CN111614296A - Magnetic field orientation control method and device for multi-core multi-axis motor - Google Patents
Magnetic field orientation control method and device for multi-core multi-axis motor Download PDFInfo
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- CN111614296A CN111614296A CN202010646331.8A CN202010646331A CN111614296A CN 111614296 A CN111614296 A CN 111614296A CN 202010646331 A CN202010646331 A CN 202010646331A CN 111614296 A CN111614296 A CN 111614296A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
Abstract
The embodiment of the application provides a magnetic field orientation control method and device for a multi-core multi-axis motor, and the method comprises the following steps: collecting two-phase current, and inputting the two-phase current into a universal ADC channel part of the AC-Tek FOCP ADC to obtain digital quantity; obtaining two-axis orthogonal current quantity after conversion of a close circuit arranged in the FOC hardening circuit; obtaining orthogonal current Id and Iq after a rotation conversion circuit is arranged in the FOC hardening circuit; respectively sending the orthogonal current Iq and Id into a PI regulator circuit built in an FOC hardening circuit to obtain corresponding outputs Vq and Vd; obtaining the rotating angle of the motor through an HALL sensor decoder built in the FOC hardening circuit or a back electromotive force position prediction circuit built in the FOC hardening circuit; an FOC hardening circuit is internally provided with an inverse park conversion circuit to obtain biaxial current quantities Va and Vb; the multi-shaft motor control method and the multi-shaft motor control device can flexibly and accurately realize the rapid control of the multi-shaft motor.
Description
Technical Field
The application relates to the field of hardened circuits, in particular to a magnetic field orientation control method and device of a multi-core multi-axis motor.
Background
In the single-shaft FOC algorithm in the prior art, except for circuits necessary for obtaining current and angle, the rest parts are an operation unit of an MCU processor and an SRAM to participate in a calculation process, when multiple shafts need to be supported, the MCU needs to calculate the FOC algorithm of each motor in a serial polling mode in a cycle and then control and drive each motor, and therefore control efficiency of the multi-shaft motor is low and inaccurate.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides a magnetic field directional control method and device for a multi-core multi-axis motor, which can flexibly and accurately realize the rapid control of the multi-axis motor.
In order to solve at least one of the above problems, the present application provides the following technical solutions:
in a first aspect, the present application provides a magnetic field orientation control method for a multi-core multi-axis motor, including:
collecting two-phase current, and inputting the two-phase current into a universal ADC channel part of the AC-Tek FOCP ADC to obtain digital quantity;
obtaining two-axis orthogonal current quantity after conversion of a close circuit arranged in the FOC hardening circuit;
obtaining orthogonal current Id and Iq after a rotation conversion circuit is arranged in the FOC hardening circuit;
respectively sending the orthogonal current Iq and Id into a PI regulator circuit built in an FOC hardening circuit to obtain corresponding outputs Vq and Vd;
obtaining the rotating angle of the motor through an HALL sensor decoder built in the FOC hardening circuit or a back electromotive force position prediction circuit built in the FOC hardening circuit;
an FOC hardening circuit is built in with an inverse park conversion circuit to obtain biaxial current amounts Va and Vb.
Further, if the user configures the MCU to process the FOC result message during the initial configuration, after obtaining the two-axis current amount, the method further includes:
carrying out inverse clarke conversion on the two-axis current quantities Va and Vb to obtain actually required three-phase voltage, forming an FOC multi-axis motor processing message, sending the FOC multi-axis motor processing message to an FOC message manager, and generating an interruption notification to a corresponding MCU (microprogrammed control Unit);
and the MCU acquires the FOC message of the MCU after obtaining the interrupt message, generates a driving waveform and inputs the driving waveform to the inverter bridge so as to drive the motor to rotate.
Further, if the user configures an Advanced Timer to process the FOC result message during the initial configuration, after obtaining the biaxial current amount, the method further includes:
carrying out inverse clarke conversion on the two-axis current quantities Va and Vb to obtain actually required three-phase voltage, forming an FOC multi-axis motor processing message and sending the FOC multi-axis motor processing message to an FOC message manager;
the FOC message transceiver is polled at regular time by the corresponding channel of the Advanced Timer, and a driving waveform is generated by a built-in PWM waveform generator and is input to the inverter bridge so as to drive the motor to rotate.
