CN112650049A - System and method for signal acquisition and control output of electric power steering motor - Google Patents
System and method for signal acquisition and control output of electric power steering motor Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/26—Automatic controllers electric in which the output signal is a pulse-train
- G05B11/28—Automatic controllers electric in which the output signal is a pulse-train using pulse-height modulation; using pulse-width modulation
Abstract
The invention relates to the technical field of control of an electric power steering motor, in particular to a system and a method for signal acquisition and control output of the electric power steering motor. Compared with the prior art, the method has the advantages that zero phase current and phase current in the current are triggered independently and stored in an isolated mode, the physical and time dual isolation of the zero phase current from the trigger source request to the sampling result processing is realized, and compared with the sampling mode of the same trigger source, the same conversion channel and only time isolation, the method can effectively avoid serious errors such as zero phase current inversion, coverage and the like. Compared with the mode that software directly operates an SPI receiving and transmitting register in an interrupt service function, the DMA-SPI angle acquisition is utilized, the method does not need to consider the shielding interrupt and the uncertain time delay caused by the stack pressing of the interrupt service function, does not need any software intervention in the receiving and transmitting process, is accurate in sampling time, and greatly reduces the load rate of a CPU.
Description
Technical Field
The invention relates to the technical field of control of an electric power steering motor, in particular to a system for signal acquisition and control output of the electric power steering motor.
Background
The signal acquisition of the existing electric power steering motor is performed from the same trigger source and the same conversion channel, only time isolation is used, but serious errors such as zero, phase current inversion, coverage and the like easily occur, and the motor is out of control.
When rotor angle acquisition is carried out, software in an interrupt service function is used for directly operating the SPI transceiving register, but the mode needs to consider shielding the uncertain delay caused by interrupt and stack pressing of the interrupt service function, and a large load is caused to a CPU in the transceiving process of the SPI.
Therefore, it is necessary to design a signal control system and method capable of providing reliable motor current, accurate delay rotor angle and three-phase full-centrosymmetric PWM control output for motor control.
Disclosure of Invention
The invention breaks through the difficult problems in the prior art, and designs a signal control system and a signal control method which can provide reliable motor current, accurate delay rotor angle and three-phase PWM control output with complete central symmetry for motor control.
In order to achieve the purpose, the invention designs a system for signal acquisition and control output of an electric power steering motor, which comprises a current sampling main circuit, a rotor angle analysis chip, a main controller and a pre-drive module, and is characterized in that: the main controller is internally provided with an AD conversion module, an SPI communication module, a universal timer module and a DMA direct memory access;
the current sampling total circuit is connected with a conversion channel in the AD conversion module, and stores the conversion result in a result register of the conversion channel, and the result register of the conversion channel is communicated with a TOM0_1 channel of the general timer module to form a trigger signal channel of the current sampling result;
the rotor angle analysis chip is connected with the SPI communication module, and the SPI communication module is communicated with the DMA direct memory access, so that the acquisition of a rotor angle value analyzed by the motor rotor angle analysis chip is completed by utilizing the DMA direct memory access;
the DMA direct memory access is also communicated with a TOM0_2 channel of the universal timer module to form a trigger signal channel for carrying the rotor angle data DMA;
the universal timer module is connected with the pre-drive chip by utilizing a three-phase PWM output channel to realize PWM control output;
the universal timer module is also provided with a TOM0_0 as a unified time base of the whole system time sequence;
the universal timer module is also provided with a TOM0_3 as an interruption trigger channel of the magnetic field orientation control in the motor control.
The current sampling total circuit is divided into a U-phase current sampling circuit and a W-phase current sampling circuit, the submodules of the AD conversion module comprise an ADC0 conversion module and an ADC1 conversion module, and the specific connection mode between the current sampling total current and the AD conversion module is as follows: the U-phase current sampling circuit is connected with a channel 2 of an ADC0 conversion module, and then the channel 1 of the ADC0 conversion module is remapped to the channel 2 of the conversion module by utilizing an Alias function; the W-phase current sampling circuit is connected to channel 2 of the ADC1 conversion block, after which channel 1 of the ADC1 conversion block is also remapped to channel 2 of the conversion block using Alias functionality.
