阅读说明：本技术 电机驱动系统的监控方法、装置和车辆 (Monitoring method and device of motor driving system and vehicle ) 是由 徐鲁辉 喻轶龙 任少朋 李小为 于 2020-05-20 设计创作，主要内容包括：本公开涉及一种电机驱动系统的监控方法、装置和车辆,应用于电机驱动系统,电机驱动系统包括：设置在不同位置的多个传感器组,每个传感器组内包括至少两个温度传感器,该方法包括：在电机驱动系统的运行过程中,按照采集周期采集每个温度传感器的温度,根据每个温度传感器的温度,确定每个传感器组是否为异常,若存在至少两个传感器组为异常,控制电机驱动系统下电或者降功率运行,若仅存在一个传感器组为异常,根据为异常的传感器组内每个温度传感器的状态,控制电机驱动系统。本公开能够提高电机驱动系统温度测量的可靠性,在防止过热损耗的基础上,避免误保护导致的电机驱动系统下电,保持电机驱动系统的运行能力。(The present disclosure relates to a monitoring method and apparatus for a motor driving system, and a vehicle, applied to the motor driving system, the motor driving system includes: a plurality of sensor groups disposed at different locations, each sensor group including at least two temperature sensors therein, the method comprising: in the running process of the motor driving system, the temperature of each temperature sensor is collected according to a collection period, whether each sensor group is abnormal or not is determined according to the temperature of each temperature sensor, if at least two sensor groups are abnormal, the motor driving system is controlled to be powered down or power down to run, and if only one sensor group is abnormal, the motor driving system is controlled according to the state of each temperature sensor in the sensor group which is abnormal. The motor driving system temperature measuring reliability can be improved, the motor driving system power-off caused by error protection is avoided on the basis of preventing overheating loss, and the operation capacity of the motor driving system is kept.)

1. A monitoring method of a motor drive system, applied to a motor drive system, the motor drive system comprising: the temperature sensor group comprises a plurality of sensor groups arranged at different positions, and each sensor group comprises at least two temperature sensors; the method comprises the following steps:

in the running process of the motor driving system, collecting the temperature of each temperature sensor according to a collection period;

determining whether each sensor group is abnormal or not according to the temperature of each temperature sensor;

if at least two sensor groups are abnormal, controlling the motor driving system to power off or reduce power to operate;

and if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group.

2. The method of claim 1, wherein said determining whether each sensor group is abnormal based on the temperature of each of said temperature sensors comprises:

for each sensor group, if the sensor group meets a preset condition, determining that the sensor group is normal, and if the sensor group does not meet the preset condition, determining that the sensor group is abnormal;

the preset conditions are as follows: the temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor, the difference value between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the last acquisition period is smaller than or equal to a first threshold value, and the difference value between the temperatures of any two temperature sensors in the sensor group is smaller than or equal to a second threshold value.

3. The method of claim 1, further comprising:

before controlling the motor driving system to be powered off, storing the temperature of each temperature sensor as the historical temperature of the temperature sensor;

after the motor driving system is powered on, determining the time difference between the current time and the last power-off time of the motor driving system;

if the time difference is less than a first duration, acquiring the temperature of each temperature sensor; determining whether each sensor group is abnormal or not according to the temperature of each temperature sensor and the historical temperature of each temperature sensor; if at least two sensor groups are abnormal, controlling the motor driving system to power off or reduce power to operate; and if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group.

4. The method of claim 3, further comprising:

if the time difference is greater than or equal to the first duration, acquiring the temperature of each temperature sensor; if the difference value of the temperatures of any two temperature sensors is smaller than or equal to a third threshold value, controlling the motor driving system to normally operate; and if the difference value of the temperatures of the two temperature sensors is larger than the third threshold value, controlling the motor driving system to be powered off.

5. The method of any of claims 1-4, wherein the motor drive system further comprises: the motor controller comprises a control module, a cooling module and a power module, wherein the control module is connected with the motor through the power module and is used for controlling the motor, the cooling module is connected with the control module, and the cooling module is used for cooling the motor controller and the motor; the power module includes three groups of IGBT, three groups of IGBT respectively with the three-phase of motor is connected, a plurality of sensor group include: by setting up temperature sensor in the control module is in with the setting first sensor group that temperature sensor on the cooling module constitutes, by the second sensor group that temperature sensor that sets up on every group IGBT constitutes, and by setting up the motor sensor group that at least two temperature sensor in the motor constitute.

6. The method according to claim 5, wherein the controlling the motor drive system according to the status of each of the temperature sensors in the abnormal sensor group if there is only one of the abnormal sensor groups comprises:

if one of the first sensor group and the second sensor group is abnormal, determining the state of each temperature sensor in the abnormal sensor group;

if the state of each temperature sensor in the abnormal sensor group is abnormal, controlling the motor driving system to power off or reduce power to operate;

and if the temperature sensor with the normal state exists in the abnormal sensor group, controlling the motor driving system to normally operate according to the temperature sensor with the normal state in the abnormal sensor group, and sending alarm information, wherein the alarm information is used for indicating that the motor driving system has the abnormality.

7. The method of claim 6, wherein if there is only one of the sensor groups that is abnormal, controlling the motor drive system according to a state of each of the temperature sensors in the abnormal sensor group, further comprises:

if the motor sensor group is abnormal, determining the state of each temperature sensor in the motor sensor group;

under the condition that the state of each temperature sensor in the motor sensor group is abnormal, controlling the motor driving system to operate in a limited power mode according to the temperature sensor on the cooling module, and sending out the alarm information;

and under the condition that a temperature sensor with a normal state exists in the motor sensor group, controlling the motor driving system to normally operate according to the temperature sensor with the normal state in the motor sensor group, and sending the alarm information.

8. A monitoring device of a motor driving system is applied to the motor driving system, and the motor driving system comprises: the temperature sensor group comprises a plurality of sensor groups arranged at different positions, and each sensor group comprises at least two temperature sensors; the device comprises:

the acquisition module is used for acquiring the temperature of each temperature sensor according to an acquisition cycle in the operation process of the motor driving system;

the determining module is used for determining whether each sensor group is abnormal or not according to the temperature of each temperature sensor;

the control module is used for controlling the power-down or power-down operation of the motor driving system under the condition that at least two sensor groups are abnormal; and controlling the motor drive system according to the state of each of the temperature sensors in the abnormal sensor group when only one of the sensor groups is abnormal.

