Safety control circuit of motor, motor controller and vehicle
By designing a safety control circuit that includes a drive circuit, a power management circuit, a main control circuit, and a status adjustment circuit, the problem of low safety level of motor controllers was solved, and reliable shutdown of the motor was achieved in case of failure, thus enhancing the reliability and safety level of the safety control circuit.
Patent Information
- Application Number
- CN202423317904.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-12-19
- Estimated Expiration
- 2034-12-31
Smart Images
Figure CN223693663U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of motor control, in particular to a safety control circuit of a motor, a motor controller and a vehicle. BACKGROUND
[0002] As a power control system of a vehicle, the motor controller controls the key performance of the vehicle such as acceleration and braking. The safety risk caused by the failure of the motor controller cannot be ignored. Therefore, the functional safety design of the motor controller is gradually becoming a common demand in the industry, and the shutdown path design is particularly important. Under various complex operating conditions, it is necessary to ensure that the motor controller can be turned off in time and reliably when a fault or dangerous situation occurs, so as to protect the safety of the vehicle and passengers. CONTENT OF THE UTILITY MODEL
[0003] The present application provides a safety control circuit of a motor, a motor controller and a vehicle to solve the technical problem of low safety level of the existing motor controller.
[0004] The present application provides a safety control circuit of a motor, which comprises a driving circuit, a power management circuit, a main control circuit and a state adjustment circuit. The driving circuit is used to drive the motor to work. The power management circuit is connected to a power supply signal and is used to output a first safety signal. The main control circuit is connected to the power management circuit and the driving circuit respectively and is used to output a second safety signal, a first safety state signal and a control signal. The control signal is used to adjust the driving voltage of the driving circuit. The state adjustment circuit is connected to the power management circuit, the driving circuit and the main control circuit and is used to adjust the driving enable signal based on the first safety signal and the second safety signal and to generate the second safety state signal based on the first safety state signal. When the driving enable signal is disabled, the driving circuit enters the corresponding safety state based on the second safety state signal.
[0005] In an embodiment, the second safety state signal comprises a first sub-safety state signal and a second sub-safety state signal. The state adjustment circuit is provided with a first output end, a second output end and a third output end for outputting the driving enable signal, the first sub-safety state signal and the second sub-safety state signal respectively. The driving circuit comprises an upper bridge driving circuit and a lower bridge driving circuit. The upper bridge driving circuit is connected to the first output end, the second output end and the main control circuit respectively. The lower bridge driving circuit is connected to the first output end, the third output end and the main control circuit respectively. When the driving enable signal is disabled, the upper bridge driving circuit enters the corresponding safety state based on the first sub-safety state signal, and the lower bridge driving circuit enters the corresponding safety state based on the second sub-safety state signal.
[0006] In an embodiment, the state adjustment circuit comprises a first AND gate, inputs of which are connected with the power management circuit and the master control circuit respectively, and an output of which is connected with the driving circuit, for performing logical AND operation on the first safety signal and the second safety signal to obtain the driving enable signal.
[0007] In an embodiment, the state adjustment circuit comprises a first combination logic gate, which is connected with the power management circuit, the master control circuit and the lower bridge driving circuit respectively, and is used for accessing the first safety state signal, a fault signal of the lower bridge driving circuit and the first safety signal; a first NOT gate, an input of which is connected with an output of the first combination logic gate; a second AND gate, a first input of which is connected with an output of the first NOT gate, and an output of which is connected with the upper bridge driving circuit and outputs a first sub-safety state signal; and a second combination logic gate, which is connected with the power management circuit, a second input of the second AND gate, an input of the first NOT gate and the lower bridge driving circuit respectively, and is used for accessing the first safety signal and outputting a second sub-safety state signal.
[0008] In an embodiment, the first combination logic gate comprises a first OR gate, two inputs of which are connected with the fault signal and the first safety signal respectively; and a third AND gate, a first input of which is connected with the first safety state signal, a second input of which is connected with an output of the first OR gate, and an output of which is connected with an input of the first NOT gate.
[0009] In an embodiment, the second combination logic gate comprises a fourth AND gate, a first input of which is connected with an output of the third AND gate, and a second input of which is connected with the second input of the second AND gate; and a second OR gate, a first input of which is connected with the first safety signal, a second input of which is connected with a logic low, and an output of which is connected with the second input of the fourth AND gate.
