WO2023028752A1 - 一种电路及其控制方法 - Google Patents

一种电路及其控制方法 Download PDF

Info

Publication number
WO2023028752A1
WO2023028752A1 PCT/CN2021/115316 CN2021115316W WO2023028752A1 WO 2023028752 A1 WO2023028752 A1 WO 2023028752A1 CN 2021115316 W CN2021115316 W CN 2021115316W WO 2023028752 A1 WO2023028752 A1 WO 2023028752A1
Authority
WO
WIPO (PCT)
Prior art keywords
circuit unit
circuit
motor
unit
rotational speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/115316
Other languages
English (en)
French (fr)
Inventor
梁晨
阙发松
郑浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to PCT/CN2021/115316 priority Critical patent/WO2023028752A1/zh
Priority to CN202180016097.3A priority patent/CN116075996A/zh
Priority to EP21955333.6A priority patent/EP4383494A4/en
Publication of WO2023028752A1 publication Critical patent/WO2023028752A1/zh
Priority to US18/590,621 priority patent/US20240199112A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
    • H02H3/20—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to excess voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/0833—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements
    • H02H7/0838—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors for electric motors with control arrangements with H-bridge circuit
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0083—Converters characterised by their input or output configuration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of AC power input into DC power output; Conversion of DC power input into AC power output
    • H02M7/42—Conversion of DC power input into AC power output without possibility of reversal
    • H02M7/44—Conversion of DC power input into AC power output without possibility of reversal by static converters
    • H02M7/48—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • 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

