CN111641365A - Double-winding three-phase motor control method and double-control four-drive controller - Google Patents
Double-winding three-phase motor control method and double-control four-drive controller Download PDFInfo
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- CN111641365A CN111641365A CN202010470909.9A CN202010470909A CN111641365A CN 111641365 A CN111641365 A CN 111641365A CN 202010470909 A CN202010470909 A CN 202010470909A CN 111641365 A CN111641365 A CN 111641365A
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0061—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electrical machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
A double-control four-drive controller for a double-winding three-phase motor and a control method for controlling the double-winding three-phase motor by applying the controller are disclosed. The double-control four-drive controller for the double-winding three-phase motor comprises two single-chip microcomputers, two sets of power systems capable of supplying power independently and four three-phase driving circuits which are identical in structure and operate independently. In terms of control, each single chip microcomputer can control the motor through a three-phase driving circuit. The invention realizes the single control or double control of the double-winding three-phase motor by the two single-chip microcomputers; the two three-phase driving circuits corresponding to one single chip microcomputer are used for carrying out full control or half control on the double-winding three-phase motor. In the invention, if one of the two single-chip microcomputers is damaged or one or more of the four three-phase driving circuits are damaged, the motor can still normally run. Compared with the prior art, the application of the control system disclosed by the invention is greatly improved for the stable control of the motor.
Description
Technical Field
The invention relates to the technical field of automatic control of automobiles, in particular to a control method of a double-winding three-phase motor and a double-control four-drive controller of the double-winding three-phase motor.
Background
With the development of automobile intellectualization, the requirement on the safety level is higher and higher, so that the control and the driving of a bottom-layer actuator of an automobile are required to have a redundant backup function. However, the motor used by the motor vehicle still adopts a single control scheme, and once a motor control system fails, the motor vehicle can be directly prevented from running.
Disclosure of Invention
In summary, how to implement the redundant control of the motor by using the redundant backup technology in the prior art to improve the reliability of the operation of the motor control system becomes a problem to be solved urgently by those skilled in the art.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention provides a double-control four-drive controller for a double-winding three-phase motor.
Specifically, this two winding three-phase motor two accuse four drive formula controllers includes:
two singlechips which run synchronously and have the same running period;
the power supply system comprises power supply management chips, wherein the power supply management chips are used for converting the voltage of a power supply;
four three-phase driving circuits with the same structure and running independently, wherein two of the three-phase driving circuits form a first winding driving circuit group in one group, the first winding driving circuit group is connected with three connection points of one set of windings, the other two of the three-phase driving circuits form a second winding driving circuit group in one group, the second winding driving circuit group is connected with three connection points of the other set of windings, one of the three-phase driving circuits in the first winding driving circuit group and one of the three-phase driving circuits in the second winding driving circuit group are connected with one of the two singlechips and one of the two power systems, the other one of the three-phase driving circuits in the first winding driving circuit group and the other one of the three-phase driving circuits in the second winding driving circuit group and the other one of the two singlechips The single chip microcomputer is connected with the other power supply system of the two power supply systems.
Preferably, in the double-winding three-phase motor double-control four-drive controller provided by the invention, the single chip microcomputer is a multi-core framework and can lock the motor in steps.
Preferably, the double-winding three-phase motor double-control four-drive controller provided by the invention further comprises two rotor position sensors, the two rotor position sensors operate independently, and the two rotor position sensors are in signal connection with the two single-chip microcomputers.
Preferably, in the dual-control four-drive controller for the dual-winding three-phase motor provided by the invention, the three-phase driving circuit comprises a three-phase driving function safety chip connected with a power supply system and a single chip microcomputer, an inverter circuit connected with the three-phase driving function safety chip and a switching circuit connected with the inverter circuit, and the switching circuit is connected with three wiring points of the winding.
Preferably, in the dual-control four-drive controller for the dual-winding three-phase motor provided by the invention, the inverter circuit comprises an inverter metal-oxide semiconductor field effect transistor, and the switching circuit comprises a switching metal-oxide semiconductor field effect transistor; the two inversion metal-oxide semiconductor field effect transistors are connected in parallel and then connected with one power-off metal-oxide semiconductor field effect transistor in series and connected with a single wiring point.
