WO2020244276A1 - 一种电机控制装置、控制方法和电动设备 - Google Patents

一种电机控制装置、控制方法和电动设备 Download PDF

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Publication number
WO2020244276A1
WO2020244276A1 PCT/CN2020/079686 CN2020079686W WO2020244276A1 WO 2020244276 A1 WO2020244276 A1 WO 2020244276A1 CN 2020079686 W CN2020079686 W CN 2020079686W WO 2020244276 A1 WO2020244276 A1 WO 2020244276A1
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Prior art keywords
motor
module
phase
battery
voltage
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Ceased
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PCT/CN2020/079686
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English (en)
French (fr)
Inventor
程相营
杜娜
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/20—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by converters located in the vehicle
    • B60L53/24—Using the vehicle's propulsion converter for charging
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • This application relates to the field of drive control, in particular to a motor control control device, control method and electric equipment.
  • the present application provides a motor control device that can solve the increase in space and cost caused by adjusting the voltage of direct current.
  • a motor control device including: a first drive module and a second drive module, which are used to drive different phase coils of the multi-phase coils of the motor according to the direct current output from the battery; the first drive module It is also used to convert the AC voltage into a DC voltage during the process of charging the battery; the second driving module is also used to convert the DC voltage into the charging process of the battery during the process of charging the battery Voltage.
  • the drive module in the motor control device is used to drive the motor.
  • some drive modules are used to adjust the DC voltage value without the need to set up a separate DC-DC conversion module. Realize power charging, saving space and cost.
  • the number of phases of the coils of the driving motor of the first driving module and the second driving module are the same.
  • the AC-DC conversion module and the DC-DC conversion module have the same number of phases of the coil driving the motor during the motor driving process, which can reduce the difficulty of drive control and further reduce the occupation of the motor control device space.
  • the number of phases of the coils of the first drive module driving motor is three phases.
  • Three-phase alternating current is a common form of electric energy transmission, and most of the alternating current equipment in the industry uses three-phase alternating current.
  • the first drive module is used to drive the three-phase coil of the motor, that is, when the battery is charged, the motor control device is connected to the three-phase alternating current, which can be adapted to the daily power system.
  • the motor control device further includes a control module configured to control the first drive module and the second drive module to perform voltage conversion.
  • the motor control device further includes a filter capacitor for filtering the signal of the power supply to obtain the AC voltage.
  • an electric device including: a motor; a battery; and the motor control device described above.
  • the multiphase coils in the motor driven by the first drive module are connected to a power source.
  • the coils in the motor can generate inductance.
  • the coil in the motor is connected to the power supply, and the coil in the motor can be used as a filter inductor to filter the signal of the power supply. While realizing the rate function, the volume can be reduced.
  • the motor includes a first subsystem driven by the first drive module and a second subsystem driven by the second drive module, and the battery charging process
  • the second subsystem is connected to a power source, and the AC voltage is induced by the first subsystem and generated by the second subsystem.
  • a control method of a motor control device includes a first drive module and a second drive module.
  • the control method includes: when the motor is working, controlling the first drive module and The second driving module drives the different phase coils of the multi-phase coils of the motor according to the DC power output by the battery; when the battery is charged, the first driving module is controlled to convert the AC voltage into the DC voltage, and controls the second The driving module is used for converting the DC voltage into the charging voltage of the battery.
  • the number of phases of the coils of the driving motor of the first driving module and the second driving module are the same.
  • the number of phases of the coils of the first drive module driving motor is three phases.
  • the motor includes a first subsystem driven by the first drive module and a second subsystem driven by the second drive module; the control method further includes : During the process of charging the battery, controlling the second subsystem to connect to a power source, and the AC voltage is generated by the first subsystem induced by the second subsystem.
  • a processor is provided, the processor is used to control a motor control device, the motor control device includes a first drive module, a second drive module; when the motor is working, the processor is used to control the The first driving module and the second driving module respectively drive different coils in the multi-phase coils of the motor according to the DC power output by the battery; when the battery is charged, the processor is used to control the first driving module to convert the AC voltage into DC voltage, and controlling the second driving module to convert the DC voltage into the charging voltage of the battery.
  • the number of phases of the coils of the driving motor of the first driving module and the second driving module are the same.
  • the number of phases of the coils of the first drive module driving motor is three phases.
  • the motor includes a first subsystem driven by the first drive module and a second subsystem driven by the second drive module.
  • the processor is further configured to control the second subsystem to connect to a power source, and the AC voltage is generated by the first subsystem induced by the second subsystem.
  • Figure 1 is a schematic structural diagram of a motor control system.
  • Figure 2 is a schematic structural diagram of a motor control system.
  • Fig. 3 is a schematic structural diagram of a motor control device provided by an embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of a motor control device provided by another embodiment of the present application.
  • Figure 5 is a schematic structural diagram of a three-phase conversion module.
  • Fig. 6 is a schematic structural diagram of a motor control device provided by another embodiment of the present application.
  • Fig. 7 is a schematic structural diagram of a motor control device in a driving mode according to an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of the operation of a motor control device provided by an embodiment of the present application.
  • Fig. 9 is a schematic structural diagram of a motor control device in a charging mode according to an embodiment of the present application.
  • FIG. 10 is a schematic diagram of the conduction state of a three-phase conversion module performing voltage conversion in a charging mode of a motor control device according to an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a freewheeling state of a three-phase conversion module performing voltage conversion in a charging mode of a motor control device provided by an embodiment of the present application.
  • Fig. 12 is a schematic flowchart of the operation of a motor control device provided by another embodiment of the present application.
  • Fig. 13 is a schematic structural diagram of a motor control device provided by another embodiment of the present application.
  • Fig. 14 is a schematic structural diagram of a motor control device according to another embodiment of the present application.
  • Electric vehicles have the advantages of high efficiency, energy saving, low noise, and zero emissions. They are the development trend of new energy vehicles in the future. However, the promotion of electric vehicles is still limited by the range and charging technology.
  • Figure 1 is a schematic structural diagram of a motor control system. By controlling the action of the switch, the motor controller is used to control the electric vehicle charging system to work in the driving mode or the AC charging and discharging mode.
  • the bus capacitor is connected to both ends of the battery pack.
  • the two DC terminals of the three-phase conversion module are connected to both ends of the battery pack.
  • the three-phase conversion module is used to convert the direct current (DC) power provided by the power supply into alternating current (AC) power, thereby driving the three-phase motor M.
  • the three-phase conversion module includes three single-phase conversion modules.
  • the two DC terminals of each single-phase conversion module are connected to both ends of the battery pack, and each single-phase conversion module includes a bridge arm that includes two controllable devices and two diodes.
  • a controllable device and a diode connected in anti-parallel with it are connected to the positive pole of the power supply, another controllable device and a diode connected in anti-parallel with it are connected to the negative electrode of the power supply, and the output terminal between the two controllable devices is an AC terminal.
  • the controllable device may be an insulated gate bipolar transistor (IGBT), for example.
  • Each bridge arm includes an IGBT with anti-parallel diodes.
  • the bus capacitance may include capacitors C12 and C13 connected in series, and the capacitance values of the capacitors C12 and C13 are equal.
  • Each phase in the three-phase conversion module is used to drive a phase coil of the motor. That is, in the driving mode, the AC terminal of each single-phase conversion module in the three-phase conversion module is respectively connected to the one-phase coil of the motor.
  • the three-phase conversion module may adopt the T-shaped three-phase conversion module shown in FIG. 1, and the T-shaped three-phase conversion module includes three T-shaped single-phase conversion modules.
  • the bus capacitance includes capacitors C12 and C13 connected in series.
  • the IGBT with anti-parallel diodes includes a controllable device and an anti-parallel diode.
  • the AC terminal of each T-shaped single-phase conversion module is connected to the node between capacitors C12 and C13 through two IGBTs with anti-parallel diodes connected in series. In these two IGBTs with anti-parallel diodes, the anodes of the two diodes are connected, or the cathodes of the two diodes are connected.
  • the three-phase conversion module can also adopt other structures.
  • the bus capacitor may also include a capacitor C11, and the capacitor formed by the capacitors C12 and C13 connected in series is connected in parallel with the capacitor C11.
  • the motor control system works in the drive mode.
  • the three-phase AC terminal of the three-phase conversion module is connected to the three-phase motor M.
  • the power source when the motor is driven is a battery pack, which provides a DC voltage.
  • the three-phase conversion module realizes the function of inverter, converts the direct current provided by the battery pack into alternating current, and drives the three-phase motor M to run.
  • the phase number of a multi-phase motor can be the phase number of the coil, that is, the number of windings, or the phase number of the winding.
  • three phases correspond to three-phase coils, and the number of winding resistances is three; six-phase motors correspond to six-phase coils, and the number of winding resistances is six.
  • Each of the plurality of single-phase elements of the other multi-phase elements in the circuit corresponds to one phase in the multi-phase motor.
  • the external power source is connected to the circuit through the charging socket to charge the battery.
  • the external inductor L2 and capacitor C2 form a filter circuit, which is used to eliminate harmonics, thereby achieving the effect of smoothing.
  • the three-phase conversion module is connected to the power grid through an inductor-capacitance (LC) filter module to charge the battery pack.
  • LC inductor-capacitance
  • the power supply voltage of the battery pack is basically fixed.
  • the motor control system cannot adjust the voltage level.
  • the power supply voltage connected to the charging socket can only adopt a fixed value and cannot be adjusted. Therefore, an AC voltage of a specific amplitude is required to charge the battery pack, and the adaptability to an external AC power source is poor.
  • FIG. 2 is a schematic structural diagram of a motor control system.
  • a direct current-direct current (DC-DC) conversion module is added between the three-phase conversion module and the battery pack to achieve two-level conversion.
  • the voltage increase or decrease can be realized by changing the connection relationship between the two ends of the inductor in the DC-DC conversion circuit.
  • the DC-DC conversion module shown in Figure 2 is a step-down (buck) DC-DC conversion module. Through this module, the voltage loaded on both ends of the battery pack can be reduced in charging mode.
  • the DC-DC conversion module may include an inductor L1 and two sets of on-off control elements connected in series. Each group of on-off control elements includes a controllable device and an anti-parallel diode, and the anode of one diode in the two groups of on-off control elements is connected to the cathode of the other diode.
  • One end of the inductor L1 is connected to the positive electrode of the battery pack, and the other end is connected to the node between the two series of on-off control elements.
  • the DC-DC conversion module can also be designed as a boost (boost) DC-DC conversion module.
  • switch K2 In driving mode, switch K2 is closed, switch K11 and switch K12 are open.
  • the DC-DC conversion module does not work.
  • the battery pack is charged to the bus, and the DC power is inverted through the three-phase conversion module to drive the three-phase motor M to rotate.
  • the switch K2 In the charging mode, the switch K2 is open, and the switch K11 and/or the switch K12 are closed. Or by controlling the on and off of the switch K11 and the switch K12, whether the resistor R1 is connected to the circuit can be controlled to realize the soft start of the charging mode and normal charging.
  • the motor M In charging mode, the motor M is not connected to the circuit.
  • the external AC power supply voltage is filtered by the LC filter circuit, and the three-phase conversion module is rectified to charge the bus.
  • the bus voltage is regulated by the DC-DC converter module to charge the battery pack.
  • the versatility and flexibility of the motor control system are improved, and the adaptability to the external AC power supply is improved.
  • a DC-DC conversion module needs to be added. The overall system cost is high and the volume is large.
  • the present application provides a motor control device.
  • the voltage value of the rectified DC voltage in the charging mode is adjusted, which reduces the cost of the circuit and reduces the cost of the circuit. volume.
  • Fig. 3 is a schematic structural diagram of a motor control device provided by an embodiment of the present application.
