Motor control device and method, electronic device, vehicle, medium, and product

Abstract

The application discloses a motor control device, a motor control method, an electronic device, a vehicle, a computer readable storage medium and a computer program product. The motor control device comprises a control module, a shutdown module and a power module, the shutdown module and the power module are connected with the control module, the power module is connected with a power supply through the shutdown module, and the shutdown module and the power module each comprise a field effect tube; the control module is configured to detect a current working condition of the field effect tube, determine a detection result, and control the shutdown module and the power module according to the detection result. In this way, the control module can control the shutdown module and the power module to drive the motor to rotate to realize wheel steering according to the detection result of the current working condition of the field effect tube. Compared with using a large current to detect the field effect tube, the embodiment of the application can gradually detect each field effect tube, ensure that no large current passes through, avoid a short circuit risk caused by failure of the field effect tube, and improve the safety and reliability of the motor control device.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a motor control device, a motor control method, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product. Background Technology

[0002] In related technologies, motor control devices can convert DC power into AC square waves by controlling a three-phase inverter, thereby driving the motor to rotate and achieve wheel steering. However, short-circuit failure of the metal-oxide-semiconductor field-effect transistor (MOSFET) in the three-phase inverter can lead to a short circuit between the positive and negative terminals of the power supply, potentially causing a safety hazard. Summary of the Invention

[0003] This application provides an electric motor control device, an electric motor control method, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product.

[0004] This application provides a motor control device, which includes a control module, a shutdown module, and a power module. The shutdown module and the power module are both connected to the control module, and the power module is connected to a power source through the shutdown module. Both the shutdown module and the power module include field-effect transistors.

[0005] The control module is configured to detect the current operating condition of the field-effect transistor, determine the detection result, and control the shutdown module and the power module according to the detection result.

[0006] Thus, in this embodiment, the control module can control the shutdown module and power module to drive the motor to rotate and achieve wheel steering based on the detection results of the current operating condition of the MOSFET. Compared with using a large current to detect the MOSFET, this embodiment can detect each MOSFET step by step to ensure that no large current flows through it, and quickly identify short circuit faults based on the detection results, avoiding the risk of power short circuit caused by MOSFET failure, and improving the safety and reliability of the motor control device to a certain extent.

[0007] In some embodiments, the motor control device includes at least two of the shutdown modules, at least two of the power modules, and a motor, wherein each of the shutdown modules is connected to one of the power modules, and each of the power modules is connected to the motor.

[0008] Thus, the motor control device includes at least two shutdown modules, at least two power modules, and a motor. Each shutdown module is connected to a power module, and each power module is connected to the motor. This redundancy allows for the use of other shutdown and power modules to take over the motor drive in the event of a failure in one shutdown or power module. This prevents the motor from completely losing its driving force due to a single-path failure, and to some extent reduces the driving safety hazards caused by module failures.

[0009] In some embodiments, the power module includes an energy storage capacitor and a motor drive unit. The power supply is connected to one end of the shutdown module, and one end of the energy storage capacitor and the motor drive unit is connected to the other end of the shutdown module. The other end of the motor drive unit is grounded, and the other end of the energy storage capacitor is grounded. The motor drive unit includes a field-effect transistor.

[0010] Thus, the power module includes an energy storage capacitor and a motor drive unit. One end of the power supply is connected to the shutdown module, and one end of the energy storage capacitor and motor drive unit is connected to the other end of the shutdown module. The other end of the motor drive unit is grounded, and the other end of the energy storage capacitor is also grounded. The motor drive unit includes a field-effect transistor (FET). In this way, the energy storage capacitor provides a voltage signal to detect the motor drive unit. By detecting the voltage across the energy storage capacitor, it is possible to determine whether the motor drive unit is short-circuited, thus enabling fault detection of the FET in the motor drive unit.

[0011] In some embodiments, the motor drive unit includes a drive unit and an inverter bridge unit. The control module and the inverter bridge unit are both connected to the drive unit. The shutdown module and the energy storage capacitor are both connected to the inverter bridge unit. The inverter bridge unit includes multiple bridge arms, and each bridge arm has a field-effect transistor installed in its upper and lower bridge arms.

[0012] Thus, the motor drive unit includes a drive unit and an inverter bridge unit. The control module and inverter bridge unit are both connected to the drive unit, while the shutdown module and energy storage capacitor are both connected to the inverter bridge unit. The inverter bridge unit includes multiple bridge arms, and each bridge arm has a field-effect transistor (FET) installed in both the upper and lower bridge arms. This allows for the detection of faults in the FETs of the upper and lower bridge arms by measuring the phase voltage range, solving the problem of difficulty in locating faults in the upper and lower bridge arms and improving the safety and reliability of the motor control device to a certain extent.

[0013] In some implementations, the shutdown module includes two field-effect transistors with opposite current conduction directions.

[0014] Thus, the shutdown module includes two field-effect transistors with opposite current conduction directions. In this way, the two field-effect transistors with opposite current conduction directions in the shutdown module work together to provide bidirectional current safety control for the power module connected to it, ensuring the safety of the circuit hardware.

[0015] In some embodiments, the method includes:

[0016] The current operating condition of the field-effect transistor is detected, and the detection result is determined;

[0017] The shutdown module and the power module are controlled based on the detection results.

[0018] Thus, in this embodiment, the control module can control the shutdown module and power module to drive the motor to rotate and achieve wheel steering based on the detection results of the current operating condition of the MOSFET. Compared with using a large current to detect the MOSFET, this embodiment can detect each MOSFET step by step to ensure that no large current flows through it, and quickly identify short circuit faults based on the detection results, avoiding the risk of power short circuit caused by MOSFET failure, and improving the safety and reliability of the motor control device to a certain extent.

[0019] In some implementations, the detection result includes a first detection result of the field-effect transistor in the shutdown module, and the detection of the current operating condition of the field-effect transistor and determination of the detection result includes:

[0020] When the power supply supplies power to the shutdown module and the field-effect transistor in the shutdown module is in the off state, the first detection result is determined based on the output voltage of the power supply and the output voltage of the shutdown module.

[0021] Thus, when the power supply is supplying power to the shutdown module and the MOSFET in the shutdown module is in the off state, the first detection result is determined based on the output voltage of the power supply and the output voltage of the shutdown module. In this way, even when the power supply is supplying power to the shutdown module and the MOSFET in the shutdown module is in the off state, the current operating condition of the main shutdown MOSFET in the shutdown module can be determined by the difference between the output voltage of the power supply and the output voltage of the shutdown module. This allows for rapid identification of short-circuit faults in the main shutdown MOSFET, avoiding the risk of power supply short circuits caused by shutdown module failure. It also lays the foundation for subsequent MOSFET testing of the power module, improving the safety and reliability of the motor control device to a certain extent.

[0022] In some embodiments, the motor control device includes at least two shutdown modules, at least two power modules, and a motor. Each shutdown module is connected to one of the power modules, and each power module is connected to the motor. Controlling the shutdown modules and the power modules based on the detection result includes:

[0023] When the first detection result is the first operating condition, the field-effect transistor in the shutdown module is switched to the on state. When the field-effect transistor in the shutdown module is in the on state, the power supply supplies power to the power module through the shutdown module.

[0024] When the first detection result is the second operating condition, the field-effect transistors in the shutdown module and the field-effect transistors in the power module connected to the shutdown module are switched to the cut-off state.

[0025] Thus, under the first detection result of the first operating condition, the MOSFET in the control shutdown module switches to the on state. When the MOSFET in the shutdown module is on, power is supplied to the power module through the shutdown module. Under the first detection result of the second operating condition, the MOSFET in the control shutdown module and the MOSFETs in the power module connected to the shutdown module both switch to the off state. In this way, by determining whether there is a short circuit fault in the main shutdown MOSFET, the feasibility of subsequent power module testing can be determined. If the main shutdown MOSFET is normal, the current operating condition of the power module's MOSFETs can be continued to be tested. If the main shutdown MOSFET is faulty, the MOSFETs in the control shutdown module and the MOSFETs in the power module connected to the shutdown module both switch to the off state, providing a fundamental guarantee for the safe operation of the motor control device.

[0026] In some embodiments, determining the first detection result based on the output voltage of the power supply and the output voltage of the shutdown module when the power supply is supplying power to the shutdown module and the field-effect transistor in the shutdown module is in the off state includes:

[0027] When the power supply supplies power to the shutdown module, the field-effect transistor in the shutdown module is in the off state, and the first voltage difference between the output voltage of the power supply and the output voltage of the shutdown module is greater than or equal to a first preset threshold, the first detection result is determined to be in the first operating condition.

[0028] When the power supply supplies power to the shutdown module, the field-effect transistor in the shutdown module is in the off state, and the first voltage difference is less than the first preset threshold, the first detection result is determined to be the second operating condition.

[0029] Thus, when the power supply supplies power to the shutdown module, the MOSFET in the shutdown module is in the off state, and the first voltage difference between the power supply's output voltage and the shutdown module's output voltage is greater than or equal to a first preset threshold, the first detection result is determined to be under the first operating condition. When the power supply supplies power to the shutdown module, the MOSFET in the shutdown module is in the off state, and the first voltage difference is less than the first preset threshold, the first detection result is determined to be under the second operating condition. In this way, by comparing the difference between the power supply's output voltage and the shutdown module's output voltage (i.e., the first voltage difference) with the first preset threshold, it is possible to determine whether the MOSFET in the shutdown module is faulty, obtain the first detection result, and lay the foundation for subsequent MOSFET testing of the power module.

[0030] In some embodiments, the power module includes an energy storage capacitor and a motor drive unit. The power supply is connected to one end of the shutdown module, and one end of the energy storage capacitor and the motor drive unit is connected to the other end of the shutdown module. The other end of the motor drive unit is grounded, and the other end of the energy storage capacitor is grounded. The motor drive unit includes a field-effect transistor (FET). The detection result also includes a second detection result of the FET in the power module. The motor drive unit includes a FET. Detecting the current operating condition of the FET and determining the detection result includes:

[0031] When the field-effect transistor in the shutdown module is switched to the on state, after a first preset time, the field-effect transistor in the shutdown module is switched to the off state. When the field-effect transistor in the shutdown module is switched to the on state, the power supply charges the energy storage capacitor through the shutdown module.

[0032] When the field-effect transistor in the shutdown module switches from the on state to the off state, the second detection result is determined based on the output voltage of the power supply and the current voltage at the target connection point, wherein the target connection point is the connection position of the energy storage capacitor, the other end of the power module and one end of the motor drive unit.

[0033] Thus, when the MOSFET in the shutdown module switches to the on state, it switches to the off state after a first preset time. While the MOSFET is on, the power supply charges the energy storage capacitor through the shutdown module. When the MOSFET switches from the on to the off state, a second detection result is determined based on the power supply's output voltage and the current voltage at the target connection point, where the target connection point is the connection between the energy storage capacitor, the other end of the power module, and one end of the motor drive unit. By controlling the MOSFET in the shutdown module to be on for the first preset time and using the current voltage at the target connection point, the current operating condition of the inverter bridge MOSFET in the power module can be determined, quickly identifying short-circuit faults in the inverter bridge MOSFET and avoiding the risk of power module short circuits due to power module failure. This also lays the foundation for subsequent MOSFET detection in the upper and lower bridge arms, improving the safety and reliability of the motor control device to a certain extent.

[0034] In some embodiments, controlling the shutdown module and the power module based on the detection result includes:

[0035] If the second detection result is the first operating condition, control the field-effect transistor in the shutdown module to switch to the on state;

[0036] When the second detection result is the second operating condition, the field-effect transistors in the motor drive unit and the field-effect transistors in the shutdown module connected to the motor drive unit are switched to the off state.

[0037] Thus, if the second detection result is the first operating condition, the MOSFET in the control shutdown module switches to the on state; if the second detection result is the second operating condition, the MOSFETs in the control motor drive unit and the MOSFETs in the shutdown module connected to the motor drive unit both switch to the off state. In this way, by determining whether there is a short-circuit fault in the inverter bridge MOSFET, the feasibility of subsequent testing of the inverter bridge unit can be determined. If the inverter bridge MOSFET is normal, the current operating condition of the MOSFETs in the upper and lower arms of the inverter bridge can continue to be tested; if the inverter bridge MOSFET is faulty, the MOSFETs in the control motor drive unit and the MOSFETs in the shutdown module connected to the motor drive unit both switch to the off state, providing a fundamental guarantee for the safe operation of the motor control device.

