Motor control system and vehicle

Abstract

The application relates to the technical field of integrated circuit control, and discloses a motor control system and a vehicle. In the motor control system provided by the application, two H-bridge circuits can be formed by only six switch modules (such as MOS tubes). For example, a first H-bridge circuit for controlling a first load module can be formed by a first switch module, a second switch module, a third switch module and a fourth switch module, and a second H-bridge circuit for controlling a second load module can also be formed by the third switch module, the fourth switch module, a fifth switch module and a sixth switch module. That is, the first H-bridge circuit and the second H-bridge circuit can share the third switch module and the fourth switch module. In this way, for a motor control system with multiple load modules (such as brake calipers), the number of components in the circuit can be reduced by the above-mentioned circuit connection structure, thereby reducing the space area occupied by the circuit and saving costs.

Description

Technical Field

[0001] This application relates to the field of integrated circuit control technology, and in particular to a motor control system and a vehicle. Background Technology

[0002] Currently, H-bridge circuits are widely used in motor control to efficiently control the operation of load modules. In systems with multiple load modules, multiple H-bridge circuits are typically required to control the operating state of each module. This results in a large number of transistors used for control functions, leading to a larger footprint and higher cost. Utility Model Content

[0003] To address the aforementioned issues, this application provides a motor control system and vehicle that can reduce the number of components in the system, thereby reducing costs and minimizing the space occupied by the circuitry.

[0004] In a first aspect, this application provides a motor control system, comprising: a first load module, a second load module, a first switch module, a second switch module, a third switch module, a fourth switch module, a fifth switch module, and a sixth switch module. The first switch module, second switch module, third switch module, and fourth switch module form a first H-bridge circuit, and the first load module is connected between the load output node of the first arm and the load output node of the second arm of the first H-bridge circuit. The third switch module, fourth switch module, fifth switch module, and sixth switch module form a second H-bridge circuit, and the second load module is connected between the load output node of the first arm and the load output node of the second arm of the second H-bridge circuit.

[0005] In some embodiments, the first and second switch modules can be connected to the first arm of the first H-bridge circuit, the third and fourth switch modules can be connected to the second arm of both the first and second H-bridge circuits, and the fifth and sixth switch modules can be connected to the first arm of the second H-bridge circuit. Thus, when forming two H-bridge circuits to control two load modules, this application can reuse two switch modules on the same arm, requiring only six switch modules to form two H-bridge circuits.

[0006] Therefore, when a motor control system has multiple load modules, and each load module requires an H-bridge circuit for control, the circuit connection structure provided in this application can reduce the number of switching modules in the circuit, thereby reducing the space occupied by the circuit in the motor control system and saving costs. For example, when controlling two load modules, compared to directly controlling two load modules through two H-bridge circuits formed by eight switching modules, the motor control system provided in this application only requires six switching modules when controlling two load modules through two H-bridge circuits, thus saving two switching modules, saving space and cost.

[0007] In one possible implementation of the first aspect described above, the system further includes a backup control circuit, which comprises a seventh switch module, an eighth switch module, a ninth switch module, a tenth switch module, an eleventh switch module, and a twelfth switch module. The seventh, eighth, ninth, and tenth switch modules form a third H-bridge circuit, and a first load module is connected between the load output node of the first arm of the third H-bridge circuit and the load output node of the second arm of the third H-bridge circuit. The ninth, tenth, eleventh, and twelfth switch modules form a fourth H-bridge circuit, and a second load module is connected between the load output node of the first arm of the fourth H-bridge circuit and the load output node of the second arm of the fourth H-bridge circuit.

[0008] In some embodiments, the seventh and eighth switch modules can be connected to the first arm forming the third H-bridge circuit, the ninth and tenth switch modules can be connected to the second arm forming both the third and fourth H-bridge circuits, and the eleventh and twelfth switch modules can be connected to the first arm forming the fourth H-bridge circuit. Thus, when forming two H-bridge circuits in a backup control circuit to control two load modules, this application can reuse two switch modules on the same arm, requiring only six switch modules to form the two H-bridge circuits in the backup control circuit.

[0009] Thus, when a motor control system has multiple load modules and a backup control circuit, the circuit connection structure provided in this application can reduce the number of switching modules in the circuit, thereby reducing the space occupied by the circuit in the motor control system and saving costs. For example, when there are two load modules and two sets of control circuits in the motor control system, compared to directly controlling the two load modules and implementing the backup function through four H-bridge circuits formed by 16 switching modules, the motor control system provided in this application only requires 12 switching modules when controlling the two load modules and implementing the backup function through four H-bridge circuits, thereby saving four switching modules, saving space and cost.

[0010] In one possible implementation of the first aspect described above, the first, second, third, fourth, fifth, and sixth switching modules are all metal-oxide-semiconductor field-effect transistors (MOSFETs, also simply referred to as MOS transistors). The source of the first switching module is connected to the drain of the second switching module, the source of the third switching module is connected to the drain of the fourth switching module, and the source of the fifth switching module is connected to the drain of the sixth switching module. Specifically, the load output node of the first arm of the first H-bridge circuit is the connection node between the source of the first switching module and the drain of the second switching module; the load output nodes of the second arm of the first H-bridge circuit and the second arm of the second H-bridge circuit are both connection nodes between the source of the third switching module and the drain of the fourth switching module; and the load output node of the first arm of the second H-bridge circuit is the connection node between the source of the fifth switching module and the drain of the sixth switching module.

[0011] In other embodiments, the switching modules in the motor control system may also be other types of bipolar transistors, field-effect transistors, etc., and this application does not limit them.

[0012] In one possible implementation of the first aspect described above, the system further includes a first switching subunit, a second switching subunit, a third switching subunit, and a fourth switching subunit. Specifically, the load output node of the first arm of the first H-bridge circuit is connected to the first switching subunit, and the first switching subunit is connected to the first end of the first load module; the load output node of the second arm of the first H-bridge circuit is connected to the second switching subunit, and the second switching subunit is connected to the second end of the first load module; the load output node of the first arm of the second H-bridge circuit is connected to the third switching subunit, and the third switching subunit is connected to the first end of the second load module; the load output node of the second arm of the second H-bridge circuit is connected to the fourth switching subunit, and the fourth switching subunit is connected to the second end of the second load module.

[0013] In some implementations, a control module such as a microcontroller or single-chip microcomputer can be used to control each switch subunit to be in a closed or open state. This application does not limit this.

