Multi-motor system and intelligent device

Abstract

The utility model discloses a kind of multi-motor system and intelligent equipment, comprising: multiple drive modules, each the drive module is correspondingly provided with motor module, the motor module at least includes two parallel motors;Switching module, its input end is connected with all the drive module respectively, and its output end is connected with all the motor module respectively. Thus, different drive modules and / or motor are switched by switching module, so that when drive module and / or motor fails, other normal drive module and motor can be switched to use, and / or control the power operation of remaining normal motor in the safe range of operation is increased, so that multi-motor system can continue to maintain the normal operation of entire system when part of drive module and / or motor fails, to improve the fault tolerance and reliability of multi-motor system.

Description

Technical Field

[0001] This utility model relates to the field of electric motor technology, and in particular to a multi-motor system and intelligent device. Background Technology

[0002] As the air conditioning industry faces multiple pressures such as rising raw material costs and stricter energy efficiency standards, the cost of IPMs (Integrated Power Modules), as the core component of motor drives, has increased significantly. To meet market demands for cost reduction, the industry is gradually adopting a "single IPM module driving multiple motors" architecture. While this architecture reduces module costs, any single failure in the IPM module itself, its drive circuit, power supply, or control signal interface can cause all motors controlled by the IPM module to simultaneously stop working or become uncontrollable. This can jeopardize the entire multi-motor system, impacting production efficiency and system stability.

[0003] Therefore, existing multi-motor systems lack effective fault tolerance mechanisms, making it difficult to maintain the normal operation of the entire system when some motors fail. Utility Model Content

[0004] This invention provides a multi-motor system and intelligent device to solve the problem that existing multi-motor systems lack fault tolerance mechanisms and are difficult to maintain the normal operation of the entire system when some motors fail.

[0005] The technical solution of this utility model is a multi-motor system, including: Multiple drive modules, each of which is equipped with a corresponding motor module, wherein the motor module includes at least two motors connected in parallel; The switch switching module has its input terminals connected to all of the drive modules and its output terminals connected to all of the motor modules.

[0006] Furthermore, the same motor module includes a main motor and a backup motor, and the number of the main motors is less than or equal to the number of the backup motors.

[0007] Furthermore, the switch switching module includes a first switch device, a second switch device, and a third switch device; The midpoints of the three bridge arms of each of the drive modules are respectively connected to the first end of the first switching device; Each phase of all motors in the motor module corresponding to the drive module is connected to the first terminal of the second switching device, and the second terminal of the second switching device of the same phase winding of all motors in the same motor module is simultaneously connected to the second terminal of the corresponding first switching device. Furthermore, each phase of a motor in any motor module is connected in series with an independent third switching device and then connected to the corresponding phase of a motor in another motor module.

[0008] Furthermore, the second terminal of the second switching device of each phase of a motor in any motor module is connected in series with an independent third switching device and then connected to the second terminal of the second switching device of the corresponding phase of a motor in another motor module.

[0009] Furthermore, the on-resistance of the second switching device is lower than that of the first switching device, in order to reduce the transmission loss of the motor phase current.

[0010] Furthermore, the first switching device, the second switching device, and the third switching device all include any one of a single-pole single-throw switch, an insulated-gate bipolar transistor, a thyristor, or a MOSFET.

[0011] Furthermore, the drive module is a three-phase inverter bridge, which includes three bridge arms, each of which consists of two power devices connected in series. Both ends of all the bridge arms are connected to both ends of the bus capacitor unit, and the midpoint of all the bridge arms is connected to the input terminal of the switch switching module.

[0012] Furthermore, the multi-motor system also includes: A sampling module is connected to all the drive modules and all the motor modules; the sampling module is used to collect the operating status data of the drive modules and the motors, and to perform fault diagnosis based on the operating status data to identify the faulty motor / or faulty drive module and its fault type. The main control module is connected to the sampling module and the switch switching module; the main control module is used to control the on / off state of the switch switching module based on the received fault diagnosis results.

[0013] Furthermore, the drive module integrates a protection module, which is used to detect whether the drive module has experienced overvoltage and / or overcurrent.

