Motor control device and vehicle

Abstract

The utility model relates to the technical field of motor control, and discloses a motor control device and a vehicle, the motor control device comprises two controllers and two drive circuits; the output ends of the first controller and the second controller are respectively connected with the control ends of the first driving circuit and the second driving circuit; the output ends of the first driving circuit and the second driving circuit are respectively connected with the first end and the second end of the controlled motor; when the controlled motor is controlled to rotate in the first direction, the first driving circuit provides electric energy for the first end of the controlled motor, the second driving circuit provides a grounding loop for the second end of the controlled motor, and when the controlled motor is controlled to rotate in the second direction, the first driving circuit provides a grounding loop for the first end of the controlled motor. And the second driving circuit provides electric energy for the second end of the controlled motor. According to the utility model, no extra controller is needed, the cost can be reduced, the number of wire harnesses between the controlled motor and each controller is small, and the whole structure is simple.

Description

Technical Field

[0001] The utility model relates to the technical field of motor control, in particular to a motor control device and a vehicle. Background Art

[0002] Robots, vehicles, and other devices typically feature multiple motors. Controlling the motors' forward and reverse rotation achieves specific control objectives. However, as functional requirements increase, adding more motors to a device requires adding controllers to control them. This not only increases costs but also adds more wiring harnesses and complicates the structure. Utility Model Content

[0003] In view of this, the present invention provides a motor control device and a vehicle to solve the problem of complex motor control structure.

[0004] In a first aspect, the utility model provides a motor control device, comprising: a first controller, a second controller, a first drive circuit and a second drive circuit;

[0005] The output end of the first controller is connected to the control end of the first driving circuit, and the output end of the second controller is connected to the control end of the second driving circuit;

[0006] The output end of the first driving circuit is used to be connected to the first end of the controlled motor, and the output end of the second driving circuit is used to be connected to the second end of the controlled motor;

[0007] The first drive circuit is configured to provide electrical energy to the first end of the controlled motor when the controlled motor is controlled to rotate in a first direction, and to provide a grounding circuit for the first end of the controlled motor when the controlled motor is controlled to rotate in a second direction;

[0008] The second drive circuit is used to provide a grounding loop for the second end of the controlled motor when the controlled motor is controlled to rotate in a first direction, and to provide electric energy to the second end of the controlled motor when the controlled motor is controlled to rotate in a second direction.

[0009] In some optional embodiments, the first driving circuit includes: a first switching tube and a second switching tube; the second driving circuit includes: a third switching tube and a fourth switching tube;

[0010] The control terminal of the first switching tube is connected to the first control terminal of the first controller, the current input terminal of the first switching tube is used to connect to a power supply, and the current output terminal of the first switching tube is connected to the current input terminal of the second switching tube; and the current output terminal of the first switching tube is used to connect to the first terminal of the controlled motor;

[0011] The control end of the second switch tube is connected to the second control end of the first controller, and the current output end of the second switch tube is grounded;

[0012] The control terminal of the third switch tube is connected to the first control terminal of the second controller, the current input terminal of the third switch tube is used to connect to the power supply, and the current output terminal of the third switch tube is connected to the current input terminal of the fourth switch tube; and the current output terminal of the third switch tube is used to connect to the second terminal of the controlled motor;

[0013] The control end of the fourth switch tube is connected to the second control end of the second controller, and the current output end of the fourth switch tube is grounded.

[0014] In some optional implementations, the current output end of the first switch tube is further connected to the current collection end of the first controller; the current output end of the third switch tube is further connected to the current collection end of the second controller.

[0015] In some optional embodiments, when controlling the controlled motor to rotate in a first direction, at least one of the first control end of the first controller and the second control end of the second controller outputs a PWM signal; when controlling the controlled motor to rotate in a second direction, at least one of the second control end of the first controller and the first control end of the second controller outputs a PWM signal.

[0016] In some optional embodiments, for the switching tube in the first driving circuit or the second driving circuit, when the control end of the switching tube is at a high level, the current input end and the current output end of the switching tube are connected; when the control end of the switching tube is at a low level, the current input end and the current output end of the switching tube are disconnected.

[0017] In some optional implementations, the first controller and the second controller are time synchronized.

[0018] In some optional embodiments, the apparatus further comprises: a high-performance controller;

[0019] The high-performance controller is connected to the first controller and the second controller, and is used to perform time synchronization on the first controller and the second controller.

