Motor controller and vehicle

Abstract

The utility model discloses a motor controller and a vehicle, and relates to the technical field of motor controllers, and the motor controller comprises a current acquisition module, a conditioning module, a rectification module, an overcurrent determination module and a control module. The current acquisition module is respectively connected with a motor and the conditioning module, the conditioning module is connected with the rectification module, the rectification module is connected with the overcurrent judgment module, the overcurrent judgment module is connected with the control module, and the control module is connected with the motor. The current acquired by the current acquisition module is filtered, proportionally adjusted and rectified through the conditioning module and the rectifying module, so that the safety is improved; and through the overcurrent judgment module and the control module, rapid adjustment of the motor and rapid protection of the circuit can be realized, and the reliability is prompted.

Description

Technical Field

[0001] This utility model relates to the field of motor controller technology, and in particular to a motor controller and a vehicle. Background Technology

[0002] With the development of electric drive systems, the power of motor controllers is increasing, and the requirements for safety are also becoming more stringent. Overcurrent protection circuits play a crucial role in the stability and safety of motor controllers.

[0003] In summary, there is a need to provide a highly reliable motor controller and vehicle. Utility Model Content

[0004] To solve the above problems, this utility model proposes a motor controller and a vehicle.

[0005] In a first aspect, this application proposes a motor controller, comprising: a current acquisition module, a conditioning module, a rectification module, an overcurrent detection module, and a control module;

[0006] The current acquisition module is connected to the motor and the conditioning module, the conditioning module is connected to the rectifier module, the rectifier module is connected to the overcurrent detection module, the overcurrent detection module is connected to the control module, and the control module is connected to the motor.

[0007] Furthermore, the motor controller described above is characterized in that the conditioning module includes: a first conditioning unit and a second conditioning unit;

[0008] The input terminals of the first conditioning unit and the second conditioning unit are both connected to the current acquisition module; the output terminals of the first conditioning unit and the second conditioning unit are both connected to the rectifier module.

[0009] The conditioning module also includes a third conditioning unit or amplification unit.

[0010] Further, as described above, the motor controller is characterized in that the first conditioning unit includes: a filtering subunit, a proportional adjustment subunit, a voltage adjustment subunit, a voltage follower subunit, and a clamping subunit;

[0011] One end of the filtering subunit is connected to the current acquisition module, and the other end is connected to the proportional adjustment subunit;

[0012] The proportional regulation subunit is also connected to the voltage regulation subunit;

[0013] The voltage regulation subunit is also connected to the voltage follower subunit;

[0014] The voltage follower subunit is also connected to the clamping subunit.

[0015] Furthermore, as described above, the motor controller is characterized in that the rectifier module includes: a rectifier unit, a positive voltage follower unit, and a negative voltage follower unit;

[0016] The first input terminal, the second input terminal, and the third input terminal of the rectifier unit are all connected to the conditioning module. The first output terminal of the rectifier unit is connected to the positive voltage follower unit, and the second output terminal is connected to the negative voltage follower unit.

[0017] The output terminals of both the positive voltage follower unit and the negative voltage follower unit are connected to the overcurrent detection module.

[0018] Furthermore, as described above with the motor controller, the positive voltage follower unit includes: a first amplifier and a first resistor;

[0019] The positive input terminal of the first amplifier is connected to the first output terminal of the rectifier unit and one end of the first resistor, and the negative input terminal is connected to the output terminal of the first amplifier and the overcurrent detection module.

[0020] The other end of the first resistor is connected to the ground terminal.

[0021] Furthermore, as described above with the motor controller, the negative voltage follower unit includes: a second amplifier, a second resistor, a third resistor, a fourth resistor, and a fifth resistor;

[0022] The negative input terminal of the second amplifier is connected to one end of the second resistor and one end of the fourth resistor, the positive input terminal is connected to one end of the fifth resistor, and the output terminal is connected to the other end of the fourth resistor and the overcurrent detection module.