[0014] This utility model also proposes an intelligent device, which includes the multi-motor system described above.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: This invention uses a switching module to switch between different drive modules and / or motors, so that when a drive module and / or motor fails, other normal drive modules and motors can be used, and / or the remaining normal motors can be controlled to increase power within a safe operating range. This allows the multi-motor system to continue to maintain normal operation of the entire system when some drive modules and / or motors fail, thereby improving the fault tolerance and reliability of the multi-motor system. Attached Figure Description

[0016] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or accompanying drawings of this invention are used to distinguish different objects and not to describe a particular order.

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is the first circuit diagram of the multi-motor system proposed in this utility model; Figure 2 This is a second circuit diagram of the multi-motor system proposed in this utility model; Figure 3 This is a block diagram of the multi-motor system proposed in this utility model; Figure 4 This is a logic diagram of the multi-motor system proposed in this utility model.

[0019] Figure label: 10. Driver module; 20. Motor module; 30. Switching module; 40. Sampling module; 50. Main control module; 60. Protection module; 70. Signal processing module. Detailed Implementation

[0020] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model. Therefore, a feature pointed out in this specification is used to describe one feature of one embodiment of the present utility model, and does not imply that every embodiment of the present utility model must have the described feature. Furthermore, it should be noted that this specification describes many features. Although certain features may be combined to illustrate possible system designs, these features may also be used in other combinations not explicitly stated. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0021] The principle and structure of this utility model will be described in detail below with reference to the accompanying drawings and embodiments.

[0022] As the air conditioning industry faces multiple pressures such as rising raw material costs and stricter energy efficiency standards, the cost of IPMs (Integrated Power Modules), as the core component of motor drives, has increased significantly. To meet market demands for cost reduction, the industry is gradually adopting a "single IPM module driving multiple motors" architecture. While this architecture reduces module costs, any single failure in the IPM module itself, its drive circuit, power supply, or control signal interface can cause all motors controlled by the IPM module to simultaneously stop working or become uncontrollable. This can jeopardize the entire multi-motor system, impacting production efficiency and system stability.

[0023] Therefore, existing multi-motor systems lack effective fault tolerance mechanisms, making it difficult to maintain the normal operation of the entire system when some motors fail.

[0024] Therefore, in some embodiments, such as Figure 1 As shown, this utility model proposes a fault-tolerant multi-motor system, including: Multiple drive modules 10, each drive module 10 is provided with a corresponding motor module 20, and the motor module 20 includes at least two motors connected in parallel; The switch switching module 30 has its input terminal connected to all the drive modules 10 respectively, and its output terminal connected to all the motor modules 20 respectively.

[0025] It should be noted that the multi-motor system proposed in this embodiment also includes a main control module 50.

[0026] Thus, when the main control module 50 receives the power-on command, it first determines whether each drive module 10 is faulty. If a fault is found, the main control module 50 uses the switch switching module 30 to disconnect the faulty drive module 10 and replace it with a fault-free or normal drive module 10 to control the corresponding motor, and reports the fault of the corresponding drive module 10 to the host computer. Then, based on the ambient temperature and load requirements at power-on, it controls the number of motors to be started, and then determines whether the motors are faulty. If a motor is faulty, the main control module 50 uses the switch switching module 30 to disconnect the faulty motor and then starts the next motor. Other idle motors are used to ensure the system operates normally, and the corresponding motor fault is reported to the host computer. If there are no idle motors, the main control module 50 controls the remaining normal motors to increase their power within the safe operating range (e.g., when a single motor is running, its power is increased by 60%-80%; when two motors are running, its power is increased by 40%-60%; when three motors are running, its power is increased by 20%-40%) to meet the power required by the equipment (air conditioning system or refrigerator) at this time, allowing the user to continue using it. Then, the corresponding fault is reported to the host computer to notify after-sales personnel for repair.

[0027] Therefore, this utility model uses a switch switching module 30 to switch between different drive modules 10 and / or motors, so that when drive modules 10 and / or motors fail, other normal drive modules 10 and motors can be switched to use, and / or the remaining normal motors can be controlled to increase power operation within the safe operating range. This allows the multi-motor system to continue to maintain the normal operation of the entire system when some drive modules 10 and / or motors fail, thereby improving the fault tolerance and reliability of the multi-motor system.

