CN114070172A - Motor control unit with redundancy control and combination method thereof - Google Patents
Motor control unit with redundancy control and combination method thereof Download PDFInfo
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- CN114070172A CN114070172A CN202010791463.XA CN202010791463A CN114070172A CN 114070172 A CN114070172 A CN 114070172A CN 202010791463 A CN202010791463 A CN 202010791463A CN 114070172 A CN114070172 A CN 114070172A
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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
- H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention discloses a motor control unit with redundant control and a combination method thereof, wherein the motor control unit comprises a power module, a controller and a controller, wherein the power module is connected with commercial power and outputs a corresponding VDC direct current power supply to supply power for other modules; a motor control module, one motor control module controls one motor body; the I/O module is used for carrying out signal transmission between the client main control board or the peripheral equipment and the motor control module; the redundancy control module has the function that when the function module fails, a standby function module is automatically started, so that the client system can still work smoothly; the standby functional module has the same function as the first functional module, the second functional module or the third functional module; the motor control unit is formed by combining and installing the functional modules, the production mode is flexible and convenient, the adaptability is strong, the research and development period can be shortened, the production is rapid and convenient, the operational reliability is higher, the after-sale maintenance is convenient, and the maintenance cost is reduced.
Description
The technical field is as follows:
the invention relates to a motor control unit with redundant control and a combination method thereof.
Background art:
in recent years, in the field of heating, ventilating and air conditioning, indoor units or indoor units of heating, ventilating and air conditioning of different brands generally include centrifugal blower motors, gas induced draft fans, compressor motors and axial flow fan motors, and the voltage, power, signal communication, rotation speed, torque and other parameter requirements of these motors are not communicated, and it is necessary to match the motors produced by different manufacturers, as shown in fig. 1, fig. 2, fig. 3 and fig. 4, these motors are brushless dc motors or ECM motors, and generally have a motor body 1a and a motor controller 2a, the motor body 1a includes a stator assembly 12a, a rotor assembly 13a, a housing assembly 11a and bearings, the motor controller 2a generally includes a control box 21a and a control circuit board 22a, and one control circuit board 22a basically integrates all functional circuits. The traditional mode is that a manufacturer produces one or more motor products, the controller is produced at home, once a certain functional component of the controller is damaged, the whole motor controller or even the whole motor needs to be replaced, which brings great inconvenience to after-sale maintenance markets and leads to higher maintenance cost.
In addition, the traditional production mode of the motor controller has poor compatibility and universality, namely all functional components for controlling the motor are concentrated on one or two circuit boards, so that the flexibility is lost, and because the characteristics of the motor required by each customer are different, some motors need 5 gears and PWM, some motors only need 0-10VDC, and some motors need 0-10VDC +10 gears; some need to control only one outdoor machine motor, and some need to control a plurality of outdoor machine motors simultaneously; some need 5 HP's motor controller, some need 3 HP's motor controller, circuit board among the motor controller, control box size are fixed, and each item function of circuit board is also fixed. The compatibility is poor, the production period is long, and the research and development time is long, because a motor manufacturer can independently design a motor controller according to each requirement of a client, and the motor controller is researched, developed and produced again after receiving each requirement of the client, which brings great invariance to the production and sale of the motor.
In view of the above, there is a need for a motor controller that is easy to manufacture and assemble, has a short design and production cycle, and is easy to repair and replace, and the cost of repairing the motor controller in the after-market is very low.
In addition, for some important occasions, when the motor controller is partially damaged, a customer needs to immediately respond to replace a new motor controller so as to enable a control system of a user end to operate normally, and the requirement is further increased for the operation reliability of the motor controller.
The invention content is as follows:
the invention aims to provide a motor control unit with redundant control and a combination method thereof, and solves the technical problems of inflexible and convenient production, long research and development time and production time, low operation reliability, inconvenient after-sale maintenance and high maintenance cost of motor controllers in the after-sale market.
The invention is realized by the following technical scheme:
a motor control unit with redundant control, its characterized in that: the method comprises the following steps:
a first functional module: the power module is connected with commercial power and outputs a corresponding VDC direct current power supply to supply power for other modules;
a second functional module: the motor control module controls a motor body, comprises a motor control microprocessor, an IGBT inversion assembly and a heat dissipation device, receives power supply of a VDC direct current power supply and control signals input from the outside, outputs the power supply to the motor body, and realizes control of rotating speed, torque or air volume;
a third functional module: i.e. an I/O module, for performing signal transmission between the client main control board or the peripheral device and the motor control module; at least one third functional module is configured, and a plurality of types of third functional modules can be combined according to communication requirements to realize signal transmission between the client main control board or the peripheral equipment and the motor control module;
a fourth functional module: namely a redundancy control module, the main function of which is to automatically start a standby function module when the first function module, the second function module or the third function module fails, thereby ensuring that the client system can still work smoothly;
a fifth functional module: namely a spare function module, a module having the same function as the first function module or the second function module or the third function module, and one or more spare function modules configured to meet customer requirements
The functional modules are combined and installed to form the motor control unit.
The redundancy control module comprises a redundancy control microprocessor, a plurality of relays, a display circuit and a bus communication access circuit, and the bus communication access circuit is used for connecting and communicating the circuit redundancy control microprocessor with other functional modules; the redundancy control microprocessor utilizes a plurality of relays to automatically start the standby functional module; the display circuit is used for displaying the health condition of other functional modules.
Each network communication unit comprises a bus communication microprocessor, a communication bus access circuit and a function detection circuit, the function detection circuit is used for carrying out self-checking on the health condition of the module and transmitting a signal to the bus communication microprocessor, and the bus communication microprocessor enters a data bus by using the communication bus access circuit and transmits data to the redundancy control microprocessor.
Each functional module is provided with an independent metal or plastic shell and a first circuit board positioned in the shell, a connector extends out of the first circuit board so as to transmit power or control signals, and the heat dissipation device is arranged in or outside the shell.
