A motor control circuit, control method and device, electronic equipment and medium

Abstract

The present disclosure provides a motor control circuit, a control method, a device, an electronic device and a medium. The motor control circuit comprises an initial control circuit and a voltage doubling circuit. The initial control circuit comprises three groups of coils. The first group of coils in the three groups of coils are respectively connected with a first branch and a power supply. The first branch comprises a first transistor and a second transistor. The second connection end of the first transistor is connected with the power supply through a voltage doubling diode in the voltage doubling circuit. The first connection end of the first transistor is connected with the second connection end of the second transistor. The first connection end of the second transistor is connected with the power supply through the voltage doubling circuit. The voltage doubling circuit comprises a voltage doubling capacitor. The first end of the voltage doubling capacitor is connected with the second connection end of the first transistor. The second end of the voltage doubling capacitor is connected with the first connection end of the second transistor. The voltage doubling circuit is used to control the voltage value of the voltage doubling capacitor to reach a preset multiple of the power supply voltage value. The above circuit can reduce the cost of the overall motor and controller under the same power, while improving the vehicle climbing ability.

Description

Technical Field

[0001] This disclosure relates to the field of motor control, and in particular to a motor control circuit, control method, device, electronic equipment, and medium. Background Technology

[0002] Currently, given the same battery capacity and voltage, transmission system, tires and grip, and vehicle weight, motor power and motor controller performance are particularly important. Motor torque is directly proportional to power and inversely proportional to speed. Due to cost-effectiveness limitations, conventional motor controllers on the market either prioritize high torque and relatively slow top speed, or prioritize speed and have weak climbing ability, or use field weakening control to temporarily increase the motor speed and speed range, but this leads to severe heat generation and various instabilities. Summary of the Invention

[0003] This disclosure provides a motor control circuit, control method, device, electronic equipment, and medium to solve problems in the related art, thereby reducing the overall cost of the motor and controller while improving the vehicle's climbing ability at the same power.

[0004] A first aspect of this disclosure provides a motor control circuit, including an initial control circuit and a voltage multiplier circuit. The initial control circuit includes three sets of coils, with the first set of coils connected to a first branch and a power supply, respectively. The first branch includes a first transistor and a second transistor. The second terminal of the first transistor is connected to the power supply through a voltage multiplier diode in the voltage multiplier circuit. The first terminal of the first transistor is connected to the second terminal of the second transistor, and the first terminal of the second transistor is connected to the power supply through the voltage multiplier circuit. The voltage multiplier circuit includes a voltage multiplier capacitor, with the first terminal of the voltage multiplier capacitor connected to the second terminal of the first transistor and the second terminal of the voltage multiplier capacitor connected to the first terminal of the second transistor. The voltage multiplier circuit is used to control the voltage value of the voltage multiplier capacitor to reach a preset multiple of the power supply voltage value.

[0005] In some embodiments, the voltage multiplier circuit further includes a third transistor and a fourth transistor, the third transistor and the fourth transistor being connected in parallel, the second connection terminal of the third transistor being connected to a power supply, and the first connection terminal of the third transistor being connected to the second terminal of the voltage multiplier capacitor; the second connection terminal of the fourth transistor being connected to the second terminal of the voltage multiplier capacitor, and the first connection terminal of the fourth transistor being connected to a power supply.

[0006] In some embodiments, the first branch further includes a first control source and a second control source, and the voltage multiplier circuit further includes a third control source and a fourth control source. The two ends of each control source are respectively connected to the control terminal and the first connection terminal of the corresponding transistor, and each control source is used to control the corresponding transistor to turn on or off.

[0007] In some embodiments, a first control source controls a first transistor to turn off and a third control source controls a third transistor to turn off, a second control source controls a second transistor to turn on and a fourth control source controls a fourth transistor to turn on, for charging the voltage doubler capacitor. When the voltage value of the voltage doubler capacitor reaches a preset voltage value, the first control source controls the first transistor to turn on and the third control source controls the third transistor to turn on, the second control source controls the second transistor to turn off and the fourth control source controls the fourth transistor to turn off, for making the voltage value of the voltage doubler capacitor reach a preset multiple of the power supply voltage value.

[0008] In some embodiments, the motor control circuit further includes a bus capacitor and a bus resistor, wherein the bus capacitor is connected in parallel with the power supply, and the bus resistor is connected in series in the circuit between each set of coils and the power supply.

[0009] A second aspect of this disclosure provides a motor control method applied to the motor control circuit described in the first aspect embodiment. The method includes: controlling any one transistor in the first branch and any one transistor in the voltage multiplier circuit to conduct via a control source to charge a voltage multiplier capacitor; and switching the transistors in the first branch and the voltage multiplier circuit via the control source according to the real-time voltage value of the voltage multiplier capacitor to perform voltage multiplication on the voltage multiplier capacitor.

[0010] In some embodiments, controlling any one transistor in the first branch and any one transistor in the voltage doubler circuit to be turned on by a control source includes: controlling the first transistor to be turned off by a first control source and controlling the second transistor to be turned on by a second control source; controlling the third transistor to be turned off by a third control source and controlling the fourth transistor to be turned on by a fourth control source, so as to charge the voltage doubler capacitor through the voltage doubler diode.

[0011] In some embodiments, based on the real-time voltage value of the voltage multiplier capacitor, the transistors in the first branch and the voltage multiplier circuit are switched by a control source to perform voltage multiplication on the voltage multiplier capacitor, including: determining the current voltage value of the voltage multiplier capacitor; if the current voltage value is greater than or equal to a preset voltage value, controlling the first transistor to turn on by a first control source, and controlling the second transistor to turn off by a second control source, controlling the third transistor to turn on by a third control source, and controlling the fourth transistor to turn off by a fourth control source, so that the real-time voltage value of the voltage multiplier capacitor is controlled by the third transistor to reach a preset multiple of the power supply voltage value.