[0038] In some embodiments, when the field-effect transistor in the shutdown module switches from the on state to the off state, determining the second detection result based on the output voltage of the power supply and the current voltage at the target connection includes:

[0039] When the field-effect transistor in the shutdown module switches from the on state to the off state, and the second voltage difference between the output voltage of the power supply and the current voltage at the target connection is greater than or equal to the second preset threshold, the second detection result is determined to be the first operating condition.

[0040] When the field-effect transistor in the shutdown module switches from the on state to the off state, and the second voltage difference is less than the second preset threshold, the second detection result is determined to be the second operating condition.

[0041] Thus, when the MOSFET in the shutdown module switches from the on state to the off state, and the second voltage difference between the power supply output voltage and the current voltage at the target connection is greater than or equal to a second preset threshold, the second detection result is determined as the first operating condition. When the MOSFET in the shutdown module switches from the on state to the off state, and the second voltage difference is less than the second preset threshold, the second detection result is determined as the second operating condition. In this way, by comparing the current voltage at the target connection with the second preset threshold, it is possible to determine whether the MOSFET in the power module is faulty, obtain the second detection result, and lay the foundation for subsequent MOSFET testing of the upper and lower bridge arms.

[0042] In some embodiments, when the field-effect transistor in the shutdown module switches from the on state to the off state, and the second voltage difference between the output voltage of the power supply and the current voltage at the target connection is greater than or equal to a second preset threshold, determining the second detection result as the first operating condition includes:

[0043] If the target statistical count is greater than or equal to the preset count, the second detection result is determined to be the first working condition. The target statistical count is used to indicate the number of consecutive times that the field-effect transistor in the shutdown module switches from the on state to the off state and the second voltage difference is greater than or equal to the second preset threshold.

[0044] Thus, when the target statistical count is greater than or equal to the preset count, the second detection result is determined as the first operating condition. The target statistical count indicates the number of consecutive times the MOSFET in the shutdown module switches from the on state to the off state, and the second voltage difference is greater than or equal to the second preset threshold. By repeatedly detecting the MOSFET in the power module, misjudgments from a single detection can be avoided, ensuring the authenticity of the fault and improving the accuracy of the second detection result. Furthermore, by setting the target statistical count, occasional qualified signals caused by transient interference can be filtered out, ensuring that only when the second voltage difference is less than the second preset threshold multiple times consecutively is the detection result of the total shutdown MOSFET determined as the first operating condition. This avoids the risk of a faulty branch being falsely activated due to a single misjudgment, thereby preventing a power supply short circuit.

[0045] In some embodiments, when the field-effect transistor in the shutdown module switches from the on state to the off state, and the second voltage difference is less than the second preset threshold, determining the second detection result as the second operating condition includes:

[0046] When the field-effect transistor in the motor drive unit is switched to the off state, after a second preset time, the field-effect transistor in the shutdown module is switched to the on state.

[0047] If the number of target statistics is less than the preset number within the third preset time period, the second detection result is determined to be the second working condition.

[0048] Thus, when the MOSFET in the motor drive unit switches to the off state, after a second preset time, the MOSFET in the shutdown module switches to the on state; if the target statistical count is less than the preset count within a third preset time, the second detection result is determined as the second operating condition. In this way, by limiting the determination time of the target statistical count to the third preset time, the fault condition of the power module can be accurately identified, avoiding interference caused by instantaneous voltage fluctuations, thereby improving the accuracy of the detection results.

[0049] In some embodiments, the motor drive unit includes a drive unit and an inverter bridge unit. The control module and the inverter bridge unit are both connected to the drive unit, and the shutdown module and the energy storage capacitor are both connected to the inverter bridge unit. The inverter bridge unit includes multiple bridge arms, and each bridge arm has a field-effect transistor (FET) installed in its upper and lower bridge arms. The detection result also includes a third detection result of the FETs in the upper and lower bridge arms of each inverter bridge unit in the motor drive unit. Detecting the current operating condition of the FETs and determining the detection result includes:

[0050] When the field-effect transistor in the shutdown module is switched to the on state, the third detection result is determined based on the phase voltage of the inverter bridge unit.

[0051] Thus, when the MOSFET in the control shutdown module switches to the on state, the third detection result is determined based on the phase voltage of the inverter bridge unit. This allows for the determination of fault conditions in the upper and lower bridge arm MOSFETs by using the phase voltage of the inverter bridge unit when the MOSFET in the control shutdown module switches to the on state. This enables rapid identification of short-circuit faults in the upper and lower bridge arm MOSFETs, avoiding the risk of power supply short circuits caused by inverter bridge unit failure, and thereby improving the safety and reliability of the motor control device to a certain extent.

[0052] In some embodiments, controlling the shutdown module and the power module based on the detection result includes:

[0053] When the third detection result of the inverter bridge unit is the first operating condition, the field-effect transistor in the inverter bridge unit is controlled according to the acquired control command;

[0054] When the third detection result of the inverter bridge unit is the second operating condition, the field-effect transistors in the inverter bridge unit and the field-effect transistors in the shutdown module connected to the inverter bridge unit are switched to the cut-off state.

[0055] Thus, when the third detection result of the inverter bridge unit is the first operating condition, the MOSFETs in the inverter bridge unit are controlled according to the acquired control command; when the third detection result of the inverter bridge unit is the second operating condition, the MOSFETs in the inverter bridge unit and the MOSFETs in the shutdown module connected to the inverter bridge unit are switched to the off state. In this way, when both the upper and lower bridge arm MOSFETs are normal, the inverter bridge unit is turned on alternately at a fixed frequency according to the drive signal output by the drive unit, converting DC to AC to provide drive power to the motor; when one of the upper or lower bridge arm MOSFETs is faulty, the MOSFETs in the motor drive unit and the MOSFETs in the shutdown module connected to the motor drive unit are switched to the off state, providing a fundamental guarantee for the safe operation of the motor control device.

[0056] In some implementations, determining the third detection result based on the phase voltage of the inverter bridge unit when the field-effect transistor in the shutdown module is switched to the on state includes:

[0057] If the phase voltage falls within the preset voltage range, the third detection result is determined to be in the first operating condition.

[0058] If the phase voltage does not fall within the preset voltage range, the third detection result is determined to be the second operating condition.

[0059] Thus, if the phase voltage falls within the preset voltage range, the third detection result is determined to be in the first operating condition; if the phase voltage does not fall within the preset voltage range, the third detection result is determined to be in the second operating condition. In this way, by determining whether the phase voltage falls within the preset voltage range, it is possible to determine whether the MOSFET in the inverter bridge unit is faulty, obtain the first detection result, and provide a control basis for subsequent control of the motor drive device based on the result.

[0060] In some embodiments, the motor control device is connected to the vehicle steering wheel, and when the third detection result of the inverter bridge unit is the first operating condition, controlling the MOSFET in the inverter bridge unit according to the acquired control command includes:

[0061] When the third detection result of the inverter bridge unit is the first operating condition, the field-effect transistor in the inverter bridge unit is controlled according to the control command so that the vehicle steering wheel maintains a preset attitude.

[0062] Thus, when the third detection result of the inverter bridge unit is the first operating condition, the field-effect transistors in the inverter bridge unit are controlled according to the control command to maintain the preset posture of the vehicle's steering wheels. In this way, when both the upper and lower bridge arm MOSFETs are functioning normally, the inverter bridge unit is turned on alternately at a fixed frequency according to the drive signal output by the drive unit, converting DC to AC to provide drive power to the motor, thereby causing the motor to rotate and drive the wheels to turn, achieving steering.

[0063] In some embodiments, the method further includes:

[0064] If the first detection result of a portion of the shutdown module is the second operating condition, or the second detection result of a portion of the field-effect transistors in the power module is the second operating condition, or the third detection result of a portion of the field-effect transistors in the motor drive unit is the second operating condition, a first prompt message is sent to the target object; and / or,

[0065] If the first detection result of each shutdown module is the second operating condition, or the second detection result of the field effect transistor in each power module is the second operating condition, or the third detection result of the field effect transistor in each motor drive unit is the second operating condition, a second prompt message is fed back to the target object.

[0066] Thus, if the first detection result of a partial shutdown module is the second operating condition, or the first detection result of the field-effect transistor in a partial power module is the second operating condition, or the third detection result of the field-effect transistor in a partial motor drive unit is the second operating condition, a first prompt message is sent to the target. If the first detection result of each shutdown module is the second operating condition, or the first detection result of each field-effect transistor in each power module is the second operating condition, or the third detection result of each field-effect transistor in each motor drive unit is the second operating condition, a second prompt message is sent to the target. In this way, by distinguishing between the two fault levels through the first and second prompt messages, the panic of drivers when facing faults can be reduced to a certain extent, thus adapting to the emergency handling needs of different fault scenarios.

[0067] This application provides an electronic device, including a memory and a processor. The memory stores a computer program, which, when executed by the processor, implements the steps of the above-described method.

[0068] This application provides a vehicle that includes the above-described motor control device and electronic equipment, implementing the steps of the above method.

[0069] This application provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the steps of the above-described method.

[0070] This application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the above-described method.

[0071] The electronic device, vehicle, computer-readable storage medium, and computer program product provided in this application detect the current operating condition of a field-effect transistor (FET) and determine the detection result; based on the detection result, it controls a shutdown module and a power module. In this way, the control module can control the shutdown module and the power module to drive the motor to rotate and achieve wheel steering based on the detection result of the FET's current operating condition. Compared to using a large current to detect the FET, this application embodiment can detect each FET stepwise, ensuring no large current flows, and quickly identify short-circuit faults based on the detection results, avoiding the risk of power supply short circuits caused by FET failure, and improving the safety and reliability of the motor control device to a certain extent.

[0072] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0073] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0074] Figure 1 This is a schematic diagram of the structure of a motor control device according to certain embodiments of this application;

[0075] Figure 2 This is one of the schematic flowcharts of a motor control method according to certain embodiments of this application;

[0076] Figure 3 This is a second schematic flowchart of a motor control method according to certain embodiments of this application;

[0077] Figure 4 This is a schematic diagram of the data acquisition circuit of a motor control method according to certain embodiments of this application;

[0078] Figure 5 This is a third schematic flowchart of a motor control method according to certain embodiments of this application;

[0079] Figure 6 This is the fourth flowchart of a motor control method according to certain embodiments of this application;

[0080] Figure 7 This is the fifth flowchart illustrating a motor control method according to certain embodiments of this application;

[0081] Figure 8 This is a schematic flowchart of a motor control method according to certain embodiments of this application, number six.

[0082] Figure 9 This is the seventh flowchart of a motor control method according to certain embodiments of this application;

[0083] Figure 10 This is the eighth flowchart of a motor control method according to certain embodiments of this application;

[0084] Figure 11 This is a power-down schematic diagram of a motor control method according to certain embodiments of this application;

[0085] Figure 12 This is one of the process diagrams of a motor control method according to certain embodiments of this application;

[0086] Figure 13 This is a second schematic diagram of the motor control method according to certain embodiments of this application. Detailed Implementation

[0087] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0088] In related technologies, motor control devices typically rely on a three-phase inverter bridge, where MOSFETs form the bridge arm switches to invert the vehicle's DC power supply into an AC square wave, driving the motor to rotate and thus achieving wheel steering functions, such as rear wheel steering.

[0089] However, if the MOSFETs of the three-phase inverter bridge fail to short-circuit, the positive and negative terminals of the DC power supply will be directly short-circuited through the faulty bridge arm, generating a large current instantaneously, which may lead to a short circuit in the power supply or even cause a vehicle fire, threatening driving safety and the lives of passengers.

[0090] In addition, during the testing of the MOSFETs in the three-phase inverter bridge, large currents can easily be generated, causing normally functioning MOSFETs to be damaged or short-circuited and fail, leading to a short circuit between the positive and negative terminals of the power supply, and thus causing a safety accident.