Further, still include:
the MCU interrupts the hardened FOC process by configuring the configuration registers of the AC-Tek FOCP ADC.
In a second aspect, the present application provides a magnetic field orientation control apparatus for a multi-core multi-axis motor, comprising:
the two-phase current acquisition module is used for acquiring two-phase current and inputting the two-phase current into a universal ADC channel part of the AC-Tek FOCP ADC to obtain digital quantity;
the Clarke circuit transformation module is used for obtaining two-axis orthogonal current magnitude after being transformed by a Clarke circuit arranged in the FOC hardening circuit;
the rotation conversion module is used for obtaining orthogonal current quantities Id and Iq after the rotation conversion circuit is arranged in the FOC hardening circuit;
the PI deviation correction module is used for respectively sending the orthogonal current Iq and Id to a PI regulator circuit built in an FOC hardening circuit to obtain corresponding outputs Vq and Vd;
the angle prediction module is used for obtaining the rotating angle of the motor through an embedded HALL sensor decoder of the FOC hardening circuit or an embedded back electromotive force position prediction circuit of the FOC hardening circuit;
and an inverse transformation module for carrying out an FOC hardening circuit and internally arranging an inverse park transformation circuit to obtain two-axis current quantities Va and Vb.
Further, still include:
the interruption notification unit is used for carrying out inverse clarke conversion on the two-axis current quantities Va and Vb to obtain actually required three-phase voltages, forming an FOC multi-axis motor processing message and sending the FOC multi-axis motor processing message to the FOC message manager to generate an interruption notification corresponding MCU;
and the interrupt processing unit is used for acquiring the own FOC message after the MCU obtains the interrupt message, generating a driving waveform and inputting the driving waveform to the inverter bridge so as to drive the motor to rotate.
Further, still include:
the information transmission unit is used for carrying out inverse clarke transformation on the two-axis current quantities Va and Vb to obtain actually required three-phase voltages, forming an FOC multi-axis motor processing message and sending the FOC multi-axis motor processing message to the FOC message manager;
and the message processing unit is used for polling the FOC message transceiver at regular time by the corresponding channel of the Advanced Timer and generating a driving waveform through the built-in PWM waveform generator to be input to the inverter bridge so as to drive the motor to rotate.
Further, still include:
and the interrupt processing unit is used for interrupting the hardening FOC processing process by the MCU through a configuration register of the AC-Tek FOCP ADC.
In a third aspect, the present application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the magnetic field orientation control method of a multi-core multi-axis motor when executing the program.
In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for field-oriented control of a multi-core, multi-axis electric machine as described.
According to the technical scheme, the FOC operation is performed through the built-in multi-channel FOC algorithm hardening circuit, wherein the FOC hardening circuit is directly integrated with the digital part of the multi-bit ADC. The built-in MCU acquires operation results of all FOC channels through the order-preserving FOC message transceiver with first-in first-out, and then carries out further processing, and finally, the fast control on the multi-axis motor is realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is one of flow diagrams of a magnetic field orientation control method of a multi-core multi-axis motor in an embodiment of the present application;
fig. 2 is a second flowchart of a magnetic field orientation control method of a multi-core multi-axis motor according to an embodiment of the present application;
fig. 3 is a third flowchart of a magnetic field orientation control method of a multi-core multi-axis motor according to an embodiment of the present application;
fig. 4 is a structural diagram of a magnetic field orientation control device of a multi-core multi-axis motor in an embodiment of the present application;
FIG. 5 is a block diagram of a classic single axis FOC algorithm in an embodiment of the present application;
FIG. 6 is a block diagram of a FOC algorithm for a conventional multi-axis motor according to an exemplary embodiment of the present application;
FIG. 7 is a block diagram of a classical motor control SOC according to an embodiment of the present application;
FIG. 8 is a FOC algorithm hardening circuit diagram of a multi-core multi-axis motor according to an embodiment of the present disclosure;
FIG. 9 is a diagram illustrating a FOC message queue, MCU and TIMER mapping according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Considering that except for circuits necessary for obtaining current and angle, the single-shaft FOC algorithm in the prior art, the rest parts are an operation unit of an MCU processor and an SRAM to participate in the calculation process, when multiple shafts need to be supported, the MCU needs to calculate the FOC algorithm of each motor in a cycle in a serial polling mode and then control and drive each motor, and therefore the problem that the control efficiency of the multi-shaft motor is low and inaccurate is caused. The built-in MCU acquires operation results of all FOC channels through the order-preserving FOC message transceiver with first-in first-out, and then carries out further processing, and finally, the fast control on the multi-axis motor is realized.
