A multi-motor full-redundancy dual-control circuit and vehicle

Abstract

The utility model relates to a kind of multi-motor full redundancy double-control circuit and vehicle, multi-motor full redundancy double-control circuit includes two control units, signal switching module, first power supply module and at least two execution units;Two control units respectively include power supply, power management module and control module, power management module is electrically connected with power supply, control module is electrically connected with power management module;Signal switching module is bidirectionally connected with two control modules;First power supply module is electrically connected with two power management modules;Two execution units are electrically connected with two power supplies one by one, and execution unit is bidirectionally connected with signal switching module.The utility model realizes the redundancy of hardware by constructing the physical basis of double independent power supply-double control-double path power supply.Two control units operate simultaneously, when one fails, the other can automatically take over control, seamless switching is realized.

Description

Technical Field

[0001] This utility model relates to the field of vehicle electronic control technology, specifically to a multi-motor fully redundant dual-control circuit and a vehicle. Background Technology

[0002] Multi-motor, fully redundant dual-control solutions have enormous application potential in the field of new energy vehicles. With the increasing trend towards intelligentization and electrification, the complexity of vehicle electronic systems is constantly rising, placing ever higher demands on system reliability and safety. In the multi-motor drive systems of new energy vehicles, precise synchronous control can improve vehicle power performance and driving range.

[0003] Traditional redundancy solutions often focus on power backup or controller cold backup, with redundant units typically operating in isolation and lacking collaborative management and fault response mechanisms. For example, when the main control circuit fails, the backup circuit may not be able to seamlessly take over the entire load, or torque fluctuations may occur during the switching process due to information asynchrony, affecting driving smoothness and safety. Furthermore, a single failure in multiple components such as the motor, drive, controller, or power supply can still cause system malfunction interruption. Summary of the Invention

[0004] Based on the above description, this utility model provides a multi-motor fully redundant dual-control circuit and vehicle, aiming to solve the problem that existing redundant units often work in isolation and lack collaborative management and fault response mechanisms.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: Firstly, a multi-motor fully redundant dual-control circuit includes: Two control units, each of the two control units including a power supply, a power management module and a control module, wherein the power management module is electrically connected to the power supply and is used to receive the power supply voltage from the power supply, and the control module is electrically connected to the power management module and is used to receive a fault indication signal from the power management module; The signal switching module is bidirectionally connected to the two control modules, and the signal switching module is used to select and output the control signal of one of the two control units according to the status of the two control units. A first power supply module is electrically connected to the two power management modules and is used to receive power from at least one of the power management modules. At least two execution units are provided, each of which is electrically connected to one of the two power supplies. The execution units are bidirectionally connected to the signal switching module. Each execution unit is electrically connected to the first power supply module. The execution units are used to receive the power supply voltage from the power supply and the operating voltage of the first power supply module.

[0006] Based on the above technical solution, the present invention can be further improved as follows.

[0007] Furthermore, each of the two control units includes an electromagnetic interference filter, which is connected to the power supply and electrically connected to the power management module. The electromagnetic interference filter is used to receive and filter the power supply voltage from the power supply.

[0008] Furthermore, the two control modules are connected in a bidirectional communication manner.

[0009] Furthermore, each of the two control units includes a communication module, and the power management module communicates with the control module through the communication module.

[0010] Furthermore, each of the at least two execution units includes a drive module, a three-phase six-bridge arm, and a drive motor. The drive module is electrically connected to the power supply and the first power supply module. The drive module receives the supply voltage from the power supply and the operating voltage from the first power supply module. The three-phase six-bridge arm is bidirectionally communicatively connected to the drive module and electrically connected to the first power supply module. The three-phase six-bridge arm is used to receive the supply voltage from the power supply. The drive motor is electrically connected to the three-phase six-bridge arm in three phases.

[0011] Furthermore, each of the at least two execution units includes a functional sensor for detecting the operating status of the drive motor.

[0012] Furthermore, it includes a second power supply module, which is electrically connected to the two power management modules. The second power supply module is used to receive power from at least one of the power management modules. The functional sensor is electrically connected to the second power supply module and is used to receive the operating voltage from the second power supply module.

[0013] Furthermore, it includes a power supply redundancy module, which is connected to two power supplies and is used to achieve redundant switching between the two power supplies.

[0014] Furthermore, it includes a wake-up module, which is electrically connected to the two power management modules and is used to wake up at least one of the power management modules.

[0015] In a second aspect, a vehicle includes a multi-motor fully redundant dual-control circuit as described in the first aspect.

