Soft clamping circuit for motor drive supply rail with reversed polarity protection

Abstract

The invention relates to a soft clamping circuit for a motor drive supply rail with reversed polarity protection. A motor control system includes a motor controller and a switch disposed between a battery and a conductor. The motor controller closes the switch when the battery supplies the battery voltage, and opens the switch when the battery does not supply the battery voltage. A clamp circuit is connected to the conductor. A capacitor is connected to the conductor. The H-bridge controller is configured to: selectively control the plurality of switches to supply alternating current to the motor in response to a command from the motor controller; sensing a voltage on the conductor when the battery does not supply power to the motor controller; closing at least two of the plurality of switches when the voltage on the conductor is greater than a first predetermined voltage threshold; and opening at least two of the switches when the voltage across the conductor is less than a second predetermined voltage threshold.

Description

[0001] The information provided in this section is for the purpose of generally presenting the context of this disclosure. Within the scope described in this section, the work of the currently named inventors and aspects of this description that may otherwise not conform to the prior art at the time of filing are neither expressly nor implicitly acknowledged as prior art relative to this disclosure. Technical Field

[0002] This disclosure relates to motor control systems, and more specifically to soft clamping circuits for power supply rails of motor drivers with reverse polarity protection. Background Technology

[0003] The vehicle may include components powered by electric motors (such as lift gates). During operation, the controller supplies power from the battery to the motor controller, which in turn controls the switching that supplies AC power to the motor. Summary of the Invention

[0004] A motor control system includes a motor controller and a switch disposed between a battery and a conductor. The motor controller is configured to close the switch when the battery supplies battery voltage to the conductor and to open the switch when the battery does not supply battery voltage to the conductor. A clamping circuit is connected to the conductor. A capacitor is connected to the conductor. An H-bridge controller is configured to: selectively control a plurality of switches to supply alternating current to the motor in response to a command from the motor controller; sense the voltage on the conductor when the battery does not supply power to the motor controller; close at least two of the plurality of switches when the voltage on the conductor is greater than a first predetermined voltage threshold; and open at least two of the switches when the voltage on the conductor is less than a second predetermined voltage threshold.

[0005] Among other features, the second predetermined voltage threshold is less than the first predetermined voltage threshold and greater than the battery voltage. The clamping circuit includes a resistor and a Zener diode. The Zener diode has a Zener voltage that is less than the second predetermined voltage threshold and greater than the battery voltage.

[0006] The plurality of switches include: a first switch, including a first terminal connected to a conductor; a second switch, including a first terminal connected to a second terminal of the first switch and a first terminal of a motor and a second terminal connected to ground; a third switch, including a first terminal connected to a conductor; and a fourth switch, including a second terminal connected to a second terminal of the third switch and a first terminal of a second terminal of a motor and a second terminal connected to ground.

[0007] Among other features, at least two of the plurality of switches include a second switch and a fourth switch. At least two of the plurality of switches include a first switch and a third switch. A first predetermined voltage threshold is in the range of 29 volts to 31 volts. A second predetermined voltage threshold is in the range of 26 volts to 28 volts. The Zener voltage is in the range of 19 to 21 volts, and the battery voltage is in the range of 10 to 17 volts.

[0008] A motor control system includes a motor controller and a switch disposed between a battery and a conductor. The motor controller is configured to close the switch when the battery supplies battery voltage to the conductor and to open the switch when the battery does not supply battery voltage to the conductor. A clamping circuit is connected to the conductor and includes a resistor connected in series with a Zener diode. A capacitor is connected to the conductor. An H-bridge controller is configured to: selectively control a plurality of switches to supply alternating current to the motor in response to a command from the motor controller; sense a voltage on the conductor when the battery does not supply power to the motor controller; close at least two of the plurality of switches when the voltage on the conductor is greater than a first predetermined voltage threshold; and open at least two of the switches when the voltage on the conductor is less than a second predetermined voltage threshold. The second predetermined voltage threshold is less than the first predetermined voltage threshold and greater than the battery voltage. The Zener diode has a Zener voltage that is less than the second predetermined voltage threshold and greater than the battery voltage.

[0009] Among other features, the plurality of switches include: a first switch including a first terminal connected to a conductor; a second switch including a first terminal connected to a second terminal of the first switch and a first terminal of a motor and a second terminal connected to ground; a third switch including a first terminal connected to a conductor; and a fourth switch including a second terminal connected to a second terminal of the third switch and a first terminal of a second terminal of a motor and a second terminal connected to ground.