[0091] Based on the above issues, please refer to Figure 1 This application provides a motor control device 100, which includes a control module 110, a shutdown module 120, and a power module 130. The shutdown module 120 and the power module 130 are both connected to the control module 110, and the power module 130 is connected to a power source through the shutdown module 120. Both the shutdown module 120 and the power module 130 include a field-effect transistor.

[0092] The control module 110 is configured to detect the current operating condition of the field-effect transistor, determine the detection result, and control the shutdown module 120 and the power module 130 according to the detection result.

[0093] Specifically, a field-effect transistor (MOSFET) consists of a drain, a source, and a gate. The conduction state of the drain and source is controlled by the gate voltage. Current flows into or out of the source and is output or input through the drain. When a sufficient voltage is applied to the gate, a conductive channel is formed between the drain and source, allowing current to flow. When the gate voltage is lower than the threshold voltage, the conductive channel disappears, the drain and source are in a high-resistance state, and the current is blocked.

[0094] The power module 130 is connected to the power supply through the shutdown module 120. The shutdown module 120, which has a field-effect transistor, is used to control the power supply of the power module 130. It can quickly shut down the power module 130 in the event of a fault, cut off the power supply to the faulty power module 130, and prevent the fault from escalating.

[0095] The power module 130 with a field-effect transistor is used to invert the DC power supplied by the power supply into an AC square wave that meets the requirements of the motor, so as to provide the connected motor with AC power that meets the direction requirements.

[0096] The control module 110 is the control core of the motor control device 100, such as a micro control unit (MCU). It can detect the current operating conditions of the field-effect transistors in the shutdown module 120 and the power module 130, determine the detection results of the field-effect transistors at different positions, and control the shutdown module 120 and the power module 130 according to the results to achieve safe and controllable wheel steering function.

[0097] Compared to using high-current detection of MOSFETs, the control module 110 of this embodiment can progressively detect the MOSFETs in the shutdown module 120 and the power module 130, and determine the current operating condition of the MOSFETs based on voltage signals. Since no high current flows, damage to normal MOSFETs is avoided. This allows for rapid identification of short-circuit faults in MOSFETs in different modules, determining the detection results of MOSFETs at different locations. When the shutdown module 120 detects a normal state, the power supply to the faulty power module 130 can be promptly cut off when a short-circuit fault is detected during system power-on or operation, ensuring the power module 130 operates safely. When the power module 130 detects a normal state, it can provide power to the motor, avoiding the risk of short circuits between the positive and negative terminals of the power supply caused by MOSFET short-circuit failure, ensuring safe vehicle operation, and improving the safety and reliability of the motor control device 100 to a certain extent.

[0098] In summary, in this embodiment, the control module 110 can control the shutdown module 120 and the power module 130 to drive the motor to rotate and achieve wheel steering based on the detection results of the current operating condition of the MOSFET. Compared with using a large current to detect the MOSFET, this embodiment can detect each MOSFET step by step to ensure that no large current flows through it, and quickly identify short circuit faults based on the detection results, avoiding the risk of power short circuit caused by MOSFET failure, and improving the safety and reliability of the motor control device 100 to a certain extent.

[0099] In some embodiments, the motor control device 100 includes at least two shutdown modules 120, at least two power modules 130, and a motor, wherein each shutdown module 120 is connected to a power module 130, and each power module 130 is connected to the motor.

[0100] Specifically, multiple shutdown modules 120 and the power modules 130 connected thereto can form at least two independent power drive branches, and each power module 130 is connected to the motor. In the event of a failure of one shutdown module 120 or power module 130, other shutdown modules 120 and power modules 130 can take over the motor drive task, avoiding the complete loss of motor drive due to a single-path failure, so as to maintain the rear wheel center position.

[0101] Each drive circuit is a redundant backup for the others. By using separate circuits, the faulty side circuit can be prevented from spreading to the normal side circuit, thus achieving fault isolation and reducing driving safety hazards caused by module failure to a certain extent.

[0102] Thus, the motor control device 100 includes at least two shutdown modules 120, at least two power modules 130, and a motor. Each shutdown module 120 is connected to a power module 130, and each power module 130 is connected to the motor. This redundancy allows for the use of other shutdown modules 120 and power modules 130 to take over the motor drive in the event of a failure in one shutdown module 120 or power module 130. This avoids a complete loss of motor drive due to a single-path failure and reduces driving safety hazards caused by module failures to some extent.

[0103] Please refer to it again. Figure 1 In some embodiments, the power module 130 includes an energy storage capacitor 131 and a motor drive unit 132. The power supply is connected to one end of the shutdown module 120, and one end of the energy storage capacitor 131 and the motor drive unit 132 is connected to the other end of the shutdown module 120. The other end of the motor drive unit 132 is grounded, and the other end of the energy storage capacitor 131 is grounded. The motor drive unit 132 includes a field-effect transistor.

[0104] Specifically, the energy storage capacitor 131 is the capacitor C shown in the figure. in It is used to store charge to detect whether the motor drive unit 132 is faulty based on its voltage signal.

[0105] The motor drive unit 132 includes a field-effect transistor, which can invert the DC power generated by the power supply into an AC square wave to provide driving power to the motor, thereby enabling the motor to drive the wheels to rotate and achieve steering.

[0106] Both the energy storage capacitor 131 and the motor drive unit 132 have one end grounded, while the other end is connected to the power supply through the same shutdown module 120. The motor drive unit 132 can be short-circuited by detecting the voltage signal of the energy storage capacitor 131, i.e. the voltage value at both ends.

[0107] In one example, when the shutdown module 120 is normal and conducting, the power supply can charge the energy storage capacitor 131. If the motor drive unit 132 is short-circuited, the voltage of the energy storage capacitor 131 can reach a certain value. If the motor drive unit 132 is short-circuited, the energy storage capacitor 131 is short-circuited to the negative terminal, and the voltage is close to 0. Therefore, by detecting the voltage value across the energy storage capacitor 131, it can be determined whether the motor drive unit 132 is short-circuited.

[0108] Thus, the power module 130 includes an energy storage capacitor 131 and a motor drive unit 132. One end of the power supply is connected to the shutdown module 120, and one end of the energy storage capacitor 131 and the motor drive unit 132 are connected to the other end of the shutdown module 120. The other end of the motor drive unit 132 is grounded, and the other end of the energy storage capacitor 131 is also grounded. The motor drive unit 132 includes a field-effect transistor (FET). In this way, the energy storage capacitor 131 provides a voltage signal for detecting the motor drive unit 132. By detecting the voltage value across the energy storage capacitor 131, it is possible to determine whether the motor drive unit 132 is short-circuited, thereby achieving fault detection of the FET in the motor drive unit 132.

[0109] In some embodiments, the motor drive unit 132 includes a drive unit 133 and an inverter bridge unit 134. The control module 110 and the inverter bridge unit 134 are both connected to the drive unit 133. The shutdown module 120 and the energy storage capacitor 131 are both connected to the inverter bridge unit 134. The inverter bridge unit 134 includes multiple bridge arms, and each bridge arm has a field-effect transistor installed in its upper and lower bridge arms.

[0110] Specifically, the motor drive unit 132 includes a drive unit 133 and an inverter bridge unit 134.

[0111] Among them, the control module 110 can control the drive unit 133 connected thereto, so that it generates a drive signal to drive the inverter bridge unit 134 to invert DC power into AC square wave.

[0112] Inverter bridge unit 134 is a level bridge composed of multiple field-effect transistors, such as Figure 1 The three-phase two-level bridge shown consists of six field-effect transistors. Each bridge arm includes an upper bridge arm connected to the DC positive terminal and a lower bridge arm grounded (i.e., the negative terminal). By driving the upper and lower bridge arms to alternately switch on and off through a drive signal, a pulse voltage with a certain phase sequence can be output to realize the DC to AC conversion, provide driving power for the motor, and thus make the motor rotate to drive the wheels to rotate and achieve steering.

[0113] Understandably, when the field-effect transistors of each upper and lower bridge arm are in normal condition, the phase voltage output by each bridge arm is within a certain range due to the driving signal generated by the driving unit 133. If the field-effect transistor of the upper bridge arm fails, the phase voltage output by the bridge arm will be larger, close to the voltage value of the energy storage capacitor 131. If the field-effect transistor of the lower bridge arm fails, the phase voltage output by the bridge arm will be smaller, close to 0.

[0114] Therefore, the fault status of the MOSFETs in the upper and lower arms of each bridge arm can be determined by the numerical range of the phase voltage, thus solving the problem of difficulty in locating faults in the upper and lower arms.

[0115] Thus, the motor drive unit 132 includes a drive unit 133 and an inverter bridge unit 134. The control module 110 and the inverter bridge unit 134 are both connected to the drive unit 133, and the shutdown module 120 and the energy storage capacitor 131 are both connected to the inverter bridge unit 134. The inverter bridge unit 134 includes multiple bridge arms, and each bridge arm has a field-effect transistor (FET) installed in both the upper and lower bridge arms. In this way, the fault status of the FETs in the upper and lower bridge arms can be detected by measuring the phase voltage range, solving the problem of difficulty in locating faults in the upper and lower bridge arms, and improving the safety and reliability of the motor control device 100 to a certain extent.

[0116] In some implementations, the shutdown module 120 includes two field-effect transistors with opposite current conduction directions.

[0117] Specifically, the shutdown module 120 includes two field-effect transistors, one of which is a total shutdown MOSFET, which can be used as a control switch for controlling the main power supply path. The control module 110 controls the main power supply path to be turned on and off.

[0118] When the main shutdown MOSFET is on, power can flow to the power module 130 through the main shutdown MOSFET to charge the energy storage capacitor 131 and supply power to the motor drive unit 132; when the main shutdown MOSFET is off, the connection between the power supply and the power module 130 can be cut off, blocking the positive main current. In case of faults such as short circuit or overcurrent, the main shutdown MOSFET can be quickly turned off to block excessive current, avoiding the risk of smoke, fire and other hazards caused by direct short circuit between the positive and negative terminals of the power supply, thus protecting the motor control device 100.

[0119] Another field-effect transistor is a reverse-biased MOSFET, which is opposite to the current conduction direction of the total off MOSFET. It is used to block reverse current and prevent reverse current from damaging sensitive devices such as the control module 110, energy storage capacitor 131, and motor drive unit 132. It ensures that the current can only flow in the preset direction to protect the circuit hardware safety.

[0120] In one example, each time power is turned off, the anti-reverse MOSFET is turned on, and the energy storage capacitor 131 is discharged by the motor. This avoids the residual voltage during short-term power-on and power-off cycles, which may cause the MOSFET to be turned off incorrectly, thus ensuring the accuracy of the self-test.

[0121] The total shutdown MOSFET and the reverse protection MOSFET work together to provide bidirectional current safety control for the power module 130 connected to it, ensuring the safety of the circuit hardware.

[0122] Thus, the shutdown module 120 includes two field-effect transistors with opposite current conduction directions. In this way, the two field-effect transistors with opposite current conduction directions in the shutdown module 120 work together to provide bidirectional current safety control for the power module 130 connected to it, ensuring the safety of the circuit hardware.

[0123] Please see Figure 2 This application provides a motor control method, the method comprising:

[0124] 01: Detect the current operating condition of the field-effect transistor and determine the test results;

[0125] 02: Control the shutdown module 120 and power module 130 according to the test results.

[0126] This application provides a motor control device 100. The motor control method of this application can be implemented by the motor control device 100. Specifically, the motor control device 100 includes a control module 110. The control module 110 is used to detect the current operating condition of the field-effect transistor and determine the detection result. The control module 110 is also used to control the shutdown module 120 and the power module 130 according to the detection result.

[0127] This application also provides an electronic device, which includes a memory and a processor. The electrocardiogram generation method of this application can be implemented by the electronic device of this application. Specifically, the memory stores a computer program, and the processor is used to detect the current operating condition of the field-effect transistor and determine the detection result. The processor is also used to control the shutdown module 120 and the power module 130 according to the detection result.

[0128] Specifically, the method steps in the embodiments of this application are similar to those of the motor control device 100 described above, and can be referred to the motor control device 100 described above, which will not be repeated here.

