CN218976590U

CN218976590U - Motor controller and off-road vehicle

Info

Publication number: CN218976590U
Application number: CN202223105483.0U
Authority: CN
Inventors: 李彩萍; 张平化; 孟凡己
Original assignee: Fj Controlling Co ltd
Current assignee: Fj Controlling Co ltd
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2023-05-05
Anticipated expiration: 2032-11-22

Abstract

The utility model discloses a motor controller and an off-road vehicle. The motor controller includes: the device comprises a three-phase full-bridge inverter circuit, a first overcurrent detection module, a second overcurrent detection module and a control module. The three-phase full-bridge inverter circuit comprises three bridge arm branches, and each bridge arm branch comprises a first switch and a second switch which are connected in series between a power bus and a grounding end. The first overcurrent detection module is used for collecting currents of any two of the U-phase terminal, the V-phase terminal and the W-phase terminal of the motor and outputting a first overcurrent judgment signal. The second overcurrent detection module is used for collecting voltages of the first end, the second end and the control end of each first switch and voltages of the first end, the second end and the control end of each second switch and outputting a second overcurrent judgment signal. The control module is used for receiving the first overcurrent judgment signal and the second overcurrent judgment signal and controlling the motor.

Description

Motor controller and off-road vehicle

Technical Field

The embodiment of the utility model relates to the technical field of motor control, in particular to a motor controller and an off-road vehicle.

Background

At present, the market has higher and higher requirements on the safety performance and service life of various motor controllers. For a motor controller in a vehicle, the motor controller is irreversibly damaged due to the problems of output short circuit and the like, so that an overcurrent detection function is added to the motor controller, thereby being beneficial to improving the safety of a system and prolonging the service life of the system.

The existing motor controller generally adopts a driving chip with an overcurrent protection function, and when a short circuit occurs, the motor control loop is cut off through the driving chip so as to realize overcurrent protection. The protection mode is single, and when the function of the overcurrent protection device fails, overcurrent protection cannot be performed on the motor controller in time, so that the safety performance and the service life of the motor controller are affected.

Disclosure of Invention

The embodiment of the utility model provides a motor controller and an off-road vehicle, which are used for improving the safety of the motor and the controller thereof and prolonging the service life of the motor and the controller thereof.

In a first aspect, an embodiment of the present utility model provides a motor controller, including:

the three-phase full-bridge inverter circuit comprises three bridge arm branches, each bridge arm branch comprises a first switch and a second switch which are connected in series between a power bus and a grounding end, the three bridge arm branches are connected with a U-phase connection end, a V-phase connection end and a W-phase connection end of a motor in a one-to-one correspondence manner, and the three-phase full-bridge inverter circuit is used for providing three-phase alternating current power for the motor;

the first overcurrent detection module is connected with any two of the U-phase wire end, the V-phase wire end and the W-phase wire end of the motor, and is used for collecting the current of any two of the U-phase wire end, the V-phase wire end and the W-phase wire end of the motor and outputting a first overcurrent judgment signal;

The second overcurrent detection module is connected with the first end, the second end and the control end of the first switch in each bridge arm branch, and the first end, the second end and the control end of the second switch in each bridge arm branch, and is used for collecting the voltages of the first end, the second end and the control end of each first switch, the voltages of the first end, the second end and the control end of each second switch, and outputting a second overcurrent judgment signal;

the control module is connected with the first overcurrent detection module and the second overcurrent detection module, and is used for receiving the first overcurrent judgment signal and the second overcurrent judgment signal and controlling the motor.

Optionally, the first overcurrent detection module comprises two first overcurrent detection circuits, and the first overcurrent detection circuits comprise a current sampling unit, a first voltage comparison unit and a second voltage comparison unit;

the current sampling unit is connected with any one of a U-phase terminal, a V-phase terminal and a W-phase terminal of the motor and is used for collecting current signals of the connected terminals;

the first comparison signal input end of the first voltage comparison unit is connected with the current sampling unit, the second comparison signal input end of the first voltage comparison unit is connected with a first reference voltage end, the output end of the first voltage comparison unit is connected with the control module, and the first voltage comparison unit is used for comparing the current signal acquired by the current sampling unit with the signal of the first reference voltage end and outputting a comparison result signal through the output end of the first voltage comparison unit;

The first comparison signal input end of the second voltage comparison unit is connected with the current sampling unit, the second comparison signal input end of the second voltage comparison unit is connected with a second reference voltage end, the output end of the second voltage comparison unit is connected with the control module, and the second voltage comparison unit is used for comparing the current signal acquired by the current sampling unit with the signal of the second reference voltage end and outputting a comparison result signal through the output end of the second voltage comparison unit;

the current sampling units in different first overcurrent detection circuits are connected with different wiring ends in the U-phase wiring ends, the V-phase wiring ends and the W-phase wiring ends, signals of the first reference voltage end and signals of the second reference voltage end are different, and comparison result signals output by the first voltage comparison unit and comparison result signals output by the second voltage comparison unit are used as first overcurrent judgment signals.

