Method for controlling motor controller, electronic device and driving device

Abstract

A method for controlling a motor controller (12), an electronic device, and a driving device. The method for controlling the motor controller (12) comprises: when the motor controller (12) is in an active short-circuit mode with an increasing duty cycle, monitoring the current state of a main power relay and / or the bus voltage of the motor controller (12); and on the basis of the current state of the main power relay and / or the bus voltage of the motor controller (12), controlling the motor controller (12) to be switched from the active short-circuit mode with the increasing duty cycle to a direct active short-circuit mode.

Description

Motor controller control method, electronic device and driving device

[0001] This application claims priority to Chinese patent application No. 202311606185.6 filed on November 24, 2023, entitled “A motor controller control method, electronic device and driving device”. The entire contents of the above Chinese patent application are incorporated into this application by reference. Technical Field

[0002] The present application relates to the field of motor drive technology, and specifically provides a motor controller control method, electronic equipment, and driving equipment. Background Art

[0003] In new energy electric vehicles equipped with permanent magnet synchronous motors as their drive systems, when the motor drive system is running at high speed and a serious electrical fault occurs, the motor controller can be used to provide active short-circuit protection for the motor drive system. Specifically, the motor controller will control the power devices in its inverter, such as IGBTs (Insulated-Gate Bipolar Transistors) or SiC (Silicon Carbide), to enter an active short-circuit state to cut off power output and ensure that the entire vehicle enters a safe state. However, at the moment of entering the active short-circuit, a transient extremely high pulse current will appear at the three-phase terminals of the motor. This pulse current is generally greater than the maximum operating current that the motor can withstand. When the motor rotor operates at high temperatures, it is very likely to cause irreversible demagnetization of the motor, which is unacceptable.

[0004] To address this issue, related solutions slowly switch power devices (IGBT, SiC) into a stable active short-circuit state with a gradually increasing duty cycle. However, this solution does not consider whether the current state of the motor drive system is suitable for slowly switching into a stable active short-circuit state with a gradually increasing duty cycle. When active short-circuit protection is implemented in an active short-circuit mode with an increasing duty cycle, overvoltage damage is prone to occur.

[0005] Summary of the Invention

[0006] The present application aims to solve the above technical problem, that is, to solve the problem that the existing method does not consider whether the motor drive system is suitable for active short-circuit protection in an active short-circuit mode with increasing duty cycle, which easily causes overvoltage damage.

[0007] In a first aspect, the present application provides a motor controller control method for a motor drive system, the method comprising:

[0008] When the motor controller is in an active short-circuit mode with increasing duty cycle, monitoring the current state of the power main relay and / or the motor controller bus voltage;

[0009] Based on the current state of the power main relay and / or the bus voltage of the motor controller, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

[0010] In some embodiments, monitoring the current state of the power main relay includes:

[0011] Determine whether the vehicle is currently in collision mode;

[0012] The current state of the power main relay is determined according to the judgment result.

[0013] In some embodiments, monitoring the bus voltage of the motor controller includes: monitoring the bus voltage of the motor controller through a voltage sampling circuit or an overvoltage comparison circuit.

[0014] In some embodiments, based on the current state of the power main relay, controlling the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode includes:

[0015] When the current state of the power main relay is disconnected, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

[0016] In some embodiments, controlling the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode based on the bus voltage of the motor controller includes:

[0017] When the bus voltage of the motor controller is greater than a preset overvoltage threshold, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

[0018] In some embodiments, based on the current state of the power main relay and the bus voltage of the motor controller, controlling the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode includes:

[0019] When the current state of the power main relay is disconnected and / or the bus voltage of the motor controller is greater than a preset overvoltage threshold, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

[0020] In some embodiments, the method further comprises:

[0021] Before actively short-circuiting the motor drive system, determining whether a main power relay is disconnected;

[0022] If yes, the motor controller is controlled to enter the direct active short-circuit mode; if no, the motor controller is controlled to enter the active short-circuit mode with increasing duty cycle.

[0023] In a second aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the motor controller control method described in any one of the above items is implemented.