[0012] A third aspect of this disclosure provides a motor control device, characterized in that the device includes: a control module for controlling any one transistor in the first branch and any one transistor in the voltage multiplier circuit to conduct via a control source, so as to charge the voltage multiplier capacitor; and a voltage multiplier module for switching the transistors in the first branch and the voltage multiplier circuit via a control source according to the real-time voltage value of the voltage multiplier capacitor, so as to perform voltage multiplication processing on the voltage multiplier capacitor.

[0013] A fourth aspect of this disclosure provides an electronic device including a motor control circuit as described in a first aspect of this disclosure.

[0014] A fifth aspect of this disclosure provides a computer-readable storage medium in which a computer program, when executed by a processor, performs the methods described in the second aspect of this disclosure.

[0015] A sixth aspect of this disclosure provides a chip including at least one processor and a communication interface; the communication interface is used to receive signals input to the chip or signals output from the chip, the processor communicates with the communication interface and implements the method as described in any one of the second aspect embodiments of this disclosure through logic circuits or executing code instructions, or the chip includes a motor control circuit described in the first aspect embodiments of this disclosure.

[0016] A seventh aspect of this disclosure provides a vehicle including electronic equipment as described in the fourth aspect.

[0017] In summary, the motor control circuit proposed in this disclosure includes: an initial control circuit and a voltage multiplier circuit. The initial control circuit includes three sets of coils. The first set of coils is connected to a first branch and a power supply, respectively. The first branch includes a first transistor and a second transistor. The second terminal of the first transistor is connected to the power supply through a voltage multiplier diode in the voltage multiplier circuit. The first terminal of the first transistor is connected to the second terminal of the second transistor, and the first terminal of the second transistor is connected to the power supply through the voltage multiplier circuit. The voltage multiplier circuit includes a voltage multiplier capacitor. The first terminal of the voltage multiplier capacitor is connected to the second terminal of the first transistor, and the second terminal of the voltage multiplier capacitor is connected to the first terminal of the second transistor. The voltage multiplier circuit is used to control the voltage value of the voltage multiplier capacitor to reach a preset multiple of the power supply voltage value. By adding a voltage multiplier circuit to the initial control circuit and changing the three-phase coil outputs to four-phase coil outputs, the circuit proposed in this disclosure reduces the overall cost of the motor and controller while improving the vehicle's climbing ability at the same power level.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0020] Figure 1A This is a schematic diagram of the wiring configuration for a three-phase motor.

[0021] Figure 1B Circuit diagram of a motor controller with a three-wire output system;

[0022] Figure 2 A schematic diagram of the architecture of a motor control circuit provided in an embodiment of this disclosure;

[0023] Figure 3 A schematic flowchart of a motor control method provided in an embodiment of this disclosure;

[0024] Figure 4 A schematic flowchart of a motor control method provided in an embodiment of this disclosure;

[0025] Figure 5A This is an architecture diagram of a motor control circuit;

[0026] Figure 5B This is a schematic diagram of a three-phase coil with four outgoing wires;

[0027] Figure 6 This is a schematic diagram of the structure of a motor control device provided in an embodiment of the present disclosure;

[0028] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0029] Embodiments of this disclosure are described in detail below. Examples of these embodiments are illustrated 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 intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0030] The main technical factors affecting the hill-climbing ability of electric vehicles include:

[0031] Motor power: The higher the motor power, the stronger the climbing ability; Battery capacity and voltage: Battery capacity and voltage determine the output current and duration. High-capacity, high-voltage batteries can provide longer-lasting power support and improve climbing ability; Motor controller performance: The controller regulates the motor output. A high-performance controller can distribute power more accurately, especially providing greater torque when climbing; Transmission system: The efficiency of the transmission system directly affects power transmission. An efficient transmission system can reduce energy loss and improve climbing performance; Tires and grip: Tire material and tread pattern affect grip. Good grip helps prevent slippage and improves climbing stability; Vehicle weight: A lighter vehicle body reduces the burden when climbing and improves climbing ability. Therefore, lightweight design is key to improving climbing performance.

[0032] The three-wire system currently used in motor control uses three-phase coils with three outgoing wires, such as... Figure 1AThe diagram shown illustrates a three-phase motor wiring configuration, where the intersection of the three-phase coils is directly connected to the power supply. A circuit diagram for a motor controller using this three-wire wiring configuration is shown below. Figure 1B The diagram shown is a schematic of the main power topology of a three-phase motor controller under a three-wire outgoing line configuration. In this configuration, a power loop cannot be formed, thus preventing voltage multiplication.

[0033] Therefore, in order to solve the problems existing in the related technologies, this disclosure provides a motor control circuit, control method, device, electronic equipment and medium to solve the problems in the related technologies, reduce the overall cost of the motor and controller under the same power, and improve the vehicle's climbing ability.

[0034] Figure 2 This is a schematic diagram of a motor control circuit according to an embodiment of the present disclosure. Figure 2 As shown, the motor control circuit includes: an initial control circuit 110 and a voltage multiplier circuit 120.

[0035] In some embodiments, the initial control circuit includes three sets of coils, with the first set of coils 1101 connected to the first branch 1102 and the power supply 130, respectively.

[0036] like Figure 2 As shown, one end of the first coil 1101 is connected to the positive terminal of the power supply 130, and the other end is connected to the first branch 1102, so that the three coils form a motor output mode with three-phase coils and four output wires.