Optionally, the current sampling unit includes a current sensor, and the first overcurrent detection circuit further includes a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, and a fifth capacitor;

The current sensor is sleeved on any one of a U-phase terminal, a V-phase terminal and a W-phase terminal of the motor; the first pole of the first capacitor and the first pole of the second capacitor are connected with a first power end of the current sensor, the second pole of the first capacitor and the second pole of the second capacitor are grounded, the first pole of the third capacitor is connected with a current signal output end of the current sensor, the second pole of the third capacitor is grounded, and the second power end of the current sensor is grounded;

the current signal output end of the current sensor is connected with the first comparison signal input end of the first voltage comparison unit and the first comparison signal input end of the second voltage comparison unit, the first pole of the fourth capacitor is connected with the first comparison signal input end of the first voltage comparison unit, the first end of the first resistor and the first end of the second resistor are connected with the second pole of the fourth capacitor, the second end of the first resistor is connected with the first reference voltage end, the second pole of the second resistor is grounded, the first pole of the fifth capacitor is connected with the first comparison signal input end of the second voltage comparison unit, the first end of the third resistor and the first end of the fourth resistor are connected with the second pole of the fifth capacitor, the second end of the third resistor is connected with the second reference voltage end, the second end of the fourth resistor is grounded, and the output end of the first voltage comparison unit and the output end of the second voltage comparison unit are both connected with the first overcurrent signal judgment end of the first overcurrent control module through the fifth resistor.

Optionally, the second overcurrent detection module includes three second overcurrent detection circuits which are set in one-to-one correspondence with the first switches in the three bridge arm branches, and three third overcurrent detection circuits which are set in one-to-one correspondence with the second switches in the three bridge arm branches;

the second overcurrent detection circuit is connected with a third reference voltage end and a first end, a second end and a control end of the first switch, and is used for responding to the voltages of the control end and the second end of the first switch, comparing the voltage of the first end of the first switch with the voltage of the third reference voltage end and outputting the second overcurrent judgment signal;

the third overcurrent detection circuit is connected with a third reference voltage end and a corresponding first end, a second end and a control end of the second switch, and is used for responding to the corresponding voltage of the control end and the second end of the second switch, comparing the voltage of the first end of the second switch with the voltage of the third reference voltage end and outputting the second overcurrent judgment signal.

Optionally, the second overcurrent detection circuit and the third overcurrent detection circuit each include a third voltage comparison unit and an optocoupler unit;

A first comparison signal input end of the third voltage comparison unit in the second overcurrent detection circuit is connected with the power bus and a control end of the corresponding first switch, a first comparison signal input end of the third voltage comparison unit in the third overcurrent detection circuit is connected with a first end and a control end of the corresponding second switch, a second comparison signal input end of the third voltage comparison unit is connected with the third reference voltage end, and the third voltage comparison unit is used for comparing signals of the first comparison signal input end and the second comparison signal input end of the third voltage comparison unit and outputting comparison result signals through an output end of the third voltage comparison unit;

the first input end of the optocoupler unit in the second overcurrent detection circuit is connected with the corresponding control end of the first switch, the first input end of the optocoupler unit in the third overcurrent detection circuit is connected with the corresponding control end of the second switch, the second input end of the optocoupler unit is connected with the output end of the third voltage comparison unit, the first output end of the optocoupler unit is connected with the second overcurrent judgment signal input end of the control module, the first output end of the optocoupler unit is used for outputting the second overcurrent judgment signal, and the second output end of the optocoupler unit is grounded.

Optionally, a first end of the first switch in each bridge arm branch is connected to the power bus, a second end of the first switch is connected to a first end of the second switch, and a second end of the second switch is grounded;

the second overcurrent detection circuit and the third overcurrent detection circuit further comprise a first unidirectional conduction device, a second unidirectional conduction device, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, a sixth capacitor, a seventh capacitor and an eighth capacitor;

a first end of the sixth resistor in the second overcurrent detection circuit is connected with a control end of the corresponding first switch, a first end of the sixth resistor in the third overcurrent detection circuit is connected with a control end of the corresponding second switch, a second end of the sixth resistor is connected with an input end of the first unidirectional conduction device and an input end of the second unidirectional conduction device, an output end of the first unidirectional conduction device in the second overcurrent detection circuit is connected with the power bus, an output end of the first unidirectional conduction device in the third overcurrent detection circuit is connected with a second end of the corresponding second switch, an output end of the second unidirectional conduction device is connected with a first comparison signal input end of the third voltage comparison unit, a first end of the seventh resistor and a first pole of the sixth capacitor are connected with the third reference voltage end, a second end of the seventh resistor and an output end of the first unidirectional conduction device in the second overcurrent detection circuit are connected with the power bus, a second end of the second unidirectional conduction device is connected with a second end of the corresponding second switch, a second end of the eighth resistor is connected with a second polarity comparison voltage end of the eighth resistor, a second polarity comparison unit is connected with a fourth polarity comparison voltage end of the eighth resistor, a ninth polarity comparison unit is connected with the eighth voltage of the eighth resistor and a fourth polarity comparison unit, and a fourth polarity comparison voltage is connected with the eighth polarity comparison unit, and a fourth polarity comparison voltage of the fourth polarity of the eighth resistor and the output end of the eighth resistor is connected with the fourth polarity voltage comparison unit, and the voltage comparison unit is connected with the voltage output voltage. The tenth resistor is connected between the second input end of the optocoupler unit and the output end of the third voltage comparison unit.

Optionally, the bridge arm branch comprises a first bridge arm branch, a second bridge arm branch and a third bridge arm branch, the second end of the first switch and the first end of the second switch in the first bridge arm branch are connected with a U-phase terminal of the motor, the second end of the first switch and the first end of the second switch in the second bridge arm branch are connected with a V-phase terminal of the motor, and the second end of the first switch and the first end of the second switch in the third bridge arm branch are connected with a W-phase terminal of the motor.

Optionally, the first switch includes a first transistor, the second switch includes a second transistor, a gate of the first transistor is used as a control end of the first switch, a gate of the second transistor is used as a control end of the second switch, a first pole of the first transistor in each bridge arm branch is connected to the power bus, a second pole of the first transistor is connected to a first pole of the second transistor, and a second pole of the second transistor is grounded.