[0010] Among other features, at least two of the plurality of switches include a second switch and a fourth switch. At least two of the plurality of switches include a first switch and a third switch. A first predetermined voltage threshold is in the range of 29 volts to 31 volts. A second predetermined voltage threshold is in the range of 26 volts to 28 volts. The Zener voltage is in the range of 19 to 21 volts and the battery voltage is in the range of 10 to 17 volts.

[0011] A vehicle includes a liftgate, a motor configured to move the liftgate, and a motor controller. A switch is arranged between a battery and a conductor. The motor controller is configured to close the switch when the battery supplies battery voltage to the conductor and to open the switch when the battery does not supply battery voltage to the conductor. A clamping circuit is connected to the conductor and includes a resistor connected in series with a Zener diode. A capacitor is connected to the conductor. An H-bridge controller is configured to: selectively control a plurality of switches to supply alternating current to the motor in response to a command from the motor controller; sense a voltage on the conductor when the battery does not supply power to the motor controller; close at least two of the plurality of switches when the voltage on the conductor is greater than a first predetermined voltage threshold; and open at least two of the switches when the voltage on the conductor is less than a second predetermined voltage threshold. The second predetermined voltage threshold is less than the first predetermined voltage threshold and greater than the battery voltage. The Zener diode has a Zener voltage that is less than the second predetermined voltage threshold and greater than the battery voltage.

[0012] Among other features, the plurality of switches include: a first switch including a first terminal connected to a conductor; a second switch including a first terminal connected to a second terminal of the first switch and a first terminal of a motor and a second terminal connected to ground; a third switch including a first terminal connected to a conductor; and a fourth switch including a second terminal connected to a second terminal of the third switch and a first terminal of a second terminal of a motor and a second terminal connected to ground.

[0013] Among the other features, at least two of the plurality of switches include a second switch and a fourth switch.

[0014] This invention includes the following technical solutions:

[0015] 1. A motor control system, comprising:

[0016] Motor controller;

[0017] The switch is positioned between the battery and the conductor.

[0018] The motor controller is configured to close the switch when the battery supplies battery voltage to the conductor, and to open the switch when the battery does not supply battery voltage to the conductor.

[0019] Clamping circuit connected to the conductor;

[0020] A capacitor connected to the conductor; and

[0021] The H-bridge controller is configured as follows:

[0022] In response to a command from the motor controller, multiple switches are selectively controlled to supply AC power to the motor;

[0023] When the battery is not supplying power to the motor controller, the voltage on the conductor is sensed;

[0024] When the voltage across the conductor is greater than a first predetermined voltage threshold, at least two of the plurality of switches are closed; and

[0025] When the voltage on the conductor is less than a second predetermined voltage threshold, at least two of the switches are disconnected.

[0026] 2. The motor control system according to Scheme 1, wherein the second predetermined voltage threshold is less than the first predetermined voltage threshold and greater than the battery voltage.

[0027] 3. The motor control system according to Scheme 1, wherein the clamping circuit includes a resistor and a Zener diode.

[0028] 4. The motor control system according to Scheme 3, wherein the Zener diode has a Zener voltage that is less than the second predetermined voltage threshold and greater than the battery voltage.

[0029] 5. The motor control system according to Scheme 1, wherein the plurality of switches includes:

[0030] A first switch includes a first terminal connected to the conductor;

[0031] The second switch includes a second terminal connected to the first switch and a first terminal of the motor, and a second terminal connected to ground.

[0032] The third switch includes a first terminal connected to the conductor;

[0033] The fourth switch includes a first terminal connected to the second terminal of the third switch and the second terminal of the motor, and a second terminal connected to ground.

[0034] 6. The motor control system according to claim 5, wherein at least two of the plurality of switches include the second switch and the fourth switch.

[0035] 7. The motor control system according to claim 5, wherein at least two of the plurality of switches include the first switch and the third switch.

[0036] 8. The motor control system according to Scheme 2, wherein the first predetermined voltage threshold is in the range of 29 volts to 31 volts.

[0037] 9. The motor control system according to Scheme 2, wherein the second predetermined voltage threshold is in the range of 26 volts to 28 volts.