[0129] Thus, in this embodiment, the control module 110 can control the shutdown module 120 and the power module 130 to drive the motor to rotate and achieve wheel steering based on the detection results of the current operating condition of the MOSFET. Compared with using a large current to detect the MOSFET, this embodiment can detect each MOSFET step by step to ensure that no large current flows through it, and quickly identify short circuit faults based on the detection results, avoiding the risk of power short circuit caused by MOSFET failure, and improving the safety and reliability of the motor control device 100 to a certain extent.

[0130] Please see Figure 3 In some implementations, the detection result includes the first detection result of the field-effect transistor in the shutdown module 120. Step 01 (detecting the current operating condition of the field-effect transistor and determining the detection result) includes:

[0131] 011: When the power supply supplies power to the shutdown module 120 and the field-effect transistor in the shutdown module 120 is in the off state, the first detection result is determined based on the output voltage of the power supply and the output voltage of the shutdown module 120.

[0132] In some embodiments, the control module 110 is further configured to determine a first detection result based on the output voltage of the power supply and the output voltage of the shutdown module 120 when the power supply supplies power to the shutdown module 120 and the field-effect transistor in the shutdown module 120 is in the off state.

[0133] In some embodiments, the processor is further configured to determine a first detection result based on the output voltage of the power supply and the output voltage of the shutdown module 120 when the power supply is supplying power to the shutdown module 120 and the field-effect transistor in the shutdown module 120 is in the off state.

[0134] Specifically, the power module 130 is connected to the power supply through the shutdown module 120. By detecting the current operating condition of the field-effect transistor in the shutdown module 120, it can determine whether there is a short circuit fault in the main shutdown MOSFET, thus avoiding device damage or safety risks caused by operation under the condition of a fault in the main shutdown MOSFET, and providing a basic guarantee for the safe operation of the motor control device 100.

[0135] When the power supply supplies power to the shutdown module 120 and the field-effect transistor in the shutdown module 120 is in the off state, the first detection result can be determined based on the output voltage of the power supply and the output voltage of the shutdown module 120, so as to avoid power short circuit caused by starting motor control under fault conditions.

[0136] Understandably, when the main shutdown MOSFET in the shutdown module 120 is in a normal state, if the main shutdown MOSFET is turned off, there will be a certain voltage difference between the output voltage of the power supply and the output voltage of the shutdown module 120; when the main shutdown MOSFET is in a fault state, the output voltage of the power supply will be directly connected to the output voltage of the shutdown module 120 through the short-circuited main shutdown MOSFET, resulting in a smaller voltage difference between the two.

[0137] like Figure 4 The reusable acquisition circuit shown, V Link This is the output voltage of the power supply that needs to be collected, V Link_M The output voltage of the shutdown module 120 needs to be collected. Through voltage division by resistors R1 and R2, voltage clamping and regulation by diode D1, and filtering by R3 and C1, the output voltage of the power supply and the output voltage of the shutdown module 120 can be accurately obtained, saving circuit space and cost, and providing accurate data for subsequent testing.

[0138] Therefore, when the power supply is supplying power to the shutdown module 120 and the MOSFET in the shutdown module 120 is in the off state, the current operating condition of the main shutdown MOSFET in the shutdown module 120 can be determined by the difference between the output voltage of the power supply and the output voltage of the shutdown module 120, i.e., the first detection result. This allows for the rapid identification of short-circuit faults in the main shutdown MOSFET, avoiding the risk of power supply short circuits caused by the failure of the shutdown module 120. At the same time, it lays the foundation for the subsequent MOSFET detection of the power module 130, thereby improving the safety and reliability of the motor control device 100 to a certain extent.

[0139] Thus, when the power supply is supplying power to the shutdown module 120 and the MOSFET in the shutdown module 120 is in the off state, the first detection result is determined based on the output voltage of the power supply and the output voltage of the shutdown module 120. In this way, based on the acquisition circuit, when the power supply is supplying power to the shutdown module 120 and the MOSFET in the shutdown module 120 is in the off state, the current operating condition of the main shutdown MOSFET in the shutdown module 120 can be determined by the difference between the output voltage of the power supply and the output voltage of the shutdown module 120. This allows for rapid identification of short-circuit faults in the main shutdown MOSFET, avoiding the risk of power supply short circuits caused by shutdown module 120 failure, saving circuit space and cost, and laying the foundation for subsequent MOSFET detection in the power module 130. This, to a certain extent, improves the safety and reliability of the motor control device 100.

[0140] Please see Figure 5 In some embodiments, the motor control device 100 includes at least two shutdown modules 120, at least two power modules 130, and a motor. Each shutdown module 120 is connected to a power module 130, and each power module 130 is connected to the motor. Step 02 (controlling the shutdown modules 120 and power modules 130 according to the detection result) includes:

[0141] 021: When the first detection result is the first working condition, the field-effect transistor in the control shutdown module 120 is switched to the on state. When the field-effect transistor in the shutdown module 120 is in the on state, the power supply supplies power to the power module 130 through the shutdown module 120.

[0142] 022: When the first detection result is the second operating condition, the field-effect transistors in the control shutdown module 120 and the field-effect transistors in the power module 130 connected to the shutdown module 120 are switched to the cut-off state.

[0143] In some embodiments, the control module 110 is further configured to control the field-effect transistor in the shutdown module 120 to switch to the on state when the first detection result is a first operating condition, wherein when the field-effect transistor in the shutdown module 120 is in the on state, the power supply supplies power to the power module 130 through the shutdown module 120. The control module 110 is further configured to control both the field-effect transistor in the shutdown module 120 and the field-effect transistor in the power module 130 connected to the shutdown module 120 to switch to the off state when the first detection result is a second operating condition.

[0144] In some embodiments, the processor is further configured to, when the first detection result is a first operating condition, control the field-effect transistor in the shutdown module 120 to switch to the on state, wherein, when the field-effect transistor in the shutdown module 120 is in the on state, power is supplied to the power module 130 through the shutdown module 120. The processor is also configured to, when the first detection result is a second operating condition, control both the field-effect transistor in the shutdown module 120 and the field-effect transistor in the power module 130 connected to the shutdown module 120 to switch to the off state.

[0145] Specifically, the first operating condition refers to the field-effect transistor being in a normal state. When the first detection result is the first operating condition, the field-effect transistor in the shutdown module 120, namely the total shutdown MOSFET, is in a normal state. By controlling the conduction or cutoff of the total shutdown MOSFET, the power supply and power module 130 path can be switched on and off.

[0146] The second operating condition refers to the MOSFET being in a fault state. If the first detection result indicates the second operating condition, the total off MOSFET is in a fault state.

[0147] When the first detection result indicates the first operating condition, switching the main shutdown MOSFET to the on state allows the power supply to power the power module 130 through the shutdown module 120, providing a power supply basis for subsequent detection of the current operating condition of the MOSFET in the power module 130. Furthermore, in the event of a MOSFET failure in the power module 130, the main shutdown MOSFET can be quickly shut off to block excessive current, preventing a direct short circuit between the positive and negative terminals of the power supply that could cause smoke, fire, or other risks, thus protecting both the shutdown module 120 and the power module 130.

[0148] When the first detection result is the second operating condition, the control MOSFET and the field-effect transistor in the power module 130 connected to the shutdown module 120 are switched to the cut-off state. This can prevent the power supply from being directly connected to the power module 130 due to a short circuit in the control MOSFET, thereby achieving fault protection.

[0149] Understandably, in the event of a MOSFET failure in power module 130, if power is supplied to power module 130 through shutdown module 120, the main shutdown MOSFET cannot be turned off to block excessive current in the event of a MOSFET failure in power module 130. This could potentially lead to safety risks such as short circuits between the positive and negative terminals of the power supply, smoke, and fire. Therefore, it is necessary to directly turn off the main shutdown MOSFET and the MOSFET in power module 130 connected to shutdown module 120 to achieve fault protection.

[0150] Thus, under the condition that the first detection result is the first operating condition, the MOSFET in the control shutdown module 120 is switched to the on state. When the MOSFET in the shutdown module 120 is in the on state, power is supplied to the power module 130 through the shutdown module 120. Under the condition that the first detection result is the second operating condition, both the MOSFET in the control shutdown module 120 and the MOSFET in the power module 130 connected to the shutdown module 120 are switched to the off state. In this way, by determining whether there is a short circuit fault in the main shutdown MOSFET, the feasibility of subsequently detecting the power module 130 can be determined. If the main shutdown MOSFET is normal, the current operating condition of the MOSFET in the power module 130 can continue to be detected. If the main shutdown MOSFET is faulty, both the MOSFET in the control shutdown module 120 and the MOSFET in the power module 130 connected to the shutdown module 120 are switched to the off state, providing a basic guarantee for the safe operation of the motor control device 100.

[0151] In some embodiments, step 011 (when the power supply supplies power to the shutdown module 120 and the field-effect transistor in the shutdown module 120 is in the off state, determining the first detection result based on the output voltage of the power supply and the output voltage of the shutdown module 120) includes:

[0152] 0111: When the power supply supplies power to the shutdown module 120, the field-effect transistor in the shutdown module 120 is in the off state, and the first voltage difference between the output voltage of the power supply and the output voltage of the shutdown module 120 is greater than or equal to the first preset threshold, it is determined that the first detection result is in the first working condition.

[0153] 0112: When the power supply supplies power to the shutdown module 120, the field-effect transistor in the shutdown module 120 is in the off state, and the first voltage difference is less than the first preset threshold, the first detection result is determined to be the second operating condition.

[0154] In some embodiments, the control module 110 is further configured to determine that the first detection result is in a first operating condition when the power supply supplies power to the shutdown module 120, the field-effect transistor in the shutdown module 120 is in the off state, and the first voltage difference between the output voltage of the power supply and the output voltage of the shutdown module 120 is greater than or equal to a first preset threshold. When the power supply supplies power to the shutdown module 120, the field-effect transistor in the shutdown module 120 is in the off state, and the first voltage difference is less than the first preset threshold, the control module 110 determines that the first detection result is in a second operating condition.

[0155] In some embodiments, the processor is further configured to determine that the first detection result is in a first operating condition when the power supply supplies power to the shutdown module 120, the field-effect transistor in the shutdown module 120 is in the off state, and the first voltage difference between the output voltage of the power supply and the output voltage of the shutdown module 120 is greater than or equal to a first preset threshold. The processor is also configured to preprocess the electrocardiogram (ECG) signal to determine the ECG processed signal. The processor is further configured to determine that the first detection result is in a second operating condition when the power supply supplies power to the shutdown module 120, the field-effect transistor in the shutdown module 120 is in the off state, and the first voltage difference is less than the first preset threshold.

[0156] Specifically, the first voltage difference refers to the difference between the output voltage of the power supply and the output voltage of the shutdown module 120, which is used to detect the current operating condition of the field-effect transistor in the shutdown module 120.

[0157] The output voltage of the power supply is the voltage at the DC power input terminal, typically the system constant voltage of 12V; the output voltage of the shutdown module 120 is the voltage at the output side of the total shutdown MOSFET.

[0158] If the main shutdown MOSFET is in normal condition and not conducting, the power supply output voltage cannot flow to the shutdown module 120 output voltage through the main shutdown MOSFET. The shutdown module 120 is not powered, and the output voltage may be close to 0V. At this time, the difference between the power supply output voltage and the shutdown module 120 output voltage, i.e. the first voltage difference, is relatively large.

[0159] If the main shutdown MOSFET is in a short-circuit state, it can be considered that the drain and source of the main shutdown MOSFET are directly connected. The output voltage of the power supply will be directly connected to the output voltage of the shutdown module 120 through the short-circuited main shutdown MOSFET, which will cause the output voltage of the shutdown module 120 to be close to the output voltage of the power supply, such as 12V. At this time, the difference between the output voltage of the power supply and the output voltage of the shutdown module 120, i.e. the first voltage difference, is small.

[0160] Therefore, by comparing the difference between the output voltage of the power supply and the output voltage of the shutdown module 120, i.e., the first voltage difference, with the first preset threshold, it can be determined whether the field-effect transistor in the shutdown module 120 is faulty, and the first detection result can be obtained.

[0161] In one example, the first voltage difference is the output voltage V of the power supply. bat With the output voltage V of the shutdown module 120 Link The voltage difference, the first preset threshold is 1V.