Definitions

  • the present application relates to the field of automobiles, in particular to a circuit, a control method, a control device, a steering system and a vehicle.
  • the shoulder When the vehicle is turning, for example, when the vehicle is turning sharply and the wheel accidentally hits the shoulder of the road, the shoulder will have a reverse force on the tire, which will reverse the travel of the steering gear, and the steering gear will send the motor through the gear.
  • the rotor exerts a force that causes the motor to generate an electromotive force opposite to the applied voltage, which is called a back electromotive force.
  • the counter electromotive force generated by the motor will impact the driving circuit of the motor, causing the failure of the driving circuit and causing harm to people and vehicles.
  • phase break circuit is set between the winding of the motor and the drive circuit.
  • the phase break circuit is used to disconnect the winding of the motor from the drive circuit when the motor or the drive circuit fails, so as to prevent the motor from being stuck. Death happens.
  • the present application provides a circuit, a control method of the circuit, a control device, a steering system and a vehicle, which can effectively absorb the back electromotive force generated by the motor, and avoid the failure of the open-phase circuit caused by the impact of the back-electromotive force on the open-phase circuit. Improve vehicle safety performance.
  • a circuit in the first aspect of the embodiments of the present application, includes: a first circuit unit, the first end of the first circuit unit is used to connect to the output end of the first inverter, and the second end of the first circuit unit is used for For connecting with the motor, the first circuit unit is configured to be in the disconnected state under the first condition; and, the second circuit unit, the second circuit unit is used to absorb energy impact, wherein the first end of the second circuit unit is connected to the The first end of the first circuit unit is connected, and the second end of the second circuit unit is connected with the second end of the first circuit unit.
  • the counter electromotive force generated by the motor can be effectively absorbed, and the failure of the first circuit unit caused by the impact of the counter electromotive force on the first circuit unit (also called an open-phase circuit) can be avoided, thereby preventing the counter electromotive force from impacting the motor.
  • the first inverter prevents the motor from being stuck due to the failure of the first inverter and improves the safety of the vehicle.
  • the circuit may further include a first inverter, and the first inverter may specifically include a control circuit (also referred to as a control unit in this application), a drive circuit, and an inverter circuit, wherein the control circuit It can be used to obtain the control signal of the motor according to the instruction received to indicate the direction of rotation; the drive circuit is connected with the control circuit to obtain the switching timing signal according to the motor control signal, and the inverter circuit can convert the DC signal into The AC signal is used to drive the motor.
  • the inverter circuit can be a bridge circuit or other forms of inverter circuits. When it is a bridge inverter circuit, it can be a full-bridge inverter circuit or a half-bridge inverter. circuit.
  • control circuit, the driving circuit, the inverter circuit, the first circuit unit and the second circuit unit can be arranged on the same circuit board; the inverter circuit, the first circuit unit and the second circuit unit can also be arranged on On the same circuit board, the control circuit, the drive circuit and the inverter circuit are detachably connected; the drive circuit, the inverter circuit, the first circuit unit and the second circuit unit may also be arranged on the same circuit board.
  • the motor may be a Y-shaped motor, a delta-shaped motor, etc., which is not limited in this application.
  • the circuit further includes: a third circuit unit, the first terminal of the third circuit unit is used for connecting with the output terminal of the second inverter, and the second terminal of the third circuit unit is used for connecting with the output terminal of the second inverter.
  • the motor is connected, the third circuit unit is configured to be in the disconnected state under the second condition; and the fourth circuit unit is used to absorb energy impact, wherein the first end of the fourth circuit unit is connected to the first end of the third circuit unit The terminals are connected, and the second terminal of the fourth circuit unit is connected to the second terminal of the third circuit unit.
  • the protection of the first circuit unit and the third circuit unit can be realized in the motor control system of the redundant inverter, and the damage to the first circuit unit caused by the impact of the counter electromotive force on the first circuit unit or the third circuit unit can be avoided. Or failure of the third circuit unit, thereby preventing back electromotive force from impacting the redundant inverter of the motor.
  • the motor includes a first winding and a second winding; the second end of the first circuit unit is used for connecting with the motor, which specifically includes: the second end of the first circuit unit is used for connecting with the second end of the motor A winding connection; the second end of the third circuit unit is used for connecting with the motor, specifically comprising: the second end of the third circuit unit is used for connecting with the second winding of the motor.
  • it further includes: a fifth circuit unit, the first end of the fifth circuit unit is connected to the first end of the first circuit unit, the second end of the fifth circuit unit is connected to the third circuit unit The second terminals are connected, and the fifth circuit unit is configured to conduct under the third condition.
  • the third condition includes at least one of the following: failure of the second inverter, failure of the third circuit unit, and failure of the fourth circuit unit.
  • it further includes: a sixth circuit unit, the first end of the sixth circuit unit is connected to the first end of the third circuit unit, the second end of the sixth circuit unit is connected to the first end of the first circuit unit The second terminals are connected, and the sixth circuit unit is configured to conduct under the fourth condition.
  • the fourth condition includes at least one of the following: a failure of the first inverter, a failure of the first circuit unit, and a failure of the second circuit unit.
  • the control of the motor can be realized in the case of failure of the first inverter, failure of the first circuit unit, and failure of the second circuit unit, and failure of the motor can be avoided.
  • the second circuit unit includes: a transient voltage suppression diode; the first terminal of the second circuit unit is connected to the first terminal of the first circuit unit, and the second terminal of the second circuit unit is connected to the first terminal of the first circuit unit.
  • the second end connection of a circuit unit specifically includes: the first end of the transient voltage suppression diode is connected to the first end of the first circuit unit, the second end of the transient voltage suppression diode is connected to the second end of the first circuit unit connect.
  • the back electromotive force generated by the motor can be absorbed instantly, preventing the back electromotive force from impacting the first circuit unit, thereby avoiding the impact of the back electromotive force on the driving circuit, and clamping the voltage at both ends of the first circuit unit at a predetermined value
  • the transient voltage suppression diode can clamp the voltage across the first circuit unit at a predetermined value, it is allowed to use a MOS transistor with a lower rated voltage as the first circuit unit, avoiding the When the tube is turned on, the MOS tube is overheated due to the increase in the impedance of the MOS tube.
  • the second circuit unit further includes: a first resistor, the first end of the first resistor is connected to the transient voltage suppression diode, and the second end of the first resistor is connected to the second end of the first circuit unit. end connection.
  • the rated voltage of the transient voltage suppression diode can be effectively reduced, and the cost of the transient voltage suppression diode can be reduced.
  • the ability of the second circuit unit to absorb back electromotive force can also be improved.
  • the second circuit unit further includes: a first capacitor connected in parallel with the first resistor.
  • the absorption capacity of the second circuit unit to the counter electromotive force can be improved; moreover, the capacitance and resistance connected in parallel can also effectively reduce the selection specifications of the transient voltage suppression diode, so that the transient voltage with a lower rated voltage can be used voltage suppression diodes, reducing the cost of the product.
  • the first circuit unit includes: an NMOS transistor, a source of the NMOS transistor is connected to the inverter, and a drain of the NMOS transistor is used to connect to the motor.
  • the back electromotive force generated by the motor can be effectively absorbed, and the first circuit unit and/or the second circuit unit caused by the back electromotive force impacting the first circuit unit and/or the second circuit unit are avoided.
  • the failure of the circuit unit prevents the counter electromotive force from impacting the front-end drive circuit and improves the safety of the vehicle.
  • the second aspect of the embodiment of the present application provides a control method for a circuit
  • the circuit includes: a first circuit unit and a second circuit unit, wherein the first terminal of the first circuit unit is used to communicate with the first inverter The output end is connected, the second end of the first circuit unit is used to connect with the motor, the first circuit unit is configured to be in the disconnected state under the first condition; the second circuit unit is used to absorb energy impact, wherein the second circuit unit The first end of the unit is connected to the first end of the first circuit unit, and the second end of the second circuit unit is connected to the second end of the first circuit unit; the method includes: acquiring the speed of the motor; if the speed of the motor is less than the first The threshold value is used to determine whether the first condition is met; when the first condition is met, the first circuit unit is controlled to be in an off state.
  • the first condition includes: detection of an energy impact, and the energy impact includes at least one of the following: counter electromotive force impact and current impact.
  • acquiring the rotational speed of the motor specifically includes: acquiring motor angular velocity information and steering wheel torque information; obtaining the first rotational speed of the motor according to the angular velocity information of the motor, and obtaining the second rotational speed of the motor according to the steering wheel torque information; The rotational speed difference between the first rotational speed and the second rotational speed is smaller than the second threshold, and a third rotational speed is obtained according to the first rotational speed and the second rotational speed, and the third rotational speed is taken as the rotational speed of the motor.
  • the third rotational speed may be the first rotational speed, may also be the second rotational speed, or may be a weighted average of the first rotational speed and the second rotational speed.
  • the circuit further includes: a third circuit unit, a fourth circuit unit, and a fifth circuit unit; the first end of the third circuit unit is used to connect to the output end of the second inverter, and the first end of the third circuit unit is used to connect to the output end of the second inverter.
  • the second end of the three circuit units is used to connect with the motor, the third circuit unit is configured to be in a disconnected state under the second condition; and the fourth circuit unit is used to absorb energy impact, wherein the first circuit unit of the fourth circuit unit One end is connected to the first end of the third circuit unit, the second end of the fourth circuit unit is connected to the second end of the third circuit unit, and the first end of the fifth circuit unit is connected to the first end of the first circuit unit , the second end of the fifth circuit unit is connected to the second end of the third circuit unit, and the fifth circuit unit is configured to conduct under a third condition; the method also includes: obtaining the second inverter, the third circuit unit And the fault signal of the fourth circuit unit; if the fault signal indicates that at least one of the second inverter, the third circuit unit, and the fourth circuit unit is faulty, the third condition is met, and the fifth circuit unit is controlled to be turned on.
  • the conduction of the fifth circuit unit can be controlled to realize the control of the motor by the first inverter, Avoid motor failure.
  • the circuit further includes: a sixth circuit unit, the first end of the sixth circuit unit is connected to the first end of the third circuit unit, and the second end of the sixth circuit unit is connected to the first end of the first circuit unit connected to the second end of the sixth circuit unit, and the sixth circuit unit is configured to be turned on under the fourth condition; the method also includes: acquiring the fault signals of the first inverter, the first circuit unit and the second circuit unit; if the fault signal indicates the first circuit unit If at least one of the inverter, the first circuit unit and the second circuit unit fails, the fourth condition is met, and the sixth circuit unit is controlled to be turned on.
  • the conduction of the sixth circuit unit can be controlled to realize the control of the motor by the second inverter, Avoid motor failure.
  • the second condition includes: detection of an energy impact, and the energy impact includes at least one of the following: counter electromotive force impact and current impact.
  • the third aspect of the embodiment of the present application provides a circuit control device, the circuit includes: a first circuit unit and a second circuit unit, wherein the first terminal of the first circuit unit is used to communicate with the first inverter The output end is connected, the second end of the first circuit unit is used to connect with the motor, the first circuit unit is configured to be in the disconnected state under the first condition; the second circuit unit is used to absorb energy impact, wherein the second circuit unit The first end of the unit is connected to the first end of the first circuit unit, and the second end of the second circuit unit is connected to the second end of the first circuit unit; the control device includes: an acquisition unit for acquiring the speed of the motor; The unit is used for judging whether the first condition is met when the rotational speed of the motor is less than the first threshold; the control unit is also used for controlling the first circuit unit to be in the disconnected state when the first condition is met.
  • the first condition includes: detection of an energy impact, and the energy impact includes at least one of the following: counter electromotive force impact and current impact.
  • the acquisition unit is specifically configured to: acquire motor angular velocity information and steering wheel torque information; obtain the first rotational speed of the motor according to the angular velocity information of the motor, and obtain the second rotational speed of the motor according to the steering wheel torque information; if the first rotational speed The difference between the rotational speed and the second rotational speed is smaller than the second threshold, and the third rotational speed is obtained according to the first rotational speed and the second rotational speed, and the third rotational speed is taken as the rotational speed of the motor.
  • the circuit further includes: a third circuit unit, a fourth circuit unit, and a fifth circuit unit; the first end of the third circuit unit is used to connect to the output end of the second inverter, and the first end of the third circuit unit is used to connect to the output end of the second inverter.
  • the second end of the three circuit units is used to connect with the motor, the third circuit unit is configured to be in a disconnected state under the second condition; and the fourth circuit unit is used to absorb energy impact, wherein the first circuit unit of the fourth circuit unit One end is connected to the first end of the third circuit unit, the second end of the fourth circuit unit is connected to the second end of the third circuit unit, and the first end of the fifth circuit unit is connected to the first end of the first circuit unit , the second end of the fifth circuit unit is connected to the second end of the third circuit unit, and the fifth circuit unit is configured to conduct under the third condition; the obtaining unit is also used to obtain the second inverter, the third The fault signal of the circuit unit and the fourth circuit unit; the control unit is also used for, if the fault signal indicates that at least one of the second inverter, the third circuit unit, and the fourth circuit unit fails, the third condition is met, and the control unit The fifth circuit unit is turned on.
  • the circuit further includes: a sixth circuit unit, the first end of the sixth circuit unit is connected to the first end of the third circuit unit, and the second end of the sixth circuit unit is connected to the first end of the first circuit unit connected to the second end of the second circuit unit, the sixth circuit unit is configured to conduct under the fourth condition; the obtaining unit is also used to obtain the fault signals of the first inverter, the first circuit unit and the second circuit unit; the control unit is also used For, if the fault signal indicates that at least one of the first inverter, the first circuit unit and the second circuit unit is faulty, the fourth condition is satisfied, and the sixth circuit unit is controlled to be turned on.
  • the second condition includes: detection of an energy impact, and the energy impact includes at least one of the following: counter electromotive force impact and current impact.
  • the fourth aspect of the embodiments of the present application provides a computing device, including: a processor and a memory, the processor and the memory are coupled, the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor, the computing device Execute the control method provided in the second aspect of the embodiment of the present application and any possible implementation thereof.
  • the fifth aspect of the embodiment of the present application provides a computer-readable storage medium.
  • the computer-readable storage medium stores program code.
  • the program code is executed by the terminal or the processor in the terminal, the second embodiment of the present application can be realized.
  • the control method provided by the aspect and any possible implementation thereof.
  • a sixth aspect of the embodiments of the present application provides a computer program product.
  • the computer program product runs on a computer, it implements the control method provided in the second aspect of the embodiments of the present application and any possible implementation thereof.
  • the seventh aspect of the embodiment of the present application provides a steering system, including: the circuit provided in the first aspect of the present application and any possible implementation thereof, the third aspect of the embodiment of the present application and any possible implementation thereof Provides circuits for control gear and motors.
  • the eighth aspect of the embodiment of the present application provides a vehicle, including: the circuit provided in the first aspect of the present application and any possible implementation thereof, and the circuit provided in the third aspect of the embodiment of the present application and any possible implementation thereof The circuit of the control device and the motor.
  • the second circuit unit By setting the second circuit unit, it can effectively absorb the back electromotive force generated by the motor, prevent the failure of the first circuit unit caused by the impact of the back electromotive force on the first circuit unit, and then protect the normal operation of the drive circuit, prevent the motor from being stuck, and lift the vehicle safety performance.
  • the transient voltage suppression diode By setting the transient voltage suppression diode, the back electromotive force generated by the motor can be absorbed instantaneously, thereby avoiding the impact of the back electromotive force on the first circuit unit, thereby preventing the back electromotive force from impacting the drive circuit; at the same time, the transient voltage suppression diode can make the first circuit unit
  • the voltage at both ends is clamped at a predetermined value, which allows the use of a MOS tube with a lower rated voltage as the first circuit unit, avoiding the overheating of the MOS tube due to the increase in the impedance of the MOS tube when the MOS tube is turned on The problem;
  • the absorbing ability of the second circuit unit to the counter electromotive force can be improved, and the parallel connection of the capacitor and the resistor can also effectively reduce the selection of the transient voltage suppression diode.
  • Type specifications so that the transient voltage suppression diode with lower rated voltage can be used, which reduces the cost of the product.
  • FIG. 1 is a schematic diagram of an application scenario of a circuit provided by an embodiment of the present application
  • Fig. 2A is a schematic diagram of a motor control system provided by an embodiment of the present application.
  • Fig. 2B is a schematic diagram of a dual redundant motor control system provided by an embodiment of the present application.
  • Fig. 2C is a schematic diagram of a motor control system provided by another embodiment of the present application.
  • Fig. 2D is a schematic diagram of a motor control system provided by another embodiment of the present application.
  • Fig. 3 is a schematic diagram of a motor control system provided by another embodiment of the present application.
  • Fig. 4 is a schematic diagram showing a power unit of the motor control system in Fig. 3;
  • FIG. 5A is a partial enlarged view of the circuit provided by the embodiment of the present application.
  • FIG. 5B is a partial enlarged view of a circuit provided by another embodiment of the present application.
  • FIG. 6 is a flowchart of a control method for a circuit provided in an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a control device for a circuit provided in an embodiment of the present application.
  • Fig. 8 is a schematic block diagram of a computing device provided by an embodiment of the present application.
  • the circuit provided in the embodiment of the present application may be arranged in a control unit of an electric power steering (Electric Power Steering, EPS) system.
  • the EPS system may include: a steering wheel torque sensor, a vehicle speed sensor, a steering motor (sometimes referred to as a motor for short), and a control unit.
  • the steering wheel torque sensor is used to determine the torque generated by the steering wheel;
  • the vehicle speed sensor is used to determine the speed of the vehicle;
  • the control unit is used to determine the rotation direction of the motor and the assist current according to the torque signal and vehicle speed signal obtained by the vehicle speed sensor and the steering wheel torque sensor,
  • the motor is controlled to output corresponding assist torque; the motor is used to generate assist force to realize power steering.
  • the control unit can also control the rotation of the motor according to the control instructions from, for example, the vehicle controller, so as to provide support for automatic driving.
  • Figure 1 shows an application scenario of the circuit provided by the embodiment of the present application.
  • the wheel 600 may accidentally hit the roadside shoulder 700, and the road shoulder 700 will move towards the wheel 600.
  • Applying a reverse force causes the rotor of the motor to turn and cut the magnetic field lines, generating a counter electromotive force.