The invention also provides a double-winding three-phase motor control method, and in the double-winding three-phase motor control method, the double-control four-drive safety redundancy control is carried out on the double-winding three-phase motor by using the double-control four-drive controller for the double-winding three-phase motor.
Preferably, in the method for controlling the double-winding three-phase motor provided by the invention, the double-winding three-phase motor is subjected to single control or double control by two single-chip microcomputers; two three-phase driving circuits corresponding to a single chip microcomputer are used for carrying out full control or half control on the double-winding three-phase motor.
Preferably, in the method for controlling the double-winding three-phase motor provided by the invention, two singlechips are used for carrying out fault-tolerant control on the double-winding three-phase motor.
Preferably, in the method for controlling the duplex-winding three-phase motor provided by the invention, when the two singlechips perform fault-tolerant control on the duplex-winding three-phase motor, a PWM waveform pulse is output from an MCU of one of the singlechips through an IO pin, then the MCUs of the two singlechips respectively acquire the PWM waveform pulse through the IO pin, a rising edge jump interrupt is set, a control program is run during the interrupt, and the period of the PWM waveform pulse is consistent with the control period of the system.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a double-control four-drive controller for a double-winding three-phase motor and a control method for controlling the double-winding three-phase motor by applying the controller. The double-control four-drive controller for the double-winding three-phase motor comprises two single-chip microcomputers, two sets of power systems capable of supplying power independently and four three-phase driving circuits which are identical in structure and operate independently. Specifically, in four three-phase drive circuits, two of which form a first winding drive circuit group, the first winding drive circuit group is connected to three connection points of one of the sets of windings, wherein two other three-phase drive circuit form second winding drive circuit group for a set of, second winding drive circuit group is connected with the three wiring point of one set of winding in addition among them, one of them three-phase drive circuit in first winding drive circuit group and one of them three-phase drive circuit in second winding drive circuit group are connected with one of them singlechip in two singlechips and one electrical power generating system in two electrical power generating systems, another three-phase drive circuit in first winding drive circuit group and another three-phase drive circuit in second winding drive circuit group are connected with another singlechip in two singlechips and another electrical power generating system in two electrical power generating systems.
Through the structural design, the double-winding motor is provided with two single-chip microcomputers and four three-phase driving circuits, one single-chip microcomputer correspondingly controls the two three-phase driving circuits, and each single-chip microcomputer can control the motor through one three-phase driving circuit in terms of control, so that the double-winding motor realizes single control or double control on the double-winding three-phase motor through the two single-chip microcomputers; the two three-phase driving circuits corresponding to one single chip microcomputer are used for carrying out full control or half control on the double-winding three-phase motor. In the invention, if one of the two single-chip microcomputers is damaged or one or more of the four three-phase driving circuits are damaged, the motor can still normally run. Compared with the prior art, the application of the control system disclosed by the invention is greatly improved for the stable control of the motor.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. Wherein:
fig. 1 is a circuit diagram of a dual-control four-drive controller for a dual-winding three-phase motor according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the invention, and not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected" and "connected" used herein should be interpreted broadly, and may include, for example, a fixed connection or a detachable connection; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.
Referring to fig. 1, fig. 1 is a circuit diagram of a dual-winding three-phase motor dual-control four-drive controller according to an embodiment of the present invention.
The application aims at a commonly-used double-winding three-phase motor on an automobile, provides a double-control four-drive safety redundant controller in particular for improving the reliability of motor control, and provides a safe redundant control method, so that the reliability and fault-tolerant capability of the motor controller can be improved, and the safety level of an actuator is improved.
The invention particularly provides a double-winding three-phase motor double-control four-drive controller which is suitable for a motor of which the type is a double-winding three-phase motor. The double-winding three-phase motor comprises two sets of windings, and each set of windings is provided with three wiring points. The two sets of windings are wound on the rotor (or the stator), the two sets of windings can run simultaneously or independently, when the two sets of windings run simultaneously, the motor runs at full power, and when one set of the two sets of windings runs (the other set does not run), the motor runs at half power. Because the motor is a three-phase motor, three wiring points are led out from the winding.
