Motor controller, vehicle and control method

Abstract

This application relates to the field of motor controllers and discloses a motor controller, a vehicle, and a control method to solve the technical problem that back electromotive force generated by excessive motor speed can enter the motor controller. The motor controller includes a first control group and a second control group: the first control group includes a first microcontroller module, a first drive module, and a first power module. The control terminal of the first microcontroller module is connected to the first drive module, the drive terminal of the first drive module is connected to the control terminal of the first power module, and the output terminal of the first power module is used to connect to the first motor; the second control group includes a second microcontroller module and a second speed detection module; when a fault is detected in the first microcontroller module and the speed of the first motor is higher than a first speed threshold, the second microcontroller module controls the first drive module, causing the first drive module to control the lower transistor of the first power module to conduct.

Description

Technical Field

[0001] This application relates to the field of motor controller technology, and in particular to a motor controller, a vehicle, and a control method. Background Technology

[0002] The vehicle includes an active suspension control system, servo and main drive motor systems, etc. These systems interact with the corresponding motors through motor controllers to complete the corresponding control functions. For example, the active suspension control system includes an active electromagnetic suspension system, which interacts with the suspension motors through a suspension motor controller to complete the corresponding active suspension control functions.

[0003] In traditional solutions, the back electromotive force generated when the motor speed is too high will enter the motor controller and damage its components. Summary of the Invention

[0004] This application provides a motor controller, a vehicle, and a control method to solve the technical problem that back electromotive force generated by excessive motor speed can enter the motor controller.

[0005] To address the above problems, this application provides the following solution: A motor controller includes a first control group and a second control group: The first control group includes a first microcontroller module, a first drive module, and a first power module. The first microcontroller module is connected to the control terminal of the first drive module, the drive terminal of the first drive module is connected to the control terminal of the first power module, and the output terminal of the first power module is used to connect to the first motor. The second control group includes a second microcontroller module and a second speed detection module; The second microcontroller module detects the working status of the first microcontroller module in real time and monitors the speed of the first motor through the second speed detection module. When a fault is detected in the first microcontroller module and the speed of the first motor is higher than the first speed threshold, the second microcontroller module controls the first drive module to control the lower tube of the first power module to conduct.

[0006] Furthermore, the first control group also includes a first speed detection module; The second control group also includes a second drive module, a second power module, and a second speed detection module. The second microcontroller module is connected to the control terminal of the second drive module, the drive terminal of the second drive module is connected to the control terminal of the second power module, and the output terminal of the second power module is used to connect to the second motor. The first microcontroller module detects the working status of the second microcontroller module in real time and monitors the speed of the second motor through the first speed detection module. When a fault is detected in the second microcontroller module and the speed of the second motor is higher than the second speed threshold, the first microcontroller module controls the second drive module to control the lower tube of the second power module to conduct.

[0007] Furthermore, the motor controller also includes: A damping resistor module, the two ends of which are respectively connected to the positive and negative high voltage terminals of the motor controller, the positive and negative high voltage terminals are used to input external high voltage, the two ends of which are also respectively connected to the positive and negative input terminals of the first drive module, and / or, the two ends of which are also respectively connected to the positive and negative input terminals of the second drive module. In passive damping control mode, the positive and negative terminals of the high voltage are in an open circuit state, and the control switch of the damping resistor module is in a closed state.

[0008] Furthermore, the damping resistor module includes multiple damping resistor units connected in parallel. Each damping resistor unit includes a damping resistor connected in series and a control switch. The resistance values ​​of the damping resistors in each group of damping resistor units are different. The first parallel terminal and the second parallel terminal of the multiple damping resistor units are the two ends of the damping resistor module.

[0009] Furthermore, the motor controller also includes: The high-voltage input module has its two ends connected to the positive and negative high-voltage terminals of the motor controller, respectively. The positive and negative high-voltage terminals are used to input external high voltage. The two ends of the high-voltage input module are also connected to the positive and negative input terminals of the first drive module, and / or, the two ends of the high-voltage input module are also connected to the positive and negative input terminals of the second drive module.

[0010] Furthermore, the motor controller also includes a low-voltage regulator module, a first DC-DC module, and a first power management module. The positive and negative input terminals of the low-voltage regulator module are used to input external low voltage. The positive and negative output terminals of the low-voltage regulator module are respectively connected to the positive and negative input terminals of the first DC-DC module, and the positive and negative output terminals of the first DC-DC module are respectively connected to the positive and negative input terminals of the first control group functional module. The first control group functional module includes the first drive module. The positive and negative output terminals of the low-voltage regulator module are also connected to the positive and negative input terminals of the first power management module. The positive and negative output terminals of the first power management module are respectively connected to the positive and negative input terminals of the second control group functional module, which includes the first microcontroller module.

[0011] Furthermore, the motor controller also includes: A backup power module, wherein the positive and negative input terminals of the backup power module are connected to the positive and negative high voltage terminals of the motor controller, the positive and negative high voltage terminals are used to input external high voltage, and the positive and negative output terminals of the backup power module are connected to the positive and negative input terminals of the first DC-DC module.

[0012] Furthermore, the motor controller also includes: A high-voltage interlock module, wherein one end of the high-voltage interlock module is used to connect to an external high-voltage interlock detection node; When the external high-voltage interlock detection node detects an open circuit in the high-voltage detection line, the high-voltage interlock module outputs a high-voltage power-down signal to execute the high-voltage power-down operation of the motor controller.

[0013] Furthermore, the first control group also includes a first temperature detection module and a first motor temperature detection module, and the second control group also includes a second temperature detection module and a second motor temperature detection module; The first microcontroller monitors the temperature of the first power module and the temperature of the first motor winding through the first temperature detection module and the first motor temperature detection module. When the temperature of the first power module or the temperature of the first motor winding is higher than a preset temperature threshold, it outputs a first motor control signal to reduce torque or speed. The second microcontroller monitors the temperature of the second power module and the temperature of the second motor winding through the second temperature detection module and the second motor temperature detection module. When the temperature of the second power module or the temperature of the second motor winding is higher than a preset temperature threshold, it outputs a second motor control signal to reduce torque or speed.

[0014] A vehicle, characterized in that the vehicle includes a motor controller as described in any of the preceding claims.

[0015] A control method based on the motor controller, the method comprising: The second microcontroller module detects the working status of the first microcontroller module in real time, and monitors the rotational speed of the first motor through the second speed detection module; When a fault is detected in the first microcontroller module and the speed of the first motor is higher than the first speed threshold, the second microcontroller module controls the first drive module, which in turn controls the lower transistor of the first power module to conduct.

[0016] Furthermore: The first microcontroller module detects the working status of the second microcontroller module in real time, and monitors the rotational speed of the second motor through the first speed detection module; When a fault is detected in the second microcontroller module and the speed of the second motor is higher than the second speed threshold, the first microcontroller module controls the second drive module, which in turn controls the lower tube of the second power module to conduct.

[0017] Furthermore, the method also includes: Upon receiving the enable signal from the associated system, in response to the target control mode request sent by the associated system, the first microcontroller module or the second microcontroller module enters the target control mode request and enters the corresponding control mode.

[0018] Furthermore, the target control mode request includes a passive damping control mode request, and the first microcontroller module or the second microcontroller module enters the control mode corresponding to the target control mode request, including: The first or second microcontroller module controls the positive and negative terminals of the high voltage to be in an open circuit state, and the control switch of the damping resistor module is in a closed state.

[0019] Furthermore, the associated system includes an active suspension control system.