The I/O modules are subdivided into a plurality of types according to their functions, including:
the multi-gear 24VAC input module receives a 24VAC gear signal sent by the client main control board and transmits the signal to the motor control module;
the PWM input module receives a PWM signal sent by the client main control board and transmits the signal to the motor control module;
the 0-10VDC input module receives the 0-10VDC signal sent by the client main control board and transmits the signal to the motor control module;
based on an RS485 serial port communication module, a motor control module is required to be provided with corresponding drive to be compatible with different communication protocols;
the Bluetooth wireless communication module enables a user to wirelessly communicate with the motor control module through a mobile phone App or a PC for configuration and diagnosis;
and the pulse output module is used for monitoring a certain parameter of the motor by the main control board of a client through outputting pulses.
The Ethernet LAN module supports common TCP/IP protocol, and can access the motor control module into building network control or remotely control and monitor the parameter state of the motor through Internet.
The human-machine interface HMI function module provides a single-color basic HMI and a high-grade high-definition color screen according to market division, so that a user can directly control the motor, control the rotating speed/torque/air volume of the motor in real time, or carry out configuration and diagnosis, and even can be used for laboratory test.
The coded disc switch module is connected with the motor control module through a connector, and a row of DipSwitch is provided for a user to change parameters of the motor in real time.
All the functional modules are fixed on a base, and a second circuit board is arranged in the base to enable the functional modules to transmit power or control signals, or the functional modules are connected through flexible flat cables and then are dispersedly installed, and flat cable harnesses are used for transmitting the power or control signals.
The number of the second functional modules is 2, and the 2 second functional modules respectively control the two motor bodies to form the motor controller of the indoor unit or the outdoor unit.
When one or more standby functional modules are provided, the standby functional modules are used for backing up the power supply module, the motor control module and the I/O module.
A method of combining a motor control unit with redundant control, the motor controller being subdivided into a plurality of functional modules by function, the functions comprising:
a first functional module: the power supply module is connected with commercial power, outputs corresponding direct current to supply power for other modules, and forms a plurality of power supply modules with different specifications according to different voltage and motor power requirements;
a second functional module: the motor control module controls a motor body, comprises a microprocessor, an IGBT inversion assembly and a heat dissipation device, receives VDC direct current power supply and control signals input from the outside, outputs power to the motor body and realizes the control of rotating speed, torque or air volume; forming a plurality of motor control modules with different specifications according to the motor power;
a third functional module: i.e. an I/O module, for performing signal transmission between the client main control board or the peripheral device and the motor control module; at least one third functional module is configured, and a plurality of types of third functional modules can be combined according to communication requirements to realize signal transmission between the client main control board or the peripheral equipment and the motor control module;
a fourth functional module: namely a redundancy control module, the main function of which is to automatically start a standby function module when the first function module, the second function module or the third function module fails, thereby ensuring that the client system can still work smoothly;
a fifth functional module: namely a spare function module, a module having the same function as the first function module or the second function module or the third function module, and one or more spare function modules configured to meet customer requirements
The method is characterized in that: and selecting a power supply module, a motor control module, one or more I/O modules, a redundancy control module and a standby function module which are matched with the power supply module, the motor control module, the one or more I/O modules, the redundancy control module and the standby function module according to the specific parameter requirements of the controlled motor to be combined and connected together to form a matched motor control unit.
The I/O modules are subdivided into a plurality of types according to different functions: the multi-gear 24VAC input module receives a 24VAC gear signal sent by the client main control board and transmits the signal to the motor control module; the PWM input module receives a PWM signal sent by the client main control board and transmits the signal to the motor control module; the 0-10VDC input module receives the 0-10VDC signal sent by the client main control board and transmits the signal to the motor control module; based on an RS485 serial port communication module, a motor control module is required to be provided with corresponding drive to be compatible with different communication protocols; the Bluetooth wireless communication module enables a user to wirelessly communicate with the motor control module through a mobile phone App or a PC for configuration and diagnosis; the pulse output module is used for monitoring a certain parameter of the motor by a main control board of a client through outputting a pulse; the Ethernet local area network module supports common TCP/IP protocol, and can access the motor control module into building network control, or remotely control or monitor the parameter state of the motor through the Internet; the human-machine interface HMI functional module provides a single-color basic HMI and a high-grade high-definition color screen according to market division, so that a user can directly control the motor, control the rotating speed/torque/air volume of the motor in real time, or carry out configuration and diagnosis, and even can be used for laboratory test; the coded disc switch module is connected with the motor control module through a connector, and a row of DipSwitch is provided for a user to change parameters of the motor in real time.
Most of the functional modules are provided with independent metal or plastic shells and first circuit boards or electrical components positioned in the shells, all the functional modules are fixed on a base, and power supplies or control signals are transmitted among the functional modules by using second circuit boards on the base.
The second circuit board is provided with a direct-current power supply interface and a bus communication interface, and therefore the functional modules can be conveniently plugged and installed.
Compared with the prior art, the invention has the following advantages:
1) the invention subdivides a motor controller into a plurality of functional modules according to functions, and the functions comprise: a first functional module: the power supply module is connected with commercial power, outputs corresponding direct current to supply power for other modules, and forms a plurality of power supply modules with different specifications according to different voltage and motor power requirements; a second functional module: the control system comprises a motor control module, a motor body, a microprocessor, an IGBT inversion assembly and a heat dissipation device, wherein the motor control module controls the motor body, receives VDC direct current power supply and externally input control signals, and outputs UVW three-phase power supply to the motor body to realize control of rotating speed or torque or air volume; forming a plurality of motor control modules with different specifications according to the motor power; a third functional module: i.e. an I/O module, for performing signal transmission between the client main control board or the peripheral device and the motor control module; at least one third functional module is configured, and a plurality of types of third functional modules can be combined according to communication requirements to realize signal transmission between the client main control board or the peripheral equipment and the motor control module; a fourth functional module: namely a redundancy control module, the main function of which is to automatically start a standby function module when the first function module, the second function module or the third function module fails, thereby ensuring that the client system can still work smoothly; a fifth functional module: the standby function module is a module with the same function as the first function module, the second function module or the third function module, and one or more standby function modules are configured to meet the requirements of customers; the motor control unit is formed by assembling and installing the functional modules, the production mode of the combined module is flexible and convenient, strong adaptability can shorten the research and development period, the production is fast and convenient, the operational reliability is higher, when after-sales maintenance is carried out, a certain functional module is found to be out of order, the replacement can be conveniently carried out, the maintenance cost is reduced, and the maintenance is convenient and fast.