9. The apparatus of claim 8, wherein the determining module is configured to:

for each sensor group, if the sensor group meets a preset condition, determining that the sensor group is normal, and if the sensor group does not meet the preset condition, determining that the sensor group is abnormal;

the preset conditions are as follows: the temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor, the difference value between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the last acquisition period is smaller than or equal to a first threshold value, and the difference value between the temperatures of any two temperature sensors in the sensor group is smaller than or equal to a second threshold value.

10. A vehicle, characterized in that a motor drive system is provided on the vehicle, the motor drive system comprising: the motor controller comprises a control module, a cooling module and a power module, wherein the control module is connected with the motor through the power module and is used for controlling the motor, the cooling module is connected with the control module, and the cooling module is used for cooling the motor controller and the motor; the motor driving system also comprises a plurality of sensor groups arranged at different positions, and each sensor group comprises at least two temperature sensors; the control module is further configured to perform a method of monitoring a motor drive system according to any one of claims 1-7.

Technical Field

The disclosure relates to the technical field of electronic control, in particular to a monitoring method and device of a motor driving system and a vehicle.

Background

With the rapid development of society, the quantity of automobiles kept is increasing. The traditional automobile uses traditional energy, can produce the tail gas that causes the pollution to the environment to traditional energy is non-renewable, has greatly restricted the use of traditional automobile. Therefore, electric vehicles using new environmental-friendly energy have gradually become a major trend in the development of automotive technology. The power source of the electric automobile is motor drive, and the safety and the reliability of a motor drive system are very important for the normal running of the automobile.

To ensure the safety and reliability of the motor driving system, the temperature of the motor driving system needs to be monitored in real time. Typically, a plurality of temperature sensors are provided in the motor drive system to monitor the temperature at various locations within the motor drive system. If a certain temperature sensor monitors the abnormal condition of the temperature, the motor driving system is powered off so as to ensure the safety of the vehicle. However, if the temperature sensor fails, the measured temperature is inaccurate, and the motor driving system may be powered down under the condition of normal temperature, namely, the problem of error protection is caused.

Disclosure of Invention

The invention aims to provide a monitoring method and a monitoring device of a motor driving system and a vehicle, which are used for solving the problem of error protection caused by failure of a temperature sensor in the prior art.

In order to achieve the above object, according to a first aspect of the embodiments of the present disclosure, there is provided a monitoring method of a motor driving system, applied to the motor driving system, the motor driving system including: the temperature sensor group comprises a plurality of sensor groups arranged at different positions, and each sensor group comprises at least two temperature sensors; the method comprises the following steps:

in the running process of the motor driving system, collecting the temperature of each temperature sensor according to a collection period;

determining whether each sensor group is abnormal or not according to the temperature of each temperature sensor;

if at least two sensor groups are abnormal, controlling the motor driving system to power off or reduce power to operate;

and if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group.

Optionally, the determining whether each sensor group is abnormal according to the temperature of each temperature sensor includes:

for each sensor group, if the sensor group meets a preset condition, determining that the sensor group is normal, and if the sensor group does not meet the preset condition, determining that the sensor group is abnormal;

the preset conditions are as follows: the temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor, the difference value between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the last acquisition period is smaller than or equal to a first threshold value, and the difference value between the temperatures of any two temperature sensors in the sensor group is smaller than or equal to a second threshold value.

Optionally, the method further comprises:

before controlling the motor driving system to be powered off, storing the temperature of each temperature sensor as the historical temperature of the temperature sensor;

after the motor driving system is powered on, determining the time difference between the current time and the last power-off time of the motor driving system;

if the time difference is less than a first duration, acquiring the temperature of each temperature sensor; determining whether each sensor group is abnormal or not according to the temperature of each temperature sensor and the historical temperature of each temperature sensor; if at least two sensor groups are abnormal, controlling the motor driving system to power off or reduce power to operate; and if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group.

Optionally, the method further comprises:

if the time difference is greater than or equal to the first duration, acquiring the temperature of each temperature sensor; if the difference value of the temperatures of any two temperature sensors is smaller than or equal to a third threshold value, controlling the motor driving system to normally operate; and if the difference value of the temperatures of the two temperature sensors is larger than the third threshold value, controlling the motor driving system to be powered off.

Optionally, the motor drive system further comprises: the motor controller comprises a control module, a cooling module and a power module, wherein the control module is connected with the motor through the power module and is used for controlling the motor, the cooling module is connected with the control module, and the cooling module is used for cooling the motor controller and the motor; the power module includes three groups of IGBT, three groups of IGBT respectively with the three-phase of motor is connected, a plurality of sensor group include: by setting up temperature sensor in the control module is in with the setting first sensor group that temperature sensor on the cooling module constitutes, by the second sensor group that temperature sensor that sets up on every group IGBT constitutes, and by setting up the motor sensor group that at least two temperature sensor in the motor constitute.

Optionally, if there is only one sensor group that is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group includes:

if one of the first sensor group and the second sensor group is abnormal, determining the state of each temperature sensor in the abnormal sensor group;

if the state of each temperature sensor in the abnormal sensor group is abnormal, controlling the motor driving system to power off or reduce power to operate;

and if the temperature sensor with the normal state exists in the abnormal sensor group, controlling the motor driving system to normally operate according to the temperature sensor with the normal state in the abnormal sensor group, and sending alarm information, wherein the alarm information is used for indicating that the motor driving system has the abnormality.

Optionally, if there is only one sensor group that is abnormal, the motor driving system is controlled according to the state of each temperature sensor in the abnormal sensor group, and the method further includes:

if the motor sensor group is abnormal, determining the state of each temperature sensor in the motor sensor group; under the condition that the state of each temperature sensor in the motor sensor group is abnormal, controlling the motor driving system to operate in a limited power mode according to the temperature sensor on the cooling module, and sending out the alarm information; and under the condition that a temperature sensor with a normal state exists in the motor sensor group, controlling the motor driving system to normally operate according to the temperature sensor with the normal state in the motor sensor group, and sending the alarm information.