The specific connection method for connecting the universal timer module and the pre-drive module by using the PWM output channel comprises the following steps: the TOM0_8 port of the general timer module is connected with the HA port of the pre-drive module by using a U-phase upper tube PWM output channel, the TOM0_9 port of the general timer module is connected with the LA port of the pre-drive module by using a U-phase lower tube PWM output channel, the TOM0_10 port of the general timer module is connected with the HB port of the pre-drive module by using a V-phase upper tube PWM output channel, the TOM0_11 port of the general timer module is connected with the LB port of the pre-drive module by using a V-phase lower tube PWM output channel, the TOM0_12 port of the general timer module is connected with the HC port of the pre-drive module by using a W-phase upper tube PWM output channel, and the TOM0_13 port of the general timer module is connected with the LC port of the pre-drive module by using a W-phase upper tube.
The invention also designs a control method of the system for signal acquisition and control output of the electric power steering motor, which is characterized in that: the method comprises the following steps:
step 1: according to the frequency requirement f of the motor control on the PWM control output, calculating the PWM period value T and the Duty ratio value Duty of the time-base channel TOM0_ 0;
step 2: the physical isolation arrangement between the channel 1 and the channel 2 in the ADC0 conversion module and the ADC1 conversion module is carried out;
and step 3: setting frame format, baud rate and initialization parameters of hardware pins of the SPI according to SPI communication requirements;
and 4, step 4: performing time sequence configuration of DMA-SPI angle signal acquisition to realize automatic acquisition of rotor angle signals;
and 5: setting a DMA trigger signal, a motor control interruption trigger signal, a counter reset trigger signal of a PWM output channel and the update time of a duty ratio value; (ii) a
Step 6: and three-phase complete centrosymmetric PWM output is realized.
The period value of PWM in the step 1
Duty ratio value
Where T is the PWM period value and f is the frequency requirement value.
The specific setting method for the physical isolation setting in the step 2 comprises the following steps: placing a channel 2 of an ADC0 conversion module for collecting U-phase current into a Queue request source of an ADC0 conversion module, and placing a channel 1 of an ADC0 conversion module into a Scan request source of an ADC0 conversion module; placing a channel 2 of an ADC1 conversion module for collecting W-phase current into a Queue request source of an ADC1 conversion module, and placing a channel 1 of an ADC1 conversion module into a Scan request source of an ADC1 conversion module; trigger signals of Queue request sources of an ADC0 conversion module and an ADC1 conversion module are both rising edges of TOM0_1, and trigger signals of Scan request sources of the two conversion modules are both falling edges of TOM0_1, so that physical isolation of the request sources and the trigger signals of channel 2 and channel 1 is realized.
The specific method for configuring the time sequence of the DMA-SPI angle signal acquisition in step 4 is as follows: respectively placing the RAM address and the SPI register address for storing the SPI control register value in the source and destination addresses of the linked list of the DMA, placing the first address of the next linked list node in the shadow register of the previous linked list node, and sequentially completing the link configuration of all the linked lists according to the method.
The setting method of each signal in the step 5 is as follows: the DMA trigger signal is the rising edge of TOM0_ 2; the trigger signal of the motor control interruption is the rising edge of TOM0_ 3; the counter reset trigger signal of the three-phase motor control PWM output channel and the update time of the duty ratio value are the falling edges of TOM0_ 0.
The specific implementation method of the step 6 comprises the following steps: and starting the general timer module, and storing conversion results of current sampling in result registers of channel 1 and channel 2 in the ADC0 and the ADC1 after the TOM0_1 is triggered. After TOM0_2 is triggered, DMA-SPI angle acquisition automatically receives rotor angle data of a motor rotor angle analysis chip and provides accurate delay parameters for a motor control module, after TOM0_3 is triggered, a motor control interrupt function is entered, and according to a PWM duty ratio value calculated by the motor control module, the duty ratio value is output to TOM0_8-TOM0_13 by using a register of a general timer module, so that the control output of three-phase centrosymmetric PWM is realized.
Compared with the prior art, the method has the advantages that zero phase current and phase current in the current are triggered independently and stored in an isolated mode, the physical and time dual isolation of the zero phase current from the trigger source request to the sampling result processing is realized, and compared with the sampling mode of the same trigger source, the same conversion channel and only time isolation, the method can effectively avoid serious errors such as zero phase current inversion, coverage and the like.