[0023] The other end of the second resistor is connected to the second output terminal of the rectifier unit and one end of the third resistor;

[0024] The other end of the third resistor is connected to the other end of the fifth resistor and the ground terminal.

[0025] Furthermore, as described above, the motor controller is characterized in that the overcurrent judgment module includes: a positive current judgment unit and a negative current judgment unit;

[0026] The input terminals of the positive current judgment unit and the negative current judgment unit are both connected to the rectifier module, and the output terminals of the positive current judgment unit and the negative current judgment unit are both connected to the control module.

[0027] Furthermore, as described above, the positive current determination unit includes: a first comparator, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a first capacitor, a second capacitor, a third capacitor, a first diode, and a second diode;

[0028] The negative input terminal of the first comparator is connected to the rectifier module, the positive input terminal is connected to one end of the sixth resistor, one end of the seventh resistor, one end of the eighth resistor and one end of the first capacitor, and the output terminal is connected to the other end of the eighth resistor, one end of the ninth resistor, one end of the second capacitor, the anode of the first diode, the cathode of the second diode and the control module.

[0029] The power supply voltage terminal of the first comparator is also connected to one end of the third capacitor;

[0030] The other end of the sixth resistor is connected to the reference voltage terminal;

[0031] The other end of the ninth resistor and the cathode of the first diode are both connected to the first voltage terminal;

[0032] The other end of the first capacitor, the other end of the second capacitor, the other end of the third capacitor, the other end of the seventh resistor, and the anode of the second diode are all connected to the ground terminal.

[0033] Furthermore, the motor controller described above also includes a processing module; the processing module is connected to the conditioning module, the overcurrent detection module, and the control module.

[0034] Secondly, this application proposes a vehicle including a motor controller as described in any of the first aspects.

[0035] The advantages of this invention are: by using a conditioning module and a rectification module to filter, proportionally adjust, and rectify the current collected by the current acquisition module, safety is improved; by using an overcurrent detection module and a control module, the motor can be quickly adjusted and the circuit can be quickly protected, thus improving reliability. Attached Figure Description

[0036] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0037] Figure 1 This is a schematic diagram of a motor controller provided by this utility model;

[0038] Figure 2This is a schematic diagram of a conditioning module for a motor controller provided by this utility model;

[0039] Figure 3 This is a schematic diagram showing the connection of the third conditioning unit of a motor controller provided by this utility model;

[0040] Figure 4 This is a schematic diagram showing the connection of the amplification unit of a motor controller provided by this utility model;

[0041] Figure 5 This is a schematic diagram of the first conditioning unit of a motor controller provided by this utility model;

[0042] Figure 6 This is a schematic diagram of a rectifier module for a motor controller provided by this utility model;

[0043] Figure 7 This is a schematic diagram of a positive voltage follower unit for a motor controller provided by this utility model;

[0044] Figure 8 This is a schematic diagram of a negative voltage follower unit for a motor controller provided by this utility model;

[0045] Figure 9 This is a schematic diagram showing the connection of the processing module of a motor controller provided by this utility model. Detailed Implementation

[0046] Exemplary embodiments of the present invention will now be further described with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0047] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0048] Firstly, such as Figure 1 As shown, according to an embodiment of this application, a motor controller is proposed, including: a current acquisition module 100, a conditioning module 200, a rectification module 300, an overcurrent judgment module 400, and a control module 500; the current acquisition module 100 is connected to the motor and the conditioning module 200 respectively, the conditioning module 200 is connected to the rectification module 300, the rectification module 300 is connected to the overcurrent judgment module 400, the overcurrent judgment module 400 is connected to the control module 500, and the control module 500 is connected to the motor 10.

[0049] The current acquisition module 100 includes multiple Hall current sensors for acquiring the three-phase current of the motor 10. The control module 500 includes a Complex Programmable Logic Device (CPLD) or an FPGA, but CPLDs are less expensive and can better reduce costs. The control module 500 controls the motor 10 using pulse width modulation (PWM) signals.

