Motor controller and vehicle

Abstract

The embodiment of the utility model provides a motor controller and a vehicle, the first end of each first charging and discharging control module is connected with a battery pack, the second end of each first charging and discharging control module is connected with the first end of a motor driving module, and the control end of each first charging and discharging control module is connected with the second end of a second charging and discharging control module; the first end of each second charging and discharging control module is connected with one battery pack, and the control end of each second charging and discharging control module is connected with one output end of the main controller; and a second input end of the main controller is connected with a battery pack. Therefore, the main controller can obtain the voltage signal of each battery pack, determine the target battery pack needing to be used according to the voltage signal, and drive the corresponding first charging and discharging control module by enabling the second charging and discharging control module corresponding to the target battery pack, so that power can be supplied through the target battery pack; the batteries are prevented from being damaged while multiple battery packs are used in parallel, and the safety of the batteries is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of motor control, in particular to a motor controller and a vehicle. BACKGROUND

[0002] When multiple battery packs are connected in parallel, if there is a voltage difference between the battery packs, the battery pack with high voltage will charge the battery pack with low voltage with a large current, damaging the battery and shortening the battery life.

[0003] Therefore, the current motor controller is usually used with a single battery pack, which cannot meet the demand of users for longer use. INNOVATION CONTENT

[0004] The motor controller and the vehicle provided by the embodiments of the present application realize parallel connection of multiple battery packs and improve the endurance.

[0005] In a first aspect, the embodiments of the present application provide a motor drive module, comprising:

[0006] a plurality of first charge-discharge control modules, a first end of each of the first charge-discharge control modules being connected to a battery pack, and a second end of each of the first charge-discharge control modules being connected to a first end of the motor drive module;

[0007] a plurality of second charge-discharge control modules, a first end of each of the second charge-discharge control modules being connected to a battery pack, and a second end of each of the second charge-discharge control modules being connected to a control end of a first charge-discharge control module;

[0008] a main controller, a first output end of the main controller being connected to a control end of a second charge-discharge control module, and a first input end of the main controller being connected to a battery pack;

[0009] the main controller is configured to acquire a voltage signal of each of the battery packs, and enable at least one second charge-discharge control module according to the voltage signal to drive a corresponding first charge-discharge control module to be turned on.

[0010] In a possible implementation, the second charge-discharge control module comprises:

[0011] a charge pump circuit, a first end of the charge pump circuit being used as the first end of the second charge-discharge control module;

[0012] a charge-discharge control circuit, a first end of the charge-discharge control circuit being connected to a second end of the charge pump circuit, a second end of the charge-discharge control circuit being used as the second end of the second charge-discharge control module, and a control end of the charge-discharge control circuit being used as the control end of the second charge-discharge control module.

[0013] In a possible implementation, the control end of the first charge-discharge control module comprises a first control end and a second control end.

[0014] The first charge-discharge control module comprises:

[0015] A first switch tube, a first end of the first switch tube serving as a first end of the first charge-discharge control module, and a control end of the first switch tube serving as a first control end of the first charge-discharge control module.

[0016] A second switch tube, a first end of the second switch tube being connected to a second end of the first switch tube, a second end of the second switch tube serving as a second end of the first charge-discharge control module, and a control end of the second switch tube serving as a second control end of the first charge-discharge control module.

[0017] In a possible implementation, the first switch tube comprises:

[0018] A first transistor, a drain of the first transistor serving as the first end of the first switch tube, a source of the first transistor serving as the second end of the first switch tube, and a gate of the first transistor serving as the control end of the first switch tube.

[0019] A first diode, an anode of the first diode being connected to the drain of the first transistor, and a cathode of the first diode being connected to the source of the first transistor.

[0020] In a possible implementation, the second switch tube comprises:

[0021] A second transistor, a drain of the second transistor serving as the first end of the second switch tube, a source of the second transistor serving as the second end of the second switch tube, and a gate of the second transistor serving as the control end of the second switch tube.

[0022] A second diode, an anode of the second diode being connected to the source of the second transistor, and a cathode of the second diode being connected to the drain of the second transistor.

[0023] In a possible implementation, the control end of the charge-discharge control circuit comprises a first control end and a second control end.