[0014] Thus, when both the first and second switch subunits are closed, the operating state of the first load module can be controlled via the first H-bridge circuit. Alternatively, when both the third and fourth switch subunits are closed, the operating state of the second load module can be controlled via the second H-bridge circuit.

[0015] In one possible implementation of the first aspect above, the drain of the first switch module, the drain of the third switch module, and the drain of the fifth switch module are all used to connect to the first power supply; the source of the second switch module, the source of the fourth switch module, and the source of the sixth switch are all used to ground.

[0016] In one possible implementation of the first aspect described above, the seventh, eighth, ninth, tenth, eleventh, and twelfth switch modules are all MOSFETs; the source of the seventh switch module is connected to the drain of the eighth switch module, the source of the ninth switch module is connected to the drain of the tenth switch module, and the source of the eleventh switch module is connected to the drain of the twelfth switch module. Specifically, the load output node of the first arm of the third H-bridge circuit is the connection node between the source of the seventh switch module and the drain of the eighth switch module; the load output nodes of the second arm of the third H-bridge circuit and the second arm of the fourth H-bridge circuit are both connection nodes between the source of the ninth switch module and the drain of the tenth switch module; and the load output node of the first arm of the fourth H-bridge circuit is the connection node between the source of the eleventh switch module and the drain of the twelfth switch module.

[0017] In other embodiments, the switching modules in the motor control system may also be other types of bipolar transistors, field-effect transistors, etc., and this application does not limit them.

[0018] In one possible implementation of the first aspect described above, the system further includes a fifth switch subunit, a sixth switch subunit, a seventh switch subunit, and an eighth switch subunit; wherein, the load output node of the first arm of the third H-bridge circuit is connected to the fifth switch subunit, and the fifth switch subunit is connected to the first end of the first load module; the load output node of the second arm of the third H-bridge circuit is connected to the sixth switch subunit, and the sixth switch subunit is connected to the second end of the first load module; the load output node of the first arm of the fourth H-bridge circuit is connected to the seventh switch subunit, and the seventh switch subunit is connected to the first end of the second load module; the load output node of the second arm of the fourth H-bridge circuit is connected to the eighth switch subunit, and the eighth switch subunit is connected to the second end of the second load module.

[0019] In some implementations, a control module such as a microcontroller or single-chip microcomputer can be used to control each switch subunit to be in a closed or open state. This application does not limit this.

[0020] Thus, when both the fifth and sixth switch subunits are closed, the operating state of the first load module can be controlled via the third H-bridge circuit. Alternatively, when both the seventh and eighth switch subunits are closed, the operating state of the second load module can be controlled via the fourth H-bridge circuit.

[0021] In one possible implementation of the first aspect above, the drain of the seventh switch module, the drain of the ninth switch module, and the drain of the eleventh switch module are all used to connect to the second power supply; the source of the eighth switch module, the source of the tenth switch module, and the source of the twelfth switch are all used to ground.

[0022] In one possible implementation of the first aspect described above, the first load module is a vehicle's brake caliper, a vehicle's chassis drive motor, or a track of a tracked vehicle; or, the second load module is a vehicle's brake caliper, a vehicle's chassis drive motor, or a track of a tracked vehicle.

[0023] Secondly, this application provides a vehicle, wherein the vehicle includes any of the motor control systems mentioned in this application.

[0024] The beneficial effects of the second aspect mentioned above can be found in the descriptions of the first aspect and its various possible implementations, and will not be repeated here. Attached Figure Description

[0025] Figure 1 According to some embodiments, a structural schematic diagram of a high-order redundant parking brake system is shown;

[0026] Figure 2 According to some embodiments of this application, a schematic diagram of the structure of a first motor control system is shown;

[0027] Figure 3 According to some embodiments of this application, a schematic diagram of the structure of a second motor control system is shown;

[0028] Figure 4 According to some embodiments of this application, a schematic diagram of the structure of a third motor control system is shown;

[0029] Figure 5A According to some embodiments of this application, a schematic diagram of the working state of a first motor control system is shown;

[0030] Figure 5B According to some embodiments of this application, a schematic diagram of the working state of a second motor control system is shown;

[0031] Figure 6A According to some embodiments of this application, a schematic diagram of the working state of a third motor control system is shown;

[0032] Figure 6B According to some embodiments of this application, a schematic diagram of the working state of a fourth motor control system is shown. Detailed Implementation

[0033] The illustrative embodiments of this application include, but are not limited to, a motor control system and a vehicle.

[0034] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model are described clearly and completely below. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0035] As described in the background section, H-bridge circuits can efficiently control the operation of load modules. However, since an H-bridge circuit includes four transistors, in devices with multiple load modules, controlling the operation of each load module separately using multiple H-bridge circuits results in a large number of transistors, occupying a large space, and increasing cost. It is understood that load modules can include, but are not limited to, brake calipers, chassis drive motors, windshield wiper motors, and the left and right tracks of tracked vehicles.

[0036] The following description uses the brake caliper in a high-order redundant parking brake system as an example to illustrate the operation of the H-bridge circuit. The brake caliper can include a left brake caliper and a right brake caliper, located on the two rear wheels of the vehicle, respectively. When the brake caliper clamps, it drives the brake pads to clamp the brake disc, causing the vehicle to decelerate until it stops. When the brake caliper releases, the gap between the brake pads and the brake disc returns to its initial state, releasing the vehicle's braking.

[0037] like Figure 1 As shown, the high-order redundancy parking brake system includes a main control circuit and a backup control circuit. The main control circuit and the backup control circuit have the same circuit connection structure and operating principle. The following description uses the main control circuit as an example to illustrate the working principle of the high-order redundancy parking brake system.

[0038] refer to Figure 1 The main control circuit includes H-bridge circuit 11 and H-bridge circuit 12. H-bridge circuit 11 includes four metal oxide semiconductor field effect transistors (MOSFETs, also known as MOS transistors) for controlling the left brake caliper 13; H-bridge circuit 12 also includes four transistors for controlling the right brake caliper 14.

[0039] Specifically, when switches S111 and S112 are closed, if MOSFETs T111 and T114 in the H-bridge circuit 11 are closed, and MOSFETs T112 and T113 are open, then power supply 1, MOSFET T111, switch S111, left brake caliper 13, switch S112, and MOSFET T114 can enter the conducting state. Current flows from the FBP terminal to the FBN terminal of the left brake caliper 13, the left brake caliper 13 clamps, and the wheel corresponding to the left brake caliper 13 enters the braking state.