According to a second aspect of the embodiments of the present disclosure, there is provided a monitoring apparatus for a motor driving system, applied to the motor driving system, the motor driving system including: the temperature sensor group comprises a plurality of sensor groups arranged at different positions, and each sensor group comprises at least two temperature sensors; the device comprises:

the acquisition module is used for acquiring the temperature of each temperature sensor according to an acquisition cycle in the operation process of the motor driving system;

the determining module is used for determining whether each sensor group is abnormal or not according to the temperature of each temperature sensor;

the control module is used for controlling the power-down or power-down operation of the motor driving system under the condition that at least two sensor groups are abnormal; and controlling the motor drive system according to the state of each of the temperature sensors in the abnormal sensor group when only one of the sensor groups is abnormal.

Optionally, the determining module is configured to:

for each sensor group, if the sensor group meets a preset condition, determining that the sensor group is normal, and if the sensor group does not meet the preset condition, determining that the sensor group is abnormal;

the preset conditions are as follows: the temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor, the difference value between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the last acquisition period is smaller than or equal to a first threshold value, and the difference value between the temperatures of any two temperature sensors in the sensor group is smaller than or equal to a second threshold value.

Optionally, the apparatus further comprises:

the storage module is used for storing the temperature of each temperature sensor as the historical temperature of the temperature sensor before controlling the motor driving system to be powered off;

the determining module is further configured to determine a time difference between a current time and a last power-off time of the motor driving system after the motor driving system is powered on;

the acquisition module is further used for acquiring the temperature of each temperature sensor under the condition that the time difference is less than a first duration;

the control module is further used for determining whether each sensor group is abnormal or not according to the temperature of each temperature sensor and the historical temperature of each temperature sensor; if at least two sensor groups are abnormal, controlling the motor driving system to power off or reduce power to operate; and if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group.

Optionally, the acquiring module is further configured to acquire the temperature of each of the temperature sensors when the time difference is greater than or equal to the first time period;

the control module is also used for controlling the normal operation of the motor driving system when the difference value of the temperatures of any two temperature sensors is less than or equal to a third threshold value; and if the difference value of the temperatures of the two temperature sensors is larger than the third threshold value, controlling the motor driving system to be powered off.

Optionally, the motor drive system further comprises: the motor controller comprises a control module, a cooling module and a power module, wherein the control module is connected with the motor through the power module and is used for controlling the motor, the cooling module is connected with the control module, and the cooling module is used for cooling the motor controller and the motor; the power module includes three groups of IGBT, three groups of IGBT respectively with the three-phase of motor is connected, a plurality of sensor group include: by setting up temperature sensor in the control module is in with the setting first sensor group that temperature sensor on the cooling module constitutes, by the second sensor group that temperature sensor that sets up on every group IGBT constitutes, and by setting up the motor sensor group that at least two temperature sensor in the motor constitute.

Optionally, the control module comprises:

a determination submodule configured to determine, when one of the first sensor group and the second sensor group is abnormal, a state of each of the temperature sensors in the abnormal sensor group;

the control submodule is used for controlling the motor driving system to be powered down or power down to operate under the condition that the state of each temperature sensor in the abnormal sensor group is abnormal; and under the condition that the temperature sensor with the normal state exists in the abnormal sensor group, controlling the motor driving system to normally operate according to the temperature sensor with the normal state in the abnormal sensor group, and sending alarm information, wherein the alarm information is used for indicating the motor driving system to have the abnormality.

Optionally, the determining sub-module is further configured to determine a state of each temperature sensor in the motor sensor group when the motor sensor group is abnormal;

the control sub-module is further configured to control the motor driving system to operate at a limited power according to the temperature sensor on the cooling module and send the alarm information when the state of each temperature sensor in the motor sensor group is abnormal; and under the condition that a temperature sensor with a normal state exists in the motor sensor group, controlling the motor driving system to normally operate according to the temperature sensor with the normal state in the motor sensor group, and sending the alarm information.

According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle provided with a motor drive system, the motor drive system including: the motor controller comprises a control module, a cooling module and a power module, wherein the control module is connected with the motor through the power module and is used for controlling the motor, the cooling module is connected with the control module, and the cooling module is used for cooling the motor controller and the motor; the motor driving system further comprises a plurality of sensor groups, and each sensor group comprises at least two temperature sensors; the control module is further configured to perform a monitoring method of the motor drive system provided in the first aspect of the disclosed embodiment.

Through above-mentioned technical scheme, different positions department in the motor drive system in this disclosure is provided with a plurality of sensor groups, includes two at least temperature sensor in every sensor group. In the running process of the motor driving system, the temperature of each temperature sensor is collected according to a collection period, and whether each sensor group is abnormal or not is determined according to the temperature of each temperature sensor. And if at least two sensor groups are abnormal, controlling the motor driving system to be powered down or run with reduced power, and if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group. In the motor driving system disclosed by the invention, the temperature sensors in the sensor group are mutually verified, so that the error protection is avoided to a great extent. The running environment condition of the motor driving system is determined according to whether the plurality of sensor groups are abnormal or not, the motor driving system is controlled according to the running environment condition, the reliability of temperature measurement of the motor driving system can be improved, and the motor driving system is prevented from being powered off due to error protection on the basis of preventing overheating loss of the motor driving system, so that the running capability of the motor driving system is kept as far as possible, and the robustness of the motor driving system is improved.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a schematic diagram of a motor drive system shown in accordance with an exemplary embodiment;

FIG. 2 is a flow chart illustrating a method of monitoring a motor drive system according to an exemplary embodiment;

FIG. 3 is a flow chart illustrating another method of monitoring a motor drive system in accordance with an exemplary embodiment;

FIG. 4 is a flow chart illustrating another method of monitoring a motor drive system in accordance with an exemplary embodiment;

FIG. 5 is a flow chart illustrating another method of monitoring a motor drive system in accordance with an exemplary embodiment;

FIG. 6 is a flow chart illustrating another method of monitoring a motor drive system in accordance with an exemplary embodiment;

FIG. 7 is a block diagram illustrating a monitoring device of a motor drive system in accordance with an exemplary embodiment;

FIG. 8 is a block diagram illustrating another monitoring device of a motor drive system in accordance with an exemplary embodiment;

fig. 9 is a block diagram illustrating another monitoring device of a motor drive system in accordance with an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Before introducing the monitoring method and device for the motor drive system and the vehicle provided by the present disclosure, an application scenario related to various embodiments of the present disclosure is first introduced. The application scene can be a vehicle provided with a motor driving system, the vehicle uses a power battery as an energy source, for example, the vehicle can be an electric vehicle, is not limited to a pure electric vehicle or a hybrid electric vehicle and the like, and can also be a train of rail traffic such as a train, a high-speed rail, a subway, a light rail and the like.