[0024] The charge-discharge control circuit comprises:

[0025] A third transistor, a drain of the third transistor serving as a first end of the charge-discharge control circuit, a source of the third transistor being connected to the control end of the first charge-discharge control module, and a gate of the third transistor serving as a first control end of the charge-discharge control circuit.

[0026] A fourth transistor, a drain of the fourth transistor being a first terminal of the charge-discharge control circuit, a source of the fourth transistor being connected to a control terminal of the first charge-discharge control module, and a gate of the fourth transistor being a second control terminal of the charge-discharge control circuit.

[0027] In a possible implementation, the motor controller further includes:

[0028] A bus capacitor, a first terminal of the bus capacitor being connected to a first terminal of the motor drive module, and a second terminal of the bus capacitor being grounded.

[0029] In a possible implementation, the main controller includes:

[0030] A second output terminal, the second output terminal being connected to a control terminal of the motor drive module.

[0031] The main controller is configured to acquire a bus voltage, and determine whether to enable the motor drive module according to the bus voltage.

[0032] In a second aspect, the present application provides a vehicle including the motor controller of the first aspect.

[0033] In a possible implementation, the vehicle further includes:

[0034] A plurality of battery groups, a positive electrode of each of the battery groups being connected to the motor controller.

[0035] A motor, the motor being connected to the motor controller.

[0036] The motor controller and the vehicle provided by the embodiments of the present application include a motor drive module, a plurality of first charge-discharge control modules, a plurality of second charge-discharge control modules, and a main controller. A first terminal of each of the first charge-discharge control modules is connected to one battery group, a second terminal of each of the first charge-discharge control modules is connected to a first terminal of the motor drive module, and a control terminal of each of the first charge-discharge control modules is connected to a second terminal of one of the second charge-discharge control modules. A first terminal of each of the second charge-discharge control modules is connected to one battery group, and a control terminal of each of the second charge-discharge control modules is connected to one output terminal of the main controller. A second input terminal of the main controller is connected to one battery group. Therefore, the main controller can acquire a voltage signal of each of the battery groups, determine a target battery group to be used according to the voltage signal, enable a second charge-discharge control module corresponding to the target battery group to drive a corresponding first charge-discharge control module, and thus supply power by using the target battery group, prevent damage to the battery groups, and improve the safety of the battery groups. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.

[0038] Figure 1 A structural schematic diagram of a motor controller provided by the application is shown in the following figure.

[0039] Figure 2 A structural schematic diagram of a vehicle provided by the application is shown in the following figure.

[0040] Figure 3 A partial structural schematic diagram of a motor controller provided by the application is shown in the following figure.

[0041] The specific embodiments of the application have been shown and described in the foregoing drawings and specification, it being understood that the application is not limited to the embodiments shown and described, but rather, includes all embodiments consistent with the claimed concept. DETAILED DESCRIPTION

[0042] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The description of the exemplary embodiments is intended to apply to any embodiment of the application, unless specified otherwise. It should be understood that every embodiment need not necessarily include all of the features shown and described herein. The following exemplary embodiments are described with reference to the attached figures.

[0043] The current motor controller can usually only support a single battery pack, which cannot meet the user's demand for longer use. And when multiple battery packs are connected in parallel, if only one battery pack is charged, the voltage between the battery packs will be different, and if they continue to be used in parallel, the battery pack with higher voltage will charge the battery pack with lower voltage with a large current, thereby damaging the battery, shortening the battery life, and in serious cases, it may also cause the battery to overheat and catch fire, causing safety problems.

[0044] Therefore, the application provides a motor controller, which includes a plurality of first charge and discharge control modules and a plurality of second charge and discharge control modules, one first charge and discharge control module and one second charge and discharge control module corresponding to one battery pack, so as to independently control each battery pack, prevent damage to the battery when multiple battery packs are used in parallel, and improve the safety of the battery.

[0045] The technical solutions of the application and how the technical solutions of the application solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the application will be described below with reference to the drawings.