[0050] Hall current sensors are based on the magnetic balance Hall principle. According to the Hall effect, when a current Ic is passed through the control current terminal of the Hall element and a magnetic field with magnetic induction intensity B is applied in the normal direction of the Hall element plane, a potential Vh will be generated in the direction perpendicular to the current and the magnetic field (i.e., between the Hall output terminals). This potential is called the Hall potential, and its magnitude is proportional to the product of the control current Ic and the magnetic induction intensity B. The current can be determined in this way.

[0051] like Figure 2 As shown, the conditioning module 200 includes: a first conditioning unit 201 and a second conditioning unit 202; the input terminals of the first conditioning unit 201 and the second conditioning unit 202 are both connected to the current acquisition module 100; the output terminals of the first conditioning unit 201 and the second conditioning unit 202 are both connected to the rectifier module 300.

[0052] The conditioning module 200 also includes a third conditioning unit 203 or an amplification unit 204. For example... Figure 3 As shown, when the conditioning module 200 also includes a third conditioning unit 203, the input terminal of the third conditioning unit 203 is connected to the current acquisition module 100, and the output terminal is connected to the rectifier module 300. Figure 4 As shown, when the conditioning module 200 further includes an amplification unit 204, one input terminal of the amplification unit 204 is connected to one of the first conditioning unit 201 and the second conditioning unit 202, the other input terminal is connected to the other of the first conditioning unit 201 and the second conditioning unit 202, and the output terminal is connected to the rectifier module 300. The amplification unit 204 includes a fifth amplifier, which is an operational amplifier.

[0053] The number of Hall current sensors in the current acquisition module 100 corresponds to the number of conditioning units in the conditioning module 200. That is, if the conditioning module 200 includes a first conditioning unit 201, a second conditioning unit 202, and an amplification unit 204, then the number of Hall current sensors in the current acquisition module 100 is 2. If the conditioning module 200 includes a first conditioning unit 201, a second conditioning unit 202, and a third conditioning unit 203, then the number of Hall current sensors in the current acquisition module 100 is 3.

[0054] like Figure 5 As shown, the first conditioning unit 201 includes: a filtering subunit 211, a proportional adjustment subunit 212, a voltage adjustment subunit 213, a voltage follower subunit 214, and a clamping subunit 215; one end of the filtering subunit 211 is connected to the current acquisition module 100, and the other end is connected to the proportional adjustment subunit 212; the proportional adjustment subunit 212 is also connected to the voltage adjustment subunit 213; the voltage adjustment subunit 213 is also connected to the voltage follower subunit 214; and the voltage follower subunit 214 is also connected to the clamping subunit 215.

[0055] The filter subunit 211 is connected to a Hall current sensor in the current acquisition module 100 to receive the current output by the Hall current sensor, such as... Figure 5 The image shows Ibout. The structures of the second conditioning unit 202 and the third conditioning unit 203 are the same as those of the first conditioning unit 201, and will not be described again here.

[0056] like Figure 5 As shown, the filter subunit 211 includes a tenth resistor R10 and a fourth capacitor C4. One end of the tenth resistor R10 is connected to the current acquisition module 100, and the other end is connected to one end of the fourth capacitor C4 and the proportional adjustment subunit 212. The other end of the fourth capacitor C4 is connected to the ground terminal. The ground terminals in the filter subunit 211 are all analog ground terminals AGND.

[0057] like Figure 2As shown, the proportional adjustment subunit 212 includes: an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a fifth capacitor C5, and a third amplifier U3. One end of the eleventh resistor R11 is connected to the other end of the tenth resistor R10. The other end of the eleventh resistor R11 is connected to one end of the thirteenth resistor R13, one end of the fifth capacitor C5, and the negative input terminal of the third amplifier U3. One end of the twelfth resistor R12 is connected to the positive input terminal of the third amplifier U3, and the other end is connected to ground. The other ends of the thirteenth resistor R13 and the fifth capacitor C5 are both connected to the output terminal of the third amplifier U3. The output terminal of the third amplifier U3 is also connected to the voltage adjustment subunit 213. The power supply range for the third amplifier U3 is an analog voltage greater than or equal to -15V to less than or equal to +15V. The ground terminal in the proportional adjustment subunit 212 is the analog ground terminal AGND.