The motor driving system, as shown in (a) and (b) of fig. 1, may include: the motor 10 and the motor controller 20, the motor controller 20 includes a control module 21, a cooling module 22 and a power module 23. As shown in fig. 1 (a), the control module 21 controls the power module 23 through a PWM (Pulse width modulation) signal, and the power module 23 is connected to the motor 10, so that the control module 21 controls the motor 10. The positional relationship between the cooling module 22 and the motor controller 20 and the motor 10 is shown in fig. 1 (b), and is used to cool the motor controller 20 and the motor 10. The cooling module 22 may include a motor electrically-controlled radiator and a condenser, and the motor electrically-controlled radiator is connected to the control module 21. The motor 10 may be, for example, a three-phase motor (including a phase, B phase, and C phase), and the power module 23 may include three sets of IGBTs (english: Insulated Gate Bipolar transistors, chinese: Insulated Gate Bipolar transistors), and the three sets of IGBTs are respectively connected to three phases of the three-phase motor.

The motor driving system further comprises a plurality of sensor groups arranged at different positions, each sensor group comprises at least two temperature sensors, the positions of the temperature sensors in each sensor group are close, and correspondingly, the temperatures of the temperature sensors in each sensor group can be verified mutually. A temperature sensor PCB _ NTC may be provided in the control module 21 and a temperature sensor RD _ NTC may be provided in the cooling module 22, with PCB _ NTC and RD _ NTC as a sensor group. A temperature sensor can also be arranged on each group of IGBTs respectively: a _ NTC, B _ NTC and C _ NTC, wherein the A _ NTC, the B _ NTC and the C _ NTC are used as a sensor group. Two temperature sensors may also be provided within the motor 10: m _ PTC1 and M _ PTC2, M _ PTC1 and M _ PTC2 as a sensor group.

Fig. 2 is a flow chart illustrating a monitoring method of a motor drive system according to an exemplary embodiment, as shown in fig. 2, applied to the motor drive system shown in fig. 1, the method including:

step 101, in the running process of the motor driving system, collecting the temperature of each temperature sensor according to a collection period.

Step 102, determining whether each sensor group is abnormal according to the temperature of each temperature sensor.

For example, during the operation of the motor driving system, the temperature of each temperature sensor may be collected according to a preset collection period (e.g., 1min), and whether each sensor group is abnormal or not may be determined according to the temperature of each temperature sensor. That is, during the operation of the motor drive system, the temperature of each temperature sensor is periodically monitored, which can be understood as a process self-check of the motor drive system. In a specific application scenario, for each sensor group, whether the sensor group is abnormal is determined by judging whether the sensor group meets a preset condition. And if the sensor group does not meet the preset condition, determining that the sensor group is abnormal.

The preset conditions may include the following three conditions, and when the sensor group simultaneously satisfies the following three conditions, the sensor group is determined to be normal. Condition 1: the temperature of each temperature sensor in the sensor group belongs to the corresponding normal range of the temperature sensor. Condition 2: the difference value between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the last acquisition period is smaller than or equal to a first threshold value. Condition 3: the difference between the temperatures of any two temperature sensors in the sensor group is less than or equal to the second threshold value.

Specifically, the condition 1 may be understood as that each temperature sensor is preset with a corresponding normal range, that is, a sampling range determined according to the measurement capability of the temperature sensor itself. If the temperature of a certain temperature sensor does not belong to the normal range corresponding to the temperature sensor, the temperature sensor can be determined to be broken or short-circuited according to the relationship between the temperature of the temperature sensor and the normal range. For example, the normal range of the temperature sensor provided on the cooling module is 0-150 ℃, and when the temperature of the temperature sensor is less than 0 ℃, the temperature sensor may be determined to be short-circuited, and when the temperature of the temperature sensor is greater than 150 ℃, the temperature sensor may be determined to be broken.

Condition 2 may be understood that the variation range of each temperature sensor in one acquisition cycle is limited, and no sudden change occurs, so that the variation range of each temperature sensor in two adjacent acquisition cycles may be limited by the first threshold. The first threshold may be set to 40 deg.c, for example.

Condition 3 is understood to mean that the temperature sensors in each sensor group are located close to each other, and the temperatures of the temperature sensors in each sensor group should be close to each other, and mutual verification is possible, so that the difference between the temperatures of any two temperature sensors in a sensor group can be limited by a second threshold, which can be set to 10 ℃ or 15 ℃, for example.

And 103, controlling the motor driving system to power off or reduce power to operate if at least two sensor groups are abnormal.

And 104, if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group.

For example, if at least two sensor groups in the plurality of sensor groups are abnormal, it indicates that a fault occurring in the temperature sensor in the motor driving system is relatively serious, or a fault occurring in the motor driving system is relatively serious, or it may be that a fault occurring in both the temperature sensor and the motor driving system is relatively serious. If the continuous operation can cause irreversible damage to the motor driving system caused by overheating loss or the motor driving system cannot be monitored continuously, the motor driving system can be controlled to be powered down or operated in a power-down mode. The control of the motor driving system to reduce power may be understood as controlling the motor driving system to reduce power according to a preset step value or a preset ratio until the power is reduced to zero. If each sensor group in the plurality of sensor groups is normal, the motor driving system is normal, and no fault exists, so that the motor driving system can be controlled to normally operate. Alternatively, in the case where each of the plurality of sensor groups is normal, whether the motor drive system is normal or not is further determined by comparing the difference between the temperatures of each sensor group (which may be understood as an average value of the temperatures of all the temperature sensors in the sensor group). If the difference between the temperatures of any two sensor groups is less than or equal to a fourth threshold (which may be 20 ℃, for example), then the motor drive system is determined to be normal.