Optionally, the motor controller further includes driving circuits corresponding to the three bridge arm branches one to one, the driving circuits are connected with the control modules and control ends of the first switch and the second switch in the corresponding bridge arm branches, the driving circuits are used for providing control signals for the control ends of the first switch and the second switch in the corresponding bridge arm branches, and the control modules are further used for controlling the driving circuits.

In a second aspect, an embodiment of the present utility model provides an off-road vehicle, including a motor, and further including the motor controller according to the first aspect.

The motor controller and the non-road vehicle provided by the embodiment of the utility model collect the current of any two of the U-phase wire end, the V-phase wire end and the W-phase wire end of the motor through the first overcurrent detection module so as to judge whether the U-phase wire end, the V-phase wire end and the W-phase wire end generate overcurrent or not, and output a corresponding first overcurrent judgment signal. The voltage of the first end, the second end and the control end of each first switch and the voltage of the first end, the second end and the control end of each second switch are collected through a second overcurrent detection module, so that whether overcurrent occurs during the operation of the first switch and the second switch in each bridge arm branch is judged, and a corresponding second overcurrent judgment signal is output. The motor is controlled by the control module according to the first overcurrent judgment signal output by the first overcurrent detection module and the second overcurrent judgment signal output by the second overcurrent detection module, so that the motor is controlled to stop working when overcurrent is determined to occur according to any one of the first overcurrent judgment signal and the second overcurrent judgment signal. According to the technical scheme, through the arrangement of the first overcurrent detection module and the second overcurrent detection module, the redundant design of the overcurrent protection function of the motor controller is realized, so that overcurrent detection can be carried out on both the first overcurrent detection module and the second overcurrent detection module, when one of the first overcurrent detection module and the second overcurrent detection module fails, the overcurrent phenomenon can be detected and the motor is controlled to stop working by the other overcurrent detection module, damage to circuits or devices caused by overcurrent is avoided, the safety of the motor and the controller is improved, and the service life of the motor and the controller is prolonged.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the utility model or to delineate the scope of the utility model. Other features of the present utility model will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a motor controller according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of a first overcurrent detection module according to an embodiment of the present utility model;

fig. 3 is a schematic structural diagram of a first overcurrent detection circuit according to an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of a second overcurrent detection module according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a second overcurrent detection circuit according to an embodiment of the present utility model;

Fig. 6 is a schematic structural diagram of a third overcurrent detection circuit according to an embodiment of the present utility model;

fig. 7 is a schematic structural diagram of another second overcurrent detection circuit according to an embodiment of the present utility model;

fig. 8 is a schematic structural diagram of another third overcurrent detecting circuit according to an embodiment of the utility model;

fig. 9 is a schematic diagram of a connection relationship between a control module, a driving circuit and a first bridge arm branch according to an embodiment of the present utility model.

Detailed Description

In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the utility model described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The embodiment of the utility model provides a motor controller. Fig. 1 is a schematic structural diagram of a motor controller according to an embodiment of the present utility model. Referring to fig. 1, the motor controller includes: the three-phase full-bridge inverter circuit, the first overcurrent detection module 40, the second overcurrent detection module 50 and the control module 60.

The three-phase full-bridge inverter circuit comprises three bridge arm branches, each bridge arm branch comprises a first switch 10 and a second switch 20 which are connected in series between a power bus UDC and a ground end GND, the three bridge arm branches are correspondingly connected with a U-phase wire end, a V-phase wire end and a W-phase wire end of the motor 30 one by one, and the three-phase full-bridge inverter circuit is used for providing three-phase alternating current power for the motor 30.

The first overcurrent detection module 40 is connected to any two of the U-phase, V-phase and W-phase terminals of the motor 30, and is configured to collect currents of any two of the U-phase, V-phase and W-phase terminals of the motor 30, and output a first overcurrent determination signal.

The second overcurrent detection module 50 is connected to the first end, the second end and the control end of the first switch 10 in each bridge arm branch, and the first end, the second end and the control end of the second switch 20 in each bridge arm branch, and is configured to collect voltages of the first end, the second end and the control end of each first switch 10, and voltages of the first end, the second end and the control end of each second switch 20, and output a second overcurrent judgment signal.

The control module 60 is connected to the first overcurrent detection module 40 and the second overcurrent detection module 50, and is configured to receive the first overcurrent determination signal and the second overcurrent determination signal, and control the motor 30.

Specifically, three bridge arm branches of the three-phase full-bridge inverter circuit are a first bridge arm branch, a second bridge arm branch and a third bridge arm branch, a first end of a first switch 10 in each bridge arm branch is connected with a power bus UDC, a second end of the first switch 10 is connected with a first end of a second switch 20, a second end of the second switch 20 is grounded, a second end of the first switch 10 or the first end of the second switch 20 in the first bridge arm branch is a first node N1, the first node N1 is connected with a U-phase terminal of a motor 30, a second end of the first switch 10 or the first end of the second switch 20 in the second bridge arm branch is a second node N2, the second node N2 is connected with a V-phase terminal of the motor 30, a second end of the first switch 10 or the first end of the second switch 20 in the third bridge arm branch is a third node N3, and the third node N3 is connected with a W-phase terminal of the motor 30. The U-phase, V-phase and W-phase terminals of the motor 30 are illustrated in fig. 1 by reference numerals U, V and W, respectively.