[0010] In an embodiment, the state adjustment circuit further comprises a resistor, one end of which is connected with the first input of the second OR gate; a second NOT gate, an input of which is connected with the other end of the resistor, and an output of which is connected with the second input of the second OR gate; and a capacitor, one end of which is grounded, and the other end of which is connected with the other end of the resistor.
[0011] In an embodiment, the first combination logic gate comprises a second resistor, one end of which is connected with a preset voltage, and the other end of which is connected with the first input of the third AND gate.
[0012] The application provides a motor controller comprising the above safety control circuit.
[0013] The application provides a vehicle comprising the above motor controller.
[0014] The beneficial effects of the present application are: the safety control circuit of the present application includes a driving circuit, a power management circuit, a main control circuit and a state adjustment circuit, wherein the main control circuit can adjust the driving voltage of the driving circuit through the control signal to control the normal operation or the safe state of the motor. If the main control circuit fails and cannot control the driving circuit to enter the safe state through the control signal, the state adjustment circuit can adjust the driving enable signal based on the first safety signal of the power management circuit and the second safety signal of the main control circuit, so that the driving enable signal is invalid, and thus the output signal of the driving circuit no longer follows the control signal input by the main control circuit, so that the motor enters the safe state, and in this state, the driving circuit further enters the corresponding safe state based on the second safety signal of the state adjustment circuit. That is, the safety control circuit of the present application can realize the multi-path safe shutdown of the motor, can enhance the safety level of the motor controller with the safety control circuit of the motor of the present application; and when different faults occur, the driving circuit can enter the corresponding safe state based on the second safety signal of the state adjustment circuit, which can enhance the reliability of the safety control circuit. BRIEF DESCRIPTION OF DRAWINGS
[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0016] Figure 1 is a structural schematic diagram of an embodiment of the safety control circuit of the motor provided by the present application;
[0017] Figure 2 is Figure 1 is a circuit schematic diagram of an embodiment of the safety control circuit in the embodiment;
[0018] Figure 3 is a structural schematic diagram of an embodiment of the vehicle provided by the present application. DETAILED DESCRIPTION
[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.
[0020] It should be noted that if the application embodiments involve directionality indications (such as up, down, left, right, front, back, etc.), the directionality indications are only used to explain the relative position relationship, motion condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directionality indications will also change accordingly.
[0021] In addition, if the application embodiments involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope claimed by the present application.
[0022] The present application provides a safety control circuit of a motor applied to a motor controller, referring to Figure 1 and Figure 2 , Figure 1 is a structural schematic diagram of an embodiment of the safety control circuit of the motor provided by the present application, Figure 2 is Figure 1 The circuit schematic diagram of an embodiment of the safety control circuit in the embodiment, the safety control circuit 10 includes a driving circuit 110, a power management circuit 120, a main control circuit 130 and a state adjustment circuit 140. Among them, the main control circuit 130 is connected with the power management circuit 120, the state adjustment circuit 140 and the driving circuit 110 respectively, the state adjustment circuit 140 is also connected with the power management circuit 120 and the driving circuit 110 respectively, and the driving circuit 110 is configured to access the motor.
[0023] The driving circuit 110 is used to drive the motor to work. The driving circuit 110 can be a driving circuit 110 composed of various electronic elements, for example, a signal generating circuit and a bridge arm circuit, wherein the signal generating circuit can output a driving signal for controlling the conduction or cut-off of different bridge arms of the bridge arm circuit based on a control signal PWM, and the bridge arm circuit drives the motor to work based on the driving signal. Alternatively, the driving circuit 110 can be a driving circuit 110 integrated with the signal generating circuit and the bridge arm circuit, and the specific structure of the driving circuit 110 is not limited here. The driving circuit 110 has a fault feedback function, and the driving circuit 110 can output a fault signal FB to the main control circuit 130, and the main control circuit 130 can output a control signal PWM to control the driving circuit 110 to enter a safe state according to the fault signal FB.