If only one of the plurality of sensor groups is abnormal, the motor drive system may be controlled according to the state of each temperature sensor in the abnormal sensor group. Specifically, the state of each temperature sensor in the sensor group that is abnormal may be determined first. For example, whether the state of the temperature sensor is normal may be determined by determining whether the temperature of the temperature sensor belongs to a normal range corresponding to the temperature sensor. Whether the state of the temperature sensor is normal can also be determined by judging the relationship between the difference value of the temperature sensor and the temperature of the temperature sensor in the last acquisition period and the first threshold value.

If all the temperature sensors in the abnormal sensor group are abnormal, namely faults occur simultaneously, the situation shows that the faults of the temperature sensors in the motor driving system are serious, or the faults of the motor driving system are serious, or the temperature sensors and the motor driving system have serious faults simultaneously, if the motor driving system is continuously operated, the motor driving system is irreversibly damaged by overheating loss, or the motor driving system cannot be continuously monitored, the motor driving system can be controlled to be powered down or power-down operated. If the temperature sensor in the normal state exists in the abnormal sensor group, the fault of the temperature sensor in the motor driving system is light. Because the positions of the temperature sensors in the sensor group are close, and the temperatures of the temperature sensors in the sensor group are close, the temperature of the temperature sensor in the normal state can be used for replacing the temperature of the temperature sensor in the abnormal state, so that the motor driving system can continue to normally operate, and meanwhile, the warning information can be sent out to prompt a user that the motor driving system is abnormal, and the user can drive the vehicle to a nearby maintenance point or service point for maintenance after receiving the warning information.

Because the probability that all temperature sensors in the sensor group simultaneously break down is very low, the reliability of temperature measurement of the motor driving system can be improved through mutual verification of the temperature sensors in the sensor group, and the motor driving system can be prevented from being powered off due to error protection on the basis of preventing the overheating loss of the motor driving system, so that the operation capacity of the motor driving system is kept as far as possible, and the robustness of the motor driving system is improved. Compare in prior art, as long as the temperature anomaly appears, just power off to motor drive system, lead to the vehicle can't continue to travel, probably appear the vehicle and stop in improper position, perhaps can't contact the problem of rescue personnel, this disclosure can improve user's experience and the degree of safety of vehicle.

In summary, in the present disclosure, a plurality of sensor groups are disposed at different positions in the motor driving system, and each sensor group includes at least two temperature sensors. In the running process of the motor driving system, the temperature of each temperature sensor is collected according to a collection period, and whether each sensor group is abnormal or not is determined according to the temperature of each temperature sensor. And if at least two sensor groups are abnormal, controlling the motor driving system to be powered down or run with reduced power, and if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group. In the motor driving system disclosed by the invention, the temperature sensors in the sensor group are mutually verified, so that the error protection is avoided to a great extent. The running environment condition of the motor driving system is determined according to whether the plurality of sensor groups are abnormal or not, the motor driving system is controlled according to the running environment condition, the reliability of temperature measurement of the motor driving system can be improved, and the motor driving system is prevented from being powered off due to error protection on the basis of preventing overheating loss of the motor driving system, so that the running capability of the motor driving system is kept as far as possible, and the robustness of the motor driving system is improved.

FIG. 3 is a flow chart illustrating another method of monitoring a motor drive system according to an exemplary embodiment, which may further include the steps of, as shown in FIG. 3:

and 105, storing the temperature of each temperature sensor as the historical temperature of the temperature sensor before controlling the motor driving system to be powered off.

For example, before controlling the motor drive system to power down, the temperature of each temperature sensor may be stored as the historical temperature of the temperature sensor, and the time when the motor drive system is powered down may also be stored. For example, the historical temperature and the power-off time can be stored in an EEPROM (Electrically Erasable Programmable Read Only Memory) or a ROM (Read-Only Memory) of the control module, which is not limited in this disclosure.

And step 106, after the motor driving system is powered on, determining the time difference between the current time and the last power-off time of the motor driving system.

And step 107, if the time difference is less than the first duration, acquiring the temperature of each temperature sensor. Determining whether each sensor group is abnormal or not according to the temperature of each temperature sensor and the historical temperature of each temperature sensor. And if at least two sensor groups are abnormal, controlling the motor driving system to power off or reduce the power to operate. And if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group.

For example, after the motor driving system is powered on, a time difference between a current time (i.e., a time when the motor driving system is powered on) and a last power-off time of the motor driving system may be determined, i.e., a time period during which the motor driving system is powered off. If the time difference is smaller than the first time length (for example, may be 10min), which indicates that the shutdown time length is short, the temperature inside the motor drive system is still affected by the temperature before the last power down, and may be regarded as a process self-check of the motor drive system. Therefore, it is possible to determine whether each sensor group is abnormal or not based on the temperature of each temperature sensor and the historical temperature of each temperature sensor. Whether a sensor group is abnormal may be determined, for example, by determining whether the sensor group satisfies a preset condition. And if the sensor group does not meet the preset condition, determining that the sensor group is abnormal.

The preset conditions may include the following three conditions, and when the sensor group simultaneously satisfies the following three conditions, the sensor group is determined to be normal. Condition 1: the temperature of each temperature sensor in the sensor group belongs to the corresponding normal range of the temperature sensor. Condition 2: the difference between the temperature of each temperature sensor within the sensor group and the historical temperature of the temperature sensor is less than or equal to a first threshold. Condition 3: the difference between the temperatures of any two temperature sensors in the sensor group is less than or equal to the second threshold value.

And if at least two sensor groups are abnormal, controlling the motor driving system to power off or reduce the power to operate. And if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group. The control process is the same as the control process of step 103 and step 104, and is not described here again.

