阅读说明：本技术 一种多电机驱动电路及其控制方法 (Multi-motor drive circuit and control method thereof ) 是由 张智敏 黄鑫 刘晓康 于 2020-03-31 设计创作，主要内容包括：本申请实施例公开了一种多电机驱动电路,所述多电机驱动电路包括至少三个电机以及至少三个驱动桥臂,所述至少三个驱动桥臂并联,且所述至少三个驱动桥臂与直流电源并联,所述至少三个电机中每个电机包括至少两个电源接口,所述至少三个驱动桥臂与所述至少三个电机具有连接关系；其中,所述连接关系满足：电机i的至少两个电源接口分别连接的至少两个驱动桥臂与电机j的至少两个电源接口分别连接的至少两个驱动桥臂,存在至少一个不相同的驱动桥臂,所述电机i和所述电机j为所述至少三个电机中的任两个电机。本申请实施例可以应用在智能汽车、网联汽车、新能源汽车上,减少驱动单元的体积和成本。(The embodiment of the application discloses a multi-motor driving circuit, which comprises at least three motors and at least three driving bridge arms, wherein the at least three driving bridge arms are connected in parallel and are connected with a direct-current power supply in parallel, each motor in the at least three motors comprises at least two power interfaces, and the at least three driving bridge arms and the at least three motors have a connection relation; wherein the connection relation satisfies: at least two driving bridge arms respectively connected with at least two power interfaces of the motor i and at least two driving bridge arms respectively connected with at least two power interfaces of the motor j have at least one different driving bridge arm, and the motor i and the motor j are any two motors in the at least three motors. The embodiment of the application can be applied to intelligent automobiles, internet automobiles and new energy automobiles, and the volume and the cost of the driving unit are reduced.)

1. A multi-motor driving circuit is characterized by comprising at least three motors and at least three driving bridge arms, wherein the at least three driving bridge arms are connected in parallel and are connected with a direct-current power supply in parallel, each motor in the at least three motors comprises at least two power interfaces, and the at least three driving bridge arms and the at least three motors have a connection relation;

wherein the connection relation satisfies: at least two driving bridge arms respectively connected with at least two power interfaces of the motor i and at least two driving bridge arms respectively connected with at least two power interfaces of the motor j have at least one different driving bridge arm, and the motor i and the motor j are any two motors in the at least three motors.

2. The multi-motor drive circuit of claim 1 wherein the at least three motors include a first motor, a second motor, and a third motor, the first motor, the second motor, and the third motor each include two interfaces, the at least three drive legs include a first drive leg, a second drive leg, and a third drive leg;

the first power interface of the first motor is connected with the first driving bridge arm, the second power interface of the first motor is connected with the second driving bridge arm, the third power interface of the second motor is connected with the first driving bridge arm, the fourth power interface of the second motor is connected with the third driving bridge arm, the fifth power interface of the third motor is connected with the second driving bridge arm, and the sixth power interface of the third motor is connected with the third driving bridge arm.

3. The multi-motor drive circuit according to claim 2, wherein the first drive bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second drive bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, and the third drive bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series;

the first switching tube, the third switching tube and the fifth switching tube are respectively connected with the positive electrode of the direct-current power supply, the second switching tube, the fourth switching tube and the sixth switching tube are respectively connected with the negative electrode of the direct-current power supply, the middle point of the first switching tube and the second switching tube is a first output end, the middle point of the third switching tube and the fourth switching tube is a second output end, and the middle point of the fifth switching tube and the sixth switching tube is a third output end;

wherein, first power source interface connects first output, second power source interface connects the second output, third power source interface connects first output, fourth power source interface connects the third output, fifth power source interface connects the second output, sixth power source interface connects the third output.

4. The multi-motor drive circuit according to claim 3, wherein the at least three drive legs are controlled by a control unit; the control unit is specifically configured to control conduction states of the first switching tube, the second switching tube, the third switching tube and the fourth switching tube at a first period, so as to provide a current for the first motor; one of the first switching tube and the second switching tube provides current for the first motor, one of the third switching tube and the fourth switching tube provides current for the first motor, and the fifth switching tube and the sixth switching tube are disconnected;

the control unit is further used for controlling the conduction states of the first switching tube, the second switching tube, the fifth switching tube and the sixth switching tube in a second time period to provide current for the second motor; one of the first switching tube and the second switching tube supplies current to the second motor, one of the fifth switching tube and the sixth switching tube supplies current to the second motor, and the third switching tube and the fourth switching tube are disconnected;

the control unit is further used for controlling the conduction states of the third switching tube, the fourth switching tube, the fifth switching tube and the sixth switching tube in a third period of time to provide current for the third motor; one of the third switching tube and the fourth switching tube supplies current to the third motor, one of the fifth switching tube and the sixth switching tube supplies current to the third motor, and the first switching tube and the second switching tube are disconnected.

5. The multi-motor drive circuit of claim 3 further comprising a fourth drive leg, a fifth drive leg, and a sixth drive leg, the fourth, fifth, and sixth drive legs being connected in parallel with the DC power supply;

the fourth driving bridge arm comprises a seventh switching tube and an eighth switching tube which are connected in series, the fifth driving bridge arm comprises a ninth switching tube and a tenth switching tube which are connected in series, the sixth driving bridge arm comprises an eleventh switching tube and a twelfth switching tube which are connected in series, the seventh switching tube, the ninth switching tube and the eleventh switching tube are respectively connected with the positive pole of the direct-current power supply, and the eighth switching tube, the tenth switching tube and the twelfth switching tube are respectively connected with the negative pole of the direct-current power supply;

a middle point of the seventh switching tube and the eighth switching tube is a fourth output end, a middle point of the ninth switching tube and the tenth switching tube is a fifth output end, and a middle point of the eleventh switching tube and the twelfth switching tube is a sixth output end;

the multi-motor driving circuit further comprises a fourth motor, a fifth motor and a sixth motor, wherein the fourth motor, the fifth motor and the sixth motor respectively comprise two power interfaces;

the seventh power interface of the fourth motor is connected with the fourth output end, the eighth power interface of the fourth motor is connected with the fifth output end, the ninth power interface of the fifth motor is connected with the fourth output end, the tenth power interface of the fifth motor is connected with the sixth output end, the eleventh power interface of the sixth motor is connected with the fifth output end, and the twelfth power interface of the sixth motor is connected with the sixth output end.

6. The multi-motor drive circuit according to claim 5, wherein the first to sixth drive legs are controlled by a control unit; the control unit is specifically configured to control the conduction states of the switching tubes of the first driving bridge arm and the second driving bridge arm to provide current for the first motor, and control the conduction states of the switching tubes of the fourth driving bridge arm and the fifth driving bridge arm to provide current for the fourth motor at the same time interval;

one of the first switch tube and the second switch tube provides current for the first motor, one of the third switch tube and the fourth switch tube provides current for the first motor, one of the seventh switch tube and the eighth switch tube provides current for the fourth motor, one of the ninth switch tube and the tenth switch tube provides current for the fourth motor, and the fifth switch tube, the sixth switch tube, the eleventh switch tube and the twelfth switch tube are all turned off.

7. The multi-motor drive circuit according to any one of claims 1 to 6, wherein the switching device includes a semiconductor device including: insulated gate bipolar transistors IGBT and/or triode and their anti-parallel diodes and/or metal-oxide semiconductor field effect transistors MOSFET.

8. The multi-motor drive circuit according to claim 1, wherein the at least three motors include a first three-phase motor, a second three-phase motor, a third three-phase motor, and a fourth three-phase motor; the at least three driving bridge arms comprise a first driving bridge arm, a second driving bridge arm, a third driving bridge arm, a fourth driving bridge arm, a fifth driving bridge arm and a sixth driving bridge arm; the at least three motors each comprise three power interfaces;

a first power interface of the first three-phase motor is connected with the first driving bridge arm, a second power interface of the first three-phase motor is connected with the second driving bridge arm, and a third power interface of the first three-phase motor is connected with the third driving bridge arm;

a fourth power interface of the second three-phase motor is connected with the first driving bridge arm, a fifth power interface of the second three-phase motor is connected with the fourth driving bridge arm, and a sixth power interface of the second three-phase motor is connected with the fifth driving bridge arm;

a seventh power interface of the third three-phase motor is connected with the second driving bridge arm, an eighth power interface of the third three-phase motor is connected with the fourth driving bridge arm, and a ninth power interface of the third three-phase motor is connected with the sixth driving bridge arm;

and a tenth power interface of the fourth three-phase motor is connected with the third driving bridge arm, an eleventh power interface of the fourth three-phase motor is connected with the fifth driving bridge arm, and a twelfth power interface of the fourth three-phase motor is connected with the sixth driving bridge arm.

9. The multi-motor drive circuit according to claim 8, wherein the first drive bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second drive bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, the third drive bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series, the fourth drive bridge arm comprises a seventh switching tube and an eighth switching tube which are connected in series, the fifth drive bridge arm comprises a ninth switching tube and a tenth switching tube which are connected in series, and the sixth drive bridge arm comprises an eleventh switching tube and a twelfth switching tube which are connected in series;

wherein the first switch tube, the third switch tube, the fifth switch tube, the seventh switch tube, the ninth switch tube and the eleventh switch tube are respectively connected with the positive electrode of the dc power supply, the second switch tube, the fourth switch tube, the sixth switch tube, the eighth switch tube, the tenth switch tube and the twelfth switch tube are respectively connected with the negative electrode of the dc power supply, a midpoint of the first switch tube and the second switch tube is a first output end, a midpoint of the third switch tube and the fourth switch tube is a second output end, a midpoint of the fifth switch tube and the sixth switch tube is a third output end, a midpoint of the seventh switch tube and the eighth switch tube is a fourth output end, and a midpoint of the ninth switch tube and the tenth switch tube is a fifth output end, the middle point of the eleventh switching tube and the twelfth switching tube is a sixth output end;

a first power interface of the first three-phase motor is connected with the first output end, a second power interface of the first three-phase motor is connected with the second output end, and a third power interface of the first three-phase motor is connected with the third output end;

a fourth power interface of the second three-phase motor is connected with the first output end, a fifth power interface of the second three-phase motor is connected with the fourth output end, and a sixth power interface of the second three-phase motor is connected with the fifth output end;

a seventh power interface of the third three-phase motor is connected with the second output end, an eighth power interface of the third three-phase motor is connected with the fourth output end, and a ninth power interface of the third three-phase motor is connected with the sixth output end;

a tenth power interface of the fourth three-phase motor is connected to the third output terminal, an eleventh power interface of the fourth three-phase motor is connected to the fifth output terminal, and a twelfth power interface of the fourth three-phase motor is connected to the sixth output terminal.

10. The multi-motor drive circuit according to claim 9, wherein the first to sixth drive legs are controlled by a control unit, and the control unit is specifically configured to control the on-state of switching tubes in the first, second, and third drive legs at a first time period to provide alternating current for the first three-phase motor; one of the first switching tube and the second switching tube provides current for the first three-phase motor, one of the third switching tube and the fourth switching tube provides current for the first three-phase motor, one of the fifth switching tube and the sixth switching tube provides current for the first three-phase motor, and the seventh switching tube, the eighth switching tube, the ninth switching tube, the tenth switching tube, the eleventh switching tube and the twelfth switching tube are disconnected;

the control unit is further configured to control the conduction states of switching tubes in the first driving bridge arm, the fourth driving bridge arm and the fifth driving bridge arm in a second period of time, so as to provide alternating current for the second three-phase motor; one of the first switching tube and the second switching tube supplies current to the second three-phase motor, one of the seventh switching tube and the eighth switching tube supplies current to the second three-phase motor, one of the ninth switching tube and the tenth switching tube supplies current to the second three-phase motor, and the third switching tube, the fourth switching tube, the fifth switching tube, the sixth switching tube, the eleventh switching tube and the twelfth switching tube are disconnected;

the control unit is further configured to control the conduction states of switching tubes in the second driving bridge arm, the fourth driving bridge arm and the sixth driving bridge arm in a third period of time, so as to provide alternating current for the third three-phase motor; one of the third switching tube and the fourth switching tube provides current for the third three-phase motor, one of the seventh switching tube and the eighth switching tube provides current for the third three-phase motor, one of the eleventh switching tube and the twelfth switching tube provides current for the third three-phase motor, and the first switching tube, the second switching tube, the fifth switching tube, the sixth switching tube, the ninth switching tube and the tenth switching tube are disconnected;

the control unit is further configured to control the conduction states of switching tubes in the third driving bridge arm, the fifth driving bridge arm and the sixth driving bridge arm at a fourth time period, so as to provide alternating current for the fourth three-phase motor; one of the fifth switching tube and the sixth switching tube provides current for the fourth three-phase motor, one of the ninth switching tube and the tenth switching tube provides current for the fourth three-phase motor, one of the eleventh switching tube and the twelfth switching tube provides current for the fourth three-phase motor, and the first switching tube, the second switching tube, the third switching tube, the fourth switching tube, the seventh switching tube and the eighth switching tube are disconnected.

