CN112865625B - Integrated multi-path direct current motor controller - Google Patents
Integrated multi-path direct current motor controller Download PDFInfo
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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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
Abstract
The invention provides an integrated multi-channel direct current motor controller, which comprises a CAN communication module, a Controller Area Network (CAN) bus, a control module and a power supply module, wherein the CAN communication module is used for carrying out data interaction with external equipment through a CAN bus and receiving configuration information and a control instruction; the main control module is used for controlling to send a driving instruction to the PWM driving module according to the configuration information and the control instruction; the PWM driving module is used for generating a high-voltage PWM signal according to the driving instruction to drive an MOS (metal oxide semiconductor) tube bridge of the H-bridge driving output module so as to realize the driving of the direct current motor; and the current feedback detection module is used for acquiring current information in a driving loop of the H-bridge driving output module and feeding the acquired current information back to the main control module, so that the main control module sends out a corresponding driving instruction according to the current feedback information. The invention improves the overall performance of the direct current motor controller.
Description
Technical Field
The invention relates to the technical field of intelligent interaction, in particular to an integrated multi-path direct current motor controller.
Background
Traditional dc motor controller is single channel monofunctional drive plate generally, often will support extra main control board, realize the function of control motor, do not possess protection mechanisms such as short circuit excess temperature simultaneously, the security performance is low, there are the integration level low, the installation dispersion, the security is low, with high costs scheduling problem, consequently to traditional dc motor controller shortcoming, need urgently that a section integration level is high, dc motor controller that the security performance is high solves above-mentioned shortcoming, let dc motor control more intelligent, convenient.
Disclosure of Invention
In view of the above problems, the present invention is directed to an integrated multi-channel dc motor controller.
The purpose of the invention is realized by adopting the following technical scheme:
the invention discloses an integrated multi-path direct current motor controller, which comprises: the device comprises a main control module, a PWM driving module, an H-bridge driving output module, a current feedback detection module, a CAN communication module and an analog input detection module; wherein
The CAN communication module performs data interaction with external equipment through a CAN bus and is used for receiving configuration information and control instructions;
the main control module is used for controlling to send a driving instruction to the PWM driving module according to the configuration information and the control instruction;
the PWM driving module is used for generating a high-voltage PWM signal according to a driving instruction to drive an MOS (metal oxide semiconductor) tube bridge of the H-bridge driving output module so as to realize the driving of the direct current motor;
the current feedback detection module is used for collecting current information in a driving loop of the H-bridge driving output module and feeding the collected current information back to the main control module, so that the main control module sends out a corresponding driving instruction according to the current feedback information;
the analog input detection module is used for receiving the motor temperature signal acquired by the temperature sensor, converting the received motor temperature signal into a voltage signal and inputting the voltage signal into the main control module, so that the main control module obtains a motor temperature detection value according to the received voltage signal and outputs a corresponding driving instruction according to the motor temperature detection value.
Preferably, the controller further comprises a FLASH memory module,
the FLASH storage module is used for storing the received configuration information and the write-in parameters.
Preferably, the controller further comprises a power module and an output power supply module;
the power supply module is respectively connected with the current feedback detection module, the main control module, the H-bridge drive output module, the CAN communication module and the FLASH storage module and is used for supplying power to the current feedback detection module, the main control module, the H-bridge drive output module, the CAN communication module and the FLASH storage module;
the output power supply module is used for supplying power for the external function module.
Preferably, the power module comprises a battery unit, an anti-reverse circuit unit and a voltage stabilizing circuit unit which are connected in sequence; wherein
The battery unit is used for providing a power supply, outputting 5V voltage after being subjected to voltage reduction by the anti-reverse single-path unit and the voltage stabilizing circuit unit, and respectively supplying power to the current feedback detection module, the main control module, the H-bridge drive output module, the CAN communication module and the FLASH storage module.
Preferably, the temperature sensor is used for acquiring a temperature detection signal of the motor winding, and the acquired temperature detection signal is converted into a voltage signal through the analog input detection module and is input into the main control module;
the main control module further comprises a temperature detection unit;
the temperature detection unit is used for acquiring a motor temperature detection value according to the received voltage signal, further judging whether the motor is abnormal or not according to the acquired motor temperature detection value, and outputting a temperature abnormality detection result;
and the main control module outputs a corresponding driving instruction according to the temperature abnormity detection result output by the temperature detection unit.