[0020] As can be seen, this application provides a motor controller, including a first microcontroller module and a second microcontroller module. The first microcontroller module controls the operation of a first motor external to the motor controller through a first drive module and a first power module. The second microcontroller module monitors the operating status of the first microcontroller module in real time and monitors the rotational speed of the first motor through a second speed detection module. When the second microcontroller module detects a fault in the first microcontroller module and the rotational speed of the first motor exceeds a first speed threshold, the second microcontroller module controls the first drive module to turn on the lower transistor of the first power module, thereby cutting off the connection path with the first motor. This prevents the back electromotive force generated by the excessive rotational speed of the first motor from entering the motor controller and damaging electrical components. This solves the system safety problem caused by the motor controller being damaged due to excessive motor speed and improves the system's safety level. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1This is a schematic diagram of the internal structure of a motor controller and its interaction with an external system in one embodiment of this application; Figure 2 This is a schematic diagram showing the connection relationship of a damping resistor module in a motor controller according to an embodiment of this application. Figure 3 This is a schematic diagram of the working process of a motor controller according to one embodiment of this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] This application provides a motor controller applicable to various motor systems, including but not limited to active suspension control systems, servo systems, and main drive systems. The active suspension control system includes an electromagnetic active suspension control system, but is not specifically limited to any particular type. Taking the active suspension control system as an example, the motor controller provided in this application can receive real-time target torque requests, operating mode requests, physical angle requests, and other related signals from the active suspension control system nodes via the vehicle bus. After real-time control processing by the internal modules of the motor controller in this application, it accurately sends drive signals to drive the suspension motor, thereby achieving real-time output of the target torque to the required active suspension control system.

[0025] Please refer to the following: Figure 1 As shown, this embodiment provides a motor controller, including a first control group and a second control group. The first control group and the second control group form a pair of control groups that monitor each other. In practical applications, the motor controller may include one or more pairs of the aforementioned first control group and second control group, and the specific implementation is not limited. In this application embodiment, for ease of explanation, the accompanying drawings and subsequent embodiments of this application embodiment are all described using the example of including a pair of first control groups and second control groups, wherein: The first control group includes a first microcontroller module, a first drive module, and a first power module. The first microcontroller module is connected to the control terminal of the first drive module, and the drive terminal of the first drive module is connected to the control terminal of the first power module. The output terminal of the first power module is used to connect to the first motor. The first microcontroller module can be understood as a microcontroller or microprocessor unit, such as a CPU or MCU, etc., without specific limitations. The first microcontroller module can output control signals (such as PWM signals) to the first drive module, so that the first drive module drives the first power module to output motor control signals to drive the first motor to output target torque or speed.

[0026] The second control group includes a second microcontroller module and a second speed detection module. The second speed detection module is used to detect the rotational speed of the first motor. Similarly, the second microcontroller module can be understood as a microcontroller or microprocessor unit, such as a CPU or MCU, etc., without any specific limitation.

[0027] The second microcontroller module will detect the working status of the first microcontroller module in real time and monitor the speed of the first motor through the second speed detection module. When a fault is detected in the first microcontroller module and the speed of the first motor is higher than the first speed threshold, the second microcontroller module controls the first drive module to control the lower tube of the first power module to conduct.

[0028] As can be seen, this application embodiment provides a motor controller, including a first microcontroller module and a second microcontroller module. The first microcontroller module controls the operation of a first motor outside the motor controller through a first drive module and a first power module. The second microcontroller module monitors the operating status of the first microcontroller module in real time and monitors the rotational speed of the first motor through a second speed detection module. When the second microcontroller module detects a fault in the first microcontroller module and the rotational speed of the first motor is higher than a first speed threshold, the second microcontroller module controls the first drive module to control the lower transistor of the first power module to conduct. This prevents the back EMF generated by the excessive rotational speed of the first motor from entering the motor controller and damaging electrical components. This solves the system safety problem caused by the motor controller being damaged due to excessive motor speed and improves the system safety level. In other words, the two microcontroller modules of the motor controller in this application embodiment can monitor each other's status. If an unexpected fault occurs, the other motor drive can be controlled to enter a safety strategy to prevent damage to the motor controller.

[0029] In one embodiment, please continue to refer to Figure 1 As shown, a motor controller is also provided in this embodiment: The first control group also includes a first speed detection module; the first speed detection module is used to detect the rotational speed of the second motor.

[0030] The second control group also includes a second drive module, a second power module, and a second speed detection module. The second microcontroller module is connected to the control terminal of the second drive module, and the drive terminal of the second drive module is connected to the control terminal of the second power module. The output terminal of the second power module is used to connect to the second motor. The second microcontroller module can output a control signal (such as a PWM signal) to the second drive module, so that the second drive module drives the second power module to output a motor control signal to drive the second motor to output a target torque or speed.

[0031] The first microcontroller module detects the working status of the second microcontroller module in real time and monitors the speed of the second motor through the first speed detection module. When a fault is detected in the second microcontroller module and the speed of the second motor is higher than the second speed threshold, the first microcontroller module controls the second drive module to control the lower tube of the second power module to conduct.

[0032] As can be seen, this application embodiment provides a motor controller, including a first microcontroller module and a second microcontroller module. The second microcontroller module controls a second motor external to the motor controller via a second drive module and a second power module. The first microcontroller module monitors the operating status of the second microcontroller module in real time and monitors the rotational speed of the second motor via a first speed detection module. When the first microcontroller module detects a fault in the second microcontroller module and the rotational speed of the second motor exceeds a second speed threshold, the first microcontroller module controls the second drive module to turn on the lower transistor of the second power module. This prevents the back electromotive force generated by the excessively high rotational speed of the second motor from entering the motor controller and damaging electrical components. The aforementioned first speed detection module avoids system safety issues caused by damage to the motor controller due to excessively high motor speed in the event of a fault in a single microcontroller module, thus improving the system's safety level. In other words, the two microcontroller modules of the motor controller in this application embodiment can monitor each other's status. If an unexpected fault occurs, the other motor drive can be controlled to implement a safety strategy to prevent damage to the motor controller.

[0033] In summary, the motor controller in this application uses a microcontroller module to control one motor. The motor controller includes two control groups, and the two microcontroller modules within the controller can monitor each other's status. If an unexpected fault occurs, the other motor can be controlled to enter a safety strategy to prevent the back electromotive force generated by the motor from damaging the motor controller, which has high practicality.

[0034] It should be noted that the specific implementation of the drive module and power module in the embodiments of this application is not limited. In addition, the first speed threshold and the second speed threshold can also be obtained by calibration through actual application scenarios, and there is no specific limitation.

[0035] In one embodiment, this application also provides a motor controller. In conjunction with the above embodiments, when the motor controller meets the requirements of entering the ready state, the motor controller can have multiple operating modes. The motor controller can enter the corresponding operating module based on the received control mode request signal. The above operating modes include a passive damping control mode. The motor controller also includes a damping resistor module. The damping resistor module has its two ends connected to the positive and negative high-voltage terminals of the motor controller, respectively, for inputting external high voltage, such as the high-voltage input of a vehicle battery pack. Furthermore, the two ends of the damping resistor module are also connected to the positive and negative input terminals of the drive modules in each control group. In one embodiment, as an example, taking the first and second control groups as described above, the two ends of the damping resistor module are also connected to the positive and negative input terminals of the first drive module, and / or, the two ends of the damping resistor module are also connected to the positive and negative input terminals of the second drive module.

[0036] In passive damping control mode, the positive and negative terminals of the high voltage are in an open circuit state, and the control switch of the damping resistor module is in a closed state.

[0037] As can be seen, in this embodiment, the motor controller is equipped with a damping resistor module and has a corresponding passive damping control mode. In the passive damping control mode, the motor controller can release the electromotive force generated by the motor's back drag through the damping resistor module and provide lateral damping force for the entire vehicle, thereby improving system safety and increasing the vehicle's lateral stability. It should be understood that as the load changes, the motor will become an engine. Since the damping resistor module is connected in parallel to the positive and negative terminals of the high voltage and in parallel to the positive and negative input terminals of the drive module, the generated back electromotive force can form a circuit with the damping resistor module and be released by the damping resistor module.

