CN111786598B

CN111786598B - Motor control device and motor control method

Info

Publication number: CN111786598B
Application number: CN202010495834.XA
Authority: CN
Inventors: 陶洪
Original assignee: Huawei Digital Power Technologies Co Ltd
Current assignee: Huawei Electric Technology Co ltd
Priority date: 2020-06-03
Filing date: 2020-06-03
Publication date: 2022-11-18
Anticipated expiration: 2040-06-03
Also published as: CN111786598A

Abstract

The application provides a motor control device and a control method, wherein, the motor control device is connected with an external high-voltage battery and a low-voltage battery, and the motor control device comprises: the motor control device comprises a bus electricity taking unit and a safety control circuit, wherein one side of the bus electricity taking unit is connected with the high-voltage battery, the other side of the bus electricity taking unit is connected with the control unit, the power module driving power supply and the safety control circuit, the control unit is connected with the safety control circuit, and the safety control circuit is connected with the driving circuit. The motor control device and the motor control method can reduce ASC function failure caused by single-point faults, and reduce hardware design difficulty and cost.

Description

Motor control device and motor control method

Technical Field

The present disclosure relates to motor control technologies, and in particular, to a motor controller and a motor control method.

Background

With the development of the electric automobile industry, the number of vehicle-mounted electric devices is increasing. The motor controller is used as a core component of the power system of the electric automobile, when the electric automobile normally runs, the direct current of the power battery is inverted into alternating current through the direct current/alternating current conversion module to drive the motor, and the motor is controlled to output torque to drive the vehicle to run. When the electric automobile slides or brakes, the motor operates in a power generation mode, kinetic energy is converted into electric energy to charge the power battery, and the endurance mileage of the electric automobile is effectively improved by saving efficiency.

The motor control system is used as a main power source of the electric automobile, and needs to be in a safe state when a fault occurs so as to ensure that the automobile is in a controlled state or does not cause injury to drivers and passengers. When the motor controller has hardware or software failure and the motor output is abnormal, no matter the braking torque or the driving torque is output, it is very dangerous. Therefore, at present, when the electric vehicle has the above-mentioned fault, the torque output of the motor is usually required to be closed after the motor enters the safe state, so that the vehicle is in the freewheeling state, and a driver can conveniently drive the vehicle away from a lane to seek help. Currently, the industry requires that the Safety Level of the motor controller is not lower than the vehicle Safety Integrity Level (ASIL for short) C Level, and the Safety states of the motor controller include 2 types: safety Pulse Off (SPO for Short) and Active Short Circuit (ASC for Short). When the safety state is realized, the motor controller realizes the SPO by fully switching off all bridge arms of the inverter circuit (IGBT is fully switched off); the motor controller can realize the ASC by two modes of fully switching off the lower bridge arm or fully switching off the upper bridge arm on the inverter circuit.

When the motor controller enters an ASC mode, as the bridge arms are not conducted, the direct-current end and the alternating-current end circuit do not form a loop any more, and the motor is driven to generate reverse braking torque. Based on the characteristics, the ASC mode is reasonably used, and the following functions can be achieved during the running process of the electric automobile: a. when the whole vehicle is out of control, the ASC can generate reverse torque to slowly brake the vehicle, so that safe parking is realized; b. when the power battery fails, the motor controller and the power battery side can be isolated by implementing ASC, so that the high-voltage safety of the whole vehicle is ensured; c. when the rotating speed of a driving motor is too high or abnormal in the running process of the whole vehicle, the ASC is implemented to avoid the damage of too high counter potential to a power battery, a bus capacitor and other high-voltage devices; d. when a certain switching tube in the inverter circuit of the motor controller has a fault, the ASC is implemented to avoid the damage of uncontrollable rectification to other devices or power batteries.

The existing ASC solution has the problems of complex realization, incapability of realizing reliability of a plurality of single-point faults and the like. The application aims to provide a motor control device and a control method which have higher reliability and reduce scheme complexity when ASC is implemented.