[0038] 10. The motor control system according to claim 4, wherein the Zener voltage is in the range of 19 to 21 volts and the battery voltage is in the range of 10 to 17 volts.

[0039] 11. A motor control system, comprising:

[0040] Motor controller;

[0041] The switch is positioned between the battery and the conductor.

[0042] The motor controller is configured to close the switch when the battery supplies battery voltage to the conductor, and to open the switch when the battery does not supply battery voltage to the conductor.

[0043] A clamping circuit connected to the conductor and including a resistor connected in series with a Zener diode;

[0044] A capacitor connected to the conductor; and

[0045] The H-bridge controller is configured as follows:

[0046] In response to a command from the motor controller, multiple switches are selectively controlled to supply AC power to the motor;

[0047] When the battery is not supplying power to the motor controller, the voltage on the conductor is sensed;

[0048] When the voltage across the conductor is greater than a first predetermined voltage threshold, at least two of the plurality of switches are closed; and

[0049] When the voltage across the conductor is less than a second predetermined voltage threshold, at least two of the switches are disconnected.

[0050] Wherein the second predetermined voltage threshold is less than the first predetermined voltage threshold and greater than the battery voltage, and

[0051] The Zener diode has a Zener voltage that is less than the second predetermined voltage threshold and greater than the battery voltage.

[0052] 12. The motor control system according to claim 11, wherein the plurality of switches includes:

[0053] A first switch includes a first terminal connected to the conductor;

[0054] The second switch includes a second terminal connected to the first switch and a first terminal of the motor, and a second terminal connected to ground.

[0055] The third switch includes a first terminal connected to the conductor;

[0056] The fourth switch includes a first terminal connected to the second terminal of the third switch and the second terminal of the motor, and a second terminal connected to ground.

[0057] 13. The motor control system according to claim 12, wherein at least two of the plurality of switches include the second switch and the fourth switch.

[0058] 14. The motor control system according to claim 12, wherein at least two of the plurality of switches include the first switch and the third switch.

[0059] 15. The motor control system according to claim 11, wherein the first predetermined voltage threshold is in the range of 29 volts to 31 volts.

[0060] 16. The motor control system according to claim 11, wherein the second predetermined voltage threshold is in the range of 26 volts to 28 volts.

[0061] 17. The motor control system according to claim 11, wherein the Zener voltage is in the range of 19 to 21 volts and the battery voltage is in the range of 10 to 17 volts.

[0062] 18. A vehicle comprising:

[0063] Lift door;

[0064] A motor configured to move the lifting door;

[0065] Motor controller;

[0066] The switch is positioned between the battery and the conductor.

[0067] The motor controller is configured to close the switch when the battery supplies battery voltage to the conductor, and to open the switch when the battery does not supply battery voltage to the conductor.

[0068] A clamping circuit connected to the conductor and including a resistor connected in series with a Zener diode;

[0069] A capacitor connected to the conductor; and

[0070] The H-bridge controller is configured as follows:

[0071] In response to a command from the motor controller, multiple switches are selectively controlled to supply alternating current to the motor;

[0072] When the battery is not supplying power to the motor controller, the voltage on the conductor is sensed;

[0073] When the voltage across the conductor is greater than a first predetermined voltage threshold, at least two of the plurality of switches are closed; and

[0074] When the voltage across the conductor is less than a second predetermined voltage threshold, at least two of the switches are disconnected.

[0075] Wherein the second predetermined voltage threshold is less than the first predetermined voltage threshold and greater than the battery voltage, and

[0076] The Zener diode has a Zener voltage that is less than the second predetermined voltage threshold and greater than the battery voltage.

[0077] 19. The vehicle according to claim 18, wherein the plurality of switches comprises:

[0078] A first switch includes a first terminal connected to the conductor;

[0079] The second switch includes a second terminal connected to the first switch and a first terminal of the motor, and a second terminal connected to ground.

[0080] The third switch includes a first terminal connected to the conductor;

[0081] The fourth switch includes a first terminal connected to the second terminal of the third switch and the second terminal of the motor, and a second terminal connected to ground.

[0082] 20. The vehicle according to claim 19, wherein at least two of the plurality of switches include the second switch and the fourth switch.