[0162] When power is supplied to the shutdown module 120, the field-effect transistor in the shutdown module 120 is in the off state. If the first voltage difference is less than 1V, it can be considered that V bat With V Link When the voltage is almost equal, the total shutdown MOSFET loses its shutdown capability and forms a short circuit, so the first detection result can be determined as the second operating condition;

[0163] If the first voltage difference is greater than or equal to 1V, it can be considered that V bat With V Link If there is a large voltage difference, meaning the MOSFET is in the off state and no short circuit has occurred, the first detection result can be determined as the first operating condition.

[0164] Thus, when the power supply supplies power to the shutdown module 120, the field-effect transistor in the shutdown module 120 is in the off state, and the first voltage difference between the output voltage of the power supply and the output voltage of the shutdown module 120 is greater than or equal to a first preset threshold, the first detection result is determined to be in the first operating condition. When the power supply supplies power to the shutdown module 120, the field-effect transistor in the shutdown module 120 is in the off state, and the first voltage difference is less than the first preset threshold, the first detection result is determined to be in the second operating condition. In this way, by comparing the difference between the output voltage of the power supply and the output voltage of the shutdown module 120, i.e., the first voltage difference, with the first preset threshold, it is possible to determine whether the field-effect transistor in the shutdown module 120 is faulty, obtain the first detection result, and lay the foundation for the subsequent field-effect transistor detection of the power module 130.

[0165] Please see Figure 6 In some embodiments, the power module 130 includes an energy storage capacitor 131 and a motor drive unit 132. One end of the power supply is connected to the shutdown module 120, and one end of the energy storage capacitor 131 and the motor drive unit 132 is connected to the other end of the shutdown module 120. The other end of the motor drive unit 132 is grounded, and the other end of the energy storage capacitor 131 is grounded. The motor drive unit 132 includes a field-effect transistor (FET). The detection result also includes a second detection result of the FET in the power module 130. Step 01 (detecting the current operating condition of the FET and determining the detection result) includes:

[0166] 012: When the field-effect transistor in the control shutdown module 120 is switched to the on state, the field-effect transistor in the control shutdown module 120 is switched to the off state after a first preset time. When the field-effect transistor in the shutdown module 120 is switched to the on state, the power supply charges the energy storage capacitor 131 through the shutdown module 120.

[0167] 013: When the field-effect transistor in the shutdown module 120 switches from the self-conducting state to the off state, the second detection result is determined based on the output voltage of the power supply and the current voltage at the target connection point. The target connection point is the connection position between the energy storage capacitor 131, one end of the motor drive unit 132 and the other end of the shutdown module 120.

[0168] In some embodiments, the control module 110 is further configured to control the field-effect transistor in the shutdown module 120 to switch to the cutoff state after a first preset time period when the field-effect transistor in the shutdown module 120 switches to the on state. When the field-effect transistor in the shutdown module 120 switches to the on state, the power supply charges the energy storage capacitor 131 through the shutdown module 120. The control module 110 is also configured to determine a second detection result based on the output voltage of the power supply and the current voltage at the target connection point when the field-effect transistor in the shutdown module 120 switches from the on state to the cutoff state. The target connection point is the connection location between the energy storage capacitor 131, the other end of the power module 130, and one end of the motor drive unit 132.

[0169] In some embodiments, the processor is further configured to, upon switching the field-effect transistor in the shutdown module 120 to the on state, control the field-effect transistor in the shutdown module 120 to switch to the off state after a first preset time period, wherein, when the field-effect transistor in the shutdown module 120 switches to the on state, the power supply charges the energy storage capacitor 131 through the shutdown module 120. The processor is also configured to, upon switching the field-effect transistor in the shutdown module 120 from the on state to the off state, determine a second detection result based on the output voltage of the power supply and the current voltage at the target connection point, wherein the target connection point is the connection location between the energy storage capacitor 131, the other end of the power module 130, and one end of the motor drive unit 132.

[0170] Specifically, when the first detection result of the field-effect transistor in the shutdown module 120 is the first operating condition, that is, when the shutdown module 120 is in a normal state, the fault condition of the field-effect transistor, i.e. the inverter bridge MOSFET, in the power module 130 can be detected, so as to gradually detect and achieve accurate location of the field-effect transistor fault.

[0171] By detecting the current operating condition of the inverter bridge MOSFETs, a second detection result can be obtained, and short-circuit faults in the inverter bridge MOSFETs can be detected in a timely manner, thus avoiding power short circuits caused by starting motor control under fault conditions.

[0172] When the field-effect transistor in the shutdown module 120 switches from the on state to the off state, the power supply connected to one end of the shutdown module 120 can charge the energy storage capacitor 131 connected to the other end of the shutdown module 120, and control the shutdown module 120 to turn off after a first preset time, so as to determine whether the inverter bridge MOSFET is faulty based on the output voltage of the power supply and the current voltage at the target connection, that is, to determine the second detection result.

[0173] The first preset duration is a relatively short time, such as 5µs, which can keep the charging current of the energy storage capacitor 131 within a small range and avoid damage to the field-effect transistor caused by long-term high current.

[0174] The target connection point is the connection point between one end of the energy storage capacitor 131 and the motor drive unit 132 and the other end of the shutdown module 120.

[0175] Understandably, since the other end of the motor drive unit 132 is grounded and the other end of the energy storage capacitor 131 is grounded, if the inverter bridge MOSFET in the power module 130 is in a fault state, the current voltage at the target connection point is directly connected to the negative terminal of the power supply, causing the energy storage capacitor 131 to short-circuit and unable to store charge, resulting in a smaller current voltage value at the target connection point; if the inverter bridge MOSFET in the power module 130 is in a normal state, the energy storage capacitor 131 stores charge, resulting in a larger current voltage value at the target connection point.

[0176] In addition, such as Figure 4 The reusable acquisition circuit shown can accurately acquire the output voltage of the power supply and the current voltage at the target connection point by switching the input signal, providing accurate data for subsequent testing.

[0177] Therefore, when the field-effect transistor in the shutdown module 120 switches from the on state to the off state, the current voltage at the target connection point can be used to determine whether the inverter bridge MOSFET is faulty, i.e., to determine the second detection result, so as to quickly identify the short-circuit fault of the inverter bridge MOSFET, avoid the risk of power short circuit caused by the failure of the power module 130, and lay the foundation for the subsequent detection of field-effect transistors of multiple upper and lower bridge arms of the inverter bridge, thereby improving the safety and reliability of the motor control device 100 to a certain extent.

[0178] Thus, when the field-effect transistor in the control shutdown module 120 switches to the on state, it switches to the off state after a first preset time. When the field-effect transistor in the shutdown module 120 switches to the on state, the power supply charges the energy storage capacitor 131 through the shutdown module 120. When the field-effect transistor in the shutdown module 120 switches from the on state to the off state, the second detection result is determined based on the output voltage of the power supply and the current voltage at the target connection point. The target connection point is the connection position between the energy storage capacitor 131, the other end of the power module 130, and one end of the motor drive unit 132. In this way, by controlling the MOSFET in the shutdown module 120 to conduct within a first preset time period, the current operating condition of the inverter bridge MOSFET in the power module 130 can be determined by the current voltage at the target connection point, so as to quickly identify the short circuit fault of the inverter bridge MOSFET, avoid the risk of power short circuit caused by the failure of the power module 130, and lay the foundation for the subsequent detection of the MOSFETs of the upper and lower bridge arms, thereby improving the safety and reliability of the motor control device 100 to a certain extent.

[0179] Please see Figure 7 In some embodiments, step 02 (controlling the shutdown module 120 and power module 130 based on the detection result) includes:

[0180] 023: When the second detection result is the first operating condition, the field-effect transistor in the control shutdown module 120 is switched to the on state;

[0181] 024: When the second detection result is the second operating condition, the field-effect transistors in the control motor drive unit 132 and the field-effect transistors in the shutdown module 120 connected to the motor drive unit 132 are switched to the cut-off state.

[0182] In some embodiments, the control module 110 is further configured to control the field-effect transistor in the shutdown module 120 to switch to the on state when the second detection result is the first operating condition. The control module 110 is further configured to control the field-effect transistor in the motor drive unit 132 and the field-effect transistor in the shutdown module 120 connected to the motor drive unit 132 to switch to the off state when the second detection result is the second operating condition.

[0183] In some embodiments, the processor is further configured to control the field-effect transistor in the shutdown module 120 to switch to the on state when the second detection result is the first operating condition. The processor is further configured to control the field-effect transistor in the motor drive unit 132 and the field-effect transistor in the shutdown module 120 connected to the motor drive unit 132 to switch to the off state when the second detection result is the second operating condition.

[0184] Specifically, the method steps in this embodiment are similar to those described above. Please refer to the method steps for controlling the shutdown module 120 and the power module 130 based on the detection results, which will not be repeated here.

[0185] Thus, if the second detection result is the first operating condition, the field-effect transistor in the control shutdown module 120 switches to the on state; if the second detection result is the second operating condition, the field-effect transistors in the control motor drive unit 132 and the field-effect transistors in the shutdown module 120 connected to the motor drive unit 132 both switch to the off state. In this way, by determining whether there is a short-circuit fault in the inverter bridge MOSFET, the feasibility of subsequent detection of the inverter bridge unit 134 can be determined. This allows for continued detection of the current operating condition of the field-effect transistors in the upper and lower arms of the inverter bridge when the inverter bridge MOSFET is normal; in the case of a inverter bridge MOSFET fault, the field-effect transistors in the control motor drive unit 132 and the field-effect transistors in the shutdown module 120 connected to the motor drive unit 132 both switch to the off state, providing a fundamental guarantee for the safe operation of the motor control device 100.

[0186] In some embodiments, step 013 (determining the second detection result based on the power supply output voltage and the current voltage at the target connection when the field-effect transistor in the shutdown module 120 switches from the self-conducting state to the off state) includes:

[0187] 0131: When the field-effect transistor in the shutdown module 120 switches from the self-conducting state to the off state, and the second voltage difference between the output voltage of the power supply and the current voltage at the target connection is greater than or equal to the second preset threshold, the second detection result is determined as the first operating condition.

[0188] 0132: When the field-effect transistor in the shutdown module 120 switches from the self-conducting state to the off state, and the second voltage difference is less than the second preset threshold, the second detection result is determined to be the second operating condition.

[0189] In some embodiments, the control module 110 is further configured to determine the second detection result as the first operating condition when the field-effect transistor in the shutdown module 120 switches from the self-conducting state to the off state, and the second voltage difference between the output voltage of the power supply and the current voltage at the target connection is greater than or equal to a second preset threshold. The control module 110 is also configured to determine the second detection result as the second operating condition when the field-effect transistor in the shutdown module 120 switches from the self-conducting state to the off state, and the second voltage difference is less than the second preset threshold.

[0190] In some embodiments, the processor is further configured to determine the second detection result as the first operating condition when the field-effect transistor in the shutdown module 120 switches from the self-conducting state to the off state, and the second voltage difference between the output voltage of the power supply and the current voltage at the target connection is greater than or equal to a second preset threshold. The processor is also configured to determine the second detection result as the second operating condition when the field-effect transistor in the shutdown module 120 switches from the self-conducting state to the off state, and the second voltage difference is less than the second preset threshold.

[0191] Specifically, the second voltage difference refers to the difference between the output voltage of the power supply and the current voltage at the target connection point, which is used to detect the current operating condition of the field-effect transistor in the power module 130.

[0192] The output voltage of the power supply is the voltage at the DC power input terminal, which is usually the system constant voltage of 12V; the current voltage at the target connection point is the voltage at the connection point between the energy storage capacitor 131, the other end of the power module 130 and one end of the motor drive unit 132.

[0193] In one example, the main shutdown module 120 is turned on for 5µs under the control of the MCU, and the 12V low-voltage battery on the vehicle will discharge to capacitor C. in During charging, if the inverter bridge MOSFETs are not faulty, the current voltage V at the target connection point will be... Link It can be obtained from the following formula:

[0194]

[0195] Where R is the power supply to capacitor C in The sum of all parasitic resistances between them, including the internal resistance of the shutdown module 120, the wiring harness resistance, and the parasitic resistance of the traces.

[0196] When R is 10mΩ, C in When V is 1mF, Link The voltage will reach 4.72V after 5µs.