The invention has the beneficial effects that: the controller provided by the invention has high integration level and can support multi-path and multi-channel motor drive control; meanwhile, the detection can be performed according to the current state of the H bridge, the detection of short circuit and overvoltage is realized, the protection mechanisms such as over-temperature and abnormity are realized according to the data such as the temperature and the vibration signal of the received motor, and the safety performance is high. Meanwhile, the CAN communication wired interface is arranged, so that external data interaction CAN be performed, and the interaction performance is strong; through being equipped with inside FLASH storage module, can store multiple motor control matching parameter, can be directed against the control of different models, type motor, the suitability is strong. Meanwhile, the analog input and 5V stable voltage output of external equipment such as various sensors can be provided, and the expansibility is strong. The overall performance of the direct current motor controller is improved.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
Fig. 1 is a frame structure diagram of an embodiment of an integrated multi-channel dc motor controller according to the present invention;
fig. 2 is a specific connection structure diagram of the main control module and the analog input detection module in the embodiment of fig. 1.
Reference numerals:
the device comprises a main control module 1, a 2-PWM driving module, a 3-H bridge driving output module, a 4-current feedback detection module, a 5-CAN communication module, a 6-analog input detection module, a 7-power supply module, an 8-output power supply module, a 9-FLASH storage module, an 11-temperature detection unit, a 12-vibration detection unit, a 61-temperature sensor and a 62-vibration sensor.
Detailed Description
The invention is further described in connection with the following application scenarios.
Referring to fig. 1 and 2, an integrated multi-channel dc motor controller according to the embodiment includes: the device comprises a main control module 1, a PWM driving module 2, an H-bridge driving output module 3, a current feedback detection module 4, a CAN communication module 5 and an analog input detection module 6; wherein
The CAN communication module 5 is used for performing data interaction with external equipment through a CAN bus and receiving configuration information and control instructions;
the main control module 1 is used for controlling to send a driving instruction to the PWM driving module 2 according to the configuration information and the control instruction;
the PWM driving module 2 is used for generating a high-voltage PWM signal according to a driving instruction to drive an MOS (metal oxide semiconductor) tube bridge of the H-bridge driving output module 3 so as to realize the driving of the direct current motor;
the current feedback detection module 4 is used for collecting current information in a driving loop of the H-bridge driving output module 3 and feeding the collected current information back to the main control module 1, so that the main control module 1 sends out a corresponding driving instruction according to the current feedback information;
the analog input detection module 6 is configured to receive a motor temperature signal collected by the temperature sensor 61, convert the received motor temperature signal into a voltage signal, and input the voltage signal to the main control module 1, so that the main control module 1 obtains a motor temperature detection value according to the received voltage signal, and outputs a corresponding driving instruction according to the motor temperature detection value.
In the above embodiment, an integrated multi-channel dc motor controller is provided, in the controller, data interaction is performed with an external device through a CAN communication module 5, control configuration information and control instructions for different dc motors are received, and a main control module 1 controls the corresponding dc motor according to the configuration information and the control instructions, wherein the main control module 1 generates a high-voltage PWM signal by driving a PWM driving module 2 to turn on a MOS transistor corresponding to an H-bridge driving output module 3, so that the H-bridge driving output module 3 drives the dc motor to operate. Meanwhile, a current feedback detection module 4 is further arranged in the controller to collect current information in a driving loop of the H-bridge driving output module 3, the current information is fed back to the main control module 1 in real time, and the main control module 1 outputs a corresponding driving instruction according to the current feedback information so as to realize real-time regulation and control of the operation of the direct current motor. The controller is further integrated with an analog input detection module 6 for receiving state information of the direct current motor in the running process in real time, for example, receiving a temperature signal of the direct current motor collected by the temperature sensor 61 in the running process, converting the temperature signal collected by the sensor into a digital voltage signal through the analog input detection module 6, inputting the digital voltage signal into the main control module 1, converting the digital voltage signal received by the main control module 1 into a corresponding motor temperature detection value, judging the running state information of the direct current motor through the motor temperature detection value, and outputting a corresponding driving instruction to control the direct current motor to limit the speed or stop running when the direct current motor is in an abnormal state by the main control module 1.