Fig. 4 is a flow chart illustrating another method of monitoring a motor drive system according to an exemplary embodiment, which may further include, as shown in fig. 4:

and step 108, if the time difference is greater than or equal to the first time length, acquiring the temperature of each temperature sensor. And if the difference value of the temperatures of any two temperature sensors is smaller than or equal to a third threshold value, controlling the motor driving system to normally operate, and sending prompt information, wherein the prompt information is used for indicating the motor driving system to be normal. And if the difference value of the temperatures of the two temperature sensors is larger than a third threshold value, controlling the motor driving system to be powered off.

In another implementation scenario, if the time difference is greater than or equal to the first time period (for example, may be 10min), which indicates that the shutdown time period is long, the motor driving system has recovered the ambient temperature, which may be understood as an initial check before the motor driving system operates. After the motor driving system is powered on, the temperature of each temperature sensor can be acquired. Since the motor drive system has recovered the ambient temperature, the temperature of each temperature sensor should be close to each other and can be verified against each other, so that the difference in temperature between any two temperature sensors can be limited by a third threshold, which can be set to 10 ℃ for example. And if the difference value of the temperatures of any two temperature sensors is smaller than or equal to a third threshold value, controlling the motor driving system to normally operate, and sending prompt information, wherein the prompt information is used for indicating the motor driving system to be normal. If the difference value of the temperatures of the two temperature sensors is larger than the third threshold value, the motor driving system is controlled to be powered off, and meanwhile, warning information can be sent out to prompt a user that the motor driving system is abnormal.

In one embodiment, the operation of the motor drive system may also be controlled based on the state of each temperature sensor. And if the state of each temperature sensor is normal, controlling the motor driving system to normally operate and sending prompt information. And if the states of one or more temperature sensors are abnormal, controlling the motor driving system to be powered off, and simultaneously sending alarm information. Specifically, the state of each temperature sensor may be determined according to the normal range corresponding to each temperature sensor. If the temperature of a certain temperature sensor does not belong to the normal range corresponding to the temperature sensor, the temperature sensor can be determined to be broken or short-circuited according to the relationship between the temperature of the temperature sensor and the normal range. For example, a normal range of a temperature sensor provided on the motor is 0-200 ℃, and when the temperature of the temperature sensor is less than 0 ℃, the temperature sensor may be determined to be short-circuited, and when the temperature of the temperature sensor is greater than 200 ℃, the temperature sensor may be determined to be broken.

Taking the motor driving system shown in fig. 1 as an example, the power module in the motor controller may include three sets of IGBTs, the three sets of IGBTs are respectively connected to three phases of the motor, and the plurality of sensor sets include: the temperature sensor group comprises a first sensor group consisting of temperature sensors arranged in the control module and temperature sensors arranged on the cooling module, a second sensor group consisting of temperature sensors arranged on each IGBT, and a motor sensor group consisting of at least two temperature sensors arranged in the motor.

Fig. 5 is a flow chart illustrating another monitoring method of a motor drive system according to an exemplary embodiment, and as shown in fig. 5, the implementation of step 104 may include:

in step 1041, if one of the first sensor group and the second sensor group is abnormal, the state of each temperature sensor in the abnormal sensor group is determined.

And 1042, if the state of each temperature sensor in the abnormal sensor group is abnormal, controlling the motor driving system to power off or reduce power to operate.

And 1043, if a temperature sensor with a normal state exists in the abnormal sensor group, controlling the motor driving system to normally operate according to the temperature sensor with the normal state in the abnormal sensor group, and sending alarm information, wherein the alarm information is used for indicating that the motor driving system is abnormal.

For example, whether the state of the temperature sensor is normal can be determined by determining whether the temperature of the temperature sensor belongs to the normal range corresponding to the temperature sensor, that is, the state is normal if the temperature of the temperature sensor belongs to the normal range, and the state is abnormal if the temperature of the temperature sensor does not belong to the normal range. Whether the state of the temperature sensor is normal or not can be determined by judging the relationship between the difference value between the temperature of the temperature sensor and the temperature of the temperature sensor in the last acquisition period and the first threshold value, namely, the difference value between the temperature of the temperature sensor and the temperature of the temperature sensor in the last acquisition period is smaller than or equal to the first threshold value, the state is normal, and the difference value between the temperature of the temperature sensor and the temperature of the temperature sensor in the last acquisition period is larger than the first threshold value, the state is abnormal.

In a specific application scenario, if the states of each temperature sensor in an abnormal sensor group are abnormal, that is, faults occur simultaneously, it indicates that the faults occurring on the temperature sensors in the motor driving system are serious, or the faults occurring on the temperature sensors and the motor driving system are also serious simultaneously, if the motor driving system continues to operate, overheating loss may be caused, irreversible damage may be caused to the motor driving system, or the motor driving system cannot be continuously monitored, and at this time, the motor driving system can be controlled to be powered down or power-down to operate. If the temperature sensor in the abnormal sensor group is in a normal state, the fault of the temperature sensor in the motor driving system is light. Because the positions of the temperature sensors in the sensor group are close to each other, and the temperatures of the temperature sensors in the sensor group should be close to each other, the temperature of the temperature sensor in the normal state can be used as the temperature of the temperature sensor in the abnormal state instead of the temperature sensor in the abnormal state, or a preset first offset (for example, plus or minus 5 ℃) can be added on the basis of the temperature sensor in the normal state, so that the motor driving system is controlled to normally operate, and warning information is sent.

Taking fig. 1 as an example, a temperature sensor PCB _ NTC is provided in the control module 21, a temperature sensor RD _ NTC is provided in the cooling module 22, and the PCB _ NTC and RD _ NTC are used as the first sensor group. A temperature sensor can also be arranged on each group of IGBTs respectively: a _ NTC, B _ NTC, C _ NTC, A _ NTC, B _ NTC, C _ NTC as the second sensor group.