2) Other advantages of the invention are detailed in the examples section.
Description of the drawings:
FIG. 1 is a block diagram of a prior art HVAC system;
fig. 2 is a perspective view of a prior art BLDC motor;
fig. 3 is a perspective view of a motor control of a BLDC motor in the related art;
fig. 4 is a sectional view of a prior art BLDC motor;
FIG. 5 is a block diagram of a first embodiment of the present invention;
fig. 6 is a schematic connection diagram of functional modules according to a first embodiment of the present invention;
FIG. 7 is a block diagram of a redundancy control module according to a first embodiment of the present invention;
fig. 8 is a perspective view of an appearance of a functional module according to a first embodiment of the present invention;
fig. 9 is an exploded view of a functional module according to a first embodiment of the present invention;
FIG. 10 is a perspective view of a base in accordance with a first embodiment of the present invention;
FIG. 11 is an exploded view of a base according to a first embodiment of the present invention;
fig. 12 is an exploded schematic view of a motor control unit according to a first embodiment of the present invention;
fig. 13 is a perspective view of a motor control unit according to a first embodiment of the present invention;
fig. 14 is a perspective view of a motor control unit according to a first embodiment of the present invention with redundant control modules added;
fig. 15 is a block diagram of a network communication unit in accordance with a first embodiment of the present invention;
fig. 16 is a circuit block diagram of a power module according to a first embodiment of the invention;
fig. 17 is a block diagram of an RS 485-based serial port communication module according to a first embodiment of the present invention;
FIG. 18 is a block diagram of a PWM input module according to a first embodiment of the present invention;
FIG. 19 is a block diagram of a 5-speed 24VAC input module according to a first embodiment of the present invention.
The specific implementation mode is as follows:
the present invention will be described in further detail below with reference to specific embodiments and with reference to the accompanying drawings.
The first embodiment is as follows:
as shown in fig. 5 and 6, a motor control unit according to the present invention is a motor control unit with redundant control, and is characterized in that: the method comprises the following steps:
a first functional module: the power module is connected with commercial power and outputs a corresponding VDC direct current power supply to supply power for other modules;
a second functional module: the motor control module controls a motor body, comprises a motor control microprocessor, an IGBT inversion assembly and a heat dissipation device, receives power supply of a VDC direct current power supply and control signals input from the outside, outputs the power supply to the motor body, and realizes control of rotating speed, torque or air volume;
a third functional module: i.e. an I/O module, for performing signal transmission between the client main control board or the peripheral device and the motor control module; at least one third functional module is configured, and a plurality of types of third functional modules can be combined according to communication requirements to realize signal transmission between the client main control board or the peripheral equipment and the motor control module;
a fourth functional module: the redundancy control module has the main function that when the first functional module, the second functional module or the third functional module fails, a standby functional module is automatically started, so that the client system (such as the whole air conditioning system) can still work smoothly;
a fifth functional module: the standby function module is a module with the same function as the first function module, the second function module or the third function module, and one or more standby function modules are configured to meet the requirements of customers;
the functional modules are combined and installed to form the motor control unit.
As shown in fig. 7, the redundancy control module includes a redundancy control microprocessor, a plurality of relays, a display circuit and a bus communication access circuit, and the bus communication access circuit is used to connect and communicate the circuit redundancy control microprocessor with other functional modules; the redundancy control microprocessor utilizes a plurality of relays to automatically start the standby function module, namely when a certain working function module fails, the relay is utilized to start and cut off the function module and access the replaced standby function module; the display circuit is used for displaying the health condition of other functional modules, for example, the display circuit adopts a simple LED lamp, a plurality of 8-segment LED screens, a high-end color screen and the like, and is used for displaying which functional module is online and the redundancy control of which functional module is activated (namely, the main module of which functional module is failed, the standby module is started, and the maintenance and the replacement are needed as soon as possible). The redundancy control microprocessor is also connected with a signal input interface circuit for receiving external input signals. Therefore, the signal input interface circuit can be used for manufacturing an input signal interface with a 5-gear 24VAC, if necessary, more 5-gear 24VAC input signal interface circuits or PWM input signal interface circuits, 0-10VDC input signal interface circuits and serial communication interface circuits can be additionally arranged, and the standby functions can be integrated in the redundancy control module. In fig. 7, there are N relays, JK1 and JK2 … … JKN, respectively, for the access and activation of the power supply module, the motor control module, the I/O module, and the standby function module. The N relays in fig. 7 correspond to JK1, JK2, JK3, JK4, JK5, JK6, JK7, JK8, JK9, JK10, JK11, JK12, and the like in fig. 6.
The production mode of the combined module is flexible and convenient, strong adaptability can shorten the research and development period, the production is rapid and convenient, the operation reliability is higher, when after-sales maintenance is carried out, a certain functional module is found to have a fault, the replacement can be conveniently carried out, the maintenance cost is reduced, and the maintenance is convenient and rapid.
Each functional module is provided with an independent metal or plastic shell and a first circuit board positioned in the shell, a connector extends out of the first circuit board so as to transmit power or control signals, and the heat dissipation device is arranged in or outside the shell.
The I/O modules are subdivided into a plurality of types according to their functions, including:
the multi-gear 24VAC input module receives a 24VAC gear signal sent by the client main control board and transmits the signal to the motor control module;
the PWM input module receives a PWM signal sent by the client main control board and transmits the signal to the motor control module;
the 0-10VDC input module receives the 0-10VDC signal sent by the client main control board and transmits the signal to the motor control module;
based on an RS485 serial port communication module, a motor control module is required to be provided with corresponding drive to be compatible with different communication protocols;
the Bluetooth wireless communication module enables a user to wirelessly communicate with the motor control module through a mobile phone App or a PC for configuration and diagnosis;
and the pulse output module is used for monitoring a certain parameter of the motor by the main control board of a client through outputting pulses.