[0046] Figure 1 The structural schematic diagram of the motor controller provided in the present application is shown in FIG. 1, which comprises a motor driving module 104, a plurality of first charge-discharge control modules 103, a plurality of second charge-discharge control modules 102 and a main controller 101. Figure 1

[0047] The motor driving module 104 comprises a first end, each of the first charge-discharge control modules 103 comprises a first end, a second end and a control end, each of the second charge-discharge control modules 102 comprises a first end, a second end and a control end, and the main controller 101 comprises a plurality of first input ends and a plurality of first output ends.

[0048] The first end of each of the first charge-discharge control modules 103 is connected to one battery pack 20, and the second end of each of the first charge-discharge control modules 103 is connected to the first end of the motor driving module 104; the first end of each of the second charge-discharge control modules 102 is connected to one battery pack 20, and the second end of each of the second charge-discharge control modules 102 is connected to the control end of one of the first charge-discharge control modules 103; one of the first output ends of the main controller 101 is connected to the control end of one of the second charge-discharge control modules 102, and one of the first input ends of the main controller 101 is connected to one of the battery packs 20.

[0049] The main controller 101 can acquire the voltage signals of each of the battery packs 20, and enable at least one of the second charge-discharge control modules 102 to drive the corresponding first charge-discharge control module 103 to open according to the voltage signals.

[0050] In the embodiment of the present application, the main controller 101 can determine the battery pack 20 that can be used (for example, referred to as a target battery pack) according to the voltage signals of each of the battery packs 20, and then send a first enable signal to the second charge-discharge control module 102 connected to the target battery pack, so that the second charge-discharge control module 102 connected to the target battery pack can drive the first charge-discharge control module 103 connected thereto to open. Then, the target battery pack can provide power for the motor driving module 104, so that the motor driving module 104 can drive the motor 30 to operate, thereby driving the vehicle to travel. Based on this, the parallel power supply of multiple batteries can be realized, and the endurance of the vehicle can be improved.

[0051] For example, the motor driving module 104 can comprise a three-phase motor driving circuit.

[0052] For example, the main controller 101 can comprise an MCU (Microprocessor Control Unit) and a DSP (Digital Signal Processor). ​

[0053] In some embodiments, the main controller 101 can obtain the relevant information of the battery pack 20 using the way of analog measurement. For example, the voltage of the battery pack 20 is measured using an ADC (Analog-to-Digital Converter). The ADC channel of the main controller 101 can be directly connected to the positive and negative poles of the battery, and the voltage is reduced to the input range of the ADC through a voltage dividing circuit. For example, the current is measured using a shunt resistor and an operational amplifier, the shunt resistor is connected in series in the battery loop, and the operational amplifier is used to amplify the voltage drop across the shunt resistor, and the ADC channel of the main controller 101 reads the voltage drop to calculate the current.

[0054] In some embodiments, the main controller 101 can obtain the relevant information of the battery pack 20 using the way of communication bus. For example, I2C (Inter-Integrated Circuit) or SPI (Serial Peripheral Interface) is used to communicate with the BMS (Battery Management System) to obtain the voltage, current, temperature, state of charge and other information of the battery.

[0055] It should be noted that since the positive pole of each battery pack 20 is connected to a first charge and discharge control module 103 and a second charge and discharge control module 102, each battery pack 20 can be independently controlled by the first charge and discharge control module 103 and the second charge and discharge control module 102. In the case of parallel connection of multiple battery packs 20, even if an external device is used to charge one battery pack 20, the battery pack 20 can also be used to drive the motor drive module 104, reducing the voltage requirement of the parallel use of the battery pack 20 and improving the flexibility during the parallel discharge of the battery pack 20. The negative pole of each battery pack 20 can be grounded.

[0056] For example, after the main controller 101 obtains the voltage signal of each battery pack 20, it can compare the voltage of each battery pack 20 and enable the corresponding second charge and discharge control module 102 according to the voltage difference of the multiple battery packs 20.

[0057] For example, in the case where the voltages of the multiple battery packs 20 are close, each second charge and discharge control module 102 can be enabled to drive each first charge and discharge control module 103 to be opened, and the multiple battery packs 20 can be discharged in parallel at the same time, and at this time the bus current of the motor controller 10 can be increased to improve the power output.