[0058] like Figure 5 As shown, the voltage regulation subunit 213 includes: a fourteenth resistor R14, a fifteenth resistor R15, and a sixth capacitor C6. One end of the fourteenth resistor R14 is connected to the output terminal of the third amplifier U3, and the other end is connected to the fifteenth resistor R15 and the voltage follower subunit 214. The other end of the fifteenth resistor R15 and one end of the sixth capacitor C6 are both connected to the second voltage terminal V2. The other end of the sixth capacitor C6 is connected to the ground terminal. The ground terminal in the voltage regulation subunit 213 is the analog ground terminal AGND.

[0059] like Figure 5 As shown, the voltage follower subunit 214 includes a fourth amplifier U4. The positive input terminal of the fourth amplifier U4 is connected to the other end of the fifth resistor, and the negative input terminal of the fourth amplifier U4 is connected to the output terminal. The output terminal of the fourth amplifier U4 is also connected to the clamping subunit 215. The positive input terminal of the fourth amplifier U4 is connected to... The power supply range for the fourth amplifier U4 is an analog voltage greater than or equal to -15V to less than or equal to +15V.

[0060] like Figure 5As shown, the clamping subunit 215 includes: a sixteenth resistor R16, a third diode D3, a fourth diode D4, and a seventh capacitor C7. One end of the sixteenth resistor R16 is connected to the output terminal of the fourth amplifier U4, and the other end is connected to one end of the seventh capacitor C7, the anode of the third diode D3, and the cathode of the fourth diode D4. The cathode of the third diode D3 is also connected to the second voltage terminal V2. The other end of the fourth capacitor C4 and the anode of the fourth diode D4 are both connected to ground. The second voltage terminal V2 is used to output a +3.3V analog voltage as the clamping voltage. The conditioned signal Ibo is output to the rectifier module 300. The ground terminals in the clamping subunit 215 are all analog ground terminals AGND. The clamping subunit 215 is also used for filtering.

[0061] Amplifiers U1, U2, U3, and U4 are all operational amplifiers. Amplifiers U1 and U2 can be two independent operational amplifiers or a single dual-channel operational amplifier. Similarly, Amplifiers U3 and U4 can be two independent operational amplifiers or a single dual-channel operational amplifier. An operational amplifier (op-amp) is a circuit unit with very high amplification. In practical circuits, it is usually combined with a feedback network to form a functional module. It is an amplifier with special coupling circuitry and feedback; its output signal can be the result of mathematical operations such as addition, subtraction, differentiation, or integration of the input signal.

[0062] The conditioning module 200 is designed using operational amplifiers and peripheral circuitry. First, the proportional adjustment subunit 212 adjusts the output voltage of the current sensor to within the acceptable voltage range of the processing module (such as a digital signal processor, DSP). Low-pass filtering is performed by the tenth resistor R10 and the fourth capacitor C4 in the filtering subunit 211. Then, proportional adjustment is performed by the eleventh resistor R11, twelfth resistor R12, thirteenth resistor R13, fifth capacitor C5, and the third amplifier U3 in the proportional adjustment subunit 212. Next, the +3.3V analog voltage output from the second voltage terminal V2 and the fourteenth resistor R14 and fifteenth resistor R15 in the voltage adjustment subunit 213 adjust the voltage output of the proportional adjustment subunit 212 to 0V, within the acceptable range for the processing module. Afterwards, the voltage follower subunit 214 buffers, isolates, and improves the load-carrying capacity. Finally, filtering and clamping are performed by the sixteenth resistor R16, the seventh capacitor C7, and the third diode D3 in the clamping subunit 215.