[0083] Further applications of this disclosure will become apparent from the detailed description, claims, and drawings. The detailed description and specific examples are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0084] This disclosure will be more fully understood from the detailed description and accompanying drawings, in which:

[0085] Figure 1A It is a functional block diagram and electrical schematic diagram of a motor control system for an electric motor, such as a motor actuation component (e.g., a vehicle liftgate);

[0086] Figure 1B yes Figure 1AThe functional block diagram and electrical schematic diagram of the control system show the back electromotive force (EMF) and the charging of the bulk capacitor;

[0087] Figure 2 These are functional block diagrams and electrical schematic diagrams of an example motor control system including a soft clamping circuit according to this disclosure;

[0088] Figure 3 yes Figure 2 The functional block diagram and electrical schematic diagram of the motor control system show the back electromotive force (EMF) that may occur when the motor is manually rotated when the battery is disconnected;

[0089] Figure 4 yes Figure 2 The functional block diagram and electrical schematic diagram of the motor control system illustrate the operation of the H-bridge controller and soft clamping circuit according to this disclosure; and

[0090] Figure 5 This is a flowchart illustrating an example of a method for operating an H-bridge controller according to this disclosure.

[0091] In the accompanying drawings, reference numerals may be used repeatedly to identify similar and / or identical elements. Detailed Implementation

[0092] The vehicle may include components such as liftgates, sliding doors, or other components powered by electric motors. During operation, power is supplied from the battery to the motor control system to control the state of multiple switches that supply AC power to the motor. During assembly or maintenance, situations may arise where the battery is disconnected and the motor control system is not powered by the battery. Problems may occur when power is not supplied to the motor control system and the motor of a component is manually rotated, generating a back electromotive force (EMF). Back EMF can cause a voltage greater than 30V to be stored on the large capacitors in the motor control system, which may damage other components of the motor control system.

[0093] Now for reference Figure 1A and Figure 1B The motor control system includes an H-bridge driver 20 configured to control the operation of motor M. More specifically, the H-bridge driver 20 controls the states of switches SW1, SW2, SW3, and SW4 to supply AC power across the input terminals of motor M.

[0094] The H-bridge driver 20 is connected to the control terminals of switches SW1, SW2, SW3, and SW4. Switches SW1 and SW2, as well as SW3 and SW4, are connected in series with conductor 22 (or the voltage supply rail or V). supBetween and ground. The first terminals of switches SW1 and SW3 are connected to conductor 22. The second terminals of switches SW1 and SW3 are connected to the first terminals of switches SW2 and SW4. The second terminals of switches SW2 and SW4 are connected to ground. Switches SW1, SW2, SW3 and SW4 include body diodes D1, D2, D3 and D4 connected across the first and second terminals of switches SW1, SW2, SW3 and SW4.

[0095] The input terminals of motor M are connected to the node between the second terminals of switches SW1 and SW3 and the first terminals of switches SW2 and SW4. During operation of motor M, H-bridge driver 20 opens switches SW1 and SW4 while closing switches SW2 and SW3 (and then vice versa) to supply AC power to motor M.

[0096] During vehicle assembly and / or maintenance, the vehicle's battery may be disconnected (e.g., no power is supplied to controller 28). When controller 28 is not powered, switch SW5 is normally open (to prevent current from being fed back from conductor 22 (or power rail (Vsup)) to the system power input).

[0097] exist Figure 1B In the process of manually rotating motor M with the battery disconnected, motor M generates a back electromotive force (EMF) (e.g., as shown by the dashed line). The voltage across conductor 22 steadily rises (e.g., to over 30V), and the large-capacity capacitor C... 大容量 The motor is being charged. If the reverse EMF of the motor is not limited, the stored energy may damage the controller 28 or other components.

[0098] Now for reference Figures 2 to 4 The H-bridge controller 120, acting as a driver as described above, selectively supplies current across the motor M in opposite directions by changing the states of switches SW1, SW2, SW3, and SW4 during normal operation. A large-capacity capacitor C... 大容量 Connected to conductor 22. The H-bridge controller 120 includes a motor braking module 121 that senses the voltage V of the power supply rail. sup When V sup Greater than the first predetermined voltage threshold V TH1 Selectively short-circuit the terminals of motor M, and then when V sup Less than the second predetermined voltage threshold V TH2 The terminals of motor M can be selectively stopped from being short-circuited, as will be described further below.