[0197] If the inverter bridge MOSFET fails:

[0198]

[0199] Where R off R is the sum of the parallel resistances across the capacitor, including the internal resistance of the 120Ω turn-off module and the equivalent parallel resistance of the capacitor. off It is a relatively large value, therefore the entire discharge time will last for a long time, when R off When the Ω is 470Ω, V Link It takes 7 seconds to reach 1V, which is enough for the MCU to perform detection.

[0200] If at least one MOSFET in the inverter bridge is functioning normally, the field-effect transistor in the shutdown module 120 switches from the on state to the off state, and the current voltage V at the target connection point... Link It will reach a certain value and will not be zero;

[0201] If the inverter bridge MOSFET is in a short-circuit state, the capacitor C can be considered as... in When short-circuited to the negative terminal of the power supply, the current voltage V at the target connection point Link Even when the switch-off module 120 is turned on, the voltage will not change and will remain at 0V.

[0202] Therefore, a smaller voltage value, such as V, can be set as the second preset threshold. By comparing the current voltage at the target connection with the second preset threshold, it can be determined whether the field-effect transistor in the power module 130 is faulty, and the second detection result can be obtained.

[0203] In one example, when the field-effect transistor in the shutdown module 120 switches from the on state to the off state, if the second voltage difference is less than 1V, it can be determined that all inverter bridge MOSFETs are short-circuited.

[0204] If the second voltage difference is greater than or equal to 1V, it can be determined that at least one MOSFET in the inverter bridge is normal. Further testing is required to determine whether there is a faulty MOSFET and its location.

[0205] Thus, when the field-effect transistor in the shutdown module 120 switches from the on state to the off state, and the second voltage difference between the power supply output voltage and the current voltage at the target connection is greater than or equal to a second preset threshold, the second detection result is determined as the first operating condition. When the field-effect transistor in the shutdown module 120 switches from the on state to the off state, and the second voltage difference is less than the second preset threshold, the second detection result is determined as the second operating condition. In this way, by comparing the current voltage at the target connection with the second preset threshold, it is possible to determine whether the field-effect transistor in the power module 130 is faulty, obtain the second detection result, and lay the foundation for subsequent field-effect transistor detection of the upper and lower bridge arms.

[0206] In some embodiments, step 0131 (determining the second detection result as the first operating condition when the field-effect transistor in the shutdown module 120 switches from the self-conducting state to the off state, and the second voltage difference between the output voltage of the power supply and the current voltage at the target connection is greater than or equal to a second preset threshold) includes:

[0207] 01311: When the target statistical count is greater than or equal to the preset count, the second detection result is determined as the first working condition. The target statistical count is used to indicate the number of consecutive times that the field-effect transistor in the shutdown module 120 switches from the on state to the off state and the second voltage difference is greater than or equal to the second preset threshold.

[0208] In some embodiments, the control module 110 is further configured to determine the second detection result as the first operating condition when the target statistical count is greater than or equal to a preset count, wherein the target statistical count is used to indicate the number of consecutive times that the field-effect transistor in the shutdown module 120 switches from the on state to the off state and the second voltage difference is greater than or equal to the second preset threshold.

[0209] In some implementations, the processor is further configured to determine the second detection result as the first operating condition when the target statistical count is greater than or equal to a preset count, wherein the target statistical count is used to indicate the number of consecutive times that the field-effect transistor in the shutdown module 120 switches from the on state to the off state and the second voltage difference is greater than or equal to the second preset threshold.

[0210] Specifically, the target number of times is the number of consecutive times that the field-effect transistor in the shutdown module 120 switches from the on state to the off state and the second voltage difference is greater than or equal to the second preset threshold.

[0211] During the detection of the field-effect transistor in the shutdown module 120, a single instance of the second voltage difference being less than the second preset threshold may be due to instantaneous voltage fluctuations. If there is instantaneous interference such as noise causing false sampling, the detection can be performed again by setting a target number of counts. This filters out occasional qualified signals caused by instantaneous interference, ensuring that the detection result of the total shutdown MOSFET is determined to be the first operating condition only when the second voltage difference is less than the second preset threshold multiple times consecutively. This avoids the faulty branch being mistakenly started due to a single misjudgment, which could lead to a short circuit risk in the power supply.

[0212] Thus, when the target statistical count is greater than or equal to the preset count, the second detection result is determined as the first operating condition. The target statistical count indicates the number of consecutive times the MOSFET in the shutdown module 120 switches from the on state to the off state, and the second voltage difference is greater than or equal to the second preset threshold. By repeatedly detecting the MOSFET in the power module 130, misjudgments from a single detection can be avoided, ensuring the authenticity of the fault and improving the accuracy of the second detection result. Furthermore, by setting the target statistical count, occasional qualified signals caused by transient interference can be filtered out, ensuring that only when the second voltage difference is less than the second preset threshold multiple times consecutively is the detection result of the total shutdown MOSFET determined as the first operating condition. This avoids the risk of a faulty branch being falsely activated due to a single misjudgment, thereby preventing a power supply short circuit.

[0213] In some embodiments, step 0132 (determining the second detection result as the second operating condition when the field-effect transistor in the shutdown module 120 switches from the self-conducting state to the off state and the second voltage difference is less than the second preset threshold) includes:

[0214] 01321: When the field-effect transistor in the motor drive unit 132 is switched to the off state, after a second preset time, the field-effect transistor in the shutdown module 120 is switched to the on state.

[0215] 01322: If the number of target statistics is less than the preset number within the third preset time period, the second detection result is determined to be the second working condition.

[0216] In some embodiments, the control module 110 is further configured to control the field-effect transistor in the shutdown module 120 to switch to the conduction state after a second preset time period when the field-effect transistor in the control motor drive unit 132 is switched to the off state. The control module 110 is further configured to determine the second detection result as the second operating condition if the target statistical count is less than the preset count within a third preset time period.

[0217] In some embodiments, the processor is further configured to, after a second preset time period, control the field-effect transistor in the shutdown module 120 to switch to the conduction state when the field-effect transistor in the motor drive unit 132 is switched to the off state. The processor is further configured to, if the target statistical count is less than a preset count within a third preset time period, determine the second detection result as the second operating condition.

[0218] Specifically, the second preset duration is the time for delayed re-detection, for example, 100ms. When the field-effect transistor in the motor drive unit 132 is switched to the off state, the field-effect transistor in the shutdown module 120 is switched to the on state after the second preset duration. This can prevent the power supply and the fault circuit of the power module 130 from being directly connected when the shutdown module 120 is turned on, and avoid the large current surge caused by the residual fault of the power module 130 during the detection process.

[0219] The third preset duration is the time limit for reading the second voltage difference, for example, 10ms. The control module 110 needs to read the second voltage difference within the third preset duration to determine the fault status of the power module 130.

[0220] By limiting the determination time of the target statistical count to a third preset time, the fault status of the power module 130 can be accurately identified, avoiding interference caused by instantaneous voltage fluctuations, thereby improving the accuracy of the detection results.

[0221] In one example, if the second voltage difference is less than 1V, the total shutdown is turned on again after a delay of 100ms and a delay of 5us. If the second voltage difference is less than 1V after the total shutdown is turned on three times in a row, it is determined that there is a short circuit in the inverter bridge MOSFET.

[0222] Furthermore, when a short circuit is detected, the drive unit 133 will cut off the total shutdown module 120 within 2µs. The 100ms delay provides time for the protection circuit to reset, avoiding repeated switching on and off when the protection is not released, which could cause secondary damage to the MOSFET.

[0223] Thus, when the MOSFET in the motor drive unit 132 is switched to the off state, after a second preset time, the MOSFET in the shutdown module 120 is switched to the on state; if the target statistical count is less than the preset count within a third preset time, the second detection result is determined as the second operating condition. In this way, by strengthening the time limit for determining the target statistical count within the third preset time, the fault condition of the power module 130 can be accurately identified, interference from instantaneous voltage fluctuations can be avoided, and the accuracy of the detection results can be improved.

[0224] Please see Figure 7 In some embodiments, the motor drive unit 132 includes a drive unit 133 and an inverter bridge unit 134. The control module 110 and the inverter bridge unit 134 are both connected to the drive unit 133, and the shutdown module 120 and the energy storage capacitor 131 are both connected to the inverter bridge unit 134. The inverter bridge unit 134 includes multiple bridge arms, and each bridge arm has a field-effect transistor (FET) installed in its upper and lower bridge arms. The detection result also includes a third detection result of the FETs in the upper and lower bridge arms of each inverter bridge unit 134 in the motor drive unit 132. Step 01 (detecting the current operating condition of the FETs and determining the detection result) includes:

[0225] 014: When the field-effect transistor in the control shutdown module 120 is switched to the on state, the third detection result is determined based on the phase voltage of the inverter bridge unit 134.

[0226] In some embodiments, the control module 110 is also used to determine a third detection result based on the phase voltage of the inverter bridge unit 134 when the field-effect transistor in the control shutdown module 120 is switched to the on state.

[0227] In some implementations, the processor is also configured to determine a third detection result based on the phase voltage of the inverter bridge unit 134 when the field-effect transistor in the control shutdown module 120 is switched to the on state.

[0228] Specifically, when the first detection result of the field-effect transistor in the shutdown module 120 is the first operating condition, and the third detection result of the field-effect transistors in the upper and lower arms of each bridge arm of the inverter bridge unit 134 is the first operating condition, that is, when the shutdown module 120 is in a normal state and there are field-effect transistors in the inverter bridge in a normal state, the fault status of the field-effect transistors in the upper and lower arms of each bridge arm of the inverter bridge unit 134, i.e., the upper and lower bridge arm MOSFETs, can be detected in order to gradually detect and achieve accurate location of field-effect transistor faults.

[0229] By detecting the phase voltage of the inverter bridge unit 134, a third detection result can be obtained, which can promptly detect short circuit faults in the upper bridge arm MOSFET and the lower bridge arm MOSFET, thus avoiding power short circuits caused by starting motor control under fault conditions.

[0230] Understandably, when the control switch MOSFET is switched to the on state, if the upper bridge arm MOSFET is turned off, its phase voltage will be close to the current voltage at the target connection point; if the lower bridge arm MOSFET is turned off, its phase voltage will be close to the voltage at the negative terminal of the power supply.

[0231] In addition, such as Figure 4 The reusable acquisition circuit shown can accurately acquire the phase voltage of the inverter bridge unit 134 by switching the input signal, providing accurate data for subsequent detection.

[0232] Therefore, when the control switch-off MOSFET is switched to the on state, the fault status of the upper and lower bridge arm MOSFETs can be determined by the phase voltage of the inverter bridge unit 134, i.e., the third detection result, so as to quickly identify the short circuit fault of the upper and lower bridge arm MOSFETs, avoid the risk of power short circuit caused by the failure of the inverter bridge unit 134, and thus improve the safety and reliability of the motor control device 100 to a certain extent.

[0233] Thus, when the MOSFET in the control shutdown module 120 switches to the on state, the third detection result is determined based on the phase voltage of the inverter bridge unit 134. In this way, even when the MOSFET in the control shutdown module 120 switches to the on state, the fault status of the upper and lower bridge arm MOSFETs can be determined by the phase voltage of the inverter bridge unit 134, allowing for rapid identification of short-circuit faults in the upper and lower bridge arm MOSFETs. This avoids the risk of power supply short circuits caused by inverter bridge unit 134 failure, thereby improving the safety and reliability of the motor control device 100 to a certain extent.

[0234] Please see Figure 9 In some embodiments, step 02 (controlling the shutdown module 120 and power module 130 based on the detection result) includes:

[0235] 025: When the third detection result of the inverter bridge unit 134 is the first operating condition, the field-effect transistor in the inverter bridge unit 134 is controlled according to the acquired control command;

[0236] 026: When the third detection result of the inverter bridge unit 134 is the second operating condition, the field-effect transistors in the inverter bridge unit 134 and the field-effect transistors in the shutdown module 120 connected to the inverter bridge unit 134 are switched to the cut-off state.