In order to flexibly and accurately realize the rapid control of a multi-core multi-axis motor, the present application provides an embodiment of a magnetic field orientation control method for a multi-core multi-axis motor, and referring to fig. 1, the magnetic field orientation control method for a multi-core multi-axis motor specifically includes the following contents:
step S101: collecting two-phase current, and inputting the two-phase current into a universal ADC channel part of the AC-Tek FOCP ADC to obtain digital quantity;
step S102: obtaining two-axis orthogonal current quantity after conversion of a close circuit arranged in the FOC hardening circuit;
step S103: obtaining orthogonal current Id and Iq after a rotation conversion circuit is arranged in the FOC hardening circuit;
step S104: respectively sending the orthogonal current Iq and Id into a PI regulator circuit built in an FOC hardening circuit to obtain corresponding outputs Vq and Vd;
step S105: obtaining the rotating angle of the motor through an HALL sensor decoder built in the FOC hardening circuit or a back electromotive force position prediction circuit built in the FOC hardening circuit;
step S106: an FOC hardening circuit is built in with an inverse park conversion circuit to obtain biaxial current amounts Va and Vb.
As can be seen from the above description, the magnetic field orientation control method for the multi-core multi-axis motor provided in the embodiments of the present application can perform the FOC operation through the built-in multi-channel FOC algorithm hardening circuit, where the FOC hardening circuit is directly integrated with the digital portion of the multi-bit ADC. The built-in MCU acquires operation results of all FOC channels through the order-preserving FOC message transceiver with first-in first-out, and then carries out further processing, and finally, the fast control on the multi-axis motor is realized.
In an embodiment of the method for controlling a magnetic field orientation of a multi-core multi-axis motor according to the present application, referring to fig. 2, if a user configures an MCU to process an FOC result message during initial configuration, after obtaining a two-axis current amount, the method further includes:
step S201: carrying out inverse clarke conversion on the two-axis current quantities Va and Vb to obtain actually required three-phase voltage, forming an FOC multi-axis motor processing message, sending the FOC multi-axis motor processing message to an FOC message manager, and generating an interruption notification to a corresponding MCU (microprogrammed control Unit);
step S202: and the MCU acquires the FOC message of the MCU after obtaining the interrupt message, generates a driving waveform and inputs the driving waveform to the inverter bridge so as to drive the motor to rotate.
In an embodiment of the method for controlling a magnetic field orientation of a multi-core multi-axis motor according to the present application, referring to fig. 3, if a user configures an Advanced Timer to process a FOC result message during initial configuration, after obtaining a biaxial current amount, the method further includes:
step S301: carrying out inverse clarke conversion on the two-axis current quantities Va and Vb to obtain actually required three-phase voltage, forming an FOC multi-axis motor processing message and sending the FOC multi-axis motor processing message to an FOC message manager;
step S302: the FOC message transceiver is polled at regular time by the corresponding channel of the Advanced Timer, and a driving waveform is generated by a built-in PWM waveform generator and is input to the inverter bridge so as to drive the motor to rotate.
In an embodiment of the magnetic field orientation control method of a multi-core multi-axis motor according to the present application, the method further includes:
the MCU interrupts the hardened FOC process by configuring the configuration registers of the AC-Tek FOCP ADC.