[0040] Simultaneously, when switches S121 and S122 are closed, if MOSFETs T121 and T124 in the H-bridge circuit 12 are closed, and MOSFETs T122 and T123 are open, then power supply 1, MOSFET T121, switch S121, right brake caliper 14, switch S122, and MOSFET T124 can enter the conducting state. Current flows from the FOP terminal to the FON terminal of the right brake caliper 14, the right brake caliper 14 clamps, and the wheel corresponding to the right brake caliper 14 enters the braking state.

[0041] Thus, by controlling the left brake caliper 13 to clamp and the right brake caliper 14 to clamp, the vehicle can be controlled to enter the braking state.

[0042] Conversely, when switches S111 and S112 are closed, if MOSFETs T112 and T113 in the H-bridge circuit 11 are closed, and MOSFETs T111 and T114 are open, then power supply 1, MOSFET T113, switch S112, left brake caliper 13, switch S111, and MOSFET T112 can enter the conducting state. Current flows in reverse from the FBN terminal of the left brake caliper 13 to the FBP terminal, the left brake caliper 13 is released, and the wheel corresponding to the left brake caliper 13 is released from braking.

[0043] Simultaneously, when switches S121 and S122 are closed, if MOSFETs T122 and T123 in the H-bridge circuit 12 are closed, and MOSFETs T121 and T124 are open, then power supply 1, MOSFET T123, switch S122, right brake caliper 14, switch S121, and MOSFET T122 can enter the conducting state. Current flows in reverse from the FON terminal of the right brake caliper 14 to the FOP terminal, the right brake caliper 14 is released, and the wheel corresponding to the right brake caliper 14 is released from braking.

[0044] Thus, by controlling the release of the left brake caliper 13 and the right brake caliper 14, the vehicle can be controlled to release the brakes.

[0045] In summary, the working states of the left brake caliper 13 and the right brake caliper 14 can be controlled respectively through the two H-bridge circuits in the main control circuit.

[0046] In the event of a failure in the main control circuit, the high-order redundancy parking brake system can also control the operating states of the left brake caliper 13 and the right brake caliper 14 via a backup control circuit. Specifically, the connection structure of the backup control circuit is similar to that of the main control circuit; furthermore, the working principle of the backup control circuit in controlling the operating states of the left brake caliper 13 and the right brake caliper 14 is similar to that of the main control circuit, and will not be elaborated further here.

[0047] In summary, for systems with multiple load modules (e.g., brake calipers) and backup control circuits, multiple H-bridge circuits are typically required to control the operating state of each load module or to implement the system's backup function. This results in a large number of MOSFETs in the device, leading to a larger space occupied by the circuitry and higher cost within the system. For example, in Figure 1 The high-order redundant parking brake system shown requires 16 MOSFETs to control the two brake calipers or to provide backup functionality. The large number of MOSFETs results in a large space requirement and high cost.

[0048] To address the aforementioned problems, this application provides a motor control system. Specifically, in the motor control system provided in this application, two H-bridge circuits can be formed using only six switching modules (e.g., MOSFETs). For example, a first H-bridge circuit for controlling a first load module can be formed using a first switching module, a second switching module, a third switching module, and a fourth switching module; and a second H-bridge circuit for controlling a second load module can be formed using a third switching module, a fourth switching module, a fifth switching module, and a sixth switching module. That is, the first H-bridge circuit and the second H-bridge circuit can reuse the third and fourth switching modules.

[0049] Thus, for motor control systems with multiple load modules (such as brake calipers), the above-described circuit connection structure can reduce the number of components in the circuit, thereby reducing the space occupied by the circuit and saving costs.

[0050] The motor control system in this application will be described in detail below.

[0051] For example, Figure 2 According to some embodiments of this application, a schematic diagram of a motor control system is shown. For example... Figure 2As shown, the motor control system may include a first load module 31 and a second load module 32. The first load module 31 may be any device such as a vehicle's brake caliper (e.g., left brake caliper), a vehicle's chassis drive motor (e.g., the drive motor on the left side of the chassis), or a track for a tracked vehicle (e.g., the left track). The second load module 32 may be any device such as a vehicle's brake caliper (e.g., right brake caliper), a vehicle's chassis drive motor (e.g., the drive motor on the right side of the chassis), or a track for a tracked vehicle (e.g., the right track). This application does not limit the specific devices in this regard.

[0052] Furthermore, such as Figure 2 As shown, the motor control system may further include a first switch module M1, a second switch module M2, a third switch module M3, a fourth switch module M4, a fifth switch module M5, and a sixth switch module M6. The first switch module M1, the second switch module M2, the third switch module M3, and the fourth switch module M4 can form a first H-bridge circuit 10, and the third switch module M3, the fourth switch module M4, the fifth switch module M5, and the sixth switch module M6 can form a second H-bridge circuit 20. Furthermore, the first H-bridge circuit 10 can be used to control the operating state of the first load module 31, and the second H-bridge circuit 20 can be used to control the operating state of the second load module 32.

[0053] Specifically, such as Figure 2 As shown, the first switch module M1 and the second switch module M2 can be connected to form the first bridge arm 101 of the first H-bridge circuit 10, and the third switch module M3 and the fourth switch module M4 can be connected to form the second bridge arm 102 of the first H-bridge circuit 10. The first load module 31 can be connected between the load output node a1 of the first bridge arm 101 of the first H-bridge circuit 10 and the load output node a2 of the second bridge arm 102 of the first H-bridge circuit 10. In this way, the motor control system can control the operating state of the first load module 31 through the first H-bridge circuit 10.

[0054] And, as Figure 2 As shown, the third switch module M3 and the fourth switch module M4 can also be connected to form the second bridge arm 102 of the second H-bridge circuit 20, and the fifth switch module M5 and the sixth switch module M6 can be connected to form the first bridge arm 201 of the second H-bridge circuit 20. The second load module 32 can be connected between the load output node a3 of the first bridge arm 201 of the second H-bridge circuit 20 and the load output node a2 of the second bridge arm 102 of the second H-bridge circuit 20. In this way, the motor control system can control the operating state of the second load module 32 through the second H-bridge circuit 20.

[0055] In addition, continue to refer to Figure 2The first switch module M1, the third switch module M3, and the fifth switch module M5 can also be used to connect to the first power supply; the second switch module M2, the fourth switch module M4, and the sixth switch module M6 can also be used for grounding.

[0056] As can be seen, when forming two H-bridge circuits, this application can reuse two switching modules on the same bridge arm, so only 6 switching modules are needed to form two H-bridge circuits.