[0237] In some embodiments, the control module 110 is further configured to control the field-effect transistors in the inverter bridge unit 134 according to the acquired control command when the third detection result of the inverter bridge unit 134 is the first operating condition. The control module 110 is further configured to control the field-effect transistors in the inverter bridge unit 134 and the field-effect transistors in the shutdown module 120 connected to the inverter bridge unit 134 to switch to the off state when the third detection result of the inverter bridge unit 134 is the second operating condition.

[0238] In some embodiments, the processor is further configured to control the field-effect transistors in the inverter bridge unit 134 according to the acquired control instructions when the third detection result of the inverter bridge unit 134 is a first operating condition. The processor is further configured to control the field-effect transistors in the inverter bridge unit 134 and the field-effect transistors in the shutdown module 120 connected to the inverter bridge unit 134 to switch to the off state when the third detection result of the inverter bridge unit 134 is a second operating condition.

[0239] Specifically, the method steps in this embodiment are similar to those described above. Please refer to the method steps for controlling the shutdown module 120 and the power module 130 based on the detection results, which will not be repeated here.

[0240] Among them, the control command is the drive signal output by the drive unit 133, which enables the inverter bridge unit 134 to be turned on alternately at a fixed frequency, converting DC to AC, providing drive power to the motor, and thus making the motor rotate to drive the wheels to achieve steering.

[0241] Thus, when the third detection result of the inverter bridge unit 134 is the first operating condition, the field-effect transistors in the inverter bridge unit 134 are controlled according to the acquired control command; when the third detection result of the inverter bridge unit 134 is the second operating condition, the field-effect transistors in the inverter bridge unit 134 and the field-effect transistors in the shutdown module 120 connected to the inverter bridge unit 134 are switched to the off state. In this way, when both the upper and lower bridge arm MOSFETs are normal, the inverter bridge unit 134 is turned on alternately at a fixed frequency according to the drive signal output by the drive unit 133, converting DC to AC to provide drive power for the motor; when one of the upper or lower bridge arm MOSFETs is faulty, the field-effect transistors in the motor drive unit 132 and the field-effect transistors in the shutdown module 120 connected to the motor drive unit 132 are switched to the off state, providing a basic guarantee for the safe operation of the motor control device 100.

[0242] In some implementations, step 014 (determining the third detection result based on the phase voltage of the inverter bridge unit 134 when the field-effect transistor in the control shutdown module 120 switches to the on state) includes:

[0243] 0141: When the phase voltage falls within the preset voltage range, the third detection result is determined to be in the first operating condition;

[0244] 0142: If the phase voltage does not fall within the preset voltage range, the third detection result is determined to be the second operating condition.

[0245] In some embodiments, the control module 110 is further configured to determine that the third detection result is in a first operating condition when the phase voltage falls within a preset voltage range. The control module 110 is further configured to determine that the third detection result is in a second operating condition when the phase voltage does not fall within the preset voltage range.

[0246] In some embodiments, the processor is further configured to determine that the third detection result is in a first operating condition if the phase voltage falls within a preset voltage range. The processor is further configured to determine that the third detection result is in a second operating condition if the phase voltage does not fall within the preset voltage range.

[0247] Specifically, the preset voltage range is used to limit the phase voltage magnitude in order to determine the third detection result.

[0248] If the upper bridge arm MOSFET of a certain phase is in a normal state, it can be assumed that the upper bridge arm MOSFET is only turned on when the gate is connected to a signal above the threshold voltage; if the upper bridge arm MOSFET of a certain phase is in a fault state, it can be assumed that the drain and source are always connected regardless of the gate signal, and the phase voltage at the phase output terminal is close to the current voltage at the target connection point, exceeding the preset voltage range.

[0249] If the lower bridge arm MOSFET of a certain phase is in a normal state, it can be assumed that the lower bridge arm MOSFET only conducts when the gate is connected to a signal above the threshold voltage; if the lower bridge arm MOSFET of a certain phase is in a fault state, it can be assumed that the drain and source are always connected regardless of the gate signal, and the phase voltage at the phase output terminal is directly close to the negative terminal of the power supply, exceeding the preset voltage range.

[0250] In one example, the phase voltage is V Phase_U The preset voltage range is 1V to 10V.

[0251] When the field-effect transistor in the control shutdown module 120 switches to the on state, if:

[0252] V Phase_U <1V

[0253] It can be assumed that the drain and source are always connected because there is a weak leakage current in the actual circuit, such as the static current of the drive unit 133, which may make the phase voltage slightly higher than 0V, such as 0.5V, but much lower than the phase voltage under normal conditions, such as 1V to 10V. The lower bridge arm MOSFET is in a fault state, so the third detection result can be determined as the second operating condition.

[0254] like:

[0255] V Phase_U >10V

[0256] It can be assumed that the drain and source are always connected. Because there are parasitic resistances in the actual circuit, such as the MOSFET's on-state resistance and the trace resistance, the phase voltage will be slightly lower than 12V, such as 11.5V, but still much higher than the phase voltage under normal conditions by 1V to 10V. The upper bridge arm MOSFET is in a fault state, so the third detection result can be determined as the second operating condition.

[0257] like:

[0258] 1V≤V Phase_U ≤10V

[0259] If it can be assumed that the upper bridge arm MOSFET and the lower bridge arm MOSFET are not short-circuited, then the third detection result can be determined as the first operating condition.

[0260] Furthermore, if within the target number of statistical counts, there is a second voltage difference greater than the second preset threshold, and the phase voltage falls within the preset voltage range during the upper and lower bridge arm detection process, it can be considered that the previous overcurrent protection and short circuit protection were false triggers, or that there was indeed an overcurrent and short circuit, but it was protected. By controlling the control module 110 to shut down the module 120 and the power module 130, it can be restored in a short time, such as 400ms, achieving driver-unnoticed self-recovery.

[0261] Therefore, by comparing the phase voltage to fall within the preset voltage range, it is possible to determine whether the upper and lower bridge arm MOSFETs of a certain phase, i.e., the field-effect transistors in the inverter bridge unit 134, are faulty, and obtain the first detection result.

[0262] Thus, if the phase voltage falls within the preset voltage range, the third detection result is determined to be in the first operating condition; if the phase voltage does not fall within the preset voltage range, the third detection result is determined to be in the second operating condition. In this way, by determining whether the phase voltage falls within the preset voltage range, it is possible to determine whether the MOSFET in the inverter bridge unit 134 is faulty, obtain the first detection result, and provide a control basis for subsequent control of the motor drive device based on the result.

[0263] In some embodiments, the motor control device 100 is connected to the vehicle steering wheel, and step 025 (when the third detection result of the inverter bridge unit 134 is the first operating condition, controlling the field-effect transistor in the inverter bridge unit 134 according to the acquired control command) includes:

[0264] 0251: When the third detection result of the inverter bridge unit 134 is the first working condition, the field effect transistor in the inverter bridge unit 134 is controlled according to the control command so that the vehicle steering wheel maintains the preset attitude.

[0265] In some embodiments, the control module 110 is also used to control the field-effect transistor in the inverter bridge unit 134 according to the control command when the third detection result of the inverter bridge unit 134 is the first working condition, so as to maintain the preset attitude of the vehicle steering wheel.

[0266] In some implementations, the processor is also used to control the field-effect transistors in the inverter bridge unit 134 according to control commands when the third detection result of the inverter bridge unit 134 is the first operating condition, so as to maintain the preset attitude of the vehicle steering wheels.

[0267] Specifically, the method steps in this embodiment are similar to those described above. Please refer to the method steps for controlling the field-effect transistors in the inverter bridge unit 134 using the control command described above. They will not be repeated here.

[0268] Thus, when the third detection result of the inverter bridge unit 134 is the first operating condition, the field-effect transistors in the inverter bridge unit 134 are controlled according to the control command to maintain the preset posture of the vehicle's steering wheels. In this way, when both the upper and lower bridge arm MOSFETs are normal, the inverter bridge unit 134 is turned on alternately at a fixed frequency according to the drive signal output by the drive unit 133, converting DC to AC to provide drive power to the motor, thereby causing the motor to rotate and drive the wheels to turn, achieving steering.

[0269] Please see Figure 10 In some implementations, the method further includes:

[0270] 03: When the first detection result of the partial shutdown module 120 is the second operating condition, or the second detection result of the field effect transistor in the partial power module 130 is the second operating condition, or the third detection result of the field effect transistor in the partial motor drive unit 133 is the second operating condition, a first prompt message is sent to the target object; and / or,

[0271] 04: When the first detection result of each shutdown module 120 is the second operating condition, or the second detection result of the field effect transistor in each power module 130 is the second operating condition, or the third detection result of the field effect transistor in each motor drive unit 133 is the second operating condition, a second prompt message is sent to the target object.

[0272] In some embodiments, the control module 110 is further configured to provide a first prompt message to the target object when the first detection result of the partially shut-off module 120 is a second operating condition, or the first detection result of the field-effect transistor in the partially power module 130 is a second operating condition, or the third detection result of the field-effect transistor in the partially motor drive unit 133 is a second operating condition. The control module 110 is also configured to provide a second prompt message to the target object when the first detection result of each shut-off module 120 is a second operating condition, or the first detection result of the field-effect transistor in each power module 130 is a second operating condition, or the third detection result of the field-effect transistor in each motor drive unit 133 is a second operating condition.

[0273] In some embodiments, the processor is further configured to provide a first prompt message to the target object when the first detection result of a partial shutdown module 120 is a second operating condition, or the first detection result of a field-effect transistor in a partial power module 130 is a second operating condition, or the third detection result of a field-effect transistor in a partial motor drive unit 133 is a second operating condition. The processor is also configured to provide a second prompt message to the target object when the first detection result of each shutdown module 120 is a second operating condition, or the first detection result of a field-effect transistor in each power module 130 is a second operating condition, or the third detection result of a field-effect transistor in each motor drive unit 133 is a second operating condition.

[0274] Specifically, the target group refers to the driver.

[0275] The first prompt message is used to inform the driver of a moderate MOSFET failure. For example, in the case of a moderate failure, the MCU will send the fault information to the domain controller, prompting the driver that the rear wheel steering function has failed and that he should go to a 4S store for replacement when he has time.

[0276] The second prompt message is used to alert the driver to a more serious MOSFET malfunction. For example, the MCU sends the fault information to the domain controller, prompting the driver that the rear wheel steering has failed and to pull over and wait for assistance.

[0277] If the first detection result of the partial shutdown module 120 is the second working condition, it can be assumed that only the circuit where the shutdown module 120 is located has a MOSFET short circuit failure. The MCU can control only the normal one to drive the motor to rotate, provide steering force for the wheel, and ensure that the wheel is always in the center position.

[0278] If the first detection result of the MOSFET in some power modules 130 is the second operating condition, it can be assumed that only the circuit where the power module 130 is located has a MOSFET short circuit failure. The MCU can control only the normal one to drive the motor to rotate, provide steering force for the wheel, and ensure that the wheel is always in the center position.

[0279] If the third detection result of the MOSFET in the inverter bridge unit 134 of the motor drive unit 133 is the second working condition, it can be assumed that only one inverter bridge has a single MOSFET short-circuit failure. The MCU can control only the normal one to drive the motor to rotate, provide steering force for the wheel, and ensure that the wheel is always in the center position.

[0280] If the first detection result of each shutdown module 120 is the second operating condition, it can be considered that all shutdown modules 120 are short-circuited.

[0281] If the first detection result of the field-effect transistor in each power module 130 is the second operating condition, it can be assumed that all power modules 130 are short-circuited.

[0282] If the third detection result of the field-effect transistor in the inverter bridge unit 134 of each motor drive unit 133 is the second operating condition, it can be considered that all multiple inverter bridge units 134 are short-circuited.

[0283] At this time, the MCU does not send any control commands to control the MOSFET, and the drive signal of the drive unit 133 is continuously low until the next ignition cycle.

[0284] Distinguishing between two fault levels by using first and second warning messages can reduce driver panic when faced with a fault to some extent, thus adapting to the emergency handling needs of different fault scenarios.

[0285] In addition, when the vehicle is turned off, the ignition switch is disconnected, such as Figure 11The power-down process shown involves turning on the MOSFETs on opposite sides of the bridge, such as U on and V, W off; or U, V on and W off. This allows the motor to discharge the voltage on the energy storage capacitor 131, preventing the energy storage capacitor 131 from not being fully discharged due to short-term power-on / off cycles, thus avoiding misjudgment of the total shutdown MOSFET during subsequent re-detection. This ensures the reliability of the motor control device 100 and further improves the accuracy of the next power-on detection.