[0063] like Figure 6As shown, the rectifier module 300 includes: a rectifier unit 301, a positive voltage follower unit 302, and a negative voltage follower unit 303; the first input terminal, the second input terminal, and the third input terminal of the rectifier unit 301 are all connected to the conditioning module 200, the first output terminal of the rectifier unit 301 is connected to the positive voltage follower unit 302, and the second output terminal is connected to the negative voltage follower unit 303; the output terminals of the positive voltage follower unit 302 and the negative voltage follower unit 303 are both connected to the overcurrent judgment module 400.

[0064] like Figure 6 As shown, the positive voltage follower unit 302 includes: a first amplifier U1 and a first resistor R1; the positive input terminal of the first amplifier U1 is connected to the first output terminal of the rectifier unit 301 and one end of the first resistor R1, and the negative input terminal is connected to the output terminal of the first amplifier U1 and the overcurrent judgment module 400; the other end of the first resistor R1 is connected to the ground terminal. The power supply range for the first amplifier U1 is an analog voltage greater than or equal to -15V to less than or equal to +15V. The ground terminals in the positive voltage follower unit 302 are all analog ground terminals AGND. The first amplifier U1 and the first resistor R1 form a voltage follower. The positive voltage follower unit 302 outputs a positive half-axis current signal I+.

[0065] like Figure 6 As shown, the negative voltage follower unit 303 includes: a second amplifier U2, a second resistor R2, a third resistor R3, a fourth resistor R4, and a fifth resistor R5. The negative input terminal of the second amplifier U2 is connected to one end of the second resistor R2 and one end of the fourth resistor R4, the positive input terminal is connected to one end of the fifth resistor R5, and the output terminal is connected to the other end of the fourth resistor R4 and the overcurrent judgment module 400. The other end of the second resistor R2 is connected to the second output terminal of the rectifier unit 301 and one end of the third resistor R3. The other end of the third resistor R3 is connected to the other end of the fifth resistor R5 and the ground terminal. The power supply range for the second amplifier U2 is an analog voltage greater than or equal to -15V to less than or equal to +15V. The ground terminals in both the positive voltage follower unit 302 and the negative voltage follower unit 303 are analog ground terminals AGND. The negative voltage follower unit 303 outputs a negative half-axis current signal I-.

[0066] like Figure 6As shown, the rectifier unit 301 includes: a fifth diode D5, a sixth diode D6, a seventh diode D7, an eighth diode D8, a ninth diode D9, and a tenth diode D10. The anode of the fifth diode D5 is connected to the cathode of the sixth diode D6, serving as the first input terminal. The anode of the seventh diode D7 is connected to the cathode of the eighth diode D8, serving as the second input terminal. The anode of the ninth diode D9 is connected to the cathode of the tenth diode D10, serving as the third input terminal. The cathodes of the fifth diode D5, the seventh diode D7, and the ninth diode D9 serve as the first output terminals, all connected to the positive input terminal of the first amplifier U1 in the positive voltage follower unit 302. The anodes of the sixth diode D6, the eighth diode D8, and the tenth diode D10 serve as the second output terminals, all connected to the other end of the second resistor R2 in the negative voltage follower unit 303. The second resistor R2, the third resistor R3, the fourth resistor R4, the fifth resistor R5, and the second amplifier U2 together form an inverting proportional amplifier. Wherein, Iao is the output signal of the second conditioning unit 202, Ibo is the output signal of the first conditioning unit 201, and Ico is the output signal of the third conditioning unit 203 or the amplification unit 204; Iao can also be the output signal of the third conditioning unit 203 or the amplification unit 204, and Ico can also be the output signal of the second conditioning unit 202.

[0067] The three-phase current is rectified by diodes D5, D6, D7, D8, D9, and D10 in rectifier unit 301. The positive half-axis signal of the three-phase current is processed by a voltage follower in positive voltage follower unit 302, which consists of amplifier U1 and resistor R1, and then output to overcurrent judgment module 400 for judgment. The negative half-axis signal of the three-phase current is processed by an inverting amplifier in negative voltage follower unit 303, which consists of resistor R2, resistor R3, resistor R4, resistor R5, and amplifier U2, to convert the signal to the positive half-axis, and then output to overcurrent judgment module 400 for judgment.