Disclosure of Invention

The application provides a high-reliability motor control device and a control method, which can ensure the safety control of active short circuit when any fault occurs in a low-voltage battery or a master processor.

The above and other objects are achieved by the features of the independent claims. Further implementations are presented in the dependent claims, the description and the drawings.

In a first aspect, a motor control device is provided, which is connected to an external high-voltage battery and a low-voltage battery, and includes: the motor control device comprises a bus electricity taking unit and a safety control circuit, wherein one side of the bus electricity taking unit is connected with the high-voltage battery, the other side of the bus electricity taking unit is connected with the control unit, the power module driving power supply and the safety control circuit respectively, the control unit is connected with the safety control circuit, and the safety control circuit is connected with the driving circuit.

According to the first aspect, in a first possible implementation manner of the motor control device, the control unit includes a master processor and a slave processor, and the master processor and the slave processor are respectively connected with the safety control circuit.

According to a first possible implementation manner of the first aspect, in a second possible implementation manner of the motor control device, the low-voltage battery is connected with the master processor, and the bus electricity taking unit is connected with the slave processor.

According to a second possible implementation manner of the first aspect, in a third possible implementation manner of the motor control device, the low-voltage battery is further connected with the slave processor, and the low-voltage battery and the bus electricity taking unit are connected with the slave processor through a diode group.

According to the first aspect or any one of the foregoing implementation manners of the first aspect, in a fourth possible implementation manner of the motor control device, the power module driving power supply includes an upper bridge arm driving power supply and a lower bridge arm driving power supply, wherein an output end of the bus bar electricity taking unit is connected to the lower bridge arm driving power supply, and the low-voltage battery and the bus bar electricity taking unit supply power to the lower bridge arm driving power supply through the diode group.

According to the first aspect or any one of the above implementation manners of the first aspect, in a fifth possible implementation manner of the motor control apparatus, the low-voltage battery is further connected with the safety control circuit, and the low-voltage battery and the bus electricity taking unit supply electricity to the safety control circuit through the diode group.

According to any one of the foregoing implementation manners of the first aspect, in a sixth possible implementation manner of the motor control device, the motor control device further includes a motor rotation speed obtaining unit, and the motor rotation speed obtaining unit is respectively connected with the inverter and the slave processor.

According to a sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the motor control apparatus, the motor rotation speed obtaining unit includes a line voltage zero-crossing detection circuit and an isolation chip.

In an eighth possible implementation manner of the motor control apparatus according to the sixth possible implementation manner of the first aspect, the motor speed acquisition unit includes a phase current zero-crossing detection circuit and a phase current sensor.

In a second aspect, a vehicle is provided that includes the motor control apparatus of the first aspect, or any implementation manner of the first aspect above.

In a third aspect, a motor control method is provided, including: a slave processor of the motor receives a safety signal sent by a master processor of the motor; obtaining the rotating speed information of the motor from a processor; and the slave processor controls the motor to realize active short circuit or realize safe management according to the rotating speed information.

In a first possible implementation form of the motor control method according to the third aspect, the safety signal is used to indicate a loss of power supply or a failure of operation of the main processor.

According to the third aspect or the first possible implementation manner of the third aspect, in a second possible implementation manner of the motor control method, the slave processor controls the motor to implement an active short circuit or implement a safety shutdown according to the rotation speed information of the motor, and specifically includes: if the rotating speed of the motor is higher than or equal to the set threshold value, the slave processor controls the motor to perform active short circuit, and if the rotating speed of the motor is lower than the set threshold value, the slave processor controls the motor to perform safe shutdown.

In a third possible implementation manner of the motor control method according to the third aspect or any one of the above third aspect, obtaining the rotation speed information of the motor from the processor includes: the slave processor obtains the rotating speed information of the motor according to the motor rotating speed signal transmitted by the master processor for the last time; or the slave processor acquires the rotating speed information of the motor by acquiring the phase current or the line voltage value of the inverter.