[0037] For example, such as Figure 5B The diagram shows a four-wire output configuration, where one end of each of the three coils is connected to the power supply, thus forming a power circuit.

[0038] In some embodiments, the first branch includes a first transistor 1103 and a second transistor 1104. The second connection terminal of the first transistor is connected to the power supply through the voltage multiplier diode 1201 in the voltage multiplier circuit. The first connection terminal of the first transistor is connected to the second connection terminal of the second transistor. The first connection terminal of the second transistor is connected to the power supply through the voltage multiplier circuit.

[0039] In some embodiments, the first transistor and the second transistor can be MOS transistors, or GRT transistors, IGBTs, SiC MOS transistors, etc., wherein the MOS transistor can also be a PMOS transistor or an NMOS transistor. Taking an NMOS transistor as an example, the first transistor has a control terminal, a first connection terminal, and a second connection terminal, wherein the control terminal can be the gate of the NMOS transistor, the first connection terminal can be the source of the NMOS transistor, and the second connection terminal can be the drain of the NMOS transistor.

[0040] In some embodiments, one end of the first coil 1101 is connected to the first branch 1102, and the other end is connected to the positive terminal of the power supply through the bus resistor 150. The other end of the first branch is connected to the voltage multiplier circuit 120, and the other end of the voltage multiplier circuit is connected to the negative terminal of the power supply, thereby forming a loop.

[0041] In some instances, the voltage multiplier circuit includes a voltage multiplier capacitor 1202, with a first terminal connected to a second terminal of a first transistor and a second terminal connected to a first terminal of a second transistor. The voltage multiplier circuit is used to control the voltage value of the voltage multiplier capacitor to reach a preset multiple of the power supply voltage value.

[0042] In some embodiments, the first terminal of the voltage doubler capacitor is the positive terminal, the second terminal of the voltage doubler capacitor is the negative terminal, the positive terminal of the voltage doubler capacitor is connected to the drain of the first transistor, and the negative terminal of the voltage doubler capacitor is connected to the source of the second transistor.

[0043] For example, such as Figure 5A In the architecture diagram shown, one end of L3 is connected to the positive terminal of power supply BAT1 through R1, and the other end is connected to the circuit composed of Q1 and Q2. The drain of Q1 is connected to the positive terminal of C2, and the source of Q2 is connected to the negative terminal of C2.

[0044] Furthermore, the voltage multiplier circuit 120 also includes a third transistor 1203 and a fourth transistor 1204. The third transistor and the fourth transistor are connected in parallel. The second connection terminal of the third transistor is connected to the power supply, and the first connection terminal of the third transistor is connected to the second terminal of the voltage multiplier capacitor. The second connection terminal of the fourth transistor is connected to the second terminal of the voltage multiplier capacitor, and the first connection terminal of the fourth transistor is connected to the power supply.

[0045] In some embodiments, the third transistor, the fourth transistor and the first transistor and the second transistor may be of the same type or different. This disclosure uses NMOS as an example for illustration. The drain of the third transistor is connected to the positive terminal of the power supply, the gate of the third transistor is connected to the negative terminal of the voltage doubler capacitor, the drain of the fourth transistor is connected to the negative terminal of the voltage doubler capacitor, and the source of the fourth transistor is connected to the negative terminal of the power supply.

[0046] For example, such as Figure 5A In the architecture diagram shown, Q3 and Q4 form a branch. The drain of Q3 is connected to the positive terminal of the power supply and the negative terminal of the voltage multiplier capacitor C2. The source of Q3 is connected to the drain of Q4, and the source of Q4 is connected to the negative terminal of the power supply.

[0047] Furthermore, the first branch also includes a first control source and a second control source, and the voltage multiplier circuit also includes a third control source and a fourth control source. The two ends of each control source are respectively connected to the control terminal and the first connection terminal of the corresponding transistor, and each control source is used to control the conduction or shutdown of the corresponding transistor.

[0048] In some embodiments, the first branch includes a first control source, a first transistor, a second control source, and a second transistor; the voltage multiplier circuit includes a third control source, a third transistor, a fourth control source, a fourth transistor, a voltage multiplier capacitor, and a voltage multiplier diode.

[0049] In some embodiments, the two ends of the first control source are respectively connected to the control terminal and the first connection terminal of the first transistor, the two ends of the second control source are respectively connected to the control terminal and the first connection terminal of the second transistor, the two ends of the third control source are respectively connected to the control terminal and the first connection terminal of the third transistor, and the two ends of the fourth control source are respectively connected to the control terminal and the first connection terminal of the fourth transistor.

[0050] For example, such as Figure 5A In the architecture diagram shown, the first branch is the branch containing Q1, PWM1, Q2, and PWM2, and the voltage doubler circuit is the branch containing Q3, PWM3, Q4, PWM4, C2, and D1. Correspondingly, for L2, the first branch is the branch containing Q5, PWM5, Q6, and PWM6, and the voltage doubler circuit is the branch containing Q7, PWM7, Q8, PWM8, C3, and D2. For L1, the first branch is the branch containing Q9, PWM9, Q10, and PWM10, and the voltage doubler circuit is the branch containing Q11, PWM11, Q12, PWM12, C4, and D3.

[0051] For example, the positive terminal of PWM1 is connected to the gate of Q1, and the negative terminal of PWM1 is connected to the source of Q1. The connection method of other control sources and their corresponding transistors is the same as that of PWM1 and Q1, and will not be described again here.