[0099] The soft clamping circuit 134 includes a resistor R and a Zener diode D connected in series between conductor 22 and ground. 齐纳 Power supply 24 is connected to V.BATT Controller 28 is connected to power supply 24, H-bridge controller 120, and switch SW5 (connected to V). BATT The control terminal between conductor 22 and the control terminal between them. Controller 28 is configured to control H-bridge controller 120 and switch SW5.

[0100] The soft clamping circuit 134 is configured to operate when the rail voltage V sup When the voltage exceeds the first predetermined threshold, the large-capacity capacitor C... 大容量 Discharge (until V) sup (The voltage drops below the second predetermined threshold). When controller 28 is powered, switch SW5 is closed. When controller 28 is not powered, switch SW5 is normally open to prevent current from flowing from conductor 22 (or the power rail (V)). sup Feedback is sent to the system power input.

[0101] exist Figure 3 In the middle, switches SW1, SW2, SW3, and SW4 of the H-bridge controller 120 are closed (when V is not supplied). BATT (Time). When motor M is manually rotated, motor M generates reverse EMF. Because V BATT Since power is not supplied to power source 24, controller 28 does not supply power to H-bridge controller 120 or switch SW5.

[0102] Although not powered by power supply 24 and controller 28, the motor braking module 121 of the H-bridge controller 120 is configured to sense the power rail voltage (V). sup When does the voltage rise above a first predetermined voltage threshold (e.g., dynamic braking activation threshold) (e.g., 30V)? The first predetermined voltage threshold is greater than V. BATT (For example, 16V).

[0103] The reverse EMF flows through body diodes D4 and D1 or D2 and D3 to make the large-capacity capacitor C... 大容量 Charging. When a first predetermined voltage threshold V is sensed. TH1 When the H-bridge controller 120 connects SW2 and SW4 (or SW1 and SW3) to short-circuit motor M (to ground or V). sup The H-bridge controller 120 is configured to clamp the reverse EMF across the motor M at the terminals of the power supply rail (V). sup When the voltage drops below a second predetermined voltage (e.g., the dynamic braking disable threshold) (e.g., 27V), switches SW2 and SW4 (or SW1 and SW3) are turned off.

[0104] When switch SW5 is open and the supply voltage to H-bridge controller 120 exceeds that of Zener diode D 齐纳 When the Zener voltage is reached, the soft clamping circuit 134 dissipates the energy stored in the large-capacity capacitor C. 大容量The voltage across. In some examples, a large-capacity capacitor C is used. 大容量 The size is adjusted to minimize braking time, provide smooth operation, and avoid electromagnetic compatibility (EMC) issues.

[0105] The amount of current drawn is limited by resistor R. 齐纳 The Zener voltage is selected to be lower than the second predetermined voltage threshold V of the H-bridge controller 120. TH2 This causes the soft clamping circuit 134 to be pulled from the power supply rail (V sup ) Draws current (from a large-capacity capacitor C) 大容量 Control), until the power rail (V) sup The voltage drops to the second predetermined voltage threshold V. TH2 the following.

[0106] In some examples, the first predetermined voltage threshold V TH1 Greater than the second predetermined voltage threshold V TH2 In some examples, the first predetermined voltage threshold V TH1 Within the range of 29 to 31 volts (V) (e.g., 30V). In some examples, the second predetermined voltage threshold V TH2 Less than the first predetermined voltage and greater than V BATT In some examples, the second predetermined voltage threshold V TH2 In the range of 26 to 28 volts (V) (e.g., 27V).

[0107] In some examples, V BATT This is the normal operating battery voltage and falls within the range of 10V to 17V (~16V). In some examples, the Zener voltage is greater than V. BATT And less than the second predetermined voltage threshold V TH2 In some examples, the Zener voltage is in the range of 19 to 21V (e.g., 20V).

[0108] Select a large-capacity capacitor C. 大容量 The capacitance value is used to handle motor transients. The discharge time of the soft clamping circuit corresponds to the discharge time of the supply voltage V. sup From the first predetermined voltage threshold V TH1 Discharge to the second predetermined voltage threshold V TH2 The discharge time is equal to the time. In some examples, the discharge time is set to a value less than the maximum motor braking time. If the discharge time is too long, the resistance value of resistor R and / or the large-capacity capacitor C can be reduced. 大容量 The capacitance value.