[0024] In a third aspect, the present application provides an electronic device comprising:

[0025] at least one processor;

[0026] and, a memory communicatively coupled to the at least one processor;

[0027] Wherein, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, any one of the above-mentioned motor controller control methods is implemented.

[0028] In a fourth aspect, the present application provides a driving device, which includes a driving device body and the electronic device as described above.

[0029] In the case of adopting the above technical solution, the present application can monitor the current state of the power main relay and / or the bus voltage of the motor controller when the motor controller is in the active short-circuit mode with increasing duty cycle; based on the current state of the power main relay and / or the bus voltage of the motor controller, control the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode. By monitoring the current state of the main relay and / or the bus voltage of the motor controller, the method fully considers whether the current state of the motor drive system is suitable for slowly switching into a stable active short-circuit state with gradually increasing duty cycle. It can timely identify the overvoltage risk and timely exit the transition stage of increasing duty cycle, avoid the motor recoil energy being too high and the voltage clamping effect of the power supply being lost due to the disconnection of the power main relay, so that the DC side voltage of the motor controller rises rapidly, causing overvoltage damage to the high-voltage components in the motor drive system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The preferred embodiments of the present application are described below with reference to the accompanying drawings, in which:

[0031] FIG1 is a schematic diagram of the structure of a motor drive system provided by the present application;

[0032] FIG2 is a flow chart of a motor controller control method provided in an embodiment of the present application;

[0033] FIG3 is a flow chart of a motor controller control method according to another embodiment of the present application;

[0034] FIG4 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application.

[0036] Based on the description of the background technology section, it can be seen that when an electrical fault occurs in a motor drive system, the motor drive system is actively short-circuited in the related art. Active short-circuit protection can be divided into two types: direct active short-circuit mode and active short-circuit mode with increasing duty cycle. Usually, when the motor controller protects the motor drive system in the active short-circuit mode with increasing duty cycle, the transition mode of increasing duty cycle can suppress or reduce the transient pulse current generated when the motor enters the active protection state in the direct active short-circuit mode. However, in the prior art, whether the current state of the motor drive system is suitable for slowly switching into a stable active short-circuit state in a manner of gradually increasing duty cycle is not considered. The impact of the disconnection of the power main relay on the motor drive system in the active short-circuit protection mode with increasing duty cycle has not been found. It is easy to cause the motor recoil energy to be too high and the voltage clamping effect of the power supply is lost due to the disconnection of the power main relay, causing the DC side voltage of the motor controller to rise rapidly, causing overvoltage damage to the high-voltage components in the motor drive system. In view of this, the present application provides a motor controller control method, which can be specifically referred to in Figures 1 and 2 and the description below.

[0037] Referring to FIG1 , FIG1 is a schematic diagram of a motor drive system structure provided by the present application, which may include:

[0038] A power battery 11, a motor controller 12, a motor 13, and a power main relay 14 provided on a bus bar between the power battery 11 and the motor controller 12;

[0039] The power battery 11 is used to output direct current and supply it to the motor controller 12;

[0040] The motor controller 12 may include a three-phase bridge inverter for converting direct current into alternating current and providing the alternating current to the motor 13 .

[0041] Referring to FIG. 2 , FIG. 2 is a flow chart of a motor controller control method provided by an embodiment of the present application, which may include:

[0042] Step S21: When the motor controller is in the active short-circuit mode with increasing duty cycle, monitor the current state of the power main relay and / or the bus voltage of the motor controller;

[0043] Step S22: Based on the current state of the power main relay and / or the bus voltage of the motor controller, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

[0044] In some embodiments, the motor controller control method provided in the embodiments of the present application can be implemented based on the motor drive system shown in Figure 1. In the following, the method provided in the present application will be described by taking the motor drive system shown in Figure 1 as an example.

[0045] In an embodiment of the present application, when the motor controller is in an active short-circuit mode with increasing duty cycle, it can be specifically to control the three upper bridge arms or the three lower bridge arms of the three-phase bridge inverter in the motor controller 12 to enter the disconnected state, and control the other three bridge arms in the three upper bridge arms and the three lower bridge arms to gradually reach a closed state with a duty cycle of 100% in a manner of increasing duty cycle.