[0052] Furthermore, the motor control circuit also includes a bus capacitor 140 and a bus resistor 150. The bus capacitor is connected in parallel with the power supply, and the bus resistor is connected in series in the circuit between each set of coils and the power supply.

[0053] In some embodiments, the positive terminal of the bus capacitor is connected to the positive terminal of the power supply, the negative terminal of the bus capacitor is connected to the negative terminal of the power supply, and the bus resistor is connected in series in the circuit between the positive terminal of the power supply and the first set of coils.

[0054] For example, such as Figure 5A In the architecture diagram shown, C1 is connected in parallel with power supply BAT1, and R1 is connected in series in the circuit between BAT1 and L3, L2, or L1.

[0055] In some embodiments, a first control source 1105 controls a first transistor to turn off and a third control source 1205 controls a third transistor to turn off, a second control source 1106 controls a second transistor to turn on and a fourth control source 1206 controls a fourth transistor to turn on, for charging the voltage doubler capacitor; when the voltage value of the voltage doubler capacitor reaches a preset voltage value, the first control source controls the first transistor to turn on and the third control source controls the third transistor to turn on, the second control source controls the second transistor to turn off and the fourth control source controls the fourth transistor to turn off, for making the voltage value of the voltage doubler capacitor reach a preset multiple of the power supply voltage value.

[0056] In some embodiments, a first control source controls the first transistor to turn off and a third control source controls the third transistor to turn off, while a second control source controls the second transistor to turn on and a fourth control source controls the fourth transistor to turn on. As a result, the power supply current passes through the bus resistor, through the first set of coils to the first transistor, and charges the capacitor of the first transistor. At the same time, the current at the positive terminal of the power supply passes through the voltage doubler diode, through the voltage doubler capacitor, and then through the fourth transistor, returning to the negative terminal of the power supply, forming a current loop in the first set of coils, thereby charging the voltage doubler capacitor and completing the charging process.

[0057] For example, the power supply voltage is 72 volts, such as Figure 5A In the architecture diagram shown, Q2 and Q4 are on, Q1 and Q3 are off, power flows through C1 and charges C2 through D1. It can be set to charge C2 to the power supply voltage.

[0058] In some embodiments, when the voltage of the voltage doubler capacitor reaches a preset voltage value, a circuit for acquiring voltage or current can be set to acquire the voltage or current value of the voltage doubler capacitor in real time and set the preset voltage value to control the charging time. The preset voltage value can be the power supply voltage value or a custom voltage value; this disclosure does not limit this. The circuit for acquiring voltage or current is not limited in its architecture; a corresponding circuit can be constructed according to actual needs or scenario requirements to achieve the purpose of real-time acquisition of the voltage or current value of the voltage doubler capacitor.

[0059] In some embodiments, when the voltage value of the voltage multiplier capacitor reaches a preset voltage value, it indicates that the voltage multiplier capacitor has completed its first charge. The conduction of the transistor in the circuit can be switched to achieve voltage multiplication of the voltage multiplier capacitor through the voltage multiplication process. This means that the voltage value of the voltage multiplier capacitor reaches a preset multiple of the power supply voltage value. The preset multiple can be a pre-set value, and different values ​​can be set according to actual needs or requirements. This disclosure does not limit this.

[0060] In some embodiments, the switching circuit can be controlled by a first control source turning on the first transistor, a third control source turning on the third transistor, a second control source turning off the second transistor, and a fourth control source turning off the fourth transistor. This allows the current from the positive terminal of the power supply to flow through the third transistor to the negative terminal of the voltage doubler capacitor. Since the voltage of the voltage doubler capacitor has been charged to a preset voltage value (i.e., the positive terminal of the voltage doubler capacitor is the preset voltage value, and the negative terminal is 0), the voltage difference across the voltage doubler capacitor is the preset voltage value. Because the third transistor is on and the fourth transistor is off, the voltage at the negative terminal of the voltage doubler capacitor will instantly change to the power supply voltage. However, due to the characteristic that the voltage across a capacitor cannot change instantaneously, the voltage at the negative terminal of the voltage doubler capacitor is the power supply voltage, while the voltage at the positive terminal is the preset voltage value plus the power supply voltage. This achieves voltage doubling of the voltage doubler capacitor, increasing its voltage to a preset multiple of the power supply voltage, and then powering the motor through the fourth transistor.

[0061] For example, such as Figure 5A As shown in the diagram, after C2 is charged to the power supply voltage of 72 volts, control Q2 and Q4 are turned off, while Q1 and Q3 are turned on. The power supply current flows through C1, supports C2 in series with Q3, and then supplies power to the motor through Q4. At this time, the motor operating voltage is twice the power supply voltage, which is 144 volts.

[0062] In some embodiments, the circuit configuration, connection method and working process of each of the three sets of coils are the same as those of the first set of coils, and will not be repeated here.

[0063] In some embodiments, the motor control circuit includes a charging process, a voltage multiplication process, and a discharging process. The discharging process may involve turning on the first and third transistors and turning off the second and fourth transistors. The current from the positive terminal of the power supply raises the voltage of the voltage multiplication capacitor through the third transistor, passes through the first transistor and the first set of coils, and then returns to the negative terminal of the power supply through the second or third set of coils. In this case, one transistor in the first branch of the second and third sets of coils and one transistor in the voltage multiplication circuit may each be turned on, or only one transistor in the first branch corresponding to one coil and one transistor in the voltage multiplication circuit may be turned on. Their on and off states may be the same or different.