According to a second possible implementation manner of the third aspect, in a fourth possible implementation manner of the motor control method, after the processor controls the motor to perform active short circuit, motor speed information is obtained, and when the motor speed is lower than a set threshold, the motor is controlled to perform safe shutdown.

According to a fourth possible implementation manner of the third aspect, in a fifth possible implementation manner of the motor control method, the slave processor acquires motor speed information by acquiring phase current or line voltage value of the inverter.

Drawings

In order to more clearly illustrate the technical solutions provided by the present application, the following briefly introduces the accompanying drawings. It is to be expressly understood that the drawings described below are only illustrative of some embodiments of the invention.

Fig. 1 is a schematic circuit diagram of a motor control device provided in the prior art;

FIG. 2 is a schematic diagram of a circuit structure of another motor control device provided in the prior art

FIG. 3 is a schematic diagram illustrating a relationship between torque and bus voltage and rotational speed provided by an embodiment of the present application;

fig. 4 is a schematic circuit structure diagram of a motor control device according to an embodiment of the present disclosure;

fig. 5 is a logic flow diagram of a motor control method according to an embodiment of the present application;

fig. 6 is a schematic circuit structure diagram of another motor control device according to an embodiment of the present application.

Reference numerals:

(prior art) 11-high voltage battery, 12-isolated power supply, 13-low voltage battery, 14-motor controller, 15-upper bridge arm driving power supply, 16-lower bridge arm driving power supply, 21-high voltage battery, 22-backup power supply circuit, 23-low voltage battery, 24-motor controller, 25-upper/lower bridge arm driving power supply, 26-driving circuit, 27-inverter

(the invention) 01-high voltage battery, 02-low voltage battery, 03-power management module, 04-control unit, 05-power module driving power supply, 06-driving circuit, 07-inverter, 08-bus electricity-taking unit, 09-ASC control logic circuit, 010-main processor, 011-DC conversion circuit, 012-slave processor, 013-DC conversion circuit, 014-diode, 015-diode, 016-upper bridge arm driving power supply, 017-lower bridge arm driving power supply, 018-upper bridge arm driving circuit, 019-lower bridge arm driving circuit, 020-upper bridge arm power conversion module, 021-lower bridge arm power conversion module, 022-zero cross line voltage detection circuit, 023-isolation chip, 024-bus voltage signal conditioning circuit, 025-linear isolator, 026-phase current detection module

Detailed Description

To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be fully described below with reference to the accompanying drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The terms "first," "second," and the like in the description examples and claims of this application and in the drawings are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor order. Furthermore, the terms "comprises" and "comprising," as well as any variations thereof, are intended to cover a non-exclusive inclusion, such that a list of steps or elements is included. The article or apparatus is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such article or apparatus.

The embodiment of the application provides a motor control device and a motor control method, wherein the motor control device, namely a motor controller is used for controlling a driving motor in a vehicle, in particular an electric vehicle.

In the control process of the vehicle motor, there are two main implementations of the existing ASC solution.

As shown in fig. 1, in the hardware structure diagram of the motor control device provided in fig. 1, a low-voltage battery 12V is backed up, the backup power supplies low voltage power to the entire motor controller, and the active short circuit control logic is controlled by the main processor. Specifically, the first prior art provides a backup power circuit, which takes power from the high-voltage battery 11 by adding an additional isolation power supply 12 as a backup power supply of the whole system in order to ensure low-voltage power supply of motor control. The output voltage of the isolated power supply 12 is slightly lower than the low-voltage battery 13. When the low-voltage battery 13 works normally, the diode D is cut off in the reverse direction, and the motor controller 14, the upper bridge arm driving power supply 15 and the lower bridge arm driving power supply 16 are powered by the low-voltage battery 13; when the power supply of the low-voltage battery 13 fails, the diode D is turned on, the isolation power supply 12 serving as a backup power supply supplies power to a low-voltage system (including the motor controller 14, the upper bridge arm driving power supply 15 and the lower bridge arm driving power supply 16), and meanwhile, the motor controller 14 sends an active short-circuit signal to control the motor to realize active short-circuit.