[0057] Therefore, when a motor control system has multiple load modules, and each load module requires an H-bridge circuit for control, the circuit connection structure provided in this application can reduce the number of switching modules in the circuit, thereby reducing the space occupied by the circuit in the motor control system and saving costs. For example, when controlling two load modules, compared to directly controlling two load modules through two H-bridge circuits formed by eight switching modules, the motor control system provided in this application only requires six switching modules when controlling two load modules through two H-bridge circuits, thus saving two switching modules, saving space and cost.

[0058] Furthermore, in some embodiments, some advanced motor control systems (e.g., high-order redundant parking brake systems) may also include a backup control circuit so that the load module can still be controlled to operate normally by the backup control circuit when the main control circuit of the control load module fails.

[0059] Specifically, Figure 3 According to some embodiments of this application, a schematic diagram of a motor control system having both a main control circuit and a backup control circuit is shown.

[0060] like Figure 3 As shown, the backup control circuit may include a seventh switch module M7, an eighth switch module M8, a ninth switch module M9, a tenth switch module M10, an eleventh switch module M11, and a twelfth switch module M12. The seventh switch module M7, the eighth switch module M8, the ninth switch module M9, and the tenth switch module M10 can be used to form a third H-bridge circuit 30, and the ninth switch module M9, the tenth switch module M10, the eleventh switch module M11, and the twelfth switch module M12 can be used to form a fourth H-bridge circuit 40. Furthermore, the third H-bridge circuit 30 can be used to control the operating state of the first load module 31, and the fourth H-bridge circuit 40 can be used to control the operating state of the second load module 32.

[0061] Specifically, such as Figure 3As shown, the seventh switch module M7 and the eighth switch module M8 can be connected to form the first bridge arm 301 of the third H-bridge circuit 30, and the ninth switch module M9 and the tenth switch module M10 can be connected to form the second bridge arm 302 of the third H-bridge circuit 30. The first load module 31 can be connected between the load output node a4 of the first bridge arm 301 of the third H-bridge circuit 30 and the load output node a5 of the second bridge arm 302 of the third H-bridge circuit 30. In this way, the motor control system can control the operating state of the first load module 31 through the third H-bridge circuit 30.

[0062] And, as Figure 3 As shown, the ninth switch module M9 and the tenth switch module M10 can also be connected to form the second bridge arm 302 of the fourth H-bridge circuit 40, and the eleventh switch module M11 and the twelfth switch module M12 can be connected to form the first bridge arm 401 of the fourth H-bridge circuit 40. The second load module 32 can be connected between the load output node a6 of the first bridge arm 401 of the fourth H-bridge circuit 40 and the load output node a5 of the second bridge arm 302 of the fourth H-bridge circuit 40. In this way, the motor control system can control the operating state of the second load module 32 through the fourth H-bridge circuit 40.

[0063] In addition, continue to refer to Figure 3 The seventh switch module M7, the ninth switch module M9, and the eleventh switch module M11 can also be used to connect a second power source; the eighth switch module M8, the tenth switch module M10, and the twelfth switch module M12 can also be used for grounding.

[0064] As can be seen, when forming two H-bridge circuits for the backup control circuit, this application can reuse two switching modules on the same bridge arm, so only 6 switching modules are needed to form two H-bridge circuits in the backup control circuit.

[0065] Thus, when a motor control system has multiple load modules and a backup control circuit, the circuit connection structure provided in this application can reduce the number of switching modules in the circuit, thereby reducing the space occupied by the circuit in the motor control system and saving costs. For example, when there are two load modules and two sets of control circuits in the motor control system, compared to directly controlling the two load modules and implementing the backup function through four H-bridge circuits formed by 16 switching modules, the motor control system provided in this application only requires 12 switching modules when controlling the two load modules and implementing the backup function through four H-bridge circuits, thereby saving four switching modules, saving space and cost.

[0066] Furthermore, in the motor control system provided in this application, reducing the number of switching modules can significantly reduce system energy consumption, which is of great significance for improving the overall energy efficiency of the equipment and reducing energy waste. Moreover, the improved energy efficiency and reduced costs also help reduce electronic waste, thus contributing to environmental protection.

[0067] It is understandable that the motor control system can include more backup control circuits, and the specific connection structure of each backup control circuit can be referenced. Figure 3 The connection structure of the backup control circuit shown is not described in detail here.

[0068] It can also be understood that the first power supply in the main control circuit and the second power supply in the backup control circuit can be the same or different. Furthermore, the first and second power supplies can be built into the motor control system or external power supplies. This application does not impose any limitations on this.

[0069] It is also understood that the switching modules mentioned in this application can be bipolar transistors, field-effect transistors, etc. For example, refer to... Figure 3 and Figure 4 In the motor control system provided in this application, the first switch module M1, the second switch module M2, the third switch module M3, the fourth switch module M4, the fifth switch module M5, the sixth switch module M6, the seventh switch module M7, the eighth switch module M8, the ninth switch module M9, the tenth switch module M10, the eleventh switch module M11, and the twelfth switch module M12 can all be metal oxide semiconductor field effect transistors (MOSFETs, also known as MOS transistors).

[0070] At this point, with each switching module being a MOSFET, the source of the first switching module M1 is connected to the drain of the second switching module M2, thus forming the first bridge arm 101 of the first H-bridge circuit 10. That is, the load output node a1 of the first bridge arm 101 of the first H-bridge circuit 10 is also the connection node between the source of the first switching module M1 and the drain of the second switching module M2.

[0071] The source of the third switching module M3 is connected to the drain of the fourth switching module M4, thereby forming the second bridge arm 102 of the first H-bridge circuit 10 and the second bridge arm 102 of the second H-bridge circuit 20. That is, the load output node a2 of the second bridge arm 102 of the first H-bridge circuit 10 and the load output node a2 of the second bridge arm 102 of the second H-bridge circuit 20 are also the connection nodes between the source of the third switching module M3 and the drain of the fourth switching module M4.

[0072] The source of the fifth switching module M5 is connected to the drain of the sixth switching module M6, thereby forming the first bridge arm 201 of the second H-bridge circuit 20. That is, the load output node a3 of the first bridge arm 201 of the second H-bridge circuit 20 is also the connection node between the source of the fifth switching module M5 and the drain of the sixth switching module M6.

