阅读说明：本技术 一种电机反电动势高压抑制方法 (Motor back electromotive force high-voltage suppression method ) 是由 汤栋良 吴刚 周国锋 于 2021-08-27 设计创作，主要内容包括：本发明公开了一种电机反电动势高压抑制方法；包括电控系统,所述电控系统上电性连接有母线电压检测模块、温度检测模块、母线电流检测模块、相线电流检测模块、霍尔信号处理模块、抱闸控制模块和三相逆变桥功率模块,所述三相逆变桥功率模块上电性连接有电机,所述电机与所述霍尔信号处理模块电性连接,所述三相逆变桥功率模块电性连接有电容稳压滤波模块,所述电容稳压滤波模块上电性连接有电池,所述电容稳压滤波模块与所述母线电流检测模块电性连接,所述三相逆变桥功率模块与所述温度检测模块、所述母线电流检测模块和所述相线电流检测模块电性连接；本发明能够实现对回收存储电能,电容稳压滤波模块存储电量,以及能够实现制动控制。(The invention discloses a method for restraining the back electromotive force high voltage of a motor; the intelligent control system comprises an electric control system, wherein the electric control system is electrically connected with a bus voltage detection module, a temperature detection module, a bus current detection module, a phase line current detection module, a Hall signal processing module, a band-type brake control module and a three-phase inverter bridge power module, the three-phase inverter bridge power module is electrically connected with a motor, the motor is electrically connected with the Hall signal processing module, the three-phase inverter bridge power module is electrically connected with a capacitor voltage-stabilizing filter module, the capacitor voltage-stabilizing filter module is electrically connected with a battery, the capacitor voltage-stabilizing filter module is electrically connected with the bus current detection module, and the three-phase inverter bridge power module is electrically connected with the temperature detection module, the bus current detection module and the phase line current detection module; the invention can realize the recovery of stored electric energy, the storage of electric quantity by the capacitance voltage-stabilizing filter module and the brake control.)

1. A motor back electromotive force high-voltage suppression method comprises an electric control system and is characterized in that: the electric control system is electrically connected with a bus voltage detection module, a temperature detection module, a bus current detection module, a phase line current detection module, a Hall signal processing module, a band-type brake control module and a three-phase inverter bridge power module, the three-phase inverter bridge power module is electrically connected with a motor, the motor is electrically connected with the Hall signal processing module, the three-phase inverter bridge power module is electrically connected with a capacitor voltage-stabilizing filter module, the capacitor voltage-stabilizing filter module is electrically connected with a battery, the capacitor voltage-stabilizing filter module is electrically connected with the bus current detection module, and the three-phase inverter bridge power module is electrically connected with the temperature detection module, the bus current detection module and the phase line current detection module;

the three-phase inverter bridge power module consists of six sub-modules including UH, UL, VH, VL, WH and WL;

the electric control system comprises a DSP operation module, and six sub-modules, namely the UH sub-module, the UL sub-module, the VH sub-module, the VL sub-module, the WH sub-module and the WL sub-module, are controlled and regulated by the DSP operation module;

the electric control system realizes the setting of the following parameters:

real-time voltage of the bus: v;

battery full bus voltage: v0;

bus overvoltage threshold: v1;

bus overvoltage limit value: v2;

battery power-loss bus voltage: v3;

when the motor is started and operated, the DSP operation module, the three-phase inverter bridge power module, the capacitance voltage-stabilizing filter module, the bus voltage detection module, the bus current detection module, the phase line current detection module, the Hall signal processing module, the temperature detection module and other set parameters operate, and at the moment, V is not less than V3 and not more than V0, and the motor is in a normal working state;

when the motor is decelerated and braked, the three-phase inverter bridge power module stops working, kinetic energy is converted into electric energy, a winding of the motor cuts a magnetic line of force to generate current, counter electromotive force is generated, regenerative current is rectified by the three-phase inverter bridge power module and is coupled to a bus by the capacitance voltage-stabilizing filter module, and the following methods are adopted:

s1, when V is less than V0, the battery is in a non-full-charge state, the battery is in a chargeable state, and current is charged into the battery to realize the recovery of renewable energy;

s2, when V is larger than or equal to V0, the battery is in a full-charge state, the battery can not be charged, and charges can only be stored in the capacitance voltage-stabilizing filter module, because the relative capacitance capacity of the capacitance voltage-stabilizing filter module is smaller, the voltage of the capacitance voltage-stabilizing filter module, namely the bus voltage, is gradually boosted by regenerative current, when V is larger than or equal to V0 and smaller than or equal to V1, at the moment, the UL, VL and WL three lower pipe modules in the three-phase inverter bridge power module are opened, so that current generated by a motor winding is conducted to the ground, electric energy is converted into heat energy to be lost, an electromagnetic braking effect is formed, and therefore back electromotive force is inhibited, V is reduced, the electric control system is prevented from being damaged, and meanwhile, the band-type brake control module can be started according to requirements, and mechanical braking is realized;

s3, when V1 is larger than V and smaller than or equal to V2, the electric control system is in an overvoltage state and is about to be damaged, but the vehicle or the whole vehicle is in a dangerous state at the moment, the electric control system has a larger braking effect on the motor to reduce or eliminate the danger, and the K coefficient uses a given calibration value K0 at the moment, so that the wheels are prevented from being locked, and a better braking effect is realized; and simultaneously starting the band-type brake control module to realize effective brake control and regulation.

2. The method for suppressing the high voltage of the back electromotive force of the motor according to claim 1, wherein: the control time of the UL, the VL and the WL three lower tube modules is T, a PWM regulation mode is adopted, the frequency F and the duty ratio D are modulated, and the calculation formula is as follows:

equation 1: t is the total of FD,

equation 2: d ═ K ═ dV/dt · ω,

d is determined by the change rate dV/dt of the voltage V, the rotation speed omega and the K coefficient,

the rotating speed omega is calculated by the DSP operation module according to the signals of the sampling position of the Hall signal processing module,

the K coefficient is determined by bus current, phase line current and temperature parameters, different application scenes need to be calibrated with different K coefficients, and the K coefficients comprise the following components:

k0: the most urgent is to brake the vehicle,

k1: the brake is applied to the automobile in a better way,

k2: the energy conservation is prior,

k3: and (4) an equalization mode.

3. The method for suppressing the high voltage of the back electromotive force of the motor according to claim 1, wherein: the bus voltage detection module is used for detecting the voltage value of the capacitance voltage-stabilizing filter module and transmitting the detected value to the electric control system, and the electric control system performs effective calculation processing through the DSP operation module.

4. The method for suppressing the high voltage of the back electromotive force of the motor according to claim 1, wherein: the temperature detection module is used for detecting the operating temperature of the three-phase inverter bridge power module and transmitting the detected temperature value to the electric control system, and the electric control system controls, adjusts and cools the three-phase inverter bridge power module according to the temperature value.

5. The method for suppressing the high voltage of the back electromotive force of the motor according to claim 1, wherein: including mechanical braking and electromagnetic braking in the band-type brake control module, start in S3 the band-type brake control module realizes effectual braking control and adjusts, both is through mechanical braking with electromagnetic braking simultaneous working realizes effectual safe braking control and adjusts.

6. The method for suppressing the high voltage of the back electromotive force of the motor according to claim 1, wherein: the electronic control system is characterized in that the electronic control system is further integrated with storage modules, wherein the storage modules at least comprise two groups, and the two groups of storage modules are respectively a ROM storage module for storing a control program body and a RAM storage module for storing an operation log.

7. The method for suppressing the high voltage of the back electromotive force of the motor according to claim 1, wherein: the bus current detection module is used for detecting the current of the three-phase inverter bridge power module and transmitting the detected current value to the electric control system, and the electric control system performs calculation processing through the DSP operation module.