[0109] Now for reference Figure 5This illustrates the operation of the H-bridge driver. At 210, the H-bridge controller 120 determines whether the controller 28 is powered. If true, at 214, the H-bridge controller 120 controls switches SW1, SW2, SW3, and SW4 to control the motor based on controller commands. If 210 is false, at 218, the H-bridge controller 120 determines V... sup Is it greater than the first predetermined voltage threshold (V)? TH1 If 218 is false, the method returns to 210. If 218 is true, then at 222, the method closes switches (S2 and S4) to ground the terminals of motor M (or closes switches (S1 and S3) to connect motor M to V). sup (Terminal short circuit). At 226, the H-bridge driver determines V. sup Is it less than the second predetermined voltage threshold (V)? TH2 If 226 is false, the method returns to 226. If 226 is true, the method disconnects switches (S2 and S4) (or disconnects switches (S1 and S3)) and returns to 210.

[0110] The foregoing description is merely illustrative in nature and is in no way intended to limit this disclosure, its application, or its use. The broad teachings of this disclosure can be implemented in a variety of forms. Therefore, while this disclosure includes specific examples, its true scope should not be so limited, as other modifications will become apparent upon examination of the accompanying drawings, specification, and the following claims. It should be understood that one or more steps within a method may be performed in a different order (or simultaneously) without altering the principles of this disclosure. Furthermore, while each embodiment is described above as having specific features, any one or more of those features described with respect to any embodiment of this disclosure may be implemented in any other embodiment and / or combined with features of any other embodiment, even if such combination is not explicitly described. In other words, the described embodiments are not mutually exclusive, and the arrangement of one or more embodiments with respect to each other remains within the scope of this disclosure.

[0111] Spatial and functional relationships between components (e.g., between modules, circuit elements, semiconductor layers, etc.) are described using various terms, including “connection,” “joint,” “coupled,” “proximity,” “adjacent,” “on top of,” “above,” “below,” and “deployment.” Unless explicitly described as “direct,” when describing the relationship between a first and a second component in the above disclosure, the relationship can be a direct relationship in which no other intervening component exists between the first and second components, or an indirect relationship in which one or more intervening components exist between the first and second components (spatially or functionally). As used herein, the phrase “at least one of A, B, and C” should be interpreted as meaning logically (A or B or C) using the non-exclusive logical “OR,” and should not be interpreted as meaning “at least one of A, at least one of B, and at least one of C.”

[0112] In the diagrams, the direction of the arrows, as indicated by the arrows, generally represents the flow of information (such as data or instructions) of interest. For example, when components A and B exchange various kinds of information, but the information transmitted from component A to component B is relevant to the diagram, the arrow can point from component A to component B. This unidirectional arrow does not imply that no other information is transmitted from component B to component A. Furthermore, for information sent from component A to component B, component B can send a request for or confirmation of receipt of that information to component A.

[0113] In this application (including the definitions below), the term "module" or "controller" may be replaced by the term "circuit". The term "module" may refer to, be part of, or include: application-specific integrated circuits (ASICs); digital, analog, or mixed-signal analog / digital discrete circuits; digital, analog, or mixed-signal analog / digital integrated circuits; combinational logic circuits; field-programmable gate arrays (FPGAs); processor circuitry (shared, dedicated, or group) that executes code; memory circuitry (shared, dedicated, or group) that stores the code executed by the processor circuitry; other suitable hardware components that provide the described functionality; or combinations of some or all of the above, such as in a system-on-a-chip.

[0114] A module may include one or more interface circuits. In some examples, the interface circuit may include a wired or wireless interface that is connected to a local area network (LAN), the Internet, a wide area network (WAN), or a combination thereof. The functionality of any given module of this disclosure may be distributed among multiple modules connected via the interface circuit. For example, multiple modules may allow for load balancing. In another example, a server (also referred to as a remote or cloud) module may perform some functions on behalf of a client module.

[0115] The term "code" as used above can include software, firmware, and / or microcode, and can refer to programs, routines, functions, classes, data structures, and / or objects. The term "shared processor circuit" covers a single processor circuit that executes some or all of the code from multiple modules. The term "group processor circuit" covers a processor circuit that, in combination with additional processor circuitry, executes some or all of the code from one or more modules. Reference to multiple processor circuits covers multiple processor circuits on discrete dies, multiple processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or a combination of the above. The term "shared memory circuit" covers a single memory circuit that stores some or all of the code from multiple modules. The term "group memory circuit" covers a memory circuit that, in combination with additional memory, stores some or all of the code from one or more modules.