  • the motor control device may be a circuit, and one or more chips may include the motor control device.
  • the motor control device includes: a first drive module and a second drive module, which are used to drive different phase coils of the multiphase coils of the motor according to the direct current output from the battery;
  • the first driving module is also used for converting AC voltage into DC voltage during the process of charging the battery;
  • the second driving module is also used to convert the direct current voltage into the charging voltage of the battery during the process of charging the battery.
  • the drive module can also be called a conversion module, which is used to convert the DC power output by the battery into AC power to drive the motor.
  • the total current used for motor drive is constant.
  • Increase or decrease the number of phases of the motor that is, increase or decrease the total number of phases of the drive module, and the total area occupied by the drive module is almost unchanged.
  • increasing the number of phases of the motor increases the total number of phases of the drive module, but the total area of the drive module is almost unchanged.
  • One phase of the drive module used to drive the motor The unit area of the coil is reduced.
  • the power provided to the motor remains unchanged, the number of phases of the motor is reduced, the total number of phases of the drive module is reduced, and the total area of the drive module is almost unchanged.
  • the unit used to drive the one-phase coil of the motor in the drive module The area increases.
  • the unit for driving the one-phase coil of the motor may be, for example, a bridge arm, including two controllable devices and two diodes.
  • the AC terminal of the bridge arm is connected to the positive pole of the power supply through a controllable device and a diode connected in anti-parallel with it, the positive pole of the diode is connected to the AC terminal, and the negative pole of the diode is connected to the positive pole of the power supply.
  • the AC terminal of the bridge arm is connected to the negative pole of the power supply through another controllable device and a diode connected in anti-parallel with the diode, the negative pole of the diode is connected to the AC terminal, and the positive pole of the diode is connected to the negative pole of the power supply.
  • the drive module in the motor control device is used to drive the motor.
  • some drive modules are used to adjust the DC voltage value without the need to set up a separate DC-DC conversion module. Realize power charging, saving space and cost.
  • phase numbers of the coils of the first driving module and the second driving module driving the motor are the same.
  • the first drive module is used to convert AC voltage into DC voltage
  • the second drive module is used to convert DC voltage into the charging voltage of the battery, that is, the second drive module is used for DC-DC conversion .
  • the second driving module In order to enable the second driving module to convert the electric energy output by the first driving module, there is a minimum requirement for the current that the second driving module can support, that is, the area of the second driving module cannot be too small.
  • the number of phases of the coil of the second drive module driving motor is less than the number of phases of the coil of the first drive module driving motor, it may cause the area of the unit corresponding to the one-phase coil of the drive motor in the second drive module to be larger than that in the first drive module
  • the area of the unit corresponding to the one-phase coil of the driving motor has a limited effect on reducing the chip area.
  • the area of the unit corresponding to the one-phase coil of the drive motor in the second drive module is larger.
  • the second drive module The control voltage requirement of the drive module is relatively high.
  • an additional DC-DC module may be needed to work together with the second drive module to achieve DC-DC conversion, and boost or step down the DC voltage generated by the first drive module to realize the battery Recharge.
  • the first driving module and the second driving module have the same number of phases of the coils of the driving motor, which can further reduce the area of the motor control device and reduce the difficulty of controlling the second driving module to perform AC-DC conversion in the driving mode.
  • the external power supply may have a different number of phases.
  • the first driving module is used to convert the AC voltage into a DC voltage during the process of charging the battery, which requires the number of phases of the first driving module to be the same as that of the external power supply.
  • Three-phase alternating current is a common form of electric energy transmission, and most of the alternating current equipment in the industry uses three-phase alternating current.
  • the motor control device is connected to three-phase alternating current, and the number of phases of the first drive module is three-phase, that is, the first drive module can be used to drive the three-phase coil of the motor.
  • the number of phases of the second drive module may be three-phase
  • the motor may be a six-phase motor, wherein the first drive module and the second drive module are respectively used to drive the three-phase coils of the six-phase motor.
  • the motor control device may further include a control module for controlling the first drive module and the second drive module to perform voltage conversion. That is to say, when the motor is working, the control module is used to control the first drive module and the second drive module to drive different coils of the multi-phase coils of the motor according to the direct current output from the battery; when the battery is charged, the control module is used to control The first driving module converts an AC voltage into a DC voltage, and is used to control the second driving module to convert the DC voltage into a charging voltage of the battery.
  • the motor control device may further include a first inductor.
  • the first inductor and the second driving module convert the DC voltage into the charging voltage of the battery.
  • the first inductor and the second driving module can perform step-up or step-down processing on the DC voltage to obtain a battery charging voltage.
  • the first inductor and the second driving module can only perform boost processing on the DC voltage, or can only perform voltage reduction processing.
  • control module can control the connection relationship of the first inductor in the circuit, so as to realize the conversion of the two voltage processing modes of boost processing and step-down processing, thereby increasing the application range of the motor control device.
  • the motor control device may also include a filter capacitor.
  • the filter capacitor is used to filter the external AC power so as to eliminate the noise in the AC power.
  • the motor control device may also include a filter capacitor.
  • the filter capacitor has the same number of phases as the external AC. In the process of battery charging, the filter capacitor can be used to filter the external alternating current.
  • the motor control device may further include a filter inductor.
  • the filter inductance has the same number of phases as the external alternating current.
  • the filter inductor can form an LC filter circuit with the filter capacitor to filter the external alternating current.
  • the coil in the motor can be used as a filter inductor during battery charging.
  • the phase number of the coil as the filter inductor is the same as the phase number of the external alternating current.
  • the control device can control the coil in the motor as a filter inductor.
  • the volume of the motor control device can be reduced, and the manufacturing cost can be reduced.
  • An embodiment of the present application provides an electric device including a motor, a battery, and the above-mentioned motor control device.
  • the motor may include a first sub-system driven by the first drive module and a second sub-system driven by the second drive module.
  • the second subsystem is connected to a power source, and the first subsystem induces the second subsystem to generate the AC voltage.
  • the motor may be a six-phase motor
  • the first subsystem includes a three-phase coil in the six-phase motor
  • the second subsystem includes a three-phase coil in the six-phase motor.
  • the second subsystem is connected to the power source, that is, to the external AC voltage. Due to electromagnetic induction, the first subsystem can induce alternating current.
  • Fig. 4 is a schematic structural diagram of a motor control device provided by an embodiment of the present application.
  • the motor control device includes: an inductor, a bus capacitor, a three-phase conversion module 1, a three-phase conversion module 2, a switching module 1, a switching module 2, a soft start module, and a filter module.
  • the electric device may include a battery, a six-phase motor, and the motor control device.
  • the battery is used to store electrical energy and provide mainstream output.
  • the battery may refer to a battery pack.
  • the battery can be used to provide energy input for the motor control device.
  • Port 1 is the positive electrode of the battery
  • port 22 is the negative electrode of the battery.
  • the positive pole 1 of the battery is connected to port 2 of the inductor and port 4 of the switching module.
  • the negative electrode of the battery is connected to the negative port 27 of the three-phase conversion module 1, the negative port 24 of the three-phase conversion module 2, and the negative port 23 of the bus bar.
  • Bus capacitors can be used for energy storage.
  • the bus capacitor can also be used for filtering.
  • Port 12 is the positive pole of the bus capacitor, and port 23 is the negative pole of the bus capacitor.
  • the port 23 is grounded, that is, the port 23 is connected to the negative electrode of the battery.
  • Inductance can be used for energy storage.
  • Port 2 of the inductor is connected to the positive terminal 1 of the battery, and port 3 of the inductor is connected to port 5 of the switching module 1.
  • the inductor In drive mode, the inductor is not connected to the circuit.
  • port 3 In the charging mode, port 3 is the input end of the current flowing through the inductor, and port 2 is the output end of the current flowing through the inductor.
  • the switching module 1 and the switching module 2 can be used to switch the working mode.
  • the control port 38 is an input port of the control signal of the switching module 1.
  • the control signal input from the control port 38 is used to control the connection relationship between the port 5 and the port 4 and the connection relationship between the port 6 and the port 7.
  • In drive mode port 5 and port 7 are disconnected, port 4 and port 6 are turned on, the positive electrode of the battery is connected to the positive electrode of the bus capacitor, and the battery supplies power to the bus.
  • In the charging mode ports 4 and 6 are disconnected, ports 5 and 7 are turned on, and the positive pole of the battery is connected to the positive pole of the bus capacitor through the inductor, and forms a buck-type DC-DC conversion circuit with the three-phase conversion module 1.
  • the control port 26 is an input port of the control signal of the switching module 2.
  • the control signal input from the control port 38 is used to control the connection relationship between the port 14 and the port 13 and the port 11.
  • the port 14 is connected to the port 15 of the motor subsystem 1 in the six-phase motor.
  • the port 13 is connected to the port 21 of the filter module on the charging side and the port 19 of the soft starter module.
  • the circuit on the charging side includes filter mode capacitors, soft start modules, and so on.
  • the charging side circuit When charging the battery, the charging side circuit connects the motor-driven components in the motor control device with the charging socket. When the motor is driven, the charging side circuit is disconnected from the motor-driven components in the motor control device.
  • the port 13 is connected to the charging socket via the soft starter module.
  • port 14 In drive mode, port 14 is disconnected from port 13, and port 11 and port 14 are connected.
  • the output of the AC terminal of the three-phase conversion module 1 drives the motor subsystem 1 of the six-phase motor to run.
  • the motor subsystem 1 includes a three-phase coil
  • the motor Subsystem 2 includes another three-phase coil.
  • port 14 and port 13 are turned on, port 14 is disconnected from port 11.
  • the external power is transferred to motor subsystem 2 through the electromagnetic induction of motor subsystem 1 in the six-phase motor, and rectified by the three-phase conversion module 2, and three-phase conversion Module 1 and the inductor step down to charge the battery.
  • the three-phase conversion module 1 can adopt a two-level three-phase full bridge topology.
  • the structure of the three-phase conversion module 1 can be seen in FIG. 5.
  • the DC port 27 of the three-phase conversion module 1 is grounded, the DC port 8 is connected to the positive port 12 of the bus capacitor and the port 6 of the switching module, and the AC port 10 is connected to the port 7 of the switching module 1 and the port 11 of the switching module 2.
  • the DC port 27 of the three-phase conversion module 1 may also be referred to as the negative port of the three-phase conversion module 1.
  • the three-phase conversion module 1 can work in a driving mode or a charging mode.
  • the control port 25 is the input port of the control signal of the three-phase conversion module 1. In different working modes, the connection relationship between the three-phase switching module 1 and the battery and the bus capacitor is different.
  • the DC port 8 of the three-phase conversion module 1 is connected to the positive electrode of the battery, and the AC port 10 is connected to the motor subsystem 1 of the six-phase motor.
  • the three-phase conversion module 1 is used to implement the inverter function and drive the motor subsystem 1 in the six-phase motor to operate.
  • the motor control device includes a buck-type DC-DC conversion circuit, and the buck-type DC-DC conversion circuit includes a three-phase conversion module 1 and an inductor.
  • the three-phase conversion module 1 is used to implement DC-DC conversion, and the reduced DC voltage charges the battery.
  • the three-phase conversion module 2 can adopt a two-level three-phase full bridge topology.
  • the structure of the three-phase conversion module 2 can be seen in Figure 5.
  • the DC port 24 of the three-phase conversion module 2 is grounded, the DC port 16 is connected to the positive pole of the bus capacitor, and the AC port 17 is connected to the motor subsystem 2 in the six-phase motor.
  • the control port 29 is an input port of the control signal of the three-phase conversion module 2.
  • the motor subsystem 2 of the six-phase motor is driven to operate through its inverter function; in the charging mode, a three-phase full bridge rectifier circuit is formed.