The active short circuit scheme described above employs an additional isolated power supply 12 to ensure control power usage and implements an active short circuit function through the motor controller 14. The isolation power supply 12 has the defects of large number of used devices, high cost, large volume and the like, and has larger vibration risk under the vehicle-mounted working condition. Meanwhile, if the motor controller 14 or the power management system or the upper/lower bridge arm driving

power supplies

15 and 16 have single-point failure, the active short-circuit function will be disabled.

The second prior art provides another motor driving circuit, which supplies low voltage power to the motor controller by backing up the power supply of the high-voltage side driving circuit, and the active short-circuit control logic is controlled by the high-voltage side slave processor. Specifically, referring to fig. 2, the high-voltage battery 21 provides electric energy for the operation of the motor, the high-power dc conversion circuit converts the high-voltage dc provided by the high-voltage battery 21 into low-voltage dc and charges the low-voltage battery 23, the motor controller 24, the upper arm driving power supply and the lower arm driving power supply 25 are powered by the low-voltage battery 23, the motor controller 24 generates a driving control signal according to the feedback voltage and the feedback current obtained by the motor feedback circuit from the inverter 27, the driving circuit 26 generates a driving pulse according to the driving control signal and the driving voltages output by the upper arm driving power supply and the lower arm driving power supply 25, and the inverter 27 is controlled to convert the high-voltage dc output by the high-voltage battery 21 into ac to drive the operation of the motor. When the electric automobile breaks down, the slave processor at the high-voltage side realizes active short-circuit control, and controls the backup power circuit 22 to directly output high level to the control end of the switch tube in the inverter 27, so that the switch tube of the upper bridge or the lower bridge of the inverter 27 is normally open; the output of the backup power supply circuit 22 may be supplied to the drive circuit 26, and the drive circuit 26 controls the switching tubes of the upper bridge or the lower bridge of the inverter 27 to be normally open.

In the technical scheme provided by the second prior art, since the slave processor on the high-voltage side needs higher anti-interference performance, the slave processor has higher requirement on electromagnetic anti-interference performance; in addition, an active short-circuit signal is sent from a slave processor on the high-voltage side, and the high-voltage side and the low-voltage side need to transmit the relevant information of the active short-circuit logic entrance in real time through an isolation module, so that the requirement on communication reliability is high, the system is complex to realize, and the cost is high.

Therefore, how to provide a motor control apparatus or a motor control method that is more reliable in performing ASC control is a challenge.

The motor control device and method are based on the relation between torque and bus voltage and rotating speed, and have the advantages of being simple to control, high in reliability and low in cost when active short-circuit protection is conducted.

The relationship between the motor torque and the bus voltage and the rotation speed means that, when the motor controller performs safety protection in a high rotation speed state, the torque value output by the motor changes as the rotation speed of the motor decreases. For the two modes of the SPO and the ASC, different change curves are presented along with the reduction of the rotating speed of the motor and the change of the output torque value of the motor. As shown in fig. 3, when the SPO mode is started, the reverse torque is large and exceeds the safe torque range at the moment of starting (corresponding to the position of high rotation speed in the figure), and then the reverse torque rapidly drops to zero. When the ASC mode is started, the reverse torque is very small and approximately zero at the moment of starting, the reverse torque can be continuously increased along with the reduction of the rotating speed, and when the rotating speed is reduced to a certain range, the reverse torque reaches the highest value which is far beyond the range of the safe torque. According to the relationship between the motor speed and the torque, when the motor is in low-voltage power failure or the processor/power module cannot work and the motor needs to perform safety protection operation in a high-speed running state, unexpected excessive reverse torque can be caused if the motor is directly subjected to the SPO or the ASC. This requires active short-circuiting in the ASC mode at high rotational speeds and switching to the SPO mode after the rotational speed has dropped. On the other hand, when the motor controller performs safety protection in a state of low rotation speed of the motor, switching is not required, and the motor controller can directly enter the SPO mode.