[0028] In some embodiments, to ensure that the entire multi-motor system can continue to operate normally even when some motors fail, the same motor module 20 includes a main motor and a backup motor, and the number of the main motors is less than or equal to the number of the backup motors.

[0029] Of course, in other embodiments, the multiple drive modules 10 provided in the multi-motor system are divided into main drive modules and backup drive modules, so that when the main drive module fails, the backup drive module can be started to maintain the normal operation of the entire multi-motor system.

[0030] In some embodiments, such as Figure 1 As shown, this embodiment proposes a switch switching module 30, which includes a first switch device, a second switch device, and a third switch device; The midpoints of the three bridge arms of each of the drive modules 10 are respectively connected to the first end of the first switching device; Each phase of all motors in the motor module 20 corresponding to the drive module 10 is connected to the first terminal of the second switching device, and the second terminal of the second switching device of the same phase winding of all motors in the same motor module 20 is simultaneously connected to the second terminal of the corresponding first switching device. Furthermore, each phase of a motor in any motor module 20 is connected in series with an independent third switching device and then connected to the corresponding phase of a motor in another motor module 20.

[0031] It should be noted that the second terminals of the second switching devices of the same phase windings of all motors in the same motor module 20 are simultaneously connected to the second terminals of the corresponding first switching devices to form a switching node. The switching node is configured such that when the drive module 10 is running normally, if the motor fails and there is no idle motor, the main control module 50 controls the remaining normal motors to adjust the power output within the safe operating range to meet the power required by the device at this time.

[0032] Thus, the fault-tolerant method for the multi-motor system proposed in this embodiment is to directly cut off the control of the faulty motor and increase the power of other normal motors to temporarily meet the demand, without the need to replace it with an idle motor, thereby improving fault tolerance and reliability.

[0033] In a further embodiment, the second terminal of the second switching device of each phase of a motor in any motor module 20 is connected in series with an independent third switching device and then connected to the second terminal of the second switching device of the corresponding phase of a motor in another motor module 20.

[0034] In this way, when a drive module 10 fails, the main control module 50 will disconnect the first switching device corresponding to the failed drive module 10, then close the first switching device of another normal drive module 10, and close the third switching device between the two drive modules 10, so that the normal drive module 10 can control the corresponding motor of the failed drive module 10 to run.

[0035] In some embodiments, the on-resistance of the second switching device is lower than that of the first switching device, so as to reduce the transmission loss of the motor phase current.

[0036] Understandably, according to Joule's law (P=I²R), the smaller the on-resistance, the lower the power loss (P) under the same current.

[0037] In this way, in multi-motor parallel scenarios, the main control module 50 can balance the current distribution by switching nodes to avoid overload of a single device; low on-resistance devices usually have faster switching speeds, reducing transient losses of switching devices; and low on-resistance can reduce the heat generated by the switching devices themselves, avoiding excessive temperature rise that could lead to shortened lifespan or failure.

[0038] To ensure that the switch switching module 30 can stably switch between different drive modules 10 and / or motors, thereby shutting down faulty drive modules 10 and / or motors, the first switch device, the second switch device, and the third switch device all include any one of a single-pole single-throw switch, an insulated gate bipolar transistor, a thyristor, or a MOSFET.

[0039] It should be noted that the first, second, and third switching devices proposed in this embodiment are all illustrated using single-pole single-throw switches.

[0040] In some embodiments, such as Figure 1 As shown, the drive module 10 is a three-phase inverter bridge, which includes three bridge arms, each of which is composed of two power devices connected in series. Both ends of all the bridge arms are connected to both ends of the bus capacitor unit (not shown, the same throughout), and the midpoint of all the bridge arms is connected to the first end of the first switching device.

[0041] It should be noted that the power device proposed in this embodiment is preferably an IGBT or a MOSFET.

[0042] In this way, both ends of all bridge arms are connected to both ends of the bus capacitor unit to stabilize the DC bus voltage and absorb high-frequency ripple, ensuring the reliability of power transmission. Each bridge arm consists of two series power devices to realize the conversion of DC bus voltage to three-phase AC power through PWM control. The midpoint of the bridge arm is connected to the first switching device to realize current distribution or topology switching when multiple motors are connected in parallel.