Based on the motor with the structural form, the double-winding three-phase motor double-control four-drive controller provided by the invention has the following structure that:
two singlechips with synchronous operation periods; the power supply system comprises a power supply management chip and a power supply control chip, wherein the power supply management chip is used for converting the voltage of a power supply; four three-phase driving circuits with the same structure and independent operation, wherein two three-phase driving circuits form a first winding driving circuit group, the first winding driving circuit group is connected with three connection points of one winding, the other two three-phase driving circuits form a second winding driving circuit group in one group, the second winding driving circuit group is connected with three connection points of the other winding, one of the three-phase driving circuits in the first winding driving circuit group and one of the three-phase driving circuits in the second winding driving circuit group are connected with one of the two single-chip microcomputers and one of the two power systems, and the other of the three-phase driving circuits in the first winding driving circuit group and the other of the three-phase driving circuits in the second winding driving circuit group are connected with the other of the two single-chip microcomputers and the other of the two power systems; rotor position sensor, rotor position sensor are provided with two, and two rotor position sensor independent operation, two rotor position sensor all with two singlechip signal connection.
Wherein, the singlechip is a multi-core lock step type singlechip.
Furthermore, the three-phase driving circuit comprises a three-phase driving function safety chip connected with the power supply system and the single chip microcomputer, an inverter circuit connected with the three-phase driving function safety chip and an on-off circuit connected with the inverter circuit, and the on-off circuit is connected with three wiring points of the winding.
Specifically, the inverter circuit comprises inverter metal-oxide semiconductor field effect transistors, the switching circuit comprises switching metal-oxide semiconductor field effect transistors, and two inverter metal-oxide semiconductor field effect transistors are connected in parallel and then connected in series with one switching metal-oxide semiconductor field effect transistor to be connected with one of the connection points.
The invention also provides a double-winding three-phase motor control method, and in the double-winding three-phase motor control method, the double-control four-drive safety redundancy control is carried out on the double-winding three-phase motor by using the double-control four-drive controller for the double-winding three-phase motor.
The structural description of the double-winding three-phase motor double-control four-drive controller shows that the double-winding three-phase motor double-control four-drive controller comprises two single-chip microcomputers, the two single-chip microcomputers are respectively connected with two three-phase driving circuits (with the same structure), the two single-chip microcomputers are used for carrying out single control or double control on the double-winding three-phase motor, and the two three-phase driving circuits corresponding to one single-chip microcomputer are used for carrying out full control or half control on the double-winding three-phase motor.
Furthermore, the invention uses two singlechips to carry out fault-tolerant control on the double-winding three-phase motor.
The invention provides a double-winding three-phase motor double-control four-drive controller, which comprises the following systems:
the double-control four-drive means that a circuit system of the controller is provided with two control units and four driving circuits, and when one control unit or a plurality of driving circuits have faults, the rest circuits can be redundantly backed up, so that the system continues to work.
The whole controller circuit mainly comprises three parts: the power supply control system comprises a power supply management part (power supply), a single chip microcomputer part (control) and a drive circuit part (drive), wherein the three parts jointly control a motor part (motor) (including power supply). Other functional circuits of the controller are not embodied in the application (also not shown in the attached drawings), and the invention CAN add auxiliary functions according to the needs in practical application, such as communication functions (CAN communication, Flexray communication), signal acquisition circuits (analog signals, digital signals), anti-reverse connection circuits, and the like.
Among the three components of the controller circuit described above:
1. the power management part:
the power is supplied by two separate power sources, a primary power source and a secondary power source (the primary and secondary power sources are just the name difference and have no difference in function and performance). The main power supply and the auxiliary power supply are respectively provided with one power supply management chip, so that the invention is provided with two power supply management chips which are respectively a main power supply management chip and an auxiliary power supply management chip. The power supply management chip (the main power supply management chip and the auxiliary power supply management chip) converts the power supply voltage into the voltage required by the singlechip and other chips in the circuit.
The running state of the single chip microcomputer can be monitored through the power management chip.
The power management chip meets functional safety class D (ASIL-D).
2. The singlechip part:
the single-chip microcomputer is a 32-bit multi-core single-chip microcomputer (dual-core or three-core) and has a step locking core function, and the two single-chip microcomputers are arranged and operate independently.