11. The multi-motor drive circuit of claim 10 further comprising a seventh drive leg, an eighth drive leg, a ninth drive leg, a tenth drive leg, an eleventh drive leg, and a twelfth drive leg, the seventh drive leg, the eighth drive leg, the ninth drive leg, the tenth drive leg, the eleventh drive leg, and the twelfth drive leg being in parallel with the dc power source;

the seventh driving bridge arm comprises a thirteenth switching tube and a fourteenth switching tube which are connected in series, the eighth driving bridge arm comprises a fifteenth switching tube and a sixteenth switching tube which are connected in series, the ninth driving bridge arm comprises a seventeenth switching tube and an eighteenth switching tube which are connected in series, the tenth driving bridge arm comprises a nineteenth switching tube and a twentieth switching tube which are connected in series, the eleventh driving bridge arm comprises a twenty-first switching tube and a twenty-second switching tube which are connected in series, and the twelfth driving bridge arm comprises a twenty-third switching tube and a twenty-fourth switching tube which are connected in series;

the thirteenth switch tube, the fifteenth switch tube, the seventeenth switch tube, the nineteenth switch tube, the twenty-first switch tube and the twentieth switch tube are respectively connected with the positive electrode of the direct-current power supply, and the fourteenth switch tube, the sixteenth switch tube, the eighteenth switch tube, the twentieth switch tube, the twenty-second switch tube and the twenty-fourteenth switch tube are respectively connected with the negative electrode of the direct-current power supply;

the middle point of the thirteenth switching tube and the fourteenth switching tube is a seventh output end, the middle point of the fifteenth switching tube and the sixteenth switching tube is an eighth output end, the middle point of the seventeenth switching tube and the eighteenth switching tube is a ninth output end, the middle point of the nineteenth switching tube and the twentieth switching tube is a tenth output end, the middle point of the twenty-first switching tube and the twenty-second switching tube is an eleventh output end, and the middle point of the twenty-third switching tube and the twenty-fourteenth switching tube is a twelfth output end;

the multi-motor driving circuit further comprises a fifth three-phase motor, a sixth three-phase motor, a seventh three-phase motor and an eighth three-phase motor, wherein a thirteenth power interface of the fifth three-phase motor is connected with the seventh output end, a fourteenth power interface of the fifth three-phase motor is connected with the eighth output end, and a fifteenth power interface of the fifth three-phase motor is connected with the ninth output end;

a sixteenth power interface of the sixth three-phase motor is connected with the seventh output end, a seventeenth power interface of the sixth three-phase motor is connected with the tenth output end, and an eighteenth power interface of the sixth three-phase motor is connected with the eleventh output end;

a nineteenth power interface of the seventh three-phase motor is connected with the eighth output terminal, a twentieth power interface of the seventh three-phase motor is connected with the tenth output terminal, and a twenty-first power interface of the seventh three-phase motor is connected with the twelfth output terminal;

a twenty-second power interface of the eighth three-phase motor is connected to the ninth output terminal, a twenty-third power interface of the eighth three-phase motor is connected to the eleventh output terminal, and a twenty-fourth power interface of the eighth three-phase motor is connected to the twelfth output terminal.

12. The multi-motor drive circuit according to claim 11, wherein the control unit is specifically configured to control the conduction states of the switching tubes of the first, second, and third drive legs to supply current to the first three-phase motor, and control the conduction states of the switching tubes of the seventh, eighth, and ninth drive legs to supply current to the fifth three-phase motor at the same time interval;

wherein one of the first switch tube and the second switch tube supplies current to the first three-phase motor, one of the third switching tube and the fourth switching tube supplies current to the first three-phase motor, one of the fifth switching tube and the sixth switching tube supplies current to the first three-phase motor, one of the thirteenth switching tube and the fourteenth switching tube provides current for the fifth three-phase motor, one of the fifteenth switching tube and the sixteenth switching tube supplies current to the fifth three-phase motor, one of the seventeenth switching tube and the eighteenth switching tube provides current for the fifth three-phase motor, the seventh switching tube to the twelfth switching tube and the nineteenth switching tube to the twenty-fourth switching tube are all turned off.

13. A multi-motor drive circuit according to any of claims 8 to 12, wherein the switching means comprises a semiconductor device including: insulated gate bipolar transistors IGBT and/or triode and their anti-parallel diodes and/or metal-oxide semiconductor field effect transistors MOSFET.

14. A driving bridge arm circuit is characterized by comprising at least three driving bridge arms, wherein the at least three driving bridge arms are connected in parallel and are connected with a direct-current power supply in parallel, and the output end of each driving bridge arm in the at least three driving bridge arms can be connected with two power supply interfaces of at least two motors;

the at least three driving bridge arms and the at least three motors have a connection relation, and the connection relation satisfies the following conditions: at least two driving bridge arms respectively connected with at least two power interfaces of the motor i and at least two driving bridge arms respectively connected with at least two power interfaces of the motor j have at least one different driving bridge arm, and the motor i and the motor j are any two motors in the at least three motors.

15. A method of controlling a multi-motor drive circuit, the method comprising:

the control unit determines a target driving bridge arm of the multi-motor driving circuit;

the multi-motor driving circuit comprises at least three motors and at least three driving bridge arms, the at least three driving bridge arms are connected in parallel, the at least three driving bridge arms are connected with a direct-current power supply in parallel, each motor in the at least three motors comprises at least two power interfaces, and the at least three driving bridge arms and the at least three motors have a connection relation; the connection relation satisfies: at least two driving bridge arms respectively connected with at least two power interfaces of a motor i and at least two driving bridge arms respectively connected with at least two power interfaces of a motor j, at least one different driving bridge arm exists, and the motor i and the motor j are any two motors in the at least three motors;

and the control unit controls the conduction state of a switch tube in the target driving bridge arm so as to enable the target driving bridge arm to provide current for the at least three motors.

16. The control method of claim 15, wherein the at least three drive legs comprise a first drive leg, a second drive leg, and a third drive leg, the at least three motors comprise a first motor, a second motor, and a third motor, and the first to third motors each comprise two power interfaces;

the first driving bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second driving bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, and the third driving bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series;

the first switching tube, the third switching tube and the fifth switching tube are respectively connected with the positive electrode of the direct-current power supply, the second switching tube, the fourth switching tube and the sixth switching tube are respectively connected with the negative electrode of the direct-current power supply, the middle point of the first switching tube and the second switching tube is the first output end, the middle point of the third switching tube and the fourth switching tube is the second output end, and the middle point of the fifth switching tube and the sixth switching tube is the third output end;

the first output end of the first driving bridge arm is connected with a first power interface of the first motor and a third power interface of the second motor, the second output end of the second driving bridge arm is connected with a second power interface of the first motor and a fifth power interface of the third motor, and the third output end of the third driving bridge arm is connected with a fourth power interface of the second motor and a sixth power interface of the third motor.

17. The control method according to claim 16, wherein the controlling unit controls the conducting state of the switching tube in the target driving bridge arm, and comprises:

the control unit controls the conduction state from the first switch tube to the sixth switch tube at a first period of time to provide current for the first motor; one of the first switching tube and the second switching tube provides current for the first motor, one of the third switching tube and the fourth switching tube provides current for the first motor, and the fifth switching tube and the sixth switching tube are disconnected;

the control unit controls the conduction state from the first switching tube to the sixth switching tube in a second time period to provide current for the second motor; one of the first switching tube and the second switching tube provides current for the second motor, one of the fifth switching tube and the sixth switching tube provides current for the second motor, and the third switching tube and the fourth switching tube are disconnected;

the control unit controls the conduction state from the first switching tube to the sixth switching tube in a third time period to provide current for the third motor; one of the third switching tube and the fourth switching tube supplies current to the third motor, one of the fifth switching tube and the sixth switching tube supplies current to the third motor, and the first switching tube and the second switching tube are disconnected.

18. The control method of claim 16, wherein the at least three drive legs comprise a first drive leg, a second drive leg, a third drive leg, a fourth drive leg, a fifth drive leg, and a sixth drive leg, the at least three motors comprise a first three-phase motor, a second three-phase motor, and a third three-phase motor, and the first through third three-phase motors each comprise three power interfaces;

the first driving bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second driving bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, the third driving bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series, the fourth driving bridge arm comprises a seventh switching tube and an eighth switching tube which are connected in series, the fifth driving bridge arm comprises a ninth switching tube and a tenth switching tube which are connected in series, and the sixth driving bridge arm comprises an eleventh switching tube and a twelfth switching tube which are connected in series;

wherein the first switch tube, the third switch tube, the fifth switch tube, the seventh switch tube, the ninth switch tube and the eleventh switch tube are respectively connected to an anode of the dc power supply, the second switch tube, the fourth switch tube, the sixth switch tube, the eighth switch tube, the tenth switch tube and the twelfth switch tube are respectively connected to a cathode of the dc power supply, a middle point of the first switch tube and the second switch tube is the first output end, a middle point of the third switch tube and the fourth switch tube is the second output end, a middle point of the fifth switch tube and the sixth switch tube is the third output end, a middle point of the seventh switch tube and the eighth switch tube is the fourth output end, and a middle point of the ninth switch tube and the tenth switch tube is the fifth output end, the middle point of the eleventh switch tube and the twelfth switch tube is the sixth output end;

a first output end of the first driving bridge arm is connected with a first power interface of the first three-phase motor and a fourth power interface of the second three-phase motor; a second output end of the second driving bridge arm is connected with a second power interface of the first three-phase motor and a seventh power interface of the third three-phase motor; a third output end of the third driving bridge arm is connected with a third power interface of the first three-phase motor and a tenth power interface of a fourth three-phase motor; a fourth output end of the fourth drive bridge arm is connected with a fifth power interface of the second three-phase motor and an eighth power interface of the third three-phase motor; a fifth output end of the fifth driving bridge arm is connected with a sixth power interface of the second three-phase motor and an eleventh power interface of the fourth three-phase motor; and a sixth output end of the sixth driving bridge arm is connected with a ninth power interface of the third three-phase motor and a twelfth power interface of the fourth three-phase motor.

19. The control method according to claim 18, wherein the controlling unit controls the conduction state of the switching tube in the target driving bridge arm, and comprises:

the control unit controls the conduction state from the first switch tube to the twelfth switch tube at a first period of time to provide alternating current for the first three-phase motor; one of the first switching tube and the second switching tube provides current for the first three-phase motor, one of the third switching tube and the fourth switching tube provides current for the first three-phase motor, one of the fifth switching tube and the sixth switching tube provides current for the first three-phase motor, and the seventh switching tube, the eighth switching tube, the ninth switching tube, the tenth switching tube, the eleventh switching tube and the twelfth switching tube are disconnected;

the control unit controls the conduction state from the first switching tube to the twelfth switching tube in a second time interval to provide alternating current for the second three-phase motor; one of the first switching tube and the second switching tube supplies current to the second three-phase motor, one of the seventh switching tube and the eighth switching tube supplies current to the second three-phase motor, one of the ninth switching tube and the tenth switching tube supplies current to the second three-phase motor, and the third switching tube, the fourth switching tube, the fifth switching tube, the sixth switching tube, the eleventh switching tube and the twelfth switching tube are disconnected;

the control unit controls the conduction state from the first switching tube to the twelfth switching tube in a third time period to provide alternating current for the third three-phase motor; one of the third switching tube and the fourth switching tube provides current for the third three-phase motor, one of the seventh switching tube and the eighth switching tube provides current for the third three-phase motor, one of the eleventh switching tube and the twelfth switching tube provides current for the third three-phase motor, and the first switching tube, the second switching tube, the fifth switching tube, the sixth switching tube, the ninth switching tube and the tenth switching tube are disconnected;

the control unit controls the conduction state from the first switching tube to the twelfth switching tube in a fourth period, and provides alternating current for the fourth three-phase motor; one of the fifth switching tube and the sixth switching tube provides current for the fourth three-phase motor, one of the ninth switching tube and the tenth switching tube provides current for the fourth three-phase motor, one of the eleventh switching tube and the twelfth switching tube provides current for the fourth three-phase motor, and the first switching tube, the second switching tube, the third switching tube, the fourth switching tube, the seventh switching tube and the eighth switching tube are disconnected.

20. A control unit, characterized in that the control unit is adapted to perform the method of any of claims 15-19.

21. A vehicle characterized by comprising the multi-motor drive circuit according to any one of claims 1 to 13.

Technical Field

The embodiment of the application relates to the field of electricity, in particular to a multi-motor driving circuit and a control method thereof.

Background

With the improvement of equipment intellectualization, the application of a multi-motor system is more and more extensive, for example, an electric automobile comprises various types of motors such as a seat adjusting motor, each motor of a thermal management system, a door and window motor, a three-phase motor, a direct current motor, a stepping motor and the like; each motor needs to be controlled by a controller to work, the motor controller generally comprises a control unit and a driving unit, and the control unit comprises a power module, a main control chip, a communication circuit and the like; the driving unit includes a power driving circuit and the like.

Generally, a controller of each motor is integrated on a motor body and communicates with other controllers through a communication cable, the number of the controllers and wire harnesses is increased along with the increase of the number of the motors, the cost and the size are increased, and an integrated motor controller scheme is provided for reducing the number of the controllers.

Most of the common schemes integrate the control unit, that is, a plurality of motors share one control unit, but the integration schemes of the drive unit are few, and the integration of the drive unit becomes a problem which needs to be solved urgently.

Disclosure of Invention

The embodiment of the application provides a multi-motor driving circuit and a control method thereof, which are used for integrating a driving unit of a motor, and reducing the number of components and the cost and the volume of the driving unit.