[0064] For example, such as Figure 5AThe diagram shows that the discharge process can involve turning on Q1 and Q3 while turning off Q2 and Q4. The current from the positive terminal of BAT1 will raise the voltage of C2 through Q3, then through Q1 and L3, and then through L2 and / or L1, to the negative terminal of BAT1. Specifically, Q6 and Q8 in L2 can be turned on, and the current will return to the negative terminal of BAT1 through Q6 and Q8; or Q10 and Q12 in L1 can be turned on, and the current will return to the negative terminal of BAT1 through Q10 and Q12; or Q6 and Q8 in L2 and Q10 and Q12 in L1 can be turned on simultaneously, and the current will return to the negative terminal of BAT1 through two branches, thus completing the discharge process.

[0065] In summary, the motor control circuit proposed in this disclosure, by configuring the motor with a three-phase coil and four outgoing wires, can reduce the overall cost of the motor and controller while maintaining the same power output, and further improve the vehicle's climbing ability.

[0066] It is understood that the motor control circuit described in the embodiments of this disclosure is for the purpose of more clearly illustrating the technical solutions of the embodiments of this disclosure, and does not constitute a limitation on the technical solutions proposed in the embodiments of this disclosure. As those skilled in the art will know, with the evolution of systems and the emergence of new business scenarios, the technical solutions proposed in the embodiments of this disclosure are also applicable to similar technical problems.

[0067] The following embodiments of this disclosure can be applied to Figure 2 The motor control circuit shown, or part of the main body, but not limited to this. Figure 2 The main components shown are illustrative; the motor control circuit may include... Figure 2 All or part of the main body, or may include Figure 2 Other entities besides the main body, the number and form of each entity are arbitrary, the connection relationship between the entities is illustrative, the entities may not be connected or may be connected, and the connection can be in any way, it can be a direct connection or an indirect connection, it can be a wired connection or a wireless connection.

[0068] Figure 3 This is a flowchart illustrating a motor control method proposed in this disclosure, which is applied to, for example... Figure 2 In the motor control circuit shown, the method includes the following steps:

[0069] Step 301: Control any one transistor in the first branch and any one transistor in the voltage doubler circuit to turn on via the control source, so as to charge the voltage doubler capacitor.

[0070] In some embodiments, controlling the conduction of any transistor in the first branch and any transistor in the voltage multiplier circuit via a control source includes:

[0071] The first transistor is turned off by a first control source, and the second transistor is turned on by a second control source;

[0072] The third transistor is turned off by a third control source, and the fourth transistor is turned on by a fourth control source, so that the power supply can charge the voltage doubler capacitor through the voltage doubler diode.

[0073] In some embodiments, such as Figure 2 As shown in the schematic diagram, the first control source controls the first transistor to turn off and the third control source controls the third transistor to turn off. At the same time, the second control source controls the second transistor to turn on and the fourth control source controls the fourth transistor to turn on. Thus, the power supply current passes through the bus resistor, through the first set of coils to the first transistor, and charges the capacitor of the first transistor. Simultaneously, the current at the positive terminal of the power supply passes through the voltage doubler diode, through the voltage doubler capacitor, and then through the fourth transistor, returning to the negative terminal of the power supply, forming a current loop in the first set of coils, thereby charging the voltage doubler capacitor and completing the charging process.

[0074] For example, the power supply voltage is 72 volts, such as Figure 5A In the architecture diagram shown, Q2 and Q4 are on, Q1 and Q3 are off, power flows through C1 and charges C2 through D1. It can be set to charge C2 to the power supply voltage.

[0075] Step 302: Based on the real-time voltage value of the voltage multiplier capacitor, the transistors in the first branch and the voltage multiplier circuit are switched by the control source to perform voltage multiplication on the voltage multiplier capacitor.

[0076] In some embodiments, the real-time voltage value of the voltage multiplier capacitor can be determined by collecting the voltage or current value in real time during the charging process of the voltage multiplier capacitor.

[0077] In some embodiments, based on the real-time voltage value of the voltage multiplier capacitor, the transistors in the first branch and the voltage multiplier branch are switched by the control source to perform voltage multiplication on the voltage multiplier capacitor. This can be achieved by switching the transistors on or off when the real-time voltage value of the voltage multiplier capacitor meets a preset condition, thereby realizing voltage multiplication on the voltage multiplier capacitor. The voltage multiplication can be to increase the voltage value of the voltage multiplier capacitor to a fixed multiple of the power supply voltage.

[0078] In summary, the motor control method proposed in this disclosure can reduce the cost of the motor and controller while maintaining the same power output, thereby further improving the vehicle's hill-climbing ability.

[0079] Figure 4 This is a flowchart illustrating a motor control method proposed in this disclosure. Figure 3 Based on the illustrated embodiment, step 302 is further explained, and the method includes the following steps:

[0080] Step 401: Determine the current voltage value of the voltage multiplier capacitor.

[0081] In some embodiments, determining the current voltage value of the voltage multiplier capacitor can be achieved by using a data acquisition circuit to acquire the real-time voltage of the voltage multiplier capacitor in the motor control circuit, or by acquiring the real-time current to determine the current voltage value.

[0082] In some embodiments, determining the current voltage value of the voltage multiplier capacitor can control the charging process, thereby controlling the charging time.

[0083] Step 402: When the current voltage value is greater than or equal to a preset voltage value, the first transistor is turned on by the first control source, and the second transistor is turned off by the second control source. The third transistor is turned on by the third control source, and the fourth transistor is turned off by the fourth control source, so that the real-time voltage value of the voltage multiplier capacitor is controlled by the third transistor to reach a preset multiple of the power supply voltage value.

[0084] In some embodiments, the preset voltage value may be a pre-set value, which may be set to different values ​​according to actual needs or scenarios, and this disclosure does not limit this.