[0024] The power management circuit 120 has the functions of voltage conversion, voltage stabilization and battery management, and reasonably distributes and controls the accessed power supply signal according to the actual needs of the device, so as to realize efficient, reliable and energy-saving power supply. The power management circuit 120 can output different power supply signals when accessing the power supply signal, and the different power supply signals can be used to power the power consuming devices such as the main control circuit 130 and the driving circuit 110. The power management circuit 120 will start the protection measures in the case of overvoltage, undervoltage, overcurrent and other abnormal conditions to prevent damage to the device. Among them, the power management circuit 120 can be a highly integrated power management chip, or the power management circuit 120 can be a power management circuit 120 composed of different functional modules, which is not limited here. When the power management circuit 120 starts the protection measures, or when the main control circuit 130 fails, the first safety signal SS1 can be output, or in other words, the effective first safety signal SS1 is output, for example, the effective first safety signal SS1 is a low-level signal "0"; the corresponding invalid first safety signal SS1 is a high-level signal "1"; or the effective first safety signal SS1 is a high-level signal "1", and the corresponding invalid first safety signal SS1 is a high-level signal "0", which is not limited here. The first safety signal SS1 is used to regulate the driving enable signal EN of the driving circuit 110.
[0025] The main control circuit 130 can output the second safety signal SS2, the first safety state signal ST1 and the control signal PWM. Among them, the control signal PWM is used to adjust the driving voltage of the driving circuit 110. The main control circuit 130 can control the motor to work normally or enter a safe state by adjusting the driving voltage, so that the vehicle accelerates, constant speed, decelerates, and emergency stops, etc. Among them, the control signal PWM can be a pulse width modulation signal, which is not limited here. The second safety signal SS2 can be used to adjust the driving enable signal EN of the driving circuit 110, wherein the driving enable signal EN is used to control whether the output signal of the driving circuit 110 follows the control signal PWM input by the main control circuit 130. For example, other signals or effective second safety signals SS2 are high-level signals "1", and the second safety signal SS2 or in other words the invalid second safety signal SS2 is a low-level signal "0"; or other signals or effective second safety signals SS2 are low-level signals "0", and the second safety signal SS2 or in other words the invalid second safety signal SS2 is a high-level signal "1", which is not limited here. The first safety state signal ST1 is used to adjust the driving circuit 110 to enter the corresponding safe state. Among them, the main control circuit 130 and the power management can communicate bidirectionally, and the main control circuit 130 can notify the power management circuit 120 to output the first safety signal SS1, or the power management circuit 120 can output the first safety signal SS1 when detecting that the main control circuit 130 fails. The first safety state signal ST1 is used to regulate the safety state of the driving circuit 110.
[0026] The state adjustment circuit 140 is configured to adjust the drive enable signal EN based on the first safety signal SS1 and the second safety signal SS2, and configured to generate the second safety state signal ST2 based on the first safety state signal ST1. When the drive enable signal EN is invalid, the drive circuit 110 enters the corresponding safety state based on the second safety state signal ST2.
[0027] The drive enable signal EN can control whether the output signal of the drive circuit 110 follows the control signal PWM input by the master control circuit 130. When the drive enable signal EN is valid, or the valid drive enable signal EN can control the output signal of the drive circuit 110 to follow the control signal PWM input by the master control circuit 130. When the drive enable signal EN is invalid, or the invalid drive enable signal EN can control the output signal of the drive circuit 110 to no longer follow the control signal PWM input by the master control circuit 130.
[0028] When the master control circuit 130 fails to control the motor to enter the safety state through the control signal PWM, the master control circuit 130 can output the second safety signal SS2, or the power management circuit 120 outputs the first safety signal SS1. The state adjustment circuit 140 adjusts the drive enable signal EN based on the first safety signal SS1 and the second safety signal SS2, so that the drive enable signal EN is invalid, and the output signal of the drive circuit 110 no longer follows the control signal PWM input by the drive circuit 110, so that the motor enters the safety state. The master control circuit 130 outputs the first safety state signal ST1, and the state adjustment circuit 140 outputs the second safety state signal based on the first safety state signal ST1, so that the drive circuit 110 enters the corresponding safety state according to the second safety state signal, and the different safety state adjustment of the drive circuit 110 is realized.