Fig. 1 shows a case where the first overcurrent detection module 40 is connected to the V-phase and W-phase terminals of the motor 30, the first overcurrent detection module 40 may collect currents of the V-phase and W-phase terminals and perform overcurrent judgment according to the currents of the V-phase and W-phase terminals, respectively, so as to output a corresponding first overcurrent judgment signal when any one of the V-phase and W-phase terminals is overcurrent. Optionally, the first overcurrent detection module 40 may also calculate the current of the U-phase terminal according to the currents of the V-phase terminal and the W-phase terminal, and perform overcurrent judgment according to the current of the U-phase terminal, so as to output a corresponding first overcurrent judgment signal when the U-phase terminal generates an overcurrent. In this way, by detecting only the currents of the V-phase and W-phase terminals by the first overcurrent detection module 40, it is possible to determine whether or not the U-phase, V-phase and W-phase terminals are overcurrents, which contributes to cost saving.

In other embodiments, the first overcurrent detection module 40 may be further configured to connect the U-phase terminal and the V-phase terminal of the motor 30, or connect the U-phase terminal and the W-phase terminal of the motor 30, so as to collect currents of any two of the U-phase terminal, the V-phase terminal and the W-phase terminal of the motor 30, perform overcurrent judgment on the currents of the U-phase terminal, the V-phase terminal and the W-phase terminal, and output a corresponding first overcurrent judgment signal.

The second overcurrent detection module 50 collects voltages of the first end, the second end and the control end of each first switch 10 and voltages of the first end, the second end and the control end of each second switch 20, so that overcurrent detection can be performed on the power supply of each phase, for example, the second overcurrent detection module 50 can determine whether overcurrent occurs when the first switch 10 in each bridge arm branch works according to the voltages of the first end, the second end and the control end of each first switch 10 and output corresponding second overcurrent determination signals, and the second overcurrent detection module 50 can also determine whether overcurrent occurs when the second switch 20 in each bridge arm branch works according to the voltages of the first end, the second end and the control end of each second switch 20 and output corresponding second overcurrent determination signals.

The control module 60 may control the motor 30 according to the first overcurrent determination signal output by the first overcurrent detection module 40 and the second overcurrent determination signal output by the second overcurrent detection module 50, for example, may control the motor 30 to stop operating when it is determined that an overcurrent occurs according to any one of the first overcurrent determination signal and the second overcurrent determination signal.

In summary, according to the technical scheme of the embodiment of the utility model, the first overcurrent detection module is used for collecting the current of any two of the U-phase wire end, the V-phase wire end and the W-phase wire end of the motor so as to judge whether the U-phase wire end, the V-phase wire end and the W-phase wire end generate overcurrent or not, and outputting a corresponding first overcurrent judgment signal. The voltage of the first end, the second end and the control end of each first switch and the voltage of the first end, the second end and the control end of each second switch are collected through a second overcurrent detection module, so that whether overcurrent occurs during the operation of the first switch and the second switch in each bridge arm branch is judged, and a corresponding second overcurrent judgment signal is output. The motor is controlled by the control module according to the first overcurrent judgment signal output by the first overcurrent detection module and the second overcurrent judgment signal output by the second overcurrent detection module, so that the motor is controlled to stop working when overcurrent is determined to occur according to any one of the first overcurrent judgment signal and the second overcurrent judgment signal. According to the technical scheme, through the arrangement of the first overcurrent detection module and the second overcurrent detection module, the redundant design of the overcurrent protection function of the motor controller is realized, so that overcurrent detection can be carried out on both the first overcurrent detection module and the second overcurrent detection module, when one of the first overcurrent detection module and the second overcurrent detection module fails, the overcurrent phenomenon can be detected and the motor is controlled to stop working by the other overcurrent detection module, damage to circuits or devices caused by overcurrent is avoided, the safety of the motor and the controller is improved, and the service life of the motor and the controller is prolonged.

It should be noted that, in fig. 1, only the connection relationship between the second overcurrent detection module 50 and the first end of each first switch 10, that is, the connection relationship between the second overcurrent detection module 50 and the power bus UDC is simply illustrated, and in practical application, the second overcurrent detection module 50 should be connected to the first end, the second end, and the control end of each first switch 10, and the first end, the second end, and the control end of each second switch 20, so as to collect corresponding voltage signals.

Fig. 2 is a schematic structural diagram of a first overcurrent detection module according to an embodiment of the present utility model. Referring to fig. 1 and 2, the first overcurrent detection module 40 includes two first overcurrent detection circuits 410, and each of the first overcurrent detection circuits 410 includes a current sampling unit 411, a first voltage comparison unit 412, and a second voltage comparison unit 413.

The current sampling unit 411 is connected to any one of the U-phase, V-phase and W-phase terminals of the motor 30 for collecting current signals of the connected terminals. The first comparison signal input end of the first voltage comparison unit 412 is connected to the current sampling unit 411, the second comparison signal input end of the first voltage comparison unit 412 is connected to the first reference voltage end Vref1, the output end of the first voltage comparison unit 412 is connected to the control module 60, and the first voltage comparison unit 412 is configured to compare the current signal collected by the current sampling unit 411 with the signal of the first reference voltage end Vref1 and output a comparison result signal through its own output end. The first comparison signal input end of the second voltage comparison unit 413 is connected to the current sampling unit 411, the second comparison signal input end of the second voltage comparison unit 413 is connected to the second reference voltage end Vref2, the output end of the second voltage comparison unit 413 is connected to the control module 60, and the second voltage comparison unit 413 is used for comparing the current signal collected by the current sampling unit 411 with the signal of the second reference voltage end Vref2 and outputting a comparison result signal through its own output end.

Wherein the current sampling units 411 in the different first overcurrent detection circuits 410 are connected to different terminals in the U-phase terminal, the V-phase terminal and the W-phase terminal, the signals of the first reference voltage terminal Vref1 and the second reference voltage terminal Vref2 are different, and the comparison result signals output by the first voltage comparing unit 412 and the second voltage comparing unit 413 are used as the first overcurrent determination signals DR-FAUT1.