[0286] Thus, when the first detection result of a portion of the shutdown module 120 is the second operating condition, or the first detection result of the field-effect transistor in a portion of the power module 130 is the second operating condition, or the third detection result of the field-effect transistor in a portion of the motor drive unit 133 is the second operating condition, a first prompt message is sent to the target object; when the first detection result of each shutdown module 120 is the second operating condition, or the first detection result of each field-effect transistor in each power module 130 is the second operating condition, or the third detection result of each field-effect transistor in each motor drive unit 133 is the second operating condition, a second prompt message is sent to the target object. In this way, by distinguishing between the two fault levels through the first and second prompt messages, the panic of the driver when facing a fault can be reduced to a certain extent, thus adapting to the emergency handling needs of different fault scenarios.

[0287] The following is Figure 12 For example, the flow of the motor control method according to the embodiments of this application will be explained:

[0288] based on Figure 4 The sampling circuit shown can accurately detect the current operating condition of the field-effect transistor in steps.

[0289] First, after the ignition signal is powered on, the power supply V is collected. bat For example, a constant 12V voltage, connected to the output V of the shutdown module 120. Link The voltage difference, i.e. the first voltage difference, is used to determine whether there is a short circuit in the MOSFET of the shutdown module 120;

[0290] If the total shutdown MOSFET is normal, i.e., the first voltage difference is ≥1V, then it is controlled to conduct for 5µs, allowing power to flow to capacitor C of power module 130. in That is, the energy storage capacitor 131 is being charged;

[0291] Then, V is read within 10ms. Link The voltage is used to determine whether the MOSFETs in the upper and lower bridge arms of the 130 three-phase inverter bridge of the power module are simultaneously short-circuited.

[0292] like Figure 13 As shown, due to voltage fluctuations, the test can be repeated three times to ensure the accuracy of the collected data. Then, based on V... Link The voltage investigation revealed whether the upper and lower bridge arm MOSFETs were simultaneously short-circuited.

[0293] Then, turn on the main shutdown module 120 and collect the three-phase phase voltage V. Phase_U V Phase_V and V Phase_W Based on the criteria of 1V≤phase voltage≤10V, phase voltage>10V for upper bridge arm MOSFETs and phase voltage<1V for lower bridge arm MOSFETs, the operating condition of each bridge arm MOSFET is tested.

[0294] Finally, in the event of a faulty MOSFET, a fault can be sent to the domain controller, and the redundant circuit drives the rear wheel to return to the neutral position, thus preventing the rear wheel from getting stuck in the steering position during a fault and causing a vehicle safety accident, thereby improving the reliability of the motor control device 100 to a certain extent.

[0295] This application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it implements the steps of the motor control method described above.

[0296] It is understood that a computer program includes computer program code. Computer program code can be in the form of source code, object code, executable files, or some intermediate form. Computer-readable storage media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, external hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc.

[0297] In this specification, the terms "specifically," "furthermore," "particularly," "understandably," etc., refer to specific features, structures, materials, or characteristics described in connection with embodiments or examples that are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0298] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of executable request code comprising one or more steps for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0299] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An electric motor control device characterized by comprising: The motor control device includes a control module, a shutdown module, and a power module. The shutdown module and the power module are both connected to the control module. The power module is connected to a power source through the shutdown module. Both the shutdown module and the power module include field-effect transistors. The control module is configured to detect the current operating condition of the field-effect transistor, determine the detection result, and control the shutdown module and the power module according to the detection result.

2. The motor control device according to claim 1, characterized by The motor control device includes at least two shutdown modules, at least two power modules, and a motor. Each shutdown module is connected to one of the power modules, and each power module is connected to the motor.

3. The motor control device according to claim 1 or 2, characterized in that, The power module includes an energy storage capacitor and a motor drive unit. The power supply is connected to one end of the shutdown module. One end of the energy storage capacitor and the motor drive unit is connected to the other end of the shutdown module. The other end of the motor drive unit is grounded, and the other end of the energy storage capacitor is grounded. The motor drive unit includes a field-effect transistor.

4. The motor control device according to claim 3, characterized in that, The motor drive unit includes a drive unit and an inverter bridge unit. The control module and the inverter bridge unit are both connected to the drive unit. The shutdown module and the energy storage capacitor are both connected to the inverter bridge unit. The inverter bridge unit includes multiple bridge arms, and each bridge arm has a field-effect transistor installed in its upper and lower bridge arms.

5. The motor control device according to claim 1, characterized in that, The shutdown module includes two field-effect transistors with opposite current conduction directions.

6. A motor control method, characterized in that, The method is applied to the motor control device according to any one of claims 1-5, and the method includes: The current operating condition of the field-effect transistor is detected, and the detection result is determined; The shutdown module and the power module are controlled based on the detection results.

7. The method according to claim 6, characterized in that, The detection results include the first detection result of the field-effect transistor in the shutdown module. Detecting the current operating condition of the field-effect transistor and determining the detection results includes: When the power supply supplies power to the shutdown module and the field-effect transistor in the shutdown module is in the off state, the first detection result is determined based on the output voltage of the power supply and the output voltage of the shutdown module.

8. The method according to claim 7, characterized in that, The motor control device includes at least two shutdown modules, at least two power modules, and a motor. Each shutdown module is connected to one of the power modules, and each power module is connected to the motor. Controlling the shutdown modules and the power modules based on the detection result includes: When the first detection result is the first operating condition, the field-effect transistor in the shutdown module is switched to the on state. When the field-effect transistor in the shutdown module is in the on state, the power supply supplies power to the power module through the shutdown module. When the first detection result is the second operating condition, the field-effect transistors in the shutdown module and the field-effect transistors in the power module connected to the shutdown module are switched to the cut-off state.

9. The method according to claim 8, characterized in that, When the power supply supplies power to the shutdown module and the field-effect transistor in the shutdown module is in the off state, determining the first detection result based on the output voltage of the power supply and the output voltage of the shutdown module includes: When the power supply supplies power to the shutdown module, the field-effect transistor in the shutdown module is in the off state, and the first voltage difference between the output voltage of the power supply and the output voltage of the shutdown module is greater than or equal to a first preset threshold, the first detection result is determined to be in the first operating condition. When the power supply supplies power to the shutdown module, the field-effect transistor in the shutdown module is in the off state, and the first voltage difference is less than the first preset threshold, the first detection result is determined to be the second operating condition.

10. The method according to claim 8, characterized in that, The power module includes an energy storage capacitor and a motor drive unit. The power supply is connected to one end of the shutdown module, and one end of the energy storage capacitor and the motor drive unit is connected to the other end of the shutdown module. The other end of the motor drive unit is grounded, and the other end of the energy storage capacitor is grounded. The detection result also includes a second detection result of the field-effect transistor in the power module. The motor drive unit includes a field-effect transistor. Detecting the current operating condition of the field-effect transistor and determining the detection result includes: When the field-effect transistor in the shutdown module is switched to the on state, after a first preset time, the field-effect transistor in the shutdown module is switched to the off state. When the field-effect transistor in the shutdown module is switched to the on state, the power supply charges the energy storage capacitor through the shutdown module. When the field-effect transistor in the shutdown module switches from the on state to the off state, the second detection result is determined based on the output voltage of the power supply and the current voltage at the target connection point, wherein the target connection point is the location where the energy storage capacitor, one end of the motor drive unit, and the other end of the shutdown module are connected.

11. The method according to claim 10, characterized in that, The step of controlling the shutdown module and the power module based on the detection result includes: If the second detection result is the first operating condition, control the field-effect transistor in the shutdown module to switch to the on state; When the second detection result is the second operating condition, the field-effect transistors in the motor drive unit and the field-effect transistors in the shutdown module connected to the motor drive unit are switched to the off state.

12. The method according to claim 11, characterized in that, When the field-effect transistor in the shutdown module switches from the on state to the off state, the second detection result is determined based on the output voltage of the power supply and the current voltage at the target connection, including: When the field-effect transistor in the shutdown module switches from the on state to the off state, and the second voltage difference between the output voltage of the power supply and the current voltage at the target connection is greater than or equal to the second preset threshold, the second detection result is determined to be the first operating condition. When the field-effect transistor in the shutdown module switches from the on state to the off state, and the second voltage difference is less than the second preset threshold, the second detection result is determined to be the second operating condition.

13. The method according to claim 12, characterized in that, When the field-effect transistor in the shutdown module switches from the on state to the off state, and the second voltage difference between the output voltage of the power supply and the current voltage at the target connection is greater than or equal to a second preset threshold, the second detection result is determined to be the first operating condition, including: If the target statistical count is greater than or equal to the preset count, the second detection result is determined to be the first working condition. The target statistical count is used to indicate the number of consecutive times that the field-effect transistor in the shutdown module switches from the on state to the off state and the second voltage difference is greater than or equal to the second preset threshold.

14. The method according to claim 13, characterized in that, When the field-effect transistor in the shutdown module switches from the on state to the off state, and the second voltage difference is less than the second preset threshold, the second detection result is determined to be the second operating condition, including: When the field-effect transistor in the motor drive unit is switched to the off state, after a second preset time, the field-effect transistor in the shutdown module is switched to the on state. If the number of target statistics is less than the preset number within the third preset time period, the second detection result is determined to be the second working condition.

15. The method according to claim 11, characterized in that, The motor drive unit includes a drive unit and an inverter bridge unit. The control module and the inverter bridge unit are both connected to the drive unit. The shutdown module and the energy storage capacitor are both connected to the inverter bridge unit. The inverter bridge unit includes multiple bridge arms. Each bridge arm has a field-effect transistor (FET) installed in both its upper and lower bridge arms. The detection result also includes a third detection result of the FETs in the upper and lower bridge arms of each inverter bridge unit in the motor drive unit. Detecting the current operating condition of the FETs and determining the detection result includes: When the field-effect transistor in the shutdown module is switched to the on state, the third detection result is determined based on the phase voltage of the inverter bridge unit.

16. The method according to claim 15, characterized in that, The step of controlling the shutdown module and the power module based on the detection result includes: When the third detection result of the inverter bridge unit is the first operating condition, the field-effect transistor in the inverter bridge unit is controlled according to the acquired control command; When the third detection result of the inverter bridge unit is the second operating condition, the field-effect transistors in the inverter bridge unit and the field-effect transistors in the shutdown module connected to the inverter bridge unit are switched to the cut-off state.

17. The method according to claim 16, characterized in that, When the field-effect transistor in the shutdown module is switched to the on state, the third detection result is determined based on the phase voltage of the inverter bridge unit, including: If the phase voltage falls within the preset voltage range, the third detection result is determined to be in the first operating condition. If the phase voltage does not fall within the preset voltage range, the third detection result is determined to be the second operating condition.

18. The method according to claim 16, characterized in that, The motor control device is connected to the vehicle steering wheel. When the third detection result of the inverter bridge unit is the first operating condition, the device controls the field-effect transistor in the inverter bridge unit according to the acquired control command, including: When the third detection result of the inverter bridge unit is the first operating condition, the field-effect transistor in the inverter bridge unit is controlled according to the control command so that the vehicle steering wheel maintains a preset attitude.

19. The method according to any one of claims 10-18, characterized in that, The method further includes: If the first detection result of a portion of the shutdown module is the second operating condition, or the second detection result of a portion of the field-effect transistor in the power module is the second operating condition, or the third detection result of a portion of the field-effect transistor in the motor drive unit is the second operating condition, a first prompt message is sent to the target object; and / or, If the first detection result of each shutdown module is the second operating condition, or the second detection result of the field effect transistor in each power module is the second operating condition, or the third detection result of the field effect transistor in each motor drive unit is the second operating condition, a second prompt message is fed back to the target object.

20. An electronic device, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program, which, when executed by the processor, implements the method according to any one of claims 6-19.

21. A vehicle, characterized in that, The vehicle includes the motor control device as described in claims 1-5 and the electronic device as described in claim 20.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the method of any one of claims 6-19.

23. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the method described in any one of claims 6-19.

Images