If the first sensor group is abnormal, the states of the PCB _ NTC and the RD _ NTC are respectively determined. If the state of the PCB _ NTC is abnormal and the state of the RD _ NTC is normal, the temperature of the RD _ NTC may be replaced with +5 c on the basis of the temperature of the RD _ NTC so that the motor driving system operates normally. If the state of the PCB _ NTC is normal and the state of the RD _ NTC is abnormal, the temperature of the RD _ NTC may be replaced with-5 ℃ based on the temperature of the PCB _ NTC so that the motor driving system operates normally. And if the states of the PCB _ NTC and the RD _ NTC are abnormal, controlling the motor driving system to power down or power down.

If the second sensor group is abnormal, the states of A _ NTC, B _ NTC and C _ NTC are respectively determined. If the state of the a _ NTC is abnormal and the states of the B _ NTC and the C _ NTC are normal, the temperature of the a _ NTC may be replaced with the temperatures of the B _ NTC and the C _ NTC so that the motor driving system operates normally. And if the states of the A _ NTC, the B _ NTC and the C _ NTC are abnormal, controlling the motor driving system to power down or run with reduced power.

FIG. 6 is a flow chart illustrating another method of monitoring a motor drive system according to an exemplary embodiment, as shown in FIG. 6, the plurality of sensor groups further including: the motor sensor group is composed of at least two temperature sensors arranged in the motor.

Step 104 further comprises:

step 1044, if the motor sensor group is abnormal, determining the state of each temperature sensor in the motor sensor group.

And 1045, controlling the motor driving system to operate in a power limiting mode according to the temperature sensors on the cooling module and sending warning information under the condition that the states of all the temperature sensors in the motor sensor group are abnormal.

And 1046, under the condition that the temperature sensor in the normal state exists in the motor sensor group, controlling the motor driving system to normally operate according to the temperature sensor in the normal state in the motor sensor group, and sending out warning information.

For example, if only the motor sensor group in the plurality of sensor groups is abnormal, the state of each temperature sensor in the motor sensor group is determined first, that is, the temperature of the temperature sensor belongs to the normal range, the state is normal, and the temperature of the temperature sensor does not belong to the normal range, the state is abnormal. Whether the state of the temperature sensor is normal or not can be determined by judging the relationship between the difference value between the temperature of the temperature sensor and the temperature of the temperature sensor in the last acquisition period and the first threshold value, namely, the difference value between the temperature of the temperature sensor and the temperature of the temperature sensor in the last acquisition period is smaller than or equal to the first threshold value, the state is normal, and the difference value between the temperature of the temperature sensor and the temperature of the temperature sensor in the last acquisition period is larger than the first threshold value, the state is abnormal.

If the states of all the temperature sensors in the motor sensor group are abnormal, in order to keep the operation capability of the motor driving system as much as possible, namely to ensure that the motor can normally operate, the temperature of the temperature sensor on the cooling module can be used for replacing the temperature of each temperature sensor in the motor sensor group, or a preset second offset (for example, the temperature can be +20 ℃) can be added on the basis of the temperature sensor on the cooling module, and the temperature is taken as the temperature of the temperature sensor with the abnormal state, so that the power-limited operation of the motor driving system is controlled, and warning information is sent. Since the motor is closer to the cooling module and the temperature should be close, the temperature of the temperature sensor on the cooling module can be temporarily substituted for the temperature of each temperature sensor in the motor sensor group. The control of the limited power operation of the motor driving system can be understood as controlling the power of the motor driving system to keep a preset proportion (for example, 30%) of the rated power, so that a user can drive the vehicle to a nearby maintenance point or service point for maintenance after receiving the warning information.

If the temperature sensor in the normal state exists in the motor sensor group, the fault of the temperature sensor in the motor driving system is light. Because the positions of the temperature sensors in the motor sensor group are close and the temperatures are also close, the temperature of the temperature sensor in the motor sensor group in a normal state can be used for replacing the temperature of the temperature sensor in an abnormal state, so that the motor driving system is controlled to normally operate, and warning information is sent.

By way of example in fig. 1, two temperature sensors are provided in the motor 10: the M _ PTC1 and M _ PTC2, M _ PTC1 and M _ PTC2 are the motor sensor groups. In the event that the motor sensor group is abnormal, the states of M _ PTC1 and M _ PTC2 are determined, respectively. If the state of the M _ PTC1 is abnormal and the state of the M _ PTC2 is normal, the temperature of the motor may be replaced with the temperature of the M _ PTC2 so that the motor drive system operates normally. If the states of the M _ PTC1 and the M _ PTC2 are both abnormal, the motor driving system is controlled to operate at a limited power by replacing the temperatures of the M _ PTC1 and the M _ PTC2 with +20 c based on the temperature of the RD _ NTC.

In summary, in the present disclosure, a plurality of sensor groups are disposed at different positions in the motor driving system, and each sensor group includes at least two temperature sensors. In the running process of the motor driving system, the temperature of each temperature sensor is collected according to a collection period, and whether each sensor group is abnormal or not is determined according to the temperature of each temperature sensor. And if at least two sensor groups are abnormal, controlling the motor driving system to be powered down or run with reduced power, and if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group. In the motor driving system disclosed by the invention, the temperature sensors in the sensor group are mutually verified, so that the error protection is avoided to a great extent. The running environment condition of the motor driving system is determined according to whether the plurality of sensor groups are abnormal or not, the motor driving system is controlled according to the running environment condition, the reliability of temperature measurement of the motor driving system can be improved, and the motor driving system is prevented from being powered off due to error protection on the basis of preventing overheating loss of the motor driving system, so that the running capability of the motor driving system is kept as far as possible, and the robustness of the motor driving system is improved.

Fig. 7 is a block diagram illustrating a monitoring apparatus of a motor driving system according to an exemplary embodiment, as shown in fig. 7, applied to the motor driving system shown in fig. 1. The apparatus 200 comprises:

and the acquisition module 201 is used for acquiring the temperature of each temperature sensor according to an acquisition cycle in the operation process of the motor driving system.

A determining module 202, configured to determine whether each sensor group is abnormal according to the temperature of each temperature sensor.

And the control module 203 is used for controlling the power-down or power-down operation of the motor driving system under the condition that at least two sensor groups are abnormal, and controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group under the condition that only one sensor group is abnormal.

In one embodiment, the determination module 202 is configured to:

and aiming at each sensor group, if the sensor group meets the preset condition, determining that the sensor group is normal, and if the sensor group does not meet the preset condition, determining that the sensor group is abnormal.