[0073] The source of the seventh switch module M7 is connected to the drain of the eighth switch module M8, thereby forming the first bridge arm 301 of the third H-bridge circuit 30. That is, the load output node a4 of the first bridge arm 301 of the third H-bridge circuit 30 is also the connection node between the source of the seventh switch module M7 and the drain of the eighth switch module M8.

[0074] The source of the ninth switching module M9 is connected to the drain of the tenth switching module M10, thereby forming the second bridge arm 302 of the third H-bridge circuit 30 and the second bridge arm 302 of the fourth H-bridge circuit 40. That is, the load output node a5 of the second bridge arm 302 of the third H-bridge circuit 30 and the load output node a5 of the second bridge arm 302 of the fourth H-bridge circuit 40 are also the connection nodes between the source of the ninth switching module M9 and the drain of the tenth switching module M10.

[0075] The source of the eleventh switch module M11 is connected to the drain of the twelfth switch module M12, thereby forming the first bridge arm 401 of the fourth H-bridge circuit 40. That is, the load output node a6 of the first bridge arm 401 of the fourth H-bridge circuit 40 is also the connection node between the source of the eleventh switch module M11 and the drain of the twelfth switch module M12.

[0076] In this way, the main control circuit and the backup control circuit in the motor control system can be formed by connecting the various MOSFETs.

[0077] In addition, continue to refer to Figure 4 With all switching modules being MOSFETs, the drains of the first switching module M1, the third switching module M3, and the fifth switching module M5 are all connected to the first power supply. The sources of the second switching module M2, the fourth switching module M4, and the sixth switching module M6 can all be grounded. The drains of the seventh switching module M7, the ninth switching module M9, and the eleventh switching module M11 can also be connected to the second power supply. The sources of the eighth switching module M8, the tenth switching module M10, and the twelfth switching module M12 can all be grounded.

[0078] In other embodiments, the switching modules in the motor control system may also be other types of bipolar transistors, field-effect transistors, etc., and this application does not limit them.

[0079] In other embodiments, the switching modules in the motor control system can also be parallel or series structures formed by transistors and other components (such as resistors, single-pole single-throw switches, etc.). For example, the series structure formed by the source of a MOSFET and a resistor can be used as the first switching module M1; and the series structure formed by the drain of a MOSFET and a resistor can be used as the second switching module M2. This application does not limit these embodiments.

[0080] Further reference Figure 4 In some embodiments, the motor control system may further include a first switching subunit S1 and a second switching subunit S2. The load output node a1 of the first bridge arm 101 of the first H-bridge circuit 10 is connected to the first switching subunit S1, and the first switching subunit S1 is connected to the first terminal c1 of the first load module 31. The load output node a2 of the second bridge arm 102 of the first H-bridge circuit 10 is connected to the second switching subunit S2, and the second switching subunit S2 is connected to the second terminal c2 of the first load module 31.

[0081] Thus, when both the first switch subunit S1 and the second switch subunit S2 are closed, the working state of the first load module 31 can be controlled by the first H-bridge circuit 10.

[0082] It is understood that in some embodiments, the first switch subunit S1 and / or the second switch subunit S2 can be controlled to be in a closed or open state by a control module such as a microcontroller or single-chip microcomputer. This application does not limit this.

[0083] It is also understood that in some embodiments, when both the first switch subunit S1 and the second switch subunit S2 are closed, a high level or a low level can be applied to the gate of each MOS transistor in the first H-bridge circuit 10 through a control module such as a single-chip microcomputer or microcontroller, thereby controlling each MOS transistor in the first H-bridge circuit 10 to be turned on or off, thereby causing the first load module 31 to enter different working states.

[0084] For example, refer to Figure 5A When the first switch subunit S1 is closed and the second switch subunit S2 is closed, the first switch module M1 and the fourth switch module M4 can also be controlled to close (e.g., by applying a high level to the gate), and the second switch module M2 and the third switch module M3 can be controlled to open (e.g., by applying a low level to the gate). At this time, the first power supply, the first switch module M1, the first switch subunit S1, the first load module 31, the second switch subunit S2, and the fourth switch module M4 can enter the conducting state, and the current can flow from the c1 terminal to the c2 terminal of the first load module 31.

[0085] Conversely, refer to Figure 5BWhen the first switch subunit S1 is closed and the second switch subunit S2 is closed, the first switch module M1 and the fourth switch module M4 can also be controlled to open (e.g., by applying a low level to the gate), and the second switch module M2 and the third switch module M3 can be controlled to close (e.g., by applying a high level to the gate). At this time, the first power supply, the third switch module M3, the second switch subunit S2, the first load module 31, the first switch subunit S1, and the second switch module M2 can enter the conducting state, and the current can flow in reverse from the c2 terminal to the c1 terminal of the first load module 31.

[0086] Thus, by controlling each switch module in the first H-bridge circuit 10 to be in a closed or open state, the direction of the current flowing through the first load module 31 can be different, thereby realizing different functions of the first load module 31.

[0087] For example, if the first load module 31 is a vehicle's brake caliper (e.g., a left or right brake caliper), and current flows from terminal c1 to terminal c2 of the brake caliper, the brake caliper is clamped and the wheel corresponding to the brake caliper is in a braking state. Then, when the current flows in the reverse direction from terminal c2 to terminal c1 of the brake caliper, the brake caliper can be released and the wheel corresponding to the brake caliper can be released from braking. As another example, if the first load module 31 is a vehicle's brake caliper (e.g., a left or right brake caliper), and current flows from terminal c2 to terminal c1 of the brake caliper, the brake caliper is clamped and the wheel corresponding to the brake caliper is in a braking state. Then, when the current flows from terminal c1 to terminal c2 of the brake caliper, the brake caliper can be released and the wheel corresponding to the brake caliper can be released from braking. This application does not limit this aspect.

[0088] Thus, when the first load module 31 is a brake caliper, by controlling each switch module in the first H-bridge circuit 10 to be in a closed or open state, the direction of the current flowing through the brake caliper can be different, thereby causing the brake caliper to clamp or release.

[0089] Further reference Figure 4 In some embodiments, the motor control system may further include a third switching subunit S3 and a fourth switching subunit S4. Specifically, the load output node a3 of the first arm 201 of the second H-bridge circuit 20 is connected to the third switching subunit S3, and the third switching subunit S3 is connected to the first terminal c3 of the second load module 32. The load output node a2 of the second arm 102 of the second H-bridge circuit 20 is connected to the fourth switching subunit S4, and the fourth switching subunit S4 is connected to the second terminal c4 of the second load module 32.