  • the back electromotive force generated by the motor will be absorbed by the circuit provided in the embodiment of the application, so as to avoid the failure of the phase failure circuit caused by the impact of the back electromotive force generated by the motor on the phase failure circuit, thereby preventing the motor from being stuck due to the failure of the drive circuit. , to improve the safety performance of the vehicle.
  • Fig. 2A shows a schematic diagram of a motor control system provided by an embodiment of the present application.
  • the motor control system provided by the embodiment of the present application may include: a first inverter 20 , a first circuit unit 30 (also called a phase failure circuit), a second circuit unit 40 and a motor 400 .
  • the first end of the first circuit unit 30 is used for connecting with the output end of the first inverter 20, the second end of the first circuit unit 30 is used for connecting with the motor 400, and the first circuit unit 30 is configured to
  • the second circuit unit 40 is used to absorb energy impact, the first end of the second circuit unit 40 is connected with the first end of the first circuit unit 30, and the second end of the second circuit unit 40 is connected with the first end of the first circuit unit 30.
  • the second end of a circuit unit 30 is connected.
  • the first inverter 20 may include a control unit, a driving circuit and an inverter circuit.
  • the control unit can be used to obtain the control signal of the motor according to the instruction received for indicating the direction of rotation; the drive circuit is connected with the control unit to obtain the switching timing signal according to the motor control signal, for example, the drive circuit can be modulated by PWM pulse width (pulse Width modulation, PWM) converts the sine wave signal into a switching timing signal, the inverter circuit is connected to the drive circuit, and the inverter circuit can convert the DC signal into an AC signal according to the switching timing signal for driving the motor; the inverter circuit can It is a bridge circuit or other forms of inverter circuit. When it is a bridge inverter circuit, it can be a full bridge inverter circuit or a half bridge inverter circuit.
  • the inverter circuit can be a three-phase bridge, one end of the control unit can be connected to one end of the drive circuit, the other end of the drive circuit can be connected to the input end of the three-phase bridge, and the output end of the three-phase bridge can be connected to the first end of the three-phase bridge.
  • the first terminal of the circuit unit 30 is connected; the second terminal of the first circuit unit 30 is used for connecting with the winding of the motor 400 , and the third terminal of the first circuit unit 30 is connected with the driving circuit.
  • the first condition may include: detection of the energy impact, and the energy impact includes at least one of the following: counter electromotive force impact and current impact.
  • the motor can be a Y-shaped motor, a delta-shaped motor, a double-winding motor, a single-winding motor, etc., which is not limited in this application.
  • the motor 400 When the motor 400 generates a counter electromotive force, the voltage at one end of the first circuit unit 30 and the second circuit unit 40 connected to the motor 400 is higher than that of the first circuit unit 30 and the second circuit unit connected to the inverter 20. At this time, the second circuit unit 40 can absorb the counter electromotive force generated by the motor 400 , thereby avoiding the failure of the first circuit unit 30 caused by the counter electromotive force impacting the first circuit unit 30 .
  • control circuit, the drive circuit, the inverter circuit, the first circuit unit 30, and the second circuit unit 40 can be arranged on the same circuit board; the inverter circuit, the first circuit unit 30, and the second circuit can also be The unit 40 is arranged on the same circuit board, and the control circuit and the driving circuit are detachably connected thereto; the driving circuit, the inverter circuit, the first circuit unit 30 and the second circuit unit 40 may also be arranged on the same circuit board.
  • the motor control system may further include a second inverter 202, a third circuit unit 302 and the fourth circuit unit 402 .
  • the first inverter 201 , the first circuit unit 301 , and the second circuit unit 401 are the same as those in the above-mentioned embodiments, and for the sake of brevity, details are not repeated here.
  • the second inverter 202 may also include a control unit, a drive circuit, and an inverter circuit, wherein detailed descriptions about the control unit, drive circuit, and inverter circuit may refer to the above-mentioned embodiments, for the sake of brevity, I won't repeat them here.
  • the first end of the third circuit unit 302 is connected to the output end of the second inverter 202, the second end of the third circuit unit 302 is connected to the motor 400, and the third circuit unit 302 is configured to be under the second condition In the disconnected state; the fourth circuit unit is used to absorb energy impact, wherein, the first end of the fourth circuit unit 402 is connected to the first end of the third circuit unit 302, and the second end of the fourth circuit unit 402 is connected to the third The second end of the circuit unit 302 is connected.
  • the second condition may include: the energy impact is detected, and the energy impact includes at least one of the following: counter electromotive force impact and current impact.
  • the first inverter 201 and the second inverter 202 can respectively connect the two windings of the motor 400, but the application is not limited thereto, the first inverter 201 and the second inverter
  • the inverters 202 can also be connected to the same winding of the motor 400, for example, the first inverter 201 and the second inverter 202 can be connected to the first winding of the motor, and at the same time, the first inverter 201 and the second inverter
  • the inverter 202 can be connected with the second winding of the motor, so that the first inverter 201 and the second inverter 202 can jointly control a group of windings of the motor.
  • the circuit can also be applied in a dual redundant motor control system.
  • FIG. 2B is a schematic diagram of a dual redundant motor control system provided by an embodiment of the present application. As shown in FIG. 2B, the dual redundant motor control system can It includes: a first redundant control system 110 , a second redundant control system 120 , a fifth circuit unit 501 , a sixth circuit unit 601 and a motor 400 .
  • the first redundant control system 110 may include: a first inverter 201, a first circuit unit 301 (also referred to as a phase failure circuit) and a second circuit unit 401; the second redundant control system 120 may include: a second inverter Inverter 202 , third circuit unit 302 (also referred to as an open-phase circuit) and fourth circuit unit 402 .
  • the first end of the first circuit unit 301 is connected to the output end of the first inverter 201, the second end of the first circuit unit 301 is connected to the first winding 410 of the motor 400, and the first circuit unit 301 is configured to Under one condition, it is in an off state; the second circuit unit 401 is used to absorb energy impact, the first end of the second circuit unit 401 is connected to the first end of the first circuit unit 301, and the second end of the second circuit unit 401 is connected to the first end of the first circuit unit 301.
  • the second end of the first circuit unit 301 is connected.
  • the first end of the third circuit unit 302 is used to connect to the output end of the second inverter 201, the second end of the third circuit unit 302 is connected to the second winding 420 of the motor 400, and the third circuit unit 302 is configured as It is disconnected under the second condition; the fourth circuit unit 402 is used to absorb energy impact, the first end of the fourth circuit unit 402 is connected with the first end of the third circuit unit 302, the second end of the fourth circuit unit 402 The terminal is connected to the second terminal of the third circuit unit 302 .
  • the first condition and the second condition may include: detection of the energy impact, and the energy impact includes at least one of the following: counter electromotive force impact and current impact.
  • the first inverter 201 and the second inverter 202 may respectively include a control unit, a driving circuit and an inverter circuit.
  • the connection relationship between the control unit, the driving circuit and the inverter circuit, their respective functions and the connection relationship between them and other circuit units can refer to the above-mentioned embodiments, and for the sake of brevity, details are not repeated here.
  • the first end of the fifth circuit unit 501 is connected to the first end of the first circuit unit 301, and the second end of the fifth circuit unit 501 is connected to the second end of the third circuit unit 302, for use in the second inverter 202 , at least one of the third circuit unit 302 and the fourth circuit unit 402 is turned on when fault occurs, so as to realize the control of the motor 400 .
  • the first end of the sixth circuit unit 601 is connected to the first end of the third circuit unit 302, the second end of the sixth circuit unit 601 is connected to the second end of the first circuit unit 301, and the sixth circuit unit 601 is used for At least one of the inverter 201 , the first circuit unit 301 , and the second circuit unit 401 is turned on when fault occurs, so as to realize the control of the motor 400 .
  • the second circuit unit 40, 401 and the fourth circuit unit 402 may include: a transient voltage suppressor diode (Transient Voltage Suppressor, TVS).
  • TVS Transient Voltage Suppressor
  • the TVS tube can suddenly reduce its impedance at a very high speed, and at the same time absorb a large current, clamping the voltage between its two ends The bit is at a predetermined value, so as to ensure that the first circuit unit 301 is not damaged by the impact of the transient high-energy counter electromotive force.
  • the TVS tube can clamp the voltage across the first circuit unit 301 to a predetermined value, it is allowed to use a MOS tube with a lower rated voltage as the first circuit unit, avoiding , The problem of overheating of the MOS tube due to the increase in the impedance of the MOS tube.
  • one or more of the second circuit unit 40, 401 and the fourth circuit unit 402 further includes: a resistor, one end of the resistor is connected to the TVS tube, and the other end of the resistor is connected to the winding of the motor.
  • the TVS tube can absorb the counter electromotive force generated by the motor in an instant, prevent the counter electromotive force from impacting the first circuit unit 301 and the third circuit unit 302, thereby avoiding the impact of the counter electromotive force on the driving circuit, and connect the first circuit unit 301 and the third circuit unit 301 to the drive circuit.
  • the voltage at both ends of the circuit unit 302 is clamped at a predetermined value; in addition, since the TVS tube can clamp the voltage at both ends of the first circuit unit 301 and the third circuit unit 302 at a predetermined value, it is allowed to use MOS transistors with a lower rated voltage are used as the first circuit unit 301 and the third circuit unit 302 to avoid the problem of overheating of the MOS transistors caused by the rise in impedance of the MOS transistors when the MOS transistors are turned on.
  • one or more of the second circuit unit 40, 401 and the fourth circuit unit 402 further includes: a capacitor connected in parallel with a resistor.
  • the capacitors and resistors connected in parallel can improve the absorbing capacity of the second circuit unit 40, 401 and the fourth circuit unit 402 to the counter electromotive force, and can also effectively reduce the selection specifications of the TVS tube, so that a TVS with a lower rated voltage can be used tube, reducing the cost of the product.
  • the first circuit unit includes: an NMOS transistor, the source of the NMOS transistor is connected to the first inverter 201 or the second inverter 202, and the drain of the NMOS transistor is used to connect to the first winding 410 of the motor Or the second winding 420 is connected.
  • the motor may include: a double-winding three-phase motor, the double-winding three-phase motor includes: a first winding 410 and a second winding 420, the first winding 410 may include: a first U-phase winding, a first V-phase The winding and the first W-phase winding; the second winding 420 includes: a second U-phase winding, a second V-phase winding and a second W-phase winding.
  • the motor can be a Y-shaped motor, a delta-shaped motor, a double-winding motor, a single-winding motor, etc., which is not limited in this application.
  • FIG. 2C shows a schematic diagram of a motor control system provided by another embodiment.
  • the motor control system may include: a motor 400, a control unit 100, a drive circuit 200, a three-phase bridge 300, and a first circuit unit 30 and the second circuit unit 40 .
  • the control unit 100 is used to determine the direction of rotation of the motor and the power assist current;
  • the drive circuit 200 is connected to the control unit 100 for amplifying the signal of the control unit 100 and converting the control command signal of the control unit 100 into the signal of the three-phase bridge 300
  • the drive signal for example, adjusts the current size by adjusting the duty cycle of each switch of the three-phase bridge 300;
  • the three-phase bridge 300 is connected with the drive circuit 200, and is used to convert DC power into AC power;
  • the first circuit unit 30 is used for Connect the winding of the three-phase bridge 300 and the motor 400, and disconnect the connection with the winding of the motor 400 when the motor 400 generates a counter electromotive force;
  • the second circuit unit 40 is connected in parallel with the first circuit unit 30, and is used to generate In case of counter electromotive force, the counter electromotive force generated by the motor is absorbed to prevent the counter electromotive force from impacting the first circuit unit 30 and causing the first circuit unit 30 to fail.
  • the three-phase bridge 300 may include the first MOS transistor 310 and the second MOS transistor 310 of the upper bridge whose sources are respectively used to connect with the U1, V1, W1 phases of the first winding of the motor 400 and the U2, V2, W2 of the second winding. MOS transistor 320 and the third MOS transistor 330 of the upper bridge.
  • the three-phase bridge 300 may further include a first MOS transistor 340 of the lower bridge, a second MOS transistor 350 of the lower bridge, and a third MOS transistor 360 of the lower bridge.
  • the winding of the motor is controlled by controlling the on-off timing of the upper bridge MOS transistors 310 , 320 , 330 and the lower bridge MOS transistors 340 , 350 , 360 .
  • the drain of the first MOS transistor 340 of the lower bridge is connected to the source of the first MOS transistor 310 of the upper bridge, the source of the first MOS transistor 340 of the lower bridge is used for grounding, and the drain of the second MOS transistor 350 of the lower bridge is connected to the source of the upper bridge
  • the source of the second MOS transistor 320 is connected, the source of the second MOS transistor 350 of the lower bridge is used for grounding, the drain of the third MOS transistor 360 of the lower bridge is connected to the source of the third MOS transistor 330 of the upper bridge, and the third MOS transistor of the lower bridge is connected to the source of the third MOS transistor 330.
  • the sources of the three MOS transistors 360 are used for grounding.
  • Gates of the first MOS transistor 310 of the upper bridge, the second MOS transistor 320 of the upper bridge, the third MOS transistor 330 of the upper bridge, the first MOS transistor 340 of the lower bridge, the second MOS transistor 350 of the lower bridge, and the third MOS transistor 360 of the lower bridge It is connected with the drive circuit 200 .
  • the first circuit unit 30 may be six NMOS transistors: Q1-AMOS transistor, Q2-AMOS transistor, Q3-AMOS transistor, Q1-BMOS transistor, Q2-BMOS transistor and Q3-BMOS transistor.
  • the source of the Q1-AMOS tube is connected to the source of the first MOS tube 310 of the upper bridge of the three-phase bridge, the drain of the Q1-AMOS tube is connected to U1 of the first winding of the motor 400, and the gate of the Q1-AMOS tube Connected to the drive circuit 200;
  • the source of the Q2-AMOS tube is connected to the source of the upper bridge second MOS tube 320, the drain of the Q2-AMOS tube is connected to the V1 of the first winding of the motor 400, and the Q2-AMOS tube's
  • the gate is connected to the drive circuit 200;
  • the source of the Q3-AMOS transistor is connected to the source of the third MOS transistor 330 of the upper bridge, the drain of the Q3-AMOS transistor is connected to W1 of
  • the source of the Q1-BMOS tube is connected to the source of the first MOS tube 310 of the upper bridge of the three-phase bridge 300, the drain of the Q1-BMOS tube is connected to U2 of the second winding of the motor 400, and the gate of the Q1-BMOS tube
  • the pole is connected to the drive circuit 200;
  • the source of the Q2-BMOS transistor is connected to the source of the second MOS transistor 320 of the upper bridge of the three-phase bridge 300, and the drain of the Q2-BMOS transistor is connected to the V2 of the second winding of the motor 400 , the gate of the Q2-BMOS tube is connected to the drive circuit 200;
  • the source of the Q3-BMOS tube is connected to the source of the third MOS tube 330 of the upper bridge of the three-phase bridge, and the drain of the Q3-BMOS tube is connected to the first motor 400
  • the W2 of the two windings is connected, and the gate of the Q3-BMOS transistor is connected to the drive circuit 200 .
  • the second circuit unit 40 may include: a TVS tube 41 , a capacitor 42 and a resistor 43 .
  • One end of the TVS transistor 41 is connected to the source of the MOS transistor 3010 , and the other end of the TVS transistor 41 is connected to one end of the resistor 43 .
  • the other end of the resistor 43 is connected to the drain of the MOS transistor 3010 , and the capacitor 42 is connected in parallel with the resistor 43 .
  • the capacitor 42 and the resistor 43 connected in parallel can effectively reduce the type selection specifications of the TVS tube 41, so that a TVS tube with a lower rated voltage can be used, which reduces the cost of the product, and can improve the absorption capacity of the second circuit unit to the counter electromotive force .
  • the TVS tube 41 can also be replaced with other electronic components for absorbing the counter electromotive force from any phase of the motor, for example, the TVS tube 41 can be replaced with a diode.
  • Fig. 3 is a schematic diagram of a motor control system provided by another embodiment of the present application.
  • the motor control system may include: a motor 400, a signal connector 3, a control unit 2 connected to the signal connector 3, and a The power unit 1 connected between the control unit 2 and the phases U1, V1, W1, U2, V2, W2 of the winding of the motor 4, wherein the control unit 2 is used to output control signals to the motor 4, and the power unit 1 is used to convert the low-voltage DC
  • the control signal is converted into a high-voltage AC control signal, and the signal connector 3 is used for the control unit 2 to communicate with other units of the vehicle.
  • the control unit 2 may include: a first redundant control unit 211 for computing and processing, a first control power supply 212 for supplying power to the first redundant control unit 211 , and a first redundant
  • the control unit 211 is connected to a first wake-up unit 213 for waking up the first redundant control unit, a first drive circuit 214 for driving the motor, and a first drive circuit 214 for the first redundant control unit 211 to communicate with other units of the vehicle.
  • CAN interface 215 first signal interface 216 for each unit of the control unit 2 to perform signal interaction, two-stage step-down DC-DC 217 , one-stage step-down DC-DC 218 , pre-boost step-up DC-DC 219 .
  • the first redundant control unit 211 may be a microprogrammed control unit (Microprogrammed Control Unit, MCU), and may also be other chips, such as: a system chip, a general chip, and the like.
  • the control unit 2 also includes: a second redundant control unit 221 for computing and processing, a second control power supply 222 for supplying power to the second redundant control unit 221, and a second redundant control unit 221 connected for Wake up the second wakeup unit 223 of the second redundant control unit 221, the second drive circuit 224 for driving the motor 4, the dual drive control/logic interface 23, and the dual drive control/logic interface 23 is used for the first redundant control
  • the unit 211 performs signal interaction with the first driving circuit 214 and is used for the second redundant control unit 221 to perform signal interaction with the second driving circuit 224, and for the second redundant control unit 221 to communicate with other units of the vehicle.
  • the second redundant control unit 221 may be an MCU, or other chips, such as a system chip, a general-purpose chip, and the like.
  • both the first redundant control unit 211 and the second redundant control unit 221 are used to control the motor 4, and when one of the first redundant control unit 211 and the second redundant control unit 221 fails, the other controls the motor 4.
  • the power unit 1 may include: a first three-phase bridge 31 for converting a DC control signal into an AC control signal, a winding for connecting the first three-phase bridge and the motor, and a Q1-AMOS tubes, Q2-AMOS tubes, Q3-AMOS tubes, Q1-BMOS tubes, Q2-BMOS tubes, Q3-BMOS tubes, and Q3-BMOS tubes connected in parallel to the above-mentioned MOS tubes are used to generate counter electromotive force for disconnecting from the winding of the motor.
  • the second circuit unit 40; the power unit 1 may also include: a second three-phase bridge 32 for converting a DC control signal into an AC control signal, a winding for connecting the second three-phase bridge and a motor, and for The back electromotive force generated by the motor is used to disconnect the Q4-AMOS tube, Q5-AMOS tube, Q6-AMOS tube, Q4-BMOS tube, Q5-BMOS tube, Q6-BMOS tube, and parallel to the above MOS tube
  • the second circuit unit 40 is also include: a second three-phase bridge 32 for converting a DC control signal into an AC control signal, a winding for connecting the second three-phase bridge and a motor, and for The back electromotive force generated by the motor is used to disconnect the Q4-AMOS tube, Q5-AMOS tube, Q6-AMOS tube, Q4-BMOS tube, Q5-BMOS tube, Q6-BMOS tube, and parallel to the above MOS tube
  • the second circuit unit 40 is also include: a second three-phase
  • Q1-AMOS tube, Q2-AMOS tube, Q3-AMOS tube, Q1-BMOS tube, Q2-BMOS tube, Q3-BMOS tube, Q4-AMOS tube, Q5-AMOS tube, Q6-AMOS tube, Q4-BMOS tube The tube, the Q5-BMOS tube and the Q6-BMOS tube can all be NMOS tubes.
  • the first three-phase bridge 31 may include an upper bridge first MOS transistor 311 and an upper bridge second MOS transistor 311 whose sources are respectively used to connect with the U1 phase, V1 phase and W1 of the first winding of the motor.
  • Tube 312, the third MOS tube 313 of the upper bridge; the first three-phase bridge 31 includes: the first MOS tube 314 of the lower bridge, the second MOS tube 315 of the lower bridge, and the third MOS tube 316 of the lower bridge, by controlling the MOS tube 311 of the upper bridge , 312, 313 and the on-off sequence of the lower bridge MOS tubes 314, 315, 316 to realize the control of the winding of the motor.
  • the drain of the first MOS transistor 314 of the lower bridge is connected to the source of the first MOS transistor 311 of the upper bridge, the source of the first MOS transistor 314 of the lower bridge is used for grounding, and the drain of the second MOS transistor 315 of the lower bridge is connected to the upper bridge
  • the source of the second MOS transistor 312 is connected, the source of the second MOS transistor 315 of the lower bridge is used for grounding, the drain of the third MOS transistor 316 of the lower bridge is connected with the source of the third MOS transistor 313 of the upper bridge, and the third MOS transistor of the lower bridge is connected to the source of the third MOS transistor 313.
  • the sources of the three MOS transistors 316 are used for grounding.