A first aspect of embodiments of the present application provides a multi-motor drive circuit, including:

the multi-motor driving circuit comprises at least three motors and at least three driving bridge arms, wherein the driving bridge arms are connected in parallel, are connected with a direct-current power supply in parallel and are then connected with the motors; the direct current power supply provides direct current for the circuit, the driving bridge arm provides current for the motor according to the conduction state of a switch tube on the bridge arm, and the conduction state of the switch tube is controlled by the control unit; the connection relation between the driving bridge arms and the motors is satisfied, the power interfaces of every two motors can share the bridge arms, but the driving bridge arms connected with the two motors cannot be completely the same, namely at least two driving bridge arms respectively connected with at least two power interfaces of one motor and at least two driving bridge arms respectively connected with at least two power interfaces of the other motor have at least one different driving bridge arm.

Generally, each motor is controlled by an independent driving bridge arm, and in a multi-motor system, the number of the driving bridge arms can be reduced by sharing one driving bridge arm for every two motors, so that the number of components and the size and cost of the whole driving circuit can be reduced.

With reference to the first aspect of the embodiment of the present application, in a first implementation manner of the first aspect of the embodiment of the present application:

the motors in the multi-motor system can be stepping motors or direct current motors, wherein each motor comprises two power interfaces; since each driving bridge arm can be connected with a plurality of motors, if the multi-motor driving circuit comprises a first motor, a second motor and a third motor, the multi-motor driving circuit can be driven by three driving bridge arms, namely the first driving bridge arm, the second driving bridge arm and the third driving bridge arm; the first power interface of the first motor is connected with the first driving bridge arm, the second power interface of the first motor is connected with the second driving bridge arm, the third power interface of the second motor is connected with the first driving bridge arm, the fourth power interface of the second motor is connected with the third driving bridge arm, the fifth power interface of the third motor is connected with the second driving bridge arm, and the sixth power interface of the third motor is connected with the third driving bridge arm.

The three motors comprise six power interfaces in total, each power interface needs one driving bridge arm to drive the motor, if the independent driving bridge arms are used for driving the motors, six driving bridge arms are needed, and when each two motors share one driving bridge arm, a driving circuit of the multi-motor system only needs three driving bridge arms, so that half of the driving bridge arms are reduced, and resources are saved.

With reference to the first implementation manner of the first aspect of the embodiment of the present application, in a second implementation manner of the first aspect of the embodiment of the present application:

each driving bridge arm is composed of two switching tubes, the first driving bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second driving bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, and the third driving bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series; because the first driving bridge arm, the second driving bridge arm and the third driving bridge arm are connected with the direct-current power supply in parallel, the first switching tube, the third switching tube and the fifth switching tube are respectively connected with the positive pole of the direct-current power supply, and the second switching tube, the fourth switching tube and the sixth switching tube are respectively connected with the negative pole of the direct-current power supply; the first power interface of the first motor is connected with the middle point of the first switch tube and the middle point of the second switch tube, the second power interface of the first motor is connected with the middle point of the third switch tube and the middle point of the fourth switch tube, the third power interface of the second motor is connected with the middle point of the first switch tube and the middle point of the second switch tube, the fourth power interface of the second motor is connected with the middle point of the fifth switch tube and the middle point of the sixth switch tube, the fifth power interface of the third motor is connected with the middle point of the third switch tube and the middle point of the fourth switch tube, and the sixth power interface of the third motor is connected with the middle point of the fifth switch tube and the middle point of the sixth switch tube.

By adopting the connection mode, the current flowing into each motor can be controlled by controlling the conduction state of each switching tube on the driving bridge arm, so that the motor can normally work according to the current.

With reference to the second implementation manner of the first aspect of the embodiment of the present application, in a third implementation manner of the first aspect of the embodiment of the present application:

the control unit drives the motors to work by controlling the conduction states of the switching tubes on the driving bridge arms, although a plurality of motors can share the driving bridge arms, one driving bridge arm can only drive one motor and cannot simultaneously work on two motors in the same time period; specifically, in a first period, the control unit controls a first driving bridge arm and a second driving bridge arm to provide current for a first motor, wherein one of a first switching tube and a second switching tube provides current for the first motor, one of a third switching tube and a fourth switching tube provides current for the first motor, and a fifth switching tube and a sixth switching tube are disconnected; in a second time period, the control unit controls the first driving bridge arm and the third driving bridge arm to provide current for the second motor, wherein one of the first switching tube and the second switching tube provides current for the second motor, one of the fifth switching tube and the sixth switching tube provides current for the second motor, and the third switching tube and the fourth switching tube are disconnected; in a third time period, the control unit controls the second driving bridge arm and the third driving bridge arm to provide current for the third motor, wherein one of the third switching tube and the fourth switching tube provides current for the third motor, one of the fifth switching tube and the sixth switching tube provides current for the third motor, and the first switching tube and the second switching tube are disconnected.

The control unit controls the switching tubes on all the driving bridge arms corresponding to one motor at the same time period and enables the switching tubes on other driving bridge arms to be completely disconnected, so that the plurality of motors sharing the bridge arms can work at different time periods without influencing the work of the motors, and the plurality of motors sharing the bridge arms can work independently.

With reference to the second implementation manner of the first aspect of the embodiment of the present application, in a fourth implementation manner of the first aspect of the embodiment of the present application:

the three direct current motors share one driving bridge arm in pairs, three driving bridge arms are needed in total, if the three direct current motors are one group, the multi-motor driving circuit can comprise a plurality of groups of driving bridge arms, namely the multi-motor driving circuit also comprises a fourth driving bridge arm, a fifth driving bridge arm and a sixth driving bridge arm, and the fourth driving bridge arm, the fifth driving bridge arm and the sixth driving bridge arm are also connected with the direct current power supply in parallel; the fourth driving bridge arm comprises a seventh switching tube and an eighth switching tube which are connected in series, the fifth driving bridge arm comprises a ninth switching tube and a tenth switching tube which are connected in series, the sixth driving bridge arm comprises an eleventh switching tube and a twelfth switching tube which are connected in series, the seventh switching tube, the ninth switching tube and the eleventh switching tube are respectively connected with the positive pole of the direct-current power supply, and the eighth switching tube, the tenth switching tube and the twelfth switching tube are respectively connected with the negative pole of the direct-current power supply.

In the multi-motor driving circuit, a seventh power interface of a fourth motor is connected with a middle point of a seventh switching tube and an eighth switching tube, an eighth power interface of the fourth motor is connected with a middle point of a ninth switching tube and a tenth switching tube, a ninth power interface of a fifth motor is connected with a middle point of the seventh switching tube and the eighth switching tube, a tenth power interface of the fifth motor is connected with a middle point of an eleventh switching tube and a twelfth switching tube, an eleventh power interface of a sixth motor is connected with a middle point of the ninth switching tube and the tenth switching tube, and a twelfth power interface of the sixth motor is connected with a middle point of the eleventh switching tube and the twelfth switching tube.

The driving circuit can use three driving bridge arms and three direct current motors as a group, wherein every two of the three motors share one driving bridge arm, so that the integration level of the driving circuit is higher, and the volume of the driving unit is more effectively reduced.

With reference to the fourth implementation manner of the first aspect of the embodiment of the present application, in a fifth implementation manner of the first aspect of the embodiment of the present application:

two motors which do not share the driving bridge arms can work simultaneously in the same time period, so that the control unit can control the driving bridge arms in different groups to supply current to the motors in different groups; specifically, the control unit controls the conduction states of the switching tubes of the first driving bridge arm and the second driving bridge arm to provide current for the first motor, and controls the conduction states of the switching tubes of the fourth driving bridge arm and the fifth driving bridge arm to provide current for the fourth motor at the same time; one of the first switch tube and the second switch tube provides current for the first motor, one of the third switch tube and the fourth switch tube provides current for the first motor, one of the seventh switch tube and the eighth switch tube provides current for the fourth motor, one of the ninth switch tube and the eighth switch tube provides current for the fourth motor, and the other switch tubes are all disconnected.

The control unit can enable a plurality of motors which do not share the driving bridge arm to work simultaneously by controlling the conduction states of the switching tubes of the driving bridge arms in different groups, so that the defect that the motors in a multi-motor system cannot work simultaneously can be avoided, and a novel multi-motor working mode is provided.

With reference to the first aspect of the embodiment of the present application to the fifth implementation manner of the first aspect, in a sixth implementation manner of the first aspect of the embodiment of the present application:

the switching tube includes a semiconductor device including: insulated gate bipolar transistors IGBT and/or triode and their anti-parallel diodes and/or metal-oxide semiconductor field effect transistors MOSFET.

With reference to the first aspect of the embodiment of the present application, in a seventh implementation manner of the first aspect of the embodiment of the present application:

the motors in the multi-motor system can also be three-phase motors, wherein each motor comprises three power interfaces; one preferable scheme is that each driving bridge arm needs to be connected with two motors, and each two three-phase motors share one driving bridge arm, so that if the multi-motor driving circuit comprises a first three-phase motor, a second three-phase motor, a third three-phase motor and a fourth three-phase motor, at least six driving bridge arms are needed.

The first power interface of the first three-phase motor is connected with the first driving bridge arm, the second power interface of the first three-phase motor is connected with the second driving bridge arm, and the third power interface of the first three-phase motor is connected with the third driving bridge arm; a fourth power interface of the second three-phase motor is connected with the first driving bridge arm, a fifth power interface of the second three-phase motor is connected with the fourth driving bridge arm, and a sixth power interface of the second three-phase motor is connected with the fifth driving bridge arm; a seventh power interface of the third three-phase motor is connected with the second driving bridge arm, an eighth power interface of the third three-phase motor is connected with the fourth driving bridge arm, and a ninth power interface of the third three-phase motor is connected with the sixth driving bridge arm; and a tenth power interface of the fourth three-phase motor is connected with the third driving bridge arm, an eleventh power interface of the fourth three-phase motor is connected with the fifth driving bridge arm, and a twelfth power interface of the fourth three-phase motor is connected with the sixth driving bridge arm.

The four three-phase motors comprise twelve interfaces in total, each interface needs one driving bridge arm to drive the three-phase motors, twelve driving bridge arms are needed if the independent driving bridge arms are used for driving the motors, and the driving circuit of the multi-motor system only needs six driving bridge arms when each two motors share one driving bridge arm, so that half of the driving bridge arms are reduced, and resources are saved.

With reference to the seventh implementation manner of the first aspect of the embodiment of the present application, in an eighth implementation manner of the first aspect of the embodiment of the present application:

each driving bridge arm comprises two diodes which are connected in series, and each driving bridge arm is connected with the direct-current power supply in parallel, so that the first to the twelfth switching tubes are included from the first to the sixth driving bridge arms; the first switching tube, the third switching tube, the fifth switching tube, the seventh switching tube, the ninth switching tube and the eleventh switching tube are respectively connected with the anode of the direct-current power supply; the second switching tube, the fourth switching tube, the sixth switching tube, the eighth switching tube, the tenth switching tube and the twelfth switching tube are respectively connected with the negative electrode of the direct-current power supply; the middle point of the first switch tube and the second switch tube is a first output end of the driving circuit, the middle point of the third switch tube and the fourth switch tube is a second output end, the middle point of the fifth switch tube and the sixth switch tube is a third output end, the middle point of the seventh switch tube and the eighth switch tube is a fourth output end, the middle point of the ninth switch tube and the tenth switch tube is a fifth output end, and the middle point of the eleventh switch tube and the twelfth switch tube is a sixth output end.

The first power interface of the first three-phase motor is connected with the first output end, the second power interface of the first three-phase motor is connected with the second output end, and the third power interface of the first three-phase motor is connected with the third output end; a fourth power interface of the second three-phase motor is connected with the first output end, a fifth power interface of the second three-phase motor is connected with the fourth output end, and a sixth power interface of the second three-phase motor is connected with the fifth output end; a seventh power interface of the third three-phase motor is connected with the second output end, an eighth power interface of the third three-phase motor is connected with the fourth output end, and a ninth power interface of the third three-phase motor is connected with the sixth output end; a tenth power interface of the fourth three-phase motor is connected with the third output end, an eleventh power interface of the fourth three-phase motor is connected with the fifth output end, and a twelfth power interface of the fourth three-phase motor is connected with the sixth output end.

By adopting the connection mode, the current flowing into each motor can be controlled by controlling the conduction state of each switching tube on the bridge arm, so that the driving circuit converts direct current into alternating current to supply to the three-phase motor, and the normal work of the three-phase motor is ensured.

With reference to the eighth implementation manner of the first aspect of the embodiment of the present application, in a ninth implementation manner of the first aspect of the embodiment of the present application:

the control unit drives the motors to work by controlling the conduction states of the switching tubes on the driving bridge arms, although the motors can share the driving bridge arms, one driving bridge arm can only drive one motor but cannot work on the motors at the same time in the same time period, and particularly, the control unit controls the conduction states of the switching tubes in the first driving bridge arm, the second driving bridge arm and the third driving bridge arm at the first time period to provide alternating current for the first three-phase motor; one of the first switch tube and the second switch tube provides current for the first three-phase motor, one of the third switch tube and the fourth switch tube provides current for the first three-phase motor, one of the fifth switch tube and the sixth switch tube provides current for the first three-phase motor, and the other switch tubes are all disconnected.