In order to flexibly and accurately implement fast control of a multi-core multi-axis motor, the present application provides an embodiment of a magnetic field orientation control device of a multi-core multi-axis motor for implementing all or part of a magnetic field orientation control method of the multi-core multi-axis motor, and referring to fig. 4, the magnetic field orientation control device of the multi-core multi-axis motor specifically includes the following contents:
the two-phase current acquisition module 10 is used for acquiring two-phase current and inputting the two-phase current into a general ADC channel part of the AC-Tek FOCP ADC to obtain digital quantity;
the Clarke circuit transformation module 20 is used for obtaining two-axis orthogonal current quantities after the Clarke circuit transformation built in the FOC hardening circuit;
a rotation conversion module 30 for obtaining orthogonal current amounts Id and Iq after a rotation conversion circuit is built in the FOC hardening circuit;
the PI deviation correction module 40 is used for respectively sending the orthogonal current quantities Iq and Id into a PI regulator circuit built in an FOC hardening circuit to obtain corresponding outputs Vq and Vd;
the angle prediction module 50 is used for obtaining the rotating angle of the motor through an embedded HALL sensor decoder of the FOC hardening circuit or an embedded back electromotive force position prediction circuit of the FOC hardening circuit;
and an inverse transformation module 60 for performing an inverse park transformation circuit built in the FOC hardening circuit to obtain biaxial current quantities Va and Vb.
As can be seen from the above description, the magnetic field orientation control apparatus for a multi-core multi-axis motor according to the embodiments of the present application can perform an FOC operation by using a built-in multi-channel FOC algorithm hardening circuit, where the FOC hardening circuit is directly integrated with the digital portion of the multi-bit ADC. The built-in MCU acquires operation results of all FOC channels through the order-preserving FOC message transceiver with first-in first-out, and then carries out further processing, and finally, the fast control on the multi-axis motor is realized.
In an embodiment of the magnetic field orientation control device of a multi-core multi-axis motor according to the present application, the following contents are further specifically included:
the interruption notification unit is used for carrying out inverse clarke conversion on the two-axis current quantities Va and Vb to obtain actually required three-phase voltages, forming an FOC multi-axis motor processing message and sending the FOC multi-axis motor processing message to the FOC message manager to generate an interruption notification corresponding MCU;
and the interrupt processing unit is used for acquiring the own FOC message after the MCU obtains the interrupt message, generating a driving waveform and inputting the driving waveform to the inverter bridge so as to drive the motor to rotate.
In an embodiment of the magnetic field orientation control device of a multi-core multi-axis motor according to the present application, the following contents are further specifically included:
the information transmission unit is used for carrying out inverse clarke transformation on the two-axis current quantities Va and Vb to obtain actually required three-phase voltages, forming an FOC multi-axis motor processing message and sending the FOC multi-axis motor processing message to the FOC message manager;
and the message processing unit is used for polling the FOC message transceiver at regular time by the corresponding channel of the Advanced Timer and generating a driving waveform through the built-in PWM waveform generator to be input to the inverter bridge so as to drive the motor to rotate.
In an embodiment of the magnetic field orientation control device of a multi-core multi-axis motor according to the present application, the following contents are further specifically included:
and the interrupt processing unit is used for interrupting the hardening FOC processing process by the MCU through a configuration register of the AC-Tek FOCP ADC.
In order to further explain the present solution, the present application further provides a specific application example of implementing the magnetic field orientation control method of the multi-core multi-axis motor by applying the magnetic field orientation control method of the multi-core multi-axis motor, which is shown in fig. 5 to 9 and specifically includes the following contents:
referring to FIGS. 5-7, the flow of the classic single axis FOC algorithm is as follows
1. Collecting two-phase current, and inputting the two-phase current into an ADC (analog to digital converter) to obtain digital quantity;
2. obtaining two-axis orthogonal current magnitude after clarke transformation;
3. orthogonal current quantities Id and Iq are obtained after rotation transformation, wherein Iq is related to torque, and Id is related to magnetic flux. In actual control, Id is often set to 0;
4. respectively feeding the Iq and the Id obtained in the step 3 into a PI regulator to obtain corresponding output Vq and Vd;
5. obtaining the rotating angle of the motor by using an HALL sensor or a back electromotive force method;
6. carrying out inverse park conversion to obtain biaxial current magnitude;
7. and (4) carrying out inverse clarke conversion on Va and Vb in the step 6 to obtain actually required three-phase voltage, inputting the three-phase voltage to an inverter bridge, and driving a motor to rotate.