[0085] In some embodiments, since the current voltage value of the voltage multiplier capacitor is acquired, it may be equal to or may not be completely equal to the preset voltage value. Therefore, the voltage multiplication process needs to be performed only when the current voltage value is greater than or equal to the preset voltage value.

[0086] In some embodiments, when the current voltage value is greater than or equal to the preset voltage value, the real-time voltage value of the voltage doubler capacitor may have reached or exceeded the preset value. In other words, the voltage doubler capacitor has completed the charging process, or the charging time of the voltage doubler capacitor has reached the preset time.

[0087] In some embodiments, if the current voltage value is greater than or equal to a preset voltage value, it indicates that the voltage multiplier capacitor has completed its first charge. The conduction of the transistor in the circuit can be switched to achieve voltage multiplication of the voltage multiplier capacitor through the voltage multiplication process, so that the real-time voltage value of the voltage multiplier capacitor reaches a preset multiple of the power supply voltage value. The preset multiple can be a pre-set value, and different values ​​can be set according to the actual scenario needs or requirements. This disclosure does not limit this.

[0088] In some embodiments, a first control source controls the first transistor to turn on, a third control source controls the third transistor to turn on, a second control source controls the second transistor to turn off, and a fourth control source controls the fourth transistor to turn off. Figure 2In the diagram shown, the current from the positive terminal of the power supply flows through the third transistor to the negative terminal of the voltage doubler capacitor. Since the voltage doubler capacitor has been charged to the preset voltage value, the positive terminal of the voltage doubler capacitor is the preset voltage value, and the negative terminal is 0. At this time, the voltage difference across the voltage doubler capacitor is the preset voltage value. Because the third transistor is on and the fourth transistor is off, the voltage at the negative terminal of the voltage doubler capacitor will change instantaneously to the power supply voltage. However, due to the characteristic that the voltage across the capacitor cannot change instantaneously, the voltage at the negative terminal of the voltage doubler capacitor is the power supply voltage, while the voltage at the positive terminal is the preset voltage value plus the power supply voltage. This achieves voltage doubling of the voltage doubler capacitor, that is, increasing the voltage value of the voltage doubler capacitor to a preset multiple of the power supply voltage value, and then powering the motor through the fourth transistor.

[0089] For example, such as Figure 5A As shown in the diagram, after C2 is charged to the power supply voltage of 72 volts, control Q2 and Q4 are turned off, while Q1 and Q3 are turned on. The power supply current flows through C1, supports C2 in series with Q3, and then supplies power to the motor through Q4. At this time, the motor operating voltage is twice the power supply voltage, which is 144 volts.

[0090] In some embodiments, the motor control method includes a charging process, a voltage multiplication process, and a discharging process, wherein the discharging process can be as follows: Figure 2 In the diagram shown, the first and third transistors are turned on, while the second and fourth transistors are turned off. The current from the positive terminal of the power supply boosts the voltage of the voltage multiplier capacitor through the third transistor, passes through the first transistor and the first set of coils, and then returns to the negative terminal of the power supply through the second or third set of coils. In the second and third sets of coils, one transistor in the first branch and one transistor in the voltage multiplier circuit are each turned on, or only one transistor in the first branch corresponding to one coil and one transistor in the voltage multiplier circuit are turned on. Their on and off states can be the same or different.

[0091] For example, such as Figure 5A The diagram shows that the discharge process can involve turning on Q1 and Q3 while turning off Q2 and Q4. The current from the positive terminal of BAT1 will raise the voltage of C2 through Q3, then through Q1 and L3, and then through L2 and / or L1, to the negative terminal of BAT1. Specifically, Q6 and Q8 in L2 can be turned on, and the current will return to the negative terminal of BAT1 through Q6 and Q8; or Q10 and Q12 in L1 can be turned on, and the current will return to the negative terminal of BAT1 through Q10 and Q12; or Q6 and Q8 in L2 and Q10 and Q12 in L1 can be turned on simultaneously, and the current will return to the negative terminal of BAT1 through two branches, thus completing the discharge process.

[0092] In summary, the motor control method proposed in this disclosure controls only one transistor to be turned on at any given time in the first branch of the motor control circuit and each branch of the voltage multiplier circuit, and simultaneously controls the position of the turned-on transistor, thereby realizing the charging and voltage multiplication process of the voltage multiplier capacitor. This can reduce the overall cost of the motor and controller at the same power, and further improve the vehicle's climbing ability.

[0093] Figure 5A This is an architecture diagram of a motor control circuit, in which L1, L2, and L3 are three-phase coils, Q1 to Q12 are controllable switches, PWM1 to PWM12 are control sources, C1 is the bus capacitor, C2 to PWM4 are voltage multiplier capacitors, and BAT1 is the power supply. Figure 5B This is a schematic diagram of the four-wire output configuration of the three-phase coils corresponding to L1, L2, and L3 mentioned above.

[0094] The voltage multiplication process achieved by the above circuit is as follows: Q2 and Q4 are turned on, Q1 and Q3 are turned off, and the power flows through C1 and charges C2 to the power supply voltage through D1; then Q2 and Q4 are turned off, Q1 and Q3 are turned on, and the power flows through C1 and is connected in series with C2 through Q3, and then supplies power to the motor through Q4. At this time, the motor operating voltage is twice the power supply voltage.