[0068] The overcurrent judgment module 400 includes a positive current judgment unit 401 and a negative current judgment unit 402. The input terminals of the positive current judgment unit 401 and the negative current judgment unit 402 are both connected to the rectifier module 300, and the output terminals of the positive current judgment unit 401 and the negative current judgment unit 402 are both connected to the control module 500.

[0069] like Figure 7As shown, the positive current judgment unit 401 includes: a first comparator B1, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a first capacitor C1, a second capacitor C2, a third capacitor C3, a first diode D1, and a second diode D2; the negative input terminal of the first comparator B1 is connected to the rectifier module 300, the positive input terminal is connected to one end of the sixth resistor R6, one end of the seventh resistor R7, one end of the eighth resistor R8, and one end of the first capacitor C1, and the output terminal is connected to the other end of the eighth resistor R8, one end of the ninth resistor R9, and the second diode D2. One end of capacitor C2, the anode of the first diode D1, the cathode of the second diode D2, and the control module 500 are connected; the power supply voltage terminal of the first comparator B1 is also connected to one end of the third capacitor C3; the other end of the sixth resistor R6 is connected to the reference voltage terminal Vref; the other end of the ninth resistor R9 and the cathode of the first diode D1 are both connected to the first voltage terminal V1; the other ends of the first capacitor C1, the second capacitor C2, the third capacitor C3, the seventh resistor R7, and the anode of the second diode D2 are all connected to the ground terminal. The negative input terminal of the first comparator B1 is connected to the output terminal of the first amplifier U1 of the positive voltage follower unit 302 in the rectifier module 300. The power supply range for the first comparator B1 is a voltage greater than or equal to the ground terminal to less than or equal to +15V. The ground terminals in the positive current judgment unit 401 are all digital ground terminals GND. The first voltage terminal V1 is used to output a voltage with a peak value of +3.3V as a clamping voltage. The positive current judgment unit 401 outputs a positive half-axis current judgment signal OI+.

[0070] like Figure 8As shown, the negative current judgment unit 402 includes: a second comparator B2, an eighth capacitor C8, a ninth capacitor C9, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, a twentieth resistor R20, an eleventh diode D11, and a twelfth diode D12. The negative input terminal of the second comparator B2 is connected to the rectifier module 300, and its positive input terminal is connected to one end of the seventeenth resistor R17, one end of the eighth capacitor C8, one end of the eighteenth resistor R18, and one end of the nineteenth resistor R19. Its output terminal is connected to the other end of the nineteenth resistor R19, one end of the ninth capacitor C9, one end of the twentieth resistor R20, the anode of the eleventh diode D11, the cathode of the twelfth diode D12, and the control module 500. The other end of the seventeenth resistor R17 is connected to the reference voltage terminal Vref. The other end of the twentieth resistor R20 and the cathode of the eleventh diode D11 are both connected to the first voltage terminal V1. The other ends of the eighth capacitor C8, the ninth capacitor C9, the eighteenth resistor R18, and the anode of the twelfth diode D12 are all connected to ground. The negative input terminal of the second comparator B2 is connected to the output terminal of the second amplifier U2 in the negative voltage follower unit 303 of the rectifier module 300. All ground terminals in the negative current judgment unit 402 are digital ground terminals GND. The negative current judgment unit 402 outputs a negative half-axis current judgment signal OI-.

[0071] Both comparators B1 and B2 are voltage comparators. They can be two independent voltage comparators or a single dual-channel voltage comparator. A voltage comparator is a circuit that distinguishes and compares input signals. It is a basic unit circuit for forming non-sinusoidal wave generators. The comparator directly compares the quantities at the two input terminals. If the non-inverting input is greater than the inverting input, the output is high; otherwise, the output is low. Commonly used voltage comparators include single-limit comparators, hysteresis comparators, window comparators, and tri-state voltage comparators.