The Ethernet LAN module supports common TCP/IP protocol, and can access the motor control module into building network control or remotely control and monitor the parameter state of the motor through Internet.
The human-machine interface HMI function module provides a single-color basic HMI and a high-grade high-definition color screen according to market division, so that a user can directly control the motor, control the rotating speed/torque/air volume of the motor in real time, or carry out configuration and diagnosis, and even can be used for laboratory test.
The coded disc switch module is connected with the motor control module through a connector, and a row of DipSwitch is provided for a user to change parameters of the motor in real time.
All the functional modules are fixed on a base, a second circuit board is arranged in the base, so that power or control signals are transmitted among the functional modules, or the functional modules are connected through flexible flat cables and then are dispersedly installed, and the flat cable wiring harness is used for transmitting the power or the control signals.
The number of the second functional modules is 2, and the 2 second functional modules respectively control the two motor bodies to form the motor controller of the indoor unit or the outdoor unit.
The standby function module is used for backing up the power supply module, the motor control module and the I/O module when one or more standby function modules are provided.
As shown in fig. 8 to 14, all the functional modules (including the first functional module, the second functional module, the third functional module, the fourth functional module and the fifth functional module) of the present invention are fixed on a base 100, the base 100 is designed as a purely mechanical mounting base, and a power bus socket 103a and a data bus socket 103b are added to the purely mechanical mounting base, so as to supply power or transmit control signals between the functional modules.
In fig. 8 to 14, each of the functional modules such as the power module, the motor control module, the I/O module, the redundancy control module, and the standby functional module has an independent metal or plastic casing 1b and a first circuit board 2b located inside the casing 1b, the first circuit board 2b is provided with a power plug port 3a, a bus communication plug port 3b, and a plurality of signal plug ports 3c (only one is shown in the drawings), but a plurality of signal plug ports 3c may be provided according to the requirements of the functional module, for example: when the motor control module is connected with a plurality of I/O modules, a plurality of signal plug-in ports 3c are needed, and the output end of the motor control module needs to be connected with a motor body and also needs one power supply plug-in port.
The power plug port 3a and the bus communication plug port 3b extend out of the housing 1b for a distance, so that the power plug port 3a and the bus communication plug port 3b are respectively connected with the power bus socket 103a and the data bus socket 103b of the base 100 in a plugging manner.
The base 100 comprises an upper shell 101, a lower shell 102 and a second circuit board 104, wherein the second circuit board 104 is installed in a cavity defined by the upper shell 101 and the lower shell 102, the second circuit board 104 is provided with a plurality of data buses and power buses, the second circuit board 104 extends out of a power bus socket 103a and a data bus socket 103b, the base 100 is provided with a plurality of rows of power bus sockets 103a and data bus sockets 103b, and each row is provided with 1 power bus socket 103a and 1 data bus socket 103 b.
The input end of the power module 7 is externally connected with the alternating current input of the commercial power, and the output end of the power module is matched with a power bus socket 103a on the base 100 through a power plug port 3a to enable a plurality of power buses to obtain direct current power, wherein the direct current bus voltage (for example 325VDC) of Vcc1 is used for supplying power to the motor body; there is Vcc2 low voltage DC bus voltage (e.g., +15V DC) to power the IGBT inverter components; there is a Vcc3 low voltage DC bus voltage (e.g., +5V DC) to power the motor control microprocessor; GND in the figure represents ground. The data bus and the power bus in fig. 6 are arranged in a second circuit board inside the base 100, which also arranges the functional circuitry for bus communication.
As shown in fig. 15, each of the first functional module, the third functional module, and the standby functional module may further include a network communication unit, each network communication unit includes a bus communication microprocessor, a communication bus access circuit, and a function detection circuit, the function detection circuit performs self-checking on the health status of its own module and transmits a signal to the bus communication microprocessor, and the bus communication microprocessor enters a data bus by using the communication bus access circuit and transmits data to the redundancy control microprocessor. As for the motor control module, a communication bus access circuit can be added to enable a microprocessor for controlling the motor to be accessed into a data bus and to transmit data with other functional modules.
As shown in fig. 12 and 13, the modules from left to right in the figure are a power module 7, a motor control module 8, a bluetooth wireless communication module 9 (which is an I/O module), and a PWM input module 10 (which is another I/O module) which form a combined motor control unit. Of course, other functional modules can be added according to the requirements of customers, such as: ethernet lan module, code wheel switch module, etc., will not be described in detail herein.
As shown in fig. 14, a redundant control module and a plurality of standby function modules are added to the motor control units shown in fig. 12 and 13, so as to ensure that the client system (such as the whole air conditioning system) can still work smoothly; the modules from left to right in the drawing are a power module 7, a motor control module 8, a bluetooth wireless communication module 9 (which is an I/O module), a PWM input module 10 (which is another I/O module), a redundancy control module 11, a first backup function module 12 (i.e., a standby power module), a second backup function module 13 (i.e., a standby motor control module), and a third backup function module 14 (i.e., a standby bluetooth wireless communication module), for example: once the bluetooth wireless communication module 9 fails, under the control of the redundancy control module 11, the third backup function module 14 (i.e. the backup bluetooth wireless communication module) is activated to replace, for example: when the motor control module 8 is damaged and fails, the second backup function module 13 (i.e. the standby motor control module) can be started immediately under the control of the redundant control module 11, so as to ensure the normal and reliable operation of the user end system. The display circuit of the redundant control module 11 is used to display which module is on-line and the redundant control of which module is activated, i.e. to indicate that the main module of that functional module has failed and that the spare module has been activated and needs to be repaired and replaced as soon as possible.
When the network communication unit is not available, the redundancy control module continuously sends an inquiry instruction to the motor control module to inquire whether parameters such as DC bus voltage, motor rotating speed, torque, air volume and the like are in a reasonable range.