The controller provided by the embodiment has high integration level and can support multi-path and multi-channel motor drive control; meanwhile, the detection of the current state of the H bridge can be realized, the detection of short circuit and overvoltage can be realized, the protection mechanisms such as over-temperature and abnormity can be realized according to the received data such as the temperature and the vibration signal of the motor, and the safety performance is high. Meanwhile, the CAN communication wired interface is arranged, so that external data interaction CAN be performed, and the interaction performance is strong; through being equipped with inside FLASH storage module 9, can store multiple motor control matching parameter, can be directed against the control of different models, type motor, the suitability is strong. Meanwhile, the analog input and 5V stable voltage output of external equipment such as various sensors can be provided, and the expansibility is strong. The overall performance of the direct current motor controller is improved.
Preferably, the H-bridge drive output module 3 is an N-way H-bridge drive output module 3; correspondingly, the current feedback detection module 4 is also an N-path current feedback detection module 4, and the analog input detection module 6 is also an N-path analog input detection module 6, so that the controller can meet the control requirements of a plurality of direct current motors at the same time.
Preferably, the H-bridge drive output module 3 is a 10-way H-bridge drive output module 3; correspondingly, the current feedback detection module 4 is also a 10-path current feedback detection module 4, and the analog input detection module 6 is also a 10-path analog input detection module 6.
Preferably, the controller further comprises a FLASH memory module 9,
the FLASH memory module 9 is used for storing the received configuration information and the write-in parameters.
Preferably, the controller further comprises a power module 7 and an output power module 8;
the power module 7 is respectively connected with the current feedback detection module 4, the main control module 1, the H-bridge drive output module 3, the CAN communication module 5 and the FLASH storage module 9 and is used for supplying power to the current feedback detection module 4, the main control module 1, the H-bridge drive output module 3, the CAN communication module 5 and the FLASH storage module 9;
the output power supply module 8 is used for supplying power to the external functional module.
Preferably, the power module 7 includes a battery unit, an anti-reverse circuit unit and a voltage stabilizing circuit unit which are connected in sequence; wherein
The battery unit is used for providing a power supply, outputting a 5V power supply after voltage reduction through the anti-reverse single-path unit and the voltage stabilizing circuit unit, and respectively supplying power to the current feedback detection module 4, the main control module 1, the H-bridge drive output module 3, the CAN communication module 5 and the FLASH storage module 9.
Preferably, the temperature sensor 61 is configured to collect a temperature detection signal of the motor winding, convert the collected temperature detection signal into a voltage signal through the analog input detection module 6, and input the voltage signal to the main control module 1;
the main control module 1 further comprises a temperature detection unit 11;
the temperature detection unit 11 is configured to obtain a motor temperature detection value according to the received voltage signal, further determine whether the motor is abnormal according to the obtained motor temperature detection value, and output a temperature abnormality detection result;
the main control module 1 outputs a corresponding driving instruction according to the temperature anomaly detection result output by the temperature detection unit 11.
Preferably, the analog input detection module 6 is further configured to receive a motor vibration signal collected by the vibration sensor 62, convert the received vibration signal into a voltage signal, and input the voltage signal to the main control module 1, so that the main control module 1 obtains a motor vibration detection signal according to the received voltage signal, and outputs a corresponding driving instruction according to the motor vibration detection signal.
The controller further comprises a vibration sensor 62 arranged on the direct current motor, the analog input detection module 6 receives an analog vibration signal transmitted by the vibration sensor 62, converts the analog vibration signal into a digital voltage signal and inputs the digital voltage signal to the main control module 1, so that the main control module 1 obtains a motor vibration detection signal through conversion according to the digital voltage signal, further analyzes the running state of the direct current motor according to the motor vibration detection signal, and outputs a corresponding driving instruction according to a state analysis result.