Based on the characteristics, when safety protection is executed, the motor controller needs to acquire the motor rotating speed information so as to judge that the motor directly enters the SPO mode, or firstly carries out active short circuit through the ASC mode, acquires the real-time rotating speed information of the motor, and then switches into the SPO mode when the rotating speed is reduced to a certain range.

The first embodiment of the present application provides a motor control device, see fig. 4. Wherein, motor control device includes: the power module comprises a power management module 03, a control unit 04, a power module driving power supply 05, a driving circuit 06 and an inverter 07. The power supply system for supplying power to the motor control device comprises a high-voltage battery 01 and a low-voltage battery 02, wherein the high-voltage battery 01 stores power to the low-voltage battery 02 through a high-power direct-current conversion circuit. The power management module 03 may adopt a power management System Base Chip (SBC).

The control unit 04 includes a master processor 010 and a slave processor 012, the low-voltage battery 02 supplies power to the master processor 010 through the power management module 03, and the low-voltage battery 02 supplies power to the slave processor 012 through the dc conversion circuit 013 and the dc conversion circuit 011. The dc conversion circuit 013 may specifically adopt buck-boost converters (buck-boost converters), single-ended primary inductor converters (SEPIC for short), flyback converters (Flyback converters), and other types of converters. The dc conversion circuit 11 may specifically adopt a Buck-boost Converter (Buck Converter), a Buck Converter (Buck Converter, also called a Buck Converter), or a Low-dropout regulator (LDO, also called a Low-dropout linear regulator). To ensure the safety level of the motor control apparatus, the master processor 010 satisfies the ASILC or ASILD function, and the slave processor 012 satisfies the ASILA level.

The power module driving power supply 05 comprises an upper bridge arm driving power supply 016 and a lower bridge arm driving power supply 017, the low-voltage battery 02 supplies power to the upper bridge arm driving power supply 016 and the lower bridge arm driving power supply 017 through a direct current conversion circuit 013, and a diode 014 is arranged between the direct current conversion circuit 013 and the lower bridge arm driving power supply 017. A node a is arranged between the diode 014 and the lower bridge arm driving power source 017, and the node a is connected with the direct current conversion circuit 011 and used for supplying power to the slave processor 012. The upper arm driving power supply 016 and the lower arm driving power supply 017 respectively supply power to the upper arm driving circuit 018 and the lower arm driving circuit 019. The upper/lower bridge arm driving power supply modules 016/017 are separated, the power supply of the upper bridge arm driving power supply 016 comes only from the direct current conversion circuit 013, and if the load of the upper bridge arm driving power supply 016 is short-circuited, the direct current conversion circuit 013 enters a protection state and has no output.

The motor control device is further provided with a bus electricity taking unit 08, and the bus electricity taking unit 08 is respectively connected with the high-voltage battery 01 and the node A and used for providing a backup power supply. A diode 015 is arranged between the bus electricity taking unit 08 and the node a.

The motor control device comprises an ASC control logic circuit 09, and the ASC control logic circuit 09 is used for controlling active short circuit when the vehicle needs safety protection. The ASC control logic 09 is connected to node a.