[0095] In summary, the beneficial effects of the above motor control circuit are as follows: By increasing the voltage, at the same cost, assuming the original voltage is 72V 100A, if the number of transistors is halved, the current can be reduced by 50%; if not reduced, the current can be reduced by 70%. In this case, the climbing ability can be increased by about 30% because the motor inductance increases. With increased inductance, although the current decreases to 70A, the increased voltage causes the inductance to increase more than four times, resulting in an approximately 30% increase in motor torque and a 30% enhancement in climbing ability. Thus, through voltage multiplication control of the motor, a better climbing effect is achieved.

[0096] Figure 6 This is a schematic diagram of the structure of a motor control device 600 provided in an embodiment of the present disclosure. The motor control device 600 includes:

[0097] The control module 610 is used to control any one transistor in the first branch and any one transistor in the voltage doubler circuit to conduct via a control source for charging the voltage doubler capacitor.

[0098] The voltage multiplier module 620 is used to switch the transistors in the first branch and the voltage multiplier circuit according to the real-time voltage value of the voltage multiplier capacitor, so as to perform voltage multiplication on the voltage multiplier capacitor.

[0099] In some embodiments, the control module is further configured to control the first transistor to turn off via a first control source and control the second transistor to turn on via a second control source; control the third transistor to turn off via a third control source and control the fourth transistor to turn on via a fourth control source, so that the power supply charges the voltage doubler capacitor via the voltage doubler diode.

[0100] In some embodiments, the voltage multiplier module is further configured to determine the current voltage value of the voltage multiplier capacitor; when the current voltage value is greater than or equal to a preset voltage value, the module controls the first transistor to turn on via a first control source, controls the second transistor to turn off via a second control source, controls the third transistor to turn on via a third control source, and controls the fourth transistor to turn off via a fourth control source, so that the real-time voltage value of the voltage multiplier capacitor is controlled by the third transistor to reach a preset multiple of the power supply voltage value.

[0101] In summary, the motor control device proposed in this disclosure can reduce the cost of the motor and controller while maintaining the same power output, thereby further improving the vehicle's hill-climbing ability.

[0102] Since the apparatus provided in this embodiment corresponds to the methods provided in the above embodiments, the implementation of the methods is also applicable to the apparatus provided in this embodiment, and will not be described in detail in this embodiment.

[0103] The methods and apparatus provided in the embodiments of this application have been described above. To implement the functions of the methods provided in the embodiments of this application, the electronic device may include a hardware structure and software modules, and may implement the above functions in the form of a hardware structure, software modules, or a hardware structure plus software modules. One of the above functions may be executed in the form of a hardware structure, software modules, or a hardware structure plus software modules.

[0104] Figure 7 This is a schematic diagram of the structure of an electronic device 700 provided in an embodiment of this application. The electronic device 700 can be a network device, a terminal device, a chip, chip system, or processor that supports the implementation of the above methods in a network device, or a chip, chip system, or processor that supports the implementation of the above methods in a terminal device. This device can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0105] Electronic device 700 may include one or more processors 701. Processor 701 may be a general-purpose processor or a special-purpose processor, such as a baseband processor or a central processing unit (CPU). The baseband processor can be used to process communication protocols and communication data, while the CPU can be used to control electronic devices (e.g., base stations, baseband chips, terminal devices, terminal device chips, DUs or CUs, etc.), execute computer programs, and process data from the computer programs.

[0106] Optionally, the electronic device 700 may further include one or more memories 702, which may store a computer program 704. The processor 701 executes the computer program 704 to cause the electronic device 700 to perform the methods described in the above method embodiments. Optionally, the memory 702 may also store data. The electronic device 700 and the memory 702 may be provided separately or integrated together.

[0107] Optionally, the electronic device 700 may also include a transceiver 705 and an antenna 706. The transceiver 705 may be referred to as a transceiver unit, transceiver, or transceiver circuit, etc., and is used to implement the transceiver function. The transceiver 705 may include a receiver and a transmitter. The receiver may be referred to as a receiver or receiving circuit, etc., and is used to implement the receiving function; the transmitter may be referred to as a transmitter or transmitting circuit, etc., and is used to implement the transmitting function.

[0108] Optionally, the electronic device 700 may further include one or more interface circuits 707. The interface circuits 707 are used to receive code instructions and transmit them to the processor 701. The processor 701 executes the code instructions to cause the electronic device 700 to perform the methods described in the above method embodiments.

[0109] In one implementation, the processor 701 may include a transceiver for implementing receiving and transmitting functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, or interface circuit can be used for reading and writing code / data, or it can be used for transmitting or relaying signals.

[0110] In one implementation, processor 701 may store computer program 703, which runs on processor 701 and causes electronic device 700 to perform the methods described in the above method embodiments. Computer program 703 may be embedded in processor 701; in this case, processor 701 may be implemented in hardware.

[0111] In one implementation, the electronic device 700 may include circuitry that performs the functions of transmitting, receiving, or communicating as described in the aforementioned method embodiments. The processor and transceiver described in this application can be implemented on integrated circuits (ICs), analog ICs, radio frequency integrated circuits (RFICs), mixed-signal ICs, application-specific integrated circuits (ASICs), printed circuit boards (PCBs), electronic devices, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal-oxide semiconductors (CMOS), n-type metal-oxide-semiconductor (NMOS), p-type metal-oxide-semiconductor (PMOS), bipolar junction transistors (BJTs), bipolar CMOS (BiCMOS), silicon-germanium (SiGe), gallium arsenide (GaAs), etc.

[0112] In some embodiments, the electronic device may include the motor control circuit described above.