[0020] In some optional embodiments, both the first controller and the second controller include a multi-core processor.

[0021] In a second aspect, the present invention provides a vehicle, comprising a controlled motor and the motor control device as described in the first aspect.

[0022] In some optional embodiments, the controlled motor is a front trunk lock motor; and the first controller and the second controller of the motor control device are both domain controllers.

[0023] The motor control device provided in this embodiment utilizes the existing first controller and second controller to control the controlled motor, without adding additional controllers, which can reduce costs; and the first drive circuit and the second drive circuit work together to achieve forward and reverse control of the controlled motor. The number of wiring harnesses between the controlled motor and each controller is small, and the overall structure is simple; and the first controller and the second controller are arranged in parallel, which can also enable the controlled motor to meet higher safety function requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in related technologies, the following briefly introduces the drawings required for use in the specific implementation methods or related technical descriptions. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 This is a schematic diagram of the control structure of the motor drive class according to an embodiment of the present utility model;

[0026] Figure 2 This is a structural diagram of a motor control device according to an embodiment of the present utility model;

[0027] Figure 3 is another structural schematic diagram of a motor control device according to an embodiment of the present utility model;

[0028] Figure 4 1 is a schematic diagram of the timing control of the front trunk lock motor according to an embodiment of the present utility model.

[0029] Description of reference numerals:

[0030] 10. First controller; 20. Second controller; 30. First drive circuit; 40. Second drive circuit; 50. High-performance controller; 100. Controlled motor; T1. First switch tube; T2. Second switch tube; T3. Third switch tube; T4. Fourth switch tube. DETAILED DESCRIPTION

[0031] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be understood that terms indicating orientation or positional relationships, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0034] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0035] In addition, numerous specific details are provided in the following detailed description to better illustrate the present invention. Those skilled in the art will appreciate that the present invention can be practiced without certain specific details. In some instances, methods, means, and components well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present invention.

[0036] Taking new energy vehicles (e.g., electric vehicles) as an example, with the rapid iteration of technology, the space in the front trunk has also increased, and users' frequency of use has also increased. Currently, new energy vehicles mainly have two methods for opening the front trunk lid: mechanical and motor-driven. The mechanical opening method is relatively mature and is unlocked by pulling a mechanical handle 1-2 times from the driver's seat; the motor-driven method is completed by a controller controlling the motor to drive the pull wire.

[0037] Figure 1 The control structure diagram of the motor drive class is shown in FIG. Figure 1 As shown, the vehicle's High Performance Computer (HPC) is connected to an ECU (Electronic Control Unit), or ECU1, via Ethernet (Ethernet) or CAN (Controller Area Network). Furthermore, a separate controller, or motor controller, is configured for the front trunk lock motor M. This controller can also be a type of ECU. ECU1 powers the motor controller and provides motor drive signals to the motor controller via CAN, enabling the motor controller to control the forward and reverse rotation of the front trunk lock motor M as needed, thereby unlocking the trunk.

[0038] With the development of the architecture, the control scheme of the Domain Control Unit (DCU) has gradually evolved, and the functions of the discrete ECUs have been gradually integrated. Figure 1 The structure shown adds a separate controller motor controller, which is connected to ECU1 via CAN, which does not meet the new architectural evolution trend.

[0039] Furthermore, adding a dedicated motor controller increases development costs, leading to higher unit costs. The addition of a motor controller also complicates the wiring harnesses from ECU 1 to the motor controller, and from the motor controller to the motor M. Furthermore, this control structure increases the number of communication links, potentially hindering timely signal transmission and impacting the user experience.

[0040] The embodiment of the utility model provides a motor control device, which uses two existing controllers to realize forward and reverse control of electrodes, does not require additional controllers, can reduce the number of wiring harnesses, and has a simple structure. Figure 2 A structural diagram of the motor control device is shown in FIG. Figure 2 As shown, the motor control device includes: a first controller 10 , a second controller 20 , a first drive circuit 30 and a second drive circuit 40 .

[0041] Among them, the output end of the first controller 10 is connected to the control end of the first drive circuit 30, and the output end of the second controller 20 is connected to the control end of the second drive circuit 40; the output end of the first drive circuit 30 is used to be connected to the first end of the controlled motor 100, and the output end of the second drive circuit 40 is used to be connected to the second end of the controlled motor 100.