[0058] In the case that the motor controller 10 is in the driving mode and the voltage difference of the plurality of battery groups 20 is large, the battery group 20 with higher voltage can be preferentially used for discharging until the voltages of the plurality of battery groups 20 are close, and then each second charge-discharge control module 102 is enabled to drive each first charge-discharge control module 103 to open.

[0059] In the case that the motor controller 10 is in the non-driving mode and the voltage difference of the plurality of battery groups 20 is large, the battery group 20 with higher voltage can charge the battery group 20 with lower voltage, and the battery group 20 with lower voltage can be charged in different pulse time and duty cycle control modes. For example, when the voltage difference is large, the battery group 20 with higher voltage can first charge the battery group 20 with lower voltage in a pulse mode, and then charge the battery group 20 with lower voltage in a duty cycle mode. When the battery group 20 with lower voltage is charged in the duty cycle mode, the battery group 20 with higher voltage can first charge the battery group 20 with lower voltage in a lower duty cycle (for example, 5%), and the voltage of the battery group 20 with lower voltage gradually rises. When the voltage rises to a certain value, the duty cycle is increased (for example, to 10%), until the voltages of the plurality of battery groups 20 are close. It should be noted that the smaller the voltage difference, the greater the duty cycle.

[0060] Specifically, if the voltage difference between any two battery groups 20 is within the preset range, each second charge-discharge control module 102 can be enabled, so that the plurality of battery groups 20 are used in parallel to improve the endurance; in the case that the motor controller 10 is in the driving mode, if there is a battery group 20 with a voltage difference outside the preset range, the battery group 20 with higher voltage can be enabled until the voltage difference between any two battery groups 20 is within the preset range, and then each second charge-discharge control module 102 is enabled; in the case that the motor controller 10 is in the non-driving mode, if there is a battery group 20 with a voltage difference outside the preset range, the battery group 20 with higher voltage and the battery group 20 with lower voltage can be enabled at the same time to charge the battery group 20 with lower voltage with the battery group 20 with higher voltage to quickly balance the voltages of the plurality of battery groups 20.

[0061] It should be noted that the preset range can be determined according to actual conditions. The voltage difference between any two battery groups 20 within the preset range indicates that the voltage of each battery group 20 is almost the same.

[0062] For example, in the case that the vehicle is in a parking state or a shutdown state, the motor controller 10 is in the non-driving mode.

[0063] In some optional embodiments, as Figure 2As shown, each second charge-discharge control module 102 can include a charge pump circuit 1021 and a charge-discharge control circuit 1022. The charge pump circuit 1021 includes a first end and a second end, and the charge-discharge control circuit 1022 includes a first end, a second end and a control end. The first end of the charge pump circuit 1021 is connected to the positive pole of one battery pack 20 as the first end of the second charge-discharge control module 102; the first end of the charge-discharge control circuit 1022 is connected to the second end of the charge pump circuit 1021, and the second end of the charge-discharge control circuit 1022 is connected to the control end of the corresponding first charge-discharge control module 103 as the second end of the second charge-discharge control module 102, and the control end of the charge-discharge control circuit 1022 is the control end of the second charge-discharge control module 102. Accordingly, the main controller 101 can enable the charge-discharge control circuit 1022, i.e., control the charge-discharge control circuit 1022 to be turned on, so as to drive the charge pump circuit 1021 to drive the corresponding first charge-discharge control module 103 to be turned on.

[0064] Since the first end of the first charge-discharge control module 103 is connected to the battery pack 20, if the main controller 101 directly drives the first charge-discharge control module 103, the output voltage of the main controller 101 can be insufficient to provide sufficient gate-source voltage, so as to fail to drive the first charge-discharge control module 103 to be turned on. The charge pump circuit 1021 is a direct-current-direct-current voltage conversion circuit based on capacitor energy storage, which can realize voltage step-up or step-down through the charge-discharge process of the capacitor. Therefore, the charge pump circuit 1021 can provide higher voltage and current to effectively drive the first charge-discharge control module 103.