  • Port 16 is the positive pole of the bridge arm, port 24 is the negative pole of the bridge arm, port 29 is the control input, and port 17 is the three-phase AC terminal.
  • the filter module can form an LC filter circuit with the motor subsystem 1 of the six-phase motor to realize the filter function.
  • the filter module may include a capacitor, which is also called a filter capacitor.
  • the three-phase input port 21 is one end of the capacitor and is connected to the circuit.
  • the other end of the capacitor can be grounded or "virtual ground”.
  • the "virtual ground” may be an "AC ground” formed by the capacitance between the three-phase input ports 21. This point is not connected to a DC voltage, but there is no AC signal at this point. No AC signal, that is, there is no change in AC voltage.
  • the control port 28 is the input end of the control signal of the filter module, which can control whether the filter module is connected to the circuit.
  • a six-phase motor can also be called a six-phase permanent magnet synchronous motor, which is equivalent to a dual three-phase permanent magnet motor in drive mode, and a transformer in charging mode.
  • the motor subsystem 2 induces the AC signal in the motor subsystem 1.
  • the motor subsystem 1 is connected to the circuit via port 15 and the motor subsystem 2 is connected to the circuit via port 18.
  • the motor control device may also include a soft-start control module.
  • the soft start control module is used to control the soft start of the charging mode.
  • the motor control device starts to enter the charging mode, and the three-phase AC port 20 and the three-phase AC port 19 are connected via a resistor in the soft starter module. After the voltage on the bus capacitor is stabilized, the resistance is no longer connected to the circuit, and the port 20 and the port 19 are connected by wires.
  • the control port 36 is the input port of the control signal of the soft starter module.
  • the control signal can be used to control whether the port 20 and the port 19 are connected through a resistor, that is, to control whether the resistor is connected to the circuit.
  • the controller module can be used to generate control signals, which can be used as the input of the aforementioned control port in the motor control device.
  • control module Through the control module, the switching of the working modes of the motor control device can be realized, and the output control of the three-phase conversion module 1 and the three-phase conversion module 2 in different working modes can be realized.
  • Figure 5 is a schematic structural diagram of a three-phase conversion module.
  • Port 8 is connected to the positive poles a, b, and c of the three-phase bridge arms.
  • the three-phase AC port 10 is connected to the three-phase bridge arm AC ports i, j, and k.
  • the port 27 is connected to the negative poles d, e, and f of the three-phase bridge arm.
  • Port 25 is a port for control input.
  • the control signal input from port 29 can control the controllable device in each bridge arm of the three-phase conversion module, so as to realize functions such as rectification, inversion, and DC voltage conversion.
  • Fig. 6 is a schematic structural diagram of a motor control device provided by an embodiment of the present application.
  • the motor control device includes an inductor, a bus capacitor, a three-phase conversion module 1, a three-phase conversion module 2, a switch module 1, a switch module 2, a soft start module, and a filter module.
  • the switching module 1 includes a three-phase switch K1 and a single-phase switch K2.
  • the three-phase AC terminal of the three-phase conversion module 1 is connected to the positive pole of the power supply via the three-phase switch K1 and the inductor L1.
  • the three-phase switch K1 controls the three-phase AC terminal of the three-phase conversion module 1 to be connected to the positive pole of the power supply via the inductor L1 in the charging mode, and disconnected from the positive pole of the power supply in the driving mode.
  • One end of the three-phase switch K1 can be connected to the three-phase AC terminal of the three-phase conversion module 1. That is, in the driving mode, the inductor is not connected to the circuit.
  • the three-phase switch K1 may include three switches, and the three switches of the three-phase switch K1 are respectively connected to the AC terminals of the three single-phase drive modules in the three-phase conversion module.
  • the inductor can be a three-phase inductor, that is, it includes three inductors. In the charging mode, one end of each inductor of the three-phase inductor is connected to one port of the three-phase AC terminal of the three-phase conversion module 1 respectively.
  • the inductor can also be a single-phase inductor.
  • One end of the three-phase switch K1 is connected to the three-phase AC terminal of the three-phase conversion module 1, and the other end is connected to a unidirectional inductor.
  • the positive pole of the three-phase conversion module 1 is connected to the positive pole of the power supply via the single-phase switch K2.
  • the single-phase switch K2 controls the positive pole of the three-phase conversion module 1 to connect to the positive pole of the power supply in the driving mode, and disconnect the connection in the charging mode.
  • the switching module 2 includes a three-phase switch K4 and a three-phase switch K5.
  • the three-phase AC terminals of the motor subsystem 1 and the three-phase conversion module 1 are connected via a three-phase switch K4. In the drive mode, close K4, and the power supply supplies power to the motor subsystem 1 through the three-phase conversion module 1. Disconnect K4 in charging mode.
  • the three-phase switch K5 connects the driving side circuit and the charging side circuit. In drive mode, K5 is disconnected, that is, disconnect the charging side circuit from the battery. In charging mode, K5 is closed, and the external power grid connected to the charging socket charges the battery.
  • the positive pole of the battery is connected to the positive poles of the three bridge arms of the three-phase conversion module 1, the positive poles of the three bridge arms of the three-phase conversion module 2 and the positive pole of the bus capacitor via K2.
  • the positive pole of the three bridge arms of the three-phase conversion module is the positive pole of the three-phase conversion module.
  • the positive electrode of the battery is connected to the three-phase AC terminal of the three-phase conversion module 1 via the inductors L1 and K1.
  • the negative pole of the battery is connected to the negative poles of the three bridge arms of the three-phase conversion module 1, the negative pole of the bus capacitor and the negative poles of the three-phase bridge arm of the three-phase conversion module 2.
  • the three-phase AC terminal of the three-phase conversion module 1 is connected to the motor subsystem 1 in the six-phase motor via the three-phase switch K4.
  • the three-phase AC end of the three-phase conversion module 2 is connected to the motor subsystem 2 in the six-phase motor.
  • Motor subsystem 1 or motor subsystem 2 is connected to the soft starter module via the three-phase switch K5.
  • the soft start module includes three-phase resistance R, three-phase switch K7, and three-phase switch K8. In the soft starter module, after the three-phase resistor R is connected in series with the three-phase switch K7, it is connected in parallel with the three-phase switch K8.
  • the filter module includes a three-phase capacitor C2.
  • the three-phase capacitor C2 may include three capacitors with equal capacitance. One end of each capacitor is connected to a common node, and the other end is connected to the end of the three-phase switch K5 away from the motor subsystem 1.
  • the common node can be connected to a DC voltage to form an AC ground.
  • the common node may not be connected to the DC voltage, forming a "virtual ground".
  • the virtual ground refers to the AC ground formed by the change of the signal without connecting the DC potential through this node.
  • the controller module can be used to generate control signals. Through the controller module, the switching of the working modes of the motor control device can be realized, and the output control of the three-phase conversion module 1 and the three-phase conversion module 2 under different working modes can be realized.
  • the working mode of the motor control device may include a driving mode, a charging mode, and a discharging mode.
  • Fig. 7 is a schematic structural diagram of a motor control device in a driving mode according to an embodiment of the present application.
  • switches K2 and K4 are closed, K1 and K5 are open, and the battery supplies power to the six-phase motor through the three-phase conversion module 1 and the three-phase conversion module 2.
  • the three-phase conversion module 1 and the three-phase conversion module 2 convert the DC voltage provided by the power supply group into AC power through inverter.
  • the three-phase AC terminal of the three-phase conversion module 1 outputs AC voltage to drive the three-phase coil in the six-phase motor.
  • the three-phase AC terminal of the three-phase conversion module 2 outputs AC voltage to drive the three-phase coil in the six-phase motor.
  • Fig. 8 is a schematic flowchart of the operation of a motor control device provided by an embodiment of the present application.
  • step S801 operating data is collected.
  • the operation mode is not switched.
  • step S802 receive instruction information.
  • the instruction information is used to instruct the vehicle to run or charge.
  • the instruction information indicates that the vehicle is charging, and the operation data is that the vehicle is running, that is, the motor control device is in a driving state, that is, the motor is driving, and step S802 is not performed.
  • step S802 the operation mode of the motor control device is switched.
  • the operating mode of the motor control device can be switched according to the collected operating data and the received instruction information.
  • the working mode of the motor control device can be switched to driving mode, charging mode or discharging mode.
  • Fig. 9 is a schematic structural diagram of a motor control device in a charging mode according to an embodiment of the present application.
  • switches K2 and K4 are open, and K1 and K5 are closed.
  • the six-phase motor and filter module can be used to filter the external power signal input via the charging socket.
  • the capacitor in the filter module is used as the capacitor of the LC filter circuit.
  • the motor subsystem 2 is connected to the charging socket, and the motor winding of the motor subsystem 2 serves as the inductance of the LC filter circuit.
  • the motor subsystem 1 is connected to the charging socket, and the motor windings of the motor subsystem 1 and the motor subsystem 2 form a transformer, which serves as the inductance of the LC filter circuit.
  • the motor subsystem 1 is connected to an external power grid, which is an external power source.
  • the motor subsystem 2 According to electromagnetic induction, the motor subsystem 2 generates an induced voltage.
  • the induced voltage can be equal to the voltage of the motor subsystem 1.
  • the winding of the six-phase motor forms a transformer, which can realize electrical isolation, prevent the circuit failure on the battery side or the charging socket side from causing damage to the circuit on the other side, and form the protection of the circuit.
  • the voltage induced by the motor subsystem 2 undergoes full-wave rectification by the three-phase conversion module 2 to charge the bus capacitor.
  • the three-phase conversion module 1 and the inductor can form a buck-type DC-DC converter, that is, the three-phase conversion module 1 and the inductor can work together to achieve DC step-down, and the step-down voltage can charge the battery.
  • the motor subsystem 1 or the motor subsystem 2 can be connected to the charging socket via a soft starter module.
  • the soft-start module may include a three-phase resistor R, a three-phase switch K7, and a three-phase switch K8. After the resistor R is connected in series with the switch K7, it is connected in parallel with the switch K8. During soft-start, close K7 and disconnect K8 for pre-charging.
  • the bus voltage meets the starting conditions, such as when the voltage of the bus capacitor reaches the threshold, K7 is opened and K8 is closed.
  • the three-phase conversion module for DC-DC conversion has two working states: conduction and freewheeling. 10 and 11, the conduction and freewheeling states of the buck-type DC-DC converter circuit are described.
  • FIG. 10 is a schematic diagram of a conduction state of a three-phase conversion module performing voltage conversion in a charging mode of a motor control device according to an embodiment of the present application.
  • the switching tubes V1, V3, and V5 are turned on, and the switching tubes V2, V4, and V6 are turned off.
  • the current flows from the positive pole of the bus capacitor to the three-phase inductor through V1, V3, and V5, and flows out of the three-phase inductor and then enters the positive pole of the battery.
  • the voltage of the bus capacitor is applied to the battery through the inductor.
  • FIG. 11 is a schematic diagram of a freewheeling state of a three-phase conversion module performing voltage conversion in a charging mode of a motor control device provided by an embodiment of the application.
  • the switching tubes V1, V3, and V5 are off, the current direction remains unchanged, and the three-phase inductors carry on freewheeling through the anti-parallel diodes of V2, V4, and V6 respectively.
  • the electrical energy stored in the three-phase inductor charges the battery.
  • the switch tubes V1, V3, and V5 can be called upper tubes. Adjusting the duty cycle of the switching tubes V1, V3, V5, that is, adjusting the ratio of the time between the on-state and the freewheeling state, can change the ratio of the voltage before and after the DC-DC conversion step-down.
  • the motor control device may also work in the discharge mode.
  • K1, K4, K5, K8 are closed, K2, K7 are disconnected, and the three-phase conversion module 1 and the inductor form a boost DC-DC conversion circuit to step down the DC power provided by the battery.