[0038] In conjunction with the above embodiments, in one embodiment, as follows: Figure 2As shown, the damping resistor module includes multiple damping resistor units connected in parallel. Each damping resistor unit includes a damping resistor connected in series and a control switch. The resistance values ​​of the damping resistors in each group of damping resistor units are different. The first parallel terminal and the second parallel terminal of the multiple damping resistor units are the two ends of the damping resistor module. That is, the first parallel terminal and the second parallel terminal of the multiple damping resistor units are respectively connected to the high voltage positive and negative terminals (DC+, DC-) of the motor controller. The high voltage positive and negative terminals (DC+, DC-) are used to input external high voltage, such as connecting to the high voltage input of the vehicle. The first parallel terminal and the second parallel terminal of the multiple damping resistor units are also respectively connected to the positive and negative input terminals of the drive modules in each control group. For example, the first parallel terminal and the second parallel terminal of the multiple damping resistor units can be connected to the first drive module and / or the second drive module. In other words, Figure 2 The driver module includes either a first driver module or a second driver module. It should be noted that... Figure 2 This example only illustrates the connection of a single damping resistor unit. The connection of multiple damping resistor units in parallel is similar to the single case, except that multiple damping resistor units are connected in parallel at the high voltage positive and negative terminals (DC+, DC-) of the motor controller. The details will not be described in detail here.

[0039] by Figure 2 For example, Figure 2 The arrows indicate the circuit of the motor's back electromotive force. In this embodiment, the motor controller is equipped with a damping resistor module and has a corresponding passive damping control mode. Under special operating conditions, it can enter the passive damping control mode. In the passive damping control mode, the motor controller can release the electromotive force generated by the motor's back drag through the damping resistor unit in the damping resistor module. It should be understood that as the load connected to the motor changes, the motor will become an engine. Since the damping resistor module is connected in parallel to the positive and negative terminals of the high voltage and in parallel to the positive and negative input terminals of the drive module, the generated back electromotive force can form a circuit with the damping resistor module and be released by the damping resistor module. Furthermore, since the damping resistor module includes multiple damping resistor units connected in parallel, each damping resistor unit includes a damping resistor connected in series and a control switch, and the resistance values ​​of the damping resistors in each group of damping resistor units are different, the nonlinear reverse drag torque of the motor is different in damping resistors with different resistance values, which needs to be matched with the lateral damping force required by the whole vehicle. Therefore, by using the parallel processing method, the motor controller can select the corresponding circuit with different resistance values ​​through the control switch, thereby providing a matching lateral damping force, which can effectively improve system safety and adapt to increase the lateral stability of the whole vehicle, making it more targeted.

[0040] It should be noted that, as an example, the control switch in the damping resistor module can be controlled by either the first microcontroller module or the second microcontroller module, without any specific limitation.

[0041] In one embodiment, in conjunction with the above embodiments, a motor controller is also provided, the motor controller further comprising: The high-voltage input module has its two ends connected to the positive and negative high-voltage terminals (DC+ and DC-) of the motor controller, respectively. These terminals are used to input external high voltage, such as the high voltage input from the vehicle's external battery pack; the specific source is not limited. The two ends of the high-voltage input module are also connected to the positive and negative input terminals of the first drive module, and / or, the two ends of the high-voltage input module are also connected to the positive and negative input terminals of the second drive module.

[0042] For example, such as Figure 2 As shown, in this embodiment, the high-voltage input module is also connected in parallel to the high-voltage positive and negative terminals (DC+, DC-) of the motor controller. The high-voltage input module can perform corresponding high-voltage processing on the external high voltage, including high-voltage pre-charge processing, etc., without specific limitations. For example, the high-voltage input module can be implemented with some large capacitors, without specific limitations. In this embodiment, the motor controller also includes a high-voltage input module, which can realize functions such as high-voltage pre-charge of the motor controller, improve the working flexibility of the motor controller, and meet the power-off and power-on processing of the motor controller.

[0043] In one embodiment, in conjunction with the above embodiments, a motor controller is also provided. The motor controller further includes a low-voltage regulator module, a first DC-DC module, and a first power management module. The positive and negative input terminals of the low-voltage regulator module are used to input external low voltage, such as the external low voltage of the vehicle. The first DC-DC module is a circuit module that can convert DC voltage to DC voltage. The positive and negative output terminals of the low-voltage regulator module are respectively connected to the positive and negative input terminals of the first DC-DC module, and the positive and negative output terminals of the first DC-DC module are respectively connected to the positive and negative input terminals of the first control group functional module, which includes the first drive module. It should be understood that the first control group functional module includes a drive module or other similar modules in the motor controller that require power from the first DC-DC module. The positive and negative output terminals of the low-voltage regulator module are also connected to the positive and negative input terminals of the first power management module. The positive and negative output terminals of the first power management module are respectively connected to the positive and negative input terminals of the second control group functional module, which includes the first microcontroller module. It should be understood that the second control group functional module includes the first microcontroller module or other similar modules in the motor controller that require power management using the first power management module. For example, the second control group functional module may also include a first motor temperature detection module, a first resolver module, and a first current detection module, etc., without specific limitations.

[0044] In this embodiment, the motor controller further includes a low-voltage regulator module, a first power management module, and a first DC-DC module. This allows external low-voltage power input to the motor controller to be processed by the low-voltage regulator module, which then smoothly outputs the required voltage to the first DC-DC module and the first power management module to power the system. For example, the low-voltage regulator module processes the external low voltage and outputs it to the first DC-DC module for further processing. The first DC-DC module then outputs the required voltage to the first drive module, enabling it to operate. Similarly, the low-voltage regulator module processes the external low voltage and outputs it to the first power management module. The first power management module then outputs the required voltage to the first microcontroller module, the first current detection module, the first motor temperature detection module, the first signal communication module, the third signal communication module, and other analog and digital circuit modules to power the system. This ensures that once the internal low-voltage power supply function of the motor controller is normal, all modules can begin to operate and work together to complete control commands and corresponding functions.

[0045] In conjunction with the above embodiments, in other embodiments, the motor controller further includes a second DC-DC module and a second power management module. The second DC-DC module is a circuit module that can convert DC voltage to DC voltage, wherein: The positive and negative output terminals of the low-voltage regulator module are respectively connected to the positive and negative input terminals of the second DC-DC module, and the positive and negative output terminals of the second DC-DC module are respectively connected to the positive and negative input terminals of the third control group functional module, which includes the second drive module. It should be understood that the third control group functional module includes the second drive module or other similar modules in the motor controller that require power supply from the second DC-DC module. The positive and negative output terminals of the low-voltage regulator module are also connected to the positive and negative input terminals of the second power management module. The positive and negative output terminals of the second power management module are respectively connected to the positive and negative input terminals of the fourth control group functional module, which includes the second microcontroller module. It should be understood that the fourth control group functional module includes the second microcontroller module or other similar modules in the motor controller that require power management using the second power management module. For example, the fourth control group functional module may also include a second motor temperature detection module, a second resolver module, and a second current detection module, etc., without specific limitations.

[0046] In this embodiment, the motor controller also includes a low-voltage regulator module, a second power management module, and a second DC-DC module. This allows external low-voltage power input to the motor controller to be processed by the low-voltage regulator module, which then smoothly outputs the required voltage to the second DC-DC module and the second power management module to power the system. For example, the low-voltage regulator module processes the external low voltage and outputs it to the second DC-DC module for further processing. The second DC-DC module then outputs the required voltage to the second drive module, enabling it to operate. Similarly, the low-voltage regulator module processes the external low voltage and outputs it to the second power management module. The second power management module then outputs the required voltage to the second microcontroller module, the second current detection module, the second motor temperature detection module, the second signal communication module, the fourth signal communication module, and other analog and digital circuit modules to power the system. Once the internal low-voltage power supply function of the motor controller is normal, each module begins to operate, working together to complete control commands and corresponding functions.

