CN115327891A - Motor drive control system based on sensing and calculating integration - Google Patents
Motor drive control system based on sensing and calculating integration Download PDFInfo
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Abstract
The invention discloses a motor drive control system based on sensing and calculation integration, which comprises a sensing and calculation integration unit, a motor controller and a register unit; inputting the motor state quantity of the motor equipment into the sensing and calculating integrated unit as a feedback loop of driving control; the sensing and calculating integrated unit completes processing and calculation of feedback data and outputs the following signals: (1) The hardware interrupt signal is used as an asynchronous notification signal of the user interface and transmitted to the user application interface; (2) The control quantity signal is input into the motor controller to control the running state of the motor equipment; (3) inputting a motor state signal into the register unit; the register unit is respectively connected with the sensing and calculating integrated unit, the motor controller and the user application interface. The invention uses the sensing and calculating integrated unit to replace the prior sensor, sensor processing unit, motor control unit and interconnection signals among all units, can reduce hardware cost, and is beneficial to power consumption control and design simplification.
Description
Technical Field
The invention belongs to the technical field of motor drive control, and particularly relates to a motor drive control system based on sensing and calculation integration.
Background
Along with the popularization of intellectualization in recent years, higher requirements are put forward on the response time and controller precision of a servo controller and a motor driver in application scenes such as robot control, a servo system, motor drive, an unmanned aerial vehicle, intelligent ammunition and the like. The time scale of the servo controller and the motor driver from the input signal to the output motor driving signal at the present stage is in millisecond level, and the control precision has great promotion space due to the relationship of a closed loop control link. The closed-loop control link needs to pass through module units such as a sensor, a sensor processing unit, a motor control unit and a motor, the number of path units passed by the closed-loop signal is large, and time additional overhead is brought by information interaction among the module units.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a motor drive control system based on sensing and calculation integration, which uses a sensing and calculation integration unit to replace the prior sensor, a sensor processing unit, a motor control unit and interconnection signals among the units, can reduce the hardware cost, and is beneficial to power consumption control and design simplification.
The purpose of the invention is realized by the following technical scheme: a motor drive control system based on sensing and calculation integration comprises a sensing and calculation integration unit, a motor controller and a register unit;
inputting the motor state quantity of the motor equipment into the sensing and calculating integrated unit as a feedback loop of driving control; meanwhile, the motor controller collects rotor signals of the motor equipment and transmits the rotor signals to the sensing and calculating integrated unit;
the sensing and calculating integrated unit completes processing and calculation of feedback data and outputs the following signals: (1) The hardware interrupt signal is used as an asynchronous notification signal of the user interface and is transmitted to the user application interface; (2) The control quantity signal is input into the motor controller to control the running state of the motor equipment; (3) inputting a motor state signal into the register unit;
the register unit is respectively connected with the sensing and calculation integrated unit, the motor controller and the user application interface, and the state signals of the sensing and calculation integrated unit and the motor controller are mapped into the register unit and transmitted to the user application interface through the register unit; the parameters set by the user application interface and the unit configuration are sent to the sensing and calculating integrated unit through the register unit.
Further, the sensing and calculation integrated unit comprises a sensor data preprocessing unit, a digital quantity processing stream, an analog quantity processing stream, an algorithm circuit, an AD conversion unit and a DA conversion unit;
the sensor data preprocessing unit is responsible for converting sensor data representing the state quantity of the motor into a uniform electric signal and carrying out normalization processing; the normalized signal comprises normalized digital quantity and normalized analog quantity, and the normalized digital quantity and the normalized analog quantity are respectively input into a digital quantity processing stream and an analog quantity processing stream for subsequent processing;
the digital quantity processing flow receives the digital quantity threshold value and the configuration signal output by the register unit, processes the input signal and outputs four paths of signals: normalizing the digital quantity and inputting the digital quantity into an algorithm circuit; (2) controlling quantity signals are input into the motor controller; (3) Hardware interrupt signal, input user application interface, (4) status signal, input register unit;
the analog processing flow receives the analog threshold value and the configuration signal output by the register unit, processes the input signal and outputs four paths of signals: (1) The normalized analog quantity is converted into a normalized digital quantity through the AD conversion unit and then is input into the algorithm circuit; (2) a control quantity signal is input into the motor controller; (3) a hardware interrupt signal is input into the user application interface; (4) inputting a status signal into the register unit;
the algorithm circuit receives the algorithm configuration and the algorithm parameters output by the register unit, processes the received signals and outputs two paths of signals: (1) a control quantity signal is input into a motor controller; (2) inputting a status signal into the register unit; meanwhile, the algorithm circuit can also acquire rotor state data uploaded by the motor controller.