As shown in fig. 16, it is a circuit block diagram of the power module of the present invention, and includes a surge protection circuit, a rectification filter circuit, a DC-DC voltage reduction circuit, and a network communication unit, where the network communication unit includes a bus communication microprocessor, a communication bus access circuit, and a function detection circuit, and the function detection circuit is used to perform self-check on the health status of its own module and transmit a signal to the bus communication microprocessor, the bus communication microprocessor uses the communication bus access circuit to enter a bus and transmit data to a redundancy control microprocessor, and the power module draws out a direct current: vcc1 (e.g., 325VDC), Vcc2 (e.g., 15VDC), Vcc3 (e.g., 5VDC), and ground GND, Vcc1 being a dc bus voltage to power the motor body. Vcc2 provides 15VDC to power IGBT inverter components, Vcc3 provides 5VDC to power a microprocessor controlled by the motor. The function detection circuit only detects whether the output voltage of the power supply is normal or not, and only a general voltage detection circuit is adopted.
As shown in fig. 17, it is a circuit diagram of a serial communication module based on RS485, in which a network communication unit is added to detect the self-state of the serial communication module, and the network communication unit is used to access a data bus to communicate with a redundancy control module or a motor control module;
as shown in fig. 18, it is a circuit diagram of the PWM input module, in which a network communication unit is added to detect the self-state of the serial communication module, and the network communication unit is used to access a data bus to communicate with the redundancy control module or the motor control module;
as shown in fig. 19, it is a circuit diagram of a 5-position 24VAC input module, in which a network communication unit is added to detect the self-state of a serial communication module, and the network communication unit is used to access a data bus to communicate with a redundant control module or a motor control module.
For the redundant control of a certain module, a user needs to add a plurality of the module and the redundant control module. Taking the redundant control of the motor control module as an example, a user needs to install the redundant control module and two motor control modules, wherein the one normally used for controlling the motor body is called the main motor control module, and the second electric control module is called the standby motor control module. The main motor control module and the standby motor control module are simultaneously connected to a DC bus of a power supply and a three-phase line of the motor body. Under normal conditions, only the main motor control module works, and the standby motor control module is disconnected from the power supply and the three-phase line of the motor body through the relay by the redundancy control module.
The redundancy control module is communicated with the main motor control module through the communication bus to frequently inquire the health state of the main motor control module, if at a certain moment, the redundancy control module finds that the main motor control module does not return a state code according to the communication protocol, the main motor control module can be identified as invalid after n times of continuous attempts, then a relay of the main motor control module is switched off, and a relay of a standby motor control module (namely a standby function module) is switched on, so that the motor body is kept to work continuously, meanwhile, the interface of a display circuit of the redundancy control module reflects the switching of the module, for example, different LED lamps are lightened, different numbers are displayed on 8 sections of LED screens, and characters or patterns and the like with prompting properties are displayed on the color LED screens.
Taking the redundant control of the power supply as an example, a user needs to install a redundant control module and two power supply modules, one is a main power supply module, and the other is a standby power supply module (i.e. a standby functional module). Both power modules are connected to an external power source (e.g., 460V 3 phase ac) simultaneously and to a downstream motor control module simultaneously. Normally, only the main power supply module is switched on by the relay controlled by the redundancy module, and the standby power supply is switched off by the relay of the redundancy controller.
The redundant control module communicates with the main control module and frequently queries the status of its DC bus (note: it is assumed here that the power module itself is provided with a network communication unit). The method is a method for the redundancy control module to judge which module works normally and which module is damaged; once the motor control module reports that the voltage of the DC bus exceeds the standard, after the continuous repeated inquiry for n times is consistent, the redundancy control module cuts off a relay of the main power supply module, switches the main power supply module into a standby power supply module and displays the standby power supply module on an interface.
For the logic of judging and switching the health states of the multi-gear input module, the PWM input module, the 0-10VDC input module and the serial communication module, only the redundant control of the 5-gear input module is listed here, and the redundant control of other types of input signals is similar to the control idea of the 5-gear, and thus the redundant control is not repeated. When the system is connected, a user connects a 5-gear 24VAC temperature controller signal to the 5-gear main input module and also simultaneously connects the 5-gear standby input module and the redundant control module. And when monitoring that the 24VAC gear signal is received, the redundancy control module inquires parameters such as the rotating speed, the torque, the air volume and the like of the motor. When the 24VAC gear signal is found to exist, but the motor is not started when the motor is supposed to be started, and when the same state is found in the continuous n times of inquiry, the 5-gear main input module is switched off, and the 5-gear standby input module is switched on.
A user can freely select to add one or more of the standby power supply module, the standby motor control module and the I/O module, and all supported modules are not necessarily required to be added. Here again the flexibility of the combined control module is embodied.
The combined motor control unit does not distinguish the indoor unit motor from the outdoor unit motor, and the motor bodies of the indoor unit and the outdoor unit can use the part number of the same functional module as long as the voltage and the power are suitable. The following description of the functional modules is applicable to the after market as well as to the OEM mass production needs.
The first functional module, namely the power module, the surge protection circuit, the rectifying and filtering circuit and the DC-DC voltage reduction circuit, receives commercial power and outputs corresponding direct current. According to different voltages and motor powers, power modules with different part numbers are provided, such as:
part number a 101: 120/230/277VAC three voltage/60 Hz/1Ph, covering motors 1/4HP and below;
part number a 102: 120/230/277VAC three voltage/60 Hz/1Ph, motors covering 1/3HP and 1/2 HP;
part number a 101: 120/230/277VAC three voltage/60 Hz/1Ph, motors covering 3/4HP and 1 HP;
part number a 104: 460VAC/60Hz/3Ph, motors covering 1.2HP to 2 HP;
part number a 105: 460VAC/60Hz/3Ph, motors covering 2.3HP to 3.5 HP;
part number a 105: 460VAC/60Hz/3Ph, encompassing a 5HP motor;
……
part number a 10N: 575VAC/60Hz3Ph, covering 5HP motors;
for the power part numbers, a customer can flexibly select and match, and a 1HP power module can simultaneously supply power to two 1/2HP motor bodies.