Illustratively, the first voltage comparing unit 412 and the second voltage comparing unit 413 may each be a comparator. The current sampling unit 411 in the first overcurrent detection circuit 410 is connected to the V-phase terminal of the motor 30 to collect the current of the V-phase terminal, and the first voltage comparing unit 412 may compare the voltage value corresponding to the current signal of the V-phase terminal with the voltage value of the first reference voltage terminal Vref1 and output a comparison result signal to determine the overcurrent of the V-phase terminal. The second voltage comparing unit 413 may compare a voltage value corresponding to the current signal of the V-phase terminal with a voltage value of the second reference voltage terminal Vref2 and output a comparison result signal to perform overcurrent judgment on the current of the V-phase terminal. Since the current value of the V-phase terminal has positive and negative values, by setting the voltage values of the first reference voltage terminal Vref1 and the second reference voltage terminal Vref2, it is possible to perform overcurrent judgment on the positive current value and the negative current value of the V-phase terminal by the first voltage comparing unit 412 and the second voltage comparing unit 413, respectively.

The current sampling unit 411 in the second first overcurrent detecting circuit 410 is connected to the W-phase terminal of the motor 30 to collect the current of the W-phase terminal, and the first voltage comparing unit 412 may compare the voltage value corresponding to the current signal of the W-phase terminal with the voltage value of the first reference voltage terminal Vref1 and output a comparison result signal to determine the overcurrent of the W-phase terminal. The second voltage comparing unit 413 may compare a voltage value corresponding to the current signal of the W-phase terminal with a voltage value of the second reference voltage terminal Vref2, and output a comparison result signal to perform overcurrent judgment on the current of the W-phase terminal. Since the current value of the W-phase terminal has positive and negative values, by setting the voltage values of the first reference voltage terminal Vref1 and the second reference voltage terminal Vref2, it is possible to perform overcurrent judgment on the positive current value and the negative current value of the W-phase terminal by the first voltage comparing unit 412 and the second voltage comparing unit 413, respectively.

Fig. 3 is a schematic structural diagram of a first overcurrent detection circuit according to an embodiment of the present utility model. Referring to fig. 3, optionally, the current sampling unit 411 includes a current sensor 4111, and the first overcurrent detecting circuit 410 further includes a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, and a fifth capacitor C5.

The current sensor 4111 is sleeved on any one of the U-phase terminal, the V-phase terminal and the W-phase terminal of the motor 30; the first pole of the first capacitor C1 and the first pole of the second capacitor C2 are connected to the first power supply terminal V1 of the current sensor 4111, the second pole of the first capacitor C1 and the second pole of the second capacitor C2 are grounded, the first pole of the third capacitor C3 is connected to the current signal output terminal of the current sensor 4111, the second pole of the third capacitor C3 is grounded, and the second power supply terminal of the current sensor 4111 is grounded.

The current signal output end of the current sensor 4111 is connected to the first comparison signal input end of the first voltage comparing unit 412 and the first comparison signal input end of the second voltage comparing unit 413, the first pole of the fourth capacitor C4 is connected to the first comparison signal input end of the first voltage comparing unit 412, the first end of the first resistor R1 and the first end of the second resistor R2 are connected to the second pole of the fourth capacitor C4, the second end of the first resistor R1 is connected to the first reference voltage end Vref1, the second end of the second resistor R2 is grounded, the first pole of the fifth capacitor C5 is connected to the first comparison signal input end of the second voltage comparing unit 413, the first end of the third resistor R3 and the first end of the fourth resistor R4 are connected to the second pole of the fifth capacitor C5, the second end of the third resistor R3 is connected to the second reference voltage end Vref2, the second end of the fourth resistor R4 is grounded, and the output end of the first voltage comparing unit 412 and the output end of the second voltage comparing unit 413 are both connected to the first overcurrent signal input end of the control module 60 through the fifth resistor R5.

Specifically, the current sensor 4111 may be a hall sensor, and the current sensor 4111 may include a magnetic ring, and the current of the corresponding terminal may be detected by sleeving the magnetic ring of the current sensor 4111 on the U-phase terminal, the V-phase terminal, or the W-phase terminal of the motor 30. The first capacitor C1, the second capacitor C2 and the third capacitor C3 may be used for filtering.

In one embodiment, the first overcurrent detection circuit may include a voltage comparison chip U1, where the voltage comparison chip U1 includes a first voltage comparator and a second voltage comparator, the first voltage comparator may be used as the first voltage comparison unit 412, and the second voltage comparator may be used as the second voltage comparison unit 413. The pin a8 of the voltage comparison chip U1 is connected to the power signal V0 and is connected to the first pole of the ninth capacitor C9, the second pole of the ninth capacitor C9 is grounded, and the ninth capacitor C9 is used for filtering. The pin a4 of the voltage comparison chip U1 is grounded, the pin a2 is used as a first comparison signal input end of the first voltage comparison unit 412, the pin a3 is used as a second comparison signal input end of the first voltage comparison unit 412, the pin a1 is used as an output end of the first voltage comparison unit 412, the pin a5 is used as a first comparison signal input end of the second voltage comparison unit 413, the pin a6 is used as a second comparison signal input end of the second voltage comparison unit 413, and the pin a7 is used as an output end of the second voltage comparison unit 413. The first resistor R1, the second resistor R2, the third resistor R3 and the fourth resistor R4 are all used for dividing voltage, the fourth capacitor C4 and the fifth capacitor C5 are all used for filtering, and the fifth resistor R5 is used for limiting current.