Furthermore, the sensor data preprocessing unit comprises a filter circuit, a sampling circuit, a temperature-sensitive resistance sampling circuit, a gyroscope, a linear voltage division or amplification circuit, a pulse shaping amplitude discrimination circuit I, a pulse counter I, a pulse mirror image counter and a unit time stamp generator, an angle encoder, a pulse shaping amplitude discrimination circuit II, a pulse counter II and a multiplier, wherein the sampling circuit, the temperature-sensitive resistance sampling circuit, the gyroscope, the linear voltage division or amplification circuit are respectively connected with the filter circuit;
the sampling circuit collects current data of the motor, the temperature-sensitive resistor sampling circuit collects temperature data, the gyroscope collects attitude data of the motor, voltage, current, temperature and attitude are input into the filter circuit to be filtered to obtain voltage analog quantity, current analog quantity, temperature analog quantity and attitude analog quantity, the four analog quantities are input into the linear voltage division or amplification circuit, and the linear voltage division or amplification circuit is combined with an analog quantity normalization coefficient output by the register unit to realize normalization processing through the linear voltage division or amplification circuit;
inputting the rotating speed data of the motor into a pulse shaping amplitude discrimination circuit I for pulse shaping and pulse amplitude discrimination, then inputting a pulse counter I, outputting a distance digital quantity signal by the pulse counter I, and respectively inputting the distance digital quantity signal into a pulse mirror image counter and a multiplier; the pulse mirror image counter is used for measuring and calculating the speed, and can automatically clear the pulse mirror image counter after the set unit time is timed to expire, and the pulse mirror image counter can count once correspondingly every time the pulse counter counts one time; the unit time generator periodically sends out zero clearing pulses to the pulse mirror image counter according to set time for periodic zero clearing operation; the number of revolutions output by the pulse mirror image counter is input into a multiplier;
collecting motor angle data through an angle encoder, inputting the motor angle data into a pulse shaping amplitude discrimination circuit II and a pulse counter II to obtain angle digital quantity, and inputting the angle digital quantity into a multiplier;
the multiplier receives the digital quantity normalization coefficient output by the register unit, and the normalization digital quantity is obtained after calculation through the hardware floating-point multiplier.
Further, the digital quantity processing flow and the analog quantity processing flow realize the comparison and calculation of different types of sensor signals and set thresholds and output control quantity with high priority and hardware interrupt signals; the analog quantity processing flow does not perform analog-to-digital conversion and digital processing on the electric signal converted by the sensor, and directly processes the analog signal in an analog quantity comparison mode, wherein the analog quantity comparison is realized by an analog quantity comparator, and the digital quantity comparison is realized by a digital quantity comparator;
setting a comparison threshold value through a setting register;
sending the set comparison threshold value to a DA conversion unit for conversion, outputting a comparison analog quantity threshold value, naming the analog quantity threshold value as B, naming the normalized analog quantity as A, inputting A and B into an analog quantity comparator, outputting a comparison result after comparison by the comparator, wherein the comparison result is a digital quantity 0/1 level, outputting 1 if A is greater than or equal to B, and outputting 0 if A is less than B;
the set comparison threshold and the input digital quantity of the normalization digital quantity are respectively named as B and A, the input digital quantity and the normalization digital quantity are respectively input into a digital quantity comparator, the comparison result is the level of 0/1 of the digital quantity, if A is greater than or equal to B, 1 is output, otherwise, 0 is output;
the comparison result is used for generating a state signal and a control quantity signal; the output signal of the comparator is input into the inverter to generate a hardware interrupt signal.