The two single-chip microcomputers are respectively a main MCU and an auxiliary MCU (the main MCU and the auxiliary MCU are only name differences and have no difference in function and performance). The main MCU is powered by the main power management chip, and the auxiliary MCU is powered by the auxiliary power management chip.
The two singlechips are communicated through the CAN and the SPI, and switching of different working modes is guaranteed.
3. A drive circuit section:
the three-phase driving circuit comprises four three-phase driving circuits with the same structure, wherein each three-phase driving circuit comprises a three-phase driving function safety chip (called a driving chip for short), an inverter circuit consisting of six metal-oxide semiconductor field effect transistors and an on-off circuit consisting of three metal-oxide semiconductor field effect transistors.
The four three-phase driving circuits with the same structure are arranged in the invention, and are respectively designated and distinguished by I, II, III and IV for convenience of description.
The driving chips I and III are powered by the main power supply and the main power supply management chip and controlled by the main MCU, and the driving chips II and IV are powered by the auxiliary power supply and the auxiliary power supply management chip and controlled by the auxiliary MCU.
4. Motor part (component of a motor vehicle):
the double-winding three-phase motor comprises two windings I and II, wherein each winding is a three-phase winding, and two rotor position sensors I and II; the winding I is driven by three-phase driving circuits I and II, and the winding II is driven by three-phase driving circuits III and IV; the signals of the two rotor position sensors are respectively and independently collected by the two MCUs.
The working modes of the invention are as follows:
the double-control four-drive controller for the double-winding three-phase motor has five working modes: the main MCU full control, the auxiliary MCU full control, the main MCU half control, the auxiliary MCU half control and the double MCU full control.
A. Working mode 1-Main MCU full control
The on-off circuits I and III are switched on, the on-off circuits II and IV are switched off, the winding I is driven by the three-phase driving circuit I, and the winding II is driven by the three-phase driving circuit III. The main MCU is used as a main control single chip microcomputer, collects signals of the two rotor sensors, acquires the position of the motor rotor, and sends control instructions to the driving chips I and III respectively. If the auxiliary MCU can work normally, the auxiliary MCU is used as an auxiliary single chip microcomputer to communicate with the main MCU to monitor the working state of the main MCU, otherwise, the auxiliary MCU is not used.
In this mode of operation, the motor can output 100% of its power.
B. Working mode 2-auxiliary MCU full control
The on-off circuits I and III are switched off, the on-off circuits II and IV are switched on, the winding I is driven by the three-phase driving circuit II, and the winding II is driven by the three-phase driving circuit IV. The auxiliary MCU is used as a main control single chip microcomputer, collects signals of the two rotor sensors, acquires the position of the motor rotor, and sends control instructions to the driving chips II and IV respectively. If the main MCU can work normally, the main MCU is used as an auxiliary single chip microcomputer to communicate with the auxiliary MCU to monitor the working state of the auxiliary MCU, otherwise, the auxiliary MCU is not used.
In this mode of operation, the motor can output 100% of its power.
C. Working mode 3-Main MCU half control
Two seed working modes can be distinguished: the on-off circuit I is switched on, the on-off circuits II, III and IV are switched off, the winding I is driven by the three-phase driving circuit I, and the winding II is not driven and is called as type I; the on-off circuit III is switched on, the on-off circuits I, II and IV are switched off, the winding II is driven by the three-phase driving circuit III, and the winding I is not driven, so that the motor is called as type III.
The main MCU is used as a main control singlechip for collecting signals of the two rotor sensors, acquiring the position of the motor rotor and sending a control instruction to the driving chip I or III. If the auxiliary MCU can work normally, the auxiliary MCU is used as an auxiliary single chip microcomputer to communicate with the main MCU to monitor the working state of the main MCU, otherwise, the auxiliary MCU is not used.
In this mode of operation, the motor can only output 50% of the power.
D. Working mode 4-auxiliary MCU semi-control
Two seed working modes can be distinguished: the on-off circuit II is switched on, the on-off circuits I, III and IV are switched off, the winding I is driven by the three-phase driving circuit II, and the winding II is not driven and is called as type II; the on-off circuit IV is switched on, the on-off circuits I, II and III are switched off, the winding II is driven by the three-phase driving circuit IV, and the winding I is not driven, which is called as type IV.