[0016] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: (1) This utility model achieves hardware redundancy by constructing a physical foundation of dual independent power supply, dual control, and dual-path power supply. The two control units operate simultaneously, and when one fails, the other can automatically take over control, achieving seamless switching. In critical safety systems such as electric power steering and brake-by-wire, this design ensures that even if a single point of failure occurs, the system can still provide high steering assistance or braking capability, avoiding safety accidents caused by complete failure.

[0017] (2) This utility model obtains input from two power management modules through the second power supply module. When the power supply of the main control unit fails, the power supply of the functional sensor is still guaranteed. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, 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.

[0019] Figure 1 This is a schematic diagram of a multi-motor fully redundant dual-control circuit provided in an embodiment of this utility model.

[0020] Explanation of reference numerals in the attached figures: 10. Control unit; 101. Power supply; 102. Power management module; 103. Control module; 104. Electromagnetic interference filter; 105. Communication module; 20. Signal switching module; 30. First power supply module; 40. Execution unit; 401. Drive module; 402. Three-phase six-bridge arm; 403. Drive motor; 404. Functional sensor; 50. Second power supply module; 60. Redundant power supply module; 70. Wake-up module. Detailed Implementation

[0021] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0022] 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 application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0023] It is understood that spatial relation terms such as "below," "under," "below," "below," "above," "over," etc., can be used here to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as "below" or "under" or "below" of other elements or features will be oriented "over" of other elements or features. Therefore, the exemplary terms "below" and "under" can include both upper and lower orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0024] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0025] Reference Figure 1As shown, this utility model provides a technical solution: a multi-motor fully redundant dual-control circuit, including two control units 10, a signal switching module 20, a first power supply module 30, and at least two execution units 40; each of the two control units 10 includes a power supply 101, a power management module 102, and a control module 103. The power management module 102 is electrically connected to the power supply 101 and is used to receive the power supply voltage from the power supply 101. The control module 103 is electrically connected to the power management module 102 and is used to receive fault indication signals from the power management module 102; the signal switching module 20 is connected to the two control modules 40. 103. A bidirectional communication connection is established. The signal switching module 20 is used to select and output the control signal of one of the two control units 10 according to the status of the two control units 10. The first power supply module 30 is electrically connected to the two power management modules 102 and is used to receive power supply 101 from at least one power management module 102. The two execution units 40 are electrically connected to the two power supply 101 in a one-to-one correspondence. The execution units 40 are bidirectionally connected to the signal switching module 20. Each execution unit 40 is electrically connected to the first power supply module 30 and is used to receive the power supply voltage from the power supply 101 and the operating voltage of the first power supply module 30.

[0026] For example, the control module 103 can be a microcontroller or the like. The power management module 102 and the control module 103 can communicate via a serial bus, for example, the serial bus can be an SPI bus or the like.

[0027] In this embodiment, the power management module 102 is responsible for converting the supply voltage of the power supply 101 into a stable supply voltage and continuously monitoring its own and the power supply network's health status. The control module 103 receives a fault indication signal from the power management module 102 and generates a control signal accordingly. Assuming one control unit 10 is the main control unit 10 and the other control unit 10 is the backup control unit 10, under normal operating conditions, the signal switching module 20 defaults to outputting the control signal of the main control unit 10 to all execution units 40. When the signal switching module 20 receives a fault flag from the control module 103 of the main control unit 10, it outputs the control signal of the control module 103 of the backup control unit 10. Each execution unit 40 is not only directly connected to a power supply 101 to obtain high-voltage drive power, but also connected to the first power supply module 30 to obtain reliable logic and control power. This dual power supply design ensures that even if one power supply 101 fails, the execution unit 40 can still continue to work through the first power supply module 30. The first power supply module 30 obtains power input from the two power management modules 102 and provides a second-stabilized operating voltage for the subsequent motor drive units.

[0028] By constructing a physical foundation of dual independent power supplies, dual control systems, and dual-path power supply, hardware redundancy is achieved. Two control units operate simultaneously; if one fails, the other automatically takes over control, achieving seamless switching. In critical safety systems such as electric power steering and brake-by-wire, this design ensures that even in the event of a single point of failure, the system can still provide high steering assistance or braking capability, avoiding safety accidents caused by complete failure.

[0029] Reference Figure 1 As shown, in some embodiments, each of the two control units 10 includes an electromagnetic interference filter 104. The electromagnetic interference filter 104 is connected to the power supply 101 and electrically connected to the power management module 102. The electromagnetic interference filter 104 is used to receive the power supply voltage from the power supply 101 and filter it.