[0029] The safety control circuit 10 of the application comprises a driving circuit 110, a power management circuit 120, a master control circuit 130 and a state adjustment circuit 140. The master control circuit 130 can adjust the driving voltage of the driving circuit 110 through the control signal PWM to control the motor to work normally or enter a safety state. If the master control circuit 130 fails to make the driving circuit 110 or the motor enter a safety state through the control signal PWM, the state adjustment circuit 140 can adjust the driving enable signal EN based on the first safety signal SS2 of the power management circuit 120 and the second safety signal of the master control circuit 130, so that the driving enable signal EN is invalid, and thus the output signal of the driving circuit 110 no longer follows the control signal PWM input by the master control circuit 130, so that the motor enters a safety state. In this state, the driving circuit 110 further enters a corresponding safety state based on the second safety state signal of the state adjustment circuit 140. That is, the safety control circuit 10 of the application can realize multi-path safety shutdown of the motor, and can enhance the safety level of the motor controller with the safety control circuit 10 of the application. Moreover, when different faults occur, the driving circuit 110 can enter a corresponding safety state based on the second safety state signal of the state adjustment circuit 140, and the reliability of the safety control circuit 10 can be enhanced.
[0030] In an embodiment, the second safety state signal ST2 comprises a first sub-safety state signal ST21 and a second sub-safety state signal ST22. The state adjustment circuit 140 is provided with a first output end, a second output end and a third output end. The first output end of the state adjustment circuit 140 is used to output the driving enable signal EN; the second output end of the state adjustment circuit 140 is used to output the first sub-safety state signal ST21, and the third output end of the state adjustment circuit 140 is used to output the second sub-safety state signal ST22. The driving circuit 110 comprises an upper bridge driving circuit 111 and a lower bridge driving circuit 112. The upper bridge driving circuit 111 is connected with the first output end, the second output end of the state adjustment circuit 140 and the master control circuit 130 respectively. The lower bridge driving circuit 112 is connected with the first output end, the third output end of the state adjustment circuit 140 and the master control circuit 130 respectively.
[0031] The upper bridge driving circuit 111 can be an upper bridge driving circuit 111 composed of various electronic elements, for example, an upper bridge signal generating circuit and a half-bridge arm circuit. The upper bridge signal generating circuit can output a driving signal for controlling the conduction or cutoff of different bridge arms of the half-bridge arm circuit based on a control signal PWM, and the half-bridge arm circuit drives the motor to work based on the driving signal. Alternatively, the upper bridge driving circuit 111 can be an upper bridge driving circuit 111 in which an upper bridge signal generating circuit and a half-bridge arm circuit are integrally formed, which is not limited herein. Similarly, there is a lower bridge driving circuit 112. When the driving enable signal EN is disabled, the output signals of the upper bridge driving circuit 111 and the lower bridge driving circuit 112 no longer follow the control signal PWM input by the main control circuit 130, and the upper bridge driving circuit 111 enters a corresponding safe state based on the first sub-safe state signal ST21, and the lower bridge driving circuit 112 enters a corresponding safe state based on the second sub-safe state signal ST22. The safe states entered by the upper bridge driving circuit 111 and the lower bridge driving circuit 112 can be the same or different. For example, the upper bridge driving circuit 111 and the lower bridge driving circuit 112 can enter the same safe state, such as being simultaneously turned off; or enter different safe states, for example, the upper bridge driving circuit 111 is turned off, and the lower bridge driving circuit 112 is turned on; or the upper bridge driving circuit 111 is turned on, and the lower bridge driving circuit 112 is turned off. At this time, the upper bridge driving circuit 111 and the lower bridge driving circuit 112 form a closed loop circuit with the motor stator winding and the upper bridge driving circuit 111 or the lower bridge driving circuit 112, the back electromotive force energy generated by the motor is released through the stator winding, and a corresponding braking torque is generated at the motor output end, which can ensure that the motor enters a safe working state.
[0032] The driving circuit 110 of the embodiment is composed of the upper and lower bridge driving circuits 112, and the state adjustment circuit 140 outputs the first sub-safe state signal ST21 and the second sub-safe state signal ST22 based on the first safe state signal ST1. When different faults occur, the upper bridge driving circuit 111 and the lower bridge driving circuit 112 can enter corresponding safe states based on the corresponding first sub-safe state signal ST21 and the second sub-safe state signal ST22, respectively, thereby enhancing the reliability of the driving circuit 110 and further enhancing the reliability of the safety control circuit 10. In addition, when the upper bridge driving circuit 111 fails, the lower bridge driving circuit 112 can also enter a safe state, ensuring that the motor can enter a safe state, thereby improving the safety level of the safety control circuit 10.