  • the three-phase conversion module 2 The direct current is converted into alternating current, through the electromagnetic induction between the motor sub-system 1 and the motor sub-system 2, alternating current is provided to the load connected to the charging socket through the circuit on the charging side.
  • the three-phase conversion module 1 is connected to the motor subsystem 1 of the six-phase motor. Filtering can be performed by the winding of the motor subsystem 2 and the capacitor of the filter module.
  • Fig. 12 is a schematic flowchart of the operation of a motor control device provided by an embodiment of the present application.
  • step S1201 soft start. Disconnect the bus capacitor from the battery, for example, K1 is disconnected, or the three-phase conversion module 1 is not conducting.
  • the resistance in the soft start module is connected in series with the charging circuit.
  • the three-phase conversion module 2 rectifies the input voltage and charges the bus capacitor. When the bus capacitor voltage reaches the first preset value, the resistor in the soft starter module is no longer connected to the circuit, and the two ends of the resistor can be connected through a wire, or the connection between the resistor and other components of the charging circuit can be disconnected.
  • step S1201 it can be avoided that when the charging mode is turned on, the voltage across the bus capacitor is too large, causing the current to increase sharply and causing circuit damage.
  • step S1202 the bus capacitor is charged. Disconnect the bus capacitor from the battery.
  • the three-phase conversion module 2 rectifies the input voltage and charges the bus capacitor.
  • step S1203 when the bus voltage reaches the second preset value, the three-phase drive module 1 runs, adjusts the upper tube driving duty ratio to perform BUCK-type DC-DC conversion, and lowers the voltage of the bus capacitor. The output of the three-phase drive module 1 charges the battery.
  • step S1204 it is determined whether the charging is completed. If the charging is completed, it will enter the shutdown process, if not, the charging control will continue. During the shutdown process, the three-phase drive modules 1 and 2 are sealed, that is, the three-phase drive modules 1 and 2 stop running and disconnect from the external power supply.
  • Fig. 13 is a schematic structural diagram of a motor control device provided by an embodiment of the present application.
  • the motor control device includes: an inductor, a bus capacitor, a three-phase conversion module 1, a three-phase conversion module 2, a switching module 1, a switching module 2, a soft start module, and a filter module.
  • the motor control device is used to drive the six-phase motor, and the motor control device is also used to charge the battery.
  • the electric device may include a motor control device, a six-phase motor, and a battery.
  • the connection relationship between the inductor and the three-phase conversion module 1 in the charging mode is changed, so that the inductor and the three-phase conversion module 1 form a boost type DC-DC conversion circuit, which can boost the charging voltage in the charging mode.
  • the battery can be used to provide energy input for the motor control device.
  • Port 1 is the positive electrode of the battery
  • port 22 is the negative electrode of the battery.
  • the positive terminal 1 of the battery is connected to the port 4 of the switching module 1 and the DC port 8 of the three-phase conversion module.
  • the negative electrode of the battery is connected to the negative port 27 of the three-phase conversion module 1, the negative port 24 of the three-phase conversion module 2, and the negative port 23 of the bus bar.
  • Bus capacitors can be used for energy storage.
  • the bus capacitor can also be used for filtering.
  • Port 12 is the positive pole of the bus capacitor, and port 23 is the negative pole of the bus capacitor.
  • the port 23 is grounded, that is, the port 23 is connected to the negative electrode of the battery.
  • Inductance can be used for energy storage.
  • Port 2 of the inductor is connected to port 7 of the switching module 1, and port 3 of the inductor is connected to port 6 of the switching module 1 and port 16 of the three-phase conversion module 2.
  • the inductor In drive mode, the inductor is not connected to the circuit.
  • port 3 In the charging mode, port 3 is the input end of the current flowing through the inductor, and port 2 is the output end of the current flowing through the inductor.
  • the switching module 1 and the switching module 2 can be used to switch the working mode.
  • the control port 38 is an input port of the control signal of the switching module 1.
  • the control signal input from the control port 38 is used to control the connection relationship between the port 5 and the port 4 and the connection relationship between the port 6 and the port 7.
  • driving mode port 5 and port 7 are disconnected, port 4 and port 6 are turned on, the positive pole of the battery is connected to the positive pole of the bus capacitor, and the battery supplies power to the bus.
  • charging mode ports 4 and 6 are disconnected, ports 5 and 7 are turned on, the inductor and the three-phase conversion module 1 form a boost type DC-DC conversion circuit to charge the battery.
  • the three-phase conversion module 1 can adopt a two-level three-phase full bridge topology.
  • the structure of the three-phase conversion module 1 can be seen in FIG. 5.
  • the DC port 27 of the three-phase conversion module 1 is grounded, and the DC port 8 is connected to the positive electrode 1 of the battery and the port 2 of the inductor, and the port 4 of the switching module.
  • the AC port 10 of the three-phase conversion module is connected to the port 5 of the switching module 1 and the port 11 of the switching module 2.
  • Fig. 14 is a schematic structural diagram of a motor control device provided by an embodiment of the present application.
  • the motor control device includes an inductor, a bus capacitor, a three-phase conversion module 1, a three-phase conversion module 2, a switch module 1, a switch module 2, a soft start module, and a filter module.
  • the switching module 1 includes a three-phase switch K1 and a single-phase switch K2.
  • the three-phase AC terminal of the three-phase conversion module 1 is connected to the bus capacitor via the three-phase switch K1 and the inductor.
  • the three-phase switch K1 controls the three-phase AC terminal of the three-phase conversion module 1 to be connected to the positive pole of the bus capacitor via inductance in the charging mode, and disconnected from the positive pole of the bus capacitor in the driving mode.
  • the inductor can be a single-phase inductor or a three-phase inductor. That is, in the driving mode, the inductor is not connected to the circuit.
  • the positive pole of the three-phase conversion module 1 and the positive pole of the three-phase conversion module 1 are connected via a single-phase switch K2.
  • the single-phase switch K2 controls the positive pole of the three-phase conversion module 1 to connect to the positive pole of the three-phase conversion module 2 in the driving mode, and disconnect the connection in the charging mode.
  • the three-phase conversion module 1 converts the DC power provided by the battery into AC power to drive the motor subsystem 1
  • the three-phase conversion module 2 converts the DC power provided by the battery to AC power and drives the motor subsystem 2.
  • the three-phase conversion module 1 and the inductor form a boost DC-DC converter, which boosts the voltage across the bus capacitor to charge the battery.
  • the switching module 2 includes a three-phase switch K4 and a three-phase switch K5.
  • the three-phase AC terminals of the motor subsystem 1 and the three-phase conversion module 1 are connected via a three-phase switch K4. In the drive mode, close K4, and the power supply supplies power to the motor subsystem 1 through the three-phase conversion module 1. Disconnect K4 in charging mode.
  • the three-phase switch K5 connects the driving side circuit and the charging side circuit.
  • K5 In drive mode, K5 is disconnected, that is, disconnect the charging side circuit from the battery.
  • K5 In the charging mode, K5 is closed, and the external power grid connected to the charging socket flows through the motor subsystem 1, and is induced to the motor subsystem 2 through electromagnetic induction.
  • the motor subsystem 2 is connected to the three-phase AC end of the three-phase conversion module 2, and the AC power induced by the motor subsystem 2 is rectified by the three-phase conversion module 2 and converted into DC power to charge the bus capacitor. And charge the battery.
  • the positive pole of the battery is connected to the positive poles of the three bridge arms of the three-phase conversion module 1.
  • the positive pole of the battery is connected to the positive pole of the three bridge arms of the three-phase conversion module 2 and the positive pole of the bus capacitor via K2.
  • the positive pole of the three bridge arms of the three-phase conversion module is the positive pole of the three-phase conversion module, and is a DC terminal of the three-phase conversion module.
  • the negative pole of the battery is connected to the negative pole of the three-phase bridge arm of the three-phase conversion module 1, the negative pole of the bus capacitor and the negative pole of the three-phase bridge arm of the three-phase conversion module 2.
  • the positive pole of the bus capacitor is connected to the three-phase AC terminal of the three-phase conversion module 1 via the inductors L1 and K1.
  • the three-phase AC terminal of the three-phase conversion module 1 is connected to the motor subsystem 1 in the six-phase motor via the three-phase switch K4.
  • the three-phase AC end of the three-phase conversion module 2 is connected to the motor subsystem 2 in the six-phase motor.
  • Motor subsystem 1 or motor subsystem 2 is connected to the soft starter module via the three-phase switch K5.
  • the soft start module includes three-phase resistance R, three-phase switch K7, and three-phase switch K8. In the soft starter module, after the three-phase resistor R is connected in series with the three-phase switch K7, it is connected in parallel with the three-phase switch K8.
  • the filter module includes a three-phase capacitor C2.
  • the three-phase capacitor C2 may include three capacitors with equal capacitance.
  • the three-phase capacitor C2 can adopt the delta connection as shown in the figure.
  • the three-phase capacitor C2 can also adopt a star solution, that is, one end of each capacitor is connected to a common node, and the other end is connected to the end of the three-phase switch K5 away from the motor subsystem 1.
  • the triangle connection can also form a "virtual ground".
  • the virtual ground refers to the AC ground formed by the change of the signal without connecting the DC potential through the node.
  • the controller module can be used to generate control signals. Through the controller module, the switching of the working modes of the motor control device can be realized, and the output control of the three-phase conversion module 1 and the three-phase conversion module 2 under different working modes can be realized.
  • the working mode of the motor control device may include a driving mode, a charging mode, and a discharging mode.
  • switches K2 and K4 are closed, K1 and K5 are open, and the battery supplies power to the six-phase motor through the three-phase conversion module 1 and the three-phase conversion module 2.
  • the three-phase conversion module 1 and the three-phase conversion module 2 convert the DC voltage provided by the power supply group into AC power through inverter.
  • the three-phase AC terminal of the three-phase conversion module 1 outputs an AC voltage to drive the six-phase motor to rotate.
  • the three-phase AC terminal of the three-phase conversion module 2 outputs an AC voltage to drive the six-phase motor to rotate.
  • switches K2 and K4 are open, and K1 and K5 are closed.
  • switches K1, K2, K7 are open, K4, K5, and K8 are closed, and the charging socket is connected to the load.
  • the direct current of the battery is converted to alternating current through the three-phase conversion module 1.
  • the winding of the motor subsystem 1 can be used as an inductance through the motor Subsystem 1 and the filter module perform filtering, and the battery supplies power to the load.
  • switches K2, K4, and K7 are open, K1, K5, and K8 are closed, and the three-phase conversion module 1 and the inductor form a buck-type DC-DC conversion circuit to step down the DC power provided by the battery and convert the three-phase Module 2 converts direct current into alternating current, and provides alternating current to the load connected to the charging socket through the electromagnetic induction between the motor subsystem 1 and the motor subsystem 2 through the circuit on the charging side.
  • the six-phase motor and filter module can be used to filter the external power signal input through the charging socket.
  • the capacitor in the filter module is used as the capacitor of the LC filter circuit.
  • the motor subsystem 2 is connected to the charging socket, and the motor winding of the motor subsystem 2 serves as the inductance of the LC filter circuit.
  • the motor subsystem 1 is connected to the charging socket, and the motor windings of the motor subsystem 1 and the motor subsystem 2 form a transformer, which serves as the inductance of the LC filter circuit.
  • the motor subsystem 1 is connected to an external power grid, which is an external power source.
  • the motor subsystem 2 According to electromagnetic induction, the motor subsystem 2 generates an induced voltage.
  • the induced voltage can be equal to the voltage of the motor subsystem 1.
  • the winding of the six-phase motor forms a transformer, which can realize electrical isolation, prevent the circuit failure on the battery side or the charging socket side from causing damage to the circuit on the other side, and form the protection of the circuit.