[0090] Thus, when both the third switch subunit S3 and the fourth switch subunit S4 are closed, the working state of the second load module 32 can be controlled by the second H-bridge circuit 20.

[0091] It is understood that in some embodiments, the third switch subunit S3 and / or the fourth switch subunit S4 can be controlled to be in a closed or open state by a control module such as a microcontroller or single-chip microcomputer. This application does not limit this.

[0092] It can also be understood that in some embodiments, when both the third switch subunit S3 and the fourth switch subunit S4 are closed, a high level or a low level can be applied to the gate of each MOS transistor in the second H-bridge circuit 20 through a control module such as a microcontroller or a single-chip microcomputer, thereby controlling the MOS transistors in the second H-bridge circuit 20 to be turned on or off, thereby causing the second load module 32 to enter different working states.

[0093] For example, refer to Figure 5A When the third switch subunit S3 is closed and the fourth switch subunit S4 is open, the fifth switch module M5 and the fourth switch module M4 can also be controlled to close (e.g., by applying a high level to the gate), and the sixth switch module M6 and the third switch module M3 can be controlled to open (e.g., by applying a low level to the gate). At this time, the first power supply, the fifth switch module M5, the third switch subunit S3, the second load module 32, the fourth switch subunit S4, and the fourth switch module M4 can enter the conducting state, and the current can flow from the c3 terminal to the c4 terminal of the second load module 32.

[0094] Conversely, refer to Figure 5B When the third switch subunit S3 and the fourth switch subunit S4 are closed, the fifth switch module M5 and the fourth switch module M4 can also be controlled to open (e.g., by applying a low level to the gate), and the third switch module M3 and the sixth switch module M6 can be controlled to close (e.g., by applying a high level to the gate). At this time, the first power supply, the third switch module M3, the fourth switch subunit S4, the second load module 32, the third switch subunit S3, and the sixth switch module M6 can enter the conducting state, and the current can flow in reverse from the c4 terminal of the second load module 32 to the c3 terminal.

[0095] Thus, by controlling each switch module in the second H-bridge circuit 20 to be in a closed or open state, the direction of the current flowing through the second load module 32 can be different, thereby enabling the second load module 32 to perform different functions.

[0096] For example, if the second load module 32 is a vehicle's brake caliper (e.g., a left or right brake caliper), and current flows from terminal c3 to terminal c4 of the brake caliper, the brake caliper is clamped and the wheel corresponding to the brake caliper is in a braking state. Then, when current flows from terminal c4 to terminal c3 of the brake caliper, the brake caliper can be released and the wheel corresponding to the brake caliper can be released from braking. As another example, if the second load module 32 is a vehicle's brake caliper (e.g., a left or right brake caliper), and current flows from terminal c4 to terminal c3 of the brake caliper, the brake caliper is clamped and the wheel corresponding to the brake caliper is in a braking state. Then, when current flows from terminal c3 to terminal c4 of the brake caliper, the brake caliper can be released and the wheel corresponding to the brake caliper can be released from braking. This application does not limit this.

[0097] Thus, when the second load module 32 is a brake caliper, by controlling each switch module in the second H-bridge circuit 20 to be in a closed or open state, the direction of the current flowing through the brake caliper can be different, thereby causing the brake caliper to clamp or release.

[0098] It is understood that in some embodiments, the first switch subunit S1, the second switch subunit S2, the third switch subunit S3 and the fourth switch subunit S4 can be single-pole single-throw switches, or bipolar transistors, field-effect transistors (e.g., MOSFETs), etc., and this application does not limit them.

[0099] In other embodiments, each switching subunit in the motor control system can also be a parallel or series structure formed by switching elements and other components (such as resistors, single-pole single-throw switches, etc.). For example, a series structure formed by a single-pole single-throw switch and a resistor can be used as the first switching subunit S1; another example is that a series structure formed by a single-pole single-throw switch and a resistor can be used as the second switching subunit S2. This application does not limit these aspects.

[0100] In some embodiments, continue to refer to Figure 5ATo avoid short circuits, when the fourth switch module M4 is turned on, if the main control circuit drives the first load module 31 and the second load module 32 to operate simultaneously, only the first switch module M1 and the fifth switch module M5 can be turned on. Specifically, if the first load module 31 and the second load module 32 are the left and right brake calipers of the vehicle, the operating state of the first load module 31 when current flows from terminal C1 to terminal C2 (e.g., controlling the first switch module M1 and the fourth switch module M4 to operate) is the same as the operating state of the second load module 32 when current flows from terminal C3 to terminal C4 (e.g., controlling the fifth switch module M5 and the fourth switch module M4 to operate). For example, if the first load module 31 is clamped when current flows from terminal C1 to terminal C2, then the second load module 32 is also clamped when current flows from terminal C3 to terminal C4. For example, if the first load module 31 is in a released state when current flows from terminal C1 to terminal C2, then the second load module 32 is also in a released state when current flows from terminal C3 to terminal C4. This application does not limit this.

[0101] In other embodiments, reference continues. Figure 5B To avoid short circuits, when the third switch module M3 is turned on, if the main control circuit drives the first load module 31 and the second load module 32 to operate simultaneously, only the second switch module M2 and the sixth switch module M6 can be turned on. Specifically, if the first load module 31 and the second load module 32 are the left and right brake calipers of the vehicle, the operating state of the first load module 31 when current flows from terminal C2 to terminal C1 (e.g., controlling the third switch module M3 and the second switch module M2 to operate) is the same as the operating state of the second load module 32 when current flows from terminal C4 to terminal C3 (e.g., controlling the third switch module M3 and the sixth switch module M6 to operate). For example, if the first load module 31 is in a released state when current flows from terminal C2 to terminal C1, then the second load module 32 is also in a released state when current flows from terminal C4 to terminal C3. For example, if the first load module 31 is in a clamped state when current flows from terminal C2 to terminal C1, then the second load module 32 is also in a clamped state when current flows from terminal C4 to terminal C3. This application does not limit this.

[0102] Therefore, in summary, by controlling each switch module in the main control circuit to be in an open or closed state, the working state of the first load module 31 and the second load module 32 can be controlled.

[0103] Furthermore, in some embodiments, in a motor control system that has both a main control circuit and a backup control circuit, when the main control circuit fails, the operating state of the first load module 31 and the second load module 32 can be controlled by controlling the H-bridge circuit in the backup control circuit.