[0033] In an embodiment, the state adjustment circuit 140 comprises a first AND gate U1. The first AND gate U1 is connected with the power management circuit 120 and the master control circuit 130 respectively, and the output of the first AND gate U1 is connected with the driving circuit 110. The first AND gate U1 is used to perform logical AND operation on the first safety signal SS1 and the second safety signal SS2 to obtain the driving enable signal EN. When the master control circuit 130 fails to output the second safety signal SS2 or fails to output an invalid second safety signal SS2, the power management circuit 120 can output the first safety signal SS1 to make the driving enable signal EN invalid, so that the output signal of the driving circuit 110 no longer follows the control signal PWM input from the master control circuit 130, and the driving circuit 110 enters the corresponding safety state based on the second safety state signal.
[0034] The state adjustment circuit 140 of the embodiment comprises the first AND gate U1, which adjusts the driving enable signal EN based on the first safety signal SS1 and the second safety signal SS2. When the master control circuit 130 fails, the driving enable signal EN can also be adjusted based on the second safety signal SS2. Therefore, the state adjustment circuit 140 of the embodiment has a simple structure and is easy to implement.
[0035] In an embodiment, the state adjustment circuit 140 further comprises a first combination logic gate, a first NOT gate U4, a second AND gate U5 and a second combination logic gate. The first combination logic gate is connected with the power management circuit 120, the master control circuit 130 and the lower bridge driving circuit 112 respectively, and is used to input the first safety state signal ST1, the fault signal FB of the lower bridge driving circuit 112 and the first safety signal SS1. The input of the first NOT gate U4 is connected with the output of the first combination logic gate. The first input of the second AND gate U5 is connected with the output of the first NOT gate U4, and the output of the second AND gate U5 is connected with the upper bridge driving circuit 111 and outputs the first sub-safety state signal ST21. The second combination logic gate U6 is connected with the power management circuit 120, the second input of the second AND gate U5, the input of the first NOT gate U4 and the lower bridge driving circuit 112 respectively, and is used to input the first safety signal SS1 and output the second sub-safety state signal ST22.
[0036] It can be known that the first non-gate U4 inverts the output signal of the first combination logic gate, and the inverted signal and the first safety signal SS1 are logically ANDed in the second AND gate U5 to output the first sub-safety state signal ST21; the second combination logic gate outputs the second sub-safety state signal ST22 based on the output signal of the first combination logic gate and the first safety signal SS1. The first non-gate U4 makes the levels of the first sub-safety state signal ST21 and the second sub-safety state signal ST22 opposite, that is, the levels of the first sub-safety state signal ST21 and the second sub-safety state signal ST22 cannot be the same at the same time, so that the upper bridge drive circuit 111 and the lower bridge drive circuit 112 always keep the upper bridge drive circuit 111 off and the corresponding lower bridge drive circuit 112 on when entering the safety state; or the upper bridge drive circuit 111 is on and the corresponding lower bridge drive circuit 112 is off. That is, the state adjustment circuit 140 of the embodiment can ensure that the motor can enter the safety state, thereby improving the safety level of the safety control circuit 10. In addition, the lower bridge drive circuit 112 is opened by default in the embodiment, and the upper bridge drive circuit 111 is opened when the lower bridge drive circuit 112 is found to be faulty, which can reduce the design difficulty of the state adjustment circuit 140.
[0037] In an embodiment, the first combination logic gate includes a first OR gate U2 and a third AND gate U3, two input ends of the first OR gate U2 are connected to the fault signal FB and the first safety signal SS1 respectively. The first input end of the third AND gate U3 is connected to the first safety state signal ST1, the second input end of the third AND gate U3 is connected to the output end of the first OR gate U2, and the output end of the third AND gate U3 is connected to the input end of the first non-gate U4. It can be known that the first safety signal SS1 and the fault signal FB are logically ORed in the first OR gate U2, that is, as long as one of the two signals is valid, the validity of the output signal can be guaranteed. The first safety state signal ST1 and the output signal of the first OR gate U2 are logically ANDed in the third AND gate U3, and the valid second safety signal SS2 can be output under the condition that both signals are valid. The structure of the first combination logic gate of the embodiment is simple, easy to implement, and low in cost.