[0047] In one embodiment, in conjunction with the above embodiments, this application also provides a motor controller, the motor controller further comprising: The backup power module has its positive and negative input terminals connected to the high voltage positive and negative terminals of the motor controller. The high voltage positive and negative terminals are used to input external high voltage, such as the external high voltage of the vehicle or the high voltage of the vehicle battery pack. The positive and negative output terminals of the backup power module are connected to the positive and negative input terminals of the first DC-DC module and / or the second DC-DC module.

[0048] As can be seen, in this embodiment, a backup power module is also provided in the motor controller and connected to the DC-DC module. Therefore, when the low-voltage input of the vehicle fails, but there is high voltage in the motor controller, the high voltage can be converted into low voltage input through the backup power module to power each required module. This avoids the system risk caused by the motor controller having to stop working immediately when the low-voltage power of the vehicle fails. In other words, the backup power module and the low-voltage regulator module can work together. As long as one module is working normally to supply low voltage power, all low-voltage modules inside the motor controller can work normally, improving the safety and stability of the system.

[0049] In one embodiment, in conjunction with the above embodiments, this application also provides a motor controller, the motor controller further comprising: A high-voltage interlock module, wherein one end of the high-voltage interlock module is used to connect to an external high-voltage interlock detection node; When the external high-voltage interlock detection node detects an open circuit in the high-voltage detection line, the high-voltage interlock module outputs a high-voltage power-down signal to execute the high-voltage power-down operation of the motor controller.

[0050] As can be seen, in this embodiment, a high-voltage interlock module is also provided in the motor controller. One end of the high-voltage interlock module is used to connect to an external high-voltage interlock detection node, which is equivalent to connecting to the corresponding high-voltage interlock terminal of the vehicle connector, forming a high-voltage detection route for the motor controller and the motor as a whole. When there is a break in the detection route, the high-voltage interlock module outputs a high-voltage power-down signal to execute the high-voltage power-down operation of the motor controller, thus satisfying the high-voltage electrical safety of the whole vehicle.

[0051] In one embodiment, in conjunction with the above embodiments, the first control group further includes a first temperature detection module and a first motor temperature detection module, and the second control group further includes a second temperature detection module and a second motor temperature detection module; The first microcontroller monitors the temperature of the first power module and the temperature of the first motor winding through the first temperature detection module and the first motor temperature detection module. When the temperature of the first power module or the temperature of the first motor winding is higher than a preset temperature threshold, it outputs a first motor control signal to reduce torque or speed. The second microcontroller monitors the temperature of the second power module and the temperature of the second motor winding through the second temperature detection module and the second motor temperature detection module. When the temperature of the second power module or the temperature of the second motor winding is higher than a preset temperature threshold, it outputs a second motor control signal to reduce torque or speed.

[0052] As can be seen, in this embodiment, the motor controller is also equipped with a corresponding temperature detection module. The microcontroller module can simultaneously monitor the temperature of the motor windings and the power module of the corresponding group. When the temperature exceeds the threshold, the motor controller will enter the protection strategy, which reduces the output torque or speed control strategy to avoid the risk of demagnetization of the permanent magnet inside the motor and thermal failure of the power module due to excessive temperature.

[0053] In one embodiment, in conjunction with the above embodiments, the first control group further includes a first resolver module and a first current detection module, and the second control group further includes a second resolver module and a second current detection module; When the motor controller receives a target torque or speed command for the first motor, the first microcontroller module outputs a first PWM signal to the first drive module based on the first motor angle collected by the first resolver module and the first motor current value collected by the first current detection module, so that the first drive module drives the first motor to work accordingly. When the motor controller receives a target torque or speed command for the second motor, the second microcontroller module outputs a second PWM signal to the second drive module based on the second motor angle collected by the second resolver module and the second motor current value collected by the second current detection module, so that the first drive module drives the first motor to work accordingly.

[0054] In this embodiment, when the motor controller receives a target torque or speed command, the microcontroller module will obtain the motor angle from the current resolver module and the current detection module will obtain the current value. After the microprocessor calculates and processes the strategy, it will send a PWM signal to the drive module. The drive power module will output a three-phase positive current to the motor, and drive the motor to output the target torque or speed, thus completing the motor control.

[0055] In one embodiment, in conjunction with the above embodiments, the first control group further includes a first signal communication module and a third signal communication module. The first microcontroller communicates with an external associated system through the first signal communication module. This associated system includes, but is not limited to, an active suspension control system. The first microcontroller communicates with an external debugging system through the third signal communication module to complete the debugging work of the first microcontroller and other modules. The second control group further includes a second signal communication module and a fourth signal communication module. The second microcontroller communicates with an external associated system through the second signal communication module. This associated system includes, but is not limited to, an active suspension control system. The second microcontroller communicates with an external debugging system through the fourth signal communication module to complete the debugging work of the second microcontroller and other modules.

[0056] It should be noted that, in the embodiments of this application, the specific implementation of each module mentioned above is not limited. For example, modules such as signal communication module, power module, drive module and current detection module can all be implemented by corresponding chips or circuit modules, and there is no specific limitation.

[0057] In one embodiment, this application also provides a vehicle, the vehicle including a motor controller as described in any of the preceding claims, wherein the motor controller includes a first control group and a second control group, the first control group and the second control group forming a pair of mutually monitoring control groups. In practical applications, the motor controller may include one or more pairs of the aforementioned first control group and second control group, and there is no specific limitation. In the embodiments of this application, for ease of explanation, the accompanying drawings and subsequent embodiments are all described using a pair of first control groups and second control groups as an example, wherein: The first control group includes a first microcontroller module, a first drive module, and a first power module. The first microcontroller module is connected to the control terminal of the first drive module, and the drive terminal of the first drive module is connected to the control terminal of the first power module. The output terminal of the first power module is used to connect to the first motor of the vehicle. The first microcontroller module can be understood as a microcontroller or microprocessor unit, such as a CPU or MCU, etc., without specific limitations. The first microcontroller module can output control signals (such as PWM signals) to the first drive module, so that the first drive module drives the first power module to output motor control signals to drive the first motor to output target torque or speed.

[0058] The second control group includes a second microcontroller module and a second speed detection module. The second speed detection module is used to detect the rotational speed of the first motor. Similarly, the second microcontroller module can be understood as a microcontroller or microprocessor unit, such as a CPU or MCU, etc., without any specific limitation.

[0059] The second microcontroller module will detect the working status of the first microcontroller module in real time and monitor the speed of the first motor through the second speed detection module. When a fault is detected in the first microcontroller module and the speed of the first motor is higher than the first speed threshold, the second microcontroller module controls the first drive module to control the lower tube of the first power module to conduct.

[0060] As can be seen, this application embodiment provides a vehicle including a motor controller. The motor controller includes a first microcontroller module and a second microcontroller module. The first microcontroller module controls the operation of a first motor outside the motor controller through a first drive module and a first power module. The second microcontroller module monitors the operating status of the first microcontroller module in real time and monitors the rotational speed of the first motor through a second speed detection module. When the second microcontroller module detects a fault in the first microcontroller module and the rotational speed of the first motor is higher than a first speed threshold, the second microcontroller module controls the first drive module to control the lower transistor of the first power module to conduct, thereby preventing the back electromotive force generated by the excessive rotational speed of the vehicle's first motor from entering the motor controller and damaging electrical components. The above-mentioned use of the second speed detection module can avoid system safety problems caused by the excessive rotational speed of the motor controller damaging the motor controller due to a fault in a single microcontroller module of the motor controller, thus improving the safety level of the vehicle system. In other words, the two microcontroller modules of the motor controller in this application embodiment can monitor each other's status. If an unexpected fault occurs, the other motor drive can be controlled to enter a safety strategy to prevent damage to the motor controller.