The control unit controls the conduction states of the switching tubes in the first driving bridge arm, the fourth driving bridge arm and the fifth driving bridge arm in a second period of time to provide alternating current for the second three-phase motor; one of the first switch tube and the second switch tube provides current for the second three-phase motor, one of the seventh switch tube and the eighth switch tube provides current for the second three-phase motor, one of the ninth switch tube and the tenth switch tube provides current for the second three-phase motor, and the other switch tubes are all disconnected.

The control unit controls the conduction states of the switching tubes in the second driving bridge arm, the fourth driving bridge arm and the sixth driving bridge arm in a third period of time to provide alternating current for a third three-phase motor; namely, one of the third switch tube and the fourth switch tube supplies current for the third three-phase motor, one of the seventh switch tube and the eighth switch tube supplies current for the third three-phase motor, one of the eleventh switch tube and the twelfth switch tube supplies current for the third three-phase motor, and the other switch tubes are disconnected.

The control unit controls the conduction states of the switching tubes in the third driving bridge arm, the fifth driving bridge arm and the sixth driving bridge arm at a fourth time period to provide alternating current for the fourth three-phase motor; namely, one of the fifth switch tube and the sixth switch tube supplies current to the fourth three-phase motor, one of the ninth switch tube and the tenth switch tube supplies current to the fourth three-phase motor, one of the eleventh switch tube and the twelfth switch tube supplies current to the fourth three-phase motor, and the other switch tubes are all switched off.

The control unit controls the switching tubes on all driving bridge arms corresponding to one three-phase motor at the same time period and enables the switching tubes on other driving bridge arms to be completely disconnected, so that the plurality of motors sharing the bridge arms can work at different time periods without influencing the work of the motors, and the plurality of motors sharing the bridge arms can work independently.

With reference to the ninth implementation manner of the first aspect of the embodiment of the present application, in a tenth implementation manner of the first aspect of the embodiment of the present application:

the four three-phase motors share one driving bridge arm in pairs, six driving bridge arms are needed in total, and if the four direct current motors are in one group, the multi-motor driving circuit can comprise a plurality of groups of driving bridge arms, namely the multi-motor driving circuit also comprises a seventh driving bridge arm, an eighth driving bridge arm, a ninth driving bridge arm, a tenth driving bridge arm, an eleventh driving bridge arm and a twelfth driving bridge arm which are also connected in parallel through direct current power supplies.

Each driving bridge arm comprises two switching tubes connected in series, namely the seventh to twelfth driving bridge arms comprise thirteenth to twenty-fourth switching tubes; the thirteenth switch tube, the fifteenth switch tube, the seventeenth switch tube, the nineteenth switch tube, the twenty-first switch tube and the twentieth switch tube are respectively connected with the positive electrode of the direct-current power supply, and the fourteenth switch tube, the sixteenth switch tube, the eighteenth switch tube, the twentieth switch tube, the twenty-second switch tube and the twenty-fourth switch tube are respectively connected with the negative electrode of the direct-current power supply.

The middle point of the thirteenth switching tube and the fourteenth switching tube is a seventh output end, the middle point of the fifteenth switching tube and the sixteenth switching tube is an eighth output end, the middle point of the seventeenth switching tube and the eighteenth switching tube is a ninth output end, the middle point of the nineteenth switching tube and the twentieth switching tube is a tenth output end, the middle point of the twenty-first switching tube and the twenty-second switching tube is an eleventh output end, and the middle point of the twenty-third switching tube and the twenty-fourteenth switching tube is a twelfth output end.

A thirteenth power interface of a fifth three-phase motor in the multi-motor driving circuit is connected with the seventh output end, a fourteenth power interface of the fifth three-phase motor is connected with the eighth output end, and a fifteenth power interface of the fifth three-phase motor is connected with the ninth output end; a sixteenth power interface of the sixth three-phase motor is connected with the seventh output end, a seventeenth power interface of the sixth three-phase motor is connected with the tenth output end, and an eighteenth power interface of the sixth three-phase motor is connected with the eleventh output end; a nineteenth power interface of the seventh three-phase motor is connected with the eighth output end, a twentieth power interface of the seventh three-phase motor is connected with the tenth output end, and a twenty-first power interface of the seventh three-phase motor is connected with the twelfth output end; a twenty-second power interface of the eighth three-phase motor is connected with the ninth output terminal, a twenty-third power interface of the eighth three-phase motor is connected with the eleventh output terminal, and a twenty-fourth power interface of the eighth three-phase motor is connected with the twelfth output terminal.

The driving circuit can use six driving bridge arms and four three-phase motors as a group, wherein the four motors share one driving bridge arm in pairs, so that the integration level of the driving circuit is higher, and the volume of the driving unit is more effectively reduced.

With reference to the tenth implementation manner of the first aspect of the embodiment of the present application, in an eleventh implementation manner of the first aspect of the embodiment of the present application:

two three-phase motors which do not share a driving bridge arm can work simultaneously in the same time period, so that the control unit can control the driving bridge arms in different groups to supply current to the motors in different groups; specifically, the control unit controls the conduction states of the switching tubes of the first inverter bridge arm, the second inverter bridge arm and the third inverter bridge arm to provide current for the first three-phase motor at the same time period, and controls the conduction states of the switching tubes of the seventh inverter bridge arm, the eighth inverter bridge arm and the ninth inverter bridge arm to provide current for the fifth three-phase motor; one of the first switch tube and the second switch tube provides current for the first three-phase motor, one of the third switch tube and the fourth switch tube provides current for the first three-phase motor, one of the fifth switch tube and the sixth switch tube provides current for the first three-phase motor, one of the thirteenth switch tube and the fourteenth switch tube provides current for the fifth three-phase motor, one of the fifteenth switch tube and the sixteenth switch tube provides current for the fifth three-phase motor, one of the seventeenth switch tube and the eighteenth switch tube provides current for the fifth three-phase motor, and the seventh switch tube to the twelfth switch tube and the nineteenth switch tube to the fourteenth switch tube are all disconnected.

The control unit can enable a plurality of motors which do not share the driving bridge arm to work simultaneously by controlling the conduction states of the switching tubes of the driving bridge arms in different groups, so that the defect that the motors in a multi-motor system cannot work simultaneously can be avoided, and a novel multi-motor working mode is provided.

With reference to the seventh implementation manner of the first aspect of the embodiments of the present application to the eleventh implementation manner of the first aspect, in a tenth implementation manner of the first aspect of the embodiments of the present application:

the switching device includes a semiconductor device including: insulated gate bipolar transistors IGBT and/or triode and their anti-parallel diodes and/or metal-oxide semiconductor field effect transistors MOSFET.

A second aspect of the embodiments of the present application provides a driving bridge arm circuit, including:

the driving bridge arm circuit comprises at least three driving bridge arms, each driving bridge arm can be connected with interfaces of a plurality of motors, namely the driving bridge arms can be connected with a plurality of motors, each driving bridge arm is connected with a direct-current power supply in parallel, and the connection relation between the driving bridge arms and the motors needs to meet the following requirements: the power interfaces of every two motors can share a bridge arm, but the driving bridge arms connected with the two motors cannot be completely the same, that is, at least two driving bridge arms respectively connected with at least two power interfaces of one motor and at least two driving bridge arms respectively connected with at least two power interfaces of the other motor have at least one different driving bridge arm.

Generally, each power interface of the motor needs an independent driving bridge arm, each driving bridge arm is only connected with one power interface of one motor, and when the driving bridge arm circuit can be connected with a plurality of motors, the motors can share the driving bridge arms, so that the number of the driving bridge arms in the driving circuit can be reduced, the number of components can be reduced, and resources can be saved.

With reference to the second aspect of the embodiments of the present application, in a first implementation manner of the first aspect of the embodiments of the present application:

the driving bridge arms can comprise a first driving bridge arm, a second driving bridge arm and a third driving bridge arm, the motors comprise a first motor, a second motor and a third motor, and the three motors respectively comprise two power interfaces; in a preferred embodiment, the first output end of the first driving bridge arm is connected to the first power interface of the first motor and the third power interface of the second motor, the second output end of the second driving bridge arm is connected to the second power interface of the first motor and the fifth power interface of the third motor, and the third output end of the third driving bridge arm is connected to the fourth power interface of the second motor and the sixth power interface of the third motor.

The three motors comprise six interfaces in total, each interface needs one driving bridge arm to drive the motor, if the independent driving bridge arms are used for driving the motors, six driving bridge arms are needed, and when each two motors share one driving bridge arm, a driving circuit of the multi-motor system only needs three driving bridge arms, so that half of the driving bridge arms are reduced, and resources are saved.

With reference to the first implementation manner of the second aspect of the embodiments of the present application, in a second implementation manner of the second aspect of the embodiments of the present application:

the first driving bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second driving bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, and the third driving bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series; the first switch tube, the third switch tube and the fifth switch tube are respectively connected with the positive pole of the direct-current power supply, the second switch tube, the fourth switch tube and the sixth switch tube are respectively connected with the negative pole of the direct-current power supply, the middle point of the first switch tube and the second switch tube is the first output end, the middle point of the third switch tube and the fourth switch tube is the second output end, and the middle point of the fifth switch tube and the sixth switch tube is the third output end.

With reference to the second implementation manner of the second aspect of the embodiment of the present application, in a third implementation manner of the second aspect of the embodiment of the present application:

the driving bridge arm circuit is controlled by a control unit, and the control unit is specifically used for controlling the conduction states of the first switching tube, the second switching tube, the third switching tube and the fourth switching tube at a first period and providing current for the first motor; one of the first switch tube and the second switch tube provides current for the first motor, one of the third switch tube and the fourth switch tube provides current for the first motor, and the fifth switch tube and the sixth switch tube are disconnected.

The control unit is also used for controlling the conduction states of the first switching tube, the second switching tube, the fifth switching tube and the sixth switching tube in a second time period and providing current for the second motor; one of the first switch tube and the second switch tube provides current for the second motor, one of the fifth switch tube and the sixth switch tube provides current for the second motor, and the third switch tube and the fourth switch tube are disconnected.

The control unit is also used for controlling the conduction states of the third switching tube, the fourth switching tube, the fifth switching tube and the sixth switching tube in a third period of time to provide current for the third motor; one of the third switch tube and the fourth switch tube provides current for the third motor, one of the fifth switch tube and the sixth switch tube provides current for the third motor, and the first switch tube and the second switch tube are disconnected.

The control unit controls the switching tubes on all the driving bridge arms corresponding to one motor at the same time period and enables the switching tubes on other driving bridge arms to be completely disconnected, so that the plurality of motors sharing the bridge arms can work at different time periods without influencing the work of the motors, and the plurality of motors sharing the bridge arms can work independently.

With reference to the second aspect of the embodiments of the present application, in a fourth implementation manner of the second aspect of the embodiments of the present application:

when the motors are three-phase motors, that is, each motor has three power interfaces, one preferred scheme is that the three-phase motors share six driving bridge arms, each driving bridge arm comprises a first driving bridge arm, a second driving bridge arm, a third driving bridge arm, a fourth driving bridge arm, a fifth driving bridge arm and a sixth driving bridge arm, and the three motors are respectively a first three-phase motor, a second three-phase motor and a third three-phase motor.

The first output end of the first driving bridge arm is connected with a first power interface of the first three-phase motor and a fourth power interface of the second three-phase motor; a second output end of the second driving bridge arm is connected with a second power interface of the first three-phase motor and a seventh power interface of the third three-phase motor; a third output end of the third driving bridge arm is connected with a third power interface of the first three-phase motor and a tenth power interface of the three-phase motor; a fourth output end of the fourth driving bridge arm is connected with a fifth power interface of the second three-phase motor and an eighth power interface of the third three-phase motor; a fifth output end of the fifth driving bridge arm is connected with a sixth power interface of the second three-phase motor and an eleventh power interface of the fourth three-phase motor; and a sixth output end of the sixth driving bridge arm is connected with the ninth power interface of the third three-phase motor and the twelfth power interface of the fourth three-phase motor.

The four three-phase motors comprise twelve interfaces in total, each interface needs one driving bridge arm to drive the three-phase motors, twelve driving bridge arms are needed if the independent driving bridge arms are used for driving the motors, and the driving circuit of the multi-motor system only needs six driving bridge arms when each two motors share one driving bridge arm, so that half of the driving bridge arms are reduced, and resources are saved.

With reference to the fourth implementation method of the second aspect of the embodiment of the present application, in a fifth implementation manner of the second aspect of the embodiment of the present application:

the first driving bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second driving bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, the third driving bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series, the fourth driving bridge arm comprises a seventh switching tube and an eighth switching tube which are connected in series, the fifth driving bridge arm comprises a ninth switching tube and a tenth switching tube which are connected in series, and the sixth driving bridge arm comprises an eleventh switching tube and a twelfth switching tube which are connected in series.

The first switch tube, the third switch tube, the fifth switch tube, the seventh switch tube, the ninth switch tube and the eleventh switch tube are respectively connected with the positive electrode of the direct-current power supply, the second switch tube, the fourth switch tube, the sixth switch tube, the eighth switch tube, the tenth switch tube and the twelfth switch tube are respectively connected with the negative electrode of the direct-current power supply, the middle point of the first switch tube and the second switch tube is a first output end, the middle point of the third switch tube and the fourth switch tube is a second output end, the middle point of the fifth switch tube and the sixth switch tube is a third output end, the middle point of the seventh switch tube and the eighth switch tube is a fourth output end, the middle point of the ninth switch tube and the tenth switch tube is a fifth output end, and the middle point of the eleventh switch tube and the twelfth switch tube is a sixth output end.