  • the voltage induced by the motor subsystem 2 undergoes full-wave rectification by the three-phase conversion module 2 to charge the bus capacitor.
  • the three-phase conversion module 1 and the inductor can form a boost DC-DC converter, that is, the three-phase conversion module 1 and the inductor can work together to achieve a DC boost, and the boosted voltage can charge the battery.
  • the motor subsystem 1 or the motor subsystem 2 can be connected to the charging socket via a soft starter module.
  • the soft-start module may include a three-phase resistor R, a three-phase switch K7, and a three-phase switch K8. After the resistor R is connected in series with the switch K7, it is connected in parallel with the switch K8. During soft-start, close K7 and disconnect K8 for pre-charging.
  • the bus voltage meets the starting conditions, such as when the voltage of the bus capacitor reaches the threshold, K7 is opened and K8 is closed.
  • the disclosed system, device, and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of this application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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Abstract

本申请提供了一种电机控制装置，包括：第一驱动模块和第二驱动模块，用于根据电池输出的直流电分别驱动电机的多相线圈中的不同线圈；所述第一驱动模块还用于在所述电池充电的过程中，将交流电压转换成直流电压；所述第二驱动模块还用于在所述电池充电的过程中，将所述直流电压转换成所述电池的充电电压。在驱动电机的过程中，电机控制装置中的驱动模块用于驱动电机，在充电过程中通过利用驱动模块中的部分单元进行DC-DC转换，无需额外设置单独的DC-DC转换模块，即可实现电源充电，节省空间和成本。

Description

一种电机控制装置、控制方法和电动设备
本申请要求于2019年6月6日提交中国专利局、申请号为201910493125.5、申请名称为“一种电机控制装置、控制方法和电动设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及驱动控制领域，具体涉及一种电机控制控制装置、控制方法和电动设备。
背景技术
电动技术的推广收到续航里程和充电技术的制约。在一些情况下，需要将交流(alternating current，AC)电转换为直流(direct current，DC)电，并对直流电的电压进行调整，从而对电池进行充电。为了对直流电的电压进行调整，需要增加直流电压转换模块，增加了电机控制装置的占用空间，制造成本较高。
发明内容
本申请提供一种电机控制装置，能够解决为了对直流电的电压进行调整造成的空间和成本的增加。
第一方面，提供了一种电机控制装置，包括：第一驱动模块和第二驱动模块，用于根据电池输出的直流电分别驱动电机的多相线圈中的不同相线圈；所述第一驱动模块还用于在所述电池充电的过程中，将交流电压转换成直流电压；所述第二驱动模块还用于在所述电池充电的过程中，将所述直流电压转换成所述电池的充电电压。
在驱动电机的过程中，电机控制装置中的驱动模块用于驱动电机，在充电过程中，通过利用部分驱动模块进行直流电压值的调整，无需额外设置单独的直流DC-DC转换模块，即可实现电源充电，节省空间和成本。
结合第一方面，在某些实现方式中，所述第一驱动模块和所述第二驱动模块驱动电机的线圈的相数相同。
充电过程中，进行AC-DC转换的模块与进行DC-DC转换的模块，在电机驱动过程中驱动电机的线圈的相数相同，能够减小驱动控制的难度，进一步减小电机控制装置的占用空间。
结合第一方面，在某些实现方式中，所述第一驱动模块驱动电机的线圈相数为三相。
三相交流电是常见的一种电能输送形式，工业中大部分的交流用电设备都采用三相交流电。第一驱动模块用于驱动电机的三相线圈，也就是说，电池充电的情况下，电机控制装置连接三相交流电，能够适配日常用电系统。
结合第一方面，在某些实现方式中，电机控制装置还包括控制模块，所述控制模块用于控制所述第一驱动模块和所述第二驱动模块进行电压的转换。
结合第一方面，在某些实现方式中，电机控制装置还包括滤波电容，用于对电源的信号进行滤波，以获得所述交流电压。
第二方面，提供了一种电动设备，包括：电机；电池；以及上文所述的电机控制装置。
结合第二方面，在某些实现方式中，所述电池充电的过程中，所述电机中被所述第一驱动模块驱动的多相线圈连接至电源。
电机中的线圈可以产生电感。所述电池充电的过程中，电机中的线圈连接至电源，则电机中的线圈可以作为滤波电感，对电源的信号进行滤波。在实现率功能的同时，可以减小体积。
结合第二方面，在某些实现方式中，所述电机包括被所述第一驱动模块驱动的第一子系统以及被所述第二驱动模块驱动的第二子系统，所述电池充电的过程中，所述第二子系统连接电源，所述交流电压是所述第一子系统感应于所述第二子系统产生的。
由于第二子系统和第一子系统之间的电磁感应，可以实现电池与电源之间的电气隔离。通过上述方式，可以防止电池侧或充电插座侧的电路故障造成另一侧电路的损坏，形成对电路的保护。
第三方面，提供了一种电机控制装置的控制方法，所述电机控制装置包括第一驱动模块、第二驱动模块，所述控制方法包括：当电机工作时，控制所述第一驱动模块和所述第二驱动模块根据电池输出的直流电分别驱动电机的多相线圈中的不同相线圈；当电池充电时，控制所述第一驱动模块将交流电压转换成直流电压，并控制所述第二驱动模块用于将所述直流电压转换成所述电池的充电电压。
结合第三方面，在某些实现方式中，所述第一驱动模块和所述第二驱动模块驱动电机的线圈的相数相同。
结合第三方面，在某些实现方式中，所述第一驱动模块驱动电机的线圈相数为三相。
结合第三方面，在某些实现方式中，所述电机包括被所述第一驱动模块驱动的第一子系统以及被所述第二驱动模块驱动的第二子系统；所述控制方法还包括：所述电池充电的过程中，控制所述第二子系统连接电源，所述交流电压是所述第一子系统感应于所述第二子系统产生的。
第四方面，提供了一种处理器，所述处理器用于控制电机控制装置，所述电机控制装置包括第一驱动模块、第二驱动模块；当电机工作时，所述处理器用于控制所述第一驱动模块和所述第二驱动模块根据电池输出的直流电分别驱动电机的多相线圈中的不同线圈；当电池充电时，所述处理器用于控制所述第一驱动模块将交流电压转换成直流电压，并控制所述第二驱动模块用于将所述直流电压转换成所述电池的充电电压。
结合第四方面，在某些实现方式中，所述第一驱动模块和所述第二驱动模块驱动电机的线圈的相数相同。
结合第四方面，在某些实现方式中，所述第一驱动模块驱动电机的线圈相数为三相。
结合第四方面，在某些实现方式中，所述电机包括被所述第一驱动模块驱动的第一子系统以及被所述第二驱动模块驱动的第二子系统，当电池充电时，所述处理器还用于控制所述第二子系统连接电源，所述交流电压是所述第一子系统感应于所述第二子系统产生的。
附图说明
图1是一种电机控制系统的示意性结构图。
图2是一种电机控制系统的示意性结构图。
图3是本申请一个实施例提供的一种电机控制装置的示意性结构图。
图4是本申请另一个实施例提供的一种电机控制装置的示意性结构图。
图5是一种三相转换模块的示意性结构图。
图6是本申请又一个实施例提供的一种电机控制装置的示意性结构图。
图7是本申请一个实施例提供的一种电机控制装置在驱动模式下的示意性结构图。
图8是本申请一个实施例提供的一种电机控制装置运行的示意性流程图。
图9是本申请一个实施例提供的一种电机控制装置在充电模式下的示意性结构图。
图10是本申请一个实施例提供的一种电机控制装置在充电模式下三相转换模块进行电压转换的导通状态示意图。
图11是本申请一个实施例提供的一种电机控制装置在充电模式下三相转换模块进行电压转换的续流状态示意图。
图12是本申请另一个实施例提供的一种电机控制装置运行的示意性流程图。
图13是本申请又一个实施例提供的一种电机控制装置的示意性结构图。
图14是本申请又一个实施例提供的一种电机控制装置的示意性结构图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
电动汽车具有高效、节能、低噪声、零排放等优点，是未来新能源汽车的发展趋势，然而电动汽车的推广仍受续航里程和充电技术的限制。
目前，能源危机和环境污染日趋严重，电动汽车作为新型的代步工具，可以实现“零排放”，并且电动汽车具有结构简单、能量利用率高、噪声小的特点，在今后的汽车发展中将会占主导地位。由于使用电机驱动更加便于实现信息与线控的集合，并且充电技术的创新又关系到纯电动汽车充放电性能的好坏和能源的再生利用，因此，电机驱动技术和充电技术是目前研究的热点。
图1是一种电机控制系统的示意性结构图。通过控制切换开关动作，电机控制器用于控制电动汽车充电系统工作在驱动模式或交流充放电模式。
母线电容连接至电池组的两端。三相转换模块的两个直流端连接至电池组的两端。三相转换模块用于将电源提供的直流(direct current，DC)电转换为交流(alternating current，AC)电，从而驱动三相电机M。三相转换模块包括三个单相转换模块。每个单相转换模块的两个直流端连接至电池组的两端，每个单相转换模块包括一个桥臂，该桥臂包括两个可控器件和两个二极管。通过一个可控器件和与其反向并联的二极管连接电源的正极，另一个可控器件和与其反向并联的二极管连接电源的负极，两个可控器件之间的输出端为交流端。可控器件例如可以是绝缘栅双极型晶体管(insulated gate bipolar transistor，IGBT)。每个桥臂包括带反向并联二极管的IGBT。母线电容可以包括串联的电容C12、C13，电容C12、C13的电容值相等。三相转换模块中的每一相用于驱动电机的一相线圈。也就是说，在驱动模式下，三相转换模块中每个单相转换模块的交流端分别连接至电机的一相线圈。
三相转换模块可以采用图1所示的T字形三相转换模块，T字形三相转换模块包括三个T字形单相转换模块。母线电容包括串联连接的电容C12、C13带反向并联二极管的IGBT包括一个可控器件和一个反向并联的二极管。每个T字形单相转换模块的交流端通过两个串联连接的带反向并联二极管的IGBT连接至电容C12、C13之间的节点。在这两个带反向并联二极管的IGBT中，两个二极管的正极相连接，或者两个二极管的负极相连接。三相转换模块也可以采用其他结构。