[0061] In one embodiment, please continue to refer to Figure 1 As shown, a vehicle is also provided in this embodiment: The first control group also includes a first speed detection module; the first speed detection module is used to detect the rotational speed of the second motor.

[0062] The second control group also includes a second drive module, a second power module, and a second speed detection module. The second microcontroller module is connected to the control terminal of the second drive module, and the drive terminal of the second drive module is connected to the control terminal of the second power module. The output terminal of the second power module is used to connect to the second motor of the vehicle. The second microcontroller module can output a control signal (such as a PWM signal) to the second drive module, so that the second drive module drives the second power module to output a motor control signal to drive the second motor to output a target torque or speed.

[0063] The first microcontroller module detects the working status of the second microcontroller module in real time and monitors the speed of the second motor through the first speed detection module. When a fault is detected in the second microcontroller module and the speed of the second motor is higher than the second speed threshold, the first microcontroller module controls the second drive module to control the lower tube of the second power module to conduct.

[0064] As can be seen, this application embodiment provides a vehicle including a motor controller. The motor controller includes a first microcontroller module and a second microcontroller module. The second microcontroller module controls the operation of a second motor outside the motor controller through a second drive module and a second power module. The first microcontroller module monitors the operating status of the second microcontroller module in real time and monitors the rotational speed of the second motor through a first speed detection module. When the first microcontroller module detects a fault in the second microcontroller module and the rotational speed of the second motor is higher than a second speed threshold, the first microcontroller module controls the second drive module to control the lower transistor of the second power module to conduct, thereby preventing the back electromotive force generated by the excessive rotational speed of the second motor from entering the motor controller and damaging electrical components. The aforementioned use of the first speed detection module can avoid system safety problems caused by the damage to the motor controller due to the excessive rotational speed of the second motor in the vehicle when a single microcontroller module of the motor controller fails, thus improving the system safety level. In other words, the two microcontroller modules of the vehicle motor controller in this application embodiment can monitor each other's status. If an unexpected fault occurs, the other motor drive can be controlled to enter a safety strategy to prevent damage to the motor controller.

[0065] In summary, the motor controller in this application uses a microcontroller module to control one motor. The motor controller includes two control groups, and the two microcontroller modules within the controller can monitor each other's status. If an unexpected fault occurs, the other motor can be controlled to enter a safety strategy to prevent the back electromotive force generated by the motor from damaging the motor controller, which has high practicality.

[0066] In one embodiment, this application also provides a vehicle. In conjunction with the above embodiments, when the motor controller meets the requirements of entering the ready state, the motor controller can have multiple operating modes. The motor controller can enter the corresponding operating module based on the received control mode request signal. The above operating modes include a passive damping control mode. The motor controller also includes a damping resistor module. The two ends of the damping resistor module are respectively connected to the positive and negative high-voltage terminals of the motor controller, which are used to input external high voltage. The two ends of the damping resistor module are also respectively connected to the positive and negative input terminals of the drive modules in each control group.

[0067] In passive damping control mode, the positive and negative terminals of the high voltage are in an open circuit state, and the control switch of the damping resistor module is in a closed state.

[0068] As can be seen, in this embodiment, the vehicle's motor controller is equipped with a damping resistor module and has a corresponding passive damping control mode. In the passive damping control mode, the motor controller can release the electromotive force generated by the motor's back drag through the damping resistor module and provide lateral damping force for the entire vehicle, thereby improving vehicle system safety and increasing overall vehicle lateral stability. It should be understood that as the load changes, the electric motor becomes an engine. Since the damping resistor module is connected in parallel to the positive and negative terminals of the high voltage and in parallel to the positive and negative input terminals of the drive module, the generated back electromotive force can form a circuit with the damping resistor module and be released by it.

[0069] In one embodiment, in conjunction with the above embodiments, the damping resistor module includes multiple damping resistor units connected in parallel. Each damping resistor unit includes a damping resistor connected in series and a control switch. The resistance values ​​of the damping resistors in each group of damping resistor units are different. The first parallel terminal and the second parallel terminal of the multiple damping resistor units are the two ends of the damping resistor module. That is, the first parallel terminal and the second parallel terminal of the multiple damping resistor units are respectively connected to the high voltage positive and negative terminals (DC+, DC-) of the motor controller. The high voltage positive and negative terminals (DC+, DC-) are used to input external high voltage, such as connecting to the high voltage input of the vehicle. The first parallel terminal and the second parallel terminal of the multiple damping resistor units are also respectively connected to the positive and negative input terminals of the drive modules in each control group, for example, they can be connected to the first drive module and / or the second drive module. Figure 2 The driver module includes either a first driver module or a second driver module. It should be noted that... Figure 2 The example provided only illustrates the connection of a single damping resistor unit. The connection of multiple damping resistor units in parallel is the same as the single case, except that multiple damping resistor units are connected in parallel at the high voltage positive and negative terminals (DC+, DC-) of the motor controller.

[0070] Furthermore, since the damping resistor module includes multiple damping resistor units connected in parallel, each damping resistor unit includes a damping resistor connected in series and a control switch, and the resistance values ​​of the damping resistors in each group of damping resistor units are different, the nonlinear reverse drag torque of the motor is different in damping resistors with different resistance values, which needs to be matched with the lateral damping force required by the vehicle as a whole. Therefore, by using the parallel processing method and the control switch, the corresponding circuits with different resistance values ​​can be selected to provide a matching lateral damping force, which can effectively improve the safety of the vehicle system and adapt to increase the lateral stability of the whole vehicle, making it more targeted.

[0071] It should be noted that, as an example, the control switch can be controlled by either the first microcontroller module or the second microcontroller module, without any specific limitation.

[0072] In one embodiment, in conjunction with the above embodiments, a vehicle including the motor controller is also provided, the motor controller further comprising: The high-voltage input module has its two ends connected to the positive and negative high-voltage terminals (DC+ and DC-) of the motor controller, respectively. These terminals are used to input external high voltage, such as the high voltage input from the vehicle's external battery pack; the specific source is not limited. The two ends of the high-voltage input module are also connected to the positive and negative input terminals of the first drive module, and / or, the two ends of the high-voltage input module are also connected to the positive and negative input terminals of the second drive module.

[0073] In this embodiment, the vehicle's motor controller also includes a high-voltage input module, which can realize functions such as high-voltage pre-charging of the motor controller and improve the working flexibility of the motor controller.

[0074] In one embodiment, in conjunction with the above embodiments, a vehicle including a motor controller is also provided. The motor controller further includes a low-voltage regulator module, a first DC-DC module, and a first power management module. The positive and negative input terminals of the low-voltage regulator module are used to input external low voltage, such as the external low voltage of the vehicle. The positive and negative output terminals of the low-voltage regulator module are respectively connected to the positive and negative input terminals of the first DC-DC module, and the positive and negative output terminals of the first DC-DC module are respectively connected to the positive and negative input terminals of the first control group functional module, which includes the first drive module. It should be understood that the first control group functional module includes a drive module or other similar modules in the motor controller that require power from the first DC-DC module. The positive and negative output terminals of the low-voltage regulator module are also connected to the positive and negative input terminals of the first power management module. The positive and negative output terminals of the first power management module are respectively connected to the positive and negative input terminals of the second control group functional module, which includes the first microcontroller module. It should be understood that the second control group functional module includes the first microcontroller module or other similar modules in the motor controller that require power management using the first power management module. For example, the second control group functional module may also include a first motor temperature detection module, a first resolver module, and a first current detection module, etc., without specific limitations.

[0075] In this embodiment, the motor controller also includes a low-voltage stabilizing module, a first power management module, and a first DC-DC module, which enable external low-voltage power input to the motor controller. After the internal low-voltage power supply function of the motor controller is normal, each module can start working to jointly complete control commands and corresponding functions, ensuring the normal operation of vehicle-related functions.