With reference to the fifth implementation method of the second aspect of the embodiment of the present application, in a sixth implementation manner of the first aspect of the embodiment of the present application:

the driving bridge arm circuit is controlled by the control unit, and the control unit controls the conduction states of the first driving bridge arm, the driving bridge arm and the switch tubes in the driving bridge arm at a first time period to provide alternating current for the first three-phase motor; one of the first switch tube and the second switch tube provides current for the first three-phase motor, one of the third switch tube and the fourth switch tube provides current for the first three-phase motor, one of the fifth switch tube and the sixth switch tube provides current for the first three-phase motor, and the seventh switch tube, the eighth switch tube, the ninth switch tube, the tenth switch tube, the eleventh switch tube and the twelfth switch tube are disconnected.

The control unit controls the conduction states of the switching tubes in the first driving bridge arm, the fourth driving bridge arm and the fifth driving bridge arm in a second period of time to provide alternating current for the second three-phase motor; one of the first switch tube and the second switch tube provides current for the second three-phase motor, one of the seventh switch tube and the eighth switch tube provides current for the second three-phase motor, one of the ninth switch tube and the tenth switch tube provides current for the second three-phase motor, and the third switch tube, the fourth switch tube, the fifth switch tube, the sixth switch tube, the eleventh switch tube and the twelfth switch tube are disconnected.

The control unit controls the conduction states of the switching tubes in the second driving bridge arm, the fourth driving bridge arm and the sixth driving bridge arm in a third period of time to provide alternating current for a third three-phase motor; one of the third switch tube and the fourth switch tube provides current for the third three-phase motor, one of the seventh switch tube and the eighth switch tube provides current for the third three-phase motor, one of the eleventh switch tube and the twelfth switch tube provides current for the third three-phase motor, and the first switch tube, the second switch tube, the fifth switch tube, the sixth switch tube, the ninth switch tube and the tenth switch tube are disconnected.

The control unit controls the conduction states of the switching tubes in the third driving bridge arm, the fifth driving bridge arm and the sixth driving bridge arm at a fourth time period to provide alternating current for the fourth three-phase motor; one of the fifth switching tube and the sixth switching tube provides current for the fourth three-phase motor, one of the ninth switching tube and the tenth switching tube provides current for the fourth three-phase motor, one of the eleventh switching tube and the twelfth switching tube provides current for the fourth three-phase motor, and the first switching tube, the second switching tube, the third switching tube, the fourth switching tube, the seventh switching tube and the eighth switching tube are disconnected.

A third aspect of the embodiments of the present application provides a method for controlling a multi-motor drive circuit, including:

the control unit determines a target driving bridge arm of the multi-motor driving circuit;

the multi-motor driving circuit comprises at least three motors and at least three driving bridge arms, wherein the at least three driving bridge arms are connected in parallel, the at least three driving bridge arms are connected with a direct-current power supply in parallel, each motor in the at least three motors comprises at least two power supply interfaces, and the at least three driving bridge arms and the at least three motors have a connection relation.

Wherein the connection relation satisfies: at least two driving bridge arms respectively connected with at least two power interfaces of the motor i and at least two driving bridge arms respectively connected with at least two power interfaces of the motor j have at least one different driving bridge arm, and the motor i and the motor j are any two motors in the at least three motors.

And then the control unit controls the conduction state of a switching tube in the target driving bridge arm so as to enable the target driving bridge arm to provide current for the at least three motors.

With reference to the third aspect of the embodiments of the present application, in a first implementation manner of the third aspect of the embodiments of the present application:

the at least three driving bridge arms comprise a first driving bridge arm, a second driving bridge arm and a third driving bridge arm, the at least three motors comprise a first motor, a second motor and a third motor, and the first motor to the third motor respectively comprise two power interfaces; the first driving bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second driving bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, and the third driving bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series.

The first switch tube, the third switch tube and the fifth switch tube are respectively connected with the positive electrode of the direct-current power supply, the second switch tube, the fourth switch tube and the sixth switch tube are respectively connected with the negative electrode of the direct-current power supply, the middle point of the first switch tube and the middle point of the second switch tube are the first output end, the middle point of the third switch tube and the middle point of the fourth switch tube are the second output end, and the middle point of the fifth switch tube and the middle point of the sixth switch tube are the third output end.

The first output end is connected with a first power interface of the first motor and a third power interface of the second motor, the second output end is connected with a second power interface of the first motor and a fifth power interface of the third motor, and the third output end is connected with a fourth power interface of the second motor and a sixth power interface of the third motor.

With reference to the first implementation manner of the third aspect of the embodiments of the present application, in a second implementation manner of the third aspect of the embodiments of the present application:

the control unit controls the conduction state of the first switching tube to the sixth switching tube at a first period of time to provide current for the first motor; one of the first switch tube and the second switch tube provides current for the first motor, one of the third switch tube and the fourth switch tube provides current for the first motor, and the fifth switch tube and the sixth switch tube are disconnected.

The control unit controls the conduction state of the first switching tube to the sixth switching tube in a second time period to provide current for the second motor; one of the first switch tube and the second switch tube provides current for the second motor, one of the fifth switch tube and the sixth switch tube provides current for the second motor, and the third switch tube and the fourth switch tube are disconnected.

The control unit controls the conduction state of the first switching tube to the sixth switching tube in a third time period to provide current for the third motor; one of the third switch tube and the fourth switch tube provides current for the third motor, one of the fifth switch tube and the sixth switch tube provides current for the third motor, and the first switch tube and the second switch tube are disconnected.

With reference to the third aspect of the embodiments of the present application, in a third implementation manner of the third aspect of the embodiments of the present application:

the at least three driving bridge arms comprise a first driving bridge arm, a second driving bridge arm, a third driving bridge arm, a fourth driving bridge arm, a fifth driving bridge arm and a sixth driving bridge arm, the at least three motors comprise a first three-phase motor, a second three-phase motor and a third three-phase motor, and the first three-phase motor to the third three-phase motor respectively comprise three power interfaces.

The first driving bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second driving bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, the third driving bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series, the fourth driving bridge arm comprises a seventh switching tube and an eighth switching tube which are connected in series, the fifth driving bridge arm comprises a ninth switching tube and a tenth switching tube which are connected in series, and the sixth driving bridge arm comprises an eleventh switching tube and a twelfth switching tube which are connected in series.

The first switch tube, the third switch tube, the fifth switch tube, the seventh switch tube, the ninth switch tube and the eleventh switch tube are respectively connected with the positive electrode of the direct-current power supply, the second switch tube, the fourth switch tube, the sixth switch tube, the eighth switch tube, the tenth switch tube and the twelfth switch tube are respectively connected with the negative electrode of the direct-current power supply, the middle point of the first switch tube and the second switch tube is a first output end, the middle point of the third switch tube and the fourth switch tube is a second output end, the middle point of the fifth switch tube and the sixth switch tube is a third output end, the middle point of the seventh switch tube and the eighth switch tube is a fourth output end, the middle point of the ninth switch tube and the tenth switch tube is a fifth output end, and the middle point of the eleventh switch tube and the twelfth switch tube is a sixth output end.

The first output end is connected with a first power interface of the first three-phase motor and a fourth power interface of the second three-phase motor; the second output end is connected with the second power interface of the first three-phase motor and the seventh power interface of the third three-phase motor; the third output end is connected with a third power interface of the first three-phase motor and a tenth power interface of the three-phase motor; the fourth output end is connected with the fifth power interface of the second three-phase motor and the eighth power interface of the third three-phase motor; the fifth output end is connected with a sixth power interface of the second three-phase motor and an eleventh power interface of the fourth three-phase motor; and the sixth output end is connected with the ninth power interface of the third three-phase motor and the twelfth power interface of the fourth three-phase motor.

With reference to the third implementation manner of the third aspect of the embodiments of the present application, in a fourth implementation manner of the third aspect of the embodiments of the present application:

the control unit controls the conduction state of the first switching tube to the twelfth switching tube at a first period of time to provide alternating current for the first three-phase motor; one of the first switch tube and the second switch tube provides current for the first three-phase motor, one of the third switch tube and the fourth switch tube provides current for the first three-phase motor, one of the fifth switch tube and the sixth switch tube provides current for the first three-phase motor, and the seventh switch tube, the eighth switch tube, the ninth switch tube, the tenth switch tube, the eleventh switch tube and the twelfth switch tube are disconnected.

The control unit controls the conduction state of the first switching tube to the twelfth switching tube in a second time period to provide alternating current for the second three-phase motor; one of the first switch tube and the second switch tube provides current for the second three-phase motor, one of the seventh switch tube and the eighth switch tube provides current for the second three-phase motor, one of the ninth switch tube and the tenth switch tube provides current for the second three-phase motor, and the third switch tube, the fourth switch tube, the fifth switch tube, the sixth switch tube, the eleventh switch tube and the twelfth switch tube are disconnected.

The control unit controls the conduction state of the first switching tube to the twelfth switching tube in a third time period to provide alternating current for the third three-phase motor; one of the third switch tube and the fourth switch tube provides current for the third three-phase motor, one of the seventh switch tube and the eighth switch tube provides current for the third three-phase motor, one of the eleventh switch tube and the twelfth switch tube provides current for the third three-phase motor, and the first switch tube, the second switch tube, the fifth switch tube, the sixth switch tube, the ninth switch tube and the tenth switch tube are disconnected.

The control unit controls the conduction state of the first switching tube to the twelfth switching tube in a fourth period, and provides alternating current for a fourth three-phase motor; one of the fifth switching tube and the sixth switching tube provides current for the fourth three-phase motor, one of the ninth switching tube and the tenth switching tube provides current for the fourth three-phase motor, one of the eleventh switching tube and the twelfth switching tube provides current for the fourth three-phase motor, and the first switching tube, the second switching tube, the third switching tube, the fourth switching tube, the seventh switching tube and the eighth switching tube are disconnected.

A fourth aspect of the embodiments of the present application provides a control unit configured to perform the method according to any one of the third to fourth embodiments of the present application.

A fifth aspect of embodiments of the present application provides a vehicle including a multi-motor drive circuit according to any one of the first to twelfth embodiments of the present application.

According to the technical scheme, the motors share the driving bridge arms, each driving bridge arm can be connected with the motors, the driving bridge arms connected to power interfaces of every two motors cannot be identical, and therefore the driving units are integrated, and the number of components and the cost and the size of the driving units are reduced.

Drawings

Fig. 1 is a schematic view of a scenario of a multi-motor system provided in an embodiment of the present application;

FIG. 2 is a topology diagram of a multi-motor drive circuit provided in an embodiment of the present application;

fig. 2A is an equivalent diagram of a multi-motor driving circuit according to an embodiment of the present application;

FIG. 3 is a topology diagram of another multi-motor drive circuit provided in an embodiment of the present application;

FIG. 4 is a topology diagram of another multi-motor drive circuit provided by an embodiment of the present application;

FIG. 4A is an equivalent diagram of another multi-motor driving circuit provided in the embodiments of the present application;

fig. 5 is a topology diagram of another multi-motor driving circuit according to an embodiment of the present application.

Detailed Description

The application provides a decision-making method of an intelligent agent action, which is used for solving the problem of difficult training of a neural network model caused by indirectly determining communication contents by using task rewards.

The embodiment of the application provides a multi-motor driving circuit and a working method thereof, which are used for integrating a driving unit of a motor, and reducing the number of components and the cost and the volume of the driving unit.

Please refer to fig. 1, which is a schematic view of a multi-motor system according to an embodiment of the present disclosure. As shown in fig. 1, with the improvement of automobile intelligence, the number and types of executing motors used in the electric automobile are increasing, for example, a seat adjusting motor, a thermal management system motor, a door and window motor, and the types of the motors also include a dc motor, a stepping motor, a three-phase motor, and the like. The controllers of these motors are usually integrated into the motor body and communicate with other controllers via communication cables, which results in a controller for each motor.

Generally, a motor controller is divided into a control unit and a driving unit, the control unit includes a power module, a main control chip, a communication circuit, and the like, and the driving unit includes a power driving circuit, and the like. The control unit is used for generating a control signal, and the driving unit comprises a driving circuit; the basic task of the driving circuit is to convert the signal transmitted from the information electronic circuit into a signal which is added between the control end and the common end of the power electronic device and can be switched on or off according to the requirement of the control target of the information electronic circuit. Generally, only an on control signal needs to be provided for a semi-controlled device, and an off control signal needs to be provided for a fully-controlled device, so as to ensure that the device can be turned on or off reliably.

With the increase of the number of motors, the number of controllers and wire harnesses also increases, the cost and the volume of the whole control system are increased, and in order to reduce the number of controllers, an integrated control unit is generally selected, that is, a plurality of motors share one controller, but the integration scheme of a driving unit is less, and an integrated driving circuit is a problem which needs to be solved urgently.