[0072] The overcurrent detection module 400 employs a voltage comparator to form a hysteresis comparator circuit. The positive current detection unit 401 for the positive half-axis consists of a first comparator B1, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a first capacitor C1, a second capacitor C2, a third capacitor C3, and a first diode D1. The negative current detection unit 402 for the negative half-axis consists of a second comparator B2, an eighth capacitor C8, a ninth capacitor C9, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, a twentieth resistor R20, and an eleventh diode D11. Furthermore, corresponding overcurrent protection trigger values ​​and recovery values ​​are set for the positive current detection unit 401 and the negative current detection unit 402 to avoid current oscillation near the protection value. The reference voltage output at the reference voltage terminal Vref is generated using a precision voltage reference chip. By employing a hysteresis comparator, the overcurrent detection module 400 avoids oscillation problems near the protection value.

[0073] like Figure 9 As shown, the embodiments of this application also include a processing module 600; the processing module 600 is connected to the conditioning module 200, the overcurrent judgment module 400, and the control module 500. The output terminals of the first comparator B1, the second comparator B2, and the other end of the sixteenth resistor R16 in the clamping subunit 215 are all connected to the processing module 600.

[0074] The processing module 600 includes a digital signal processor (DSP), a microcontroller, or a field programmable gate array (FPGA), but digital signal processors are cheaper and can better reduce costs.

[0075] The implementation of this application acquires three-phase current through a Hall current sensor in the current acquisition module. A conditioning module adjusts the acquired signal to a suitable voltage range. The conditioned signal is then output to the processing and rectifier modules. Subsequently, an overcurrent protection signal is output to the control and processing modules via a current judgment module. The control module triggers circuit-level protection, while the processing module performs corresponding software protection. By introducing a complex programmable logic device in the control module and a digital signal processor in the processing module for data judgment and execution, redundant design of hardware and software overcurrent judgment is achieved, thereby improving reliability.

[0076] The rectifier device in this application embodiment is a diode, which can also be replaced by a thyristor, IGBT or MOSFET, but diodes are cheaper and can better reduce costs.

[0077] Secondly, according to an embodiment of this application, a vehicle is proposed, including a motor controller as described in the first aspect.

[0078] The vehicles include electric vehicles (electrically driven vehicles) and new energy vehicles.

[0079] The advantages of this embodiment are that by filtering, proportionally adjusting, and rectifying the current collected by the current acquisition module through the conditioning module and the rectification module, safety is improved; by using the overcurrent judgment module and the control module, rapid adjustment of the motor and rapid protection of the circuit can be achieved, enhancing reliability. The overcurrent judgment module outputs the judgment value to the control module, thereby triggering circuit-level protection functions such as wave blocking. Simultaneously, the overcurrent judgment module outputs the judgment value to the processing module for corresponding judgment and control. The output value of the conditioning module, in addition to being transmitted to the overcurrent judgment module, is also transmitted to the processing module for software overcurrent protection judgment. The implementation method of this application effectively realizes overcurrent protection for high-voltage motor controllers, unifies the overvoltage comparison of three-phase currents, and is low-cost. The overcurrent judgment module uses a hysteresis comparator to avoid the problem of current oscillation near the protection value. While using the control module for hardware circuit protection, the processing module also performs software sampling overcurrent protection, improving reliability. The unified judgment of overcurrent in the three-phase current by the overcurrent judgment module reduces the cost of use. The introduction of complex programmable logic devices in the control module achieves rapid circuit-level protection. The three-phase current is rectified by using a positive voltage follower unit and a negative voltage follower unit in the rectifier module, thereby reducing circuit costs.

[0080] The above description in this specification is merely illustrative of the present invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not depart from the content of this specification or exceed the scope defined in the claims, all of which shall fall within the protection scope of this invention.