When the current sensor 4111 detects that the U-phase terminal, the V-phase terminal or the W-phase terminal connected with the current sensor 4111 generates an overcurrent, the current value on the corresponding terminal becomes larger, the current value detected by the current sensor 4111 is input to the a2 pin of the voltage comparison chip U1, the voltage value of the a3 pin is the voltage value obtained by dividing the voltage of the first reference voltage terminal Vref1 by the first resistor R1 and the second resistor R2, the resistance values of the first resistor R1 and the second resistor R2 are determined by the overcurrent parameter, when the voltage value of the a2 pin is larger than the voltage value of the a3 pin, the first overcurrent judgment signal DR-FAUT1 output by the a1 pin can be changed into a low level signal, and when the control module detects that the first overcurrent judgment signal DR-FAUT1 becomes a low level, the motor can be controlled to stop working. Similarly, the current sensor 4111 may further input the detected current value to the a5 pin of the voltage comparison chip U1, where the voltage value of the a6 pin is a voltage value obtained by dividing the voltage of the second reference voltage terminal Vref2 by the third resistor R3 and the fourth resistor R4, and the resistance values of the third resistor R3 and the fourth resistor R4 are also determined by an overcurrent parameter, when the voltage value of the a5 pin is greater than the voltage value of the a6 pin, the first overcurrent determination signal DR-FAUT1 output by the a8 pin may become a low level signal, and when the control module detects that the first overcurrent determination signal DR-FAUT1 becomes a low level signal, the motor may be controlled to stop working.

Fig. 4 is a schematic structural diagram of a second overcurrent detection module according to an embodiment of the present utility model. Referring to fig. 1 and 4, the second overcurrent detection module 50 optionally includes three second overcurrent detection circuits 510 disposed in one-to-one correspondence with the first switches 10 in the three bridge arm branches, and three third overcurrent detection circuits 520 disposed in one-to-one correspondence with the second switches 20 in the three bridge arm branches.

The second overcurrent detection circuit 510 is connected to the third reference voltage terminal Vref3 and the corresponding first terminal, second terminal and control terminal G1 of the first switch 10, and is configured to compare the voltages of the corresponding first terminal and third reference voltage terminal Vref3 of the first switch 10 in response to the voltages of the corresponding control terminal and second terminal of the first switch 10, and output a second overcurrent determination signal DR-FAUT2.

The third overcurrent detecting circuit 520 is connected to the third reference voltage terminal Vref3 and the first terminal, the second terminal and the control terminal G2 of the corresponding second switch 20, and is configured to compare the voltages of the first terminal and the third reference voltage terminal Vref3 of the corresponding second switch 20 in response to the voltages of the control terminal and the second terminal of the corresponding second switch 20, and output a second overcurrent judging signal DR-FAUT2.

Illustratively, the first switch 10 in the first leg may be a U-phase upper leg, the second switch 20 may be a U-phase lower leg, the first switch 10 in the second leg may be a V-phase upper leg, the second switch 20 may be a V-phase lower leg, the first switch 10 in the third leg may be a W-phase upper leg, and the second switch 20 may be a W-phase lower leg. The first and second overcurrent detection circuits 510 are connected to the control terminal G1 of the first switch 10 in the first bridge arm branch, and are connected to the control signal G11. The second overcurrent detection circuit 510 is connected to the control terminal G1 of the first switch 10 in the second bridge arm branch, and is connected to the control signal G12. The third second overcurrent detection circuit 510 is connected to the control terminal G1 of the first switch 10 in the third bridge arm branch, and is connected to the control signal G13. The first third overcurrent detection circuit 520 is connected to the control terminal G2 of the second switch 20 in the first bridge arm branch, and is connected to the control signal G21. The second third overcurrent detection circuit 520 is connected to the control terminal G2 of the second switch 20 in the second bridge arm branch, and is connected to the control signal G22. The third overcurrent detecting circuit 520 is connected to the control terminal G3 of the second switch 20 in the third bridge arm branch, and is connected to the control signal G23.

Each of the second overcurrent detection circuits 510 may compare the voltage of the first terminal of the corresponding first switch 10, i.e., the power bus UDC, with the voltage of the third reference voltage terminal Vref3 to determine whether an overcurrent occurs, and output a corresponding second overcurrent determination signal DR-FAUT2 when the corresponding first switch 10 is turned on, in response to the voltages of the control terminal and the second terminal of the corresponding first switch 10. Each of the third overcurrent detection circuits 520 may compare the voltage of the first terminal of the corresponding second switch 20 with the voltage of the third reference voltage terminal Vref3 to determine whether an overcurrent occurs or not and output a corresponding second overcurrent determination signal DR-FAUT2 when the corresponding second switch 20 is turned on in response to the voltages of the control terminal and the second terminal of the corresponding second switch 20.

Fig. 5 is a schematic structural diagram of a second overcurrent detection circuit according to an embodiment of the present utility model. Fig. 6 is a schematic structural diagram of a third overcurrent detection circuit according to an embodiment of the present utility model. Referring to fig. 4 to 6, the second overcurrent detection circuit 510 and the third overcurrent detection circuit 520 each include a third voltage comparison unit 511 and an optocoupler unit 512.

The first comparison signal input end of the third voltage comparison unit 511 in the second overcurrent detection circuit 510 is connected to the power bus UDC and the control end G1 of the corresponding first switch 10, the first comparison signal input end of the third voltage comparison unit 511 in the third overcurrent detection circuit 520 is connected to the first end and the control end G2 of the corresponding second switch 20, the second comparison signal input end of the third voltage comparison unit 511 is connected to the third reference voltage end Vref3, and the third voltage comparison unit 511 is configured to compare signals of the first comparison signal input end and the second comparison signal input end of itself and output a comparison result signal through the output end of itself.