[0076] In conjunction with the above embodiments, in other embodiments, the motor controller further includes a second DC-DC module and a second power management module, wherein: The positive and negative output terminals of the low-voltage regulator module are respectively connected to the positive and negative input terminals of the second DC-DC module, and the positive and negative output terminals of the second DC-DC module are respectively connected to the positive and negative input terminals of the third control group functional module, which includes the second drive module. It should be understood that the third control group functional module includes the second drive module or other similar modules in the motor controller that require power supply from the second DC-DC module. The positive and negative output terminals of the low-voltage regulator module are also connected to the positive and negative input terminals of the second power management module. The positive and negative output terminals of the second power management module are respectively connected to the positive and negative input terminals of the fourth control group functional module, which includes the second microcontroller module. It should be understood that the fourth control group functional module includes the second microcontroller module or other similar modules in the motor controller that require power management using the second power management module. For example, the fourth control group functional module may also include a second motor temperature detection module, a second resolver module, and a second current detection module, etc., without specific limitations.

[0077] In this embodiment, the motor controller also includes a low-voltage stabilizing module, a second power management module, and a second DC-DC module, which enable external low-voltage power input to the motor controller. After the internal low-voltage power supply function of the motor controller is normal, each module starts to work and works together to complete control commands and corresponding functions, ensuring the normal operation of vehicle-related functions.

[0078] In one embodiment, in conjunction with the above embodiments, this application also provides a vehicle including a motor controller, the motor controller further comprising: The backup power module has its positive and negative input terminals connected to the high voltage positive and negative terminals of the motor controller. The high voltage positive and negative terminals are used to input external high voltage, such as the external high voltage of the vehicle or the high voltage of the vehicle battery pack. The positive and negative output terminals of the backup power module are connected to the positive and negative input terminals of the first DC-DC module and / or the second DC-DC module.

[0079] As can be seen, in this embodiment, the vehicle's motor controller is also equipped with a backup power module, which is connected to the DC-DC module. Therefore, when the vehicle's low-voltage input fails, but the motor controller has high voltage, the backup power module can convert the high voltage into low voltage input to power the required modules. This avoids the system risk caused by the motor controller having to stop working immediately when the vehicle's low-voltage power fails. In other words, the backup power module and the low-voltage regulator module can work together. As long as one module is working properly to supply low voltage, all the low-voltage modules inside the motor controller can work normally, improving the safety and stability of the vehicle system.

[0080] In one embodiment, in conjunction with the above embodiments, this application also provides a vehicle including a motor controller, the motor controller further comprising: A high-voltage interlock module, wherein one end of the high-voltage interlock module is used to connect to an external high-voltage interlock detection node; When the external high-voltage interlock detection node detects an open circuit in the high-voltage detection line, the high-voltage interlock module outputs a high-voltage power-down signal to execute the high-voltage power-down operation of the motor controller.

[0081] As can be seen, in this embodiment, a high-voltage interlock module is also provided in the vehicle's motor controller. One end of the high-voltage interlock module is used to connect to an external high-voltage interlock detection node, which is equivalent to connecting to the corresponding high-voltage interlock terminal of the vehicle connector, forming a high-voltage detection route for the motor controller and the motor as a whole. When there is a break in the detection route, the high-voltage interlock module outputs a high-voltage power-down signal to execute the high-voltage power-down operation of the motor controller, thus satisfying the high-voltage electrical safety of the whole vehicle.

[0082] In one embodiment, in conjunction with the above embodiments, the first control group further includes a first temperature detection module and a first motor temperature detection module, and the second control group further includes a second temperature detection module and a second motor temperature detection module; The first microcontroller monitors the temperature of the first power module and the temperature of the first motor winding through the first temperature detection module and the first motor temperature detection module. When the temperature of the first power module or the temperature of the first motor winding is higher than a preset temperature threshold, it outputs a first motor control signal to reduce torque or speed. The second microcontroller monitors the temperature of the second power module and the temperature of the second motor winding through the second temperature detection module and the second motor temperature detection module. When the temperature of the second power module or the temperature of the second motor winding is higher than a preset temperature threshold, it outputs a second motor control signal to reduce torque or speed.

[0083] As can be seen, in this embodiment, the vehicle's motor controller is also equipped with a corresponding temperature detection module. The microcontroller module can simultaneously monitor the temperature of the motor windings and the power module of the corresponding group. When the temperature exceeds the threshold, the motor controller will enter a protection strategy, which reduces the output torque or speed control strategy to avoid the risk of demagnetization of the permanent magnet inside the motor and thermal failure of the power module due to excessive temperature.

[0084] In one embodiment, in conjunction with the above embodiments, the first control group further includes a first resolver module and a first current detection module, and the second control group further includes a second resolver module and a second current detection module; When the motor controller receives a target torque or speed command for the first motor, the first microcontroller module outputs a first PWM signal to the first drive module based on the first motor angle collected by the first resolver module and the first motor current value collected by the first current detection module, so that the first drive module drives the first motor to work accordingly. When the motor controller receives a target torque or speed command for the second motor, the second microcontroller module outputs a second PWM signal to the second drive module based on the second motor angle collected by the second resolver module and the second motor current value collected by the second current detection module, so that the first drive module drives the first motor to work accordingly.

[0085] In this embodiment, when the motor controller receives a target torque or speed command, the microcontroller module will obtain the motor angle from the current resolver module and the current detection module will obtain the current value. After the microprocessor calculates and processes the strategy, it will send a PWM signal to the drive module. The drive power module will output a three-phase positive current to the motor, and drive the motor to output the target torque or speed, thus completing the motor control.

[0086] In one embodiment, in conjunction with the above embodiments, the first control group further includes a first signal communication module and a third signal communication module. The first microcontroller communicates with an external associated system through the first signal communication module. This associated system includes, but is not limited to, an active suspension control system. The first microcontroller communicates with an external debugging system through the third signal communication module to complete the debugging work of the first microcontroller and other modules. The second control group further includes a second signal communication module and a fourth signal communication module. The second microcontroller communicates with an external associated system through the second signal communication module. This associated system includes, but is not limited to, an active suspension control system. The second microcontroller communicates with an external debugging system through the fourth signal communication module to complete the debugging work of the second microcontroller and other modules.

[0087] It should be understood that for more details and descriptions regarding the vehicle embodiments, please refer to the description of the motor controller in the foregoing embodiments, which will not be repeated here.

[0088] It should be noted that, based on the motor controller provided in the embodiments of this application, the embodiments of this application also provide the corresponding working principle of the motor controller, which will be described below.

[0089] In one embodiment, a control method based on the motor controller is also provided, the method comprising: The second microcontroller module detects the working status of the first microcontroller module in real time, and monitors the rotational speed of the first motor through the second speed detection module; When a fault is detected in the first microcontroller module and the speed of the first motor is higher than the first speed threshold, the second microcontroller module controls the first drive module, which in turn controls the lower transistor of the first power module to conduct.

[0090] In one embodiment: The first microcontroller module detects the working status of the second microcontroller module in real time, and monitors the rotational speed of the second motor through the first speed detection module; When a fault is detected in the second microcontroller module and the speed of the second motor is higher than the second speed threshold, the first microcontroller module controls the second drive module, which in turn controls the lower tube of the second power module to conduct.

[0091] In one embodiment, upon receiving an enable signal from the associated system, in response to a target control mode request sent by the associated system, the first microcontroller module or the second microcontroller module enters the corresponding control mode requested by the target control mode request.

[0092] In one embodiment, the target control mode request includes a passive damping control mode request, and the first microcontroller module or the second microcontroller module enters the control mode corresponding to the target control mode request, including: The first or second microcontroller module controls the positive and negative terminals of the high voltage to be in an open circuit state, and the control switch of the damping resistor module is in a closed state.