[0043] In some embodiments, such as Figure 1 As shown, this embodiment proposes a multi-motor system, which includes two parallel drive modules 10. Each drive module 10 is provided with a corresponding motor module 20. One motor module 20 includes a first motor M1 and a second motor M2 connected in parallel, and the other motor module 20 includes a third motor M3 and a fourth motor M4 connected in parallel. One of the drive modules 10 has a first switch device K1 and a second switch device K2 connected in series at the midpoint of the three bridge arms, and then connected to the corresponding three phases of the first motor M1; and a second switch device K3 is connected between each group of first switch devices K1 and second switch devices K2 connected in series, and then connected to the corresponding three phases of the second motor M2. Similarly, the midpoints of the three bridge arms of another drive module 10 are connected in series with a first switch device K4 and a second switch device K5, respectively, and then connected to the corresponding three phases of the third motor M3; and a second switch device K6 is connected between each group of first switch devices K4 and second switch devices K5 connected in series, and then connected to the corresponding three phases of the fourth motor M4. Furthermore, for each corresponding second switch device K3 of the second motor M2, an independent third switch device K7 is connected in series with the second terminal of the corresponding second switch device K5 of the third motor M3.

[0044] In this way, under normal circumstances, the main control module 50 disconnects all the first switching devices K4, the second switching devices K5, the second switching devices K6 and the third switching devices K7, and only closes all the first switching devices K1, the second switching devices K2 and the second switching devices K3. However, if it is necessary for all three motors to run, the main control module 50 disconnects all the second switching devices K6 and the third switching devices K7, and closes all the first switching devices K1, the second switching devices K2, the second switching devices K3, the first switching devices K4 and the second switching devices K5.

[0045] When the drive module 10 corresponding to the first switching device K1 fails, the main control module 50 disconnects all the first switching devices K1, keeps all the second switching devices K5 and K6 disconnected, closes all the first switching devices K4 and K7, and keeps all the second switching devices K2 and K3 closed. This allows another drive module 10 to control the operation of the first motor M1 and the second motor M2. Alternatively, the main control module 50 can also disconnect all the first switching devices K1, K2, and K3, keep the third switching device K7 disconnected, and close all the first switching devices K4, K5, and K6, allowing another drive module 10 to control the operation of the third motor M3 and the fourth motor M4, replacing the first motor M1 and the second motor M2.

[0046] If any motor fails, the main control module 50 will disconnect the second switching device corresponding to the detected faulty motor to isolate the faulty motor. Then, the main control module 50 will adjust the power output of the remaining normal motors within the safe operating range. If three motors fail, and only one motor is running, that single motor will increase its power by 60%-80%. If two motors fail, and only two motors are running, those two motors will each increase their power by 40%-60%. If one motor fails, and only three motors are running, those three motors will each increase their power by 20%-40% to meet the power requirements of the equipment at this time, allowing the user to continue using it. Then, the corresponding fault will be reported to the host computer, and repair will be prepared.

[0047] In other embodiments, such as Figure 2 As shown, this embodiment proposes another multi-motor system, which includes three parallel drive modules 10. Each drive module 10 is correspondingly provided with a motor module 20. One motor module 20 includes a first motor M1 and a second motor M2 connected in parallel. Another motor module 20 includes a third motor M3 and a fourth motor M4 connected in parallel. Yet another motor module 20 includes a fifth motor M5 and a sixth motor M6 connected in parallel. The midpoints of the three bridge arms of the first drive module 10 are connected in series with a first switching device K1 and a second switching device K2, respectively, and then connected to the corresponding three phases of the first motor M1; and a second switching device K3 is connected between each group of first switching devices K1 and second switching devices K2 connected in series, and then connected to the corresponding three phases of the second motor M2. Similarly, the midpoints of the three bridge arms of the second drive module 10 are connected in series with a first switch device K4 and a second switch device K5, respectively, and then connected to the corresponding three phases of the third motor M3; and each group of first switch devices K4 and second switch devices K5 connected in series is connected with a second switch device K6, which is then connected to the corresponding three phases of the fourth motor M4. The midpoints of the three bridge arms of the third drive module 10 are connected in series with a first switch device K8 and a second switch device K9, respectively, and then connected to the corresponding three phases of the fifth motor M5; and a second switch device K10 is connected between each group of first switch devices K8 and second switch devices K9 connected in series, and then connected to the corresponding three phases of the sixth motor M6. Furthermore, for each corresponding second switch device K3 of the second motor M2, an independent third switch device K7 is connected in series with the second terminal of the corresponding second switch device K5 of the third motor M3; for each corresponding second switch device K6 of the fourth motor M4, an independent third switch device K11 is connected in series with the second terminal of the corresponding second switch device K9 of the fifth motor M5.