The first input end of the optocoupler unit 512 in the second overcurrent detection circuit 510 is connected to the control end G1 of the corresponding first switch 10, the first input end of the optocoupler unit 512 in the third overcurrent detection circuit 520 is connected to the control end G2 of the corresponding second switch 20, the second input end of the optocoupler unit 512 is connected to the output end of the third voltage comparison unit 511, the first output end of the optocoupler unit 512 is connected to the second overcurrent judgment signal input end of the control module 60, and the first output end of the optocoupler unit 512 is used for outputting a second overcurrent judgment signal DR-FAUT2, and the second output end of the optocoupler unit 512 is grounded.

Specifically, the optocoupler unit 512 may be an optocoupler device. Referring to fig. 1 and 5, a second overcurrent detection circuit corresponding to the first switch 10 in the first arm branch is exemplarily described. The first switch 10 is turned on in response to the high level signal, when the control signal G11 connected to the control terminal G1 of the first switch 10 in the first bridge arm branch is the high level signal, the third voltage comparing unit 511 compares the voltage value of the power bus UDC with the voltage value of the third reference voltage terminal Vref3, when an overcurrent occurs, the voltage value of the power bus UDC is pulled down, the third voltage comparing unit 511 outputs the low level signal, the optocoupler unit 512 is turned on, the second overcurrent determination signal DR-FAUT2 becomes the low level signal, and when the control module detects that the second overcurrent determination signal DR-FAUT2 becomes the low level signal, the motor can be controlled to stop working. The working principle of the above embodiment is described only by taking the second overcurrent detection circuit corresponding to the first switch 10 in the first bridge arm branch as an example, and the specific working principles of the second overcurrent detection circuits corresponding to the first switch 10 in the second bridge arm branch and the third bridge arm branch, and the third overcurrent detection circuits corresponding to the second switch 20 in the first bridge arm branch to the third bridge arm branch can be understood by referring to the above embodiment, and are not repeated.

Fig. 7 is a schematic structural diagram of another second overcurrent detection circuit according to an embodiment of the present utility model. Fig. 8 is a schematic structural diagram of another third overcurrent detecting circuit according to an embodiment of the present utility model. Referring to fig. 1, 4, 7 and 8, the second overcurrent detecting circuit 510 and the third overcurrent detecting circuit 520 further include a first unidirectional conductive device D1, a second unidirectional conductive device D2, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, a sixth capacitor C6, a seventh capacitor C7 and an eighth capacitor C8.

The first end of a sixth resistor R6 in the second overcurrent detection circuit 510 is connected with the control end G1 of a corresponding first switch 10, the first end of a sixth resistor R6 in the third overcurrent detection circuit 520 is connected with the control end G2 of a corresponding second switch 20, the second end of the sixth resistor R6 is connected with the input end of a first unidirectional conducting device D1 and the input end of a second unidirectional conducting device D2, the output end of the first unidirectional conducting device D1 in the second overcurrent detection circuit 510 is connected with a power bus UDC, the output end of the first unidirectional conducting device D1 in the third overcurrent detection circuit 520 is connected with the second end of a corresponding second switch 20, the output end of the second unidirectional conducting device D2 is connected with the first comparison signal input end of a third voltage comparison unit 511, the first end of a seventh resistor R7 and a first electrode of a sixth capacitor C6 are connected with a third reference voltage end Vref3, the second end of a seventh resistor R7 is connected with the input end of a seventh capacitor C8 and the input end of a third capacitor C8, the output end of a ninth capacitor C8 is connected with the second electrode of a third capacitor C8 in the third overcurrent detection circuit 520, the output end of the eighth resistor R8 is connected with the second electrode of a ninth capacitor C8 and the eighth capacitor C8, and the output end of a corresponding second comparison unit is connected with the third comparison signal input end of a ninth capacitor 511.

Specifically, the first unidirectional conductive device D1 may be a diode, and the second unidirectional conductive device D2 may include two diodes connected in series in a forward direction, a sixth resistor R6 and a tenth resistor R10 for current limiting, seventh resistors R7 and eighth resistors R8 for voltage dividing, and sixth capacitor C6, seventh capacitor C7, eighth capacitor C8 and ninth resistor R9 for filtering.

In one embodiment, the second overcurrent detecting circuit and the third overcurrent detecting circuit may each include a voltage comparing chip U1, the voltage comparing chip U1 includes a first voltage comparator and a second voltage comparator, the first voltage comparator may be used as the third voltage comparing unit 511, and the second voltage comparator may float. The a8 pin of the voltage comparison chip U1 is connected to the first power signal, and the signal of the third reference voltage terminal Vref3 may be used as the first power signal. The a4 pin of the voltage comparison chip U1 is connected to a second power signal, the voltage value of the first power signal is greater than the voltage value of the second power signal, the a4 pin of the voltage comparison chip U1 in the second overcurrent detection circuit may be connected to the second end of the corresponding first switch 10 to provide the second power signal to the a4 pin through the second end of the corresponding first switch 10, and the a4 pin of the voltage comparison chip U1 in the third overcurrent detection circuit may be connected to the second end of the corresponding second switch 20, that is, connected to the ground end GND to provide the second power signal to the a4 pin through the ground end GND. The a5 pin of the voltage comparison chip U1 is used as the second comparison signal input end of the third voltage comparison unit 511, the a6 pin is used as the first comparison signal input end of the third voltage comparison unit 511, and the a7 pin is used as the output end of the third voltage comparison unit 511.