[0113] The electronic devices described in the above embodiments may be network devices or terminal devices, but the scope of the electronic devices described in this application is not limited thereto, and the structure of the electronic devices may vary. Figure 7 There are limitations. Electronic devices can be standalone devices or part of a larger device. For example, an electronic device can be:

[0114] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0115] (2) A collection of one or more ICs, optionally including storage components for storing data and computer programs;

[0116] (3) ASIC, such as modem;

[0117] (4) Modules that can be embedded in other devices;

[0118] (5) Receivers, terminal equipment, smart terminal equipment, cellular phones, wireless equipment, handheld devices, mobile units, vehicle-mounted equipment, network equipment, cloud equipment, artificial intelligence equipment, etc.

[0119] (6) Others, etc.

[0120] Embodiments of this disclosure also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the motor control method described in the above embodiments of this disclosure.

[0121] Embodiments of this disclosure also provide a vehicle that includes the motor control device described in the above embodiments.

[0122] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0123] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0124] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. 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.

[0125] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention 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 will be understood by those skilled in the art to which embodiments of the invention pertain.

[0126] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processing module, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (control method), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic device, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0127] It should be understood that various parts of the embodiments of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0128] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0129] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc.

[0130] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A motor control circuit, characterized in that, The motor control circuit includes: an initial control circuit and a voltage multiplier circuit. The initial control circuit includes three sets of coils, and the first set of coils is connected to the first branch and the power supply respectively. The first branch includes a first transistor and a second transistor. The second connection terminal of the first transistor is connected to the power supply through the voltage doubler diode in the voltage doubler circuit. The first connection terminal of the first transistor is connected to the second connection terminal of the second transistor. The first connection terminal of the second transistor is connected to the power supply through the voltage doubler circuit. The voltage multiplier circuit includes a voltage multiplier capacitor. The first end of the voltage multiplier capacitor is connected to the second connection terminal of the first transistor, and the second end of the voltage multiplier capacitor is connected to the first connection terminal of the second transistor. The voltage multiplier circuit is used to control the voltage value of the voltage multiplier capacitor to reach a preset multiple of the power supply voltage value.

2. The motor control circuit according to claim 1, characterized in that, The voltage multiplier circuit also includes a third transistor and a fourth transistor. The third transistor is connected in parallel with the fourth transistor, the second connection terminal of the third transistor is connected to the power supply, and the first connection terminal of the third transistor is connected to the second terminal of the voltage multiplier capacitor. The second connection terminal of the fourth transistor is connected to the second terminal of the voltage multiplier capacitor, and the first connection terminal of the fourth transistor is connected to the power supply.

3. The motor control circuit according to claim 2, characterized in that, The first branch also includes a first control source and a second control source, and the voltage multiplier circuit also includes a third control source and a fourth control source. The two ends of each control source are respectively connected to the control terminal and the first connection terminal of the corresponding transistor, and each control source is used to control the conduction or shutdown of the corresponding transistor.

4. The motor control circuit according to claim 3, characterized in that, The first control source controls the first transistor to turn off and the third control source controls the third transistor to turn off, the second control source controls the second transistor to turn on and the fourth control source controls the fourth transistor to turn on, so as to charge the voltage doubler capacitor; When the voltage of the voltage multiplier capacitor reaches a preset voltage value, the first control source controls the first transistor to turn on and the third control source controls the third transistor to turn on, the second control source controls the second transistor to turn off and the fourth control source controls the fourth transistor to turn off, so as to make the voltage of the voltage multiplier capacitor reach a preset multiple of the power supply voltage value.

5. The motor control circuit according to claim 4, characterized in that, The motor control circuit also includes a bus capacitor and a bus resistor. The bus capacitor is connected in parallel with the power supply, and the bus resistor is connected in series in the circuit between each group of coils and the power supply.

6. A motor control method, characterized in that, The motor control method is applied to the motor control circuit as described in any one of claims 1-5, and the method includes: The control source controls any one transistor in the first branch and any one transistor in the voltage doubler circuit to turn on, so as to charge the voltage doubler capacitor. Based on the real-time voltage value of the voltage multiplier capacitor, the control source switches the transistors in the first branch and the voltage multiplier circuit to perform voltage multiplication on the voltage multiplier capacitor.

7. The method according to claim 6, characterized in that, The step of controlling the conduction of any transistor in the first branch and any transistor in the voltage multiplier circuit via a control source includes: The first transistor is turned off by a first control source, and the second transistor is turned on by a second control source; The third transistor is turned off by a third control source, and the fourth transistor is turned on by a fourth control source, so that the power supply can charge the voltage doubler capacitor through the voltage doubler diode.

8. The method according to claim 6, characterized in that, The step of switching the transistors in the first branch and the voltage multiplier circuit via the control source according to the real-time voltage value of the voltage multiplier capacitor to perform voltage multiplication on the voltage multiplier capacitor includes: Determine the current voltage value of the voltage multiplier capacitor; When the current voltage value is greater than or equal to a preset voltage value, the first transistor is turned on by the first control source, and the second transistor is turned off by the second control source. The third transistor is turned on by the third control source, and the fourth transistor is turned off by the fourth control source, so that the real-time voltage value of the voltage multiplier capacitor is controlled by the third transistor to reach a preset multiple of the power supply voltage value.

9. A motor control device, characterized in that, The device includes: The control module is used to control any one transistor in the first branch and any one transistor in the voltage doubler circuit to conduct via a control source, so as to charge the voltage doubler capacitor. The voltage multiplier module is used to switch the transistors in the first branch and the voltage multiplier circuit according to the real-time voltage value of the voltage multiplier capacitor, so as to perform voltage multiplication on the voltage multiplier capacitor.

10. An electronic device, characterized in that, Includes the circuit as described in any one of claims 1-5.

11. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method as described in any one of claims 6-8.

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