[0038] In an embodiment, the first combination logic gate further includes a second resistor R2, one end of the second resistor R2 is connected to a preset voltage, and the other end of the second resistor R2 is connected to the first input end of the third AND gate U3. The first combination logic gate of the embodiment sets the second resistor R2 to provide a stable voltage to the third AND gate U3 by the voltage division of the second resistor R2, thereby enhancing the anti-interference ability of the first combination logic gate, the anti-interference ability of the state adjustment circuit 140, and the reliability of the safety control circuit 10. In addition, the first resistor R1 is a conventional resistor, which is low in cost under the premise of ensuring reliability.
[0039] In an embodiment, the second combination logic gate comprises a fourth AND gate U6 and a second OR gate U8. The first input terminal of the fourth AND gate U6 is connected to the output terminal of the third AND gate U3, and the second input terminal of the fourth AND gate U6 is connected to the second input terminal of the second AND gate U5. The first input terminal of the second OR gate U8 is connected to the first safety signal SS1, and the second input terminal of the second OR gate U8 is connected to a logic low level. The output terminal of the second OR gate U8 is connected to the second input terminal of the fourth AND gate U6. The second combination logic gate in the embodiment comprises the fourth AND gate U6 and the second OR gate U8. The fourth AND gate U6 adjusts the second safety state signal based on the output signal of the first combination logic gate and the first safety signal SS1. When the lower bridge drive circuit 112 or the master control circuit 130 fails, the second safety state signal ST22 can also be adjusted based on the first safety signal SS1. The second combination logic gate can realize the safety state control of the lower bridge drive circuit 112 in a multi-path mode, and can enhance the reliability of the safety control circuit 10.
[0040] In an embodiment, the state adjustment circuit 140 further comprises a first resistor R1, a second NOT gate U7, and a capacitor C1. One end of the first resistor R1 is connected to the first input terminal of the second OR gate U8, and the other end of the first resistor R1 is connected to the input terminal of the second NOT gate U7. The output terminal of the second NOT gate U7 is connected to the second input terminal of the second OR gate U8. One end of the capacitor C1 is grounded, and the other end of the capacitor C1 is connected to the other end of the first resistor R1. In the embodiment, the voltage across the capacitor C1 cannot change abruptly. When the master control circuit 130 fails, the power management circuit 120 outputs the first safety signal SS1 at a low level, i.e., the original first safety signal SS1 is pulled from a high level signal to a low level signal. The first input terminal of the second OR gate U8 becomes a low level signal, but during a period after the pull-down, the other end of the capacitor C1 maintains a high level state. The high level signal is converted to a low level signal after passing through the second NOT gate U7. During this period, the first safety state signal ST1 and the second safety state signal are both low level signals, regardless of whether the upper bridge drive circuit 111 fails or the lower bridge drive circuit 112 fails. At this time, the upper bridge drive circuit 111 and the lower bridge drive circuit 112 are both in an off state, which can avoid the problem of temporary short-circuiting of the upper and lower bridge drive circuits 112 caused by sudden switching of the state.
[0041] In an embodiment, in order to reduce the design difficulty of the state adjustment circuit 140, the first safety signal SS1, the second safety signal SS2, the fault signal FB, the first safety state signal ST1, the first sub-safety state signal ST21, the second sub-safety state signal ST22, and the drive enable signal EN are all high and low level signals.
[0042] In an actual application, the first safety signal SS1, the second safety signal SS2, the fault signal FB and the first safety state signal ST1 can be set as high level signals by default, i.e., the first safety signal SS1 = "1"; the second safety signal SS2 = "1"; the fault signal FB = "1"; and the first safety state signal ST1 = "1". Here, the default refers to the default setting when no fault occurs.