[0116] The term "memory circuit" is a subset of the term "computer-readable medium." As used herein, the term "computer-readable medium" does not cover transient electrical or electromagnetic signals propagated through a medium (such as on a carrier wave); therefore, the term "computer-readable medium" can be considered tangible and non-transient. Non-limiting examples of non-transient, tangible computer-readable media are non-volatile memory circuits (such as flash memory circuits, erasable programmable read-only memory circuits, or mask read-only memory circuits), volatile memory circuits (such as static random access memory circuits or dynamic random access memory circuits), magnetic storage media (such as analog or digital magnetic tape or hard disk drives), and optical storage media (such as CDs, DVDs, or Blu-ray discs).

[0117] The apparatus and methods described in this application can be implemented, in part or in whole, by a special-purpose computer created by configuring a general-purpose computer to perform one or more specific functions embodied in a computer program. The aforementioned functional blocks, flowchart components, and other elements serve as a software specification that can be translated into a computer program through the routine work of a skilled technician or programmer.

[0118] A computer program includes processor-executable instructions stored on at least one non-transitory tangible computer-readable medium. A computer program may also include or depend on stored data. A computer program may encompass a basic input / output system (BIOS) for interacting with the hardware of a special-purpose computer, device drivers for interacting with specific devices of the special-purpose computer, one or more operating systems, user applications, background services, background applications, etc.

[0119] Computer programs may include: (i) descriptive text to be parsed, such as HTML (Hypertext Markup Language), XML (Extensible Markup Language), or JSON (JavaScript Object Notation); (ii) assembly code; (iii) object code generated from source code by a compiler; (iv) source code for execution by an interpreter; (v) source code for compilation and execution by a just-in-time (JIT) compiler; and so on. As an example only, source code can be written using syntax from languages ​​including: C, C++, C#, Objective-C, Swift, Haskell, Go, SQL, R, Lisp, etc. Fortran, Perl, Pascal, Curl, OCaml, HTML5 (Hypertext Markup Language 5th Edition), Ada, ASP (Dynamic Server Pages), PHP (PHP: Hypertext Preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Visual Lua, MATLAB, SIMULINK and

Claims

1. A motor control system, comprising: Motor controller; The switch is positioned between the battery and the conductor. The motor controller is configured to close the switch when the battery supplies battery voltage to the conductor, and to open the switch when the battery does not supply battery voltage to the conductor. Clamping circuit connected to the conductor; A capacitor connected to the conductor; as well as The H-bridge controller is configured as follows: In response to a command from the motor controller, multiple switches are selectively controlled to supply AC power to the motor; When the battery is not supplying power to the motor controller, the voltage on the conductor is sensed; When the voltage across the conductor is greater than a first predetermined voltage threshold, at least two of the plurality of switches are closed; as well as When the voltage on the conductor is less than a second predetermined voltage threshold, at least two of the switches are disconnected.

2. The motor control system according to claim 1, wherein the second predetermined voltage threshold is less than the first predetermined voltage threshold and greater than the battery voltage.

3. The motor control system according to claim 1, wherein the clamping circuit includes a resistor and a Zener diode.

4. The motor control system according to claim 3, wherein the Zener diode has a Zener voltage that is less than the second predetermined voltage threshold and greater than the battery voltage.

5. The motor control system according to claim 1, wherein the plurality of switches comprises: A first switch includes a first terminal connected to the conductor; The second switch includes a second terminal connected to the first switch and a first terminal of the motor, and a second terminal connected to ground. The third switch includes a first terminal connected to the conductor; The fourth switch includes a first terminal connected to the second terminal of the third switch and the second terminal of the motor, and a second terminal connected to ground.

6. The motor control system according to claim 5, wherein the at least two of the plurality of switches include the second switch and the fourth switch.

7. The motor control system according to claim 5, wherein the at least two of the plurality of switches include the first switch and the third switch.

8. The motor control system of claim 2, wherein the first predetermined voltage threshold is in the range of 29 volts to 31 volts.

9. The motor control system of claim 2, wherein the second predetermined voltage threshold is in the range of 26 volts to 28 volts.

10. The motor control system of claim 4, wherein the Zener voltage is in the range of 19 to 21 volts and the battery voltage is in the range of 10 to 17 volts.

Images