8. The method for suppressing the high voltage of the back electromotive force of the motor according to claim 1, wherein: the capacitor voltage-stabilizing filtering module is used for effectively storing and filtering and transmitting the current generated by the motor and the three-phase inverter bridge power module, the current generated by the motor during electromagnetic reverse braking is converted into direct current through the three-phase inverter bridge power module, and then the current is filtered, processed, transmitted and stored in the battery through the capacitor voltage-stabilizing filtering module, and is stored in the capacitor voltage-stabilizing filtering module when the battery is in a full storage state.

9. The method for suppressing the high voltage of the back electromotive force of the motor according to claim 1, wherein: after receiving the data information of the three-phase inverter bridge power module detected by the bus voltage detection module, the temperature detection module, the bus current detection module and the phase line current detection module, the electronic control system performs calculation processing through the DSP operation module, and realizes reverse control of the operation of the three-phase inverter bridge power module through the data information after calculation processing.

10. The method for suppressing the high voltage of the back electromotive force of the motor according to claim 1, wherein: and the motor is also electrically connected with a driving module, and the driving module is electrically connected with the three-phase inverter bridge power module.

Technical Field

The invention belongs to the technical field of motors, and particularly relates to a method for restraining high-voltage back electromotive force of a motor.

Background

With the further development of society and the requirements on carbon emission, carbon neutralization and green targets, electrification and electromotion further go deep into various fields, especially in the industries of traffic, logistics and the like, and the proportion of vehicles driven by battery power is increasing. The main parts of the vehicle are a battery, an electric control system and a motor. The lithium battery has large energy density and small volume, and gradually replaces a lead-acid battery. The lithium battery is sensitive to overvoltage, undervoltage and the like, a precise BMS protection board is needed to realize battery charging and discharging management, and various motor protection problems still exist in the market.

For example, the electric steering engine back electromotive force suppression circuit disclosed in the publication No. CN110912100A is simple and reliable, and is beneficial to miniaturization; transient and steady state overpressure conditions are fully considered, energy storage and energy consumption characteristics of a capacitor and a resistor are adopted to fully absorb system energy, transient energy output can be provided for starting and reversing of the motor, and reliability is high; the system practicability is improved through impact response, resistance switching speed, switch hysteresis protection and overcurrent protection of a large-capacity capacitor to system power supply, but the problems that reverse circulation power generation cannot be achieved in the existing motor control process, the electromagnetic braking effect cannot be formed, the counter electromotive force is restrained, locking cannot be prevented, danger is reduced and the like are solved, and therefore a motor counter electromotive force high-voltage restraining method is provided.

Disclosure of Invention

The present invention is directed to a method for suppressing a back electromotive force of a motor from a high voltage, so as to solve the above problems in the related art.

In order to achieve the purpose, the invention provides the following technical scheme: a method for suppressing the back electromotive force high voltage of a motor comprises an electric control system, wherein the electric control system is electrically connected with a bus voltage detection module, a temperature detection module, a bus current detection module, a phase line current detection module, a Hall signal processing module, a band-type brake control module and a three-phase inverter bridge power module, the three-phase inverter bridge power module is electrically connected with a motor, the motor is electrically connected with the Hall signal processing module, the three-phase inverter bridge power module is electrically connected with a capacitor voltage-stabilizing filter module, the capacitor voltage-stabilizing filter module is electrically connected with a battery, the capacitor voltage-stabilizing filter module is electrically connected with the bus current detection module, and the three-phase inverter bridge power module is electrically connected with the temperature detection module, the bus current detection module and the phase line current detection module;

the three-phase inverter bridge power module consists of six sub-modules including UH, UL, VH, VL, WH and WL;

the electric control system comprises a DSP operation module, and six sub-modules, namely the UH sub-module, the UL sub-module, the VH sub-module, the VL sub-module, the WH sub-module and the WL sub-module, are controlled and regulated by the DSP operation module;

the electric control system realizes the setting of the following parameters:

real-time voltage of the bus: v;

battery full bus voltage: v0;

bus overvoltage threshold: v1;

bus overvoltage limit value: v2;

battery power-loss bus voltage: v3;