[0042] The first drive circuit 30 is configured to provide electrical energy to a first terminal of the controlled motor 100 when the controlled motor 100 is controlled to rotate in a first direction, and to provide a ground return path for the first terminal of the controlled motor 100 when the controlled motor 100 is controlled to rotate in a second direction. The second drive circuit 40 is configured to provide a ground return path for a second terminal of the controlled motor 100 when the controlled motor 100 is controlled to rotate in the first direction, and to provide electrical energy to the second terminal of the controlled motor 100 when the controlled motor 100 is controlled to rotate in the second direction.

[0043] In this embodiment, the motor control device is used to control the controlled motor 100 in the controlled device. For example, the controlled device is a robot, and the controlled motor 100 is an electrode at the joint of the robot; or, the controlled device is a vehicle, and the controlled motor 100 is a motor of an electronically controlled component in the vehicle, such as a front trunk lock motor.

[0044] The controlled motor 100 is a DC motor having two ends, namely a first end and a second end. When the current flowing through the controlled motor 100 flows from the first end to the second end, the controlled motor 100 can rotate in a first direction, for example, the controlled motor 100 rotates forward. If the current flowing through the controlled motor 100 flows from the second end to the first end, the controlled motor 100 can rotate in a second direction, which is opposite to the first direction, for example, the controlled motor 100 rotates in reverse. This embodiment utilizes two existing controllers to control the corresponding drive circuits to achieve forward and reverse rotation control of the controlled motor 100.

[0045] Specifically, the two existing controllers in the controlled device are used as the first controller 10 and the second controller 20 in the motor control device, that is, the first controller 10 and the second controller 20 are the existing controllers in the controlled device, and the first controller 10 and the second controller 20 themselves can realize other functions. For example, taking the controlled device as a vehicle as an example, the first controller 10 and the second controller 20 can be traditional body controllers, or left area controllers, right area controllers, rear area controllers, power system controllers, thermal management integrated controllers, etc., which can be determined based on actual needs. For example, the first controller 10 or the second controller 20 can be Figure 1 ECU1 shown.

[0046] like Figure 2As shown, the first controller 10 and the second controller 20 are respectively provided with corresponding drive circuits, namely, a first drive circuit 30 and a second drive circuit 40. The first drive circuit 30 can be connected to a first terminal of the controlled motor 100 to supply power or ground to the first terminal of the controlled motor 100; the second drive circuit 40 can be connected to a second terminal of the controlled motor 100 to supply power or ground to the second terminal of the controlled motor 100.

[0047] Specifically, if it is currently necessary to control the controlled motor 100 to rotate in a first direction (for example, forward rotation), the first drive circuit 30 can provide electrical energy to the first end of the controlled motor 100, and the second drive circuit 40 can provide a grounding loop for the second end of the controlled motor 100, so that the first drive circuit 30 → controlled motor 100 → second drive circuit 40 forms a power supply loop, and there is current from the first end to the second end of the controlled motor 100, so the controlled motor 100 can rotate in the first direction.

[0048] On the contrary, if it is currently necessary to control the controlled motor 100 to rotate in a second direction (for example, reverse), the first drive circuit 30 can provide a ground loop for the first end of the controlled motor 100, and the second drive circuit 40 can provide electrical energy for the second end of the controlled motor 100, so that the second drive circuit 40 → controlled motor 100 → first drive circuit 30 can also form a power supply loop, and there is a current from the second end to the first end of the controlled motor 100, so the controlled motor 100 can rotate in the second direction.

[0049] in, Figure 2 What is shown is a logical structure of a motor control device. The drive circuit can be integrated into a corresponding controller. For example, the first drive circuit 30 can be integrated into the first controller 10, which will not be described in detail here.

[0050] The Automotive Safety Integrity Level (ASILD) is divided into four levels: ASIL A, ASIL B, ASIL C, and ASIL D, increasing from A to D. Taking the controlled motor 100 as the front trunk lock motor as an example, due to functional safety requirements, to avoid safety issues caused by the front trunk lid opening unexpectedly while driving, the safety level of the front trunk lid unlocking function is defined as the highest ASIL D, while the functional safety level requirement of the controller in the vehicle is generally ASILB. In this embodiment, if the safety level of the first controller 10 and the second controller 20 is ASILB, since the first controller 10 and the second controller 20 are two parallel controllers, any problem with one of them will cause the controlled motor 100 to stop working, so that the safety level of the controlled motor 100 can reach ASIL D, meeting the functional safety requirements.