A second functional module: the motor control module controls a motor body of a motor, comprises a microprocessor MCU + IGBT inversion assembly (inversion circuit assembly) + a heat dissipation device, receives a VDC direct current power supply and a control signal, and outputs a UVW three-phase (or multi-phase) power supply to the motor body, so that the control of the rotating speed, the torque or the air volume is realized. If the Hall element is required to detect the rotor position signal, the motor control module also needs a Hall signal input port.
The motor control module is also provided with a port for updating the driving program, which is used for ensuring compatibility with different input and output modules, correcting defects of the driving program, adding functions in the future and the like. And a port for connection to a PC for programmatically configuring the parameters of the motor. Similarly, the part number of this functional module may be such that:
part number B101: motor body suitable for DM2 motor of 1/4HP and below
Part number B102: motor body suitable for DM3 motor of 1/4HP and below
Part number B103: motor body suitable for 1/3HP and 1/2HP DM2 motors
Part number B104: motor body suitable for 1/3HP and 1/2HP DM3 motors
……
Part number B120: motor body suitable for 5HP DM2 motor
Part number B131: motor body suitable for 5HP DM3 motor
The multi-gear 24VAC input module in the third functional module can be split into a plurality of modules, and a plurality of module parts are formed according to the gear number and the gear voltage. Of course, in either case, the motor control module will have a corresponding drive to support it.
Based on the RS485 serial port communication module, the motor control module is required to be provided with a corresponding driver to be compatible with different communication protocols such as Modbus and ClimateTalk.
The I/O module can be provided with a special communication module and a communication module of a system control unit of the client.
The I/O module is subdivided into a plurality of types according to different functions, and comprises the following steps:
the multi-gear 24VAC input module receives a 24VAC gear signal sent by the client main control board and transmits the signal to the motor control module, and the part number of the multi-gear 24VAC input module is C101;
the PWM input module receives a PWM signal sent by the client main control board and transmits the signal to the motor control module, and the part number of the PWM input module is C102;
the 0-10VDC input module receives a 0-10VDC signal sent by the client main control board and transmits the signal to the motor control module, and the part number of the motor control module is C103;
based on the serial port communication module of RS485, the motor control module is required to have corresponding drive to be compatible with different communication protocols, and the part number of the motor control module is C104;
the Bluetooth wireless communication module enables a user to wirelessly communicate with the motor control module through a mobile phone App or a PC for configuration and diagnosis, and the part number of the Bluetooth wireless communication module is C105;
and the pulse output module is used for monitoring a certain parameter of the motor by a main control board of a customer through outputting pulses, and the part number of the pulse output module is C106.
The Ethernet LAN module supports common TCP/IP protocol, can insert the motor control module into building network control, or monitor the parameter state of the motor through the internet remote control, the Ethernet LAN module establishes connection communication with the microprocessor in the motor control module, and the part number is C107.
The human-computer interface HMI function module provides a single-color basic HMI and a high-grade high-definition color screen according to market division, so that a user can directly control the motor, control the rotating speed/torque/air volume of the motor in real time, or carry out configuration and diagnosis, even can be used for laboratory tests, the human-computer interface HMI function module establishes connection communication with the motor control module, and the part number is C108.
The code wheel switch module is connected with the motor control module through a connector, a row of DipSwitch is provided for a user to change parameters of the motor in real time, the code wheel switch module is connected and communicated with the motor control module, and the part number of the code wheel switch module is C109.
Through the above functional modules, the user can flexibly select according to the needs of the user, and a few examples are given here:
example one: user a, a commercial air conditioner, needs to control one 3HP indoor unit motor and two 1/3HP outdoor unit motors at the same time, each motor being a 5-step control signal. The solution is as follows:
one power supply module is enough to supply power for three motors, (two or three small power supply modules can be selected), and a power supply module with a specific part number is selected;
a 3HP motor control module for selecting a corresponding motor control module with a specific part number;
the two 1/3HP motor control modules select two corresponding motor control modules with specific part numbers;
the three 5-gear input modules select the corresponding multi-gear input module with a specific part number;
the module assembling and production can be carried out by selecting different modules, research and development and design are not needed in the early stage, the production period is short, the research and development cost is saved, and after-sale maintenance is convenient.
Example two: user B, a home air conditioner, needs to control an 1/2HP indoor unit motor and a 1/4HP outdoor unit motor at the same time, the indoor unit motor needs to provide 0-10VDC +10 steps, and the outdoor unit needs to provide 3 steps. The motor of the indoor unit is required to output a pulse signal to the system main control board to realize the function of adjusting the rotating speed of the motor in real time. The solution is as follows:
one power module is enough to supply power for two motors
1/2HP motor control module
1/4HP motor control module
Two 5-gear input module
0-10VDC input module
Pulse output module
Example three: user C, a commercial air conditioner, needs to control one 5HP indoor unit motor and two 1/3HP outdoor unit motors at the same time. The air conditioner has higher requirements on the normal work of the air conditioner, and the normal work of the air conditioner is better to be ensured by spending more money. Through analysis, the local power grid quality is not good, and in thunderstorm weather, the motor power supply and the IGBT are burnt in the past. The solution is as follows:
one main power supply module is enough to supply power for three motors
One same standby power supply module
5HP main motor control module
Control module of 5HP standby motor
Two 1/3HP Main Motor control Module
Two 1/3HP standby motor control modules
Three 5-gear input module
A redundant control module
By mounting the above functional modules on one base 100 in combination, each functional module performs power supply connection and data transmission through the data bus and the power bus on the second circuit board of the base 100, thereby forming an integral motor control unit.
It can be seen from the above cases that the traditional motor controller is split into various functional modules, so that users can flexibly select different parts according to own needs, the cost is reduced for OEM users, and which module is damaged and replaced, and the cost is saved for the after-sales market. Moreover, the functional modules can be arranged on one base and can be arranged at different positions in a scattered way, and convenience in installation is also provided for customers.