[0048] In some embodiments, to ensure that the multi-motor system can accurately detect faulty drive module 10 and / or motors, such as Figure 3 As shown, the multi-motor system also includes: A sampling module 40 is connected to all the drive modules 10 and all the motor modules 20; the sampling module 40 is used to collect the operating status data of the drive modules 10 and the motors, and to perform fault diagnosis based on the operating status data to identify the faulty motor / or faulty drive module 10 and its fault type. The main control module 50 is connected to the sampling module 40 and the switch switching module 30; the main control module 50 is used to control the on / off state of the switch switching module 30 according to the received fault diagnosis results.

[0049] This embodiment also includes a signal processing module 70, which is connected to the sampling module 40 and the main control module 50 respectively. The signal processing module 70 is used to receive the overall control target command of the main control module 50 (including the on / off control of the motor and drive module 10 and the on / off control of the switching devices in the switch switching module 30) and the fault diagnosis results of the sampling module 40.

[0050] The drive module 10 integrates a protection module 60, which is used to detect whether the drive module 10 has experienced overvoltage and / or overcurrent.

[0051] It should be noted that the protection module 60 proposed in this embodiment includes, but is not limited to, the following sensors: a current sensor, used to collect current data of the drive module 10 to determine whether there is overcurrent; a temperature sensor, used to collect temperature data of the drive module 10 to determine whether there is overtemperature; and a voltage sensor, used to collect voltage data of the drive module 10 to determine whether there is undervoltage, which is not limited here. To determine whether the motor has malfunctioned, a DC current phase needs to be injected between the bridge arm and the three-phase windings of the motor. The sampling module 40 obtains motor parameters such as the resistance and inductance values ​​of the motor windings. If the obtained motor parameters are not within the normal range, a motor fault is reported.

[0052] Thus, as Figure 4 As shown in the figure, this embodiment presents a logic diagram of a multi-motor system: S1: The sampling module 40 first determines whether each driver module 10 is faulty; If so, the faulty drive module 10 is identified, and then the main control module 50 disconnects the motor controlled by the faulty drive module 10 through the switch switching module 30, and then connects another intact drive module 10. S2: Then the main control module 50 controls the number of motors to be started based on the ambient temperature and load requirements at the time of power-on (of course, the S2 step is also performed when the drive module 10 is fault-free). S3: Then the sampling module 40 determines whether any of the started motors have malfunctioned; If not, the multi-motor system operates normally, and the sampling module 40 will monitor in real time to determine whether the motor's operating status is abnormal; if it is determined to be yes, then step S1 is performed; if it is determined to be no, the multi-motor system continues to operate normally. If so, the main control module 50 determines whether there is an idle motor. If there is no idle motor, the main control module 50 controls the remaining normal motors to increase their power within the safe operating range to meet the power requirements of the equipment and allow the system to continue operating. If there is an idle motor, the faulty motor is identified, and the main control module 50 will disconnect the faulty motor through the switch switching module 30 and start other idle motors to allow the system to continue operating. Of course, when a motor fault is determined, regardless of whether there is an idle motor, the main control module 50 will report the corresponding motor fault to the host computer to notify after-sales personnel for repair.

[0053] In some embodiments, the present invention also proposes an intelligent device, which includes the multi-motor system described above.

[0054] It should be noted that the smart device proposed in this embodiment includes an air conditioning system or a refrigerator system, which is not limited here.