The bus electricity taking unit 08 takes electricity from the high-voltage battery 01, and converts high-voltage electricity into low-voltage direct current lower than 36 VDC; the direct current conversion circuit 013 converts the variable 6V to 16V power output by the low-voltage battery 02 into low-voltage direct current lower than 36 VDC; the two power supplies are supplied to a lower bridge arm driving power supply 017 and an ASC control logic circuit 09 through an ORING diode group 014/015 consisting of a diode 014 and a diode 015, and simultaneously supplied to a direct current conversion circuit 011 of a slave processor 012; the power supply output by the ORING diode set 014/015 only supplies power to the lower bridge arm driving power supply 017, so that a minimum loop of power supply of the backup power supply is ensured, and the output power of the power supply is as small as possible. Since the voltage at the output terminal of the bus electricity-taking unit 08 is slightly lower than the voltage at the output terminal of the dc conversion circuit 013, the ASC control logic circuit 09 and the slave processor 012 are normally powered by the low-voltage battery 02 through the dc conversion circuit 013 through the aring diode group 014/015; when low-voltage power fails or the low-voltage battery 02 or the direct current conversion circuit 013 has a fault, the high-voltage battery 01 supplies power to the ASC control logic circuit 09 and the slave processor 012 through the bus electricity taking unit 08.

The control unit 04 acquires a voltage signal of the high-voltage battery 01 in real time; specifically, the bus voltage signal conditioning circuit 024 conditions the bus voltage acquired from the high-voltage battery 01 to the input threshold voltage of the linear isolator 025, and the high-voltage bus voltage is isolated by the linear isolator 025 and then sent to the master processor 010 and the slave processor 012, so that the master processor 010 and the slave processor 012 can acquire the bus voltage value in real time; as an entry condition for an active short circuit. The linear isolator 025 may adopt an isolation operational amplifier or a linear optical coupling isolation circuit.

The motor control device further comprises a line voltage zero-crossing detection circuit 022, the line voltage zero-crossing detection circuit 022 is connected with the lower bridge arm power conversion module 021, and the line voltage zero-crossing detection circuit 022 is used for transmitting a line voltage zero-crossing signal acquired from the lower bridge arm power conversion module 021 to the slave processor 010 after being isolated by the isolation chip 023, so that the slave processor 012 can detect the rotating speed information of the motor in real time under active short-circuit conditions such as failure of the master processor 010. Among them, the isolation chip 023 may be implemented using, for example, an optocoupler.

The master processor 010 and the slave processor 012 are respectively connected to the ASC control logic circuit 09. The ASC control logic circuit 09 receives the security-related signals transmitted from the master processor 010 or the slave processor 012 and performs active short-circuit control.

It should be understood that fig. 4 only shows the main components and circuit connections of the motor control device, the motor control device further includes other necessary component modules, and the component modules shown in the current drawing also include signal connections not shown in the drawing. Fig. 4 is used to more clearly express the technical solution to be protected by the embodiment of the present application, and therefore, component modules and signal connection relations which are not related to the embodiment of the present application are omitted in fig. 4.

As shown in fig. 5, a logic flow diagram of a motor control device provided in the embodiment of the present application when controlling a motor is provided.

Step one, in the normal running process of the vehicle, the main processor 010 is in a normal working state; at this time, the slave processor 012 serves as a backup processor to provide security control for the vehicle.

Step two, the slave processor 010 monitors the safety signal in real time or at a certain frequency to judge whether the safety signal is at a low level (for example, the master processor 010 works abnormally or the low-voltage battery 02 is powered off). If the safety signal is at a high level, it is determined that the main processor 010 is working normally; if the safety signal falls to a low level, the next step is entered, triggering the slave processor 012 to operate.

Step three, the slave processor 012 determines whether the current rotation speed is higher than the first threshold rotation speed according to the motor rotation speed last transmitted by the master processor 010. If the current rotation speed is lower than the first threshold rotation speed, the processor 012 controls the upper and lower bridge arm switching tubes to be fully turned off (i.e., controls both the upper and lower bridge

arm driving circuits

018 and 019 to be turned off), and enters a safety tube off (SPO) state. If the current rotation speed is equal to or higher than the first threshold value, the slave processor 012 judges the type of the failure by detecting a motor controller failure.