Example two:
as shown in fig. 5 and 16, a method of combining a motor control unit with redundant control, which subdivides a motor controller into a plurality of functional modules according to functions, includes:
a first functional module: the power supply module is connected with commercial power, outputs corresponding direct current to supply power for other modules, and forms a plurality of power supply modules with different specifications according to different voltage and motor power requirements;
a second functional module: the motor control module controls a motor body, comprises a microprocessor, an IGBT inversion assembly and a heat dissipation device, receives VDC direct current power supply and control signals input from the outside, outputs power to the motor body and realizes the control of rotating speed, torque or air volume; forming a plurality of motor control modules with different specifications according to the motor power;
a third functional module: i.e. an I/O module, for performing signal transmission between the client main control board or the peripheral device and the motor control module; at least one third functional module is configured, and a plurality of types of third functional modules can be combined according to communication requirements to realize signal transmission between the client main control board or the peripheral equipment and the motor control module;
a fourth functional module: namely a redundancy control module, the main function of which is to automatically start a standby function module when the first function module, the second function module or the third function module fails, thereby ensuring that the client system can still work smoothly;
a fifth functional module: namely a spare function module, a module having the same function as the first function module or the second function module or the third function module, and one or more spare function modules configured to meet customer requirements
The method is characterized in that: and selecting a power supply module, a motor control module, one or more I/O modules, a redundancy control module and a standby function module which are matched with the power supply module, the motor control module, the one or more I/O modules, the redundancy control module and the standby function module according to the specific parameter requirements of the controlled motor to be combined and connected together to form a matched motor control unit.
The I/O modules are subdivided into a plurality of types according to different functions:
the multi-gear 24VAC input module receives a 24VAC gear signal sent by the client main control board and transmits the signal to the motor control module;
the PWM input module receives a PWM signal sent by the client main control board and transmits the signal to the motor control module;
the 0-10VDC input module receives the 0-10VDC signal sent by the client main control board and transmits the signal to the motor control module;
based on an RS485 serial port communication module, a motor control module is required to be provided with corresponding drive to be compatible with different communication protocols;
the Bluetooth wireless communication module enables a user to wirelessly communicate with the motor control module through a mobile phone App or a PC for configuration and diagnosis;
the pulse output module is used for monitoring a certain parameter of the motor by a main control board of a client through outputting a pulse;
the Ethernet local area network module supports common TCP/IP protocol, and can access the motor control module into building network control, or remotely control or monitor the parameter state of the motor through the Internet;
the human-machine interface HMI functional module provides a single-color basic HMI and a high-grade high-definition color screen according to market division, so that a user can directly control the motor, control the rotating speed/torque/air volume of the motor in real time, or carry out configuration and diagnosis, and even can be used for laboratory test;
the coded disc switch module is connected with the motor control module through a connector, and a row of DipSwitch is provided for a user to change parameters of the motor in real time.
Most of the functional modules have independent metal or plastic shells and first circuit boards or electrical components located in the shells, all the functional modules are fixed on a base 100, and power or control signals are transmitted between the functional modules by using second circuit boards 104 on the base 100.
The second circuit board 104 is provided with a power bus socket 103a and a data bus socket 103b, so that each functional module can be conveniently plugged and installed.
The above embodiments are only preferred embodiments of the present invention, but the present invention is not limited thereto, and any other changes, modifications, substitutions, combinations, simplifications, which are made without departing from the spirit and principle of the present invention, are all equivalent replacements within the protection scope of the present invention.
Claims (12)
1. A motor control unit with redundant control, its characterized in that: the method comprises the following steps:
a first functional module: the power module is connected with commercial power and outputs a corresponding VDC direct current power supply to supply power for other modules;
a second functional module: the motor control module controls a motor body, comprises a motor control microprocessor, an IGBT inversion assembly and a heat dissipation device, receives power supply of a VDC direct current power supply and control signals input from the outside, outputs the power supply to the motor body, and realizes control of rotating speed, torque or air volume;
a third functional module: i.e. an I/O module, for performing signal transmission between the client main control board or the peripheral device and the motor control module; at least one third functional module is configured, and a plurality of types of third functional modules can be combined according to communication requirements to realize signal transmission between the client main control board or the peripheral equipment and the motor control module;
a fourth functional module: namely a redundancy control module, the main function of which is to automatically start a standby function module when the first function module, the second function module or the third function module fails, thereby ensuring that the client system can still work smoothly;
a fifth functional module: the standby function module is a module with the same function as the first function module, the second function module or the third function module, and one or more standby function modules are configured to meet the requirements of customers;
the functional modules are combined and installed to form the motor control unit.
2. A motor control unit with redundant control according to claim 1, wherein: the redundancy control module comprises a redundancy control microprocessor, a plurality of relays, a display circuit and a bus communication access circuit, and the circuit redundancy control microprocessor is connected with other functional modules for communication by utilizing bus communication; the redundancy control microprocessor utilizes a plurality of relays to automatically start the standby functional module; the display circuit is used for displaying the health condition of other functional modules.
3. A motor control unit with redundant control according to claim 2, wherein: the first functional module, the third functional module and the standby functional module can be added with network communication units, each network communication unit comprises a bus communication microprocessor, a communication bus access circuit and a function detection circuit, the function detection circuit is used for self-checking the health condition of the self module and transmitting a signal to the bus communication microprocessor, and the bus communication microprocessor enters a data bus by using the communication bus access circuit and transmits data to the redundancy control microprocessor.
4. A motor control unit with redundant control according to claim 1, 2 or 3, characterized in that: each functional module is provided with an independent metal or plastic shell and a first circuit board positioned in the shell, a connector extends out of the first circuit board so as to transmit power or control signals, and the heat dissipation device is arranged in or outside the shell.
5. The motor control unit with redundant control of claim 4, wherein: the I/O modules are subdivided into a plurality of types according to different functions, and the types comprise at least one of the following types:
the multi-gear 24VAC input module receives a 24VAC gear signal sent by the client main control board and transmits the signal to the motor control module;
the PWM input module receives a PWM signal sent by the client main control board and transmits the signal to the motor control module;
the 0-10VDC input module receives the 0-10VDC signal sent by the client main control board and transmits the signal to the motor control module;
based on an RS485 serial port communication module, a motor control module is required to be provided with corresponding drive to be compatible with different communication protocols;
the Bluetooth wireless communication module enables a user to wirelessly communicate with the motor control module through a mobile phone App or a PC for configuration and diagnosis;
and the pulse output module is used for monitoring a certain parameter of the motor by the main control board of a client through outputting pulses.