  • Gates of the first MOS transistor 311 of the upper bridge, the second MOS transistor 312 of the upper bridge, the third MOS transistor 313 of the upper bridge, the first MOS transistor 314 of the lower bridge, the second MOS transistor 315 of the lower bridge, and the third MOS transistor 316 of the lower bridge Connect with the first driving circuit.
  • the second three-phase bridge 32 may include a first MOS transistor 321 and a second MOS transistor 321 of the upper bridge whose sources are respectively used to connect with the U2 phase, V2 phase and W2 of the second winding of the motor. tube 322 and the third MOS tube 323 of the upper bridge.
  • the second three-phase bridge 32 may include a first MOS transistor 324 of the lower bridge, a second MOS transistor 325 of the lower bridge, and a third MOS transistor 326 of the lower bridge, wherein the drain of the first MOS transistor 324 of the lower bridge is connected to the first MOS transistor of the upper bridge.
  • the source of the tube 321 is connected, the source of the first MOS tube 324 of the lower bridge is used for grounding, the drain of the second MOS tube 325 of the lower bridge is connected to the source of the second MOS tube 322 of the upper bridge, and the second MOS tube of the lower bridge
  • the source of the third MOS transistor 325 is used for grounding
  • the drain of the third MOS transistor 326 of the lower bridge is connected to the source of the third MOS transistor 323 of the upper bridge
  • the source of the third MOS transistor 326 of the lower bridge is used for grounding.
  • Gates of the first MOS transistor 321 of the upper bridge, the second MOS transistor 322 of the upper bridge, the third MOS transistor 323 of the upper bridge, the first MOS transistor 324 of the lower bridge, the second MOS transistor 325 of the lower bridge, and the third MOS transistor 326 of the lower bridge Connect with the second drive circuit.
  • the source of the Q1-AMOS transistor is connected to the source of the first MOS transistor 311 of the upper bridge of the first three-phase bridge 31, and the drain of the Q1-AMOS transistor is connected to the first winding of the motor.
  • U1 is connected, the gate of the Q1-AMOS transistor is connected to the first drive circuit 214; the source of the Q2-AMOS transistor is connected to the source of the second MOS transistor 312 of the upper bridge, and the drain of the Q2-AMOS transistor is connected to the first drive circuit 214 of the motor.
  • the V1 of the first winding is connected, the gate of the Q2-AMOS transistor is connected to the first drive circuit 214; the source of the Q3-AMOS transistor is connected to the source of the third MOS transistor 313 of the upper bridge, and the drain of the Q3-AMOS transistor is connected to the The W1 of the first winding of the motor is connected, and the gate of the Q3-AMOS transistor is connected to the first driving circuit 214 .
  • the source of the Q4-AMOS transistor is connected to the source of the first MOS transistor 321 of the upper bridge of the second three-phase bridge 32, and the drain of the Q4-AMOS transistor is connected to the second winding of the motor.
  • U2 is connected, the gate of the Q4-AMOS transistor is connected to the second drive circuit 224; the source of the Q5-AMOS transistor is connected to the source of the upper bridge second MOS transistor 322 of the second three-phase bridge 32, and the Q5-AMOS transistor
  • the drain of the Q5-AMOS tube is connected to the V2 of the second winding of the motor, the gate of the Q5-AMOS tube is connected to the second drive circuit 224; the source of the Q6-AMOS tube is connected to the third MOS tube of the upper bridge of the second three-phase bridge 32
  • the source of 323 is connected, the drain of Q6-AMOS transistor is connected with W2 of the second winding of the motor, and the gate of Q6-AMOS transistor is connected with the second drive circuit 224 .
  • the drain of the Q1-BMOS transistor is connected to the source of the first MOS transistor 311 of the upper bridge of the first three-phase bridge 31, and the source of the Q1-BMOS transistor is connected to the second winding of the motor.
  • U2 is connected, the gate of the Q1-BMOS transistor is connected to the first drive circuit 214; the drain of the Q2-BMOS transistor is connected to the source of the second MOS transistor 312 of the upper bridge, and the source of the Q2-BMOS transistor is connected to the first drive circuit 214 of the motor.
  • the V2 of the two windings is connected, the gate of the Q2-BMOS transistor is connected to the first drive circuit 214; the drain of the Q3-BMOS transistor is connected to the source of the third MOS transistor 313 of the upper bridge, and the source of the Q3-BMOS transistor is connected to the The W2 of the second winding of the motor is connected, and the gate of the Q3-BMOS transistor is connected with the first driving circuit 214 .
  • the drain of the Q4-BMOS tube is connected to the source of the first MOS tube 321 of the upper bridge of the second three-phase bridge 32, the source of the Q4-BMOS tube is connected to U1 of the first winding of the motor, and the Q4-BMOS tube's
  • the gate is connected to the second drive circuit 224; the drain of the Q5-BMOS transistor is connected to the source of the upper bridge second MOS transistor 322 of the second three-phase bridge 32, and the source of the Q5-BMOS transistor is connected to the first winding of the motor
  • the gate of the Q5-BMOS transistor is connected to the second drive circuit 224; the drain of the Q6-BMOS transistor is connected to the source of the third MOS transistor 323 of the upper bridge of the second three-phase bridge, and the Q6-BMOS transistor
  • the source of Q6-AMOS transistor is connected to W1 of the first winding of the motor, and the gate of Q6-AMOS transistor is connected to the second drive circuit 224 .
  • the first drive circuit 214 controls the Q1-AMOS transistor, Q2-AMOS transistor, and Q3-AMOS transistor to communicate with U1, Q3-AMOS transistors of the first winding of the motor, respectively.
  • V1 and W1 are connected to control Q1-BMOS tubes, Q2-BMOS tubes, and Q3-BMOS tubes to be disconnected from U2, V2, and W2 of the second winding of the motor respectively;
  • the second drive circuit 224 controls Q4-AMOS tubes, Q5 -AMOS tube and Q6-AMOS tube are respectively connected with U2, V2, W2 of the second winding of the motor, and control Q4-BMOS tube, Q5-BMOS tube, Q6-BMOS tube and U1, V1 of the first winding of the motor respectively , W1 is disconnected.
  • the Q1-AMOS tube, Q2-AMOS tube, and Q3-AMOS tube are all disconnected from the U1, V1, and W1 phases of the first winding of the motor, and the second redundant control unit 221 Can control the connection of Q4-BMOS tube, Q5-BMOS tube, Q6-BMOS tube and U1, V1, W1 phase of the first winding of the motor; when the second redundant control unit 221 fails, Q4-AMOS tube, Q5- Both the AMOS tube and the Q6-AMOS tube are disconnected from the U2, V2, and W2 phases of the second winding of the motor, and the first redundant control unit 211 can control the Q1-BMOS tube, Q2-BMOS tube, Q3-BMOS tube and U2, V2, W2 of the second winding of the motor are connected.
  • the other can also control the U1, V1, W1, U2, V2, W2 phases of the two windings
  • the second circuit unit 40 may include: a TVS tube 41 , a capacitor 42 and a resistor 43 .
  • One end of the TVS tube 41 is connected to the source of the MOS tube 3010, and the other end of the TVS tube 41 is connected to one end of the resistor 43.
  • the other end of the resistor 43 is connected to the drain of the MOS transistor 3010 , and the capacitor 42 is connected in parallel with the resistor 43 .
  • the capacitor 42 and the resistor 43 connected in parallel can effectively reduce the type selection specifications of the TVS tube 41, so that a TVS tube with a lower rated voltage can be used, which reduces the cost of the product, and can improve the absorption capacity of the second circuit unit to the counter electromotive force .
  • the TVS tube 41 can also be replaced with other electronic components for absorbing the counter electromotive force from any phase of the motor, for example, the TVS tube 41 can be replaced with a diode.
  • the second circuit unit 40 may include: a first diode 441 and a second diode 442 , a capacitor 42 and a resistor 43 .
  • the anode of the first diode is connected to the source of the MOS transistor
  • the cathode of the first diode 441 is connected to the cathode of the second diode 442
  • the anode of the second diode 442 is connected to one end of the resistor 43
  • the resistor The other end of 43 is connected to the drain of the MOS transistor
  • the capacitor 42 is connected in parallel with the resistor 43 .
  • the voltage at the winding terminal of the motor When the motor generates back electromotive force, the voltage at the winding terminal of the motor will be higher than the voltage at the three-phase bridge terminal. When the voltage at the winding terminal of the motor exceeds the rated voltage of the MOS tube, the MOS tube cannot withstand the back electromotive force generated by the motor, and then the back electromotive force Impact the first drive circuit and the second drive circuit of the front end.
  • the second circuit unit can absorb the back electromotive force generated by the motor, avoid the back electromotive force from impacting the MOS tube, and prevent the back electromotive force from impacting the front end due to the failure of the MOS tube. drive circuit and a second drive circuit.
  • FIG. 6 shows the flow of the circuit control method provided by the embodiment of the present application.
  • the circuit control method provided by the embodiment of the present application can be executed by a terminal, such as a terminal such as a smart vehicle or a vehicle-mounted device, or by an electronic device applied in a terminal, such as a system chip, a general-purpose chip, and the like.
  • the circuit control method of the motor may include the following steps:
  • Step S1 Obtain the rotational speed of the motor.
  • step S1 may specifically include: acquiring motor angular velocity information and steering wheel torque information; obtaining the first rotational speed of the motor according to the angular velocity information of the motor, and obtaining the second rotational speed of the motor according to the steering wheel torque information; when the first rotational speed and the second When the rotational speed difference between the rotational speeds is smaller than the second threshold, a third rotational speed is obtained according to the first rotational speed and the second rotational speed, and the third rotational speed is used as the rotational speed of the motor.
  • the motor angular velocity information and the steering wheel torque information may be directly collected by sensors (for example, motor angular velocity sensors, steering wheel torque sensors), or may be information obtained after processing the information collected by the sensors, which is not limited in this application .
  • the third rotational speed may be the first rotational speed, may also be the second rotational speed, or may be a weighted average of the first rotational speed and the second rotational speed.
  • the first rotational speed can be determined according to the torque information of the steering wheel, for example, the first rotational speed can be determined according to the torque angle in combination with the transmission ratio among the rotating shaft, the reduction mechanism, the steering gear and the motor.
  • Step S2 If the rotational speed of the motor is smaller than the first threshold, determine whether the first condition is satisfied.
  • the first threshold can be set according to the first circuit unit, for example, the first threshold can take a value from 1500r/min to 3000r/min.
  • the first condition may include: a detected energy impact, and the energy impact includes at least one of the following: back electromotive force impact and current impact.
  • the back electromotive force impact can also be determined according to the voltage of the motor winding.
  • a voltage detector can be set on the motor winding to determine the potential information of the motor by detecting the voltage value of the motor winding. When the voltage value is greater than the first When the rated voltage of the first circuit unit is lower than the rated voltage of the first circuit unit, it indicates that the motor generates counter electromotive force; when the voltage value is less than the rated voltage of the first circuit unit, it indicates that the motor does not generate counter electromotive force.
  • Step S3 When the first condition is met, control the first circuit unit to be in the disconnected state.
  • the first threshold when the rated voltage of the NMOS included in the first circuit unit is 40V, the first threshold may be 2000r/min, and when the speed of the motor is lower than this threshold, the first circuit unit may be controlled to be on state, for example, when the rotation speed is lower than 2000r/min, turn on or open the phase failure protection NMOS, and when there is a need for phase failure protection, the phase failure protection operation can be performed, such as turning off the power failure when an energy impact is detected phase protection NMOS. When the speed is higher than 2000r/min, turn off or turn off the phase failure protection NMOS. At this time, the phase failure protection operation will not be performed.
  • Phase failure protection NMOS when there is a need for phase failure protection, you can perform phase failure protection operations: for example, you can always detect whether there is an energy impact; when an energy impact is detected, perform phase failure protection operations, such as breaking Open phase protection NMOS.
  • the MOS tube has a weak ability to withstand voltage during the state switching process, in order to avoid the MOS tube being in the on state when the motor generates an excessive back electromotive force and withstand the impact of the excessive back electromotive force, it can be controlled
  • the speed is lower than a certain threshold, it is judged whether to implement phase failure protection.
  • the speed is low, the energy impact is small.
  • the back EMF voltage is relatively low; when the speed is high, the back EMF voltage is relatively high.
  • the rotational speed is limited below 2000r/min, it is judged whether the open-phase MOS tube needs to be switched.
  • the rotational speed is greater than a certain threshold, for example, greater than 2000r/min, in order to avoid hardware failure, the open-phase MOS tube is always kept in the disconnected state or not switched.
  • the circuit control method further includes: acquiring fault signals of the second inverter, the third circuit unit, and the fourth circuit unit; if the fault signal indicates that the second inverter , if at least one of the third circuit unit and the fourth circuit unit fails, the third condition is satisfied, and the fifth circuit unit is controlled to be turned on.
  • the fault signal may be sent after the main control circuit of the second inverter detects the fault or generated after the fault detection circuit inside the driver chip of the second inverter detects the fault, which is not limited in this application .
  • the circuit control method further includes: acquiring fault signals of the first inverter, the first circuit unit, and the second circuit unit; if the fault signal indicates that the first inverter If at least one of the inverter, the first circuit unit, and the second circuit unit fails, the fourth condition is satisfied, and the sixth circuit unit is controlled to be turned on.
  • the fault signal may be sent after the main control circuit of the first inverter detects a fault or is generated by the fault detection circuit inside the driver chip of the first inverter after detecting a fault, which is not limited in this application .
  • FIG. 7 shows a circuit control device provided by an embodiment of the present application.
  • the circuit control device provided by this embodiment includes an acquisition unit 800 and a control unit 900 .
  • the obtaining unit 800 is used to obtain the speed of the motor; the control unit 900 is used to determine whether the first condition is met when the speed of the motor is less than the first threshold; the control unit is also used to control the the first circuit unit is in an off state,
  • the circuit includes: a first circuit unit and a second circuit unit, wherein, the first end of the first circuit unit is used for connecting with the output end of the first inverter, and the second end of the first circuit unit is used for connecting with the motor connected, the first circuit unit is configured to be in a disconnected state under the first condition; the second circuit unit is used to absorb energy impact, wherein the first end of the second circuit unit is connected to the first end of the first circuit unit, The second end of the second circuit unit is connected to the second end of the first circuit unit.
  • the first condition includes: detection of an energy impact, and the energy impact includes at least one of the following: counter electromotive force impact and current impact.
  • the obtaining unit 800 is specifically configured to: obtain motor angular velocity information and steering wheel torque information; obtain the first rotational speed of the motor according to the motor angular velocity information, and obtain the second rotational speed of the motor according to the steering wheel torque information; if the first The rotational speed difference between the rotational speed and the second rotational speed is less than a second threshold, and a third rotational speed is obtained according to the first rotational speed and the second rotational speed, and the third rotational speed is taken as the rotational speed of the motor.
  • the circuit further includes: a third circuit unit, a fourth circuit unit, and a fifth circuit unit; the first end of the third circuit unit is used to connect to the output end of the second inverter, and the first end of the third circuit unit is used to connect to the output end of the second inverter.
  • the second end of the three circuit units is used to connect with the motor, the third circuit unit is configured to be in a disconnected state under the second condition; and the fourth circuit unit is used to absorb energy impact, wherein the first circuit unit of the fourth circuit unit One end is connected to the first end of the third circuit unit, the second end of the fourth circuit unit is connected to the second end of the third circuit unit, and the first end of the fifth circuit unit is connected to the first end of the first circuit unit , the second terminal of the fifth circuit unit is connected to the second terminal of the third circuit unit, and the fifth circuit unit is configured to conduct under the third condition; the obtaining unit 800 is also used to obtain the second inverter, the second The fault signal of the three circuit units and the fourth circuit unit; the control unit 900 is also used for, if the fault signal indicates that at least one of the second inverter, the third circuit unit, and the fourth circuit unit is faulty, the third condition is met , to control the conduction of the fifth circuit unit.
  • the circuit further includes: a sixth circuit unit, the first end of the sixth circuit unit is connected to the first end of the third circuit unit, and the second end of the sixth circuit unit is connected to the first end of the first circuit unit connected to the second end of the sixth circuit unit, the sixth circuit unit is configured to conduct under the fourth condition;
  • the acquisition unit 800 is also used to acquire the fault signals of the first inverter, the first circuit unit and the second circuit unit;
  • the control unit 900 is also used for, if the fault signal indicates that at least one of the first inverter, the first circuit unit and the second circuit unit is faulty, the fourth condition is met, and the sixth circuit unit is controlled to be turned on.
  • the second condition includes: detection of an energy impact, and the energy impact includes at least one of the following: counter electromotive force impact and current impact.
  • each of the above units that is, the acquisition unit 800 and the control unit 900 is configured to execute the relevant steps of the above method.
  • the acquisition unit 800 is used to execute step S1 and other related content
  • the control unit 900 is used to execute step S2, S3 and other related content.
  • control device is presented in the form of a unit.
  • the "unit” here may include an application specific integrated circuit (ASIC), a processor and memory executing one or more software or firmware programs, an integrated logic circuit, and/or other devices that can provide the above functions.
  • ASIC application specific integrated circuit
  • the above acquisition unit 800 and control unit 900 can be implemented by the computing device shown in FIG. 8 .
  • FIG. 8 is a schematic structural diagram of a computing device 1500 provided by an embodiment of the present application.
  • the computing device 1500 includes: a processor 1510 and a memory 1520 .
  • the processor 1510 may be connected to the memory 1520 .
  • the memory 1520 can be used to store the program codes and data. Therefore, the memory 1520 may be a storage unit inside the processor 1510, or an external storage unit independent of the processor 1510, or may include a storage unit inside the processor 1510 and an external storage unit independent of the processor 1510. part.
  • computing device 1500 may further include a bus.
  • the memory 1520 and the communication interface may be connected to the processor 1510 through a bus.
  • the bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, EISA) bus or the like.
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on.
  • the processor 1510 may be a central processing unit (central processing unit, CPU).
  • the processor can also be other general-purpose processors, digital signal processors (digital signal processors, DSPs), application specific integrated circuits (application specific integrated circuits, ASICs), off-the-shelf programmable gate arrays (field programmable gate arrays, FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the processor 1510 uses one or more integrated circuits for executing related programs, so as to implement the technical solutions provided by the embodiments of the present application.
  • the memory 1520 may include read-only memory and random-access memory, and provides instructions and data to the processor 1510 .
  • a portion of processor 1510 may also include non-volatile random access memory.
  • processor 1510 may also store device type information.
  • the processor 1510 executes computer-implemented instructions in the memory 1520 to perform the operation steps of the above method.
  • the computing device 1500 may correspond to a corresponding body executing the methods according to the various embodiments of the present application, and the above-mentioned and other operations and/or functions of the modules in the computing device 1500 are for realizing the present invention For the sake of brevity, the corresponding processes of the methods in the embodiments are not repeated here.
  • the disclosed systems, devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or integrated. to another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • a unit described as a separate component may or may not be physically separated, and a component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art 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 methods described in the various embodiments 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 disc and other media that can store program codes. .
  • the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored.
  • the program When the program is executed by a processor, it is used to execute the control method of the above-mentioned circuit.
  • the method includes the solutions described in the above-mentioned embodiments. at least one of the .
  • the computer storage medium in the embodiments of the present application may use any combination of one or more computer-readable media.
  • the computer readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections with one or more leads, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional Procedural Programming Language - such as "C" or a similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through the Internet using an Internet service provider). connect).
  • LAN local area network
  • WAN wide area network
  • connect such as AT&T, MCI, Sprint, EarthLink, MSN, GTE, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