The auxiliary MCU is used as a main control singlechip, acquires signals of the two rotor sensors, acquires the position of the motor rotor, and sends a control instruction to the drive chip II or IV. If the main MCU can work normally, the main MCU is used as an auxiliary single chip microcomputer to communicate with the auxiliary MCU to monitor the working state of the auxiliary MCU, otherwise, the auxiliary MCU is not used.
In this mode of operation, the motor can only output 50% of the power.
E. Working mode 5-double MCU full control
The most complex working mode needs two singlechips to run synchronously, and is divided into two sub-modes:
e1, the main MCU and the three-phase driving circuit I are combined to control the winding I, the auxiliary MCU and the three-phase driving circuit IV are combined to control the winding II, the on-off circuits I and IV are switched on, and the on-off circuits II and III are switched off, so that the circuit is called as an I-IV type.
E2, the main MCU and the three-phase driving circuit III are combined to control the winding I, the auxiliary MCU and the three-phase driving circuit II are combined to control the winding II, the on-off circuits I and IV are turned off, and the on-off circuits II and III are turned on, so that the circuit is called as II-III type.
Take the I-IV type double MCU full control mode as an example. The main MCU is used as a main control single chip microcomputer of the winding I, collects signals of the two rotor sensors, obtains the position of the motor rotor, and sends a control instruction to the driving chip I. And the auxiliary MCU is used as a main control singlechip of the winding II, acquires signals of the two rotor sensors, acquires the position of the motor rotor and sends a control instruction to the driving chip IV.
It is worth noting that the running periods of the two single-chip microcomputers in the double-MCU full control mode need to be synchronized, so that the synchronization method provided by the invention comprises the following steps: the main MCU outputs a PWM waveform with a certain frequency through the IO pin, then the main MCU and the auxiliary MCU collect the pulse through the IO pin, the rising edge jump interruption is set, and a control program is operated in the interruption, so that the period of the PWM waveform needs to be set to be consistent with the control period.
In this mode of operation, the motor can output 100% of its power.
The fault type and fault tolerance scheme of the present invention is as follows.
Under normal conditions, the system works in an alternative mode of a main MCU full control mode and an auxiliary MCU full control mode, and a specific alternative strategy can be set according to actual working conditions.
The failure types of the system are mainly classified into four types: power failure, single chip failure, drive circuit failure and motor failure.
For power failure:
the power supply or the power management chip has faults such as open circuit, short circuit, undervoltage, overvoltage, breakdown and the like.
And if the main power supply fails, performing a secondary MCU full control mode.
And if the auxiliary power supply fails, performing a main MCU full control mode.
If the main power supply and the II are in failure, the normal work cannot be carried out.
For the fault of the single chip microcomputer:
the single chip microcomputer and peripheral circuits thereof have faults, such as overheating, breakdown, burnout, runaway and the like.
And if the main MCU fails, performing a full control mode of the auxiliary MCU.
And if the auxiliary MCU fails, performing a main MCU full control mode.
If the main MCU and the II both have faults, the normal work cannot be carried out.
For drive circuit failure:
three-phase driving circuits have faults, mainly metal-oxide semiconductor field effect transistor faults, such as overheating, breakdown, burning, short circuit and the like.
And if the three-phase driving circuits I and III are in fault independently or simultaneously, carrying out a secondary MCU full control mode.
And if the three-phase driving circuits II and IV have faults independently or simultaneously, carrying out a main MCU full control mode.
And if the three-phase driving circuits I and IV have faults simultaneously, carrying out a II-III type double-MCU full control mode.
And if the three-phase driving circuits II and III simultaneously have faults, performing an I-IV type double-MCU full control mode.
And if the three-phase driving circuits I and II have faults simultaneously, alternating the III type main MCU half-control mode and the IV type auxiliary MCU half-control mode.
And if the three-phase driving circuits III and IV simultaneously have faults, alternating the I-type main MCU half-control mode and the II-type auxiliary MCU half-control mode.
If three of the three-phase driving circuits I, II, III and IV have faults simultaneously, the only remaining normal driving circuit is utilized to work, namely, one of a type I main MCU half-control mode, a type II auxiliary MCU half-control mode, a type III main MCU half-control mode and a type IV auxiliary MCU half-control mode.