[0065] For example, the charge-discharge control circuit 1022 is turned on when receiving the first enable signal sent by the main controller 101, so as to make the charge pump circuit 1021 and the corresponding first charge-discharge control module 103 in communication, and then the charge pump circuit 1021 can drive the corresponding first charge-discharge control module 103 to be turned on.

[0066] In some optional embodiments, as Figure 2 and Figure 3As shown, the control end of the first charge-discharge control module 103 includes a first control end and a second control end, the first charge-discharge control module 103 includes a first switch tube 1031 and a second switch tube 1032, the first switch tube 1031 includes a first end, a second end and a control end, and the second switch tube 1032 includes a first end, a second end and a control end. The first end of the first switch tube 1031 serves as the first end of the first charge-discharge control module 103 and is connected to a battery pack 20; the control end of the first switch tube 1031 serves as the first control end of the first charge-discharge control module 103 and is connected to the second end of a second charge-discharge control module 102. The first end of the second switch tube 1032 is connected to the second end of the first switch tube 1031; the second end of the second switch tube 1032 serves as the second control end of the first charge-discharge control module 103 and is connected to the first end of a motor drive module 104.

[0067] Correspondingly, the first switch tube 1031 and the second switch tube 1032 can be independently controlled. Optionally, the first switch tube 1031 is used to control the charging process of the battery pack 20, and the first switch tube 1031 is used to control the discharging process of the battery pack 20. Optionally, when the first switch tube 1031 is turned on, an external device can charge the battery pack 20; when the second switch tube 1032 is turned on, the battery pack 20 can supply power to the motor drive module 104 to drive the motor 30 to operate.

[0068] In some embodiments, as shown in Figure 2 and Figure 3 As shown, the first switch tube 1031 includes a first transistor Q1 and a first diode D1; the drain of the first transistor Q1 serves as the first end of the first switch tube 1031, the source of the first transistor Q1 serves as the second end of the first switch tube 1031, and the gate of the first transistor Q1 serves as the control end of the first switch tube 1031; the anode of the first diode D1 is connected to the drain of the first transistor Q1, and the cathode of the first diode D1 is connected to the source of the first transistor Q1. The first diode D1 can prevent the current of the battery pack 20 with a higher voltage from being back-irrigated to the battery pack 20 with a lower voltage.

[0069] In some embodiments, as shown in Figure 2 and Figure 3 As shown, the second switch tube 1032 includes a second transistor Q2 and a second diode D2; the drain of the second transistor Q2 serves as the first end of the second switch tube 1032, the source of the second transistor Q2 serves as the second end of the second switch tube 1032, and the gate of the second transistor Q2 serves as the control end of the second switch tube 1032; the anode of the second diode D2 is connected to the source of the second transistor Q2, and the cathode of the second diode D2 is connected to the drain of the second transistor Q2.

[0070] In the above embodiment, during the charging process of the battery pack 20, the first transistor Q1 is turned on and the second transistor Q2 is turned off, and the charging current can flow to the battery pack 20 through the second diode D2 and the first transistor Q1; during the discharging process of the battery pack 20, the first transistor Q1 is turned off and the second transistor Q2 is turned on, and the discharging current can flow to the motor drive module 104 through the first diode D1 and the second transistor Q2.

[0071] For example, the first transistor Q1 and the second transistor Q2 can be N-type transistors.

[0072] In some embodiments, the control terminal of the charge-discharge control circuit 1022 includes a first control terminal and a second control terminal. Correspondingly, each first output terminal of the main controller 101 may include a first sub-output terminal and a second sub-output terminal. The first sub-output terminal of the main controller 101 is connected to the first sub-control terminal of the charge-discharge control circuit 1022, and the second sub-output terminal of the main controller 101 is connected to the second sub-control terminal of the charge-discharge control circuit 1022.