Furthermore, the algorithm circuit comprises a PID algorithm module and a rotor stalling detection module, the PID algorithm module calculates a control quantity according to an input normalized digital quantity, unit configuration output by the register unit and a closed-loop control target, and the unit configuration comprises a PID coefficient and stalling timeout time; the rotor stalling detection module judges whether the rotor is in a normal state according to the rotor real-time information and the unit configuration: and if the rotor is still in a stop state beyond the set timeout time, outputting a state signal of stall fault, otherwise, if the rotor is in a normal state, outputting a state signal of normal operation.
The invention has the beneficial effects that: by realizing the sensing and calculating integrated unit, the system or the module which specifically applies the method is more easily miniaturized; hardware cost can be reduced by using a sensing and calculation integrated unit to replace the traditional sensor, a sensor processing unit, a motor control unit and interconnection signals among all units in design; the sensing and calculating integrated unit integrates a plurality of unit modules and interconnection signals into one unit for realization, the sensor data acquisition, namely the calculation characteristics conform to the idea of chip-level design or system-level packaging, and single-chip integration or system-level packaging is favorable for power consumption control and design simplification; the design comprises a sensing and calculating integrated unit, a closed-loop control link in a motor control system is simplified in the design, and the complexity of the system and the distortion and noise influence of information in the signal transmission process can be reduced, so that the control precision is improved; designing a hardware computing circuit, wherein all time-consuming mathematical calculations run in the hardware computing circuit, thereby reducing the overhead of the time-consuming mathematical calculations on system computing resources, and the hardware circuit has the characteristics of high computing speed and no occupation of processor or controller resources, thereby improving the system response time; when a hardware computing circuit is designed, a configurable register is designed for the selection of computing parameter injection and interruption modes of the hardware circuit so as to simplify the design complexity of a user; the sensing module is used for collecting external electric signals, diagnosing whether the motor has faults or not and which physical quantity causes a fault point, and triggering a response protection mechanism if a certain preset physical quantity is detected to be out of limit.
Drawings
FIG. 1 is a block diagram of a sensory-based unified motor drive control system according to the present invention;
FIG. 2 is a diagram of a sensory-computational integrated unit according to the present invention;
FIG. 3 is a block diagram of a sensor preprocessing unit of the sensing module of the present invention;
FIG. 4 is a diagram of the internal structure of the digital and analog processing flow of the present invention;
FIG. 5 is a diagram of the computing circuit of the present invention.
Detailed Description
The invention provides a motor and steering engine drive control method applied to application scenes of robot control, a servo system, motor drive, an unmanned aerial vehicle, intelligent ammunition and the like. The selection of the injection and interruption modes of the calculation parameters in the design is controlled by a user through reading and writing the register. The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1, the motor drive control system based on sensory-computational integration of the present invention includes a sensory-computational integration unit, a motor controller, and a register unit; and the motor equipment is driven and controlled by matching with each other.
Inputting the motor state quantity of the motor equipment as a feedback loop of drive control into a sensing and calculating integrated unit to enable the whole control link to form closed-loop control; meanwhile, the motor controller collects rotor signals of the motor equipment and transmits the rotor signals to the sensing and calculating integrated unit;
the sensing and calculating integrated unit completes processing and calculation of feedback data and outputs the following signals: (1) The hardware interrupt signal is used as an asynchronous notification signal of the user interface and transmitted to the user application interface, and the signal has the fastest speed and the highest priority; (2) The control quantity signal is input into the motor controller to control the running state of the motor equipment; (3) inputting a motor state signal into the register unit;
the register unit is respectively connected with the sensing and calculation integrated unit, the motor controller and the user application interface, and the state signals of the sensing and calculation integrated unit and the motor controller are mapped into the register unit and transmitted to the user application interface through the register unit; the parameters and unit configuration set by the user application interface are sent to the sensing and calculating integrated unit through the register unit, so that a user can control the motor in real time and know the running states of the motor and the system.