Compared with the mode that software directly operates an SPI receiving and transmitting register in an interrupt service function, the DMA-SPI angle acquisition is utilized, the method does not need to consider the shielding interrupt and the uncertain time delay caused by the stack pressing of the interrupt service function, does not need any software intervention in the receiving and transmitting process, is accurate in sampling time, and greatly reduces the load rate of a CPU.
The invention also adopts a virtual PWM as a unified time base for all signals, ensures strict time synchronization among the signals, has randomly adjustable trigger time without software intervention, and can generate three-phase complete centrosymmetric PWM control output with dead zones.
Drawings
FIG. 1 is a system topology diagram of the present invention.
FIG. 2 is a schematic diagram of a system pin channel connection according to the present invention.
FIG. 3 is a timing waveform diagram of TOMs 0_0 through 0_3, TOMs 0_8 through 0_9 in one embodiment.
Detailed Description
The invention is further described with reference to the accompanying drawings.
Referring to fig. 1 to 3, the invention designs a signal acquisition and control output system of an electric power steering motor, which comprises a current sampling main circuit, a rotor angle analysis chip, a main controller and a pre-drive module, wherein an AD conversion module, an SPI communication module, a universal timer module and a DMA direct memory access are arranged in the main controller;
the sampling circuit of the same phase current in the current sampling total circuit is respectively connected with two conversion channels of any submodule in an AD conversion module, the two conversion channels are respectively placed in different request sources, the two different request sources are respectively provided with trigger edges at different moments, then current sampling conversion results are stored in respective channel result registers, and the channel result registers are communicated with a TOM0_1 channel of a universal timer module to form a trigger signal channel of the current sampling results;
the rotor angle analysis chip is connected with the SPI communication module, and the SPI communication module is communicated with the DMA direct memory access, so that the acquisition of a rotor angle value analyzed by the motor rotor angle analysis chip is completed by utilizing the DMA direct memory access;
the DMA direct memory access is also communicated with a TOM0_2 channel of the universal timer module to form a trigger signal channel for carrying the rotor angle data DMA;
the universal timer module is connected with the pre-drive chip by utilizing a three-phase PWM output channel to realize PWM control output;
the universal timer module is also provided with a TOM0_0 as a unified time base of the whole system time sequence;
the universal timer module is also provided with a TOM0_3 as an interruption trigger channel of the magnetic field orientation control in the motor control.
The current sampling total circuit is divided into a U-phase current sampling circuit and a W-phase current sampling circuit, the submodules of the AD conversion module comprise an ADC0 conversion module and an ADC1 conversion module, and the specific connection mode between the current sampling total current and the AD conversion module is as follows: the U-phase current sampling circuit is connected with a channel 2 of an ADC0 conversion module, and then the channel 1 of the ADC0 conversion module is remapped to the channel 2 of the conversion module by utilizing an Alias function; the W-phase current sampling circuit is connected with a channel 2 of the ADC1 conversion module, and then the channel 1 of the ADC1 conversion module is remapped to the channel 2 of the conversion module by utilizing the Alias function, so that the U-phase current and the W-phase current are strictly ensured to be sampled at the same time, and the remapping is realized by utilizing the Alias function, thereby saving limited AD pin resources and only needing to consider a single pin in the current error compensation calculation.
The specific connection method for connecting the universal timer module and the pre-drive module by using the PWM output channel comprises the following steps: the TOM0_8 port of the general timer module is connected with the HA port of the pre-drive module by using a U-phase upper tube PWM output channel, the TOM0_9 port of the general timer module is connected with the LA port of the pre-drive module by using a U-phase lower tube PWM output channel, the TOM0_10 port of the general timer module is connected with the HB port of the pre-drive module by using a V-phase upper tube PWM output channel, the TOM0_11 port of the general timer module is connected with the LB port of the pre-drive module by using a V-phase lower tube PWM output channel, the TOM0_12 port of the general timer module is connected with the HC port of the pre-drive module by using a W-phase upper tube PWM output channel, and the TOM0_13 port of the general timer module is connected with the LC port of the pre-drive module by using a W-phase upper tube.