[0073] like Figure 3 As shown, the charge / discharge control circuit 1022 includes a third transistor Q3 and a fourth transistor Q4. The drain of the third transistor Q3 serves as the first terminal of the charge / discharge control circuit 1022 and is connected to the second terminal of the charge pump circuit 1021; the source of the third transistor Q3 serves as the second terminal of the charge / discharge control circuit 1022 and is connected to the control terminal of the first charge / discharge control module 103; the gate of the third transistor Q3 serves as the first control terminal of the charge / discharge control circuit 1022 and is connected to the first sub-output terminal of the main controller 101. The drain of the fourth transistor Q4 serves as the first terminal of the charge / discharge control circuit 1022 and is connected to the second terminal of the charge pump circuit 1021; the source of the fourth transistor Q4 serves as the second terminal of the charge / discharge control circuit 1022 and is connected to the control terminal of the first charge / discharge control module 103; the gate of the fourth transistor Q4 serves as the second control terminal of the charge / discharge control circuit 1022 and is connected to the second sub-output terminal of the main controller 101.

[0074] For example, the source of the third transistor Q3 is connected to the control terminal of the first switch 1031, and the source of the fourth transistor Q4 is connected to the control terminal of the second switch 1032.

[0075] Correspondingly, when the third transistor Q3 is turned on, the charge pump circuit 1021 can drive the first switch 1031 to turn on; when the fourth transistor Q4 is turned on, the charge pump circuit 1021 can drive the second switch 1032 to turn on, thereby realizing the charging and discharging of the battery pack 20.

[0076] For example, the third transistor Q3 and the fourth transistor Q4 can be N-type transistors.

[0077] In some alternative implementations, such asFigure 2 As shown, the motor controller 10 further includes a bus capacitor C1, a first end of the bus capacitor C1 is connected to a first end of the motor drive module 104, and a second end of the bus capacitor C1 is grounded. The bus capacitor C1 smoothes the DC bus voltage by storing charge, reduces voltage fluctuations caused by load changes or input power fluctuations, and can quickly release stored energy to meet transient current demand and prevent voltage sag when the motor 30 starts or the load surges.

[0078] In an alternative embodiment, as shown in Figure 2 As shown, the main controller 101 includes a second output, the motor drive module 104 includes a control end, and the second output of the main controller 101 is connected to the control end of the motor drive module 104. The second input of the main controller 101 is used to obtain the bus voltage, and the bus voltage is used to determine whether to enable the motor drive module 104. Accordingly, the motor drive module 104 is turned on after receiving the enable signal from the main controller 101, and drives the motor 30 to operate based on the power supply of the battery pack 20.

[0079] The motor controller provided by the present application is described above, which includes a motor drive module, a plurality of first charge and discharge control modules, a plurality of second charge and discharge control modules, and a main controller; a first end of each first charge and discharge control module is connected to one battery pack, a second end of each first charge and discharge control module is connected to a first end of the motor drive module, and a control end of each first charge and discharge control module is connected to a second end of one second charge and discharge control module; a first end of each second charge and discharge control module is connected to one battery pack, and a control end of each second charge and discharge control module is connected to one output of the main controller; and one second input of the main controller is connected to one battery pack. Therefore, the main controller can obtain the voltage signal of each battery pack, determine the target battery pack to be used according to the voltage signal, enable the second charge and discharge control module corresponding to the target battery pack to drive the corresponding first charge and discharge control module, so that the target battery pack can be used for power supply, the use of multiple battery packs in parallel can be realized while preventing damage to the battery, and the safety of the battery is improved.

[0080] The present application also provides a vehicle, as shown in Figure 2 which includes the above motor controller 10.

[0081] For example, the vehicle can include an electric bicycle, an electric motorcycle, an electric tricycle, an electric four-wheeled vehicle, etc.

[0082] In some embodiments, the vehicle further includes a plurality of battery packs 20 and a motor 30, and the motor controller 10 is connected to each battery pack 20 and the motor 30, so that the motor drive module in the motor controller 10 can be powered by one or more battery packs 20, so that the motor drive module can drive the motor 30 to operate, thereby driving the vehicle to travel.

[0083] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "axial" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0084] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0085] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication or interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0086] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0087] In this application, the terms "one embodiment", "some embodiments", "an example", "specific examples" or "some examples" mean that a particular feature, structure, material or characteristic is included in at least one embodiment or example of the present application. The illustrative appearances of the above terms in various places in the specification are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics can be combined in any suitable manner in one or more embodiments or examples. Moreover, the terms "first", "second" and the like are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0088] Although the above embodiments have been shown and described, it is to be understood that these embodiments are exemplary only, and that changes, modifications, substitutions and variations can be made to the embodiments without departing from the scope of the application.