The embodiment of the application provides a multi-motor driving circuit, which comprises at least three motors and at least three driving bridge arms, wherein all driving bridge arms are connected in parallel and are connected in parallel with a direct current power supply, generally, the motor comprises at least two power supply interfaces, therefore, for integrating the driving circuit, different motors share the driving bridge arms, therefore, when the connection relation between the motors and the driving bridge arms is required, the driving bridge arms are shared between every two motors, but the driving bridge arms respectively connected with the power interfaces of one motor and the driving bridge arms respectively connected with the power interfaces of the other motor cannot be completely the same, at least two driving bridge arms respectively connected with at least two power interfaces of the motor i and at least two driving bridge arms respectively connected with at least two power interfaces of the motor j have at least one different driving bridge arm; therefore, the integration of the driving circuit can be realized under the condition of ensuring that each motor works independently.

The following describes the integration schemes of the driving circuits corresponding to different motors, respectively.

A DC motor or a single-phase stepping motor:

the direct current motor is a motor which converts direct current into mechanical energy, when a direct current power supply supplies power to an armature winding through an electric brush, the conductors under the N poles on the surface of an armature can flow current in the same direction, and the conductors receive the action of moment in the anticlockwise direction; the lower conductor of the S pole on the surface of the armature also flows current in the same direction and also receives the action of counterclockwise moment, so that the whole armature winding rotates clockwise, and the input direct current electric energy can be converted into mechanical energy on the rotor shaft.

The single-phase step motor is similar to the principle of a direct current motor, only an electronic circuit is used for changing direct current into time-sharing power supply, the current is controlled by a multiphase time sequence, when the step motor receives a pulse signal, the step motor is driven to rotate by a fixed angle according to a set direction, and the rotation of the step motor is operated in one step at the fixed angle.

The common point of the direct current motor and the stepping motor is that the current input into the motor is non-alternating current, and the forward rotation and the reverse rotation are realized. And the dc motor and the stepping motor have two interfaces to connect with the driving circuit to form a loop, so please refer to fig. 2, which is a topology diagram of the multi-motor driving circuit provided in the embodiment of the present application.

As shown in fig. 2, the driving circuit includes a dc power supply, three dc motors or step motors, and three driving bridge arms, each of which includes two switching tubes connected in series, and each of which is connected in parallel with the dc power supply, and the three motors are connected to the driving bridge arms; each driving bridge arm is shared by two motors, and one driving bridge arm is shared between every two motors.

The direct current power supply is used for providing direct current for the driving bridge arm, the driving bridge arm converts the direct current provided by the direct current power supply by changing the conducting state of each switching tube, and then provides current for each motor, so that the normal work of each motor is ensured.

Two power interfaces of the first motor M1 are connected with the first driving bridge arm and the second driving bridge arm, two power interfaces of the second motor M2 are connected with the first driving bridge arm and the third driving bridge arm, and two power interfaces of the third motor M3 are connected with the second driving bridge arm and the third driving bridge arm; the specific connection mode is that one power interface of the first motor M1 is connected to the middle point of the two switch tubes of the first driving bridge arm, and the other power interface of the first motor M1 is connected to the middle point of the two switch tubes of the second driving bridge arm; one power supply interface of the second motor M2 is connected to the middle point of the two switching tubes of the first driving bridge arm, and the other power supply interface of the second motor M2 is connected to the middle point of the two switching tubes of the third driving bridge arm; one power supply interface of the third motor M3 is connected to the middle point of the two switching tubes of the second driving bridge arm, and the other power supply interface of the third motor M3 is connected to the middle point of the two switching tubes of the third driving bridge arm.

The working principle and the working mode of the driving circuit are explained as follows:

single motor working mode:

in a first period, the control unit controls the two switching tubes on the third driving bridge arm to be disconnected, at this time, the second motor M2 and the third motor M3 connected with the third driving bridge arm cannot form a current loop, at this time, the second motor M2 and the third motor M3 do not work, and at the same time, it is ensured that a current passes through one of the two switching tubes on the first driving bridge arm and the second driving bridge arm, at this time, the driving circuit drives the first motor M1 to normally work, and an equivalent structure diagram of the circuit is shown in fig. 2A.

In fig. 2A, the switching tubes on the first driving bridge arm are a first switching tube and a second switching tube in sequence, and the switching tubes on the second driving bridge arm are a third switching tube and a fourth switching tube in sequence, optionally, the control unit may control the first switching tube and the fourth switching tube to be conducted, and a current of the first switching tube and the fourth switching tube flows into the motor M1 through the first switching tube from the positive electrode of the power supply, and then flows into the negative electrode of the power supply through the fourth switching tube from the motor M1, so as to form a complete current loop and provide direct current for the direct current motor M1; optionally, the control unit may further control the second switching tube and the third switching tube to be turned on, and a current of the current flows from the positive electrode of the power supply to the motor M1 through the third switching tube, and then flows from the motor M1 to the negative electrode of the power supply through the second switching tube, so as to form a complete current loop and provide a direct current for the dc motor M1.

When the motor M1 is a stepping motor, the control unit may provide current for the stepping motor by controlling the on-time of the switching tube, for example, the control unit controls the first switching tube and the fourth switching tube to be periodically turned on and off, so as to convert the dc power into time-sharing power and provide current for the stepping motor.

When the switch tube is the insulated gate bipolar transistor IGBT and/or the triode and the anti-parallel diode thereof, the anti-parallel diode mainly plays a role of follow current, current mutation caused by cut-off of the transistor or the triode is avoided, smooth current is realized, and elements in the circuit are protected from being damaged.

In the second time period, the control unit controls the two switching tubes on the second driving bridge arm to be disconnected, at this time, the first motor M1 and the third motor M3 connected with the second driving bridge arm cannot form a current loop, the first motor M1 and the third motor M3 do not work, meanwhile, the control unit ensures that current passes through one of the two switching tubes on the first driving bridge arm and the third driving bridge arm, at this time, the driving circuit drives the second motor M2 to work normally, the working principle of the second motor M2 is similar to that of the first motor M1 at the first moment, and details are not repeated here.

In a third time period, the control unit controls the two switching tubes on the first driving bridge arm to be disconnected, at this time, the first motor M1 and the second motor M2 connected with the first driving bridge arm cannot form a current loop, the first motor M1 and the second motor M2 do not work, meanwhile, the control unit ensures that current passes through one of the two switching tubes on the second driving bridge arm and the third driving bridge arm, at this time, the driving circuit drives the third motor M3 to work normally, the working principle of the third motor M3 is similar to that of the first motor M1 at the first moment, and details are not repeated here.

In this embodiment, the control unit controls the switching tubes on all the driving bridge arms corresponding to one motor at the same time period, and switches on other driving bridge arms are all turned off, so that the plurality of motors sharing the bridge arms can work at different time periods without influencing the work of the motors, and the plurality of motors sharing the bridge arms can work independently.

Fig. 3 is a schematic diagram of another multi-motor driving circuit according to an embodiment of the present disclosure. The connection mode of the driving bridge arms and the motors is that each driving bridge arm is connected with a plurality of motors, and each two motors share one driving bridge arm; as shown in fig. 3, the topology includes two sets of motors, first motor M1 through sixth motor M6.

It will be appreciated that fourth motor M4, fifth motor M5, and sixth motor M6 are connected in a manner similar to that of first motor M1, second motor M2, and third motor M3, i.e., sharing a common fourth drive leg, fifth drive leg, and sixth drive leg. Two power interfaces of the fourth motor M4 are connected to the fourth driving bridge arm and the fifth driving bridge arm, two power interfaces of the fifth motor M5 are connected to the fourth driving bridge arm and the sixth driving bridge arm, and two power interfaces of the sixth motor M6 are connected to the fifth driving bridge arm and the sixth driving bridge arm.

The connection modes of the fourth motor M4, the fifth motor M5 and the sixth motor M6 with the driving bridge arm are also similar to the connection modes of the first motor M1, the second motor M2 and the third motor M3, that is, one power interface of the fourth motor M4 is connected with the middle node of the seventh switch tube and the eighth switch tube in the fourth driving bridge arm, and the other power interface is connected with the middle node of the ninth switch tube and the tenth switch tube in the fifth driving bridge arm; one power interface of the fifth motor M5 is connected to the middle node of the seventh switching tube and the eighth switching tube in the fourth driving bridge arm, and the other power interface is connected to the middle node of the eleventh switching tube and the twelfth switching tube in the sixth driving bridge arm; one power interface of the sixth motor M6 is connected to the middle node of the ninth switching tube and the tenth switching tube in the fifth driving bridge arm, and the other power interface is connected to the middle node of the eleventh switching tube and the twelfth switching tube in the sixth driving bridge arm.

The operation principle and the operation mode of the single motor of the fourth motor M4, the fifth motor M5 and the sixth motor M6 are similar to the operation mode of the single motor in the embodiment shown in fig. 2, and are not described herein again, and the operation modes of the plurality of motors of the driving circuit are explained below.

(II) multi-motor working mode:

the two motors sharing the bridge arm cannot work at the same time, however, the control unit may control a plurality of motors not sharing the bridge arm to work at the same time, for example, as shown in fig. 3, the motors may be controlled to work at the same time by a first motor M1 and a fourth motor M4. The control method comprises the following steps that in the same time period, the control unit controls the two switching tubes on the third driving bridge arm to be disconnected, at the moment, the second motor M2 and the third motor M3 connected with the third driving bridge arm cannot form a current loop, and the second motor M2 and the third motor M3 do not work; the control unit controls the two switching tubes on the sixth driving bridge arm to be disconnected, at this time, the fifth motor M5 and the sixth motor M6 connected with the sixth driving bridge arm cannot form a current loop, and the fifth motor M5 and the sixth motor M6 do not work.

Meanwhile, the control unit controls one of the two switching tubes on the first driving bridge arm and the second driving bridge arm to pass current, controls one of the two switching tubes on the fourth driving bridge arm and the fifth driving bridge arm to pass current, and drives the first motor M1 and the fourth motor M4 to normally work at the moment.

It can be understood that the control unit can also control the first motor M1 and the fifth motor M5 to work simultaneously at a certain period, the control method of the control unit is similar to the control method of the first motor M1 and the fourth motor M4 to work simultaneously, and only the control unit needs to control one switching tube in each of the first driving bridge arm, the second driving bridge arm, the fourth driving bridge arm and the sixth driving bridge arm to have current flowing through, and all switching tubes in the third driving bridge arm and the fifth driving bridge arm are turned off.

It can be understood that the multi-motor driving circuit may further include multiple sets of motors, and the control unit may control any number of motors not sharing a bridge arm to operate simultaneously, which is not limited herein.

The control unit can enable a plurality of motors which do not share the driving bridge arm to work simultaneously by controlling the conduction states of the switching tubes of the driving bridge arms in different groups, so that the defect that the motors in a multi-motor system cannot work simultaneously can be avoided, and a novel multi-motor working mode is provided.

A second three-phase motor:

the three-phase motor may be classified into a three-phase synchronous motor and a three-phase asynchronous motor.

The three-phase asynchronous motor is one kind of induction motor, and is one kind of motor powered by three-phase AC current with 120 deg phase difference, and its working principle is that when three-phase stator winding of the motor (each with 120 deg phase difference) is fed with three-phase symmetrical AC current, a rotating magnetic field is produced, which cuts the rotor winding to produce induced current in the rotor winding, and the current-carrying rotor conductor will produce electromagnetic force under the action of the stator rotating magnetic field to form electromagnetic torque on the motor shaft to drive the motor to rotate.

The working principle of the three-phase synchronous motor is as follows: when the three-phase synchronous motor works, three-phase symmetrical current is introduced into a three-phase winding of the stator, and direct current is introduced into an excitation winding of the rotor. When three-phase alternating current is introduced into the stator three-phase symmetrical winding, a rotating magnetic field is generated in the air gap, and when direct current is introduced into the rotor excitation winding, a static magnetic field with constant polarity is generated. If the number of the magnetic pole pairs of the rotor magnetic field is equal to that of the magnetic pole pairs of the stator magnetic field, the rotor magnetic field synchronously rotates along with the stator rotating magnetic field under the action of the magnetic pulling force of the stator magnetic field, namely, the rotor rotates at the speed and in the direction which are equal to those of the rotating magnetic field.

Therefore, the three-phase asynchronous motor and the three-phase synchronous motor are provided with three power interfaces, the current input to each power interface of the three-phase motor is alternating current, and at the moment, the driving circuit is used as a motor inverter and is responsible for converting direct current electric energy provided by a direct current power supply into alternating current and providing the alternating current for the three-phase motor. Fig. 4 is a schematic diagram of another multi-motor driving circuit according to an embodiment of the present disclosure.

As shown in fig. 4, the driving circuit includes a dc power supply, four three-phase motors, and six driving bridge arms, each of which includes two switching tubes connected in series, and each of which is connected in parallel with the dc power supply, and the four motors are connected to the driving bridge arms; each driving bridge arm is shared by two motors, and only one driving bridge arm is shared between every two motors.

One power interface of the first three-phase motor M1 is connected with the first driving bridge arm, the second power interface is connected with the second driving bridge arm, and the third power interface is connected with the third driving bridge arm; one power interface of the second three-phase motor M2 is connected with the first driving bridge arm, the second power interface is connected with the fourth driving bridge arm, and the third power interface is connected with the fifth driving bridge arm; one power interface of the third three-phase motor M3 is connected with the second driving bridge arm, the second power interface is connected with the fourth driving bridge arm, and the third power interface is connected with the sixth driving bridge arm; one power interface of the fourth three-phase motor M4 is connected with the third driving bridge arm, the second power interface is connected with the fifth driving bridge arm, and the third power interface is connected with the sixth driving bridge arm.