[0043] For example, when the main control circuit 130 fails to make the motor enter the safety state through the control signal PWM (assuming that the power management circuit 120 has no problem and the main control circuit 130 does not crash at this time), the main control circuit 130 pulls the second safety signal SS2 from "1" to "0", and the low-level second safety signal SS2 outputs a low-level driving enable signal EN through the first AND gate U1, so that the driving enable signal EN is disabled. At this time, the signals output by the upper bridge driving circuit 111 and the lower bridge driving circuit 112 are no longer followed by the control signal PWM input by the main control circuit 130, but are set to "1" or "0" according to the first sub-safety state signal ST21 and the second sub-safety state signal ST22. Specifically, if the following situations occur:
[0044] Case 1: When the lower bridge driving circuit 112 has no fault, the fault signal FB is "1", the first safety state signal ST1 is "1", and the first safety signal SS1 is "1". Then the first OR gate U2 and the second OR gate U8 both output "1"; the third AND gate U3 outputs "1", and the fourth AND gate U6 outputs the second sub-safety state signal ST22 as "1"; the first NOT gate U4 outputs "0", and the second AND gate U5 outputs the first sub-safety state signal ST21 as "0". At this time, the upper bridge driving circuit 111 is turned off, and the lower bridge driving circuit 112 is turned on.
[0045] Case 2: When the lower bridge driving circuit 112 has a fault, the fault signal FB is "0". The main control circuit 130 pulls the first safety state signal ST1 from "1" to "0", the third AND gate U3 outputs "0", the first NOT gate U4 outputs "1", the second AND gate U5 outputs the first sub-safety state signal ST21 as "1", and the fourth AND gate U6 outputs the second sub-safety state signal ST22 as "0". At this time, the lower bridge driving circuit 112 is turned off, and the upper bridge driving circuit 111 is turned on.
[0046] When the power management circuit 120 fails (overvoltage, undervoltage, overtemperature, etc.) or the main control circuit 130 crashes, the main control circuit 130 cannot make the drive circuit 110 enter the safe state through the control signal PWM, nor can it output the second safety signal SS2 to make the drive circuit 110 enter the safe state. At this time, the power management circuit 120 pulls the first safety signal SS1 to "0", and after passing through the AND gate U1, the low-level drive enable signal EN is output, so that the signals output by the upper bridge drive circuit 111 and the lower bridge drive circuit 112 are no longer followed by the control signal PWM input by the main control circuit 130, but are set to "1" or "0" according to the first sub-safety state signal ST21 and the second sub-safety state signal ST22. Specifically, if the following conditions occur:
[0047] Case 3: When the lower bridge drive circuit 112 does not fail, the fault signal FB is "1", then the first OR gate U2 outputs "1"; the first safety state signal ST1 is "1", then the third AND gate U3 outputs "1"; the first NOT gate U4 outputs "0", the second AND gate U5 outputs the first sub-safety state signal ST21 as "0", and the fourth AND gate U6 outputs the second sub-safety state signal ST22 as "1", at this time the lower bridge drive circuit 112 is turned on, and the upper bridge drive circuit 111 is turned off.
[0048] Case 4: When the lower bridge drive circuit 112 fails, the fault signal FB is "0", the first OR gate U2 outputs "0", the third AND gate U3 outputs "0", the first NOT gate U4 outputs "1", the second AND gate U5 outputs the first sub-safety state signal ST21 as "1", and the fourth AND gate U6 outputs the second sub-safety state signal ST22 as "0", at this time the lower bridge drive circuit 112 is turned off, and the upper bridge drive circuit 111 is turned on.
[0049] The safety control circuit of the motor provided in the application can realize multi-path safe shutdown of the motor and can avoid the problem of double-point failure. In addition, the hardware shutdown path of the application fully considers the disadvantage that the power management circuit 120 and the main control circuit 130 themselves fail to enter a safe state, and can make the motor enter a safe state through a hardware circuit after the power management circuit 120 and the main control circuit 130 fail. Based on this, when designing the whole board, the chips of the power management circuit 120 and the main control circuit 130 do not have to be selected to be higher than the system safety level requirement, but can be selected to be the same as the system safety level requirement for design, which reduces the cost of the whole board to a certain extent. Further, the hardware shutdown path of the application considers different failure conditions, and can make the drive circuit 110 enter different safe states when different failures occur, thereby increasing the reliability of the safety control circuit.
[0050] The application provides a motor controller, which comprises a safety control circuit of a motor, wherein the safety control circuit is any one of the safety control circuit embodiments, and details are not repeated. It is worth noting that the technical effects that the safety control circuit can achieve can also be achieved in the motor controller.
