first operational amplifier is connected to the first temperature sensor, the second temperature sensor and the third temperature sensor, respectively. The second input terminal of the first operational amplifier in the branch is connected to the second terminal of the unidirectional conduction component, and the output terminal of the first operational amplifier is connected to the first terminal of the unidirectional conduction component. The second terminal of each of the unidirectional conducting components is connected to the output terminal of the maximum value detection circuit; when the voltage at the first terminal of the unidirectional conducting component is greater than the voltage at the second terminal of the unidirectional conducting component, the unidirectional conducting component is in the conducting state.

12. The motor controller according to any one of claims 5 to 11, characterized in that, The conversion circuit includes: a second operational amplifier; the second operational amplifier includes a first operational amplifier unit and a second operational amplifier unit; the input signal at the first input terminal of the first operational amplifier unit is a power supply voltage signal; the output terminals of the first current sensor and the second current sensor are respectively connected to the second input terminal of the first operational amplifier unit; the output terminal of the first operational amplifier unit is connected to the first input terminal of the second operational amplifier unit; the second input terminal of the second operational amplifier unit is grounded; the output terminal of the second operational amplifier unit is connected to the output terminal of the conversion circuit. The first operational amplifier unit is used to subtract the first signal and the second signal from the power supply voltage signal to obtain a third signal, and output the third signal after reducing it by a target ratio; The second operational amplifier unit is used to amplify the input signal by a target factor and then output it; the target factor is the reciprocal of the target ratio.

13. A vehicle, characterized in that, include: A generator, a drive motor, and two motor controllers as described in any one of claims 5 to 11; The two motor controllers are used to control the generator and the drive motor, respectively.

14. The vehicle according to claim 13, characterized in that, It also includes a power module for the generator, a power module for the drive motor, and two sensor groups; each sensor group includes a current sensor, a second current sensor, a first temperature sensor, a second temperature sensor, and a third temperature sensor; the two sensor groups correspond to the generator and the drive motor, respectively. The two motor controllers are integrated on the control board; the conversion circuits and the first protection circuit of the two motor controllers are integrated into a current sampling and processing unit; The second protection circuits of the two motor controllers are integrated into a temperature sampling and processing unit.

15. The vehicle according to claim 14, characterized in that, Both the first current sensor and the second current sensor are Hall sensors; Both the first current sensor and the second current sensor are disposed on a Hall magnetic induction circuit board; the Hall magnetic induction circuit board is provided with multiple pairs of shielding plates; each pair of shielding plates is used to isolate the first current sensor or the second current sensor from other first current sensors and other second current sensors.

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