[0051] The motor control device provided by the embodiment of the present invention utilizes the existing first controller 10 and the second controller 20 to control the controlled motor 100, without adding additional controllers, which can reduce costs; and the first drive circuit 30 and the second drive circuit 40 work together to achieve forward and reverse control of the controlled motor 100. The number of wiring harnesses between the controlled motor 100 and each controller is small, and the overall structure is simple; and the first controller 10 and the second controller 20 are arranged in parallel, which can also enable the controlled motor 100 to meet higher safety function requirements.

[0052] In some optional embodiments, such as Figure 2 As shown, the first driving circuit 30 includes: a first switching tube T1 and a second switching tube T2; the second driving circuit 40 includes: a third switching tube T3 and a fourth switching tube T4.

[0053] The control end of the first switch tube T1 is connected to the first control end GH-1 of the first controller 10. The current input end of the first switch tube T1 is used to connect to the power supply VCC, and the current output end of the first switch tube T1 is connected to the current input end of the second switch tube T2. In addition, the current output end of the first switch tube T1 is used to connect to the first end of the controlled motor 100 (that is, the current output end of the first switch tube T1 serves as the output end of the first drive circuit 30). The control end of the second switch tube T2 is connected to the second control end GL-1 of the first controller 10, and the current output end of the second switch tube T2 is grounded.

[0054] The control end of the third switch tube T3 is connected to the first control end GH-2 of the second controller 20. The current input end of the third switch tube T3 is used to connect to the power supply VCC. The current output end of the third switch tube T3 is connected to the current input end of the fourth switch tube T4. In addition, the current output end of the third switch tube T3 is used to connect to the second end of the controlled motor 100 (that is, the current output end of the third switch tube T3 serves as the output end of the second drive circuit 40). The control end of the fourth switch tube T4 is connected to the second control end GL-2 of the second controller 20, and the current output end of the fourth switch tube T4 is grounded.

[0055] In an embodiment of the present invention, a driving circuit is implemented using a switching transistor. The switching transistor has a control terminal, a current input terminal, and a current output terminal. By configuring the level of the control terminal, the conduction between the current input terminal and the current output terminal can be controlled, thereby realizing a switching function. For example, the switching transistor can be a triode or a field-effect transistor (MOS); for example, the first switching transistor T1, the second switching transistor T2, the third switching transistor T3, and the fourth switching transistor T4 are all field-effect transistors.

[0056] To prevent the controlled motor 100 from continuing to rotate in the event of a controller failure, the control terminals of the switches in this embodiment are all active-high. That is, the switches are only turned on when the control terminals are high. Specifically, for the switches in the first drive circuit 30 or the second drive circuit 40, when the control terminals of the switches are high, the current input and output terminals of the switches are connected; when the control terminals of the switches are low, the current input and output terminals of the switches are disconnected. For example, the first switch T1, the second switch T2, the third switch T3, and the fourth switch T4 are all NMOS transistors.

[0057] In this embodiment, the first controller 10 has two control terminals, namely, a first control terminal GH-1 and a second control terminal GL-1. Similarly, the second controller 20 also has two control terminals, namely, a first control terminal GH-2 and a second control terminal GL-2. The four control terminals are respectively used to control corresponding switching transistors.

[0058] The working principle of the motor control device is as follows:

[0059] If the controlled motor 100 is currently being controlled to rotate in a first direction (e.g., forward), the first control terminal GH-1 of the first controller turns on the first switch T1, and the second control terminal GL-1 turns off the second switch T2. For example, the first control terminal GH-1 outputs a high level, while the second control terminal GL-1 outputs a low level. At this point, the power supply VCC, such as the vehicle's KL30 power supply, can provide power to the first terminal of the controlled motor 100 via the turned-on first switch T1.

[0060] Furthermore, the first control terminal GH-2 of the second controller turns off the third switch T3, and the second control terminal GL-2 turns on the fourth switch T4. For example, the first control terminal GH-2 outputs a low level, while the second control terminal GL-2 outputs a high level. At this point, the first terminal of the controlled motor 100 is grounded via the turned-on fourth switch T4. This forms a loop: power supply VCC → first switch T1 → controlled motor 100 → fourth switch T4 → ground, causing the controlled motor 100 to rotate in the first direction.