Each driving bridge arm comprises two switching tubes, so that the first driving bridge arm comprises a first switching tube and a second switching tube, and the second to sixth driving bridge arms sequentially comprise third to twelfth switching tubes; the middle point of the first switch tube and the second switch tube is a first output end of the first driving bridge arm, the middle point of the third switch tube and the fourth switch tube is a second output end, the middle point of the fifth switch tube and the sixth switch tube is a third output end, the middle point of the seventh switch tube and the eighth switch tube is a fourth output end, the middle point of the ninth switch tube and the tenth switch tube is a fifth output end, and the middle point of the eleventh switch tube and the twelfth switch tube is a sixth output end.

The three power interfaces of the first three-phase motor are respectively connected with a first output end, a second output end and a third output end; three power interfaces of the second three-phase motor are respectively connected with the first output end, the fourth output end and the fifth output end; three power interfaces of the third three-phase motor are respectively connected with the second output end, the fourth output end and the sixth output end; and three power interfaces of the fourth three-phase motor are respectively connected with the third output end, the fifth output end and the sixth output end.

The working principle and the working mode of the driving circuit are explained as follows:

single motor working mode:

in a first period, the control unit controls all the switching tubes on the fourth driving bridge arm, the fifth driving bridge arm and the sixth driving bridge arm to be disconnected, and at the moment, the second three-phase motor M2, the third three-phase motor M3 and the fourth three-phase motor M4 which are connected with the fourth driving bridge arm, the fifth driving bridge arm and the sixth driving bridge arm cannot obtain three-phase alternating current, so that the three-phase alternating current cannot work; meanwhile, the control unit controls one of the two switching tubes on the first driving bridge arm and the second driving bridge arm to have current passing through, at this time, the driving circuit drives the first three-phase motor M1 to normally work, and the equivalent structure diagram of the circuit is shown in fig. 4A.

In fig. 4A, the switching tubes on the first driving bridge arm are a first switching tube and a second switching tube in sequence, the switching tubes on the second driving bridge arm are a third switching tube and a fourth switching tube in sequence, and the switching tubes on the third driving bridge arm are a fifth switching tube and a sixth switching tube in sequence;

optionally, the control unit may control the conduction states of the first to sixth switching tubes, change the flow direction of the current, control the conduction and the shutdown of the plurality of switching tubes through a pulse signal, convert the direct current provided by the direct current source into an alternating current, and input the alternating current with the phase difference of 120 degrees to the three interfaces of the first three-phase motor, so that the first three-phase motor M1 operates normally.

When the switch tube is the insulated gate bipolar transistor IGBT and/or the triode and the anti-parallel diode thereof, the anti-parallel diode mainly plays a role of follow current, current mutation caused by cut-off of the transistor or the triode is avoided, smooth current is realized, and elements in the circuit are protected from being damaged.

In a second time period, the control unit controls all the switching tubes on the second driving bridge arm, the third driving bridge arm and the sixth driving bridge arm to be disconnected, at this time, the first three-phase motor M1, the third three-phase motor M3 and the fourth three-phase motor M4 which are connected with the second driving bridge arm, the third driving bridge arm and the sixth driving bridge arm cannot obtain three-phase alternating current, so that the three-phase alternating current cannot work, meanwhile, the control unit ensures that current passes through one of the switching tubes on the first driving bridge arm, the fourth driving bridge arm and the fifth driving bridge arm, at this time, the driving circuit drives the second three-phase motor M2 to work normally, the working principle of the second three-phase motor M2 is similar to that of the first three-phase motor M1 in the first time period, and no description is given here.

In a third time period, the control unit controls all the switching tubes on the first driving bridge arm, the third driving bridge arm and the fifth driving bridge arm to be disconnected, at this time, the first three-phase motor M1, the second three-phase motor M2 and the fourth three-phase motor M4 which are connected with the first driving bridge arm, the third driving bridge arm and the fifth driving bridge arm cannot obtain three-phase alternating current, so that the three-phase alternating current cannot work, meanwhile, the control unit ensures that current passes through one of the switching tubes on the second driving bridge arm, the fourth driving bridge arm and the sixth driving bridge arm, at this time, the driving circuit drives the third three-phase motor M3 to work normally, the working principle of the third three-phase motor M3 is similar to that of the first three-phase motor M1 in the first time period, and no description is given here.

In a fourth time period, the control unit controls all the switching tubes on the first driving bridge arm, the second driving bridge arm and the fourth driving bridge arm to be disconnected, at this time, the first three-phase motor M1, the second three-phase motor M2 and the third three-phase motor M3 which are connected with the first driving bridge arm, the second driving bridge arm and the fourth driving bridge arm cannot obtain three-phase alternating current, so that the three-phase alternating current cannot work, meanwhile, the control unit ensures that current passes through one of the switching tubes on the third driving bridge arm, the fifth driving bridge arm and the sixth driving bridge arm, at this time, the driving circuit drives the fourth three-phase motor M4 to work normally, the working principle of the fourth three-phase motor M4 is similar to that of the first three-phase motor M1 in the first time period, and no further description is given here.

In this embodiment, the control unit controls the switching tubes on all the driving bridge arms corresponding to one motor at the same time period, and switches on other driving bridge arms are all turned off, so that the plurality of motors sharing the bridge arms can work at different time periods without influencing the work of the motors, and the plurality of motors sharing the bridge arms can work independently.

Fig. 5 is a schematic diagram of another multi-motor driving circuit according to an embodiment of the present application. The connection mode of the driving bridge arms and the motors is that each driving bridge arm is connected with a plurality of motors, and each two motors share one driving bridge arm; as shown in fig. 5, the topology includes two sets of three-phase motors, which are the first motor M1 to the eighth motor M8.

It is appreciated that fifth three-phase motor M5, sixth three-phase motor M6, seventh three-phase motor M7, and eighth three-phase motor M8 are connected in a manner similar to that of first three-phase motor M1, second three-phase motor M2, third three-phase motor M3, and fourth three-phase motor M4, i.e., the seventh to twelfth drive legs are shared. Three interfaces of a fifth three-phase motor M5 are respectively connected with a seventh driving bridge arm, an eighth driving bridge arm and a ninth driving bridge arm; three interfaces of a sixth three-phase motor M6 are respectively connected with a seventh driving bridge arm, a tenth driving bridge arm and an eleventh driving bridge arm; three interfaces of a seventh three-phase motor M7 are respectively connected with an eighth driving bridge arm, a tenth driving bridge arm and a twelfth driving bridge arm; and three interfaces of the eighth three-phase motor M8 are respectively connected with the ninth driving bridge arm, the eleventh driving bridge arm and the twelfth driving bridge arm.

The connection modes of the fifth three-phase motor M5, the sixth three-phase motor M6, the seventh three-phase motor M7 and the eighth three-phase motor M8 with the driving bridge arm are also similar to the connection modes of the first three-phase motor M1, the second three-phase motor M2, the third three-phase motor M3 and the fourth three-phase motor M4; the middle point of the thirteenth switching tube and the fourteenth switching tube is a seventh output end, the middle point of the fifteenth switching tube and the sixteenth switching tube is an eighth output end, the middle point of the seventeenth switching tube and the eighteenth switching tube is a ninth output end, the middle point of the nineteenth switching tube and the twentieth switching tube is a tenth output end, the middle point of the twenty-first switching tube and the twenty-second switching tube is an eleventh output end, and the middle point of the twenty-third switching tube and the twenty-fourteenth switching tube is a twelfth output end; namely, three interfaces of the fifth three-phase motor M5 are respectively connected to the seventh output terminal, the eighth output terminal and the ninth output terminal; three interfaces of a sixth three-phase motor M6 are respectively connected with a seventh output end, a tenth output end and an eleventh output end; three interfaces of the seventh three-phase motor M7 are respectively connected to the eighth output terminal, the tenth output terminal and the twelfth output terminal; and three interfaces of the eighth three-phase motor M8 are respectively connected with the ninth output end, the eleventh output end and the twelfth output end.

The operation principle and the operation mode of the single motor of the fifth three-phase motor M5, the sixth three-phase motor M6, the seventh three-phase motor M7, and the eighth three-phase motor M8 are similar to the operation mode of the single motor in the embodiment shown in fig. 4, and are not described herein again, and the operation mode of the multiple motors of the driving circuit is explained below.

(II) multi-motor working mode:

the two motors sharing the bridge arm cannot work at the same time, however, the control unit can control a plurality of motors not sharing the bridge arm to work at the same time, for example, as shown in fig. 5, the motors can be controlled to work at the same time by a first three-phase motor M1 and a fifth motor M5. The control method comprises the steps that in the same time period, the control unit controls all the switch tubes on the fourth driving bridge arm to the sixth driving bridge arm to be disconnected, at the moment, the second three-phase motor M2, the third three-phase motor M3 and the fourth three-phase motor M3 which are connected with the fourth driving bridge arm to the sixth driving bridge arm cannot obtain three-phase alternating current, and the second three-phase motor M2, the third three-phase motor M3 and the fourth three-phase motor M3 do not work; the control unit controls all the switch tubes on the tenth to twelfth driving bridge arms to be disconnected, at this time, the sixth three-phase motor M6, the seventh three-phase motor M7 and the eighth three-phase motor M8 which are connected with the tenth to twelfth driving bridge arms cannot obtain three-phase alternating current, and the sixth three-phase motor M6, the seventh three-phase motor M7 and the eighth three-phase motor M8 do not work.

Meanwhile, the control unit controls one of the two switching tubes on the first driving bridge arm, the second driving bridge arm and the third driving bridge arm to pass current, controls one of the two switching tubes on the seventh driving bridge arm, the eighth driving bridge arm and the ninth driving bridge arm to pass current, and drives the first three-phase motor M1 and the fifth three-phase motor M5 to normally work at the moment.

It can be understood that the control unit may also control the first three-phase motor M1 and the sixth three-phase motor M6 to operate simultaneously at a certain period, the control method of the control unit is similar to the control method of the first three-phase motor M1 and the fifth three-phase motor M5 to operate simultaneously, and it is only necessary that the control unit controls one switching tube in each of the first driving bridge arm, the second driving bridge arm, the third driving bridge arm, the seventh driving bridge arm, the eighth driving bridge arm and the ninth driving bridge arm to have current flowing therethrough, and all switching tubes in the remaining driving bridge arms are turned off.

It can be understood that the multi-motor driving circuit may further include multiple sets of motors, and the control unit may control any number of motors not sharing a bridge arm to operate simultaneously, which is not limited herein.

The control unit can enable a plurality of motors which do not share the driving bridge arm to work simultaneously by controlling the conduction states of the switching tubes of the driving bridge arms in different groups, so that the defect that the motors in a multi-motor system cannot work simultaneously can be avoided, and a novel multi-motor working mode is provided.

The embodiment of the application further provides a driving bridge arm circuit, which comprises at least three driving bridge arms, wherein the at least three driving bridge arms are connected in parallel, the at least three driving bridge arms are connected with a direct-current power supply in parallel, and the output end of each driving bridge arm in the at least three driving bridge arms can be connected with two power supply interfaces of at least two motors.

The at least three driving bridge arms and the at least three motors have a connection relation, and the connection relation satisfies the following conditions: at least two driving bridge arms respectively connected with at least two power interfaces of the motor i and at least two driving bridge arms respectively connected with at least two power interfaces of the motor j have at least one different driving bridge arm, and the motor i and the motor j are any two motors in the at least three motors.

In an optional embodiment, the at least three driving bridge arms include a first driving bridge arm, a second driving bridge arm and a third driving bridge arm, the at least three motors include a first motor, a second motor and a third motor, and the first motor to the third motor each include two power interfaces.

The first output end of the first driving bridge arm is connected with a first power interface of the first motor and a third power interface of the second motor, the second output end of the second driving bridge arm is connected with a second power interface of the first motor and a fifth power interface of the third motor, and the third output end of the third driving bridge arm is connected with a fourth power interface of the second motor and a sixth power interface of the third motor.

In another optional embodiment, the first driving bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second driving bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, and the third driving bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series.

The first switch tube, the third switch tube and the fifth switch tube are respectively connected with the positive pole of the direct-current power supply, the second switch tube, the fourth switch tube and the sixth switch tube are respectively connected with the negative pole of the direct-current power supply, the middle point of the first switch tube and the second switch tube is the first output end, the middle point of the third switch tube and the fourth switch tube is the second output end, and the middle point of the fifth switch tube and the sixth switch tube is the third output end.

In another optional embodiment, the driving bridge arm circuit is controlled by a control unit, and the control unit is specifically configured to control the conduction states of the first switching tube, the second switching tube, the third switching tube and the fourth switching tube at a first period, so as to provide current for the first motor; one of the first switch tube and the second switch tube provides current for the first motor, one of the third switch tube and the fourth switch tube provides current for the first motor, and the fifth switch tube and the sixth switch tube are disconnected.