The invention also designs a control method of the system for signal acquisition and control output of the electric power steering motor, which comprises the following steps:
step 1: according to the frequency requirement f of the motor control on the PWM control output, calculating the PWM period value T and the Duty ratio value Duty of the time-base channel TOM0_ 0;
step 2: the physical isolation arrangement between the channel 1 and the channel 2 in the ADC0 conversion module and the ADC1 conversion module is carried out;
and step 3: setting frame format, baud rate and initialization parameters of hardware pins of the SPI according to SPI communication requirements;
and 4, step 4: performing time sequence configuration of DMA-SPI angle signal acquisition to realize automatic acquisition of rotor angle signals;
and 5: setting a DMA trigger signal, a motor control interruption trigger signal, a counter reset trigger signal of a PWM output channel and the update time of a duty ratio value; (ii) a
Step 6: and three-phase complete centrosymmetric PWM output is realized.
PWM period value in step 1 of the invention
Duty ratio value
Where T is the PWM period value and f is the frequency requirement value.
The specific setting method of the physical isolation setting in the step 2 of the invention comprises the following steps: placing a channel 2 of an ADC0 conversion module for collecting U-phase current into a Queue request source of an ADC0 conversion module, and placing a channel 1 of an ADC0 conversion module into a Scan request source of an ADC0 conversion module; placing a channel 2 of an ADC1 conversion module for collecting W-phase current into a Queue request source of an ADC1 conversion module, and placing a channel 1 of an ADC1 conversion module into a Scan request source of an ADC1 conversion module; trigger signals of Queue request sources of an ADC0 conversion module and an ADC1 conversion module are both rising edges of TOM0_1, and trigger signals of Scan request sources of the two conversion modules are both falling edges of TOM0_1, so that physical isolation of the request sources and the trigger signals of the channel 2 and the channel 1 is realized, the purpose of respectively storing sampling results without interfering each other is achieved, and the accuracy of current sampling is guaranteed.
The specific method for configuring the time sequence of the acquisition of the DMA-SPI angle signal in the step 4 of the invention is as follows: the method comprises the steps of respectively placing an RAM (random access memory) address and an SPI (serial peripheral interface) register address for storing an SPI control register value in a source address and a destination address of a DMA (direct memory access), placing a first address of a next linked list node in a shadow register of a previous linked list node, sequentially completing link configuration of all linked lists according to the method, adopting a linked list function to enable signal transmission not to be limited by offset of the conventional DMA to the source address and the destination address, sequentially linking the SPI control register address and the RAM address for reading an angle instruction, enabling SPI communication to be automatically transmitted and received after PWM (pulse width modulation) edge triggering completely according to initialization stage setting by the DMA, and enabling CRC (cyclic redundancy check) of the DMA source/destination address and data to guarantee correctness of angle data transmission of a motor rotor.
The setting method of each signal in step 5 of the invention is as follows: the DMA trigger signal is the rising edge of TOM0_ 2; the trigger signal of the motor control interruption is the rising edge of TOM0_ 3; the counter reset trigger signal of the three-phase motor control PWM output channel and the update time of the duty ratio value are the falling edge of the TOM0_0, the duty ratio register and the period register of the PWM output channel respectively determine the rising edge and the falling edge of the channel, and the falling edge of the TOM0_0 determines the period of the PWM output channel, so that the three-phase completely centrosymmetric PWM output is realized.
The specific implementation method of the step 6 in the invention comprises the following steps: and starting the general timer module, and storing conversion results of current sampling in result registers of channel 1 and channel 2 in the ADC0 and the ADC1 after the TOM0_1 is triggered. After TOM0_2 is triggered, DMA-SPI angle acquisition automatically receives rotor angle data of a motor rotor angle analysis chip and provides accurate delay parameters for a motor control module, after TOM0_3 is triggered, a motor control interrupt function is entered, and according to a PWM duty ratio value calculated by the motor control module, the duty ratio value is output to TOM0_8-TOM0_13 by using a register of a general timer module, so that the control output of three-phase centrosymmetric PWM is realized.
The working principle of the invention is as follows: the same phase current sampling circuit of the motor is connected to two conversion channels of two sub-modules under an AD conversion module of the main controller, then, two conversion channels are respectively placed in different request sources, the two request sources are respectively triggered by trigger edges at different moments, so that conversion results (namely zero phase current) are stored in respective channel result registers, an SPI control register address of a main controller, an entry address of an SPI sending instruction and an exit address of SPI receiving data are linked through linked list of a DMA, rotor angle value collection analyzed by a rotor angle analysis chip is automatically completed by the DMA, a universal timer module takes a falling edge of a channel TOM0_0 as a reset signal of a PWM output channel timer count value, and takes a period value and a duty ratio value of the PWM output channel as trigger signals of high and low level jump, thereby realizing a PWM control output with dead zone which is completely centrosymmetric in each PWM period.