And step four, firstly, judging whether the lower bridge arm driving circuit 019 has a fault. If the lower bridge arm driving circuit 019 has no fault, active Short Circuit (ASC) is realized in a manner of short-circuiting the lower bridge arm driving circuit 019; if the lower bridge arm driving circuit 019 fails, whether the upper bridge arm driving circuit 018 fails or not is continuously judged; if the upper bridge arm driving circuit 018 does not have a fault, an Active Short Circuit (ASC) is realized by short-circuiting the upper bridge arm driving circuit 018; if the upper bridge arm driving circuit 018 has a fault at the same time, the state directly enters a safety pipe closing (SPO) state, because the upper bridge arm driving circuit 018 and the lower bridge arm driving circuit 019 both have faults at the moment, namely, all the driving circuits are disconnected.

Step five, based on the step four, after entering the Active Short Circuit (ASC) state, the processor 012 determines whether the motor rotation speed is reduced to the second threshold rotation speed by the rotation speed detection circuit. And if the rotating speed of the motor is not reduced to the second threshold rotating speed, maintaining the current safety state. When the rotating speed of the motor is lower than a second threshold value, the upper bridge arm driving circuit 018 and the lower bridge arm driving circuit 019 are controlled to be disconnected, and the safety shutdown SPO state is entered.

And step six, the motor controller enters a safety pipe Shutdown (SPO) state to realize the separation of the motor and the controller.

The second embodiment of the present application provides another motor control device, see fig. 6. The difference from the motor control device provided in the first embodiment is that:

(1) The power supply for supplying the dc conversion circuit 011 of the slave processor 012 with power is from three power supply inputs: the SBC power supply module 03, the direct current conversion circuit 013 and the bus electricity taking unit 08.

(2) The processor 012 acquires motor rotation speed information through the phase current detection module 026.

Specifically, by using the SBC power supply module 03, the dc conversion circuit 013, and the bus power supply unit 08 as the power supply input terminals of the dc conversion circuit 011 of the slave processor 012 at the same time, the stable power supply input during the operation of the slave processor 012 can be improved. When the vehicle works abnormally, even if one or even two of the three power input ends are in failure, the power supply of the slave processor 012 is not influenced, and the robustness of the system is improved.

The processor 012 acquires the motor rotation speed information through the phase current detection module 026, wherein the phase current detection module 026 is a rotation speed acquisition unit including a phase current sensor and a phase current zero-crossing detection circuit. The processor 012 acquires motor rotation speed information by collecting phase current of the inverter 07.

The same or similar parts between the various embodiments described above may be referred to one another. In the present application, "a plurality" means two or more, or "at least two" unless otherwise specified. "A/B" in the present application includes three cases: "A", "B" and "A and B".

The above-described embodiments of the apparatus are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments of the apparatus provided in the present application, the connection relationship between the modules indicates that there is a communication connection therebetween, and may be implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement without inventive effort.

The above description is only some specific embodiments of the present application, but the scope of the present application is not limited thereto.

Claims

1. A motor control device is connected with an external high-voltage battery (01) and a low-voltage battery (02), and is characterized by comprising: the motor control device comprises a control unit (04), a power module driving power supply (05), a driving circuit (06), an inverter (07) and a first direct current conversion circuit (013), wherein a low-voltage battery (02) is respectively connected with the control unit (04) and the power module driving power supply (05), the control unit (04) is connected with the driving circuit (06), the driving circuit (06) is connected with the inverter (07), the power module driving power supply (05) is connected with the driving circuit (06), the motor control device further comprises a bus electricity taking unit (08) and a safety control circuit (09), wherein one side of the bus electricity taking unit (08) is connected with the high-voltage battery (01), the other side of the bus electricity taking unit is respectively connected with the control unit (04), the power module driving power supply (05) and the safety control circuit (09), the control unit (04) is connected with the safety control circuit (09), and the safety control circuit (09) is connected with the driving circuit (06);