母线电容还可以包括电容C11，串联的电容C12、C13构成的电容与电容C11并联连接。
将开关K10、K4断开，开关K3闭合，电机控制系统工作在驱动模式。在驱动模式下，三相转换模块的三相交流端连接至三相电机M。电机驱动时的电源为电池组，电池组提供直流电压。三相转换模块实现逆变的功能，将电池组提供的直流电转换为交流电，驱动三相电机M运行。
多相电机的相数，可以是线圈的相数，即绕阻的数量，或称为绕组的相数。例如，三相对应有三相线圈，绕阻数为三；六相电机对应有六相线圈，绕阻数为六。电路中其他多相元件的中的多个单相元件中的每个单相元件对应于多相电机中的一相。
将开关K10、K4闭合，开关K3断开，开关K7、K8中的任一个闭合，电机控制系统工作在充电模式。外加电源通过充电插座接入电路，对电池进行充电。外加电感L2与电容C2构成滤波电路，用于消除谐波，从而实现平波的作用。三相转换模块经电感-电容(inductor–capacitance，LC)滤波模块连接至电网，对电池组充电。在充电模式下，断开三相电机M与电机控制系统中其他元件的连接，即三相电机M不再接入电路。充电开始时，开关K7闭合，开关K8断开，充电过程软启动。充电开始阶段突然施加的外加电源导致电流突然增加，造成电路损坏。因此，充电开始时，电阻R接入电路，充电电流较小避免电路损坏。当母线电容上的电压达到一定阈值，开关K8闭合，开关K7断开，进入正常的充电过程。
在上述电机控制系统中，充电模式下，需要外加滤波电感，系统体积大，成本较高。根据驱动电路的需求，电池组的电源电压基本固定。电机控制系统不能对电压大小进行调节，为了对电池组进行充电，充电插座连接的电源电压只能采用某一固定值，无法调节。因此，需要特定幅值的交流电压对电池组充电，对外接交流电源的适应性较差。
图2是一种电机控制系统的示意性结构图。在图1所示的电机控制系统的基础上，三相转换模块与电池组之间增加直流-直流(direct current-direct current，DC-DC)转换模块，实现了两级变换。可以通过改变直流-直流转换电路中电感两端的连接关系实现升压或降压。
图2所示的DC-DC转换模块为降压(buck)型DC-DC转换模块。通过该模块，充电模式下可以降低加载在电池组两端的电压。DC-DC转换模块可以包括电感L1、两组串联的通断控制元件。每组通断控制元件包括一个可控器件和一个反向并联的二极管，两组通断控制元件中的一个二极管的正极连接另一个二极管的负极。电感L1的一端连接电池组的正极，另一端连接至两组串联的通断控制元件之间的节点。DC-DC转换模块也可以设计为升压(boost)型DC-DC转换模块。
驱动模式下，开关K2闭合，开关K11、开关K12断开。DC-DC转换模块不工作。 电池组向母线充电，直流电通过三相转换模块逆变后，驱动三相电机M转动。
充电模式下，开关K2断开，开关K11和/或开关K12闭合。或通过控制开关K11、开关K12的通断，可以控制电阻R1是否连接至电路，实现充电模式的软启动和正常充电。充电模式下电机M不接入电路。外接交流电源电压经过LC滤波电路滤波，三相转换模块整流，对母线充电。母线电压经过DC-DC转换模块调压后对电池组进行充电。
通过增加DC-DC转换模块，提高了电机控制系统的通用性和灵活性，提高了对外接交流电源的适应性。但是为了扩展充电电压适配范围，调整经过整流后的直流电压的电压值，还需要增加DC-DC转换模块，系统总体成本高，体积大。
另外，上述电机控制电路中，需要在靠近外接交流电源一侧通过外加电感进行滤波，因此，存在系统成本较高，体积大等问题，限制了大功率交流充电技术发展。
针对上述问题，本申请提供了一种电机控制装置，通过驱动模式下电路中的结构，实现充电模式下经过整流后的直流电压的电压值的调整，降低了电路的成本，减小了电路的体积。
图3是本申请实施例提供的一种电机控制装置的示意性结构图。
该电机控制装置可以是电路，一个或多个芯片可以包括该电机控制装置。
电机控制装置包括：第一驱动模块和第二驱动模块，用于根据电池输出的直流电分别驱动电机的多相线圈中的不同相线圈；
所述第一驱动模块还用于在所述电池充电的过程中，将交流电压转换成直流电压；
所述第二驱动模块还用于在所述电池充电的过程中，将所述直流电压转换成所述电池的充电电压。
驱动模块也可以称为转换模块，用于将电池输出的直流电转换为交流电，从而驱动电机。
为电机提供的功率不变的情况下，用于电机驱动的总电流一定，增加或减少电机的相数，即增加或减少驱动模块的总相数，驱动模块占用的总面积几乎不变。也就是说，为电机提供的功率不变的情况下，增加电机的相数，使得驱动模块的总相数增加，但驱动模块总的面积几乎不变，驱动模块中用于驱动电机的一相线圈的单元面积减小。同理，为电机提供的功率不变的情况下，减少电机的相数，驱动模块的总相数减少，驱动模块总的面积几乎不变，驱动模块中用于驱动电机的一相线圈的单元面积增加。
用于驱动电机的一相线圈的单元例如可以是一个桥臂，包括两个可控器件和两个二极管。该桥臂的交流端通过一个可控器件和与其反向并联的二极管连接电源的正极，二极管的正极连接交流端，二极管的负极连接电源正极。该桥臂的交流端通过另一个可控器件和与其反向并联的二极管连接电源的负极，二极管的负极连接交流端，二极管的正极连接电源负极。
在驱动电机的过程中，电机控制装置中的驱动模块用于驱动电机，在充电过程中，通过利用部分驱动模块进行直流电压值的调整，无需额外设置单独的直流DC-DC转换模块，即可实现电源充电，节省空间和成本。
进一步地，第一驱动模块和第二驱动模块驱动电机的线圈的相数相同。
在电池充电的过程中，第一驱动模块用于将交流电压转换成直流电压，第二驱动模块用于将直流电压转换成所述电池的充电电压，即第二驱动模块用于DC-DC转换。为了使 第二驱动模块能够将第一驱动模块输出的电能进行转换，对第二驱动模块能够支持的电流有最低要求，也就是说，第二驱动模块的面积不能过小。
如果第二驱动模块驱动电机的线圈的相数小于第一驱动模块驱动电机的线圈的相数，可能导致第二驱动模块中对应于驱动电机的一相线圈的单元的面积大于第一驱动模块中对应于驱动电机的一相线圈的单元的面积，对芯片面积减小的效果有限。
同时，第二驱动模块中对应于驱动电机的一相线圈的单元的面积较大，为了在驱动模式下产生与第一驱动模块中对应于驱动电机的一相线圈的单元相等电流，对第二驱动模块的控制电压要求较高。
如果第二驱动模块驱动电机的线圈的相数小于第一驱动模块驱动电机的线圈的相数，且第二驱动模块中对应于驱动电机的一相线圈的单元的面积与第一驱动模块相同，则在电池充电的过程中，可能需要额外的DC-DC模块，与第二驱动模块共同作用，实现DC-DC转换，对第一驱动模块产生的直流电压进行升压或降压处理，实现电池充电。
第一驱动模块和第二驱动模块驱动电机的线圈的相数相同，可以进一步减小电机控制装置的面积，降低在驱动模式下控制第二驱动模块进行AC-DC转换的难度。
电池充电的情况下，外加的电源可能有不同的相数。第一驱动模块用于在所述电池充电的过程中，将交流电压转换成直流电压，这就要求第一驱动模块的相数与外加的电源的相数相同。三相交流电是常见的一种电能输送形式，工业中大部分的交流用电设备都采用三相交流电。为了适配日常用电系统，电池充电的情况下，电机控制装置连接三相交流电，则第一驱动模块的相数为三相，即第一驱动模块可以用于驱动电机的三相线圈。
此时，第二驱动模块的相数可以为三相，电机可以为六相电机，其中，第一驱动模块和第二驱动模块分别用于驱动六相电机的三相线圈。
电机控制装置还可以包括控制模块，控制模块用于控制所述第一驱动模块和所述第二驱动模块进行电压的转换。也就是说，当电机工作时，控制模块用于控制第一驱动模块和第二驱动模块根据电池输出的直流电分别驱动电机的多相线圈中的不同线圈；当电池充电时，控制模块用于控制所述第一驱动模块将交流电压转换成直流电压，并用于控制所述第二驱动模块用于将所述直流电压转换成所述电池的充电电压。
电机控制装置还可以包括第一电感。在电池充电的过程中，第一电感与第二驱动模块将直流电压转换成电池的充电电压。
第一电感与第二驱动模块可以对直流电压进行升压或降压处理，以获得成电池的充电电压。
在一些实施例中，第一电感与第二驱动模块仅可以对直流电压进行升压处理，或者仅可以进行降压处理。
在另一些实施例中，控制模块可以控制第一电感在电路中的连接关系，从而实现升压处理、降压处理这两种电压处理方式的转换，从而提高电机控制装置的适用范围。
电机控制装置还可以包括滤波电容。滤波电容用于对外接的交流电进行滤波，从而能够消除交流电中的噪声。
电机控制装置还可以包括滤波电容。滤波电容与外界交流电的相数相同。电池充电的过程中，滤波电容可以用于对外加交流电进行滤波。
在一些实施例中，电机控制装置还可以包括滤波电感。滤波电感与外界交流电的相数 相同。滤波电感可以与滤波电容构成LC滤波电路，对外加交流电进行滤波。
在另一些实施例中，在电池充电过程中，电机中的线圈可以作为滤波电感。作为滤波电感的线圈的相数与外界交流电的相数相同。在充电过程中，控制装置可以控制电机中的线圈作为滤波电感。
在电池充电过程中，通过利用电机的线圈作为电感，在实现滤波的同时，可以减小电机控制装置的体积，降低制造成本。
本申请实施例提供一种电动设备，包括电机，电池，以及上述电机控制装置。
电机可以包括被所述第一驱动模块驱动的第一子系统以及被所述第二驱动模块驱动的第二子系统。电池充电的过程中，第二子系统连接电源，第一子系统感应于所述第二子系统产生所述交流电压。
例如，该电机可以是六相电机，第一子系统包括六相电机中的三相线圈，第二子系统包括六相电机中神域的三相线圈。电池充电的过程中，第二子系统连接电源，也就是连接外界交流电压。由于电磁感应，第一子系统可以感应交流电。
由于第二子系统和第一子系统之间的电磁感应，可以实现电池与电源之间的电气隔离。通过上述方式，可以防止电池侧或充电插座侧的电路故障造成另一侧电路的损坏，形成对电路的保护。
图4是本申请实施例提供的一种电机控制装置的示意性结构图。
电机控制装置包括：电感，母线电容、三相转换模块1、三相转换模块2、切换模块1、切换模块2、软起模块、滤波模块。电动装置可以包括电池、六相电机，以及该电机控制装置。
电池用于存储电能并提供主流输出。在本申请实施例中，电池可以指电池组。电池可以用于为电机控制装置提供能量输入。端口1为电池的正极，端口22为电池的负极。电池的正极1连接电感的端口2和切换模块的端口4。电池负极连接三相转换模块1的负极端口27、三相转换模块2的负极端口24、母线负极端口23。
母线电容可以用于储能。母线电容还可以用于滤波。端口12为母线电容的正极，端口23为母线电容的负极。端口23接地，即端口23与电池的负极连接。
电感可以用于储能。电感的端口2连接电池的正极端口1，电感的端口3连接切换模块1的端口5。驱动模式下，电感不接入电路。充电模式下，端口3为流经电感的电流的输入端，端口2为流经电感的电流的输出端。
切换模块1和切换模块2可以用于实现工作模式的切换。
控制端口38为切换模块1的控制信号的输入端口。控制端口38输入的控制信号用于控制端口5与端口4的连接关系，以及端口6与端口7的连接关系。驱动模式下，端口5和端口7断开，端口4和端口6导通，电池正极与母线电容正极连接，电池为母线供电。充电模式下，端口4和6断开，端口5和7导通，电池正极经过电感与母线电容正极连接，与三相转换模块1组成buck型DC-DC转换电路。