本申请提供了一种电路，包括：第一电路单元，所述第一电路单元的第一端用于与第一逆变器的输出端连接，所述第一电路单元的第二端用于与电机连接，所述第一电路单元被配置为在第一条件下处于断开状态；以及，第二电路单元，所述第二电路单元用于吸收能量冲击，其中，所述第二电路单元的第一端与所述第一电路单元的第一端连接，所述第二电路单元的第二端与所述第一电路单元的第二端连接。通过设置第二电路单元，能够有效吸收电机产生的反电动势，防止因反电动势冲击第一电路单元而导致的第一电路单元的失效，进而保护驱动电路的正常运行，防止电机卡死，提升车辆安全性能。

Description

一种电路及其控制方法 技术领域
本申请涉及汽车领域，具体涉及一种电路、控制方法、控制装置、转向系统以及车辆。
背景技术
在车辆转向时，例如，在车辆急转弯，车轮意外地撞击到路边的路肩时，路肩会对轮胎产生反向的作用力，从而会反向推动转向机的行程，转向机会通过齿轮向电机转子施加力，使电机产生与外加电压相反的电动势，此电动势被称为反电动势。电机产生的反电动势会冲击电机的驱动电路，造成驱动电路的失效，给人车造成危害。
为了避免上述情况的发生，在电机的绕组和驱动电路之间设置了断相电路，断相电路用于在电机或驱动电路失效的情况下，断开电机的绕组与驱动电路的连接，避免电机卡死的情况发生。
但是，这种方案并未考虑到电机的反电动势对断相电路的冲击，如果断相电路在反电动势的冲击下失效，同样会降低车辆的安全性能。
发明内容
鉴于以上问题，本申请提供了一种电路、电路的控制方法、控制装置、转向系统以及车辆，其能够有效吸收电机产生的反电动势，避免因反电动势冲击断相电路造成断相电路的失效，提升车辆的安全性能。
本申请实施例的第一方面，一种电路，包括：第一电路单元，第一电路单元的第一端用于与第一逆变器的输出端连接，第一电路单元的第二端用于与电机连接，第一电路单元被配置为在第一条件下处于断开状态；以及，第二电路单元，第二电路单元用于吸收能量冲击，其中，第二电路单元的第一端与第一电路单元的第一端连接，第二电路单元的第二端与第一电路单元的第二端连接。
通过设置第二电路单元，能够有效吸收电机产生的反电动势，避免因反电动势冲击第一电路单元(也称为断相电路)而导致的第一电路单元的失效，进而防止反电动势冲击电机的第一逆变器，避免因第一逆变器失效而导致的电机卡死，提升车辆的安全性。
在一些实施例中，电路还可以包括第一逆变器，第一逆变器可以具体包括控制电路(在本申请中也被称为控制单元)、驱动电路以及逆变电路，其中，控制电路可以用于根据接收到的用于指示转向的指令获取电机的控制信号；驱动电路与控制电路连接，用于根据电机控制信号获得开关时序信号，逆变电路可以根据开关时序信号将直流电信号转化为交流电信号，以用于驱动电机，逆变电路可以是桥式电路或其他形式的逆变电路，当为桥式逆变电路时，可以是全桥逆变电路，也可以是半桥逆变电路。
在一些实施例中，控制电路、驱动电路、逆变电路、第一电路单元以及第二电路单元可以布置于同一电路板上；也可以逆变电路、第一电路单元以及第二电路单元布 置于同一电路板上，控制电路和驱动电路与逆变电路可拆卸连接；也可以驱动电路、逆变电路、第一电路单元以及第二电路单元布置于同一电路板上。
其中，电机可以为Y型电机、三角型电机等，本申请对此不做限制。
在一种可能的实现方式中，电路还包括：第三电路单元，第三电路单元的第一端用于与第二逆变器的输出端连接，第三电路单元的第二端用于与电机连接，第三电路单元被配置为在第二条件下处于断开状态；以及第四电路单元，用于吸收能量冲击，其中，第四电路单元的第一端与第三电路单元的第一端连接，第四电路单元的第二端与第三电路单元的第二端连接。
通过上述设置，能够在冗余逆变器的电机控制系统中实现对第一电路单元和第三电路单元的保护，避免因反电动势冲击第一电路单元或第三电路单元导致的第一电路单元或第三电路单元的失效，进而防止反电动势冲击电机的冗余逆变器。
在一种可能的实现方式中，电机包括第一绕组和第二绕组；第一电路单元的第二端用于与电机连接，具体包括：第一电路单元的第二端用于与电机的第一绕组连接；第三电路单元的第二端用于与电机连接，具体包括：第三电路单元的第二端用于与电机的第二绕组连接。
通过上述设置，实现通过第一逆变器和第二逆变器控制电机的一组绕组，例如，通过第一逆变器实现对电机的50％供电，通过第二逆变器实现对电机的50％供电；也可以实现通过第一逆变器和第二逆变器分别对两组电机绕组的控制，例如，通过第一逆变器实现对电机的第一绕组的控制，通过第二逆变器实现对电机的第二绕组的控制，从而当第一逆变器、第二逆变器中的一个或多个出现故障时，保证电机的运行。
在一种可能的实现方式中，还包括：第五电路单元，第五电路单元的第一端与第一电路单元的第一端连接，第五电路单元的第二端与第三电路单元的第二端连接，第五电路单元被配置为在第三条件下导通。
在一种可能的实现方式中，第三条件包括以下至少一种：第二逆变器故障、第三电路单元故障、第四电路单元故障。
通过上述设置，能够在第二逆变器故障、第三电路单元故障、第四电路单元故障的情况下实现对电机的控制，避免电机失效。
在一种可能的实现方式中，还包括：第六电路单元，第六电路单元的第一端与第三电路单元的第一端连接，第六电路单元的第二端与第一电路单元的第二端连接，第六电路单元被配置为在第四条件下导通。
在一种可能的实现方式中，第四条件包括以下至少一种：第一逆变器故障、第一电路单元故障、第二电路单元故障。
通过上述设置，能够在第一逆变器故障、第一电路单元故障、第二电路单元故障的情况下实现对电机的控制，避免电机失效。
在一种可能的实现方式中，第二电路单元包括：瞬态电压抑制二极管；第二电路单元的第一端与第一电路单元的第一端连接，第二电路单元的第二端与第一电路单元的第二端连接，具体包括：瞬态电压抑制二极管的第一端与第一电路单元的第一端连接，瞬态电压抑制二极管的第二端与第一电路单元的第二端连接。
通过上述设置，能够在瞬间吸收电机产生的反电动势，防止反电动势冲击第一电 路单元，进而避免反电动势对驱动电路造成的冲击，并且使第一电路单元两端的电压箝位在一个预定的数值上；此外，由于瞬态电压抑制二极管能够将第一电路单元两端的电压箝位在一个预定的数值上，因此，可以允许采用较低额定电压的MOS管作为第一电路单元，避免了在MOS管导通时，因MOS管的阻抗上升带来的MOS管过热的问题。
在一种可能的实现方式中，第二电路单元还包括：第一电阻，第一电阻的第一端与瞬态电压抑制二极管连接，第一电阻的第二端与第一电路单元的第二端连接。
通过上述设置，能够有效降低瞬态电压抑制二极管的额定电压，降低瞬态电压抑制二极管的成本，另一方面，也能够提高第二电路单元吸收反电动势的能力。
在一种可能的实现方式中，第二电路单元还包括：第一电容，第一电容与第一电阻并联。
通过上述设置，可以提高第二电路单元对反电动势的吸收能力；并且，相互并联的电容和电阻也能够有效地降低瞬态电压抑制二极管的选型规格，从而可以采用较低额定电压的瞬态电压抑制二极管，降低了产品的成本。
在一种可能的实现方式中，第一电路单元包括：NMOS管，NMOS管的源极与逆变器连接，NMOS管的漏极用于与电机连接。
通过上述设置，能够在双冗余电机控制系统中，有效吸收电机产生的反电动势，避免因反电动势冲击第一电路单元和/或第二电路单元而导致的第一电路单元和/或第二电路单元的失效，进而防止反电动势冲击前端驱动电路，提升车辆的安全性。
本申请实施例的第二方面，提供了一种电路的控制方法，电路包括：第一电路单元和第二电路单元，其中，第一电路单元的第一端用于与第一逆变器的输出端连接，第一电路单元的第二端用于与电机连接，第一电路单元被配置为在第一条件下处于断开状态；第二电路单元用于吸收能量冲击，其中，第二电路单元的第一端与第一电路单元的第一端连接，第二电路单元的第二端与第一电路单元的第二端连接；方法包括：获取电机的转速；若电机的转速小于第一阈值，判断第一条件是否被满足；当第一条件被满足时，控制第一电路单元处于断开状态。
通过上述设置，能够根据电机的转速判断第一条件是否被满足，当第一条件被满足时，控制第一电路单元处于断开状态，防止第一电路单元的失效。
在一种可能的实现方式中，第一条件包括：检测到能量冲击，能量冲击包括以下至少一种：反电动势冲击、电流冲击。
通过上述设置，能够根据电机的转速来判断是否产生了能量冲击，进而防止第一电路单元在遭受能量冲击的情况下失效。
在一种可能的实现方式中，获取电机的转速，具体包括：获取电机角速度信息和方向盘扭矩信息；根据电机角速度信息获得电机的第一转速，根据方向盘扭矩信息获得电机的第二转速；若第一转速与第二转速的转速差小于第二阈值，根据第一转速与第二转速获得第三转速，以第三转速为电机的转速。
其中，第三转速可以是第一转速，也可以是第二转速，还可以是第一转速和第二转速的加权平均。
通过上述设置，能够确定电机的转速是否准确，从而根据转速来判断第一条件， 根据第一条件的满足与否来控制第一电路单元的关断和连通，保证电机的正常运行，防止第一电路单元的失效。
在一种可能的实现方式中，电路还包括：第三电路单元、第四电路单元、第五电路单元；第三电路单元的第一端用于与第二逆变器的输出端连接，第三电路单元的第二端用于与电机连接，第三电路单元被配置为在第二条件下处于断开状态；以及第四电路单元，用于吸收能量冲击，其中，第四电路单元的第一端与第三电路单元的第一端连接，第四电路单元的第二端与第三电路单元的第二端连接，第五电路单元的第一端与第一电路单元的第一端连接，第五电路单元的第二端与第三电路单元的第二端连接，第五电路单元被配置为在第三条件下导通；方法还包括：获取第二逆变器、第三电路单元以及第四电路单元的故障信号；若故障信号指示第二逆变器、第三电路单元、第四电路单元中至少一个出现故障，则第三条件被满足，控制第五电路单元导通。
通过上述设置，能够在第二逆变器、第三电路单元、第四电路单元中至少一个出现故障的情况下，控制第五电路单元的导通，实现第一逆变器对电机的控制，避免电机的失效。
在一种可能的实现方式中，电路还包括：第六电路单元，第六电路单元的第一端与第三电路单元的第一端连接，第六电路单元的第二端与第一电路单元的第二端连接，第六电路单元被配置为在第四条件下导通；方法还包括：获取第一逆变器、第一电路单元以及第二电路单元的故障信号；若故障信号指示第一逆变器、第一电路单元以及第二电路单元中至少一个出现故障，则第四条件被满足，控制第六电路单元导通。
通过上述设置，能够在第一逆变器、第一电路单元以及第二电路单元中至少一个出现故障的情况下，控制第六电路单元的导通，实现第二逆变器对电机的控制，避免电机失效。
在一种可能的实现方式中，第二条件包括：检测到能量冲击，能量冲击包括以下至少一种：反电动势冲击、电流冲击。
本申请实施例的第三方面，提供了一种电路的控制装置，电路包括：第一电路单元和第二电路单元，其中，第一电路单元的第一端用于与第一逆变器的输出端连接，第一电路单元的第二端用于与电机连接，第一电路单元被配置为在第一条件下处于断开状态；第二电路单元用于吸收能量冲击，其中，第二电路单元的第一端与第一电路单元的第一端连接，第二电路单元的第二端与第一电路单元的第二端连接；控制装置包括：获取单元，用于获取电机的转速；控制单元，用于当电机的转速小于第一阈值时，判断第一条件是否被满足；控制单元还用于，当第一条件被满足时，控制第一电路单元处于断开状态。
在一种可能的实现方式中，第一条件包括：检测到能量冲击，能量冲击包括以下至少一种：反电动势冲击、电流冲击。
在一种可能的实现方式中，获取单元具体用于：获取电机角速度信息和方向盘扭矩信息；根据电机角速度信息获得电机的第一转速，根据方向盘扭矩信息获得电机的第二转速；若第一转速与第二转速的转速差小于第二阈值，根据第一转速与第二转速获得第三转速，以第三转速为电机的转速。
在一种可能的实现方式中，电路还包括：第三电路单元、第四电路单元、第五电 路单元；第三电路单元的第一端用于与第二逆变器的输出端连接，第三电路单元的第二端用于与电机连接，第三电路单元被配置为在第二条件下处于断开状态；以及第四电路单元，用于吸收能量冲击，其中，第四电路单元的第一端与第三电路单元的第一端连接，第四电路单元的第二端与第三电路单元的第二端连接，第五电路单元的第一端与第一电路单元的第一端连接，第五电路单元的第二端与第三电路单元的第二端连接，第五电路单元被配置为在第三条件下导通；获取单元还用于，获取第二逆变器、第三电路单元以及第四电路单元的故障信号；控制单元还用于，若故障信号指示第二逆变器、第三电路单元、第四电路单元中至少一个出现故障，则第三条件被满足，控制第五电路单元导通。
在一种可能的实现方式中，电路还包括：第六电路单元，第六电路单元的第一端与第三电路单元的第一端连接，第六电路单元的第二端与第一电路单元的第二端连接，第六电路单元被配置为在第四条件下导通；获取单元还用于，获取第一逆变器、第一电路单元以及第二电路单元的故障信号；控制单元还用于，若故障信号指示第一逆变器、第一电路单元以及第二电路单元中至少一个出现故障，则第四条件被满足，控制第六电路单元导通。
在一种可能的实现方式中，第二条件包括：检测到能量冲击，能量冲击包括以下至少一种：反电动势冲击、电流冲击。
本申请实施例第三方面及其任一可能的实现方式提供了电路的控制装置所带来的技术效果与本申请第二方面及其任一可能的实现方式提供的电路的控制方法所带来的技术效果相同，为了简洁起见，在此不再赘述。
本申请实施例的第四方面，提供了一种计算设备，包括：处理器和存储器，处理器与存储器耦合，存储器用于存储程序或指令，当程序或指令被处理器执行时，使得计算设备执行如本申请实施例第二方面及其任一可能的实现方式提供的的控制方法。
本申请实施例的第五方面，提供了一种计算机可读存储介质，计算机可读存储介质中存储程序代码，程序代码被终端或终端中的处理器执行时，实现如本申请实施例第二方面及其任一可能的实现方式提供的的控制方法。
本申请实施例的第六方面，提供了一种计算机程序产品，计算机程序产品在计算机上运行时，实现如本申请实施例第二方面及其任一可能的实现方式提供的的控制方法。
本申请实施例的第七方面，提供了一种转向系统，包括：本申请第一方面及其任一可能的实现方式提供的电路、本申请实施例第三方面及其任一可能的实现方式提供的电路的控制装置和电机。
本申请实施例的第八方面，提供了一种车辆，包括：本申请第一方面及其任一可能的实现方式提供的电路、本申请实施例第三方面及其任一可能的实现方式提供的电路的控制装置和电机。
通过设置第二电路单元，能够有效吸收电机产生的反电动势，防止因反电动势冲击第一电路单元而导致的第一电路单元的失效，进而保护驱动电路的正常运行，防止电机卡死，提升车辆安全性能。
通过设置瞬态电压抑制二极管，能够瞬时吸收电机产生的反电动势，从而避免反 电动势对第一电路单元的冲击，进而防止反电动势冲击驱动电路；同时，瞬态电压抑制二极管能够使第一电路单元两端的电压箝位在一个预定的数值上，从而可以允许采用较低额定电压的MOS管作为第一电路单元，避免了在MOS管导通时，因MOS管的阻抗上升带来的MOS管过热的问题；
通过使电阻与瞬态电压抑制二极管串联且通过电容与电阻并联，可以提高第二电路单元对反电动势的吸收能力，并且，相互并联的电容和电阻也能够有效地降低瞬态电压抑制二极管的选型规格，从而可以采用较低额定电压的瞬态电压抑制二极管，降低了产品的成本。
附图说明
以下参照附图来进一步说明本发明的各个特征和各个特征之间的联系。附图均为示例性的，一些特征并不以实际比例示出，并且一些附图中可能省略了本申请所涉及领域的惯常的且对于本申请非必要的特征，或是额外示出了对于本申请非必要的特征，附图所示的各个特征的组合并不用以限制本申请。另外，在本说明书全文中，相同的附图标记所指代的内容也是相同的。具体的附图说明如下：
图1是本申请实施例提供的电路的应用场景的示意图；
图2A是本申请一个实施例提供的电机控制系统的示意图；
图2B是本申请一个实施例提供的双冗余电机控制系统的示意图；
图2C是本申请另一个实施例提供的电机控制系统的示意图；
图2D是本申请又一个实施例提供的电机控制系统的示意图；
图3是本申请另一个实施例提供的电机控制系统的示意图；
图4是图3示出电机控制系统的功率单元的示意图；
图5A是本申请实施例提供的电路的局部放大图；
图5B是本申请另一实施例提供的电路的局部放大图；
图6是本申请实施例提供的电路的控制方法的流程图；
图7是本申请实施例提供的电路的控制装置的示意图；
图8是本申请实施例提供的计算设备的模块示意图。
具体实施方式
本申请实施例提供的电路可以布置在电动助力转向(Electric Power Steering，EPS)系统的控制单元。EPS系统可以包括：方向盘扭矩传感器、车速传感器、转向电机(有时也简称为电机)和控制单元等。方向盘转矩传感器用于确定方向盘产生的扭矩；车速传感器用于确定车辆的速度；控制单元用于根据车速传感器和方向盘转矩传感器获得的扭矩信号和车速信号，确定电机的旋转方向和助力电流，控制电机输出相应的助力转矩；电机用于产生辅助力，实现助力转向。另外，控制单元还可以根据来自例如整车控制器的控制指令，控制电机的旋转，为自动驾驶提供支撑。
图1示出了本申请实施例提供的电路的一种应用场景，如图1所示，当车辆急转弯时，车轮600可能会意外地撞击到路边的路肩700，路肩700会向车轮600施加一个反向作用力，导致电机的转子转动切割磁力线，产生一个反电动势。电机产生的反 电动势会被本申请实施例提供的电路吸收，避免因电机产生的反电动势冲击断相电路而导致的断相电路的失效，进而防止因驱动电路失效导致的电机卡死的情况发生，提升车辆的安全性能。
图2A示出了本申请一个实施例提供的电机控制系统的示意图。如图2A所示，本申请实施例提供的电机控制系统可以包括：第一逆变器20、第一电路单元30(也称为断相电路)、第二电路单元40以及电机400。