Wherein the preset conditions are as follows: the temperature of each temperature sensor in the sensor group belongs to the normal range corresponding to the temperature sensor, the difference value between the temperature of each temperature sensor in the sensor group and the temperature of the temperature sensor in the last acquisition period is smaller than or equal to a first threshold value, and the difference value between the temperatures of any two temperature sensors in the sensor group is smaller than or equal to a second threshold value.

Fig. 8 is a block diagram illustrating another monitoring apparatus of a motor driving system according to an exemplary embodiment, and as shown in fig. 8, the apparatus 200 may further include:

and the storage module 204 is used for storing the temperature of each temperature sensor as the historical temperature of the temperature sensor before controlling the motor driving system to be powered off.

The determining module 202 is further configured to determine, after the motor driving system is powered on, a time difference between a current time and a last power-off time of the motor driving system.

The acquiring module 201 is further configured to acquire the temperature of each temperature sensor when the time difference is smaller than the first duration.

The control module 203 is further configured to determine whether each sensor group is abnormal according to the temperature of each temperature sensor and the historical temperature of each temperature sensor. And if at least two sensor groups are abnormal, controlling the motor driving system to power off or reduce the power to operate. And if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group.

In an embodiment, the acquiring module 201 is further configured to acquire the temperature of each temperature sensor if the time difference is greater than or equal to the first time period.

The control module 203 is further configured to control the normal operation of the motor driving system and send prompt information, where the difference between the temperatures of any two temperature sensors is less than or equal to a third threshold, and the prompt information is used to indicate that the motor driving system is normal. And if the difference value of the temperatures of the two temperature sensors is larger than a third threshold value, controlling the motor driving system to be powered off.

Fig. 9 is a block diagram illustrating another monitoring apparatus of a motor driving system according to an exemplary embodiment, where, as shown in fig. 9, a power module in a motor controller includes three groups of IGBTs, the three groups of IGBTs are respectively connected to three phases of a motor, and a plurality of sensor groups include: the temperature sensor group comprises a first sensor group consisting of temperature sensors arranged in the control module and temperature sensors arranged on the cooling module, a second sensor group consisting of temperature sensors arranged on each IGBT, and a motor sensor group consisting of at least two temperature sensors arranged in the motor.

The control module 203 includes:

the determining submodule 2031 is configured to, when one of the first sensor group and the second sensor group is abnormal, determine a state of each temperature sensor in the abnormal sensor group.

The control sub-module 2032 is configured to control the motor driving system to power down or power down when the status of each temperature sensor in the abnormal sensor group is abnormal. And under the condition that the temperature sensor with the normal state exists in the abnormal sensor group, controlling the motor driving system to normally operate according to the temperature sensor with the normal state in the abnormal sensor group, and sending alarm information, wherein the alarm information is used for indicating the motor driving system to have the abnormality.

In another embodiment, the determination submodule 2031 is further configured to determine a status of each temperature sensor within the motor sensor group if the motor sensor group is abnormal.

The control sub-module 2032 is further configured to, when the status of each temperature sensor in the motor sensor group is abnormal, control the motor driving system to operate at the limited power according to the temperature sensor on the cooling module, and send out warning information. And under the condition that the temperature sensor in a normal state exists in the motor sensor group, controlling the motor driving system to normally operate and sending out warning information according to the temperature sensor in the normal state in the motor sensor group.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

In summary, in the present disclosure, a plurality of sensor groups are disposed at different positions in the motor driving system, and each sensor group includes at least two temperature sensors. In the running process of the motor driving system, the temperature of each temperature sensor is collected according to a collection period, and whether each sensor group is abnormal or not is determined according to the temperature of each temperature sensor. And if at least two sensor groups are abnormal, controlling the motor driving system to be powered down or run with reduced power, and if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group. In the motor driving system disclosed by the invention, the temperature sensors in the sensor group are mutually verified, so that the error protection is avoided to a great extent. The running environment condition of the motor driving system is determined according to whether the plurality of sensor groups are abnormal or not, the motor driving system is controlled according to the running environment condition, the reliability of temperature measurement of the motor driving system can be improved, and the motor driving system is prevented from being powered off due to error protection on the basis of preventing overheating loss of the motor driving system, so that the running capability of the motor driving system is kept as far as possible, and the robustness of the motor driving system is improved.

The present disclosure also relates to a vehicle provided with a motor drive system as shown in fig. 1, the motor drive system including: the motor controller comprises a control module, a cooling module and a power module, the control module is connected with the motor through the power module, the control module is used for controlling the motor, the cooling module is connected with the control module, and the cooling module is used for cooling the motor controller and the motor. The motor drive system also includes a plurality of sensor groups, each sensor group including at least two temperature sensors therein. The control module is further configured to perform the monitoring method of the motor drive system provided in the first aspect of the disclosed embodiment.

With regard to the vehicle in the above-described embodiment, the specific manner in which the respective modules perform the operations has been described in detail in the embodiment related to the method, and will not be elaborated upon here.

In summary, in the present disclosure, a plurality of sensor groups are disposed at different positions in the motor driving system, and each sensor group includes at least two temperature sensors. In the running process of the motor driving system, the temperature of each temperature sensor is collected according to a collection period, and whether each sensor group is abnormal or not is determined according to the temperature of each temperature sensor. And if at least two sensor groups are abnormal, controlling the motor driving system to be powered down or run with reduced power, and if only one sensor group is abnormal, controlling the motor driving system according to the state of each temperature sensor in the abnormal sensor group. In the motor driving system disclosed by the invention, the temperature sensors in the sensor group are mutually verified, so that the error protection is avoided to a great extent. The running environment condition of the motor driving system is determined according to whether the plurality of sensor groups are abnormal or not, the motor driving system is controlled according to the running environment condition, the reliability of temperature measurement of the motor driving system can be improved, and the motor driving system is prevented from being powered off due to error protection on the basis of preventing overheating loss of the motor driving system, so that the running capability of the motor driving system is kept as far as possible, and the robustness of the motor driving system is improved.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.