In the steps, except circuits necessary for obtaining current and angle, the rest parts are an operation unit of the MCU processor and the SRAM to participate in the calculation process. When multiple shafts need to be supported, the MCU needs to calculate the FOC algorithm of each motor in a cycle in a serial polling mode and then control and drive each motor.
In view of the above problems, referring to fig. 8, the apparatus of the present invention receives HALL sensor signals and current sensing analog signals of a multi-axis motor, and performs FOC operation through a built-in multi-channel FOC algorithm hardening circuit, wherein the FOC hardening circuit is directly integrated with the digital part of a multi-bit ADC. The built-in MCU acquires operation results of all FOC channels through the order-preserving FOC message transceiver with first-in first-out, and then carries out further processing, and finally, the fast control on the multi-axis motor is realized.
The MCU and the TIMER correspond to a group of common FOC message queues, and a user can statically configure the corresponding relation between the TIMER and the MCU and the FOC messages during initialization. When the FOC engine processes the resulting FOC message and places it in the FOC message queue, as shown in fig. 9.
In the scheme, the FOC algorithm processing flow of the multi-core multi-axis motor is as follows:
1. collecting two-phase current, and inputting the two-phase current into a universal ADC channel part of the AC-Tek FOCP ADC to obtain digital quantity;
2. obtaining two-axis orthogonal current quantity after conversion of a close circuit arranged in the FOC hardening circuit;
3. orthogonal current quantities Id and Iq are obtained after a rotation conversion circuit is arranged in the FOC hardening circuit.
4. Respectively feeding the Iq and the Id obtained in the step 3 into a PI regulator circuit built in an FOC hardening circuit to obtain corresponding outputs Vq and Vd;
5. obtaining the rotating angle of the motor through an HALL sensor decoder built in the FOC hardening circuit or a back electromotive force position prediction circuit built in the FOC hardening circuit;
6. an FOC hardening circuit is internally provided with an inverse park conversion circuit to obtain biaxial current;
if the user configures the MCU to process the FOC result message during initial configuration:
7. carrying out inverse clarke transformation on Va and Vb in the step 6 to obtain actually required three-phase voltage, forming FOC multi-axis motor processing information, sending the FOC multi-axis motor processing information into an FOC information manager, and generating interruption to inform a corresponding MCU (microprogrammed control Unit);
and 8, the MCU acquires the FOC message belonging to the MCU after obtaining the interrupt message and further processes the FOC message. For example, a driving waveform is generated and input to the inverter bridge to drive the motor to rotate.
If the user configures the AdvanctTimER process FOC result message when initializing configuration:
7. and (4) carrying out inverse clarke transformation on Va and Vb in the step 6 to obtain actually required three-phase voltage, forming an FOC multi-axis motor processing message and sending the FOC multi-axis motor processing message to an FOC message manager.
Polling the FOC message transceiver periodically for the corresponding channel of the Advanced Timer and further processing by the built-in PWM waveform generator. For example, a driving waveform is generated and input to the inverter bridge to drive the motor to rotate.
In the above steps 1 to 8, the MCU can interrupt the curing FOC processing process at any time by configuring the configuration register of the AC-Tek FOCP ADC. A bypass FOC cure mechanism may also be configured at initialization.
In terms of hardware, in order to flexibly and accurately implement fast control of a multi-core multi-axis motor, the present application provides an embodiment of an electronic device for implementing all or part of the contents of the magnetic field orientation control method for a multi-core multi-axis motor, where the electronic device specifically includes the following contents:
a processor (processor), a memory (memory), a communication Interface (Communications Interface), and a bus; the processor, the memory and the communication interface complete mutual communication through the bus; the communication interface is used for realizing information transmission between the magnetic field orientation control method of the multi-core multi-axis motor and relevant equipment such as a core service system, a user terminal, a relevant database and the like; the logic controller may be a desktop computer, a tablet computer, a mobile terminal, and the like, but the embodiment is not limited thereto. In this embodiment, the logic controller may be implemented with reference to the embodiment of the magnetic field orientation control method of the multi-core multi-axis motor and the embodiment of the magnetic field orientation control method of the multi-core multi-axis motor in the embodiment, and the contents thereof are incorporated herein, and repeated details are not repeated here.