The control unit is further used for controlling the conduction states of the first switching tube, the second switching tube, the fifth switching tube and the sixth switching tube in a second time period to provide current for the second motor; one of the first switch tube and the second switch tube provides current for the second motor, one of the fifth switch tube and the sixth switch tube provides current for the second motor, and the third switch tube and the fourth switch tube are disconnected.

The control unit is further used for controlling the conduction states of the third switching tube, the fourth switching tube, the fifth switching tube and the sixth switching tube in a third period of time to provide current for the third motor; one of the third switching tube and the fourth switching tube supplies current to the third motor, one of the fifth switching tube and the sixth switching tube supplies current to the third motor, and the first switching tube and the second switching tube are disconnected.

In another optional embodiment, the at least three driving bridge arms include a first driving bridge arm, a second driving bridge arm, a third driving bridge arm, a fourth driving bridge arm, a fifth driving bridge arm and a sixth driving bridge arm, the at least three motors include a first three-phase motor, a second three-phase motor and a third three-phase motor, and the first to third three-phase motors each include three power interfaces.

A first output end of the first driving bridge arm is connected with a first power interface of the first three-phase motor and a fourth power interface of the second three-phase motor; a second output end of the second driving bridge arm is connected with a second power interface of the first three-phase motor and a seventh power interface of the third three-phase motor; a third output end of the third driving bridge arm is connected with a third power interface of the first three-phase motor and a tenth power interface of a fourth three-phase motor; a fourth output end of the fourth drive bridge arm is connected with a fifth power interface of the second three-phase motor and an eighth power interface of the third three-phase motor; a fifth output end of the fifth driving bridge arm is connected with a sixth power interface of the second three-phase motor and an eleventh power interface of the fourth three-phase motor; and a sixth output end of the sixth driving bridge arm is connected with a ninth power interface of the third three-phase motor and a twelfth power interface of the fourth three-phase motor.

In another optional embodiment, the first driving bridge arm includes a first switching tube and a second switching tube which are connected in series, the second driving bridge arm includes a third switching tube and a fourth switching tube which are connected in series, the third driving bridge arm includes a fifth switching tube and a sixth switching tube which are connected in series, the fourth driving bridge arm includes a seventh switching tube and an eighth switching tube which are connected in series, the fifth driving bridge arm includes a ninth switching tube and a tenth switching tube which are connected in series, and the sixth driving bridge arm includes an eleventh switching tube and a twelfth switching tube which are connected in series.

Wherein the first switch tube, the third switch tube, the fifth switch tube, the seventh switch tube, the ninth switch tube and the eleventh switch tube are respectively connected to an anode of the dc power supply, the second switch tube, the fourth switch tube, the sixth switch tube, the eighth switch tube, the tenth switch tube and the twelfth switch tube are respectively connected to a cathode of the dc power supply, a middle point of the first switch tube and the second switch tube is the first output end, a middle point of the third switch tube and the fourth switch tube is the second output end, a middle point of the fifth switch tube and the sixth switch tube is the third output end, a middle point of the seventh switch tube and the eighth switch tube is the fourth output end, and a middle point of the ninth switch tube and the tenth switch tube is the fifth output end, the middle point of the eleventh switch tube and the twelfth switch tube is the sixth output end.

In another optional embodiment, the driving bridge arm circuit is controlled by a control unit, and the control unit is specifically configured to control the conduction states of switching tubes in the first driving bridge arm, the second driving bridge arm and the third driving bridge arm at a first period, so as to provide alternating current for the first three-phase motor; one of the first switch tube and the second switch tube provides current for the first three-phase motor, one of the third switch tube and the fourth switch tube provides current for the first three-phase motor, one of the fifth switch tube and the sixth switch tube provides current for the first three-phase motor, and the seventh switch tube, the eighth switch tube, the ninth switch tube, the tenth switch tube, the eleventh switch tube and the twelfth switch tube are disconnected.

The control unit is further used for controlling the conduction states of the switching tubes in the first driving bridge arm, the fourth driving bridge arm and the fifth driving bridge arm in a second period of time to provide alternating current for the second three-phase motor; one of the first switch tube and the second switch tube provides current for the second three-phase motor, one of the seventh switch tube and the eighth switch tube provides current for the second three-phase motor, one of the ninth switch tube and the tenth switch tube provides current for the second three-phase motor, and the third switch tube, the fourth switch tube, the fifth switch tube, the sixth switch tube, the eleventh switch tube and the twelfth switch tube are disconnected.

The control unit is further used for controlling the conduction states of the switching tubes in the second driving bridge arm, the fourth driving bridge arm and the sixth driving bridge arm in a third period of time to provide alternating current for the third three-phase motor; one of the third switch tube and the fourth switch tube provides current for the third three-phase motor, one of the seventh switch tube and the eighth switch tube provides current for the third three-phase motor, one of the eleventh switch tube and the twelfth switch tube provides current for the third three-phase motor, and the first switch tube, the second switch tube, the fifth switch tube, the sixth switch tube, the ninth switch tube and the tenth switch tube are disconnected.

The control unit is further used for controlling the conduction states of the switching tubes in the third driving bridge arm, the fifth driving bridge arm and the sixth driving bridge arm at a fourth time period, and supplying alternating current to the fourth three-phase motor; one of the fifth switch tube and the sixth switch tube provides current for the fourth three-phase motor, one of the ninth switch tube and the tenth switch tube provides current for the fourth three-phase motor, one of the eleventh switch tube and the twelfth switch tube provides current for the fourth three-phase motor, and the first switch tube, the second switch tube, the third switch tube, the fourth switch tube, the seventh switch tube and the eighth switch tube are disconnected.

The embodiment of the application also provides a control method of the multi-motor drive circuit, which comprises the following steps:

the control unit determines a target driving bridge arm of the multi-motor driving circuit; the multi-motor driving circuit comprises at least three driving bridge arms, the at least three driving bridge arms are connected in parallel and are connected with a direct-current power supply in parallel, and the output end of each driving bridge arm in the at least three driving bridge arms can be connected with two power supply interfaces of at least two motors.

The at least three driving bridge arms and the at least three motors have a connection relation, and the connection relation satisfies the following conditions: at least two driving bridge arms respectively connected with at least two power interfaces of the motor i and at least two driving bridge arms respectively connected with at least two power interfaces of the motor j have at least one different driving bridge arm, and the motor i and the motor j are any two motors in the at least three motors.

And the control unit controls the conduction state of a switch tube in the target driving bridge arm so as to enable the target driving bridge arm to provide current for the at least three motors.

In an optional embodiment, the at least three driving bridge arms include a first driving bridge arm, a second driving bridge arm and a third driving bridge arm, the at least three motors include a first motor, a second motor and a third motor, and the first motor to the third motor each include two power interfaces; the first driving bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second driving bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, and the third driving bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series.

The first switch tube, the third switch tube and the fifth switch tube are respectively connected with the positive pole of the direct-current power supply, the second switch tube, the fourth switch tube and the sixth switch tube are respectively connected with the negative pole of the direct-current power supply, the middle point of the first switch tube and the second switch tube is the first output end, the middle point of the third switch tube and the fourth switch tube is the second output end, and the middle point of the fifth switch tube and the sixth switch tube is the third output end.

The first output end of the first driving bridge arm is connected with a first power interface of the first motor and a third power interface of the second motor, the second output end of the second driving bridge arm is connected with a second power interface of the first motor and a fifth power interface of the third motor, and the third output end of the third driving bridge arm is connected with a fourth power interface of the second motor and a sixth power interface of the third motor.

In another optional embodiment, the controlling unit controls the conducting state of the switching tube in the target driving bridge arm, and includes: the control unit controls the conduction state of the first switching tube to the sixth switching tube at a first period of time to provide current for the first motor; one of the first switch tube and the second switch tube provides current for the first motor, one of the third switch tube and the fourth switch tube provides current for the first motor, and the fifth switch tube and the sixth switch tube are disconnected.

The control unit controls the conduction state of the first switching tube to the sixth switching tube in a second time period to provide current for the second motor; one of the first switch tube and the second switch tube provides current for the second motor, one of the fifth switch tube and the sixth switch tube provides current for the second motor, and the third switch tube and the fourth switch tube are disconnected.

The control unit controls the conduction state of the first switching tube to the sixth switching tube in a third time period to provide current for the third motor; one of the third switching tube and the fourth switching tube supplies current to the third motor, one of the fifth switching tube and the sixth switching tube supplies current to the third motor, and the first switching tube and the second switching tube are disconnected.

In another optional embodiment, the at least three driving bridge arms include a first driving bridge arm, a second driving bridge arm, a third driving bridge arm, a fourth driving bridge arm, a fifth driving bridge arm and a sixth driving bridge arm, the at least three motors include a first three-phase motor, a second three-phase motor and a third three-phase motor, and the first to third three-phase motors each include three power interfaces.

The first driving bridge arm comprises a first switching tube and a second switching tube which are connected in series, the second driving bridge arm comprises a third switching tube and a fourth switching tube which are connected in series, the third driving bridge arm comprises a fifth switching tube and a sixth switching tube which are connected in series, the fourth driving bridge arm comprises a seventh switching tube and an eighth switching tube which are connected in series, the fifth driving bridge arm comprises a ninth switching tube and a tenth switching tube which are connected in series, and the sixth driving bridge arm comprises an eleventh switching tube and a twelfth switching tube which are connected in series.

Wherein the first switch tube, the third switch tube, the fifth switch tube, the seventh switch tube, the ninth switch tube and the eleventh switch tube are respectively connected to an anode of the dc power supply, the second switch tube, the fourth switch tube, the sixth switch tube, the eighth switch tube, the tenth switch tube and the twelfth switch tube are respectively connected to a cathode of the dc power supply, a middle point of the first switch tube and the second switch tube is the first output end, a middle point of the third switch tube and the fourth switch tube is the second output end, a middle point of the fifth switch tube and the sixth switch tube is the third output end, a middle point of the seventh switch tube and the eighth switch tube is the fourth output end, and a middle point of the ninth switch tube and the tenth switch tube is the fifth output end, the middle point of the eleventh switch tube and the twelfth switch tube is the sixth output end.

A first output end of the first driving bridge arm is connected with a first power interface of the first three-phase motor and a fourth power interface of the second three-phase motor; a second output end of the second driving bridge arm is connected with a second power interface of the first three-phase motor and a seventh power interface of the third three-phase motor; a third output end of the third driving bridge arm is connected with a third power interface of the first three-phase motor and a tenth power interface of a fourth three-phase motor; a fourth output end of the fourth drive bridge arm is connected with a fifth power interface of the second three-phase motor and an eighth power interface of the third three-phase motor; a fifth output end of the fifth driving bridge arm is connected with a sixth power interface of the second three-phase motor and an eleventh power interface of the fourth three-phase motor; and a sixth output end of the sixth driving bridge arm is connected with a ninth power interface of the third three-phase motor and a twelfth power interface of the fourth three-phase motor.

In another optional embodiment, the control unit controls the conduction states of the first to twelfth switching tubes in a first period to provide alternating current for the first three-phase motor; one of the first switch tube and the second switch tube provides current for the first three-phase motor, one of the third switch tube and the fourth switch tube provides current for the first three-phase motor, one of the fifth switch tube and the sixth switch tube provides current for the first three-phase motor, and the seventh switch tube, the eighth switch tube, the ninth switch tube, the tenth switch tube, the eleventh switch tube and the twelfth switch tube are disconnected.

The control unit controls the conduction state of the first switching tube to the twelfth switching tube in a second time period to provide alternating current for the second three-phase motor; one of the first switch tube and the second switch tube provides current for the second three-phase motor, one of the seventh switch tube and the eighth switch tube provides current for the second three-phase motor, one of the ninth switch tube and the tenth switch tube provides current for the second three-phase motor, and the third switch tube, the fourth switch tube, the fifth switch tube, the sixth switch tube, the eleventh switch tube and the twelfth switch tube are disconnected.

The control unit controls the conduction state of the first switching tube to the twelfth switching tube in a third time period to provide alternating current for the third three-phase motor; one of the third switch tube and the fourth switch tube provides current for the third three-phase motor, one of the seventh switch tube and the eighth switch tube provides current for the third three-phase motor, one of the eleventh switch tube and the twelfth switch tube provides current for the third three-phase motor, and the first switch tube, the second switch tube, the fifth switch tube, the sixth switch tube, the ninth switch tube and the tenth switch tube are disconnected.

The control unit controls the conduction state of the first switching tube to the twelfth switching tube in a fourth period, and provides alternating current for the fourth three-phase motor; one of the fifth switch tube and the sixth switch tube provides current for the fourth three-phase motor, one of the ninth switch tube and the tenth switch tube provides current for the fourth three-phase motor, one of the eleventh switch tube and the twelfth switch tube provides current for the fourth three-phase motor, and the first switch tube, the second switch tube, the third switch tube, the fourth switch tube, the seventh switch tube and the eighth switch tube are disconnected.

The embodiment of the application also provides a control unit, which is used for executing the method in any one of the control methods of the multi-motor drive circuit provided by the embodiment of the application.

A fifth aspect of embodiments of the present application provides a vehicle including a multi-motor drive circuit according to any one of the multi-motor drive circuits provided by the embodiments of the present application.

The driving circuit provided by the embodiment of the present application is described in detail above, and the principle and the implementation of the present application are explained in this document by applying a specific example, and the description of the above embodiment is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.