when the motor is started and operated, the DSP operation module, the three-phase inverter bridge power module, the capacitance voltage-stabilizing filter module, the bus voltage detection module, the bus current detection module, the phase line current detection module, the Hall signal processing module, the temperature detection module and other set parameters operate, and at the moment, V is not less than V3 and not more than V0, and the motor is in a normal working state;

when the motor is decelerated and braked, the three-phase inverter bridge power module stops working, kinetic energy is converted into electric energy, a winding of the motor cuts a magnetic line of force to generate current, counter electromotive force is generated, regenerative current is rectified by the three-phase inverter bridge power module and is coupled to a bus by the capacitance voltage-stabilizing filter module, and the following methods are adopted:

s1, when V is less than V0, the battery is in a non-full-charge state, the battery is in a chargeable state, and current is charged into the battery to realize the recovery of renewable energy;

s2, when V is larger than or equal to V0, the battery is in a full-charge state, the battery can not be charged, and charges can only be stored in the capacitance voltage-stabilizing filter module, because the relative capacitance capacity of the capacitance voltage-stabilizing filter module is smaller, the voltage of the capacitance voltage-stabilizing filter module, namely the bus voltage, is gradually boosted by regenerative current, when V is larger than or equal to V0 and smaller than or equal to V1, at the moment, the UL, VL and WL three lower pipe modules in the three-phase inverter bridge power module are opened, so that current generated by a motor winding is conducted to the ground, electric energy is converted into heat energy to be lost, an electromagnetic braking effect is formed, and therefore back electromotive force is inhibited, V is reduced, the electric control system is prevented from being damaged, and meanwhile, the band-type brake control module can be started according to requirements, and mechanical braking is realized;

s3, when V1 is larger than V and smaller than or equal to V2, the electric control system is in an overvoltage state and is about to be damaged, but the vehicle or the whole vehicle is in a dangerous state at the moment, the electric control system has a larger braking effect on the motor to reduce or eliminate the danger, and the K coefficient uses a given calibration value K0 at the moment, so that the wheels are prevented from being locked, and a better braking effect is realized; and simultaneously starting the band-type brake control module to realize effective brake control and regulation.

Preferably, the control time of the three lower tube modules of UL, VL and WL is T, and a PWM control mode is adopted, and the frequency F and the duty ratio D are modulated, and the calculation formula is as follows:

equation 1: t is the total of FD,

equation 2: d ═ K ═ dV/dt · ω,

d is determined by the change rate dV/dt of the voltage V, the rotation speed omega and the K coefficient,

the rotating speed omega is calculated by the DSP operation module according to the signals of the sampling position of the Hall signal processing module,

the K coefficient is determined by bus current, phase line current and temperature parameters, different application scenes need to be calibrated with different K coefficients, and the K coefficients comprise the following components:

k0: the most urgent is to brake the vehicle,

k1: the brake is applied to the automobile in a better way,

k2: the energy conservation is prior,

k3: and (4) an equalization mode.

Preferably, the bus voltage detection module is configured to detect a value of the voltage of the capacitance voltage stabilization filtering module, and transmit the detected value to the electronic control system, and the electronic control system performs effective calculation processing through the DSP operation module.

Preferably, the temperature detection module is configured to detect an operating temperature of the three-phase inverter bridge power module, and transmit the detected temperature value to the electronic control system, and the electronic control system performs control adjustment and cooling processing on the three-phase inverter bridge power module according to the temperature value.

Preferably, the band-type brake control module comprises mechanical brake and electromagnetic brake, and the band-type brake control module is started in the step S3 to realize effective brake control and regulation, namely, the band-type brake control module works simultaneously through the mechanical brake and the electromagnetic brake to realize effective safe brake control and regulation.

Preferably, the electronic control system is further integrated with storage modules, the storage modules at least comprise two groups, and the two groups of storage modules are respectively a ROM storage module for storing a control program body and a RAM storage module for storing an operation log.

Preferably, the bus current detection module is configured to detect a current magnitude of the three-phase inverter bridge power module, and transmit a detected current value to the electronic control system, and the electronic control system performs calculation processing through the DSP operation module.