[0046] In an embodiment of the present application, the direct active short-circuit mode can directly control the three upper bridge arms or the three lower bridge arms of the three-phase bridge inverter in the motor controller 12 to enter the disconnected state, and control the other three bridge arms among the three upper bridge arms and the three lower bridge arms to directly enter the closed state.

[0047] In some embodiments, step S21 may specifically be real-time monitoring of the current state of the power main relay and / or the bus voltage of the motor controller, thereby promptly controlling the motor controller to exit the active short-circuit mode with increasing duty cycle. In other embodiments, interval monitoring may also be performed to save energy and cost.

[0048] In some embodiments, monitoring the current state of the power main relay in step S21 may be: obtaining the current state of the power main relay through a battery management system equipped on the vehicle or an indicator light of the power main relay.

[0049] In other embodiments, monitoring the current state of the power main relay in step S21 may include:

[0050] Determine whether the vehicle is currently in collision mode;

[0051] The current state of the power main relay is determined based on the judgment result.

[0052] Since the main power relay will be quickly disconnected when the vehicle is in the crash mode, the current state of the main power relay can be known in advance by determining whether the vehicle is currently in the crash mode.

[0053] In some embodiments, the current state of the vehicle can be determined by monitoring the collision signal transmitted by the vehicle's CAN (Controller Area Network). In other embodiments, the current state of the power main relay can be determined by monitoring the opening and closing control signal transmitted by the CAN to the power main relay. In comparison, monitoring the collision signal can reduce the transmission delay of the CAN signal, facilitate early determination of the state of the power main relay, and promptly control the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

[0054] In the active short-circuit mode with increasing duty cycle, when the main power relay is disconnected, the motor's recoil energy will cause the DC voltage of the motor controller to rise rapidly due to the loss of the power supply's voltage clamping effect. Therefore, in this application, the active short-circuit mode with increasing duty cycle can be exited based on the motor controller bus voltage by monitoring the motor controller bus voltage.

[0055] In some embodiments, monitoring the bus voltage of the motor controller in step S21 may include: monitoring the bus voltage of the motor controller through a voltage sampling circuit or an overvoltage comparison circuit.

[0056] In some embodiments, a voltage sampling circuit may be provided between the power battery 11 and the motor controller 12 shown in FIG1 to collect the bus voltage on the DC side of the motor controller. The voltage sampling circuit may be provided in a manner conventional in the art.

[0057] In some embodiments, an overvoltage comparison circuit can be provided between the power battery 11 and the motor controller 12 shown in FIG1 , and is used to monitor the bus voltage on the DC side of the motor controller. As an example, the overvoltage comparison circuit can include a comparator, the positive input of the comparator being connected to a reference voltage, which can be equal to a preset overvoltage threshold, the negative input of the comparator being connected to the bus voltage on the DC side of the motor controller, and the output of the comparator being able to output a high level or a low level based on the voltage difference between the bus voltage of the motor controller and the preset overvoltage threshold. In other embodiments, the overvoltage comparison circuit can also be provided in other conventional manners in the art.

[0058] In some embodiments, when the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode based on the current state of the power main relay, step S22 may be specifically as follows:

[0059] When the current state of the power main relay is disconnected, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

[0060] In other embodiments, when the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode based on the bus voltage of the motor controller, step S22 may be specifically as follows:

[0061] When the bus voltage of the motor controller is greater than a preset overvoltage threshold, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

[0062] The preset overvoltage threshold can be set according to actual application conditions.

[0063] In some embodiments, the motor controller bus voltage collected by the voltage sampling circuit can be compared with a preset overvoltage threshold. When the comparison result is greater than the threshold, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode. In other embodiments, when the comparison result is less than or equal to the threshold, the current active short-circuit mode with increasing duty cycle can be maintained.

[0064] In other embodiments, the magnitude relationship between the motor controller bus voltage and a preset overvoltage threshold can be determined based on a signal at the output of an overvoltage comparison circuit. As an example, the overvoltage comparison circuit can include a comparator. When the positive input of the comparator is connected to the preset overvoltage threshold, the negative input of the comparator can be connected to the motor controller bus voltage. When the output of the comparator outputs a high level, the motor controller bus voltage is greater than the preset overvoltage threshold. The corresponding step S22 can specifically be to control the motor controller to switch from an active short-circuit mode with increasing duty cycle to a direct active short-circuit mode in response to the high-level signal output by the overvoltage comparison circuit.

[0065] In other embodiments, when the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode based on the current state of the power main relay and the bus voltage of the motor controller, step S22 may be specifically as follows:

[0066] When the current state of the power main relay is disconnected and / or the bus voltage of the motor controller is greater than a preset overvoltage threshold, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

[0067] In some preferred embodiments, in order to exit the active short-circuit mode with increasing duty cycle in a timely manner and ensure the safety of the motor drive system, when either the current state of the power main relay is disconnected or the bus voltage of the motor controller is greater than the preset overvoltage threshold, the motor controller can be controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

[0068] In other embodiments, in order to further improve the accuracy of identifying overvoltage damage faults, the motor controller can be controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode when both the current state of the power main relay is disconnected and the bus voltage of the motor controller is greater than the preset overvoltage threshold are satisfied.

[0069] The above is a motor controller control method provided by an embodiment of the present application. The method monitors the current state of the power main relay and / or the bus voltage of the motor controller when the motor controller is in the active short-circuit mode with increasing duty cycle; based on the current state of the power main relay and / or the bus voltage of the motor controller, controls the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode. By monitoring the current state of the main relay and / or the bus voltage of the motor controller, the method fully considers whether the current state of the motor drive system is suitable for slowly switching into a stable active short-circuit state in a manner of gradually increasing duty cycle. It can timely identify the overvoltage risk and timely exit the transition stage of increasing duty cycle, avoid the motor recoil energy being too high and the loss of the voltage clamping effect of the power supply due to the disconnection of the power main relay, so that the DC side voltage of the motor controller rises rapidly, causing overvoltage damage to the high-voltage components in the motor drive system.

[0070] In some embodiments, before active short-circuit protection is performed on the motor drive system, it is possible to pre-identify whether the current state of the motor drive system is suitable for entering an active short-circuit mode with increasing duty cycle to avoid overvoltage damage. For details, see the description in the following embodiments.

[0071] Referring to FIG. 3 , FIG. 3 is a flow chart of a motor controller control method according to another embodiment of the present application, which may also be applied to the motor drive system shown in FIG. 1 . The method may include:

[0072] Step S31: Before performing active short-circuit protection on the motor drive system, determine whether the power main relay is disconnected;

[0073] If so, step S32 is executed: the motor controller is controlled to enter a direct active short-circuit mode. This ensures a safe state while avoiding the problem of overvoltage damage to high-voltage components in the motor drive system caused by motor kickback energy, which rapidly increases the DC side voltage of the motor controller due to the disconnection of the power main relay and the loss of the power supply voltage clamping effect after entering the active short-circuit protection mode with increasing duty cycle.

[0074] If not, step S33 is executed: controlling the motor controller to enter the active short-circuit mode with increasing duty cycle, so as to suppress or reduce the transient pulse current generated when the motor enters the active protection state in the direct active short-circuit mode by the transition method of increasing duty cycle.

[0075] In some embodiments, step S31 may specifically include: obtaining the current state of the power main relay through the battery management system equipped in the vehicle or the indicator light of the power main relay, and determining whether the power main relay is disconnected.

[0076] In other embodiments, step S31 may also determine whether the power main relay is disconnected by acquiring a collision signal. Because the vehicle transmits a collision signal via CAN when in collision mode, and the power main relay rapidly disconnects in response to the collision signal, it is possible to determine whether the power main relay is disconnected by the collision signal.