[0061] If the controlled motor 100 is currently being controlled to rotate in a second direction (e.g., reverse), the first control terminal GH-1 of the first controller turns off the first switch T1, and the second control terminal GL-1 turns on the second switch T2. For example, the first control terminal GH-1 outputs a low level, and the second control terminal GL-1 outputs a high level. At this point, the first terminal of the controlled motor 100 is grounded via the turned-on second switch T2.

[0062] Furthermore, the first control terminal GH-2 of the second controller turns on the third switch T3, while the second control terminal GL-2 turns off the fourth switch T4. For example, the first control terminal GH-2 outputs a high level, while the second control terminal GL-2 outputs a low level. At this point, the power supply VCC can provide power to the second terminal of the controlled motor 100 via the turned-on third switch T3. This forms a loop: power supply VCC → third switch T3 → controlled motor 100 → second switch T2 → ground, causing the controlled motor 100 to rotate in the second direction.

[0063] Optionally, the controller may output a PWM signal to control the speed of the controlled motor 100. Specifically, when controlling the controlled motor 100 to rotate in a first direction, at least one of the first control terminal GH-1 of the first controller 10 and the second control terminal GL-2 of the second controller 20 outputs a PWM signal. Similarly, when controlling the controlled motor 100 to rotate in a second direction, at least one of the second control terminal GL-1 of the first controller 10 and the first control terminal GH-2 of the second controller 20 outputs a PWM signal.

[0064] For example, the first control terminal GH-1 of the first controller 10 and the first control terminal GH-2 of the second controller 20 can output a PWM signal, while the second control terminal GL-1 of the first controller 10 and the second control terminal GL-2 of the second controller 20 output a normally high or normally low signal. Alternatively, the first control terminal GH-1 of the first controller 10 and the first control terminal GH-2 of the second controller 20 output a normally high or normally low signal, while the second control terminal GL-1 of the first controller 10 and the second control terminal GL-2 of the second controller 20 output a PWM signal.

[0065] Optionally, the first controller 10 and the second controller 20 both include a multi-core processor (e.g., a multi-core MCU), so that the first controller 10 and the second controller 20 can allocate a separate core to specifically control the rotation of the controlled motor 100; by implementing motor control by a separate core, the accuracy of motor control can be ensured, and the time uncertainty caused by scheduling multiple tasks can be reduced.

[0066] Alternatively, if Figure 3 As shown, the current output end of the first switch tube T1 is also connected to the current collection end SH- 1 of the first controller 10 ; the current output end of the third switch tube T3 is also connected to the current collection end SH- 2 of the second controller 20 .

[0067] In this embodiment, the controller also collects the current during the process of controlling the controlled motor 100 through the corresponding current collection terminal, so as to monitor the motor control process.

[0068] In some optional implementations, the control of the controlled motor 100 generally has timing requirements. Figure 4 The timing control diagram of the front trunk lock motor is shown; wherein, the power supply VCC is 12V. When a positive 12V voltage is supplied to the motor, the motor can rotate forward, and when a -12V voltage is supplied to the motor, the motor can rotate reversely. By controlling the forward and reverse rotation of the motor, the front trunk lid can be unlocked.

[0069] In order to achieve time sequence control, the first controller 10 and the second controller 20 are time synchronized.

[0070] Specifically, if Figure 3 As shown, the device also includes a high-performance controller 50. Taking a vehicle as an example, the high-performance controller 50 can be a cockpit domain controller or an intelligent driving domain controller. The high-performance controller 50 is connected to the first controller 10 and the second controller 20 to synchronize the time of the first controller 10 and the second controller 20.

[0071] In this embodiment, the high-performance controller 50 can be connected to the first controller 10 and the second controller 20 via Ethernet or CAN. When connected via Ethernet, time synchronization can be achieved through EthTsync, and when connected via CAN, time synchronization can be achieved through CanTsyn. The master of time synchronization is the high-performance controller 50, thereby ensuring that the first controller 10 and the second controller 20 can maintain consistency in the timing of controlling the switch tubes.

[0072] Based on the same utility model concept, the embodiment of the utility model further provides a vehicle, which can be, for example, a new energy vehicle. Specifically, the vehicle includes a controlled motor 100 and the motor control device provided in the above embodiment.