[0104] Specifically, please refer to Figure 4 In some embodiments, the motor control system may further include a fifth switching subunit S5 and a sixth switching subunit S6. Specifically, the load output node a4 of the first arm 301 of the third H-bridge circuit 30 is connected to the fifth switching subunit S5, and the fifth switching subunit S5 is connected to the first terminal c1 of the first load module 31. The load output node a5 of the second arm 302 of the third H-bridge circuit 30 is connected to the sixth switching subunit S6, and the sixth switching subunit S6 is connected to the second terminal c2 of the first load module 31.

[0105] Thus, when both the fifth switch subunit S5 and the sixth switch subunit S6 are closed, the operating state of the first load module 31 can be controlled by the third H-bridge circuit 30.

[0106] It is understood that in some embodiments, the fifth switch subunit S5 and / or the sixth switch subunit S6 can be controlled to be in a closed or open state by a control module such as a microcontroller or single-chip microcomputer. This application does not limit this.

[0107] It can also be understood that in some embodiments, when both the fifth switch subunit S5 and the sixth switch subunit S6 are closed, a high level or a low level can be applied to the gate of each MOS transistor in the third H-bridge circuit 30 through a control module such as a microcontroller or a single-chip microcomputer, thereby controlling the MOS transistors in the third H-bridge circuit 30 to be turned on or off, thereby causing the first load module 31 to enter different working states.

[0108] For example, refer to Figure 6A When the fifth switch subunit S5 and the sixth switch subunit S6 are closed, the seventh switch module M7 and the tenth switch module M10 can also be controlled to close (e.g., by applying a high level to the gate), and the ninth switch module M9 and the eighth switch module M8 can be controlled to open (e.g., by applying a low level to the gate). At this time, the second power supply, the seventh switch module M7, the fifth switch subunit S5, the first load module 31, the sixth switch subunit S6, and the tenth switch module M10 can enter the conducting state, and the current can flow from the c1 terminal to the c2 terminal of the first load module 31.

[0109] Conversely, refer to Figure 6BWhen the fifth switch subunit S5 and the sixth switch subunit S6 are closed, the seventh switch module M7 and the tenth switch module M10 can also be controlled to open (e.g., by applying a low level to the gate), and the ninth switch module M9 and the eighth switch module M8 can be controlled to close (e.g., by applying a high level to the gate). At this time, the second power supply, the ninth switch module M9, the sixth switch subunit S6, the first load module 31, the fifth switch subunit S5, and the eighth switch module M8 can enter the conducting state, and the current can flow in reverse from the c2 terminal to the c1 terminal of the first load module 31.

[0110] Thus, by controlling each switch module in the third H-bridge circuit 30 to be in a closed or open state, the direction of the current flowing through the first load module 31 can be different, thereby enabling the first load module 31 to perform different functions.

[0111] Further reference Figure 4 In some embodiments, the motor control system may further include a seventh switch subunit S7 and an eighth switch subunit S8. Specifically, the load output node a6 of the first arm 401 of the fourth H-bridge circuit 40 is connected to the seventh switch subunit S7, and the seventh switch subunit S7 is connected to the first terminal c3 of the second load module 32. The load output node a5 of the second arm 302 of the fourth H-bridge circuit 40 is connected to the eighth switch subunit S8, and the eighth switch subunit S8 is connected to the second terminal c4 of the second load module 32.

[0112] Thus, when both the seventh switch subunit S7 and the eighth switch subunit S8 are closed, the working state of the second load module 32 can be controlled by the fourth H-bridge circuit 40.

[0113] It is understood that in some embodiments, the seventh switch subunit S7 and / or the eighth switch subunit S8 can be controlled to be in a closed or open state by a control module such as a microcontroller or single-chip microcomputer. This application does not limit this.

[0114] It can also be understood that in some embodiments, when both the seventh switch subunit S7 and the eighth switch subunit S8 are closed, a high level or a low level can be applied to the gate of each MOS transistor in the fourth H-bridge circuit 40 through a control module such as a microcontroller or a single-chip microcomputer, thereby controlling the MOS transistors in the fourth H-bridge circuit 40 to be turned on or off, thereby causing the second load module 32 to enter different working states.

[0115] For example, refer to Figure 6AWhen the seventh switch subunit S7 and the eighth switch subunit S8 are closed, the eleventh switch module M11 and the tenth switch module M10 can also be controlled to close (e.g., by applying a high level to the gate), and the ninth switch module M9 and the twelfth switch module M12 can be controlled to open (e.g., by applying a low level to the gate). At this time, the second power supply, the eleventh switch module M11, the seventh switch subunit S7, the second load module 32, the eighth switch subunit S8, and the tenth switch module M10 can enter the conducting state, and the current can flow from the c3 terminal to the c4 terminal of the second load module 32.

[0116] Conversely, refer to Figure 6B When the seventh switch subunit S7 and the eighth switch subunit S8 are closed, the eleventh switch module M11 and the tenth switch module M10 can also be controlled to open (e.g., by applying a low level to the gate), and the ninth switch module M9 and the twelfth switch module M12 can be controlled to close (e.g., by applying a high level to the gate). At this time, the second power supply, the ninth switch module M9, the eighth switch subunit S8, the second load module 32, the seventh switch subunit S7, and the twelfth switch module M12 can enter the conducting state, and the current can flow in reverse from the c4 terminal of the second load module 32 to the c3 terminal.

[0117] Thus, by controlling each switch module in the fourth H-bridge circuit 40 to be in a closed or open state, the direction of the current flowing through the second load module 32 can be different, thereby enabling the second load module 32 to perform different functions.

[0118] It is understood that in some embodiments, the fifth switch subunit S5, the sixth switch subunit S6, the seventh switch subunit S7 and the eighth switch subunit S8 can be single-pole single-throw switches, or bipolar transistors, field-effect transistors (e.g., MOSFETs), etc., and this application does not limit them.

[0119] In other embodiments, each switching subunit in the motor control system can also be a parallel or series structure formed by switching elements and other components (such as resistors, single-pole single-throw switches, etc.). For example, a series structure formed by a single-pole single-throw switch and a resistor can be used as the fifth switching subunit S5; another example is that a series structure formed by a single-pole single-throw switch and a resistor can be used as the sixth switching subunit S6. This application does not limit these aspects.

[0120] In some embodiments, continue to refer to Figure 6A To avoid short circuits, when the tenth switch module M10 is turned on, if the backup control circuit drives the first load module 31 and the second load module 32 to be in working state at the same time, only the seventh switch module M7 and the eleventh switch module M11 can be turned on.