Claims

1. An electric machine controller characterized by comprising: include: The module includes a current acquisition module, a conditioning module, a rectification module, an overcurrent detection module, and a control module. The current acquisition module is connected to the motor and the conditioning module respectively. The conditioning module is connected to the rectification module. The rectification module is connected to the overcurrent detection module. The overcurrent detection module is connected to the control module. The control module is connected to the motor. The conditioning module includes: a first conditioning unit and a second conditioning unit; The input terminals of the first conditioning unit and the second conditioning unit are both connected to the current acquisition module; the output terminals of the first conditioning unit and the second conditioning unit are both connected to the rectifier module. The first conditioning unit includes: a filtering subunit, a proportional adjustment subunit, a voltage adjustment subunit, a voltage follower subunit, and a clamping subunit; One end of the filtering subunit is connected to the current acquisition module, and the other end is connected to the proportional adjustment subunit; The proportional regulation subunit is also connected to the voltage regulation subunit; The voltage regulation subunit is also connected to the voltage follower subunit; The voltage follower subunit is also connected to the clamping subunit.

2. The motor controller of claim 1, wherein, The conditioning module also includes a third conditioning unit or an amplification unit.

3. The motor controller of claim 1, wherein, The rectifier module includes: a rectifier unit, a positive voltage follower unit, and a negative voltage follower unit; The first input terminal, the second input terminal, and the third input terminal of the rectifier unit are all connected to the conditioning module. The first output terminal of the rectifier unit is connected to the positive voltage follower unit, and the second output terminal is connected to the negative voltage follower unit. The output terminals of both the positive voltage follower unit and the negative voltage follower unit are connected to the overcurrent detection module.

4. The motor controller of claim 3, the positive voltage follower unit comprising: First amplifier and first resistor; The positive input terminal of the first amplifier is connected to the first output terminal of the rectifier unit and one end of the first resistor, and the negative input terminal is connected to the output terminal of the first amplifier and the overcurrent detection module. The other end of the first resistor is connected to the ground terminal.

5. The motor controller of claim 3, the negative voltage follower unit comprising: Second amplifier, second resistor, third resistor, fourth resistor, and fifth resistor; The negative input terminal of the second amplifier is connected to one end of the second resistor and one end of the fourth resistor, the positive input terminal is connected to one end of the fifth resistor, and the output terminal is connected to the other end of the fourth resistor and the overcurrent detection module. The other end of the second resistor is connected to the second output terminal of the rectifier unit and one end of the third resistor; The other end of the third resistor is connected to the other end of the fifth resistor and the ground terminal.

6. The motor controller of claim 1, wherein, The overcurrent judgment module includes: a positive current judgment unit and a negative current judgment unit; The input terminals of the positive current judgment unit and the negative current judgment unit are both connected to the rectifier module, and the output terminals of the positive current judgment unit and the negative current judgment unit are both connected to the control module.

7. The motor controller of claim 6, wherein, The positive current determination unit includes: a first comparator, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a first capacitor, a second capacitor, a third capacitor, a first diode, and a second diode; The negative input terminal of the first comparator is connected to the rectifier module, the positive input terminal is connected to one end of the sixth resistor, one end of the seventh resistor, one end of the eighth resistor and one end of the first capacitor, and the output terminal is connected to the other end of the eighth resistor, one end of the ninth resistor, one end of the second capacitor, the anode of the first diode, the cathode of the second diode and the control module. The power supply voltage terminal of the first comparator is also connected to one end of the third capacitor; The other end of the sixth resistor is connected to the reference voltage terminal; The other end of the ninth resistor and the cathode of the first diode are both connected to the first voltage terminal; The other end of the first capacitor, the other end of the second capacitor, the other end of the third capacitor, the other end of the seventh resistor, and the anode of the second diode are all connected to the ground terminal.

8. The motor controller of claim 1, wherein, It also includes a processing module; the processing module is connected to the conditioning module, the overcurrent detection module and the control module.

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

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