the control unit comprises a main processor (010), a secondary processor (012) and a second direct current conversion circuit (011), wherein the main processor (010) and the secondary processor (012) are respectively connected with the safety control circuit (09);

the low-voltage battery (02) supplies power to the main processor (010) through the power management module (03), and the low-voltage battery (02) supplies power to the sub-processor (012) through the first direct current conversion circuit (013) and the second direct current conversion circuit (011);

the other side of the bus electricity taking unit (08) is connected with the slave processor (012) in the control unit (04) through the second direct current conversion circuit (011).

2. The motor control device according to claim 1, characterized in that the low-voltage battery (02) is connected to the master processor (010) and the bus bar electricity taking unit (08) is connected to the slave processor (012).

3. The motor control device according to claim 2, characterized in that the low-voltage battery (02) is also connected with the slave processor (012), wherein the low-voltage battery (02) and the bus bar electricity taking unit (08) are connected with the slave processor (012) through diode groups (015, 014).

4. The motor control device according to any one of claims 1 to 3, wherein the power module driving power supply (05) comprises an upper bridge arm driving power supply (016) and a lower bridge arm driving power supply (017), wherein the output end of the bus bar electricity-taking unit (08) is connected with the lower bridge arm driving power supply (017), and the low-voltage battery (02) and the bus bar electricity-taking unit (08) supply power to the lower bridge arm driving power supply (017) through diode groups (015, 014).

5. The motor control device according to any one of claims 1 to 4, characterized in that the low-voltage battery (02) is also connected to the safety control circuit (09), wherein the low-voltage battery (02) and the bus bar electricity taking unit (08) supply electricity to the safety control circuit (09) through a diode group (015, 014).

6. The motor control device according to any one of claims 1 to 5, characterized by further comprising a motor rotation speed acquisition unit that connects the inverter (07) and the slave processor (012), respectively.

7. The motor control device according to claim 6, wherein the motor speed obtaining unit includes a line voltage zero-crossing detecting circuit (022) and an isolating chip (023).

8. The motor control apparatus according to claim 6, wherein the motor speed acquisition unit includes a phase current zero-cross detection circuit and a phase current sensor.

9. A vehicle characterized by comprising the motor control apparatus according to any one of claims 1 to 8.

10. A motor control method applied to the motor control device according to any one of claims 1 to 8, comprising:

a slave processor of the motor receives a safety signal sent by a master processor of the motor;

the slave processor obtains the rotating speed information of the motor;

and the slave processor controls the motor to realize active short circuit or realize safe pipe closing according to the rotating speed information.

11. The motor control method according to claim 10, characterized in that:

the safety signal is used for indicating that the main processor loses power supply or has operation failure.

12. The motor control method according to claim 10 or 11, characterized in that: the slave processor controls the motor to realize active short circuit or safety shut-off according to the rotating speed information of the motor, and the method specifically comprises the following steps:

if the rotating speed of the motor is higher than or equal to a set threshold value, the slave processor controls the motor to carry out active short circuit,

and if the rotating speed of the motor is lower than the set threshold, the slave processor controls the motor to carry out safe shutdown.

13. The method of any of claims 10-12, wherein obtaining the speed information of the motor from the processor comprises:

the slave processor obtains the rotating speed information of the motor according to the motor rotating speed signal transmitted by the master processor for the last time; alternatively, the first and second liquid crystal display panels may be,

and the slave processor acquires the rotating speed information of the motor by acquiring the phase current or the line voltage value of the inverter.

14. The motor control method according to claim 12, characterized in that:

and when the rotating speed of the motor is lower than the set threshold, controlling the motor to carry out safety shutdown.

15. The motor control method according to claim 14, characterized in that: and the slave processor acquires the motor rotating speed information by acquiring the phase current or the line voltage value of the inverter.