[0121] In other embodiments, reference continues. Figure 6B To avoid short circuits, when the ninth switch module M9 is turned on, if the backup control circuit drives the first load module 31 and the second load module 32 to be in working state at the same time, only the eighth switch module M8 and the twelfth switch module M12 can be turned on.

[0122] Therefore, in summary, by controlling each switch module in the backup control circuit to be in an open or closed state, the operating state of the first load module 31 and the second load module 32 can be controlled.

[0123] In other embodiments, this application also provides a vehicle, which may include any of the motor control systems mentioned in this application.

[0124] It is understood that some structural or methodological features may be shown in a specific arrangement and / or order in the accompanying drawings. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. Furthermore, the inclusion of structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0125] It should be noted that all units / modules mentioned in the embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problem proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above embodiments of this application have not introduced units / modules that are not closely related to solving the technical problem proposed in this application. This does not mean that other units / modules do not exist in the above embodiments.

[0126] It should be noted that in the examples and description of this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0127] Although this application has been illustrated and described with reference to certain preferred embodiments thereof, those skilled in the art will understand that various changes in form and detail may be made thereto without departing from the scope of this application.

Claims

1. A motor control system, characterized in that, include: The system comprises a first load module, a second load module, a first switch module, a second switch module, a third switch module, a fourth switch module, a fifth switch module, and a sixth switch module; wherein, The first switch module, the second switch module, the third switch module, and the fourth switch module are used to form a first H-bridge circuit, and the first load module is connected between the load output node of the first bridge arm of the first H-bridge circuit and the load output node of the second bridge arm of the first H-bridge circuit. The third, fourth, fifth, and sixth switch modules are used to form a second H-bridge circuit, and the second load module is connected between the load output node of the first arm of the second H-bridge circuit and the load output node of the second arm of the second H-bridge circuit.

2. The system according to claim 1, characterized in that, The system also includes a backup control circuit, which comprises a seventh switch module, an eighth switch module, a ninth switch module, a tenth switch module, an eleventh switch module, and a twelfth switch module; wherein, The seventh switch module, the eighth switch module, the ninth switch module, and the tenth switch module are used to form a third H-bridge circuit, and the first load module is connected between the load output node of the first bridge arm of the third H-bridge circuit and the load output node of the second bridge arm of the third H-bridge circuit. The ninth switch module, the tenth switch module, the eleventh switch module, and the twelfth switch module are used to form a fourth H-bridge circuit, and the second load module is connected between the load output node of the first arm of the fourth H-bridge circuit and the load output node of the second arm of the fourth H-bridge circuit.

3. The system according to claim 1, characterized in that, The first switch module, the second switch module, the third switch module, the fourth switch module, the fifth switch module, and the sixth switch module are all MOSFETs; The source of the first switching module is connected to the drain of the second switching module, the source of the third switching module is connected to the drain of the fourth switching module, and the source of the fifth switching module is connected to the drain of the sixth switching module; wherein, The load output node of the first arm of the first H-bridge circuit is the connection node between the source of the first switching module and the drain of the second switching module. The load output node of the second arm of the first H-bridge circuit and the load output node of the second arm of the second H-bridge circuit are both the connection nodes between the source of the third switching module and the drain of the fourth switching module. The load output node of the first arm of the second H-bridge circuit is the connection node between the source of the fifth switching module and the drain of the sixth switching module.

4. The system according to claim 3, characterized in that, The system further includes a first switch subunit, a second switch subunit, a third switch subunit, and a fourth switch subunit; wherein, The load output node of the first bridge arm of the first H-bridge circuit is connected to the first switching subunit, and the first switching subunit is connected to the first end of the first load module. The load output node of the second bridge arm of the first H-bridge circuit is connected to the second switching subunit, and the second switching subunit is connected to the second end of the first load module; The load output node of the first bridge arm of the second H-bridge circuit is connected to the third switching subunit, and the third switching subunit is connected to the first end of the second load module. The load output node of the second bridge arm of the second H-bridge circuit is connected to the fourth switch subunit, and the fourth switch subunit is connected to the second end of the second load module.

5. The system according to claim 3, characterized in that, include: The drain of the first switch module, the drain of the third switch module, and the drain of the fifth switch module are all used to connect to the first power supply. The source of the second switch module, the source of the fourth switch module, and the source of the sixth switch are all grounded.

6. The system according to claim 2, characterized in that, The seventh, eighth, ninth, tenth, eleventh, and twelfth switch modules are all MOSFETs; The source of the seventh switch module is connected to the drain of the eighth switch module, the source of the ninth switch module is connected to the drain of the tenth switch module, and the source of the eleventh switch module is connected to the drain of the twelfth switch module; wherein, The load output node of the first arm of the third H-bridge circuit is the connection node between the source of the seventh switching module and the drain of the eighth switching module. The load output node of the second arm of the third H-bridge circuit and the load output node of the second arm of the fourth H-bridge circuit are both connection nodes between the source of the ninth switching module and the drain of the tenth switching module. The load output node of the first arm of the fourth H-bridge circuit is the connection node between the source of the eleventh switching module and the drain of the twelfth switching module.

7. The system according to claim 6, characterized in that, The system further includes a fifth switch subunit, a sixth switch subunit, a seventh switch subunit, and an eighth switch subunit; wherein, The load output node of the first bridge arm of the third H-bridge circuit is connected to the fifth switch subunit, and the fifth switch subunit is connected to the first end of the first load module. The load output node of the second bridge arm of the third H-bridge circuit is connected to the sixth switch subunit, and the sixth switch subunit is connected to the second end of the first load module. The load output node of the first bridge arm of the fourth H-bridge circuit is connected to the seventh switch subunit, and the seventh switch subunit is connected to the first end of the second load module. The load output node of the second bridge arm of the fourth H-bridge circuit is connected to the eighth switch subunit, and the eighth switch subunit is connected to the second end of the second load module.

8. The system according to claim 6, characterized in that, include: The drains of the seventh switch module, the ninth switch module, and the eleventh switch module are all used to connect to the second power supply. The source terminals of the eighth switch module, the tenth switch module, and the twelfth switch are all grounded.

9. The system according to any one of claims 1 to 8, characterized in that, The first load module is a vehicle's brake caliper, a vehicle's chassis drive motor, or a track of a tracked vehicle; or, the second load module is a vehicle's brake caliper, a vehicle's chassis drive motor, or a track of a tracked vehicle.

10. A vehicle, characterized in that, The vehicle includes the motor control system according to any one of claims 1 to 9.

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