If all the three-phase driving circuits I, II, III and IV have faults, the three-phase driving circuits cannot work normally.
For motor failure:
a fault occurs in the windings of the machine or in the rotor position sensors, for example a short circuit, a break in the windings, etc.
If one of the rotor position sensors fails, the other normal sensor is used for working.
If two rotor position sensors fail simultaneously, normal operation cannot be achieved.
And if the motor winding I has a fault, alternating the III type main MCU half-control mode and the IV type auxiliary MCU half-control mode.
And if the motor winding II has a fault, alternating the I-type main MCU half-control mode and the II-type auxiliary MCU half-control mode.
If the motor windings I and II have faults at the same time, the motor cannot work normally.
The above is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a two accuse four formula controllers that drive of duplex winding three-phase motor, duplex winding three-phase motor is including two sets of windings, every set of winding all has three wiring point, its characterized in that includes:
two singlechips which run synchronously and have the same running period;
the power supply system comprises power supply management chips, wherein the power supply management chips are used for converting the voltage of a power supply;
four three-phase driving circuits with the same structure and running independently, wherein two of the three-phase driving circuits form a first winding driving circuit group in one group, the first winding driving circuit group is connected with three connection points of one set of windings, the other two of the three-phase driving circuits form a second winding driving circuit group in one group, the second winding driving circuit group is connected with three connection points of the other set of windings, one of the three-phase driving circuits in the first winding driving circuit group and one of the three-phase driving circuits in the second winding driving circuit group are connected with one of the two singlechips and one of the two power systems, the other one of the three-phase driving circuits in the first winding driving circuit group and the other one of the three-phase driving circuits in the second winding driving circuit group and the other one of the two singlechips The single chip microcomputer is connected with the other power supply system of the two power supply systems.
2. The dual-winding three-phase motor dual-control four-drive controller according to claim 1,
the single chip microcomputer is a multi-core framework and can lock the motor in steps.
3. The dual-winding three-phase motor dual-control four-drive controller according to claim 1,
the motor rotor is characterized by further comprising two rotor position sensors, wherein the two rotor position sensors independently run and are connected with the single chip microcomputer in a signal mode.
4. The dual-winding three-phase motor dual-control four-drive controller according to claim 1,
the three-phase driving circuit comprises a three-phase driving function safety chip connected with a power supply system and a single chip microcomputer, an inverter circuit connected with the three-phase driving function safety chip and an on-off circuit connected with the inverter circuit, and the on-off circuit is connected with three wiring points of a winding.
5. The dual-winding three-phase motor dual-control four-drive controller according to claim 4,
the inverter circuit comprises an inverter metal-oxide semiconductor field effect transistor, and the switching circuit comprises a switching metal-oxide semiconductor field effect transistor;
the two inversion metal-oxide semiconductor field effect transistors are connected in parallel and then connected with one power-off metal-oxide semiconductor field effect transistor in series and connected with a single wiring point.
6. A control method of a double-winding three-phase motor is characterized in that,
the double-control four-drive safety redundancy control of the double-winding three-phase motor is carried out by using the double-winding three-phase motor double-control four-drive controller according to any one of claims 1 to 5.
7. The dual-winding three-phase motor control method according to claim 6,
the two singlechips are used for carrying out single control or double control on the double-winding three-phase motor;
two three-phase driving circuits corresponding to a single chip microcomputer are used for carrying out full control or half control on the double-winding three-phase motor.
8. The double-winding three-phase motor control method according to claim 6 or 7,
two singlechips are used for carrying out fault-tolerant control on the double-winding three-phase motor.
9. The dual-winding three-phase motor control method according to claim 8,
when the two single-chip microcomputers carry out fault-tolerant control on the double-winding three-phase motor, PWM waveform pulses are output from the MCU of one single-chip microcomputer through an IO pin, then the MCU of the two single-chip microcomputers respectively collects the PWM waveform pulses through the IO pin, rising edge jump interruption is set, a control program is operated in the interruption, and the period of the PWM waveform pulses is consistent with the control period of a system.
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| CN202010470909.9A CN111641365A (en) | 2020-05-28 | 2020-05-28 | Double-winding three-phase motor control method and double-control four-drive controller |
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