[0089] It should be understood that many additional changes, modifications, replacements, and substitutions can be made to the embodiments described above without departing from the scope of the present application. It is intended to encompass any variations within the scope of the present application, following the principles of the present application and including other known or customary features or techniques in the art not specifically mentioned or shown herein. The scope of the present application is limited only by the claims appended hereto.

Claims

1. A motor controller, characterized in that, include: Motor drive module; Multiple first charge-discharge control modules, each first charge-discharge control module has its first end connected to a battery pack, and each first charge-discharge control module has its second end connected to the first end of the motor drive module; Multiple second charge-discharge control modules, each second charge-discharge control module has its first end connected to a battery pack, and its second end connected to the control end of a first charge-discharge control module; A main controller, wherein a first output terminal of the main controller is connected to the control terminal of a second charge / discharge control module, and a first input terminal of the main controller is connected to a battery pack; The main controller is used to acquire the voltage signal of each battery pack and enable at least one second charge / discharge control module according to the voltage signal to drive the corresponding first charge / discharge control module to open.

2. The motor controller according to claim 1, characterized in that, The second charge / discharge control module includes: A charge pump circuit, wherein the first terminal of the charge pump circuit serves as the first terminal of the second charge / discharge control module; A charge / discharge control circuit, wherein the first terminal of the charge / discharge control circuit is connected to the second terminal of the charge pump circuit, the second terminal of the charge / discharge control circuit serves as the second terminal of the second charge / discharge control module, and the control terminal of the charge / discharge control circuit serves as the control terminal of the second charge / discharge control module.

3. The motor controller according to claim 1, characterized in that, The control terminal of the first charge / discharge control module includes a first control terminal and a second control terminal; The first charge / discharge control module includes: The first switching transistor, the first terminal of the first switching transistor serves as the first terminal of the first charging and discharging control module, and the control terminal of the first switching transistor serves as the first control terminal of the first charging and discharging control module. The second switch has its first end connected to the second end of the first switch. The second end of the second switch serves as the second end of the first charge / discharge control module, and the control end of the second switch serves as the second control end of the first charge / discharge control module.

4. The motor controller according to claim 3, characterized in that, The first switching transistor includes: The first transistor has its drain as the first terminal of the first switch, its source as the second terminal of the first switch, and its gate as the control terminal of the first switch. A first diode, wherein the anode of the first diode is connected to the drain of the first transistor, and the cathode of the first diode is connected to the source of the first transistor.

5. The motor controller according to claim 3, characterized in that, The second switching transistor includes: The second transistor has its drain serving as the first terminal of the second switch, its source serving as the second terminal of the second switch, and its gate serving as the control terminal of the second switch. The second diode has its anode connected to the source of the second transistor and its cathode connected to the drain of the second transistor.

6. The motor controller according to claim 2, characterized in that, The control terminals of the charge / discharge control circuit include a first control terminal and a second control terminal. The charge / discharge control circuit includes: The third transistor has its drain as the first terminal of the charge-discharge control circuit, its source connected to the control terminal of the first charge-discharge control module, and its gate as the first control terminal of the charge-discharge control circuit. The fourth transistor has its drain as the first terminal of the charge / discharge control circuit, its source connected to the control terminal of the first charge / discharge control module, and its gate as the second control terminal of the charge / discharge control circuit.

7. The motor controller according to any one of claims 1-6, characterized in that, The motor controller also includes: A bus capacitor, the first end of which is connected to the first end of the motor drive module, and the second end of which is grounded.

8. The motor controller according to any one of claims 1-6, characterized in that, The main controller includes: The second output terminal is connected to the control terminal of the motor drive module. The main controller is used to acquire the bus voltage and determine whether to enable the motor drive module based on the bus voltage.

9. A vehicle, characterized in that, Includes the motor controller as described in any one of claims 1-8.

10. The vehicle according to claim 9, characterized in that, Also includes: Multiple battery packs, with the positive terminal of each battery pack connected to the motor controller; An electric motor, which is connected to the motor controller.

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