In a specific implementation, the main controller may adopt a chip with a model of Infineon TC234, the rotor angle analysis chip may adopt a chip with a model of TDK4140, and the pre-drive chip may adopt a chip with a model of 4911, and each chip is completely connected according to the connection structure, and the sampling circuit and the chip are connected in place according to the above description.
When calculating the PWM period T, for example, the frequency requirement f =20KHz for the motor control to the PWM control output is based on
T =50 μ s can be calculated, and when the Duty ratio is set at 50%, Duty =50 ÷ 2=25 μ s.
Then, according to the steps, the physical isolation of the current sampling channel is completed, then initialization parameters such as 2 bytes, a baud rate of 10MHz, a hardware pin port multiplexing function and the like can be set when the frame format of the SPI is set, then, according to the steps, the time sequence configuration of the DMA-SPI is set, a trigger signal of DMA, a trigger signal of motor control interruption, a counter reset trigger signal of a PWM output channel and the update time of a duty ratio value are set, finally, a universal timer module is started, after the TOM0_1 is triggered, phase current and zero current (namely current sampling conversion results) are respectively stored in a result register of each channel, after the TOM0_2 is triggered, the DMA-SPI automatically receives rotor angle data of a TDK4140 chip and provides accurate delay parameters for a motor control module, after the TOM0_3 is triggered, a motor control interruption function is entered, and according to the PWM duty ratio value calculated by the motor control module, and the register configured with the universal timer module outputs PWM to the TOM0_8-TOM0_13, so that the control output of three-phase centrosymmetric PWM is realized, and the output control of a pair of motors is realized.
Claims (9)
1. The system for signal acquisition and control output of the electric power steering motor comprises a current sampling total circuit, a rotor angle analysis chip, a main controller and a pre-drive module, and is characterized in that: the main controller is internally provided with an AD conversion module, an SPI communication module, a universal timer module and a DMA direct memory access;
the current sampling total circuit is connected with a conversion channel in the AD conversion module, and stores the conversion result in a result register of the conversion channel, and the result register of the conversion channel is communicated with a TOM0_1 channel of the general timer module to form a trigger signal channel of the current sampling result;
the rotor angle analysis chip is connected with the SPI communication module, and the SPI communication module is communicated with the DMA direct memory access, so that the acquisition of a rotor angle value analyzed by the motor rotor angle analysis chip is completed by utilizing the DMA direct memory access;
the DMA direct memory access is also communicated with a TOM0_2 channel of the universal timer module to form a trigger signal channel for carrying the rotor angle data DMA;
the universal timer module is connected with the pre-drive chip by utilizing a three-phase PWM output channel to realize PWM control output;
the universal timer module is also provided with a TOM0_0 as a unified time base of the whole system time sequence;
the universal timer module is also provided with a TOM0_3 as an interruption trigger channel of the magnetic field orientation control in the motor control.
2. The system for signal acquisition and control output of an electric power steering motor according to claim 1, characterized in that: the current sampling total circuit is divided into a U-phase current sampling circuit and a W-phase current sampling circuit, the submodules of the AD conversion module comprise an ADC0 conversion module and an ADC1 conversion module, and the specific connection mode between the current sampling total current and the AD conversion module is as follows: the U-phase current sampling circuit is connected with a channel 2 of an ADC0 conversion module, and then the channel 1 of the ADC0 conversion module is remapped to the channel 2 of the conversion module by utilizing an Alias function; the W-phase current sampling circuit is connected to channel 2 of the ADC1 conversion block, after which channel 1 of the ADC1 conversion block is also remapped to channel 2 of the conversion block using Alias functionality.
3. The system for signal acquisition and control output of an electric power steering motor according to claim 1, characterized in that: the specific connection method for connecting the universal timer module and the pre-drive module by utilizing the PWM output channel comprises the following steps: the TOM0_8 port of the general timer module is connected with the HA port of the pre-drive module by using a U-phase upper tube PWM output channel, the TOM0_9 port of the general timer module is connected with the LA port of the pre-drive module by using a U-phase lower tube PWM output channel, the TOM0_10 port of the general timer module is connected with the HB port of the pre-drive module by using a V-phase upper tube PWM output channel, the TOM0_11 port of the general timer module is connected with the LB port of the pre-drive module by using a V-phase lower tube PWM output channel, the TOM0_12 port of the general timer module is connected with the HC port of the pre-drive module by using a W-phase upper tube PWM output channel, and the TOM0_13 port of the general timer module is connected with the LC port of the pre-drive module by using a W-phase upper tube.