It is understood that the user terminal may include a smart phone, a tablet electronic device, a network set-top box, a portable computer, a desktop computer, a Personal Digital Assistant (PDA), an in-vehicle device, a smart wearable device, and the like. Wherein, intelligence wearing equipment can include intelligent glasses, intelligent wrist-watch, intelligent bracelet etc..
In practical applications, part of the magnetic field orientation control method of the multi-core multi-axis motor may be performed on the electronic device side as described above, or all operations may be performed in the client device. The selection may be specifically performed according to the processing capability of the client device, the limitation of the user usage scenario, and the like. This is not a limitation of the present application. The client device may further include a processor if all operations are performed in the client device.
The client device may have a communication module (i.e., a communication unit), and may be communicatively connected to a remote server to implement data transmission with the server. The server may include a server on the task scheduling center side, and in other implementation scenarios, the server may also include a server on an intermediate platform, for example, a server on a third-party server platform that is communicatively linked to the task scheduling center server. The server may include a single computer device, or may include a server cluster formed by a plurality of servers, or a server structure of a distributed apparatus.
Fig. 10 is a schematic block diagram of a system configuration of an electronic device 9600 according to an embodiment of the present application. As shown in fig. 10, the electronic device 9600 can include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. Notably, this fig. 10 is exemplary; other types of structures may also be used in addition to or in place of the structure to implement telecommunications or other functions.
In an embodiment, the magnetic field orientation control method functions of the multi-core multi-axis motor may be integrated into the central processor 9100. The central processor 9100 may be configured to control as follows:
step S101: collecting two-phase current, and inputting the two-phase current into a universal ADC channel part of the AC-Tek FOCP ADC to obtain digital quantity;
step S102: obtaining two-axis orthogonal current quantity after conversion of a close circuit arranged in the FOC hardening circuit;
step S103: obtaining orthogonal current Id and Iq after a rotation conversion circuit is arranged in the FOC hardening circuit;
step S104: respectively sending the orthogonal current Iq and Id into a PI regulator circuit built in an FOC hardening circuit to obtain corresponding outputs Vq and Vd;
step S105: obtaining the rotating angle of the motor through an HALL sensor decoder built in the FOC hardening circuit or a back electromotive force position prediction circuit built in the FOC hardening circuit;
step S106: an FOC hardening circuit is built in with an inverse park conversion circuit to obtain biaxial current amounts Va and Vb.
From the above description, the electronic device provided in the embodiments of the present application performs the FOC operation through the built-in multi-channel FOC algorithm hardening circuit, wherein the FOC hardening circuit is directly integrated with the digital portion of the multi-bit ADC. The built-in MCU acquires operation results of all FOC channels through the order-preserving FOC message transceiver with first-in first-out, and then carries out further processing, and finally, the fast control on the multi-axis motor is realized.
In another embodiment, the magnetic field orientation control method of the multi-core multi-axis motor may be configured separately from the central processor 9100, for example, the magnetic field orientation control method of the multi-core multi-axis motor may be configured as a chip connected to the central processor 9100, and the function of the magnetic field orientation control method of the multi-core multi-axis motor is realized by the control of the central processor.
As shown in fig. 10, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is noted that the electronic device 9600 also does not necessarily include all of the components shown in fig. 10; in addition, the electronic device 9600 may further include components not shown in fig. 10, which can be referred to in the prior art.
As shown in fig. 10, a central processor 9100, sometimes referred to as a controller or operational control, can include a microprocessor or other processor device and/or logic device, which central processor 9100 receives input and controls the operation of the various components of the electronic device 9600.
The memory 9140 can be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the central processing unit 9100 can execute the program stored in the memory 9140 to realize information storage or processing, or the like.
The input unit 9120 provides input to the central processor 9100. The input unit 9120 is, for example, a key or a touch input device. Power supply 9170 is used to provide power to electronic device 9600. The display 9160 is used for displaying display objects such as images and characters. The display may be, for example, an LCD display, but is not limited thereto.