Preferably, the vibration sensor 62 is used for collecting vibration signals of the motor bearing,
the main control module 1 further comprises a vibration detection unit 12;
the vibration detection unit 12 is configured to obtain a motor vibration detection signal according to the received voltage signal, further perform fault analysis according to the obtained motor vibration detection signal, analyze whether the motor has an abnormal condition, and output a vibration abnormality detection result;
the main control module 1 outputs a corresponding driving instruction according to the abnormal vibration detection result output by the vibration detection unit 12.
In the above embodiment, the vibration detection unit 12 is disposed in the controller main control module 1, so that a vibration signal collected from a bearing of the dc motor can be subjected to fault analysis, the running state of the dc motor can be accurately analyzed through the vibration detection signal, when the dc motor has an abnormal condition, the main control module 1 can output a corresponding driving instruction according to an abnormal detection result, and the PWM driving module 2 controls the H-bridge driving output module 3, thereby controlling the deceleration or braking of the dc motor.
In one embodiment, the vibration detection unit 12 performs fault analysis according to the acquired motor vibration detection signal, and specifically includes:
representing the acquired motor vibration detection signal as Z (t);
carrying out empirical mode decomposition on the motor vibration detection signal Z (t) to obtain N decomposed IMF components { IMF } 1 ,IMF 2 ,IMF 3 ,…IMF n ,…,IMF N In which, IMF n Represents the decomposed nth IMF component, where N =1,2, …, N;
aiming at each IMF component, performing enhancement processing on each IMF component to obtain each IMF component after enhancement processing;
and forming a characteristic vector of the motor vibration detection signal according to each IMF component after the enhancement processing, inputting the characteristic vector into a trained anomaly analysis model for analysis, and obtaining an anomaly detection result output by the anomaly analysis model.
Preferably, in the vibration detection unit 12, for each IMF component, performing enhancement processing on each IMF component to obtain each enhanced IMF component, specifically including:
respectively carry out noise detection to N IMF components of obtaining, detect noise IMF component, specifically include:
respectively calculating the noise detection factor of each IMF component, wherein the adopted noise detection factor calculation function is as follows:
wherein J (N) represents a noise detection factor of the nth IMF component, where N =1,2, …, N-1, IMF n (t) denotes a magnitude of the t-th IMF component among the n-th IMF components, and k denotes an offset factor, wherein
Wherein L represents the length of the IMF component, IMF n+1 (t) represents the amplitude of the tth IMF component of the (n + 1) th IMF component; max k (x) represents the maximum value that can be achieved when k takes different values;
comparing the obtained noise detection factors of the IMF components with a set threshold value T respectively, and marking the nth IMF component as a noise IMF component when J (n) > T (n) exists
IMF component for marked noise
Further on the noise IMF component
Performing enhancement treatment, specifically comprising:
noise IMF component based on set wavelet basis and scale
Performing wavelet decomposition to obtain a high-frequency wavelet coefficient and a low-frequency wavelet coefficient of a noise IMF component, performing threshold processing on the obtained high-frequency wavelet coefficient, and obtaining a high-frequency wavelet coefficient after threshold processing; and reconstructing the low-frequency wavelet coefficient and the high-frequency wavelet coefficient after threshold processing to obtain an enhanced IMF component
For the IMF component which is not marked as the noise IMF component, the IMF component is not processed, and the IMF component is directly marked as the IMF component after the enhancement processing;
obtaining enhanced IMF components
Wherein, the feature vector of the motor vibration detection signal can be expressed as
Preferably, the threshold value is set for each IMF component
Wherein | Z | mean Represents the average value of the absolute values of the amplitudes of the detection points in the motor vibration detection signal, mu 1 Which is indicative of a noise adjustment factor,
the adaptation factor for the nth IMF component is represented.
Preferably, the anomaly analysis model is constructed based on a neural network, the characteristic vector of the motor vibration detection signal is input into the anomaly analysis model, the anomaly analysis model analyzes according to the input characteristic vector, and an anomaly detection result is output.