第一电路单元30的第一端用于与第一逆变器20的输出端连接，第一电路单元30的第二端用于与电机400连接，第一电路单元30被配置为在第一条件下处于断开状态；第二电路单元40用于吸收能量冲击，第二电路单元40的第一端与第一电路单元30的第一端连接，第二电路单元40的第二端与第一电路单元30的第二端连接。
在一些实施例中，第一逆变器20可以包括控制单元、驱动电路以及逆变电路。控制单元可以用于根据接收到的用于指示转向的指令获取电机的控制信号；驱动电路与控制单元连接，用于根据电机控制信号获得开关时序信号，例如驱动电路可以通过PWM脉冲宽度调制(pulse width modulation,PWM)将正弦波信号转化为开关时序信号，逆变电路与驱动电路连接，逆变电路可以根据开关时序信号将直流电信号转化为交流电信号，以用于驱动电机；逆变电路可以是桥式电路或其他形式的逆变电路，当为桥式逆变电路时，可以是全桥逆变电路，也可以是半桥逆变电路。
在一些实施例中，逆变电路可以为三相桥，控制单元的一端可以与驱动电路的一端连接，驱动电路的另一端与三相桥的输入端连接，三相桥的输出端与第一电路单元30的第一端连接；第一电路单元30第二端用于与电机400的绕组连接，第一电路单元30的第三端与驱动电路连接。
其中，第一条件可以包括：检测到所述能量冲击，能量冲击包括以下至少一种：反电动势冲击、电流冲击。电机可以为Y型电机、三角型电机、双绕组电机、单绕组电机等，本申请对此不做限制。
当电机400产生反电动势时，第一电路单元30和第二电路单元40的用于与电机400连接的一端的电压高于第一电路单元30和第二电路单元的与逆变器20连接的一端的电压，此时，第二电路单元40能够吸收电机400产生反电动势，从而避免因反电动势冲击第一电路单元30而导致的第一电路单元30的失效。
在一些实施例中，控制电路、驱动电路、逆变电路、第一电路单元30、第二电路单元40可以布置于同一电路板上；也可以逆变电路、第一电路单元30以及第二电路单元40布置于同一电路板上，控制电路和驱动电路与其可拆卸连接；也可以驱动电路、逆变电路、第一电路单元30以及第二电路单元40布置于同一电路板上。
在一些实施例中，如图2D所示，电机控制系统除第一逆变器201、第一电路单元301、第二电路单元401外，还可以包括第二逆变器202，第三电路单元302以及第四电路单元402。其中，第一逆变器201、第一电路单元301、第二电路单元401与上述实施例相同，为了简洁起见，在此不再赘述。
在一些实施例中，第二逆变器202也可以包括控制单元、驱动电路以及逆变电路，其中，关于控制单元、驱动电路以及逆变电路的详细描述可以参加上述实施例，为了简洁起见，在此不再赘述。
其中，第三电路单元302的第一端与第二逆变器202的输出端连接，第三电路单元302的第二端与电机400连接，第三电路单元302被配置为在第二条件下处于断开状态；第四电路单元用于吸收能量冲击，其中，第四电路单元402的第一端与第三电路单元302的第一端连接，第四电路单元402的第二端与第三电路单元302的第二端连接。
其中，第二条件可以包括：检测到所述能量冲击，能量冲击包括以下至少一种：反电动势冲击、电流冲击。
在图2D所示的示例中，第一逆变器201和第二逆变器202可以分别连接电机400的两个绕组，但本申请不限于此，第一逆变器201和第二逆变器202还可以分别和电机400的同一绕组连接，例如，第一逆变器201和第二逆变器202可以与电机的第一绕组连接，同时，第一逆变器201和第二逆变器202可以与电机的第二绕组连接，进而使第一逆变器201和第二逆变器202可以共同控制电机的一组绕组。
通过上述设置，实现通过第一逆变器和第二逆变器控制电机的一组绕组，例如，通过第一逆变器实现对电机的50％供电，通过第二逆变器实现对电机的50％供电；也可以实现通过第一逆变器和第二逆变器分别对两组电机绕组的控制，例如，通过第一逆变器实现对电机的第一绕组的控制，通过第二逆变器实现对电机的第二绕组的控制，从而当第一逆变器、第二逆变器中的一个或多个出现故障时，保证电机的运行。
在一些实施例中，电路还可以应用双冗余电机控制系统中，图2B是本申请一个实施例提供的双冗余电机控制系统的示意图，如图2B所示，双冗余电机控制系统可以包括：第一冗余控制系统110、第二冗余控制系统120、第五电路单元501、第六电路单元601以及电机400。
第一冗余控制系统110可以包括：第一逆变器201、第一电路单元301(也称为断相电路)以及第二电路单元401；第二冗余控制系统120可以包括：第二逆变器202、第三电路单元302(也称为断相电路)以及第四电路单元402。
第一电路单元301的第一端与第一逆变器201的输出端连接，第一电路单元301的第二端与电机400的第一绕组410连接，第一电路单元301被配置为在第一条件下处于断开状态；第二电路单元401用于吸收能量冲击，第二电路单元401的第一端与第一电路单元301的第一端连接，第二电路单元401的第二端与第一电路单元301的第二端连接。
第三电路单元302的第一端用于与第二逆变器201的输出端连接，第三电路单元302的第二端与电机400的第二绕组420连接，第三电路单元302被配置为在第二条件下处于断开状态；第四电路单元402用于吸收能量冲击，第四电路单元402的第一端与第三电路单元302的第一端连接，第四电路单元402的第二端与第三电路单元302的第二端连接。
其中，第一条件和第二条件可以包括：检测到所述能量冲击，能量冲击包括以下至少一种：反电动势冲击、电流冲击。
与上述实施例类似，第一逆变器201和第二逆变器202可以分别包括控制单元、驱动电路以及逆变电路。控制单元、驱动电路以及逆变电路之间的连接关系、它们各自的作用以及它们与其他电路单元之间的连接关系可以参照上述实施例，为了简洁起 见，在此不再赘述。
第五电路单元501的第一端与第一电路单元301的第一端连接，第五电路单元501的第二端与第三电路单元302的第二端连接，用于在第二逆变器202、第三电路单元302、第四电路单元402中至少一个故障时导通，从而实现对电机400的控制。第六电路单元601的第一端第三电路单元302的第一端连接，第六电路单元601的第二端与第一电路单元301的第二端连接，第六电路单元601用于在第一逆变器201、第一电路单元301、第二电路单元401中至少一个故障时导通，从而实现对电机400的控制。
在一些实施例中，第二电路单元40、401和第四电路单元402可以包括：瞬态电压抑制二极管(Transient Voltage Suppressor，TVS)。当TVS管的与电机绕组连接的一端受到来自电机400的瞬间反电动势的冲击时，TVS管能够以极高的速度使其阻抗骤然降低，同时吸收一个大电流，将其两端间的电压箝位在一个预定的数值上，从而保证第一电路单元301免受瞬态高能量的反电动势的冲击而损坏。此外，由于TVS管能够将第一电路单元301两端的电压箝位在一个预定的数值上，因此，可以允许采用较低额定电压的MOS管作为第一电路单元，避免了在MOS管导通时，因MOS管的阻抗上升带来的MOS管过热的问题。
在一些实施例中，第二电路单元40、401和第四电路单元402中的一个或多个还包括：电阻，电阻的一端与TVS管连接，电阻的另一端与电机的绕组连接。
TVS管，能够在瞬间吸收电机产生的反电动势，防止反电动势冲击第一电路单元301、第三电路单元302，进而避免反电动势对驱动电路造成的冲击，并且将第一电路单元301、第三电路单元302两端的电压箝位在一个预定的数值上；此外，由于TVS管能够将第一电路单元301、第三电路单元302两端的电压箝位在一个预定的数值上，因此，可以允许采用较低额定电压的MOS管作为第一电路单元301、第三电路单元302，避免了在MOS管导通时，因MOS管的阻抗上升带来的MOS管过热的问题。
在一些实施例中，第二电路单元40、401和第四电路单元402中的一个或多个还包括：电容，电容与电阻并联。
相互并联的电容和电阻可以提高第二电路单元40、401和第四电路单元402对反电动势的吸收能力，并且也能够有效地降低TVS管的选型规格，从而可以采用较低额定电压的TVS管，降低了产品的成本。
在一些实施例中，第一电路单元包括：NMOS管，NMOS管的源极与第一逆变器201或第二逆变器202连接，NMOS管的漏极用于与电机的第一绕组410或第二绕组420连接。
在一些实施例中，电机可以包括：双绕组三相电机，双绕组三相电机包括：第一绕组410和第二绕组420，第一绕组410可以包括：第一U相绕组，第一V相绕组以及第一W相绕组；第二绕组420包括：第二U相绕组，第二V相绕组以及第二W相绕组。电机可以为Y型电机、三角型电机、双绕组电机、单绕组电机等，本申请对此不做限制。
图2C示出了另一个实施例提供的电机控制系统的示意图，如图2C所示，电机控制系统可以包括：电机400、控制单元100、驱动电路200、三相桥300、第一电路 单元30以及第二电路单元40。
控制单元100用于确定电机的旋转方向和助力电流；驱动电路200与控制单元100连接，用于将控制单元100的信号进行放大、以及将控制单元100的控制指令信号转换为三相桥300的驱动信号，例如，通过调整三相桥300的各个开关的占空比来调整电流大小；三相桥300与驱动电路200连接，用于将直流电能转换为交流电能；第一电路单元30用于连接三相桥300和电机400的绕组，用于当电机400产生反电动势时，断开与电机400的绕组的连接；第二电路单元40与第一电路单元30并联，用于在电机400产生反电动势时，吸收电机产生的反电动势，避免反电动势冲击第一电路单元30造成第一电路单元30失效。
三相桥300可以包括其源极分别用于与电机400的第一绕组的U1、V1、W1相以及第二绕组的U2、V2、W2连接的上桥第一MOS管310、上桥第二MOS管320、上桥第三MOS管330。三相桥300还可以包括下桥第一MOS管340、下桥第二MOS管350以及下桥第三MOS管360。通过控制上桥MOS管310、320、330和下桥MOS管340、350、360通断时序来实现对电机的绕组的控制。
下桥第一MOS管340的漏极与上桥第一MOS管310的源极连接，下桥第一MOS管340的源极用于接地，下桥第二MOS管350的漏极与上桥第二MOS管320的源极连接，下桥第二MOS管350的源极用于接地，下桥第三MOS管360的漏极与上桥第三MOS管330的源极连接，下桥第三MOS管360的源极用于接地。上桥第一MOS管310、上桥第二MOS管320、上桥第三MOS管330、下桥第一MOS管340、下桥第二MOS管350以及下桥第三MOS管360的门极与驱动电路200连接。
第一电路单元30可以为6个NMOS管：Q1-AMOS管、Q2-AMOS管、Q3-AMOS管、Q1-BMOS管、Q2-BMOS管以及Q3-BMOS管。Q1-AMOS管的源极与三相桥的上桥第一MOS管310的源极连接，Q1-AMOS管的漏极与电机400的第一绕组的U1相连接，Q1-AMOS管的门极与驱动电路200连接；Q2-AMOS管的源极与上桥第二MOS管320的源极连接，Q2-AMOS管的漏极与电机400的第一绕组的V1相连接，Q2-AMOS管的门极与驱动电路200连接；Q3-AMOS管的源极与上桥第三MOS管330的源极连接，Q3-AMOS管的漏极与电机400的第一绕组的W1相连接，Q3-AMOS管的门极与驱动电路200连接。Q1-BMOS管的源极与三相桥300的上桥第一MOS管310的源极连接，Q1-BMOS管的漏极与电机400的第二绕组的U2相连接，Q1-BMOS管的门极与驱动电路200连接；Q2-BMOS管的源极与三相桥300的上桥第二MOS管320的源极连接，Q2-BMOS管的漏极与电机400的第二绕组的V2相连接，Q2-BMOS管的门极与驱动电路200连接；Q3-BMOS管的源极与三相桥的上桥第三MOS管330的源极连接，Q3-BMOS管的漏极与电机400的第二绕组的W2相连接，Q3-BMOS管的门极与驱动电路200连接。
如图5所示，第二电路单元40可以包括：TVS管41、电容42以及电阻43。TVS管41的一端与MOS管3010的源极连接，TVS管41的另一端与电阻43的一端连接。当TVS管的与电机的绕组连接的一端经受瞬间的高反电动势冲击时，它能以极高的速度使其阻抗骤然降低，同时吸收一个大电流，将其两端间的电压箝位在一个预定的数值上，确保MOS管3010免受瞬态高能量的冲击而损坏；同时，由于TVS管41能够 将其两端间的电压箝位在一个预定的数值上，因此，可以允许采用较低额定电压的MOS管3010，避免了在MOS管3010导通时，因MOS管3010的阻抗上升带来的MOS管3010过热的问题。
电阻43的另一端与MOS管3010的漏极连接，电容42与电阻43并联。相互并联的电容42和电阻43能够有效地降低TVS管41的选型规格，从而可以采用较低额定电压的TVS管，降低了产品的成本，并且可以提高第二电路单元对反电动势的吸收能力。
在一些实施例中，TVS管41还可以替换为其他的用于吸收来自电机的任一相的反电动势的电子元器件，例如，TVS管41可以替换为二极管。
图3是本申请另一个实施例提供的电机控制系统的示意图，如图3所示，电机控制系统可以包括：电机400、信号连接器3、与信号连接器3连接的控制单元2以及分别与控制单元2和电机4的绕组的相U1、V1、W1、U2、V2、W2连接的功率单元1，其中，控制单元2用于向电机4输出控制信号，功率单元1用于将低压直流的控制信号转换为高压交流控制信号，信号连接器3用于供控制单元2与车辆的其他单元进行通信。
如图3所示，控制单元2可以包括：用于进行计算处理的第一冗余控制单元211、用于给第一冗余控制单元211供电的第一控制供电电源212、与第一冗余控制单元211连接用于唤醒第一冗余控制单元的第一唤醒单元213、用于驱动电机的第一驱动电路214、用于供第一冗余控制单元211与车辆其他单元进行通信的第一CAN接口215、用于供控制单元2的各个单元进行信号交互的第一信号接216、二级降压DC-DC217、一级降压DC-DC218、前置升压DC-DC219。其中，第一冗余控制单元211可以为微程序控制器(Microprogrammed Control Unit，MCU)，也可以是其他芯片，例如：系统芯片、通用芯片等。控制单元2还包括：用于进行计算处理的第二冗余控制单元221、用于给第二冗余控制单元221供电的第二控制供电电源222、与第二冗余控制单元221连接用于唤醒第二冗余控制单元221的第二唤醒单元223、用于驱动电机4的第二驱动电路224、双驱动控制/逻辑接口23，双驱动控制/逻辑接口23用于供第一冗余控制单元211与第一驱动电路214进行信号交互以及用于供第二冗余控制单元221与第二驱动电路224进行信号交互、用于供第二冗余控制单元221与车辆其他单元进行通信的第二CAN接口225、用于供控制单元2的各个单元进行信号交互的第二信号接口226、二级降压DC-DC217、一级降压DC-DC218、前置升压DC-DC219。其中，第二冗余控制单元221可以为MCU，也可以是其他芯片，例如：系统芯片、通用芯片等。其中，第一冗余控制单元211和第二冗余控制单元221都用于控制电机4，当第一冗余控制单元211和第二冗余控制单元221中的一个失效时，另一个控制电机4。
如图3所示，功率单元1可以包括：用于将直流的控制信号转换为交流控制信号的第一三相桥31、用于连接第一三相桥和电机的绕组，并且用于在电机产生反电动势用于与电机的绕组断开连接的Q1-AMOS管、Q2-AMOS管、Q3-AMOS管、Q1-BMOS管、Q2-BMOS管、Q3-BMOS管、以及并联于上述MOS管的第二电路单元40；功率单元1还可以包括：用于将直流的控制信号转换为交流控制信号的第二三相桥32、用于连接第二三相桥和电机的绕组，并且用于在电机产生反电动势用于与电机的绕组断 开连接的Q4-AMOS管、Q5-AMOS管、Q6-AMOS管、Q4-BMOS管、Q5-BMOS管、Q6-BMOS管、以及并联于上述MOS管第二电路单元40。其中，Q1-AMOS管、Q2-AMOS管、Q3-AMOS管、Q1-BMOS管、Q2-BMOS管、Q3-BMOS管、Q4-AMOS管、Q5-AMOS管、Q6-AMOS管、Q4-BMOS管、Q5-BMOS管以及Q6-BMOS管均可以为NMOS管。
如图4所示，第一三相桥31可以包括其源极分别用于与电机的第一绕组的U1相、V1相和W1相连接的上桥第一MOS管311、上桥第二MOS管312、上桥第三MOS管313；第一三相桥31包括：下桥第一MOS管314、下桥第二MOS管315以及下桥第三MOS管316，通过控制上桥MOS管311、312、313和下桥MOS管314、315、316的通断时序来实现对电机的绕组的控制。
下桥第一MOS管314的漏极与上桥第一MOS管311的源极连接，下桥第一MOS管314的源极用于接地，下桥第二MOS管315的漏极与上桥第二MOS管312的源极连接，下桥第二MOS管315的源极用于接地，下桥第三MOS管316的漏极与上桥第三MOS管313的源极连接，下桥第三MOS管316的源极用于接地。上桥第一MOS管311、上桥第二MOS管312、上桥第三MOS管313、下桥第一MOS管314、下桥第二MOS管315以及下桥第三MOS管316的门极与第一驱动电路连接。
如图4所示，第二三相桥32可以包括其源极分别用于与电机的第二绕组的U2相、V2相和W2相连接的上桥第一MOS管321、上桥第二MOS管322、上桥第三MOS管323。第二三相桥32可以包括下桥第一MOS管324、下桥第二MOS管325以及下桥第三MOS管326，其中，下桥第一MOS管324的漏极与上桥第一MOS管321的源极连接，下桥第一MOS管324的源极用于接地，下桥第二MOS管325的漏极与上桥第二MOS管322的源极连接，下桥第二MOS管325的源极用于接地，下桥第三MOS管326的漏极与上桥第三MOS管323的源极连接，下桥第三MOS管326的源极用于接地。上桥第一MOS管321、上桥第二MOS管322、上桥第三MOS管323、下桥第一MOS管324、下桥第二MOS管325以及下桥第三MOS管326的门极与第二驱动电路连接。