The memory 9140 can be a solid state memory, e.g., Read Only Memory (ROM), Random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes called an EPROM or the like. The memory 9140 could also be some other type of device. Memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application/function storage portion 9142, the application/function storage portion 9142 being used for storing application programs and function programs or for executing a flow of operations of the electronic device 9600 by the central processor 9100.
The memory 9140 can also include a data store 9143, the data store 9143 being used to store data, such as contacts, digital data, pictures, sounds, and/or any other data used by an electronic device. The driver storage portion 9144 of the memory 9140 may include various drivers for the electronic device for communication functions and/or for performing other functions of the electronic device (e.g., messaging applications, contact book applications, etc.).
The communication module 9110 is a transmitter/receiver 9110 that transmits and receives signals via an antenna 9111. The communication module (transmitter/receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as in the case of a conventional mobile communication terminal.
Based on different communication technologies, a plurality of communication modules 9110, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, may be provided in the same electronic device. The communication module (transmitter/receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby implementing ordinary telecommunications functions. The audio processor 9130 may include any suitable buffers, decoders, amplifiers and so forth. In addition, the audio processor 9130 is also coupled to the central processor 9100, thereby enabling recording locally through the microphone 9132 and enabling locally stored sounds to be played through the speaker 9131.
An embodiment of the present application further provides a computer-readable storage medium capable of implementing all the steps in the magnetic field orientation control method for a multi-core multi-axis motor with a server or a client as an execution subject in the above embodiments, where the computer-readable storage medium stores thereon a computer program, and when the computer program is executed by a processor, the computer program implements all the steps in the magnetic field orientation control method for a multi-core multi-axis motor with a server or a client as an execution subject, for example, the processor implements the following steps when executing the computer program:
step S101: collecting two-phase current, and inputting the two-phase current into a universal ADC channel part of the AC-Tek FOCP ADC to obtain digital quantity;
step S102: obtaining two-axis orthogonal current quantity after conversion of a close circuit arranged in the FOC hardening circuit;
step S103: obtaining orthogonal current Id and Iq after a rotation conversion circuit is arranged in the FOC hardening circuit;
step S104: respectively sending the orthogonal current Iq and Id into a PI regulator circuit built in an FOC hardening circuit to obtain corresponding outputs Vq and Vd;
step S105: obtaining the rotating angle of the motor through an HALL sensor decoder built in the FOC hardening circuit or a back electromotive force position prediction circuit built in the FOC hardening circuit;
step S106: an FOC hardening circuit is built in with an inverse park conversion circuit to obtain biaxial current amounts Va and Vb.
As can be seen from the above description, the computer-readable storage medium provided in the embodiments of the present application performs the FOC operation by a built-in multi-channel FOC algorithm hardening circuit, wherein the FOC hardening circuit is directly integrated with the digital portion of the multi-bit ADC. The built-in MCU acquires operation results of all FOC channels through the order-preserving FOC message transceiver with first-in first-out, and then carries out further processing, and finally, the fast control on the multi-axis motor is realized.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, 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 invention.
Claims (10)
1. A method of magnetic field orientation control for a multi-core, multi-axis electric machine, the method comprising:
collecting two-phase current, and inputting the two-phase current into a universal ADC channel part of the AC-Tek FOCP ADC to obtain digital quantity;
obtaining two-axis orthogonal current quantity after conversion of a close circuit arranged in the FOC hardening circuit;
obtaining orthogonal current Id and Iq after a rotation conversion circuit is arranged in the FOC hardening circuit;
respectively sending the orthogonal current Iq and Id into a PI regulator circuit built in an FOC hardening circuit to obtain corresponding outputs Vq and Vd;
obtaining the rotating angle of the motor through an HALL sensor decoder built in the FOC hardening circuit or a back electromotive force position prediction circuit built in the FOC hardening circuit;
an FOC hardening circuit is built in with an inverse park conversion circuit to obtain biaxial current amounts Va and Vb.