控制端口26为切换模块2的控制信号的输入端口。控制端口38输入的控制信号用于控制端口14与端口13、端口11的连接关系。端口14与六相电机中的电机子系统1的端口15连接。端口13连接至充电侧的滤波模块的端口21、软起模块的端口19。应当理解，充电侧的电路包括滤波模电容、软起模块等。在电池充电时，充电侧电路将电机控制装置 中进行电机驱动的元器件与充电插座连接。在电机驱动时，充电侧电路断开与电机控制装置中进行电机驱动的元器件的连接。端口13经软起模块连接至充电插座。驱动模式下，端口14与端口13断开，端口11与端口14导通，三相转换模块1交流端的输出驱动六相电机中的电机子系统1运转，电机子系统1包括三相线圈，电机子系统2包括另三相线圈。充电模式下，端口14与端口13导通，端口14与端口11断开，外加电源经六相电机中电机子系统1电磁感应至电机子系统2，经三相转换模块2整流，三相转换模块1和电感降压，为电池充电。
三相转换模块1可以采用两电平三相全桥拓扑结构。三相转换模块1的结构可以参见图5。三相转换模块1的直流端口27接地，直流端口8与母线电容的正极端口12、切换模块的端口6连接，交流端口10练连接切换模块1的端口7和切换模块2的端口11。三相转换模块1的直流端口27也可以称为三相转换模块1的负极端口。三相转换模块1可以工作在驱动模式，也可以工作在充电模式。控制端口25为三相转换模块1的控制信号的输入端口。不同工作模式下，三相切换模块1与电池、母线电容的连接关系不同。
驱动模式下，三相转换模块1的直流端口8与电池的正极连接，交流端口10与六相电机中的电机子系统1连接。三相转换模块1用于实现逆变功能，驱动六相电机中的电机子系统1运转。
充电模式下，断开三相转换模块1的直流端口8与电池的正极的连接，交流端口10与经电感与电池的正极连接。充电模式下，电机控制装置中包括buck型DC-DC转换电路，buck型DC-DC转换电路包括三相转换模块1和电感。三相转换模块1用于实现DC-DC转换，经降压后的直流电压为电池充电。
三相转换模块2可以采用两电平三相全桥拓扑。三相转换模块2的结构可以参见图5。三相转换模块2的直流端口24接地，直流端口16与母线电容的正极连接，交流端口17与六相电机中的电机子系统2连接。控制端口29为三相转换模块2的控制信号的输入端口。驱动模式下通过其逆变功能，驱动六相电机的电机子系统2运转；充电模式下构成三相全桥整流电路。端口16为桥臂正极，端口24为桥臂负极，端口29为控制输入，端口17为三相交流端。
充电模式下，滤波模块可以与六相电机的电机子系统1共同构成LC滤波电路，实现滤波功能。滤波模块可以包括电容，该电容又称为滤波电容。三相输入端口21为电容的一端，连接至电路。电容另一端可以接地，也可以接“虚地”。“虚地”可以是通过三相输入端口21之间的电容形成的“交流地”，该点未与直流电压连接，但该点无交流信号。无交流信号，即没有交流电压的变化。控制端口28为滤波模块的控制信号的输入端，可以控制滤波模块是否接入电路。
六相电机也可以称为六相永磁同步电机，驱动模式下相当于双三相永磁电机，充电模式下相当于一个变压器。通过电磁感应现象，电机子系统2感应电机子系统1中的交流信号。电机子系统1经端口15连接至电路，电机子系统2经端口18连接至电路。
电机控制装置还可以包括软起控制模块。软起控制模块用于控制充电模式的软启动。电机控制装置开始进入充电模式，三相交流端口20与三相交流端口19经软起模块中的电阻连接。母线电容上的电压稳定后，电阻不再接入电路，端口20与端口19通过导线连接。控制端口36为软起模块的控制信号的输入端口。控制信号可以用于控制端口20与端口 19之间的是否通过电阻连接，即控制电阻是否接入电路。
控制器模块可以用于产生控制信号，电机控制装置中作为上述控制端口的输入。通过控制模块，可以实现电机控制装置工作模式的切换，以及在不同工作模式下对三相转换模块1、三相转换模块2的输出控制。
各模块的具体实现及连接关系可以参见图6。
图5是一种三相转换模块的示意性结构图。
端口8与三相桥臂正极a、b、c连接。三相交流端口10，与三相桥臂交流端口i、j、k连接。端口27与三相桥臂负极d、e、f连接。端口25为控制输入的端口。端口29输入的控制信号可以控制三相转换模块的中每个桥臂中的可控器件，从而实现整流、逆变、直流电压转换等功能。
图6是本申请实施例提供的一种电机控制装置的示意性结构图。
电机控制装置包括电感，母线电容、三相转换模块1、三相转换模块2、切换模块1、切换模块2、软起模块、滤波模块。
切换模块1包括三相开关K1和单相开关K2。
三相转换模块1的三相交流端经三相开关K1、电感L1连接至电源正极。三相开关K1控制三相转换模块1的三相交流端在充电模式下经电感L1连接至电源的正极，驱动模式下断开与电源正极的连接。三相开关K1的一端可以连接三相转换模块1的三相交流端。即，驱动模式下，电感不接入电路。三相开关K1可以包括三个开关，三相开关K1中的三个开关分别连接至三相转换模块中三个单相驱动模块的交流端。
该电感可以是三相电感，即包括三个电感。充电模式下三相电感的中每个电感的一端分别连接三相转换模块1的三相交流端中的一个端口。
该电感也可以是单相电感。三相开关K1的一端连接三相转换模块1的三相交流端，另一端连接单向电感。
三相转换模块1的正极经单相开关K2连接至电源正极。单相开关K2控制三相转换模块1的正极在驱动模式下连接电源正极，充电模式下断开该连接。
切换模块2包括三相开关K4、三相开关K5。
电机子系统1与三相转换模块1的三相交流端经三相开关K4连接。驱动模式下，闭合K4，电源经三相转换模块1为电机子系统1供电。充电模式下断开K4。
三相开关K5连接驱动侧电路和充电侧电路。驱动模式下，K5断开，即断开充电侧电路与电池的连接。充电模式下，K5闭合，充电插座连接的外接电网为电池充电。
电池正极经K2连接三相转换模块1的三个桥臂的正极、三相转换模块2的三个桥臂的正极和母线电容的正极。三相转换模块的三个桥臂的正极即三相转换模块的正极。电池正极经电感L1和K1连接三相转换模块1的三相交流端。
电池的负极连接三相转换模块1的三个桥臂的负极、母线电容的负极及三相转换模块2的三相桥臂的负极。
三相转换模块1的三相交流端经三相开关K4连接六相电机中的电机子系统1。三相转换模块2的三相交流端连接六相电机中的电机子系统2。
电机子系统1或电机子系统2经三相开关K5连接软起模块。软起模块包括三相电阻R、三相开关K7、三相开关K8。软起模块中，三相电阻R与三相开关K7串联连接后， 与三相开关K8并联。
滤波模块包括三相电容C2。三相电容C2可以包括三个容值相等的电容。每个电容的一端连接至一个公共节点，另一端连接至三相开关K5远离电机子系统1的一端。该公共节点可以连接直流电压，构成交流地。该公共节点也可以不连接至直流电压，构成“虚地”。虚地是指通过该节点不连接直流电位，通过信号的变化形成的交流地。
控制器模块可以用于产生控制信号。通过控制器模块，可以实现电机控制装置工作模式的切换，以及在不同工作模式下对三相转换模块1、三相转换模块2的输出控制。电机控制装置的工作模式可以包括驱动模式、充电模式、放电模式。
下面结合不同的工作模式，对本申请实施例提供的电机控制装置进行说明。
图7是本申请实施例提供的一种电机控制装置在驱动模式下的示意性结构图。
驱动模式下，开关K2、K4闭合，K1、K5断开，电池通过三相转换模块1和三相转换模块2为六相电机供电。三相转换模块1和三相转换模块2通过逆变，将电源组提供的直流电压转换为交流电。三相转换模块1的三相交流端输出交流电压，驱动六相电机中的三相线圈。三相转换模块2的三相交流端输出交流电压，驱动六相电机中的三相线圈。
图8是本申请实施例提供的一种电机控制装置运行的示意性流程图。
在步骤S801，采集运行数据。
如果电机控制装置正处于驱动模式，不进行运行模式的切换。
在步骤S802之前，接收指令信息。指令信息用于指示车辆运行或充电。
例如，指令信息指示车辆充电，运行数据为车辆正在运行，即电机控制装置处于驱动状态，即正在驱动电机，不进行步骤S802。
在步骤S802，电机控制装置工作模式切换。
可以根据采集的运行数据和接收的指令信息，进行电机控制装置工作模式切换。
电机控制装置工作模式可以切换至驱动模式、充电模式或放电模式。
图9本申请实施例提供的一种电机控制装置在充电模式下的示意性结构图。
充电模式下，开关K2、K4断开，K1、K5闭合。
六相电机与滤波模块可以用于对经充电插座输入的外接电源的信号进行滤波。滤波模块中的电容作为LC滤波电路的电容。电机子系统2连接至充电插座，电机子系统2的电机绕阻作为LC滤波电路的电感。电机子系统1连接至充电插座，电机子系统1与电机子系统2的电机绕阻形成变压器，作为LC滤波电路的电感。也就是说，电机子系统1连接外接电网，外接电网即外接电源，根据电磁感应，电机子系统2产生感应电压。感应电压可以与电机子系统1的电压相等。六相电机的绕阻形成变压器，能够实现电气隔离，防止电池侧或充电插座侧的电路故障造成另一侧电路的损坏，形成对电路的保护。
电机子系统2感应的电压经过三相转换模块2全波整流，为母线电容充电。三相转换模块1与电感可以构成buck型DC-DC转换器，即三相转换模块1与电感共同作用可以实现直流降压，降压后的电压对电池进行充电。
电机子系统1或电机子系统2可以经软起模块连接至充电插座。软起模块可以包括三相电阻R、三相开关K7、三相开关K8。电阻R与开关K7串联后，与开关K8并联连接。软起时，闭合K7、断开K8，进行预充电。母线电压满足启动条件，如母线电容的电压达到阈值时，断开K7并闭合K8。
充电模式下，进行DC-DC转换的三相转换模块具有导通和续流两种工作状态。结合图10和图11，对buck型DC-DC转换电路的导通和续流状态进行说明。
图10是本申请实施例提供的一种电机控制装置在充电模式下三相转换模块进行电压转换的导通状态示意图。
在导通状态下，开关管V1、V3、V5导通，开关管V2、V4、V6关断。电流从母线电容正极经过V1、V3、V5流入三相电感，从三相电感流出后输入电池的正极，母线电容的电压通过电感施加到电池上。
图11是本申请实施例提供的一种电机控制装置在充电模式下三相转换模块进行电压转换的续流状态示意图。
续流状态下，开关管V1、V3、V5断开，电流方向保持不变，三相电感分别通过V2、V4、V6的反并联二极管进行续流。三相电感中存储的电能为电池充电。
开关管V1、V3、V5可以称为上管。调整开关管V1、V3、V5的占空比，即调整导通状态与续流状态的时间的比值，可以改变DC-DC转换降压前后电压的比值。
本申请实施例提供的电机控制装置还可以工作在放电模式。在放电模式下，K1、K4、K5、K8闭合，K2、K7断开，三相转换模块1与电感形成boost型DC-DC转换电路，对电池提供的直流电进行降压，三相转换模块2将直流电转换为交流电，通过电机子系统1和电机子系统2之间的电磁感应，通过充电侧的电路为充电插座连接的负载提供交流电。三相转换模块1连接六相电机的电机子系统1。经电机子系统2的绕阻与滤波模块的电容，可以进行滤波。
图12是本申请实施例提供的一种电机控制装置运行的示意性流程图。
参照图6，对充电模式下电机控制装置运行进行说明。
在步骤S1201：软启动。断开母线电容与电池的连接，例如，K1断开，或三相转换模块1不导通。软起模块中电阻串联接入充电电路。三相转换模块2对输入电压进行整流，为母线电容充电。待母线电容电压达到第一预设值，软起模块中的电阻不再接入电路，可以通过导线连接电阻两端，也可以断开电阻与充电电路其他元件的连接。
通过步骤S1201，可以避免充电模式开启时，母线电容两端的电压过大，导致电流急剧增加，造成电路损坏。
在步骤S1202：母线电容充电。断开母线电容与电池的连接。三相转换模块2对输入电压进行整流，为母线电容充电。