如图3-图4所示，Q1-AMOS管的源极与第一三相桥31的上桥第一MOS管311的源极连接，Q1-AMOS管的漏极与电机的第一绕组的U1相连接，Q1-AMOS管的门极与第一驱动电路214连接；Q2-AMOS管的源极与上桥第二MOS管312的源极连接，Q2-AMOS管的漏极与电机的第一绕组的V1相连接，Q2-AMOS管的门极与第一驱动电路214连接；Q3-AMOS管的源极与上桥第三MOS管313的源极连接，Q3-AMOS管的漏极与电机的第一绕组的W1相连接，Q3-AMOS管的门极与第一驱动电路214连接。
如图3-图4所示，Q4-AMOS管的源极与第二三相桥32的上桥第一MOS管321的源极连接，Q4-AMOS管的漏极与电机的第二绕组的U2相连接，Q4-AMOS管的门极与第二驱动电路224连接；Q5-AMOS管的源极与第二三相桥32的上桥第二MOS管322的源极连接，Q5-AMOS管的漏极与电机的第二绕组的V2相连接，Q5-AMOS管的门极与第二驱动电路224连接；Q6-AMOS管的源极与第二三相桥32的上桥第三MOS管323的源极连接，Q6-AMOS管的漏极与电机的第二绕组的W2相连接， Q6-AMOS管的门极与第二驱动电路224连接。
如图3-图4所示，Q1-BMOS管的漏极与第一三相桥31的上桥第一MOS管311的源极连接，Q1-BMOS管的源极与电机的第二绕组的U2相连接，Q1-BMOS管的门极与第一驱动电路214连接；Q2-BMOS管的漏极与上桥第二MOS管312的源极连接，Q2-BMOS管的源极与电机的第二绕组的V2相连接，Q2-BMOS管的门极与第一驱动电路214连接；Q3-BMOS管的漏极与上桥第三MOS管313的源极连接，Q3-BMOS管的源极与电机的第二绕组的W2相连接，Q3-BMOS管的门极与第一驱动电路214连接。Q4-BMOS管的漏极与第二三相桥32的上桥第一MOS管321的源极连接，Q4-BMOS管的源极与电机的第一绕组的U1相连接，Q4-BMOS管的门极与第二驱动电路224连接；Q5-BMOS管的漏极与第二三相桥32的上桥第二MOS管322的源极连接，Q5-BMOS管的源极与电机的第一绕组的V1相连接，Q5-BMOS管的门极与第二驱动电路224连接；Q6-BMOS管的漏极与第二三相桥的上桥第三MOS管323的源极连接，Q6-BMOS管的源极与电机的第一绕组的W1相连接，Q6-AMOS管的门极与第二驱动电路224连接。
当第一冗余控制单元211和第二冗余控制单元221均有效时，第一驱动电路214控制Q1-AMOS管、Q2-AMOS管、Q3-AMOS管分别与电机的第一绕组的U1、V1、W1相连接，控制Q1-BMOS管、Q2-BMOS管、Q3-BMOS管分别与电机的第二绕组的U2、V2、W2相断开；第二驱动电路224控制Q4-AMOS管、Q5-AMOS管以及Q6-AMOS管分别与电机的第二绕组的U2、V2、W2相连接，控制Q4-BMOS管、Q5-BMOS管、Q6-BMOS管分别与电机的第一绕组的U1、V1、W1断开。
当第一冗余控制单元211失效时，Q1-AMOS管、Q2-AMOS管、Q3-AMOS管均断开与电机第一绕组的U1、V1、W1相的连接，第二冗余控制单元221可以控制Q4-BMOS管、Q5-BMOS管、Q6-BMOS管与电机的第一绕组的U1、V1、W1相的连接；当第二冗余控制单元221失效时，Q4-AMOS管、Q5-AMOS管、Q6-AMOS管均断开与电机的第二绕组的U2、V2、W2相的连接，第一冗余控制单元211可以控制Q1-BMOS管、Q2-BMOS管、Q3-BMOS管与电机的第二绕组的U2、V2、W2相连接。通过上述设置，使得当第一冗余控制单元211和第二冗余控制单元221中的一个失效时，另一个也能够控制电机的两绕组的U1、V1、W1、U2、V2、W2相。
如图4-图5B所示，如图5A所示，第二电路单元40可以包括：TVS管41、电容42以及电阻43。TVS管41的一端与MOS管3010的源极连接，TVS管41的另一端与电阻43的一端连接，当TVS管的与电机的绕组连接的一端经受瞬间的高反电动势冲击时，它能以极高的速度使其阻抗骤然降低，同时吸收一个大电流，将其两端间的电压箝位在一个预定的数值上，从而确保MOS管免受瞬态高能量的冲击而损坏；同时，TVS管41可以允许采用较低额定电压的MOS管3010，避免了在MOS管3010导通时，因MOS管3010的阻抗上升带来的MOS管3010过热的问题。电阻43的另一端与MOS管3010的漏极连接，电容42与电阻43并联。相互并联的电容42和电阻43能够有效地降低TVS管41的选型规格，从而可以采用较低额定电压的TVS管，降低了产品的成本，并且可以提高第二电路单元对反电动势的吸收能力。
在一些实施例中，TVS管41还可以替换为其他的用于吸收来自电机的任一相的 反电动势的电子元器件，例如，TVS管41可以替换为二极管。
在一些实施例中，如图5B所示，第二电路单元40可以包括：第一二极管441和第二二极管442、电容42以及电阻43。第一二极管的正极与MOS管的源极连接，第一二极管441的负极与第二二极管442的负极连接，第二二极管442的正极与电阻43的一端连接，电阻43的另一端与MOS管的漏极连接，电容42与电阻43并联。
当电机产生反电动势时，电机的绕组端的电压会高于三相桥端的电压，当电机的绕组端的电压超过MOS管的额定电压时，MOS管则无法承受电机产生的反电动势，进而使反电动势冲击前端的第一驱动电路和第二驱动电路。当MOS管的漏极和源极并联第二电路单元时，第二电路单元可以吸收电机产生的反电动势，避免反电动势冲击MOS管，进而防止因MOS管失效而导致反电动势冲击前端的第一驱动电路和第二驱动电路。
图6示出了本申请实施例提供的电路的控制方法的流程。本申请实施例提供的电路的控制方法可以由终端执行，例如诸如智能车辆、车载装置这样的终端，也可以是由应用在终端内的电子装置，例如：系统芯片、通用芯片等。
如图6所示，本申请实施例提供的电机的电路控制方法可以包括以下步骤：
步骤S1：获取电机的转速。
在一些实施例中，步骤S1具体可以包括：获取电机角速度信息和方向盘扭矩信息；根据电机角速度信息获得电机的第一转速，根据方向盘扭矩信息获得电机的第二转速；当第一转速与第二转速间的转速差小于第二阈值时，根据第一转速与第二转速获得第三转速，以第三转速作为电机的转速。
其中，电机角速度信息和方向盘扭矩信息可以为传感器(例如，电机角速度传感器、方向盘扭矩传感器)直接采集的信息，也可以是对传感器采集的信息经过处理后得到的信息，本申请对此不做限制。第三转速可以是第一转速，也可以是第二转速，还可以是第一转速和第二转速的加权平均。
在一些实施例中，可以根据方向盘扭矩信息，确定第一转速，例如，可以根据扭矩角度，结合转动轴、减速机构、转向器以及电机之间的传动比来确定第一转速。
步骤S2：若电机的转速小于第一阈值，判断第一条件是否被满足。
其中，第一阈值可以根据第一电路单元设置，例如，第一阈值可以在1500r/min～3000r/min取值。
在一些实施例中，第一条件可以包括：检测到的能量冲击，能量冲击包括以下至少一种：反电动势冲击、电流冲击。
在一些实施例中，反电动势冲击还可以根据电机绕组的电压确定，例如，可以在电机绕组上设置电压检测器，通过检测电机绕组的电压值来确定电机的电势信息，当电压值大于第一电路单元的额定电压时，表明电机产生反电动势；当电压值小于第一电路单元的额定电压时，表明电机没有产生反电动势。
步骤S3:当所述第一条件被满足时，控制第一电路单元处于断开状态。
其中，当电路结构的详细描述可以参见本申请的上述实施例，为了简洁起见，在此不再赘述。
在一些实施例中，当第一电路单元包括的NMOS的额定电压为40V时，第一阈 值可以为2000r/min，当电机的转速低于这一阈值时，可以控制第一电路单元处于接通状态，例如当转速低于2000r/min时，接通或打开断相保护NMOS，此时出现需要进行断相保护的情况时，可以执行断相保护操作，例如在检测到能量冲击时断开断相保护NMOS。当转速高于2000r/min时，断开或关闭断相保护NMOS，此时不进行断相保护操作，在该状态下持续获取电机转速，直至电机转速小于2000r/min时，再接通或打开断相保护NMOS，此时出现需要进行断相保护的情况时，可以执行断相保护操作：例如可以时刻检测是否出现能量冲击；当检测到出现能量冲击时，执行断相保护操作，例如可以断开断相保护NMOS。
需要说明的是，由于MOS管在状态切换的过程中承受电压能力弱，本处为避免在电机产生过大反电动势的时候MOS管处于接通状态并承受过大的反电动势的冲击，可以控制转速小于一定阈值时再判断是否需要执行断相保护，转速较低时，能量冲击较小，例如转速较低时，反电动势电压相对较低；转速较高时，反电动势电压相对较高。例如，转速限制在2000r/min以下时，再判断断相MOS管是否需要切换状态。而当转速大于一定阈值时，例如大于2000r/min为避免硬件失效，始终保持断相MOS管处于断开状态或不切换状态。
在一些实施例中，电路的控制方法还包括：获取第二逆变器、所述第三电路单元以及所述第四电路单元的故障信号；若所述故障信号指示所述第二逆变器、所述第三电路单元、所述第四电路单元中至少一个出现故障，则所述第三条件被满足，控制所述第五电路单元导通。
其中，故障信号可以是第二逆变器的主控电路检测到故障后发送的或由第二逆变器的驱动芯片内部的故障检测电路检测到故障后生成的，本申请对此不做限制。
在一些实施例中，电路的控制方法还包括：获取所述第一逆变器、所述第一电路单元以及所述第二电路单元的故障信号；若所述故障信号指示所述第一逆变器、所述第一电路单元以及所述第二电路单元中至少一个出现故障，则所述第四条件被满足，控制所述第六电路单元导通。
其中，故障信号可以是第一逆变器的主控电路检测到故障后发送的或由第一逆变器的驱动芯片内部的故障检测电路检测到故障后生成的，本申请对此不做限制。
图7示出了本申请一个实施例提供的电路的控制装置，如图7所示，本实施例提供的电路控制装置包括获取单元800和控制单元900。
获取单元800，用于获取电机的转速；控制单元900，用于当电机的转速小于第一阈值时，判断第一条件是否被满足；控制单元还用于，当第一条件被满足时，控制第一电路单元处于断开状态，
其中，电路包括：第一电路单元和第二电路单元，其中，第一电路单元的第一端用于与第一逆变器的输出端连接，第一电路单元的第二端用于与电机连接，第一电路单元被配置为在第一条件下处于断开状态；第二电路单元用于吸收能量冲击，其中，第二电路单元的第一端与第一电路单元的第一端连接，第二电路单元的第二端与第一电路单元的第二端连接。
在一种可能的实现方式中，第一条件包括：检测到能量冲击，能量冲击包括以下至少一种：反电动势冲击、电流冲击。
在一种可能的实现方式中，获取单元800具体用于：获取电机角速度信息和方向盘扭矩信息；根据电机角速度信息获得电机的第一转速，根据方向盘扭矩信息获得电机的第二转速；若第一转速与第二转速的转速差小于第二阈值，根据第一转速与第二转速获得第三转速，以第三转速为电机的转速。
在一种可能的实现方式中，电路还包括：第三电路单元、第四电路单元、第五电路单元；第三电路单元的第一端用于与第二逆变器的输出端连接，第三电路单元的第二端用于与电机连接，第三电路单元被配置为在第二条件下处于断开状态；以及第四电路单元，用于吸收能量冲击，其中，第四电路单元的第一端与第三电路单元的第一端连接，第四电路单元的第二端与第三电路单元的第二端连接，第五电路单元的第一端与第一电路单元的第一端连接，第五电路单元的第二端与第三电路单元的第二端连接，第五电路单元被配置为在第三条件下导通；获取单元800还用于，获取第二逆变器、第三电路单元以及第四电路单元的故障信号；控制单元900还用于，若故障信号指示第二逆变器、第三电路单元、第四电路单元中至少一个出现故障，则第三条件被满足，控制第五电路单元导通。
在一种可能的实现方式中，电路还包括：第六电路单元，第六电路单元的第一端与第三电路单元的第一端连接，第六电路单元的第二端与第一电路单元的第二端连接，第六电路单元被配置为在第四条件下导通；获取单元800还用于，获取第一逆变器、第一电路单元以及第二电路单元的故障信号；控制单元900还用于，若故障信号指示第一逆变器、第一电路单元以及第二电路单元中至少一个出现故障，则第四条件被满足，控制第六电路单元导通。
在一种可能的实现方式中，第二条件包括：检测到能量冲击，能量冲击包括以下至少一种：反电动势冲击、电流冲击。
需要说明的是，上述各单元，即：获取单元800和控制单元900用于执行上述方法的相关步骤。比如获取单元800用于执行步骤S1、等相关内容，控制单元900用于执行步骤S2、S3等的相关内容。
在本实施例中，控制装置是以单元的形式来呈现。这里的“单元”可以包括专用集成电路(application specific integrated circuit，ASIC)，执行一个或多个软件或固件程序的处理器和存储器，集成逻辑电路，和/或其他可以提供上述功能的器件。此外，以上获取单元800和控制单元900可以通过图8所示的计算设备来实现。
图8是本申请实施例提供的一种计算设备1500的结构性示意性图。该计算设备1500包括：处理器1510和存储器1520。
其中，该处理器1510可以与存储器1520连接。该存储器1520可以用于存储该程序代码和数据。因此，该存储器1520可以是处理器1510内部的存储单元，也可以是与处理器1510独立的外部存储单元，还可以是包括处理器1510内部的存储单元和与处理器1510独立的外部存储单元的部件。
可选的，计算设备1500还可以包括总线。其中，存储器1520、通信接口可以通过总线与处理器1510连接。总线可以是外设部件互连标准(Peripheral Component Interconnect，PCI)总线或扩展工业标准结构(Extended Industry Standard Architecture，EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。
应理解，在本申请实施例中，该处理器1510可以采用中央处理单元(central processing unit，CPU)。该处理器还可以是其它通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate Array，FPGA)或者其它可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。或者该处理器1510采用一个或多个集成电路，用于执行相关程序，以实现本申请实施例所提供的技术方案。
该存储器1520可以包括只读存储器和随机存取存储器，并向处理器1510提供指令和数据。处理器1510的一部分还可以包括非易失性随机存取存储器。例如，处理器1510还可以存储设备类型的信息。
在计算设备1500运行时，处理器1510执行存储器1520中的计算机执行指令执行上述方法的操作步骤。
应理解，根据本申请实施例的计算设备1500可以对应于执行根据本申请各实施例的方法中的相应主体，并且计算设备1500中的各个模块的上述和其它操作和/或功能分别为了实现本实施例各方法的相应流程，为了简洁，在此不再赘述。
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，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。
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。
本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时用于执行上述电路的控制方法，该方法包括上述各个实施例所描述的方案中的至少之一。
本申请实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是，但不限于，电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括、但不限于无线、电线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络，包括局域网(LAN)或广域网(WAN)，连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
说明书和权利要求书中的词语“第一、第二、第三等”或模块A、模块B、模块C等类似用语，仅用于区别类似的对象，不代表针对对象的特定排序，可以理解地，在允许的情况下可以互换特定的顺序或先后次序，以使这里描述的本申请实施例能够以除了在这里图示或描述的以外的顺序实施。
本说明书中提到的“一个实施例”或“实施例”意味着与该实施例结合描述的特定特征、结构或特性包括在本发明的至少一个实施例中。因此，在本说明书各处出现的用语“在一个实施例中”或“在实施例中”并不一定都指同一实施例，但可以指同一实施例。此外，在一个或多个实施例中，能够以任何适当的方式组合各特定特征、结构或特性，如从本公开对本领域的普通技术人员显而易见的那样。
注意，上述仅为本申请的较佳实施例及所运用的技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本申请进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明的构思的情况下，还可以包括更多其他等效实施例，均属于本发明的保护范畴。