[0030] In this embodiment, the filter can effectively suppress conducted interference from the power supply 101, providing clean power to the subsequent sensitive power management module 102 and control module 103.

[0031] Reference Figure 1 As shown, in some embodiments, the two control modules 103 are bidirectionally connected.

[0032] For example, the two control modules 103 can communicate via a serial bus and a PWM signal connection. For instance, the serial bus can be an SPI bus.

[0033] In this embodiment, the two control modules 103 periodically exchange system status, control parameters and fault indication information, so that the control module 103 of the main control unit 10 can know all the control intentions and the status of the controlled object of the control module 103 of the backup control unit 10 in real time. This enables the control module 103 of the backup control unit 10 to achieve seamless switching when it needs to take over, avoiding control shocks or function interruptions caused by loss or lag of status information.

[0034] Reference Figure 1 As shown, in some embodiments, each of the two control units 10 includes a communication module 105, and the power management module 102 is communicatively connected to the control module 103 through the communication module 105.

[0035] For example, the communication module 105 can be a CAN communication module 105, etc.

[0036] In this embodiment, the communication module 105 can be responsible for vehicle communication.

[0037] Reference Figure 1As shown, in some embodiments, at least two execution units 40 each include a drive module 401, a three-phase six-bridge arm 402, and a drive motor 403. The drive module 401 is electrically connected to the power supply 101 and the first power supply module 30. The drive module 401 receives the power supply voltage from the power supply 101 and the operating voltage of the first power supply module 30. The three-phase six-bridge arm 402 is bidirectionally connected to the drive module 401 and electrically connected to the first power supply module 30. The three-phase six-bridge arm 402 is used to receive the power supply voltage from the power supply 101. The drive motor 403 is electrically connected to the three-phase six-bridge arm 402 in three phases.

[0038] For example, the drive motor 403 is a linear motor or an electric power steering motor, etc.

[0039] In this embodiment, the drive module 401 communicates simultaneously with the signal switching module 20, providing feedback on the drive status and receiving control commands. High-voltage mains power from the power supply 101 is used for the power drive of the three-phase six-bridge arm 402, while low-voltage power from the first power supply module 30 is used for the logic circuitry of the drive module 401. The three-phase six-bridge arm 402 receives pulse-width modulation signals from the drive module 401, converting DC power into three-phase AC power to drive the motor 403. The modular design of the execution unit 40 and the separation of high and low voltage power supplies give the drive function itself redundancy. Even if the main power supply path is interrupted, the drive logic can still operate.

[0040] The number of execution units 40 is as follows: two execution units 40 are grouped together. In each group of execution units 40, the two execution units 40 serve as mechanical backups for each other. The two execution units 40 are electrically connected to the two power supplies 101 in a one-to-one correspondence. The drive motor 403 of one execution unit 40 is a linear motor, and the other drive motor 403 is an electric power steering motor. If the number of execution units 40 is odd, after dividing the execution units 40, the remaining execution units 40 are electrically connected to one of the two power supplies 101.

[0041] Reference Figure 1 As shown, in some embodiments, at least two execution units 40 each include a functional sensor 404, which is used to detect the operating status of the drive motor 403.

[0042] For example, the functional sensor 404 can be a Hall sensor or a temperature sensor, etc.

[0043] In this embodiment, when the functional sensor 404 is a Hall sensor, the Hall sensor can detect the rotational speed of the drive motor 403. If the functional sensor 404 is also a temperature sensor, the temperature sensor can detect the temperature of the three-phase six-bridge arm 402 or the drive motor 403.

[0044] Reference Figure 1As shown, in some embodiments, the multi-motor fully redundant dual-control circuit includes a second power supply module 50, which is electrically connected to two power management modules 102. The second power supply module 50 is used to receive power supply 101 from at least one power management module 102. A functional sensor 404 is electrically connected to the second power supply module 50 and is used to receive the operating voltage from the second power supply module 50.

[0045] In this embodiment, the functional sensor 404 is powered by a separate second power supply module 50. The second power supply module 50 also receives input from the two power management modules 102, so that the power supply to the functional sensor 404 is still guaranteed when the power supply 101 of the main control unit 10 fails.

[0046] Reference Figure 1 As shown, in some embodiments, the multi-motor fully redundant dual-control circuit includes a power supply redundancy module 60, which is connected to two power supplies 101 and is used to realize redundant switching between the two power supplies 101.