在步骤S1203：待母线电压达到第二预设值，三相驱动模块1运行，调节上管驱动占空比进行BUCK型DC-DC转换，对母线电容的电压进行降压。三相驱动模块1的输出为电池充电。
在步骤S1204：判断充电是否完成。如充电完成则进入停机流程，如未完成则继续进行充电控制。停机流程，三相驱动模块1、2封波，即三相驱动模块1、2停止运行，并断开与外接电源的连接。
图13是本申请实施例提供的一种电机控制装置的示意性结构图。
电机控制装置包括：电感，母线电容、三相转换模块1、三相转换模块2、切换模块1、切换模块2、软起模块、滤波模块。电机控制装置用于驱动六相电机，电机控制装置还用于为电池充电。电动装置可以包括电机控制装置、六相电机和电池。
参照图4，改变充电模式下电感与三相转换模块1的连接关系，使电感与三相转换模块1构成boost型DC-DC转换电路，可以实现对充电模式下对充电电压的升压。
电池可以用于为电机控制装置提供能量输入。端口1为电池的正极，端口22为电池的负极。电池的正极端口1连接切换模块1的端口4、三相转换模块的直流端口8。电池负极连接三相转换模块1的负极端口27、三相转换模块2的负极端口24、母线负极端口23。
母线电容可以用于储能。母线电容还可以用于滤波。端口12为母线电容的正极，端口23为母线电容的负极。端口23接地，即端口23与电池的负极连接。
电感可以用于储能。电感的端口2连接切换模块1的端口7，电感的端口3连接切换模块1的端口6、三相转换模块2的端口16。驱动模式下，电感不接入电路。充电模式下，端口3为流经电感的电流的输入端，端口2为流经电感的电流的输出端。
切换模块1和切换模块2可以用于实现工作模式的切换。
控制端口38为切换模块1的控制信号的输入端口。控制端口38输入的控制信号用于控制端口5与端口4的连接关系，以及端口6与端口7的连接关系。驱动模式下，端口5和端口7断开，端口4和端口6导通，电池的正极与母线电容正极连接，电池为母线供电。充电模式下，端口4和6断开，端口5和7导通，电感与三相转换模块1组成boost型DC-DC转换电路为电池充电。
三相转换模块1可以采用两电平三相全桥拓扑结构。三相转换模块1的结构可以参见图5。三相转换模块1的直流端口27接地，直流端口8与电池的正极1连接电感的端口2、切换模块的端口4连接。三相转换模块的交流端口10连接切换模块1的端口5、切换模块2的端口11。
其他模块的连接可以参见图4和图4的说明。
图14是本申请实施例提供的一种电机控制装置的示意性结构图。
电机控制装置包括电感，母线电容、三相转换模块1、三相转换模块2、切换模块1、切换模块2、软起模块、滤波模块。
切换模块1包括三相开关K1和单相开关K2。
三相开关K1。三相转换模块1的三相交流端经三相开关K1、电感连接母线电容。三相开关K1控制三相转换模块1的三相交流端在充电模式下经电感连接至母线电容的正极，驱动模式下断开与母线电容的正极的连接。该电感可以是单相电感，也可以是三相电感。即，驱动模式下，电感不接入电路。
三相转换模块1的正极与三相转换模块1的正极经单相开关K2连接。单相开关K2控制三相转换模块1的正极在驱动模式下连接三相转换模块2的正极，充电模式下断开该连接。
驱动模式下，三相转换模块1将电池提供的直流电转换为交流电，驱动电机子系统1，三相转换模块2将电池提供的直流电转换为交流电，驱动电机子系统2。充电模式下，三相转换模块1与电感构成boost型DC-DC转换器，对母线电容两端的电压进行升压处理，为电池充电。
切换模块2包括三相开关K4、三相开关K5。
电机子系统1与三相转换模块1的三相交流端经三相开关K4连接。驱动模式下，闭 合K4，电源经三相转换模块1为电机子系统1供电。充电模式下断开K4。
三相开关K5连接驱动侧电路和充电侧电路。驱动模式下，K5断开，即断开充电侧电路与电池的连接。充电模式下，K5闭合，充电插座连接的外接电网流经电机子系统1，并经电磁感应，感应至电机子系统2。电机子系统2与三相转换模块2的三相交流端连接，电机子系统2感应的交流电经三相转换模块2的整流，转换为直流电，为母线电容充电。与为电池充电。
电池正极连接至三相转换模块1的三个桥臂的正极。电池正极经K2连接三相转换模块2的三个桥臂的正极和母线电容的正极。三相转换模块的三个桥臂的正极即三相转换模块的正极，是三相转换模块的一个直流端。
电池的负极连接三相转换模块1的三相桥臂的负极、母线电容的负极及三相转换模块2的三相桥臂的负极。
母线电容的正极经电感L1和K1连接三相转换模块1的三相交流端。
三相转换模块1的三相交流端经三相开关K4连接六相电机中的电机子系统1。三相转换模块2的三相交流端连接六相电机中的电机子系统2。
电机子系统1或电机子系统2经三相开关K5连接软起模块。软起模块包括三相电阻R、三相开关K7、三相开关K8。软起模块中，三相电阻R与三相开关K7串联连接后，与三相开关K8并联。
滤波模块包括三相电容C2。三相电容C2可以包括三个容值相等的电容。三相电容C2可以采用如图所示的三角形接法。三相电容C2也可以采用星形解法，即每个电容的一端连接至一个公共节点，另一端连接至三相开关K5远离电机子系统1的一端。三角形接法也能够形成“虚地”。虚地是指通过节点不连接直流电位，通过信号的变化形成的交流地。
控制器模块可以用于产生控制信号。通过控制器模块，可以实现电机控制装置工作模式的切换，以及在不同工作模式下对三相转换模块1、三相转换模块2的输出控制。电机控制装置的工作模式可以包括驱动模式、充电模式、放电模式。
驱动模式下，开关K2、K4闭合，K1、K5断开，电池通过三相转换模块1和三相转换模块2为六相电机供电。三相转换模块1和三相转换模块2通过逆变，将电源组提供的直流电压转换为交流电。三相转换模块1的三相交流端输出交流电压，驱动六相电机转动。三相转换模块2的三相交流端输出交流电压，驱动六相电机转动。
充电模式下，开关K2、K4断开，K1、K5闭合。
放电模式下，开关K1、K2、K7断开，K4、K5、K8闭合，充电插座连接负载，电池的直流电经过三相转换模块1转换为交流电，电机子系统1的绕组可以作为电感，经电机子系统1和滤波模块进行滤波，电池为负载供电。
或者，放电模式下，开关K2、K4、K7断开，K1、K5、K8闭合，三相转换模块1与电感形成buck型DC-DC转换电路，对电池提供的直流电进行降压，三相转换模块2将直流电转换为交流电，通过电机子系统1和电机子系统2之间的电磁感应，通过充电侧的电路为充电插座连接的负载提供交流电。
六相电机两个三相子系统中的绕组之间存在电磁耦合，两个子系统分别作为变压器的输入和输出，实现了电气隔离。
充电模式下，六相电机与滤波模块可以用于对经充电插座输入的外接电源的信号进行滤波。滤波模块中的电容作为LC滤波电路的电容。电机子系统2连接至充电插座，电机子系统2的电机绕阻作为LC滤波电路的电感。电机子系统1连接至充电插座，电机子系统1与电机子系统2的电机绕阻形成变压器，作为LC滤波电路的电感。也就是说，电机子系统1连接外接电网，外接电网即外接电源，根据电磁感应，电机子系统2产生感应电压。感应电压可以与电机子系统1的电压相等。六相电机的绕阻形成变压器，能够实现电气隔离，防止电池侧或充电插座侧的电路故障造成另一侧电路的损坏，形成对电路的保护。
电机子系统2感应的电压经过三相转换模块2全波整流，为母线电容充电。三相转换模块1与电感可以构成boost型DC-DC转换器，即三相转换模块1与电感共同作用可以实现直流升压，升压后的电压对电池进行充电。
电机子系统1或电机子系统2可以经软起模块连接至充电插座。软起模块可以包括三相电阻R、三相开关K7、三相开关K8。电阻R与开关K7串联后，与开关K8并联连接。软起时，闭合K7、断开K8，进行预充电。母线电压满足启动条件，如母线电容的电压达到阈值时，断开K7并闭合K8。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代 码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (14)

  1. 一种电机控制装置，其特征在于，包括：
    第一驱动模块和第二驱动模块，用于根据电池输出的直流电分别驱动电机的多相线圈中的不同相线圈；
    所述第一驱动模块还用于在所述电池充电的过程中，将交流电压转换成直流电压；
    所述第二驱动模块还用于在所述电池充电的过程中，将所述直流电压转换成所述电池的充电电压。
  2. 根据权利要求1所述的电机控制装置，其特征在于，所述第一驱动模块和所述第二驱动模块驱动电机的线圈的相数相同。
  3. 根据权利要求1或2所述的电机控制装置，其特征在于，所述第一驱动模块驱动电机的线圈相数为三相。
  4. 根据权利要求1-3中任一项所述的电机控制装置，其特征在于，还包括控制模块，所述控制模块用于控制所述第一驱动模块和所述第二驱动模块进行电压的转换。
  5. 一种电动设备，包括：电机；电池；以及如权利要求1-4中任一项所述的电机控制装置。
  6. 根据权利要求5所述的电动设备，其特征在于，所述电机包括被所述第一驱动模块驱动的第一子系统以及被所述第二驱动模块驱动的第二子系统，
    所述电池充电的过程中，所述第二子系统连接电源，所述交流电压是所述第一子系统感应于所述第二子系统产生的。
  7. 一种电机控制装置的控制方法，其特征在于，所述电机控制装置包括第一驱动模块、第二驱动模块，所述控制方法包括：
    当电机工作时，控制所述第一驱动模块和所述第二驱动模块根据电池输出的直流电分别驱动电机的多相线圈中的不同相线圈；
    当电池充电时，控制所述第一驱动模块将交流电压转换成直流电压，并控制所述第二驱动模块用于将所述直流电压转换成所述电池的充电电压。
  8. 根据权利要求7所述的控制方法，其特征在于，所述第一驱动模块和所述第二驱动模块驱动电机的线圈的相数相同。
  9. 根据权利要求7或8所述的控制方法，其特征在于，所述第一驱动模块驱动电机的线圈相数为三相。
  10. 根据权利要求7-9中任一项所述的控制方法，其特征在于，所述电机包括被所述第一驱动模块驱动的第一子系统以及被所述第二驱动模块驱动的第二子系统，
    所述控制方法还包括：所述电池充电的过程中，控制所述第二子系统连接电源，所述交流电压是所述第一子系统感应于所述第二子系统产生的。
  11. 一种处理器，其特征在于，所述处理器用于控制电机控制装置，所述电机控制装置包括第一驱动模块、第二驱动模块；
    当电机工作时，所述处理器用于控制所述第一驱动模块和所述第二驱动模块根据电池输出的直流电分别驱动电机的多相线圈中的不同线圈；
    当电池充电时，所述处理器用于控制所述第一驱动模块将交流电压转换成直流电压，并控制所述第二驱动模块用于将所述直流电压转换成所述电池的充电电压。
  12. 根据权利要求11所述的控制方法，其特征在于，所述第一驱动模块和所述第二驱动模块驱动电机的线圈的相数相同。
  13. 根据权利要求11或12所述的控制方法，其特征在于，所述第一驱动模块驱动电机的线圈相数为三相。
  14. 根据权利要求11-13中任一项所述的处理器，其特征在于，所述电机包括被所述第一驱动模块驱动的第一子系统以及被所述第二驱动模块驱动的第二子系统，
    当电池充电时，所述处理器还用于控制所述第二子系统连接电源，所述交流电压是所述第一子系统感应于所述第二子系统产生的。
PCT/CN2020/079686 2019-06-06 2020-03-17 一种电机控制装置、控制方法和电动设备 Ceased WO2020244276A1 (zh)

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