[0093] In one embodiment, the associated system includes an active suspension control system.

[0094] The corresponding technical effects of the above embodiments can be found in the foregoing embodiments, and will not be repeated here.

[0095] It should be noted that, in this embodiment of the application, the motor controller receives real-time target torque requests, operating mode requests, physical angle requests and other related signals from the active suspension control system nodes via the vehicle bus. After real-time control processing by the various modules inside the motor controller, it accurately sends out three-phase sine current to drive the motor to rotate, thereby realizing the real-time output of the target torque to the demand system.

[0096] Strategy in normal working mode: In normal working mode, the motor controller and motor are treated as a system, all internal and external wiring harnesses are connected normally, and then the low voltage and high voltage power is supplied to the motor controller. Then, the motor controller operates according to the various working modes issued by the active suspension control system nodes. In this type of working mode, most of the hardware modules work together to complete the application functions of different working modes.

[0097] Limp-down mode strategy: In limp-down mode, the motor controller and motor act as a system. When unexpected functional parameters are detected within the system, a safety protection strategy is implemented based on component safety design. This strategy further sends the specific fault status to the active suspension control system node, facilitating the vehicle's overall safety protection measures. In limp-down mode, some hardware modules work together to jointly complete the function of limp-down mode.

[0098] Below, please combine Figure 3 The complete workflow of one of the vehicles based on this motor controller is described, including: Step 1: The vehicle is currently in a completely dormant state. According to the power-on strategy, the entire vehicle is sequentially powered on with low-voltage electricity and then high-voltage electricity. After the motor controller is awakened, it enters the initialization process.

[0099] As an example, waking up the motor controller requires detecting a low voltage on the vehicle's hardwired network exceeding a preset low voltage threshold, a low voltage signal enable on the vehicle bus, or a network packet entering the motor controller. Meeting any one of these three triggering conditions is sufficient to wake up the motor controller. Motor controller initialization includes hardware self-testing and software initialization.

[0100] After the vehicle is powered on with low voltage, the relevant systems of the vehicle will start the high voltage power-on of the vehicle. In order to ensure the safe input of the high voltage of the vehicle to the motor controller, the integrated high voltage will first switch to the high voltage pre-charge circuit to pre-charge the motor controller. After the pre-charge is completed, it will switch to the high voltage output circuit.

[0101] For example, the specific steps for powering on the vehicle at high voltage are as follows: closing the vehicle's main negative switch, closing the vehicle's pre-charge switch, closing the vehicle's main positive switch, and opening the vehicle's pre-charge switch. Opening the vehicle's pre-charge switch is optional and can prevent a sudden surge of current from entering the motor system and damaging electronic components.

[0102] Step 2: The motor controller enters the initialization process. After the initialization is completed, if the initialization is successful, the motor controller enters the standby state. If the initialization fails, it enters the error state and sends the corresponding status signal to the associated system.

[0103] For example, the hardware self-test of the motor controller includes: checking whether the voltage of key nodes of each hardware module is normal, such as the power management module, timers, and watchdog timers; checking whether the voltage of the external connection nodes of the motor controller is normal; and checking whether there are open circuits or short circuits in the three-phase current inside the motor controller. The software initialization of the motor controller includes: configuring the I / O and other pin states; configuring the underlying driver states, such as various interface drivers; and writing default values ​​to the main program parameter variables of the motor controller, or reading the actual system state parameters and writing them to default values, such as the motor rotor angle and motor temperature.

[0104] If the motor controller detects a hardware fault or software parameter error during initialization, it will report an initialization fault and enter an error state; otherwise, it will enter a standby state.

[0105] Step 3: After the motor controller enters the standby state, the high voltage Udc value and holding time inside the motor controller are monitored in real time. If the corresponding strategy is met, it enters the ready state, returns to the standby state, or enters the error state.

[0106] It should be understood that, in this embodiment, the motor controller provided in this application is a high-voltage drive motor controller. After entering the standby state, the motor controller monitors in real time whether the internal high-voltage Udc value is greater than the minimum voltage threshold. When it is greater than the minimum voltage threshold, timing begins. It further determines whether the duration for which the internal high-voltage Udc value is greater than the minimum voltage threshold is greater than a preset time threshold. If so, the motor controller enters the ready mode; otherwise, the motor controller returns to the standby state. When the motor controller monitors in real time that the internal high-voltage Udc value is less than the minimum voltage threshold, timing also begins. Similarly, it further determines whether the duration for which the internal high-voltage Udc value is less than the minimum voltage threshold is greater than a preset time threshold. If so, the motor controller reports an undervoltage fault and enters the error state; otherwise, the motor controller returns to the standby state.

[0107] Further explanation: The threshold for the motor controller to transition from standby to ready state can be calibrated based on the actual application scenario. For example, it can include the "minimum voltage threshold" and "preset time threshold" mentioned above, etc., without any specific limitations.

[0108] Step 4: After the motor controller enters the ready state, it monitors the enable signal sent to it by the associated system (such as the active suspension control system) in real time, and further monitors the mode request signal sent to it by the associated system. If the corresponding strategy is met, the motor controller enters the corresponding working mode or returns to the ready mode.

[0109] After the motor controller enters the read state, it monitors the enable signals sent by the associated system in real time. When the enable signal is 0, the motor controller returns to the read state. Otherwise, the motor controller further judges the mode request signals sent by the associated system. If it is a torque control mode request, the motor controller enters torque control mode. Otherwise, the motor controller monitors whether it is a speed control mode request. If so, the motor controller enters speed control mode. Otherwise, the motor controller monitors whether it is a steering angle control mode request. If so, the motor controller enters steering angle control mode. Otherwise, the motor controller monitors whether it is a passive damping control mode request. If so, the motor controller enters passive damping control mode. Otherwise, the motor controller monitors whether it is an active discharge control mode request. If so, the motor controller enters active discharge control mode. Otherwise, the motor controller returns to the ready state.

[0110] It should be understood that entering the corresponding working mode only when both the enable signal and the mode request signal sent by the associated system are satisfied is an optional approach. Based on this, adopting a dual-signal judgment condition can improve the overall system security; alternatively, a single mode request signal can be used, and there is no specific limitation.

[0111] Step 5: After the motor controller enters the corresponding working mode, it monitors the mode request signal sent to the motor controller by the associated system in real time. After the corresponding strategy is met, the motor controller can switch between the corresponding working modes or return to the ready state.

[0112] It should be understood that after the motor controller enters the corresponding operating mode, the motor controller monitors the mode request signal sent to the motor system by the associated system in real time. When the mode request signal is a torque control mode request, speed control mode request, angle control mode request, passive damping control mode request, or active discharge mode request, the motor controller can switch between these 5 operating modes. Otherwise, the motor controller returns to the ready state.

[0113] Step 6: During the operation of the motor controller, the hardware and software parameters that represent the system safety of the motor controller are monitored in real time. When the fault triggering strategy during the operation of the motor controller is met, the motor controller will jump from the current state to the error state and send the corresponding status signal to the associated system.

[0114] It should be noted that during operation, the fault diagnosis module monitors key hardware and software parameters in real time, such as high voltage overvoltage, overcurrent, and overheating of the motor controller power transistors. When the fault triggering conditions are met, the motor system will report an operational fault, enter an error state, and send the motor system error state to related systems for further vehicle safety strategies.

[0115] In addition, during the operation of the motor controller, the hardware and software parameters characterizing system safety are monitored in real time. When the fault triggering strategy during motor system operation is met, the motor controller will optionally transition from the current state to an error state and send a corresponding status signal to the associated system. When a fault occurs within the motor controller, entering the error state, the motor controller will enter a limp-mode operating strategy. Limp-mode operates when the motor controller and motor are considered as a system, and unexpected functional parameters are detected within the system. Based on component safety design, the motor controller implements a safety protection strategy and further sends the specific fault status to the associated system nodes, facilitating the implementation of vehicle-wide safety protection strategies. This improves the safety of the entire vehicle and the system level.