In the above embodiment, a technical solution for performing dc motor fault analysis based on a motor vibration monitoring signal by the vibration detection unit 12 is particularly provided, where empirical mode decomposition is performed on the obtained motor vibration detection signal to obtain a plurality of IMF components as feature vectors, and the feature vectors are further analyzed based on an abnormality analysis model to output an abnormality detection result. In the process of constructing the feature vector based on the IMF component, considering that an abnormal dc motor usually releases a large amount of magnetic field signals due to overload and other conditions, the dc motor itself causes noise interference to the vibration signals acquired by the vibration sensor 62, and thus the accuracy of the abnormal analysis of the dc motor by the main control module 1 of the controller based on the vibration signals is affected. Therefore, after empirical mode decomposition, the method is particularly provided for enhancing IMF components of which feature vectors need to be constructed, wherein noise IMF components are judged for the IMF components through noise detection factors, a noise detection factor calculation function is provided, and the degree of influence of noise received in the IMF components can be accurately reflected through the noise detection factors; in the noise detection factor calculation function, a transverse, longitudinal and multi-scale comparison mode is particularly adopted to accurately reflect the condition that IMF components receive noise interference, when the noise detection factor is larger than a set threshold value, the IMF components are indicated to receive obvious noise interference influence, therefore, the IMF components are further subjected to wavelet decomposition-based enhancement processing to remove the noise interference contained in the IMF components, the quality of constructing characteristic vectors based on the IMF components is improved, the characteristic vectors can accurately reflect the working state of a direct current motor bearing, the accuracy of judgment of the running state of the direct current motor according to direct current motor vibration detection signals by a controller is indirectly improved, and a foundation is laid for realizing accurate intelligent regulation and control under the abnormal state of the direct current motor.
It should be noted that, functional units/modules in the embodiments of the present invention may be integrated into one processing unit/module, or each unit/module may exist alone physically, or two or more units/modules are integrated into one unit/module. The integrated units/modules may be implemented in the form of hardware, or may be implemented in the form of software functional units/modules.
From the above description of embodiments, it is clear for a person skilled in the art that the embodiments described herein can be implemented in hardware, software, firmware, middleware, code or any appropriate combination thereof. For a hardware implementation, a processor may be implemented in one or more of the following units: an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, other electronic units designed to perform the functions described herein, or a combination thereof. For a software implementation, some or all of the procedures of an embodiment may be performed by a computer program instructing associated hardware. In practice, the program may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. Computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be analyzed by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (4)
1. An integrated multiple dc motor controller, comprising: the device comprises a main control module, a PWM driving module, an H-bridge driving output module, a current feedback detection module, a CAN communication module and an analog input detection module; wherein
The CAN communication module performs data interaction with external equipment through a CAN bus and is used for receiving configuration information and control instructions;
the main control module is used for controlling to send a driving instruction to the PWM driving module according to the configuration information and the control instruction;
the PWM driving module is used for generating a high-voltage PWM signal according to a driving instruction to drive an MOS (metal oxide semiconductor) tube bridge of the H-bridge driving output module so as to realize the driving of the direct current motor;
the current feedback detection module is used for collecting current information in a driving loop of the H-bridge driving output module and feeding the collected current information back to the main control module, so that the main control module sends out a corresponding driving instruction according to the current feedback information;
the analog input detection module is used for receiving a motor temperature signal acquired by the temperature sensor, converting the received motor temperature signal into a voltage signal and inputting the voltage signal to the main control module, so that the main control module acquires a motor temperature detection value according to the received voltage signal and outputs a corresponding driving instruction according to the motor temperature detection value;
the temperature sensor is used for acquiring temperature detection signals of the motor winding, converting the acquired temperature detection signals into voltage signals through the analog input detection module and inputting the voltage signals into the main control module;
the main control module further comprises a temperature detection unit;
the temperature detection unit is used for acquiring a motor temperature detection value according to the received voltage signal, further judging whether the motor is abnormal or not according to the acquired motor temperature detection value, and outputting a temperature abnormality detection result;