Claims (26)

  1. 一种电路，其特征在于，包括：
    第一电路单元，所述第一电路单元的第一端用于与第一逆变器的输出端连接，所述第一电路单元的第二端用于与电机连接，所述第一电路单元被配置为在第一条件下处于断开状态；以及，
    第二电路单元，所述第二电路单元用于吸收能量冲击，其中，所述第二电路单元的第一端与所述第一电路单元的第一端连接，所述第二电路单元的第二端与所述第一电路单元的第二端连接。
  2. 根据权利要求1所述的电路，其特征在于，所述电路还包括：
    第三电路单元，所述第三电路单元的第一端用于与第二逆变器的输出端连接，所述第三电路单元的第二端用于与所述电机连接，所述第三电路单元被配置为在第二条件下处于断开状态；以及
    第四电路单元，用于吸收能量冲击，其中，所述第四电路单元的第一端与所述第三电路单元的第一端连接，所述第四电路单元的第二端与所述第三电路单元的第二端连接。
  3. 根据权利要求2所述的电路，其特征在于，所述电机包括第一绕组和第二绕组；所述第一电路单元的第二端用于与电机连接，具体包括：所述第一电路单元的第二端用于与所述电机的所述第一绕组连接；
    所述第三电路单元的第二端用于与所述电机连接，具体包括：所述第三电路单元的第二端用于与所述电机的所述第二绕组连接。
  4. 根据权利要求2或3所述的电路，其特征在于，还包括：
    第五电路单元，所述第五电路单元的第一端与所述第一电路单元的第一端连接，所述第五电路单元的第二端与所述第三电路单元的第二端连接，所述第五电路单元被配置为在第三条件下导通。
  5. 根据权利要求4所述的电路，其特征在于，所述第三条件包括以下至少一种：所述第二逆变器故障、所述第三电路单元故障、所述第四电路单元故障。
  6. 根据权利要求2至5任一项所述的电路，其特征在于，还包括：
    第六电路单元，所述第六电路单元的第一端与所述第三电路单元的第一端连接，所述第六电路单元的第二端与所述第一电路单元的第二端连接，所述第六电路单元被配置为在第四条件下导通。
  7. 根据权利要求6所述的电路，其特征在于，所述第四条件包括以下至少一种：所述第一逆变器故障、所述第一电路单元故障、所述第二电路单元故障。
  8. 根据权利要求1至7任一项所述的电路，其特征在于，所述第二电路单元包括：瞬态电压抑制二极管；
    所述第二电路单元的第一端与所述第一电路单元的第一端连接，所述第二电路单元的第二端与所述第一电路单元的第二端连接，具体包括：所述瞬态电压抑制二极管的第一端与所述第一电路单元的第一端连接，所述瞬态电压抑制二极管的第二端与所述第一电路单元的第二端连接。
  9. 根据权利要求8所述的电路，其特征在于，所述第二电路单元还包括：第一电 阻，所述第一电阻的第一端与所述瞬态电压抑制二极管连接，所述第一电阻的第二端与所述第一电路单元的第二端连接。
  10. 根据权利要求9所述的电路，其特征在于，所述第二电路单元还包括：第一电容，所述第一电容与所述第一电阻并联。
  11. 根据权利要求1至10任一项所述的电路，其特征在于，所述第一电路单元包括：NMOS管，所述NMOS管的源极用于与所述第一逆变器连接，所述NMOS管的漏极用于与所述电机连接。
  12. 一种电路的控制方法，其特征在于，所述电路包括：第一电路单元和第二电路单元，其中，所述第一电路单元的第一端用于与第一逆变器的输出端连接，所述第一电路单元的第二端用于与电机连接，所述第一电路单元被配置为在第一条件下处于断开状态；所述第二电路单元用于吸收能量冲击，其中，所述第二电路单元的第一端与所述第一电路单元的第一端连接，所述第二电路单元的第二端与所述第一电路单元的第二端连接；
    所述方法包括：
    获取所述电机的转速；
    若所述电机的转速小于第一阈值，判断所述第一条件是否被满足；
    当所述第一条件被满足时，控制所述第一电路单元处于断开状态。
  13. 根据权利要求12所述的方法，其特征在于，所述第一条件包括：检测到所述能量冲击，所述能量冲击包括以下至少一种：反电动势冲击、电流冲击。
  14. 根据权利要求12或13所述的方法，其特征在于，所述获取所述电机的转速，具体包括：
    获取所述电机角速度信息和方向盘扭矩信息；
    根据所述电机角速度信息获得所述电机的第一转速，根据所述方向盘扭矩信息获得所述电机的第二转速；
    若所述第一转速与所述第二转速的转速差小于第二阈值，根据所述第一转速与所述第二转速获得第三转速，以所述第三转速为所述电机的转速。
  15. 根据权利要求12至14任一项所述的方法，其特征在于，所述电路还包括：第三电路单元、第四电路单元、第五电路单元；
    所述第三电路单元的第一端用于与第二逆变器的输出端连接，所述第三电路单元的第二端用于与所述电机连接，所述第三电路单元被配置为在第二条件下处于断开状态；以及
    第四电路单元，用于吸收能量冲击，其中，所述第四电路单元的第一端与所述第三电路单元的第一端连接，所述第四电路单元的第二端与所述第三电路单元的第二端连接，所述第五电路单元的第一端与所述第一电路单元的第一端连接，所述第五电路单元的第二端与所述第三电路单元的第二端连接，所述第五电路单元被配置为在第三条件下导通；
    所述方法还包括：
    获取电路故障信息；
    若所述电路故障信息指示所述第二逆变器、所述第三电路单元、所述第四电路单 元中至少一个出现故障，控制所述第五电路单元导通。
  16. 根据权利要求15所述的方法，其特征在于，所述电路还包括：第六电路单元，所述第六电路单元的第一端与所述第三电路单元的第一端连接，所述第六电路单元的第二端与所述第一电路单元的第二端连接，所述第六电路单元被配置为在第四条件下导通；
    所述方法还包括：
    若所述电路故障信息指示所述第一逆变器、所述第一电路单元以及所述第二电路单元中至少一个出现故障，控制所述第六电路单元导通。
  17. 一种电路的控制装置，其特征在于，所述电路包括：第一电路单元和第二电路单元，其中，所述第一电路单元的第一端用于与第一逆变器的输出端连接，所述第一电路单元的第二端用于与电机连接，所述第一电路单元被配置为在第一条件下处于断开状态；所述第二电路单元用于吸收能量冲击，其中，所述第二电路单元的第一端与所述第一电路单元的第一端连接，所述第二电路单元的第二端与所述第一电路单元的第二端连接；
    所述控制装置包括：
    获取单元，用于获取所述电机的转速；
    控制单元，用于当所述电机的转速小于第一阈值时，判断所述第一条件是否被满足；
    所述控制单元还用于，当所述第一条件被满足时，控制所述第一电路单元处于断开状态。
  18. 根据权利要求17所述的装置，其特征在于，所述第一条件包括：检测到所述能量冲击，所述能量冲击包括以下至少一种：反电动势冲击、电流冲击。
  19. 根据权利要求17或18所述的装置，其特征在于，所述获取单元具体用于：
    获取所述电机角速度信息和方向盘扭矩信息；
    根据所述电机角速度信息获得所述电机的第一转速，根据所述方向盘扭矩信息获得所述电机的第二转速；
    若所述第一转速与所述第二转速的转速差小于第二阈值，根据所述第一转速与所述第二转速获得第三转速，以所述第三转速为所述电机的转速。
  20. 根据权利要求17至19任一项所述的装置，其特征在于，所述电路还包括：第三电路单元、第四电路单元、第五电路单元；
    所述第三电路单元的第一端用于与第二逆变器的输出端连接，所述第三电路单元的第二端用于与所述电机连接，所述第三电路单元被配置为在第二条件下处于断开状态；以及
    第四电路单元，用于吸收能量冲击，其中，所述第四电路单元的第一端与所述第三电路单元的第一端连接，所述第四电路单元的第二端与所述第三电路单元的第二端连接，所述第五电路单元的第一端与所述第一电路单元的第一端连接，所述第五电路单元的第二端与所述第三电路单元的第二端连接，所述第五电路单元被配置为在第三条件下导通；
    所述获取单元还用于，获取电路故障信息；
    所述控制单元还用于，若所述电路故障信息指示所述第二逆变器、所述第三电路单元、所述第四电路单元中至少一个出现故障，控制所述第五电路单元导通。
  21. 根据权利要求20所述的装置，其特征在于，所述电路还包括：第六电路单元，所述第六电路单元的第一端与所述第三电路单元的第一端连接，所述第六电路单元的第二端与所述第一电路单元的第二端连接，所述第六电路单元被配置为在第四条件下导通；
    所述控制单元还用于，若所述电路故障信息指示所述第一逆变器、所述第一电路单元以及所述第二电路单元中至少一个出现故障，控制所述第六电路单元导通。
  22. 一种计算设备，其特征在于，包括：处理器和存储器，所述处理器与所述存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得所述计算设备执行如权利要求12至16任一项所述的控制方法。
  23. 一种计算机可读存储介质，所述计算机可读存储介质中存储程序代码，其特征在于，所述程序代码被终端或终端中的处理器执行时，实现如权利要求12至16任一项所述的控制方法。
  24. 一种计算机程序产品，其特征在于，所述计算机程序产品在计算机上运行时，实现如权利要12至16任一所述的控制方法。
  25. 一种转向系统，其特征在于，包括：权利要求1至11任一项所述的电路以及权利要求17至21任一项所述的电路的控制装置和电机。
  26. 一种车辆，其特征在于，包括：权利要求1至11任一项所述的电路以及权利要求17至21任一项所述的电路的控制装置和电机。
PCT/CN2021/115316 2021-08-30 2021-08-30 一种电路及其控制方法 Ceased WO2023028752A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/CN2021/115316 WO2023028752A1 (zh) 2021-08-30 2021-08-30 一种电路及其控制方法
CN202180016097.3A CN116075996A (zh) 2021-08-30 2021-08-30 一种电路及其控制方法
EP21955333.6A EP4383494A4 (en) 2021-08-30 2021-08-30 CONTROL CIRCUIT AND ASSOCIATED METHOD
US18/590,621 US20240199112A1 (en) 2021-08-30 2024-02-28 Circuit and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/115316 WO2023028752A1 (zh) 2021-08-30 2021-08-30 一种电路及其控制方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/590,621 Continuation US20240199112A1 (en) 2021-08-30 2024-02-28 Circuit and control method thereof

Publications (1)

Publication Number Publication Date
WO2023028752A1 true WO2023028752A1 (zh) 2023-03-09

Family

ID=85411743

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/115316 Ceased WO2023028752A1 (zh) 2021-08-30 2021-08-30 一种电路及其控制方法

Country Status (4)

Country Link
US (1) US20240199112A1 (zh)
EP (1) EP4383494A4 (zh)
CN (1) CN116075996A (zh)
WO (1) WO2023028752A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117302341A (zh) * 2023-11-28 2023-12-29 上海同驭汽车科技有限公司 电动助力转向系统及诊断保护方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106160624A (zh) * 2015-05-11 2016-11-23 英飞凌科技股份有限公司 用于多相位缓冲电路的系统和方法
CN212258413U (zh) * 2020-05-26 2020-12-29 上海汽车工业(集团)总公司 保护电路
CN212751782U (zh) * 2020-09-17 2021-03-19 上海蓝伯科电子科技有限公司 应用于助力转向电机的断相保护装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5227704A (en) * 1974-06-24 1993-07-13 General Electric Company Motor controls, refrigeration systems and methods of motor operation and control
US4308491A (en) * 1980-05-05 1981-12-29 Square D Company Automatic fault protection system for power recovery control
JP2002238287A (ja) * 2001-03-15 2002-08-23 Zexel Valeo Climate Control Corp モータ駆動装置
WO2016035826A1 (ja) * 2014-09-02 2016-03-10 日本精工株式会社 モータ制御装置及びそれを搭載した電動パワーステアリング装置並びに車両
CN104850036A (zh) * 2015-03-16 2015-08-19 中国航天科技集团公司第九研究院第七七一研究所 一种双冗余电动舵机控制系统及方法
CN108859861A (zh) * 2017-05-11 2018-11-23 杭州长江汽车有限公司 一种电动车辆的控制系统、控制方法及电动车辆
CN110371313B (zh) * 2019-07-23 2020-12-04 江苏天一机场专用设备股份有限公司 一种用于电动航食车的整车控制系统及控制方法
JP7158611B2 (ja) * 2020-02-05 2022-10-21 三菱電機株式会社 スイッチングコンバータ

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106160624A (zh) * 2015-05-11 2016-11-23 英飞凌科技股份有限公司 用于多相位缓冲电路的系统和方法
CN212258413U (zh) * 2020-05-26 2020-12-29 上海汽车工业(集团)总公司 保护电路
CN212751782U (zh) * 2020-09-17 2021-03-19 上海蓝伯科电子科技有限公司 应用于助力转向电机的断相保护装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4383494A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117302341A (zh) * 2023-11-28 2023-12-29 上海同驭汽车科技有限公司 电动助力转向系统及诊断保护方法
CN117302341B (zh) * 2023-11-28 2024-02-13 上海同驭汽车科技有限公司 电动助力转向系统及诊断保护方法

Also Published As

Publication number Publication date
US20240199112A1 (en) 2024-06-20
EP4383494A4 (en) 2024-10-09
CN116075996A (zh) 2023-05-05
EP4383494A1 (en) 2024-06-12

Similar Documents

Publication Publication Date Title
CN109104896B (zh) 电力转换装置、马达驱动单元和电动助力转向装置
CN108696226B (zh) 一种电机控制器
JP5688689B2 (ja) 電動機駆動装置、および、これを用いた電動パワーステアリング装置
CN109039221B (zh) 一种主动短路电路以及电机控制器
US8248010B2 (en) Motor driving device, electric power steering device using the same and method for detecting failure in the same
US8499885B1 (en) Motor drive apparatus
CN112468057A (zh) 用于车辆的电机控制方法和电路、电机驱动系统以及车辆
CN111038261B (zh) 拖车保护方法
US11183963B2 (en) Abnormality detection device
JP2013198202A (ja) インバータ装置及びパワーステアリング装置
JP4772104B2 (ja) 電力変換装置
JP2013223371A (ja) モータ駆動装置
US10840899B2 (en) Motor drive device and electric power steering device
CN112467693A (zh) 一种电动汽车电机控制器驱动电路及故障保护方法
CN214674313U (zh) 一种电动汽车电机控制器驱动电路
JP2013146142A (ja) モータ駆動装置
US20190312536A1 (en) Motor drive device and electric power steering device
CN115421068B (zh) 一种三相桥式逆变器电路的mosfet短路故障检测系统及方法
JPWO2018061818A1 (ja) 電力変換装置、モータ駆動ユニットおよび電動パワーステアリング装置
WO2018180237A1 (ja) 電力変換装置、モータ駆動ユニットおよび電動パワーステアリング装置
TW202133523A (zh) 欠電壓保護設備及方法
WO2023028752A1 (zh) 一种电路及其控制方法
US7683563B2 (en) Protective device for a power-assisted steering system
KR102640429B1 (ko) Ecu 보호회로, 전자 제어 유닛 및 조향 보조 시스템
US12107571B2 (en) Control circuit for power conversion apparatus

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21955333

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021955333

Country of ref document: EP

Effective date: 20240304

NENP Non-entry into the national phase

Ref country code: DE