[0055] Thus, when the main control module 50 receives the power-on command, it first determines whether each drive module 10 is faulty. If a fault is found, the main control module 50 uses the switch switching module 30 to disconnect the faulty drive module 10 and replace it with a fault-free or normal drive module 10 to control the corresponding motor, and reports the fault of the corresponding drive module 10 to the host computer. Then, based on the ambient temperature and load requirements at power-on, it controls the number of motors to be started, and then determines whether the motors are faulty. If a motor is faulty, the main control module 50 uses the switch switching module 30 to disconnect the faulty motor, and then starts other idle motors to ensure the system operates normally, and reports the fault to the host computer. The system will detect the fault of the corresponding motor. If there is no idle motor, the main control module 50 will increase the power of the remaining normal motors within the safe operating range (e.g., when a single motor is running, it will increase the power by 60%-80%; when two motors are running, it will increase the power by 40%-60%; when three motors are running, it will increase the power by 20%-40%) to meet the power requirements of the intelligent device. This will improve the fault tolerance and reliability of the intelligent device, allowing it to continue to operate normally even when some drive modules 10 and / or motors fail, so that the user can continue to use it. Then, the system will report the corresponding fault to the host computer to notify after-sales personnel for repair.

[0056] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. A multi-motor system, characterized in that, include: Multiple drive modules (10), each drive module (10) is provided with a corresponding motor module (20), the motor module (20) includes at least two motors connected in parallel; The switch switching module (30) has its input terminal connected to all the drive modules (10) and its output terminal connected to all the motor modules (20).

2. The multi-motor system according to claim 1, characterized in that, The same motor module (20) includes a main motor and a backup motor, and the number of the main motors is less than or equal to the number of the backup motors.

3. The multi-motor system according to claim 1, characterized in that, The switch switching module (30) includes a first switch device, a second switch device, and a third switch device; The midpoints of the three bridge arms of each of the drive modules (10) are respectively connected to the first end of the first switching device; Each phase of all motors in the motor module (20) corresponding to the drive module (10) is connected to the first end of the second switching device, and the second end of the second switching device of the same phase winding of all motors in the same motor module (20) is simultaneously connected to the second end of the corresponding first switching device. Furthermore, each phase of a motor in any motor module (20) is connected in series with an independent third switching device and then connected to the corresponding phase of a motor in another motor module (20).

4. The multi-motor system according to claim 3, characterized in that, Each phase of a motor in any motor module (20) has its second terminal connected in series with an independent third terminal and then connected to the second terminal of the corresponding phase of a motor in another motor module (20).

5. The multi-motor system according to claim 3, characterized in that, The on-resistance of the second switching device is lower than that of the first switching device, so as to reduce the transmission loss of the motor phase current.

6. The multi-motor system according to any one of claims 3 to 5, characterized in that, The first switching device, the second switching device, and the third switching device all include any one of a single-pole single-throw switch, an insulated gate bipolar transistor, a thyristor, or a MOSFET.

7. The multi-motor system according to claim 1, characterized in that, The drive module (10) is a three-phase inverter bridge, which includes three bridge arms, each of which is composed of two power devices connected in series. Both ends of all the bridge arms are connected to both ends of the bus capacitor unit, and the midpoint of all the bridge arms is connected to the input terminal of the switch switching module (30).

8. The multi-motor system according to claim 1, characterized in that, The multi-motor system also includes: A sampling module (40) is connected to all the drive modules (10) and all the motor modules (20); the sampling module (40) is used to collect the operating status data of the drive modules (10) and the motors, and perform fault diagnosis based on the operating status data to identify the faulty motor / or faulty drive module (10) and its fault type; The main control module (50) is connected to the sampling module (40) and the switch switching module (30); the main control module (50) is used to control the switching of the switch switching module (30) according to the received fault diagnosis results.

9. The multi-motor system according to claim 1, characterized in that, The drive module (10) integrates a protection module (60), which is used to detect whether the drive module (10) has experienced overvoltage and / or overcurrent.

10. A smart device, characterized in that, The intelligent device includes the multi-motor system according to any one of claims 1 to 9.

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