2. The magnetic field orientation control method of a multi-core multi-axis motor according to claim 1, wherein if a user configures the MCU to process the FOC result message at the time of initial configuration, after obtaining the two-axis current amount, the method further comprises:
carrying out inverse clarke conversion on the two-axis current quantities Va and Vb to obtain actually required three-phase voltage, forming an FOC multi-axis motor processing message, sending the FOC multi-axis motor processing message to an FOC message manager, and generating an interruption notification to a corresponding MCU (microprogrammed control Unit);
and the MCU acquires the FOC message of the MCU after obtaining the interrupt message, generates a driving waveform and inputs the driving waveform to the inverter bridge so as to drive the motor to rotate.
3. The magnetic field orientation control method of a multi-core multi-axis motor according to claim 1, wherein if a user configures an Advanced Timer to process a FOC result message at the time of initial configuration, after obtaining the two-axis current amount, the method further comprises:
carrying out inverse clarke conversion on the two-axis current quantities Va and Vb to obtain actually required three-phase voltage, forming an FOC multi-axis motor processing message and sending the FOC multi-axis motor processing message to an FOC message manager;
the FOC message transceiver is polled at regular time by the corresponding channel of the Advanced Timer, and a driving waveform is generated by a built-in PWM waveform generator and is input to the inverter bridge so as to drive the motor to rotate.
4. The magnetic field orientation control method of a multi-core multi-axis motor according to claim 1, further comprising:
the MCU interrupts the hardened FOC process by configuring the configuration registers of the AC-Tek FOCP ADC.
5. A magnetic field orientation control apparatus for a multi-core multi-axis motor, comprising:
the two-phase current acquisition module is used for acquiring two-phase current and inputting the two-phase current into a universal ADC channel part of the AC-Tek FOCP ADC to obtain digital quantity;
the Clarke circuit transformation module is used for obtaining two-axis orthogonal current magnitude after being transformed by a Clarke circuit arranged in the FOC hardening circuit;
the rotation conversion module is used for obtaining orthogonal current quantities Id and Iq after the rotation conversion circuit is arranged in the FOC hardening circuit;
the PI deviation correction module is used for respectively sending the orthogonal current Iq and Id to a PI regulator circuit built in an FOC hardening circuit to obtain corresponding outputs Vq and Vd;
the angle prediction module is used for obtaining the rotating angle of the motor through an embedded HALL sensor decoder of the FOC hardening circuit or an embedded back electromotive force position prediction circuit of the FOC hardening circuit;
and an inverse transformation module for carrying out an FOC hardening circuit and internally arranging an inverse park transformation circuit to obtain two-axis current quantities Va and Vb.
6. The magnetic field orientation control apparatus of a multi-core multi-axis motor according to claim 5, further comprising:
the interruption notification unit is used for carrying out inverse clarke conversion on the two-axis current quantities Va and Vb to obtain actually required three-phase voltages, forming an FOC multi-axis motor processing message and sending the FOC multi-axis motor processing message to the FOC message manager to generate an interruption notification corresponding MCU;
and the interrupt processing unit is used for acquiring the own FOC message after the MCU obtains the interrupt message, generating a driving waveform and inputting the driving waveform to the inverter bridge so as to drive the motor to rotate.
7. The magnetic field orientation control apparatus of a multi-core multi-axis motor according to claim 5, further comprising:
the information transmission unit is used for carrying out inverse clarke transformation on the two-axis current quantities Va and Vb to obtain actually required three-phase voltages, forming an FOC multi-axis motor processing message and sending the FOC multi-axis motor processing message to the FOC message manager;
and the message processing unit is used for polling the FOC message transceiver at regular time by the corresponding channel of the Advanced Timer and generating a driving waveform through the built-in PWM waveform generator to be input to the inverter bridge so as to drive the motor to rotate.
8. The magnetic field orientation control apparatus of a multi-core multi-axis motor according to claim 5, further comprising:
and the interrupt processing unit is used for interrupting the hardening FOC processing process by the MCU through a configuration register of the AC-Tek FOCP ADC.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of magnetic field orientation control of a multi-core multi-axis electric machine according to any one of claims 1 to 4 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of magnetic field orientation control of a multi-core multi-axis electric machine according to any of claims 1 to 4.
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