[0051] The application provides a vehicle, referring to Figure 3 , Figure 3 is a structural schematic diagram of an embodiment of the vehicle provided by the application, as shown in Figure 3 The vehicle 20 comprises a motor controller (not shown in the figure), wherein the motor controller is any one of the motor controller embodiments, and details are not repeated. It is worth noting that the technical effects that the motor controller can achieve can also be achieved in the vehicle.
[0052] The above is only an embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the application.
Claims
1. A safety control circuit for an electric machine, characterized in that The safety control circuit comprises: a driving circuit for driving the motor to work; a power management circuit connected to a power signal and configured to output a first safety signal; a main control circuit connected to the power management circuit and the driving circuit, and configured to output a second safety signal, a first safety state signal and a control signal, wherein the control signal is used to adjust a driving voltage of the driving circuit; a state adjustment circuit connected to the power management circuit, the driving circuit and the main control circuit, and configured to adjust a driving enable signal based on the first safety signal and the second safety signal, and to generate a second safety state signal based on the first safety state signal, and when the driving enable signal is disabled, the driving circuit enters a corresponding safety state based on the second safety state signal.
2. The safety control circuit of claim 1, wherein, The second safety state signal comprises a first sub-safety state signal and a second sub-safety state signal, and the state adjustment circuit is provided with a first output end, a second output end and a third output end for outputting the driving enable signal, the first sub-safety state signal and the second sub-safety state signal respectively, and the driving circuit comprises: an upper bridge driving circuit connected to the first output end, the second output end and the main control circuit; a lower bridge driving circuit connected to the first output end, the third output end and the main control circuit; wherein when the driving enable signal is disabled, the upper bridge driving circuit enters a corresponding safety state based on the first sub-safety state signal, and the lower bridge driving circuit enters a corresponding safety state based on the second sub-safety state signal.
3. The safety control circuit of claim 1, wherein, The state adjustment circuit comprises a first AND gate having input ends connected to the power management circuit and the main control circuit and an output end connected to the driving circuit, and configured to perform a logical AND operation on the first safety signal and the second safety signal to obtain the driving enable signal.
4. The safety control circuit of claim 2, wherein, The state adjustment circuit further comprises: a first combination logic gate connected to the power management circuit, the main control circuit and the lower bridge driving circuit, and configured to access the first safety state signal, a fault signal of the lower bridge driving circuit and the first safety signal; a first NOT gate having an input end connected to an output end of the first combination logic gate; a second AND gate having a first input end connected to an output end of the first NOT gate and an output end connected to the upper bridge driving circuit and outputting the first sub-safety state signal; a second combination logic gate connected to the power management circuit, a second input end of the second AND gate, an input end of the first NOT gate and the lower bridge driving circuit, and configured to access the first safety signal and output the second sub-safety state signal.
5. The safety control circuit of claim 4, wherein, The first combination logic gate comprises: a first OR gate having two input ends connected to the fault signal and the first safety signal respectively; a third AND gate having a first input end connected to the first safety state signal, a second input end connected to an output end of the first OR gate and an output end connected to an input end of the first NOT gate.
6. The safety control circuit of claim 5, wherein, The second combination logic gate comprises: a fourth AND gate, a first input end of which is connected with an output end of the third AND gate, and a second input end of which is connected with a second input end of the second AND gate; a second OR gate, a first input end of which is connected with the first safety signal, a second input end of which is connected with a logic low level, and an output end of which is connected with a second input end of the fourth AND gate.
7. The safety control circuit of claim 6, wherein, The state adjustment circuit further comprises: a first resistor, one end of which is connected with the first input end of the second OR gate; a second NOT gate, an input end of which is connected with the other end of the first resistor, and an output end of which is connected with the second input end of the second OR gate; a capacitor, one end of which is grounded, and the other end of which is connected with the other end of the first resistor.
8. The safety control circuit of claim 5, wherein, The first combination logic gate further comprises: a second resistor, one end of which is connected with a preset voltage, and the other end of which is connected with the first input end of the third AND gate.
9. An electric machine controller characterized by The safety control circuit according to any one of claims 1-8. The motor controller according to claim 9.
10. A vehicle characterized by comprising: