Safety control method, apparatus and device for dual-electric-motor system, and storage medium and product

Abstract

A safety control method, safety control apparatus and safety control device for a dual-electric-motor system, and a storage medium. The safety control method comprises: once a dual-electric-motor system enters a torque control mode, determining whether a level-3 generator fault has occurred in a generator system in the dual-electric-motor system, so as to obtain a generator determination result; on the basis of the generator determination result, controlling the dual-electric-motor system to enter a safe operation mode; when the generator determination result is that no level-3 generator fault has occurred in the generator system, determining whether a level-3 drive electric-motor fault has occurred in a drive electric-motor system in the dual-electric-motor system, so as to obtain a drive electric-motor determination result; and on the basis of the drive electric-motor determination result, controlling the dual-electric-motor system to enter the safe operation mode.

Description

Safety control methods, devices, equipment, storage media and products for dual-motor systems

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202410907528.0, filed on July 8, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of hybrid electric vehicle technology, and in particular to a safety control method, device, equipment, storage medium, and product for a dual-motor system. Background Technology

[0004] With global economic development and the increasing number of cars on the road, vehicle pollution is becoming increasingly severe, posing a significant challenge to petroleum resources and the ecological environment. The automotive industry is forced to shift from traditional energy consumption models to energy-efficient and environmentally friendly ones. Hybrid electric vehicles (HEVs) effectively compensate for the short driving range of electric vehicles. Currently, HEVs have made significant progress in system integration, reliability, and fuel efficiency, with different technical solutions achieving fuel savings of 10% to 40%. Permanent magnet synchronous motors (PMSMs) and dual PMSM controllers, key technologies in the electric drive systems of hybrid new energy vehicles, have seen substantial development. Major automotive companies have invested significant human and material resources in researching the safety and reliability of PMSMs and dual PMSM controllers. Therefore, how to reliably enter a safe operating mode in the event of a level 3 fault in a dual-motor system has become a pressing issue. Summary of the Invention

[0005] The main objective of this application is to provide a safety control method, device, equipment, storage medium, and product for a dual-motor system, aiming to solve the technical problem of how to reliably enter a safe operating mode when a dual-motor system experiences a level 3 fault.

[0006] To achieve the above objectives, this application provides a safety control method for a dual-motor system, the method comprising the following steps:

[0007] After the dual-motor system enters the torque control mode, it is determined whether the generator system in the dual-motor system has experienced a level 3 generator fault, and the generator judgment result is obtained.

[0008] Based on the generator's judgment result, the dual-motor system is controlled to enter a safe operating mode;

[0009] When the generator judgment result is that the generator system has not experienced a level 3 generator fault, it is determined whether the drive motor system in the dual-motor system has experienced a level 3 drive motor fault, and the drive motor judgment result is obtained.

[0010] Based on the judgment result of the drive motor, the dual-motor system is controlled to enter a safe operation mode.

[0011] In one embodiment, the generator three-level fault includes: generator resolver fault, generator overvoltage or overcurrent fault;

[0012] The step of determining whether a generator system in the dual-motor system has experienced a level 3 generator fault after the dual-motor system enters torque control mode, and obtaining the generator determination result, includes:

[0013] After the dual-motor system enters the torque control mode, it is determined whether the generator system in the dual-motor system has experienced a generator resolver fault, and the generator resolver fault determination result is obtained.

[0014] When the generator resolver fault determination result is that the generator system has not experienced the generator resolver fault, determine whether the generator system has experienced the generator overvoltage or overcurrent fault, and obtain the generator overvoltage or overcurrent fault determination result;

[0015] The generator resolver fault judgment result and the generator overvoltage or overcurrent fault judgment result are combined to form the generator judgment result.

[0016] In one embodiment, the step of controlling the dual-motor system to enter a safe operating mode based on the generator judgment result includes:

[0017] In the generator judgment result, the generator resolver fault judgment result is that when the generator system experiences the generator resolver fault, the first generator speed is determined based on the clutch status, engine speed, and speed ratio.

[0018] The generator base speed is calculated based on the generator's maximum operating speed, the power battery's minimum voltage, and the back electromotive force corresponding to the generator's maximum operating speed.

[0019] In the generator judgment result, the generator overvoltage or overcurrent fault judgment result is that when the generator system experiences the generator overvoltage or overcurrent fault, it is determined whether the speed of the first generator is greater than or equal to the generator base speed;

[0020] Based on the judgment result, the dual-motor system is controlled to enter a safe operation mode.

[0021] In one embodiment, the step of controlling the dual-motor system to enter a safe operating mode based on the judgment result includes:

[0022] When the speed of the first generator is less than the base speed of the generator, the generator system is controlled to enter the free operation mode, and the dual-motor system is controlled to enter the safe operation mode.

[0023] When the speed of the first generator is greater than or equal to the base speed of the generator, the generator control unit in the generator system is controlled to enter the three-phase winding short-circuit control mode, and the speed of the second generator is determined.

[0024] If the second generator speed is less than the base speed of the generator within a preset time period, the dual-motor system is controlled to enter a safe operation mode.

[0025] If the second generator speed is greater than or equal to the generator base speed within the preset time period, the generator system is controlled to enter the free operation mode, and the dual-motor system is controlled to enter the safe operation mode.

[0026] In one embodiment, the three-level fault of the drive motor includes: drive motor resolver fault, drive motor overvoltage or overcurrent fault;

[0027] The step of determining whether the drive motor system in the dual-motor system has experienced a drive motor level 3 fault when the generator system's judgment result indicates that the generator system has not experienced a generator level 3 fault, and obtaining the drive motor judgment result, includes:

[0028] When the generator judgment result is that the generator system has not experienced the generator level 3 fault, it is determined whether the drive motor system in the dual motor system has experienced the drive motor resolver fault, and the drive motor resolver fault judgment result is obtained.

[0029] When the drive motor resolver fault judgment result is that the drive motor system has not experienced the drive motor resolver fault, it is determined whether the drive motor system has experienced the drive motor overvoltage or overcurrent fault, and the drive motor overvoltage or overcurrent fault judgment result is obtained.

[0030] The drive motor resolver fault judgment result and the drive motor overvoltage or overcurrent fault judgment result are combined to form the drive motor judgment result.

[0031] In one embodiment, the step of controlling the dual-motor system to enter a safe operating mode based on the determination result of the drive motor includes:

[0032] In the judgment result of the drive motor, the judgment result of the drive motor resolver fault is that when the drive motor system experiences the drive motor resolver fault, the drive motor speed is determined according to the clutch status, vehicle speed, gear ratio and tire diameter.

[0033] The base speed of the drive motor is calculated based on the maximum operating speed of the drive motor, the minimum voltage of the power battery, and the back electromotive force corresponding to the maximum operating speed of the drive motor.

[0034] In the judgment result of the drive motor, when the drive motor system experiences the overvoltage or overcurrent fault of the drive motor, it is determined whether the speed of the drive motor is greater than or equal to the base speed of the drive motor.

[0035] Based on the judgment result, the dual-motor system is controlled to enter a safe operation mode.

[0036] Furthermore, to achieve the above objectives, this application also provides a safety control device for a dual-motor system, the safety control device for the dual-motor system comprising:

[0037] The generator fault judgment module is used to determine whether a generator level 3 fault has occurred in the generator system of the dual motor system after the dual motor system enters the torque control mode, and to obtain the generator judgment result.

[0038] The safety control module is used to control the dual-motor system to enter a safe operation mode based on the generator's judgment result;

[0039] The drive motor fault judgment module is used to determine whether the drive motor system in the dual-motor system has a drive motor level 3 fault when the generator judgment result is that the generator system has not experienced the generator level 3 fault, and to obtain the drive motor judgment result.

[0040] The safety control module also has the ability to control the dual-motor system to enter a safe operation mode based on the judgment result of the drive motor.

[0041] In addition, to achieve the above objectives, this application also proposes a safety control device for a dual-motor system, the safety control device for a dual-motor system comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the safety control method for a dual-motor system as described above.

[0042] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the safety control method for the dual-motor system as described above.

[0043] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the safety control method for the dual-motor system described above.

[0044] This application, after the dual-motor system enters torque control mode, determines whether a generator system in the dual-motor system has experienced a level 3 generator fault, obtains the generator judgment result, and then controls the dual-motor system to enter a safe operation mode based on the generator judgment result. If the generator judgment result indicates that the generator system has not experienced a level 3 generator fault, the application determines whether a drive motor system in the dual-motor system has experienced a level 3 drive motor fault, obtains the drive motor judgment result, and then controls the dual-motor system to enter a safe operation mode based on the drive motor judgment result. This application can reliably control the dual-motor system to enter a safe operation mode when a level 3 generator fault occurs in the generator system, and it can also reliably control the dual-motor system to enter a safe operation mode even if a level 3 drive motor fault occurs in the drive motor system, provided that a level 3 drive motor fault has not occurred in the generator system. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 is a flowchart illustrating the first embodiment of the safety control method for the dual-motor system of this application.

[0048] Figure 2 is a schematic diagram of the dual-motor control system architecture of a hybrid system according to an embodiment of the safety control method of the dual-motor system of this application.

[0049] Figure 3 is a flowchart illustrating the second embodiment of the safety control method for the dual-motor system of this application.

[0050] Figure 4 is a flowchart illustrating the third embodiment of the safety control method for the dual-motor system of this application.

[0051] Figure 5 is a schematic diagram of the overall process of a safety control embodiment of the dual-motor system of this application;

[0052] Figure 6 is a structural block diagram of the first embodiment of the safety control device for the dual-motor system of this application;

[0053] Figure 7 is a schematic diagram of the structure of the safety control device for the dual-motor system in the hardware operating environment involved in the embodiment of this application.

[0054] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Embodiments of the present invention

[0055] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0056] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solution of this application embodiment is as follows: after the dual-motor system enters the torque control mode, it is determined whether the generator system in the dual-motor system has experienced a generator level 3 fault, and a generator judgment result is obtained; the dual-motor system is controlled to enter a safe operation mode according to the generator judgment result; when the generator judgment result is that the generator system has not experienced the generator level 3 fault, it is determined whether the drive motor system in the dual-motor system has experienced a drive motor level 3 fault, and a drive motor judgment result is obtained; the dual-motor system is controlled to enter a safe operation mode according to the drive motor judgment result.

[0058] With global economic development and the increasing number of cars on the road, vehicle emissions are causing growing air pollution, posing a significant challenge to petroleum resources and the ecological environment. The automotive industry is forced to shift from traditional energy consumption models to energy-efficient and environmentally friendly ones. Hybrid electric vehicles (HEVs) effectively address the short driving range limitation of electric vehicles. Current HEVs have made significant progress in system integration, reliability, and fuel efficiency, with different technologies achieving fuel savings of 10% to 40%. Permanent magnet synchronous motors (PMSMs) and dual PMSM controllers, key technologies for the electric drive systems of hybrid new energy vehicles, have seen substantial development. Major automotive companies have invested significant human and material resources in researching the safety and reliability of PMSMs and dual PMSM controllers.

[0059] This application, after the dual-motor system enters torque control mode, determines whether a generator system in the dual-motor system has experienced a level 3 generator fault, obtains the generator judgment result, and then controls the dual-motor system to enter a safe operation mode based on the generator judgment result. If the generator judgment result indicates that the generator system has not experienced a level 3 generator fault, the application determines whether a drive motor system in the dual-motor system has experienced a level 3 drive motor fault, obtains the drive motor judgment result, and then controls the dual-motor system to enter a safe operation mode based on the drive motor judgment result. This application can reliably control the dual-motor system to enter a safe operation mode when a level 3 generator fault occurs in the generator system, and it can also reliably control the dual-motor system to enter a safe operation mode even if a level 3 drive motor fault occurs in the drive motor system, provided that a level 3 drive motor fault has not occurred in the generator system.

[0060] This application can be applied to hybrid electric vehicles, and the executing entity can be the vehicle control unit (VCU).

[0061] Based on this, the present application provides a safety control method for a dual-motor system. Referring to Figure 1, which is a flowchart of the first embodiment of the safety control method for a dual-motor system of the present application.

[0062] In this embodiment, the safety control method for the dual-motor system includes the following steps:

[0063] Step S10: After the dual-motor system enters the torque control mode, determine whether the generator system in the dual-motor system has experienced a level 3 generator fault, and obtain the generator judgment result.

[0064] Referring to Figure 2, which is a hybrid system dual-motor control system architecture diagram according to an embodiment of the safety control method for the dual-motor system of this application, as shown in Figure 2, the VCU acts as the vehicle manager, managing and distributing energy, and coordinating the coordinated operation of the engine system (engine + engine management system EMS), generator system (generator GM + generator control unit GCU), drive motor system (drive motor TM + drive motor control unit MCU), clutch and shifting mechanism, battery management unit BMS, high-voltage relays, and other high-voltage components. The GCU and MCU constitute the dual-motor controller, and the dual-motor controller, GM, and TM constitute the dual-motor control system.

[0065] The generator system, as part of the powertrain, primarily functions to generate electricity, converting the engine's mechanical energy into electrical energy to provide efficient and clean power to the vehicle's high-voltage system, alleviating driving anxiety. Additionally, it activates electric starting functionality for quick and safe engine start-up. Specifically, the GCU receives torque request signals from the VCU and outputs the corresponding torque while simultaneously providing feedback on the generator system's operating status, actual torque, actual speed, and high-voltage allowable information. The drive motor system, as part of the powertrain, primarily functions to propel the vehicle, converting electrical energy into mechanical energy to provide reliable, safe, efficient, and comfortable driving force. Furthermore, it recovers and reuses braking energy through power generation during braking. Specifically, the MCU receives torque request signals from the VCU and outputs the corresponding torque while simultaneously providing feedback on the generator system's operating status, actual torque, actual speed, and high-voltage allowable information.

[0066] In practical implementation, after the dual-motor system enters the torque control mode, it can determine whether the generator system in the dual-motor system has experienced a level 3 generator fault and obtain the generator judgment result. The level 3 generator fault may include generator resolver fault, generator overvoltage or overcurrent fault, etc. The generator judgment result may include whether a generator resolver fault or generator overvoltage or overcurrent fault has occurred.

[0067] Step S20: Based on the generator judgment result, control the dual-motor system to enter the safe operation mode.

[0068] This embodiment can control the dual-motor system to enter a safe operating mode based on the generator's judgment result. Specifically, the generator's control mode can be changed based on the generator's judgment result. After the mode change, the dual-motor system can be controlled to enter a safe operating mode.

[0069] Step S30: When the generator judgment result is that the generator system has not experienced a level 3 generator fault, determine whether the drive motor system in the dual-motor system has experienced a level 3 drive motor fault, and obtain the drive motor judgment result.

[0070] When no generator level 3 fault occurs in the generator system, that is, when no generator resolver fault, generator overvoltage or overcurrent fault occurs in the generator system, it can be determined whether a drive motor level 3 fault occurs in the drive motor system, and the drive motor judgment result can be obtained. The drive motor level 3 fault may include drive motor resolver fault, drive motor overvoltage or overcurrent fault, etc. The drive motor judgment result may include whether a drive motor resolver fault or drive motor overvoltage or overcurrent fault has occurred.

[0071] Step S40: Based on the judgment result of the drive motor, control the dual-motor system to enter the safe operation mode.

[0072] This embodiment can control the dual-motor system to enter a safe operating mode based on the judgment result of the drive motor. Specifically, the control mode of the drive motor can be changed according to the judgment result of the drive motor. After the mode is changed, the dual-motor system can be controlled to enter a safe operating mode.

[0073] This embodiment determines whether a level 3 generator fault has occurred in the generator system after the dual-motor system enters torque control mode. Based on the generator fault determination result, the dual-motor system is controlled to enter a safe operating mode. If the generator fault determination result indicates that a level 3 generator fault has not occurred, the embodiment determines whether a level 3 drive motor fault has occurred in the drive motor system. Based on the drive motor fault determination result, the dual-motor system is then controlled to enter a safe operating mode. This embodiment can reliably control the dual-motor system to enter a safe operating mode even when a level 3 generator fault occurs in the generator system, and it can also reliably control the dual-motor system to enter a safe operating mode even if a level 3 drive motor fault occurs, provided the generator system has not experienced a level 3 generator fault.

[0074] Referring to Figure 3, which is a flowchart of the second embodiment of the safety control method for the dual-motor system of this application.

[0075] Based on the first embodiment described above, in order to effectively obtain the generator judgment result, in this embodiment, step S10 includes: after the dual-motor system enters the torque control mode, determining whether the generator system in the dual-motor system has experienced the generator resolver fault, and obtaining the generator resolver fault judgment result; when the generator resolver fault judgment result is that the generator system has not experienced the generator resolver fault, determining whether the generator system has experienced the generator overvoltage or overcurrent fault, and obtaining the generator overvoltage or overcurrent fault judgment result; and combining the generator resolver fault judgment result and the generator overvoltage or overcurrent fault judgment result to form the generator judgment result.

[0076] In this embodiment, the three-level generator faults may include: generator resolver fault, generator overvoltage or overcurrent fault. After the dual-motor system enters torque control mode, it can be determined whether a generator resolver fault has occurred in the generator system. A generator resolver fault refers to a fault in the resolver chip's resolver circuit and resolver sensing, such as resolver short circuit, open circuit, waveform amplitude not meeting requirements, etc. The resolver chip will report a generator resolver fault in all such cases.

[0077] When no generator resolver fault has occurred in the generator system, it can be determined whether an overvoltage or overcurrent fault has occurred. Specifically, the generator controller (GCU) collects the current and compares it with a set current value. If the current value is greater than the set current value, it indicates an overcurrent; if the collected voltage value is greater than the set voltage value, it indicates an overvoltage. Therefore, the generator controller (GCU) can determine whether an overvoltage or overcurrent fault has occurred in the generator system. The generator determination result can include the generator resolver fault determination result and the generator overvoltage or overcurrent fault determination result, i.e., whether the generator system has a generator resolver fault, the generator system has not experienced a generator resolver fault, the generator system has experienced an overvoltage or overcurrent fault, or the generator system has not experienced an overvoltage or overcurrent fault.

[0078] Further, in this embodiment, step S20 includes:

[0079] Step S201: When the generator resolver fault judgment result in the generator judgment result is that the generator system has experienced the generator resolver fault, the first generator speed is determined based on the clutch status, engine speed, and speed ratio.

[0080] When the generator resolver fault judgment result is that the generator system has a generator resolver fault, the first generator speed can be determined according to the clutch status, engine speed and speed ratio. Specifically, when the clutch is closed, the first generator speed = engine speed × speed ratio.

[0081] Step S202: Calculate the generator base speed based on the generator's maximum operating speed, the power battery's minimum voltage, and the back electromotive force corresponding to the generator's maximum operating speed.

[0082] The generator base speed can be calculated based on the generator's maximum operating speed, the power battery's minimum voltage, and the back electromotive force corresponding to the generator's maximum operating speed. Generator base speed = generator's maximum operating speed × power battery's minimum voltage / generator's back electromotive force corresponding to the generator's maximum operating speed.

[0083] Step S203: When the generator overvoltage or overcurrent fault judgment result in the generator judgment result is that the generator system has experienced the generator overvoltage or overcurrent fault, determine whether the speed of the first generator is greater than or equal to the generator base speed.

[0084] When a generator overvoltage or overcurrent fault occurs in the generator system, it can be determined whether the speed of the first generator is greater than or equal to the generator base speed.

[0085] Step S204: Based on the judgment result, control the dual-motor system to enter the safe operation mode.

[0086] Furthermore, in order to effectively control the dual-motor system to enter the safe operation mode, in this embodiment, step S204 includes: when the speed of the first generator is less than the generator base speed, controlling the generator system to enter the free operation mode and controlling the dual-motor system to enter the safe operation mode; when the speed of the first generator is greater than or equal to the generator base speed, controlling the generator control unit in the generator system to enter the three-phase winding short-circuit control mode and determining the speed of the second generator; if the speed of the second generator is less than the generator base speed within a preset time period, controlling the dual-motor system to enter the safe operation mode; if the speed of the second generator is greater than or equal to the generator base speed within the preset time period, controlling the generator system to enter the free operation mode and controlling the dual-motor system to enter the safe operation mode.

[0087] When the speed of the first generator is less than the generator base speed, the VCU can be notified that: 1. The current generator system is experiencing a level three fault; 2. The generator speed is below 1000 rpm. The generator system can then be controlled to enter free-wheeling mode, which can be controlled by the GCU. The dual-motor system can also be controlled to enter safe operating mode.

[0088] When the first generator speed is greater than or equal to the generator base speed, the generator control unit in the generator system can be controlled to enter the three-phase winding short-circuit control mode. It can be controlled by the GCU to enter the ASC mode and notify the VCU: 1. The current generator system is in fault level three; 2. The generator speed is less than 1000 rpm.

[0089] In the specific implementation, after the GCU enters ASC mode, the speed of the second generator can be obtained in real time. If the speed of the second generator is greater than or equal to the generator base speed within a preset time period, the dual-motor system is controlled to enter the safe operation mode. If the speed of the second generator is less than the generator base speed, an ASC timeout fault is reported, and the system enters the free operation mode and the dual-motor system is controlled to enter the safe operation mode.

[0090] In this embodiment, when the generator resolver fault judgment result in the generator system indicates a generator resolver fault, the first generator speed is determined based on the clutch status, engine speed, and speed ratio. Then, the generator base speed is calculated based on the generator's maximum operating speed, the power battery's minimum voltage, and the back electromotive force corresponding to the generator's maximum operating speed. When the generator overvoltage or overcurrent fault judgment result in the generator system indicates a generator overvoltage or overcurrent fault, it is determined whether the first generator speed is greater than or equal to the generator base speed. Based on the judgment result, the dual-motor system is controlled to enter a safe operating mode. This embodiment accurately obtains the first generator speed when a generator resolver fault occurs, and reliably controls the dual-motor system to enter a safe operating mode based on the comparison between the first generator speed and the generator base speed when a generator overvoltage or overcurrent fault occurs.

[0091] Referring to Figure 4, which is a flowchart of the third embodiment of the safety control method for the dual-motor system of this application.

[0092] Based on the above embodiments, in this embodiment, step S30 includes: when the generator judgment result is that the generator system has not experienced the generator level 3 fault, determining whether the drive motor system in the dual-motor system has experienced the drive motor resolver fault, and obtaining a drive motor resolver fault judgment result; when the drive motor resolver fault judgment result is that the drive motor system has not experienced the drive motor resolver fault, determining whether the drive motor system has experienced the drive motor overvoltage or overcurrent fault, and obtaining a drive motor overvoltage or overcurrent fault judgment result; and combining the drive motor resolver fault judgment result and the drive motor overvoltage or overcurrent fault judgment result to form a drive motor judgment result.

[0093] In this embodiment, the three-level faults of the drive motor may include: drive motor resolver fault and drive motor overvoltage or overcurrent fault. When no generator three-level fault occurs in the generator system, that is, when no generator resolver fault and no generator overcurrent or overvoltage fault occurs in the generator system, it can be determined whether the drive motor system has a drive motor resolver fault. The drive motor resolver fault refers to the fault in the resolver chip's resolver circuit and resolver sensing, such as resolver short circuit, open circuit, waveform amplitude not meeting requirements, etc. The resolver chip will report the drive motor resolver fault.

[0094] When no resolver fault occurs in the drive motor system, it can be determined whether an overvoltage or overcurrent fault has occurred. Specifically, the drive motor controller MCU can collect the current and compare it with a set current value. If the current is greater than the set current value, it is an overcurrent; if the collected voltage is greater than the set voltage value, it is an overvoltage. Therefore, the drive motor controller MCU can determine whether an overvoltage or overcurrent fault has occurred in the drive motor system. The drive motor judgment result can include the drive motor resolver fault judgment result and the drive motor overvoltage or overcurrent fault judgment result, that is, whether the drive motor system has a drive motor resolver fault, whether the drive motor system has an overvoltage or overcurrent fault, or whether the drive motor system has an overvoltage or overcurrent fault.

[0095] Furthermore, in order to effectively control the dual-motor system to enter a safe operating mode, in this embodiment, step S40 includes:

[0096] Step S401: When the drive motor resolver fault judgment result in the drive motor judgment result is that the drive motor system has a drive motor resolver fault, the drive motor speed is determined according to the clutch status, vehicle speed, gear ratio and tire diameter.

[0097] When the drive motor resolver fault diagnosis result indicates that the drive motor system has a drive motor resolver fault, the drive motor speed can be determined based on the clutch status, vehicle speed, gear ratio, and tire diameter. Specifically, when the clutch is engaged, the drive motor speed = vehicle speed × gear ratio × 60 ÷ tire diameter × π.

[0098] Step S402: Calculate the base speed of the drive motor based on the maximum operating speed of the drive motor, the minimum voltage of the power battery, and the back electromotive force corresponding to the maximum operating speed of the drive motor.

[0099] The base speed of the drive motor can be calculated based on the maximum operating speed of the drive motor, the minimum voltage of the power battery, and the back electromotive force corresponding to the maximum operating speed of the generator. The base speed of the drive motor = maximum operating speed of the drive motor × minimum voltage of the power battery / back electromotive force corresponding to the maximum operating speed of the drive motor.

[0100] Step S403: When the overvoltage or overcurrent fault judgment result of the drive motor in the drive motor judgment result is that the drive motor system has an overvoltage or overcurrent fault, determine whether the speed of the drive motor is greater than or equal to the base speed of the drive motor.

[0101] When an overvoltage or overcurrent fault occurs in the drive motor system, it can be determined whether the speed of the drive motor is greater than or equal to the base speed of the drive motor.

[0102] Step S404: Based on the judgment result, control the dual-motor system to enter the safe operation mode.

[0103] When the drive motor speed is lower than the drive motor base speed, the VCU can be notified of: 1. The current drive motor system is experiencing a level 3 fault; 2. The drive motor is operating at a speed lower than the drive motor base speed. Furthermore, the drive motor system can be controlled to enter freewheeling mode, which can be controlled by the MCU, and the dual-motor system can be controlled to enter safe operating mode.

[0104] When the drive motor speed is greater than or equal to the drive motor base speed, the drive motor control unit in the drive motor system can be controlled to enter the three-phase winding short-circuit control mode. It can be controlled by the MCU to enter the ASC mode and notify the VCU: 1. The current drive motor system is in fault level three; 2. The drive motor speed is running below the drive motor base speed.

[0105] In the specific implementation, after the MCU enters ASC mode, it can obtain the speed of the drive motor in real time. If the speed of the drive motor is greater than or equal to the base speed of the drive motor within a preset time period, the dual-motor system is controlled to enter the safe operation mode. If the speed of the drive motor is less than the base speed of the drive motor, an ASC timeout fault is reported, and the system enters the free operation mode and the dual-motor system is controlled to enter the safe operation mode.

[0106] Additionally, referring to Figure 5, which is a schematic diagram of the overall flow of a safety control embodiment of the dual-motor system of this application, as shown in Figure 5, after the dual-motor system enters the torque control mode, if a generator resolver fault occurs in the generator system, the first generator speed is determined based on the clutch status, engine speed, and speed ratio. If no generator resolver fault occurs in the generator system but a generator overvoltage or overcurrent fault occurs, when the first generator speed is ≥ the generator base speed, the GCU enters ASC and notifies the VCU: 1. The current generator system has a level 3 fault; 2. The generator speed is running below 1000 rpm. Within a preset time period ts, if the second generator speed is < the generator base speed, an ASC timeout fault is reported, and freewheeling mode is activated; if the second generator speed is ≥ the generator base speed, the dual-motor system is controlled to enter a safe operation mode. When the first generator speed is < the generator base speed, the VCU is notified: 1. The current generator system has a level 3 fault; 2. The generator speed is running below 1000 rpm, the GCU enters freewheeling mode, and the dual-motor system is controlled to enter a safe operation mode.

[0107] If the drive motor experiences a resolver fault when the generator system is free of overvoltage or overcurrent faults, the drive motor speed is determined based on the clutch status, vehicle speed, gear ratio, and tire diameter. If the drive motor system experiences overvoltage or overcurrent faults but not generator resolver faults, the MCU enters ASC (Automatic Screw Controller) mode when the drive motor speed is ≥ the drive motor base speed, notifying the VCU of: 1. Current drive motor system fault level 3; 2. Drive motor speed is operating below the drive motor base speed. Within a preset time period ts, if the drive motor speed is < the drive motor base speed, an ASC timeout fault is reported, and freewheeling mode is activated. If the drive motor speed is ≥ the drive motor base speed, the dual-motor system is controlled to enter safe operation mode. When the drive motor speed is < the drive motor base speed, the VCU is notified of: 1. Current drive motor system fault level 3; 2. Drive motor speed is operating below the drive motor base speed, the MCU enters freewheeling mode, and the dual-motor system enters safe operation mode. During the above process, the dual-motor controller executes torque output according to the VCU's torque output requirements.

[0108] In this embodiment, when a drive motor resolver fault occurs in the drive motor system, the drive motor speed is determined based on the clutch status, vehicle speed, gear ratio, and tire diameter. Then, the drive motor base speed is calculated based on the drive motor's maximum operating speed, the power battery's minimum voltage, and the back electromotive force corresponding to the maximum operating speed. If an overvoltage or overcurrent fault occurs in the drive motor system, it is determined whether the drive motor speed is greater than or equal to the drive motor base speed. Based on the determination result, the dual-motor system is controlled to enter a safe operating mode. This embodiment accurately obtains the drive generator speed when a drive motor resolver fault occurs, and reliably controls the dual-motor system to enter a safe operating mode based on the comparison between the drive motor speed and the drive motor base speed when an overvoltage or overcurrent fault occurs.

[0109] Referring to Figure 6, which is a structural block diagram of the first embodiment of the safety control device for the dual-motor system of this application.

[0110] As shown in Figure 6, the safety control device for the dual-motor system proposed in this embodiment includes:

[0111] The generator fault judgment module 10 is used to determine whether a generator level 3 fault has occurred in the generator system of the dual motor system after the dual motor system enters the torque control mode, and to obtain the generator judgment result.

[0112] Safety control module 20 is used to control the dual-motor system to enter a safe operation mode based on the generator judgment result;

[0113] The drive motor fault judgment module 30 is used to determine whether the drive motor system in the dual motor system has a drive motor level 3 fault when the generator judgment result is that the generator system has not experienced the generator level 3 fault, and to obtain the drive motor judgment result.

[0114] The safety control module 20 also has the ability to control the dual-motor system to enter a safe operation mode based on the judgment result of the drive motor.

[0115] This embodiment determines whether a level 3 generator fault has occurred in the generator system after the dual-motor system enters torque control mode. Based on the generator fault determination result, the dual-motor system is controlled to enter a safe operating mode. If the generator fault determination result indicates that a level 3 generator fault has not occurred, the embodiment determines whether a level 3 drive motor fault has occurred in the drive motor system. Based on the drive motor fault determination result, the dual-motor system is then controlled to enter a safe operating mode. This embodiment can reliably control the dual-motor system to enter a safe operating mode even when a level 3 generator fault occurs in the generator system, and it can also reliably control the dual-motor system to enter a safe operating mode even if a level 3 drive motor fault occurs, provided the generator system has not experienced a level 3 generator fault.

[0116] The workflow described above is merely illustrative and does not limit the scope of protection of this application. In practical applications, those skilled in the art can select some or all of it to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0117] In addition, for technical details not described in detail in this embodiment, please refer to the safety control method of the dual-motor system provided in any embodiment of this application, which will not be repeated here.

[0118] Based on the first embodiment of the safety control device for the dual-motor system described in this application, a second embodiment of the safety control device for the dual-motor system of this application is proposed.

[0119] In this embodiment, the three-level generator faults include: generator resolver fault, generator overvoltage or overcurrent fault; the generator fault judgment module 10 is further used to determine whether the generator system in the dual-motor system has experienced the generator resolver fault after the dual-motor system enters the torque control mode, and obtain the generator resolver fault judgment result; when the generator resolver fault judgment result is that the generator system has not experienced the generator resolver fault, it is used to determine whether the generator system has experienced the generator overvoltage or overcurrent fault, and obtain the generator overvoltage or overcurrent fault judgment result; the generator resolver fault judgment result and the generator overvoltage or overcurrent fault judgment result are combined to form the generator judgment result.

[0120] Furthermore, the safety control module 20 is also used to determine the first generator speed based on the clutch state, engine speed, and speed ratio when the generator resolver fault judgment result in the generator judgment result indicates that the generator system has experienced a generator resolver fault; calculate the generator base speed based on the generator's maximum operating speed, the power battery's minimum voltage, and the back electromotive force corresponding to the generator's maximum operating speed; determine whether the first generator speed is greater than or equal to the generator base speed when the generator overvoltage or overcurrent fault judgment result in the generator judgment result indicates that the generator system has experienced a generator overvoltage or overcurrent fault; and control the dual-motor system to enter a safe operation mode based on the judgment result.

[0121] Furthermore, the safety control module 20 is also used to control the generator system to enter a free-running mode and control the dual-motor system to enter a safe-running mode when the speed of the first generator is less than the generator base speed; to control the generator control unit in the generator system to enter a three-phase winding short-circuit control mode and determine the speed of the second generator when the speed of the first generator is greater than or equal to the generator base speed; if the speed of the second generator is less than the generator base speed within a preset time period, then control the dual-motor system to enter a safe-running mode; if the speed of the second generator is greater than or equal to the generator base speed within the preset time period, then control the generator system to enter a free-running mode and control the dual-motor system to enter a safe-running mode.

[0122] Furthermore, the three-level faults of the drive motor include: drive motor resolver fault and drive motor overvoltage or overcurrent fault; the drive motor fault judgment module 30 is also used to determine whether the drive motor system in the dual-motor system has experienced the drive motor resolver fault when the generator judgment result is that the generator system has not experienced the three-level fault, and obtain a drive motor resolver fault judgment result; when the drive motor resolver fault judgment result is that the drive motor system has not experienced the drive motor resolver fault, it is used to determine whether the drive motor system has experienced the drive motor overvoltage or overcurrent fault, and obtain a drive motor overvoltage or overcurrent fault judgment result; the drive motor resolver fault judgment result and the drive motor overvoltage or overcurrent fault judgment result are combined to form a drive motor judgment result.

[0123] Furthermore, the safety control module 20 is also used to determine the drive motor speed based on the clutch state, vehicle speed, gear ratio, and tire diameter when the drive motor resolver fault judgment result in the drive motor judgment result indicates that the drive motor system has experienced a drive motor resolver fault; calculate the drive motor base speed based on the drive motor's maximum operating speed, the power battery's minimum voltage, and the back electromotive force corresponding to the drive motor's maximum operating speed; determine whether the drive motor speed is greater than or equal to the drive motor base speed when the drive motor overvoltage or overcurrent fault judgment result in the drive motor judgment result indicates that the drive motor system has experienced a drive motor overvoltage or overcurrent fault; and control the dual-motor system to enter a safe operation mode based on the judgment result.

[0124] Other embodiments or specific implementations of the safety control device for the dual-motor system of this application can be found in the above-described method embodiments, and will not be repeated here.

[0125] This application provides a safety control device for a dual-motor system, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the safety control method for the dual-motor system described in Embodiment 1 above.

[0126] Referring to Figure 7 below, a structural schematic diagram of a safety control device suitable for implementing a dual-motor system according to embodiments of this application is shown. The safety control device for a dual-motor system in embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. The safety control device for a dual-motor system shown in Figure 7 is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of this application.

[0127] As shown in Figure 7, the safety control device for the dual-motor system may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the safety control device for the dual-motor system. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the safety control equipment of the dual-motor system to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows a safety control equipment for a dual-motor system with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented or possessed alternatively.

[0128] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0129] The safety control device for a dual-motor system provided in this application, employing the safety control method for a dual-motor system in the above embodiments, can solve the technical problem of how to reliably enter a safe operating mode when a dual-motor system experiences a level-three fault. Compared with the prior art, the beneficial effects of the safety control device for a dual-motor system provided in this application are the same as those of the safety control method for a dual-motor system provided in the above embodiments, and other technical features in this safety control device for a dual-motor system are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0130] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0131] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0132] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the safety control method for the dual-motor system in the above embodiments.

[0133] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0134] The aforementioned computer-readable storage medium may be included in the safety control device of the dual-motor system; or it may exist independently and not be assembled into the safety control device of the dual-motor system.

[0135] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by the safety control device of the dual-motor system, the safety control device of the dual-motor system: after the dual-motor system enters the torque control mode, determines whether a generator system in the dual-motor system has experienced a level 3 generator fault, and obtains a generator determination result; controls the dual-motor system to enter a safe operation mode based on the generator determination result; when the generator determination result indicates that the generator system has not experienced a level 3 generator fault, determines whether a drive motor system in the dual-motor system has experienced a level 3 drive motor fault, and obtains a drive motor determination result; controls the dual-motor system to enter a safe operation mode based on the drive motor determination result.

[0136] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0138] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0139] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the safety control method of the dual-motor system described above. This solves the technical problem of how to reliably enter a safe operating mode when a dual-motor system experiences a level-three fault. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the safety control method for the dual-motor system provided in the above embodiments, and will not be repeated here.

[0140] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the safety control method for a dual-motor system as described above.

[0141] The computer program product provided in this application solves the technical problem of how to reliably enter a safe operating mode in a dual-motor system when a level 3 fault occurs. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the safety control method for dual-motor systems provided in the above embodiments, and will not be repeated here.

[0142] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A safety control method for a dual-motor system, wherein, The safety control method for the dual-motor system includes the following steps: After the dual-motor system enters the torque control mode, it is determined whether the generator system in the dual-motor system has experienced a level 3 generator fault, and the generator judgment result is obtained. Based on the generator's judgment result, the dual-motor system is controlled to enter a safe operating mode; When the generator judgment result is that the generator system has not experienced a level 3 generator fault, it is determined whether the drive motor system in the dual-motor system has experienced a level 3 drive motor fault, and the drive motor judgment result is obtained. Based on the judgment result of the drive motor, the dual-motor system is controlled to enter a safe operation mode.

2. The safety control method for a dual-motor system as described in claim 1, wherein, The generator level 3 faults include: generator resolver fault, generator overvoltage or overcurrent fault; The step of determining whether a generator system in the dual-motor system has experienced a level 3 generator fault after the dual-motor system enters torque control mode, and obtaining the generator determination result, includes: After the dual-motor system enters the torque control mode, it is determined whether the generator system in the dual-motor system has experienced a generator resolver fault, and the generator resolver fault determination result is obtained. When the generator resolver fault determination result is that the generator system has not experienced the generator resolver fault, determine whether the generator system has experienced the generator overvoltage or overcurrent fault, and obtain the generator overvoltage or overcurrent fault determination result; The generator resolver fault judgment result and the generator overvoltage or overcurrent fault judgment result are combined to form the generator judgment result.

3. The safety control method for a dual-motor system as described in claim 2, wherein, The step of controlling the dual-motor system to enter a safe operating mode based on the generator's judgment result includes: In the generator judgment result, the generator resolver fault judgment result is that when the generator system experiences the generator resolver fault, the first generator speed is determined based on the clutch status, engine speed, and speed ratio. The generator base speed is calculated based on the generator's maximum operating speed, the power battery's minimum voltage, and the back electromotive force corresponding to the generator's maximum operating speed. In the generator judgment result, the generator overvoltage or overcurrent fault judgment result is that when the generator system experiences the generator overvoltage or overcurrent fault, it is determined whether the speed of the first generator is greater than or equal to the generator base speed; Based on the judgment result, the dual-motor system is controlled to enter a safe operation mode.

4. The safety control method for a dual-motor system as described in claim 3, wherein, The step of controlling the dual-motor system to enter a safe operation mode based on the judgment result includes: When the speed of the first generator is less than the base speed of the generator, the generator system is controlled to enter the free operation mode, and the dual-motor system is controlled to enter the safe operation mode. When the speed of the first generator is greater than or equal to the base speed of the generator, the generator control unit in the generator system is controlled to enter the three-phase winding short-circuit control mode, and the speed of the second generator is determined. If the second generator speed is less than the base speed of the generator within a preset time period, the dual-motor system is controlled to enter a safe operation mode. If the second generator speed is greater than or equal to the generator base speed within the preset time period, the generator system is controlled to enter the free operation mode, and the dual-motor system is controlled to enter the safe operation mode.

5. The safety control method for a dual-motor system as described in claim 1, wherein, The three-level faults of the drive motor include: drive motor resolver fault, drive motor overvoltage or overcurrent fault; The step of determining whether the drive motor system in the dual-motor system has experienced a drive motor level 3 fault when the generator system's judgment result indicates that the generator system has not experienced a generator level 3 fault, and obtaining the drive motor judgment result, includes: When the generator judgment result is that the generator system has not experienced the generator level 3 fault, it is determined whether the drive motor system in the dual motor system has experienced the drive motor resolver fault, and the drive motor resolver fault judgment result is obtained. When the drive motor resolver fault judgment result is that the drive motor system has not experienced the drive motor resolver fault, it is determined whether the drive motor system has experienced the drive motor overvoltage or overcurrent fault, and the drive motor overvoltage or overcurrent fault judgment result is obtained. The drive motor resolver fault judgment result and the drive motor overvoltage or overcurrent fault judgment result are combined to form the drive motor judgment result.

6. The safety control method for a dual-motor system as described in claim 5, wherein, The step of controlling the dual-motor system to enter a safe operating mode based on the judgment result of the drive motor includes: In the judgment result of the drive motor, the judgment result of the drive motor resolver fault is that when the drive motor system experiences the drive motor resolver fault, the drive motor speed is determined according to the clutch status, vehicle speed, gear ratio and tire diameter. The base speed of the drive motor is calculated based on the maximum operating speed of the drive motor, the minimum voltage of the power battery, and the back electromotive force corresponding to the maximum operating speed of the drive motor. In the judgment result of the drive motor, when the drive motor system experiences the overvoltage or overcurrent fault of the drive motor, it is determined whether the speed of the drive motor is greater than or equal to the base speed of the drive motor. Based on the judgment result, the dual-motor system is controlled to enter a safe operation mode.

7. A safety control device for a dual-motor system, wherein, The safety control device for the dual-motor system includes: The generator fault judgment module is used to determine whether a generator level 3 fault has occurred in the generator system of the dual motor system after the dual motor system enters the torque control mode, and to obtain the generator judgment result. The safety control module is used to control the dual-motor system to enter a safe operation mode based on the generator's judgment result; The drive motor fault judgment module is used to determine whether the drive motor system in the dual-motor system has a drive motor level 3 fault when the generator judgment result is that the generator system has not experienced the generator level 3 fault, and to obtain the drive motor judgment result. The safety control module also has the ability to control the dual-motor system to enter a safe operation mode based on the judgment result of the drive motor.

8. A safety control device for a dual-motor system, wherein, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the safety control method for a dual-motor system as described in any one of claims 1 to 6.

9. A storage medium, wherein, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the safety control method for the dual-motor system as described in any one of claims 1 to 6.

10. A computer program product, wherein, The computer program product includes a computer program that, when executed by a processor, implements the steps of the safety control method for a dual-motor system as described in any one of claims 1 to 6.

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