[0116] Step 7: Power Down: The current motor controller is in running state or error state. According to the power down strategy, when the vehicle power down conditions are met, the vehicle first disconnects the high voltage. The motor controller monitors the high voltage Udc value, motor speed value and vehicle low voltage signal in real time. When the motor controller's low voltage disconnect strategy is met, the motor controller immediately disconnects the low voltage.

[0117] The motor controller monitors the internal high-voltage Udc value, motor speed, and vehicle low-voltage voltage in real time. When the internal high-voltage Udc value is less than the high-voltage threshold, the motor speed is also less than the speed threshold, and the low-voltage voltage input from the vehicle to the motor controller is also less than the low-voltage threshold, the motor controller completes the power-off process.

[0118] Further explanation: The "high voltage threshold", "speed threshold" and "low voltage threshold" during the power-down process of the motor controller need to be determined after calibration based on the actual application scenario, and no specific limitation is made.

[0119] Step 8: End: After the motor controller is powered off at low voltage, it saves the relevant operating parameters and then enters sleep mode.

[0120] In this step, after the motor controller completes the power-off, it will save the relevant parameters, enter a sleep state, and wait for the next power-on to wake it up.

[0121] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0122] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A motor controller, characterized in that, Including the first control group and the second control group: The first control group includes a first microcontroller module, a first drive module, and a first power module. The first microcontroller module is connected to the control terminal of the first drive module, the drive terminal of the first drive module is connected to the control terminal of the first power module, and the output terminal of the first power module is used to connect to the first motor. The second control group includes a second microcontroller module and a second speed detection module; The second microcontroller module detects the working status of the first microcontroller module in real time and monitors the speed of the first motor through the second speed detection module. When a fault is detected in the first microcontroller module and the speed of the first motor is higher than the first speed threshold, the second microcontroller module controls the first drive module to control the lower tube of the first power module to conduct.

2. The motor controller as described in claim 1, characterized in that: The first control group also includes a first speed detection module; The second control group also includes a second drive module, a second power module, and a second speed detection module. The second microcontroller module is connected to the control terminal of the second drive module, the drive terminal of the second drive module is connected to the control terminal of the second power module, and the output terminal of the second power module is used to connect to the second motor. The first microcontroller module detects the working status of the second microcontroller module in real time and monitors the speed of the second motor through the first speed detection module. When a fault is detected in the second microcontroller module and the speed of the second motor is higher than the second speed threshold, the first microcontroller module controls the second drive module to control the lower tube of the second power module to conduct.

3. The motor controller as described in claim 2, characterized in that, The motor controller also includes: A damping resistor module, the two ends of which are respectively connected to the positive and negative high voltage terminals of the motor controller, the positive and negative high voltage terminals are used to input external high voltage, the two ends of which are also respectively connected to the positive and negative input terminals of the first drive module, and / or, the two ends of which are also respectively connected to the positive and negative input terminals of the second drive module. In passive damping control mode, the positive and negative terminals of the high voltage are in an open circuit state, and the control switch of the damping resistor module is in a closed state.

4. The motor controller as described in claim 3, characterized in that, The damping resistor module includes multiple damping resistor units connected in parallel. Each damping resistor unit includes a damping resistor connected in series and a control switch. The resistance values ​​of the damping resistors in each group of damping resistor units are different. The first parallel terminal and the second parallel terminal of the multiple damping resistor units are the two ends of the damping resistor module.

5. The motor controller according to any one of claims 1-4, characterized in that, The motor controller also includes: The high-voltage input module has its two ends connected to the positive and negative high-voltage terminals of the motor controller, respectively. The positive and negative high-voltage terminals are used to input external high voltage. The two ends of the high-voltage input module are also connected to the positive and negative input terminals of the first drive module, and / or, the two ends of the high-voltage input module are also connected to the positive and negative input terminals of the second drive module.

6. The motor controller according to any one of claims 1-4, characterized in that, The motor controller also includes a low-voltage regulator module, a first DC-DC module, and a first power management module. The positive and negative input terminals of the low-voltage regulator module are used to input external low voltage. The positive and negative output terminals of the low-voltage regulator module are respectively connected to the positive and negative input terminals of the first DC-DC module, and the positive and negative output terminals of the first DC-DC module are respectively connected to the positive and negative input terminals of the first control group functional module. The first control group functional module includes the first drive module. The positive and negative output terminals of the low-voltage regulator module are also connected to the positive and negative input terminals of the first power management module. The positive and negative output terminals of the first power management module are respectively connected to the positive and negative input terminals of the second control group functional module, which includes the first microcontroller module.

7. The motor controller as described in claim 6, characterized in that, The motor controller also includes: A backup power module, wherein the positive and negative input terminals of the backup power module are connected to the positive and negative high voltage terminals of the motor controller, the positive and negative high voltage terminals are used to input external high voltage, and the positive and negative output terminals of the backup power module are connected to the positive and negative input terminals of the first DC-DC module.

8. The motor controller according to any one of claims 1-4, characterized in that, The motor controller also includes: A high-voltage interlock module, wherein one end of the high-voltage interlock module is used to connect to an external high-voltage interlock detection node; When the external high-voltage interlock detection node detects an open circuit in the high-voltage detection line, the high-voltage interlock module outputs a high-voltage power-down signal to execute the high-voltage power-down operation of the motor controller.

9. The motor controller according to any one of claims 2-4, characterized in that, The first control group further includes a first temperature detection module and a first motor temperature detection module, and the second control group further includes a second temperature detection module and a second motor temperature detection module; The first microcontroller monitors the temperature of the first power module and the temperature of the first motor winding through the first temperature detection module and the first motor temperature detection module. When the temperature of the first power module or the temperature of the first motor winding is higher than a preset temperature threshold, it outputs a first motor control signal to reduce torque or speed. The second microcontroller monitors the temperature of the second power module and the temperature of the second motor winding through the second temperature detection module and the second motor temperature detection module. When the temperature of the second power module or the temperature of the second motor winding is higher than a preset temperature threshold, it outputs a second motor control signal to reduce torque or speed.

10. A vehicle, characterized in that, The vehicle includes a motor controller as described in any one of claims 1-9.

11. A control method based on the motor controller according to any one of claims 1-9, characterized in that, The method includes: The second microcontroller module detects the working status of the first microcontroller module in real time, and monitors the rotational speed of the first motor through the second speed detection module; When a fault is detected in the first microcontroller module and the speed of the first motor is higher than the first speed threshold, the second microcontroller module controls the first drive module, which in turn controls the lower transistor of the first power module to conduct.

12. The control method as described in claim 11, characterized in that: The first microcontroller module detects the working status of the second microcontroller module in real time, and monitors the rotational speed of the second motor through the first speed detection module; When a fault is detected in the second microcontroller module and the speed of the second motor is higher than the second speed threshold, the first microcontroller module controls the second drive module, which in turn controls the lower tube of the second power module to conduct.

13. The control method as described in claim 11, characterized in that, The method further includes: Upon receiving the enable signal from the associated system, in response to the target control mode request sent by the associated system, the first microcontroller module or the second microcontroller module enters the corresponding control mode requested by the target control mode.

14. The control method as described in claim 13, characterized in that, The target control mode request includes a passive damping control mode request. The first microcontroller module or the second microcontroller module enters the corresponding control mode of the target control mode request, including: The first or second microcontroller module controls the positive and negative terminals of the high voltage to be in an open circuit state, and the control switch of the damping resistor module is in a closed state.

15. The control method as described in claim 13, characterized in that, The associated system includes an active suspension control system.

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