[0073] The controlled motor 100 is the front trunk lock motor; the first controller 10 and the second controller 20 of the motor control device are both domain controllers. Domain controllers that are closer to the front trunk lock motor can be used as the first controller 10 and the second controller 20. For example, the left domain controller can be used as the first controller 10, and the right domain controller can be used as the second controller 20.

[0074] This embodiment utilizes the vehicle's existing domain controller to control the front trunk lock motor, eliminating the need for an additional ECU and reducing costs. Furthermore, the number of wiring harnesses can be reduced, simplifying the control structure and the control chain. Furthermore, the integrated control of the front trunk lock motor by two parallel domain controllers ensures that the front trunk lock motor meets safety requirements.

[0075] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A motor control device, characterized in that: The device comprises: a first controller (10), a second controller (20), a first drive circuit (30) and a second drive circuit (40); The output end of the first controller (10) is connected to the control end of the first drive circuit (30), and the output end of the second controller (20) is connected to the control end of the second drive circuit (40); The output end of the first drive circuit (30) is used to be connected to a first end of a controlled motor (100), and the output end of the second drive circuit (40) is used to be connected to a second end of the controlled motor (100); The first drive circuit (30) is used to provide electric energy to a first end of the controlled motor (100) when the controlled motor (100) is controlled to rotate in a first direction, and to provide a grounding circuit to the first end of the controlled motor (100) when the controlled motor (100) is controlled to rotate in a second direction; The second drive circuit (40) is used to provide a grounding circuit for the second end of the controlled motor (100) when the controlled motor (100) is controlled to rotate in a first direction, and to provide electric energy for the second end of the controlled motor (100) when the controlled motor (100) is controlled to rotate in a second direction.

2. The device according to claim 1, characterized in that The first drive circuit (30) includes: a first switch tube (T1) and a second switch tube (T2); the second drive circuit (40) includes: a third switch tube (T3) and a fourth switch tube (T4); The control end of the first switch tube (T1) is connected to the first control end of the first controller (10); the current input end of the first switch tube (T1) is used to connect to a power supply; the current output end of the first switch tube (T1) is connected to the current input end of the second switch tube (T2); and the current output end of the first switch tube (T1) is used to connect to the first end of the controlled motor (100); The control end of the second switch tube (T2) is connected to the second control end of the first controller (10), and the current output end of the second switch tube (T2) is grounded; The control end of the third switch tube (T3) is connected to the first control end of the second controller (20); the current input end of the third switch tube (T3) is used to connect to a power supply; the current output end of the third switch tube (T3) is connected to the current input end of the fourth switch tube (T4); and the current output end of the third switch tube (T3) is used to connect to the second end of the controlled motor (100); The control end of the fourth switch tube (T4) is connected to the second control end of the second controller (20), and the current output end of the fourth switch tube (T4) is grounded.

3. The device according to claim 2, characterized in that The current output terminal of the first switch tube (T1) is also connected to the current collection terminal of the first controller (10); The current output end of the third switch tube (T3) is also connected to the current collection end of the second controller (20).

4. The device according to claim 2, characterized in that When the controlled motor (100) is controlled to rotate in a first direction, at least one of the first control terminal of the first controller (10) and the second control terminal of the second controller (20) outputs a PWM signal; When the controlled motor (100) is controlled to rotate in a second direction, at least one of the second control terminal of the first controller (10) and the first control terminal of the second controller (20) outputs a PWM signal.

5. The device according to claim 1, characterized in that For the switch tube in the first drive circuit (30) or the second drive circuit (40), when the control terminal of the switch tube is at a high level, the current input terminal and the current output terminal of the switch tube are connected; when the control terminal of the switch tube is at a low level, the current input terminal and the current output terminal of the switch tube are disconnected.

6. The device according to claim 1, characterized in that The first controller (10) and the second controller (20) are time synchronized.

7. The device according to claim 6, characterized in that Also includes: High performance controller (50); The high-performance controller (50) is connected to the first controller (10) and the second controller (20) and is used to perform time synchronization on the first controller (10) and the second controller (20).

8. The device according to claim 1, characterized in that The first controller (10) and the second controller (20) both include multi-core processors.

9. A vehicle, characterized in that: The invention comprises a controlled motor (100) and a motor control device according to any one of claims 1 to 8.

10. The vehicle according to claim 9, characterized in that The controlled motor (100) is a front trunk lock motor; The first controller (10) and the second controller (20) of the motor control device are both domain controllers.

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