The Ethernet LAN module supports common TCP/IP protocol, and can access the motor control module into building network control or remotely control and monitor the parameter state of the motor through Internet.
The human-machine interface HMI function module provides a single-color basic HMI and a high-grade high-definition color screen according to market division, so that a user can directly control the motor, control the rotating speed/torque/air volume of the motor in real time, or carry out configuration and diagnosis, and even can be used for laboratory test.
The coded disc switch module is connected with the motor control module through a connector, and a row of DipSwitch is provided for a user to change parameters of the motor in real time.
6. The motor control unit with redundant control of claim 4, wherein: all the functional modules are fixed on a base, and a second circuit board is arranged in the base, so that power or control signals are transmitted among the functional modules, or the functional modules are connected through flexible flat cables and then are dispersedly installed.
7. A motor control unit with redundant control according to claim 1, 2 or 3, characterized in that: the number of the second functional modules is 2, and the 2 second functional modules respectively control the two motor bodies to form a motor controller of an indoor unit or an outdoor unit.
8. A motor control unit with redundant control according to claim 1, 2 or 3, characterized in that: the standby function module is used for backing up the power supply module, the motor control module and the I/O module when one or more standby function modules are provided.
9. A method of combining a motor control unit with redundant control, the motor controller being subdivided into a plurality of functional modules by function, the functions comprising:
a first functional module: the power supply module is connected with commercial power, outputs corresponding direct current to supply power for other modules, and forms a plurality of power supply modules with different specifications according to different voltage and motor power requirements;
a second functional module: the motor control module controls a motor body, comprises a microprocessor, an IGBT inversion assembly and a heat dissipation device, receives VDC direct current power supply and control signals input from the outside, outputs power to the motor body and realizes the control of rotating speed, torque or air volume; forming a plurality of motor control modules with different specifications according to the motor power;
a third functional module: i.e. an I/O module, for performing signal transmission between the client main control board or the peripheral device and the motor control module; at least one third functional module is configured, and a plurality of types of third functional modules can be combined according to communication requirements to realize signal transmission between the client main control board or the peripheral equipment and the motor control module;
a fourth functional module: namely a redundancy control module, the main function of which is to automatically start a standby function module when the first function module, the second function module or the third function module fails, thereby ensuring that the client system can still work smoothly;
a fifth functional module: namely a spare function module, a module having the same function as the first function module or the second function module or the third function module, and one or more spare function modules configured to meet customer requirements
The method is characterized in that: and selecting a power supply module, a motor control module, one or more I/O modules, a redundancy control module and a standby function module which are matched with the power supply module, the motor control module, the one or more I/O modules, the redundancy control module and the standby function module according to the specific parameter requirements of the controlled motor to be combined and connected together to form a matched motor control unit.
10. A method of combining a motor control unit with redundant control according to claim 9, wherein: the I/O module is subdivided into a plurality of types according to different functions:
the multi-gear 24VAC input module receives a 24VAC gear signal sent by the client main control board and transmits the signal to the motor control module;
the PWM input module receives a PWM signal sent by the client main control board and transmits the signal to the motor control module;
the 0-10VDC input module receives the 0-10VDC signal sent by the client main control board and transmits the signal to the motor control module;
based on an RS485 serial port communication module, a motor control module is required to be provided with corresponding drive to be compatible with different communication protocols;
the Bluetooth wireless communication module enables a user to wirelessly communicate with the motor control module through a mobile phone App or a PC for configuration and diagnosis;
the pulse output module is used for monitoring a certain parameter of the motor by a main control board of a client through outputting a pulse;
the Ethernet local area network module supports common TCP/IP protocol, and can access the motor control module into building network control, or remotely control or monitor the parameter state of the motor through the Internet;
the human-machine interface HMI functional module provides a single-color basic HMI and a high-grade high-definition color screen according to market division, so that a user can directly control the motor, control the rotating speed/torque/air volume of the motor in real time, or carry out configuration and diagnosis, and even can be used for laboratory test;
the coded disc switch module is connected with the motor control module through a connector, and a row of DipSwitch is provided for a user to change parameters of the motor in real time.
11. A method of combining a motor control unit with redundant control according to claim 9 or 10, characterized in that: the most functional modules are provided with independent metal or plastic shells and first circuit boards or electrical components positioned in the shells, all the functional modules are fixed on a base, a second circuit board on the base is utilized to transmit power or control signals between the functional modules, or the functional modules are connected through flexible flat cables and then are dispersedly installed, and flat cable harnesses are utilized to transmit power or control signals.
12. A method of combining a motor control unit with redundant control according to claim 11, wherein: the second circuit board is provided with a direct-current power supply interface and a bus communication interface, and therefore the functional modules can be conveniently plugged and installed.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010791463.XA CN114070172A (en) | 2020-08-07 | 2020-08-07 | Motor control unit with redundancy control and combination method thereof |
| CA3164562A CA3164562A1 (en) | 2020-08-07 | 2020-09-17 | Electric motor control unit having redundant control and assembly method therefor |
| PCT/CN2020/115752 WO2022027795A1 (en) | 2020-08-07 | 2020-09-17 | Electric motor control unit having redundant control and assembly method therefor |
| MX2022008941A MX2022008941A (en) | 2020-08-07 | 2020-09-17 | Electric motor control unit having redundant control and assembly method therefor. |
| US17/517,658 US11843337B2 (en) | 2020-08-07 | 2021-11-02 | Combined motor controller and combination method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010791463.XA CN114070172A (en) | 2020-08-07 | 2020-08-07 | Motor control unit with redundancy control and combination method thereof |
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| CN114070172A true CN114070172A (en) | 2022-02-18 |
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| CN202010791463.XA Pending CN114070172A (en) | 2020-08-07 | 2020-08-07 | Motor control unit with redundancy control and combination method thereof |
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