[0047] In this embodiment, the module automatically detects the voltage of the two power supplies 101 and prioritizes using the power supply with the normal voltage to power the system. When the voltage of the main power supply drops, it can seamlessly switch to the other power supply 101 within microseconds. Hardware-level, uninterrupted redundancy switching is achieved at the power input, completely eliminating the risk of the entire system losing power due to the failure of a single power supply link, and providing energy security for all complex control and redundancy logic in the backend.

[0048] Reference Figure 1 As shown, in some embodiments, the multi-motor fully redundant dual control circuit includes a wake-up module 70, which is electrically connected to two power management modules 102. The wake-up module 70 is used to wake up at least one power management module 102.

[0049] In this embodiment, when the wake-up module 70 receives a wake-up signal from the vehicle network or a hardwired switch, the wake-up module 70 can simultaneously or selectively illuminate the power management modules 102 of the two control units 10, thereby activating at least one power management module 102.

[0050] This utility model provides a technical solution: a vehicle including the above-mentioned multi-motor fully redundant dual control circuit.

[0051] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A multi-motor fully redundant dual-control circuit, characterized in that, include: Two control units (10), each of the two control units (10) includes a power supply (101), a power management module (102) and a control module (103). The power management module (102) is electrically connected to the power supply (101) and is used to receive the power supply voltage from the power supply (101). The control module (103) is electrically connected to the power management module (102) and is used to receive the fault indication signal from the power management module (102). The signal switching module (20) is bidirectionally connected to the two control modules (103). The signal switching module (20) is used to select and output the control signal of one of the two control units (10) according to the status of the two control units (10). A first power supply module (30) is electrically connected to two power management modules (102) and is used to receive power supply (101) from at least one of the power management modules (102). At least two execution units (40) are provided, and the two execution units (40) are electrically connected to the two power supplies (101) in a one-to-one correspondence. The execution units (40) are bidirectionally connected to the signal switching module (20). Each execution unit (40) is electrically connected to the first power supply module (30). The execution unit (40) is used to receive the power supply voltage from the power supply (101) and the operating voltage of the first power supply module (30).

2. The multi-motor fully redundant dual-control circuit according to claim 1, characterized in that, Each of the two control units (10) includes an electromagnetic interference filter (104), which is connected to the power supply (101) and electrically connected to the power management module (102). The electromagnetic interference filter (104) is used to receive the power supply voltage from the power supply (101) and filter it.

3. The multi-motor fully redundant dual-control circuit according to claim 1, characterized in that, The two control modules (103) are bidirectionally connected.

4. The multi-motor fully redundant dual-control circuit according to claim 1, characterized in that, Each of the two control units (10) includes a communication module (105), and the power management module (102) is communicatively connected to the control module (103) through the communication module (105).

5. The multi-motor fully redundant dual-control circuit according to claim 1, characterized in that, At least two of the execution units (40) each include a drive module (401), a three-phase six-bridge arm (402), and a drive motor (403). The drive module (401) is electrically connected to the power supply (101) and the first power supply module (30). The drive module (401) receives the power supply voltage from the power supply (101) and the operating voltage of the first power supply module (30). The three-phase six-bridge arm (402) is bidirectionally connected to the drive module (401). The three-phase six-bridge arm (402) is electrically connected to the first power supply module (30). The three-phase six-bridge arm (402) is used to receive the power supply voltage from the power supply (101). The drive motor (403) is electrically connected to the three-phase six-bridge arm (402) in three phases.

6. The multi-motor fully redundant dual-control circuit according to claim 5, characterized in that, At least two of the execution units (40) each include a functional sensor (404) for detecting the operating status of the drive motor (403).

7. The multi-motor fully redundant dual-control circuit according to claim 6, characterized in that, The device includes a second power supply module (50), which is electrically connected to two power management modules (102). The second power supply module (50) is used to receive power supply (101) from at least one of the power management modules (102). The functional sensor (404) is electrically connected to the second power supply module (50) and is used to receive the operating voltage from the second power supply module (50).

8. The multi-motor fully redundant dual-control circuit according to claim 1, characterized in that, It includes a power supply redundancy module (60), which is connected to two power supplies (101) and is used to realize the redundancy switching of the two power supplies (101).

9. The multi-motor fully redundant dual-control circuit according to claim 1, characterized in that, It includes a wake-up module (70), which is electrically connected to two power management modules (102), and the wake-up module (70) is used to wake up at least one of the power management modules (102).

10. A vehicle, characterized in that, Includes the multi-motor fully redundant dual-control circuit according to any one of claims 1 to 9.

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