4. The control method of a system for signal acquisition and control output of an electric power steering motor according to claim 1, characterized in that: the method comprises the following steps:
step 1: according to the frequency requirement f of the motor control on the PWM control output, calculating the PWM period value T and the Duty ratio value Duty of the time-base channel TOM0_ 0;
step 2: the physical isolation arrangement between the channel 1 and the channel 2 in the ADC0 conversion module and the ADC1 conversion module is carried out;
and step 3: setting frame format, baud rate and initialization parameters of hardware pins of the SPI according to SPI communication requirements;
and 4, step 4: performing time sequence configuration of DMA-SPI angle signal acquisition to realize automatic acquisition of rotor angle signals;
and 5: setting a DMA trigger signal, a motor control interruption trigger signal, a counter reset trigger signal of a PWM output channel and the update time of a duty ratio value; (ii) a
Step 6: and three-phase complete centrosymmetric PWM output is realized.
5. The control method of a system for signal acquisition and control output of an electric power steering motor according to claim 4, characterized in that: the period value of PWM in the step 1
Duty cycle value, where T is the PWM period value and f is the frequency demand value.
6. The control method of a system for signal acquisition and control output of an electric power steering motor according to claim 4, characterized in that: the specific setting method for the physical isolation setting in the step 2 comprises the following steps: placing a channel 2 of an ADC0 conversion module for collecting U-phase current into a Queue request source of an ADC0 conversion module, and placing a channel 1 of an ADC0 conversion module into a Scan request source of an ADC0 conversion module; placing a channel 2 of an ADC1 conversion module for collecting W-phase current into a Queue request source of an ADC1 conversion module, and placing a channel 1 of an ADC1 conversion module into a Scan request source of an ADC1 conversion module; trigger signals of Queue request sources of an ADC0 conversion module and an ADC1 conversion module are both rising edges of TOM0_1, and trigger signals of Scan request sources of the two conversion modules are both falling edges of TOM0_1, so that physical isolation of the request sources and the trigger signals of channel 2 and channel 1 is realized.
7. The control method of a system for signal acquisition and control output of an electric power steering motor according to claim 4, characterized in that: the specific method for configuring the time sequence of the DMA-SPI angle signal acquisition in step 4 is as follows: respectively placing the RAM address and the SPI register address for storing the SPI control register value in the source and destination addresses of the linked list of the DMA, placing the first address of the next linked list node in the shadow register of the previous linked list node, and sequentially completing the link configuration of all the linked lists according to the method.
8. The control method of a system for signal acquisition and control output of an electric power steering motor according to claim 4, characterized in that: the setting method of each signal in the step 5 is as follows: the DMA trigger signal is the rising edge of TOM0_ 2; the trigger signal of the motor control interruption is the rising edge of TOM0_ 3; the counter reset trigger signal of the three-phase motor control PWM output channel and the update time of the duty ratio value are the falling edges of TOM0_ 0.
9. The control method of a system for signal acquisition and control output of an electric power steering motor according to claim 4, characterized in that: the specific implementation method of the step 6 comprises the following steps: the method comprises the steps of starting a universal timer module, respectively storing conversion results of current sampling in result registers of a channel 1 and a channel 2 in an ADC0 and an ADC1 after TOM0_1 is triggered, automatically receiving rotor angle data of a motor rotor angle analysis chip after DMA-SPI angle acquisition after TOM0_2 is triggered, providing accurate delay parameters for a motor control module, entering a motor control interrupt function after TOM0_3 is triggered, and outputting duty ratio values to TOM0_8-TOM0_13 by using the register of the universal timer module according to PWM duty ratio values calculated by the motor control module, so that control output of three-phase centrosymmetric PWM is realized.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113835465A (en) * | 2021-09-28 | 2021-12-24 | 北京维普无限智能技术有限公司 | System and method for generating PWM signal and corresponding electronic equipment |
| CN116155290A (en) * | 2023-04-18 | 2023-05-23 | 青岛本原微电子有限公司 | Control device and control method of analog-to-digital conversion unit |
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