Preferably, the capacitance voltage-stabilizing filtering module is used for effectively storing and filtering and transmitting the current generated by the motor and the three-phase inverter bridge power module, the current generated by the motor during electromagnetic reverse braking is converted into direct current through the three-phase inverter bridge power module, and then the current is filtered, processed, transmitted and stored in the battery through the capacitance voltage-stabilizing filtering module, and when the battery is in a full storage state, the current is stored in the capacitance voltage-stabilizing filtering module.

Preferably, after receiving the data information of the three-phase inverter bridge power module detected by the bus voltage detection module, the temperature detection module, the bus current detection module and the phase current detection module, the electronic control system performs calculation processing through the DSP operation module, and realizes reverse control of the operation of the three-phase inverter bridge power module through the data information after calculation processing.

Preferably, the motor is further electrically connected with a driving module, and the driving module is electrically connected with the three-phase inverter bridge power module.

Compared with the prior art, the invention has the beneficial effects that:

(1) the battery is in a non-full state, the battery can be charged, and the current is charged into the battery to realize the recycling of renewable energy;

(2) the battery is in a full-charge state, the battery can not be charged, the charge can only be stored in the capacitance voltage-stabilizing filter module, because the relative capacitance capacity of the module is smaller, the regenerative current gradually pushes up the voltage of the capacitance voltage-stabilizing filter module, namely the bus voltage, when V is not less than V0 and not more than V1, at the moment, the UL, VL and WL three lower tube modules are opened, the current generated by a motor winding is led to the ground, the electric energy is converted into heat energy to be lost, the electromagnetic braking effect is formed, the counter electromotive force is inhibited, the V is reduced, and the electric control system is prevented from being damaged;

(3) the electric control system is in an overvoltage and about to be damaged state, but at the moment, the vehicle or the whole machine is in a dangerous state, the electric control system is required to perform a larger braking effect on the motor so as to reduce or eliminate the danger, and at the moment, the K coefficient uses a given calibration value K0 so as to avoid locking of wheels and realize a better braking effect; and meanwhile, the band-type brake control module is started, so that the simultaneous working of mechanical braking and electromagnetic braking is realized, and the serious consequences are avoided.

Drawings

FIG. 1 is a schematic diagram of the system of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the present invention provides a technical solution: a method for suppressing the back electromotive force high voltage of a motor comprises an electric control system, wherein the electric control system is electrically connected with a bus voltage detection module, a temperature detection module, a bus current detection module, a phase line current detection module, a Hall signal processing module, a band-type brake control module and a three-phase inverter bridge power module, the three-phase inverter bridge power module is electrically connected with a motor, the motor is electrically connected with the Hall signal processing module, the three-phase inverter bridge power module is electrically connected with a capacitor voltage-stabilizing filter module, the capacitor voltage-stabilizing filter module is electrically connected with a battery, the capacitor voltage-stabilizing filter module is electrically connected with the bus current detection module, and the three-phase inverter bridge power module is electrically connected with the temperature detection module, the bus current detection module and the phase line current detection module;

the three-phase inverter bridge power module consists of six sub-modules including UH, UL, VH, VL, WH and WL;

the electric control system comprises a DSP operation module, and six sub-modules, namely the UH sub-module, the UL sub-module, the VH sub-module, the VL sub-module, the WH sub-module and the WL sub-module, are controlled and regulated by the DSP operation module;

the electric control system realizes the setting of the following parameters:

real-time voltage of the bus: v;

battery full bus voltage: v0;

bus overvoltage threshold: v1;

bus overvoltage limit value: v2;

battery power-loss bus voltage: v3;

when the motor is started and operated, the DSP operation module, the three-phase inverter bridge power module, the capacitance voltage-stabilizing filter module, the bus voltage detection module, the bus current detection module, the phase line current detection module, the Hall signal processing module, the temperature detection module and other set parameters operate, and at the moment, V is not less than V3 and not more than V0, and the motor is in a normal working state;

when the motor is decelerated and braked, the three-phase inverter bridge power module stops working, kinetic energy is converted into electric energy, a winding of the motor cuts a magnetic line of force to generate current, counter electromotive force is generated, regenerative current is rectified by the three-phase inverter bridge power module and is coupled to a bus by the capacitance voltage-stabilizing filter module, and the following methods are adopted:

s1, when V is less than V0, the battery is in a non-full-charge state, the battery is in a chargeable state, and current is charged into the battery to realize the recovery of renewable energy;

s2, when V is larger than or equal to V0, the battery is in a full-charge state, the battery can not be charged, and charges can only be stored in the capacitance voltage-stabilizing filter module, because the relative capacitance capacity of the capacitance voltage-stabilizing filter module is smaller, the voltage of the capacitance voltage-stabilizing filter module, namely the bus voltage, is gradually boosted by regenerative current, when V is larger than or equal to V0 and smaller than or equal to V1, at the moment, the UL, VL and WL three lower pipe modules in the three-phase inverter bridge power module are opened, so that current generated by a motor winding is conducted to the ground, electric energy is converted into heat energy to be lost, an electromagnetic braking effect is formed, and therefore back electromotive force is inhibited, V is reduced, the electric control system is prevented from being damaged, and meanwhile, the band-type brake control module can be started according to requirements, and mechanical braking is realized;

s3, when V1 is larger than V and smaller than or equal to V2, the electric control system is in an overvoltage state and is about to be damaged, but the vehicle or the whole vehicle is in a dangerous state at the moment, the electric control system has a larger braking effect on the motor to reduce or eliminate the danger, and the K coefficient uses a given calibration value K0 at the moment, so that the wheels are prevented from being locked, and a better braking effect is realized; and simultaneously starting the band-type brake control module to realize effective brake control and regulation.

In order to implement effective calculation processing on the control time, in this embodiment, preferably, the control time of the three lower tube modules of UL, VL and WL is T, and a PWM control manner is adopted to modulate a frequency F and a duty ratio D, and the calculation formula is as follows:

equation 1: t is the total of FD,

equation 2: d ═ K ═ dV/dt · ω,

d is determined by the change rate dV/dt of the voltage V, the rotation speed omega and the K coefficient,

the rotating speed omega is calculated by the DSP operation module according to the signals of the sampling position of the Hall signal processing module,

the K coefficient is determined by bus current, phase line current and temperature parameters, different application scenes need to be calibrated with different K coefficients, and the K coefficients comprise the following components:

k0: the most urgent is to brake the vehicle,

k1: the brake is applied to the automobile in a better way,

k2: the energy conservation is prior,

k3: and (4) an equalization mode.

In order to realize effective voltage value detection on the capacitance voltage-stabilizing filtering module and facilitate voltage acquisition, in this embodiment, preferably, the bus voltage detection module is used for realizing voltage value detection on the capacitance voltage-stabilizing filtering module and transmitting the detected value to the electric control system, and the electric control system performs effective calculation processing through the DSP operation module.

In order to implement effective detection and collection of the operating temperature of the three-phase inverter bridge power module, in this embodiment, preferably, the temperature detection module is configured to implement detection of the operating temperature of the three-phase inverter bridge power module, and transmit the detected temperature value to the electronic control system, and the electronic control system implements control adjustment and cooling processing on the three-phase inverter bridge power module according to the temperature value.

In order to realize effective braking control on the motor, in this embodiment, it is preferable that the band-type brake control module includes a mechanical brake and an electromagnetic brake, and the band-type brake control module is started in S3 to realize effective braking control and regulation, that is, the mechanical brake and the electromagnetic brake work simultaneously to realize effective safe braking control and regulation.

In order to enable the electronic control system to effectively store data information and prevent the stored data information from being confused, in this embodiment, it is preferable that the electronic control system further includes two sets of storage modules, and the two sets of storage modules are a ROM storage module for storing a control program body and a RAM storage module for storing an operation log, respectively.

In order to effectively detect the current of the three-phase smart bridge power module and facilitate control and adjustment, in this embodiment, preferably, the bus current detection module is configured to detect the current of the three-phase inverter bridge power module and transmit the detected current value to the electronic control system, and the electronic control system performs calculation processing through the DSP operation module.