For example, taking the second overcurrent detection circuit corresponding to the first switch 10 in the first bridge arm branch as an example, the first switch 10 is turned on in response to the high level signal, when the control signal G11 accessed by the control terminal G1 of the first switch 10 in the first bridge arm branch is the high level signal, the voltage value of the first terminal of the first switch 10, that is, the voltage value of the power bus UDC is input to the a6 pin, the voltage value of the a5 pin is the voltage value obtained by dividing the voltage of the third reference voltage terminal Vref3 by the seventh resistor R7 and the eighth resistor R8, when the overcurrent occurs, the voltage value of the power bus UDC is pulled down, the second overcurrent determination signal DR-FAUT2 output by the a7 pin becomes the low level signal, and when the control module detects that the second overcurrent determination signal DR-FAUT2 becomes the low level, the motor can be controlled to stop working.

The working principle of the above embodiment is only described by taking the second overcurrent detection circuit corresponding to the first switch 10 in the first bridge arm branch as an example, and the specific working principles of the second overcurrent detection circuits corresponding to the first switch 10 in the second bridge arm branch and the third bridge arm branch, and the third overcurrent detection circuit 520 corresponding to the second switch 20 in the first bridge arm branch to the third bridge arm branch can be understood by referring to the above embodiment, and are not repeated.

Fig. 9 is a schematic diagram of a connection relationship between a control module, a driving circuit and a first bridge arm branch according to an embodiment of the present utility model. Referring to fig. 9, the first switch 10 in each bridge arm branch includes a first transistor T1, the second switch 20 includes a second transistor T2, a gate of the first transistor T1 is used as a control terminal of the first switch 10, a gate of the second transistor T2 is used as a control terminal of the second switch 20, a first pole of the first transistor T1 in each bridge arm branch is connected to a power bus UDC, a second pole of the first transistor T1 is connected to a first pole of the second transistor T2, and a second pole of the second transistor T2 is grounded.

On the basis of the above embodiments, optionally, the motor controller further includes a driving circuit 70 disposed in one-to-one correspondence with the three bridge arm branches, where the driving circuit 70 is connected to the control module 60 and the control end G1 of the first switch 10 and the control end G2 of the second switch 20 in the corresponding bridge arm branches, and the driving circuit 70 is configured to provide control signals to the control end G1 of the first switch 10 and the control end G2 of the second switch 20 in the corresponding bridge arm branches, and the control module 60 is further configured to control the driving circuit 70. The control module 60 may specifically control the driving circuit 70 to generate a control signal, and provide the control signal to the control terminal G1 of the corresponding first switch 10 and the control terminal G2 of the second switch 20 to drive the operation thereof.

It should be noted that fig. 9 only shows the first transistor T1 and the second transistor T2 in the first bridge arm branch, and the driving circuit 70 corresponding to the first bridge arm branch, and specific structures and connection relationships of the first transistor T1 and the second transistor T2 in the second bridge arm branch and the third bridge arm branch, and specific structures of the driving circuit 70 corresponding to the second bridge arm branch and the third bridge arm branch may be understood with reference to fig. 9, and will not be repeated.

The embodiment of the utility model also provides an off-road vehicle which comprises the motor and the motor controller in any embodiment, so that the off-road vehicle has corresponding functional modules and beneficial effects of the motor controller. The off-road vehicle may be another vehicle such as an off-road vehicle, a construction machine, an agricultural tractor, etc. with respect to the road vehicle. Correspondingly, the motor is suitable for the off-road vehicle.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present utility model may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present utility model are achieved, and the present utility model is not limited herein.

The above embodiments do not limit the scope of the present utility model. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included in the scope of the present utility model.

Claims

1. A motor controller, comprising:

2. The motor controller of claim 1, wherein the first overcurrent detection module comprises two first overcurrent detection circuits, the first overcurrent detection circuits comprising a current sampling unit, a first voltage comparison unit, and a second voltage comparison unit;

3. The motor controller of claim 2 wherein the current sampling unit comprises a current sensor, the first over-current detection circuit further comprising a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, and a fifth capacitor;

4. The motor controller of claim 1 wherein the second overcurrent detection module includes three second overcurrent detection circuits disposed in one-to-one correspondence with the first switches in three of the bridge arm branches, and three third overcurrent detection circuits disposed in one-to-one correspondence with the second switches in three of the bridge arm branches;

5. The motor controller of claim 4 wherein the second and third over-current detection circuits each comprise a third voltage comparison unit and an optocoupler unit;

6. The motor controller of claim 5 wherein a first end of the first switch in each leg is connected to the power bus and a second end of the first switch is connected to a first end of the second switch, the second end of the second switch being grounded;

7. The motor controller of claim 1 wherein the leg branches include a first leg branch, a second leg branch, and a third leg branch, the second end of the first switch and the first end of the second switch in the first leg branch being connected to a U-phase terminal of the motor, the second end of the first switch and the first end of the second switch in the second leg branch being connected to a V-phase terminal of the motor, the second end of the first switch and the first end of the second switch in the third leg branch being connected to a W-phase terminal of the motor.

8. The motor controller of claim 1 wherein the first switch comprises a first transistor, the second switch comprises a second transistor, a gate of the first transistor is a control terminal of the first switch, a gate of the second transistor is a control terminal of the second switch, a first pole of the first transistor in each of the leg branches is connected to the power bus, a second pole of the first transistor is connected to a first pole of the second transistor, and a second pole of the second transistor is grounded.

9. The motor controller according to any one of claims 1-8, further comprising a driving circuit arranged in one-to-one correspondence with three of the bridge arm branches, the driving circuit being connected to the control modules and control ends of the first switch and the second switch in the corresponding bridge arm branch, the driving circuit being configured to provide control signals to the control ends of the first switch and the second switch in the corresponding bridge arm branch, the control module being further configured to control the driving circuit.

10. An off-road vehicle comprising an electric machine and further comprising the electric machine controller of any one of claims 1-9.