[0077] Among them, after executing step S32, the method provided by the embodiment corresponding to Figure 2 can be combined to fully consider whether the current state of the motor drive system is suitable for active short-circuit protection in a duty cycle increasing manner, and achieve the same beneficial effect as the embodiment corresponding to Figure 2.

[0078] It will be understood by those skilled in the art that all or part of the processes in the method for implementing the above-mentioned embodiments of the present application can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned various method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium can include: any entity or device, medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium, etc. that can carry the computer program code.

[0079] In another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the motor controller control method described in any of the above embodiments is implemented. The computer-readable storage medium may be a storage device formed by various electronic devices. Optionally, in the embodiments of the present application, the computer-readable storage medium is a non-transitory computer-readable storage medium.

[0080] Another aspect of the present application provides an electronic device, which may include at least one processor; and a memory communicatively connected to the at least one processor; wherein a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the motor controller control method described in any of the above embodiments is implemented.

[0081] As an example, the electronic device may be a motor controller, and the motor controller may implement the motor controller control method described in any of the above embodiments.

[0082] In other embodiments, the electronic device may also be a motor drive system, as shown in FIG1 , which may include at least a motor controller.

[0083] Referring to FIG. 4 , FIG. 4 exemplarily shows a structure in which a memory 41 and a processor 42 are connected via a bus, and only one memory 41 and only one processor 42 are provided.

[0084] In other embodiments, the electronic device may include multiple memories 41 and multiple processors 42. The program for executing the motor controller control method of any of the above embodiments may be divided into multiple subroutines, each of which may be loaded and executed by the processor 42 to execute different steps of the motor controller control method of the above method embodiment. Specifically, each subroutine may be stored in a different memory 41, and each processor 42 may be configured to execute the programs in one or more memories 41 to jointly implement the motor controller control method of the above method embodiment.

[0085] On the other hand, the present application provides a driving device, which may include a driving device body and the electronic device as described above, which may execute the motor controller control method described in any of the above method embodiments and achieve the same beneficial effects as the above embodiments.

[0086] Thus far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present application.

Claims

1. A motor controller control method, characterized in that: Applied to a motor drive system, the method comprises: When the motor controller is in an active short-circuit mode with increasing duty cycle, monitoring the current state of the power main relay and / or the motor controller bus voltage; Based on the current state of the power main relay and / or the bus voltage of the motor controller, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

2. The method according to claim 1, characterized in that Monitoring the current status of the power main relay includes: Determine whether the vehicle is currently in collision mode; The current state of the power main relay is determined according to the judgment result.

3. The method according to claim 1, characterized in that Monitoring the bus voltage of the motor controller includes: monitoring the bus voltage of the motor controller through a voltage sampling circuit or an overvoltage comparison circuit.

4. The method according to any one of claims 1 to 3, characterized in that Based on the current state of the power main relay, controlling the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode includes: When the current state of the power main relay is disconnected, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

5. The method according to any one of claims 1 to 3, characterized in that: Based on the bus voltage of the motor controller, controlling the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode includes: When the bus voltage of the motor controller is greater than a preset overvoltage threshold, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

6. The method according to any one of claims 1 to 3, characterized in that: Based on the current state of the power main relay and the bus voltage of the motor controller, controlling the motor controller to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode includes: When the current state of the power main relay is disconnected and / or the motor controller bus is When the overvoltage is greater than a preset overvoltage threshold, the motor controller is controlled to switch from the active short-circuit mode with increasing duty cycle to the direct active short-circuit mode.

7. The method according to claim 1, characterized in that The method further comprises: Before actively short-circuiting the motor drive system, determining whether a main power relay is disconnected; If yes, the motor controller is controlled to enter the direct active short-circuit mode; if no, the motor controller is controlled to enter the active short-circuit mode with increasing duty cycle.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the motor controller control method according to any one of claims 1 to 7 is implemented.

9. An electronic device, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; Wherein, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the motor controller control method according to any one of claims 1 to 7 is implemented.

10. A driving device, characterized in that: It comprises a driving device body and the electronic device described in claim 9.

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