the main control module outputs a corresponding driving instruction according to a temperature abnormity detection result output by the temperature detection unit;
the analog input detection module is also used for receiving a motor vibration signal acquired by the vibration sensor, converting the received vibration signal into a voltage signal and inputting the voltage signal to the main control module, so that the main control module acquires a motor vibration detection signal according to the received voltage signal and outputs a corresponding driving instruction according to the motor vibration detection signal;
the vibration sensor is used for collecting vibration signals of the motor bearing,
the main control module further comprises a vibration detection unit;
the vibration detection unit is used for acquiring a motor vibration detection signal according to the received voltage signal, further performing fault analysis according to the acquired motor vibration detection signal, analyzing whether the motor has an abnormal condition or not, and outputting a vibration abnormal detection result;
the main control module outputs a corresponding driving instruction according to a vibration abnormity detection result output by the vibration detection unit;
the vibration detecting unit carries out fault analysis according to the motor vibration detection signal who obtains, specifically includes:
representing the acquired motor vibration detection signal as Z (t);
carrying out empirical mode decomposition on the motor vibration detection signal Z (t) to obtain N decomposed IMF components { IMF } 1 ,IMF 2 ,IMF 3 ,…IMF n ,…,IMF N In which, IMF n Represents the decomposed nth IMF component, where N =1,2, …, N;
aiming at each IMF component, performing enhancement processing on each IMF component to obtain each IMF component after enhancement processing;
forming a characteristic vector of a motor vibration detection signal according to each IMF component after enhancement processing, inputting the characteristic vector into a trained anomaly analysis model for analysis, and obtaining an anomaly detection result output by the anomaly analysis model;
in the vibration detection unit, for each IMF component, performing enhancement processing on each IMF component, and acquiring each IMF component after enhancement processing, specifically including:
carry out noise detection to N IMF components that acquire respectively, detect noise IMF component, specifically include:
respectively calculating the noise detection factor of each IMF component, wherein the adopted noise detection factor calculation function is as follows:
wherein J (N) represents a noise detection factor of the nth IMF component, where N =1,2, …, N-1, IMF n (t) denotes a magnitude of the t-th IMF component among the n-th IMF components, and k denotes an offset factor, wherein
Wherein L represents the length of the IMF component, IMF n+1 (t) represents the amplitude of the tth IMF component in the (n + 1) th IMF component; max of k (x) represents the maximum value that can be achieved when k takes different values;
comparing the obtained noise detection factors of the IMF components with a set threshold value T respectively, and marking the nth IMF component as a noise IMF component when J (n) > T (n) exists
IMF component for marked noise
Further on the noise IMF component
Performing enhancement treatment, specifically comprising:
based on settingsWavelet basis and scale versus noise IMF components of
Performing wavelet decomposition to obtain a high-frequency wavelet coefficient and a low-frequency wavelet coefficient of a noise IMF component, performing threshold processing on the obtained high-frequency wavelet coefficient, and obtaining a high-frequency wavelet coefficient after threshold processing; and reconstructing the low-frequency wavelet coefficient and the high-frequency wavelet coefficient after threshold processing to obtain an enhanced IMF component
For the IMF component which is not marked as the noise IMF component, the IMF component is not processed, and the IMF component is directly marked as the IMF component after the enhancement processing;
obtaining enhanced IMF components
2. The integrated multi-channel DC motor controller according to claim 1, further comprising a FLASH memory module,
the FLASH storage module is used for storing the received configuration information and the write-in parameters.
3. The integrated multi-path direct current motor controller according to claim 2, further comprising a power supply module and an output power supply module;
the power supply module is respectively connected with the current feedback detection module, the main control module, the H-bridge drive output module, the CAN communication module and the FLASH storage module and is used for supplying power to the current feedback detection module, the main control module, the H-bridge drive output module, the CAN communication module and the FLASH storage module;
the output power supply module is used for supplying power for the external function module.
4. The integrated multi-path direct current motor controller according to claim 3, wherein the power supply module comprises a battery unit, an anti-reverse circuit unit and a voltage stabilizing circuit unit which are connected in sequence; wherein
The battery unit is used for providing a power supply, and outputs 5V voltage after being subjected to voltage reduction by the anti-reverse single-path unit and the voltage stabilizing circuit unit, and the 5V voltage respectively supplies power to the current feedback detection module, the main control module, the H-bridge drive output module, the CAN communication module and the FLASH storage module.
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| CN104009682A (en) * | 2014-06-09 | 2014-08-27 | 浙江理工大学 | Brushless DC motor controller and control method |
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