In order to achieve effective processing of current, store current, and transmit and store current in a battery, in this embodiment, preferably, the capacitance voltage stabilizing and filtering module is configured to achieve effective storage and filtering transmission of current generated by the motor and the three-phase inverter bridge power module, where current generated by the motor during electromagnetic reverse braking is ac-converted into dc through the three-phase inverter bridge power module, and then is filtered and transmitted through the capacitance voltage stabilizing and filtering module and stored in the battery, and when the battery is in a full storage state, the current is stored in the capacitance voltage stabilizing and filtering module.

In order to implement effective feedback control adjustment on the three-phase inverter bridge power module, in this embodiment, preferably, after receiving the data information of the three-phase inverter bridge power module detected by the bus voltage detection module, the temperature detection module, the bus current detection module, and the phase current detection module, the electronic control system performs calculation processing through the DSP operation module, and implements reverse control on the operation of the three-phase inverter bridge power module through the data information after calculation processing.

In order to realize the driving control adjustment of the motor, in this embodiment, preferably, a driving module is further electrically connected in the motor, and the driving module is electrically connected with the three-phase inverter bridge power module.

The working principle and the using process of the invention are as follows: when the motor is started and operated, the DSP operation module, the three-phase inverter bridge power module, the capacitance voltage-stabilizing filtering module, the bus voltage detection module, the bus current detection module, the phase line current detection module, the Hall signal processing module, the temperature detection module and the like operate under set parameters, and at the moment, V is not less than V0 and V3 is not less than V, and the motor is in a normal working state.

When the motor decelerates and brakes, the three-phase inverter bridge power module stops working, kinetic energy is converted into electric energy, a motor winding cuts magnetic lines of force to generate current, counter electromotive force is generated, regenerative current is rectified by the three-phase inverter bridge power module, and the regenerative current is coupled to a bus through the capacitance voltage-stabilizing filter module, so that the following conditions are provided:

v is less than V0, the battery is in a non-full state, the battery can be charged, and current is charged in the battery to realize the recycling of renewable energy;

v is larger than or equal to V0, the battery is in a full-charge state, the battery can not be charged, the charge can only be stored in the capacitance voltage-stabilizing filter module, the capacitance voltage-stabilizing filter module has smaller relative capacitance capacity, the voltage of the capacitance voltage-stabilizing filter module, namely the bus voltage, is gradually boosted by the regenerative current, when V0 is larger than or equal to V1, the UL, VL and WL lower tube modules are opened at the moment, the current generated by the motor winding is drained to the ground, the electric energy is converted into heat energy to be lost, the electromagnetic braking effect is formed, the counter electromotive force is restrained, V is reduced, and the electric control system is prevented from being damaged. Meanwhile, according to the requirement, the band-type brake control module can be started to realize mechanical braking.

The time T is controlled by three lower tube modules of UL, VL and WL by adopting a PWM mode, the modulation frequency F and the duty ratio D,

equation 1: t is the total of FD,

equation 2: d ═ K ═ dV/dt · ω,

d is determined by the voltage V change rate dV/dt, the rotation speed omega and the K coefficient,

the rotating speed omega is sampled by a Hall signal processing module, a DSP operation module calculates omega,

the K coefficient is determined by parameters such as bus current, phase line current, temperature and the like, and different application scenes need to be calibrated according to different K coefficients:

k0: the most urgent is to brake the vehicle,

k1: the brake is applied to the automobile in a better way,

k2: the energy conservation is prior,

k3: the mode of the equalization is such that,

v is more than V1 and less than or equal to V2, the electric control system is in an overvoltage state and is about to be damaged, but the vehicle or the whole machine is in a dangerous state at the moment, the electric control system needs to perform a larger braking effect on the motor to reduce or eliminate the danger, and the K coefficient uses a given calibration value K0 at the moment, so that the locking of wheels is avoided, and a better braking effect is realized; and meanwhile, the band-type brake control module is started, so that the simultaneous working of mechanical braking and electromagnetic braking is realized, and the serious consequences are avoided.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.