The user control and status acquisition interface and the hardware interrupt signal in the figure can be connected to a user application interface such as a processor, a controller, a parallel interface or an IO interrupt in a specific design application.
The core design of the invention is a sensory-computational integrated unit. The sensing and calculating integrated unit consists of two modules: the sensing module and the calculating module; the sensing module can complete the basic sensor data preprocessing function, analog quantity and digital quantity comparison calculation and output normalized digital quantity, and generates a hardware interrupt signal according to a set threshold value and a set interrupt mode; and the calculation module completes calculation and signal output of the digital quantity quantized by the sensing module through a hardware algorithm. The sensing module and the calculating module are only divided into functions in the method, and in specific design, the sensing module and the calculating module are mutually crossed and integrated; for example: analog quantity processing flow bears comparison and calculation of analog signals, and sensor data preprocessing bears normalization calculation of digital quantity and analog quantity, so that calculation functions are distributed in a sensing module; the calculation module is mainly referred to as an arithmetic circuit and a comparator, which are present in the digital quantity processing stream and the analog quantity processing stream. The integrated sensing unit structure is shown in fig. 2.
The sensing and calculating integrated unit comprises a sensor data preprocessing unit, a digital quantity processing stream, an analog quantity processing stream, an algorithm circuit, an AD conversion unit and a DA conversion unit;
the sensor data preprocessing unit is responsible for converting sensor data representing the state quantity of the motor into a uniform electric signal and carrying out normalization processing; the sensor data includes information such as current, voltage, temperature, rotational speed, angle, attitude, and the like. The structure of the sensor data preprocessing unit is shown in fig. 3, and the sensor data preprocessing unit comprises a filter circuit, a sampling circuit, a temperature-sensitive resistor sampling circuit, a gyroscope, a linear voltage division or amplification circuit, a first pulse shaping amplitude discrimination circuit, a first pulse counter, a pulse mirror image counter, a unit timestamp generator, an angle encoder, a second pulse shaping amplitude discrimination circuit, a second pulse counter and a multiplier, wherein the sampling circuit, the temperature-sensitive resistor sampling circuit, the gyroscope, the linear voltage division or amplification circuit are respectively connected with the filter circuit;
the sampling circuit collects current data of the motor, the temperature-sensitive resistor sampling circuit collects temperature data, the gyroscope collects attitude data of the motor, voltage, current, temperature and attitude are input into the filter circuit to be filtered to obtain voltage analog quantity, current analog quantity, temperature analog quantity and attitude analog quantity, the four analog quantities are input into the linear voltage division or amplification circuit, and the linear voltage division or amplification circuit is combined with an analog quantity normalization coefficient output by the register unit to realize normalization processing through the linear voltage division or amplification circuit;
inputting the rotating speed data of the motor into a pulse shaping amplitude discrimination circuit I for pulse shaping and pulse amplitude discrimination, then inputting a pulse counter I, outputting a distance digital quantity signal by the pulse counter I, and respectively inputting the distance digital quantity signal into a pulse mirror image counter and a multiplier; the pulse mirror image counter is used for measuring and calculating the speed, and can automatically clear the pulse mirror image counter after the set unit time is timed to expire, and the pulse mirror image counter can count once correspondingly every time the pulse counter counts one time; the unit time generator periodically sends out zero clearing pulses to the pulse mirror image counter according to set time for periodically clearing operation; the number of revolutions output by the pulse mirror image counter is input into a multiplier;
collecting motor angle data through an angle encoder, inputting the motor angle data into a pulse shaping amplitude discrimination circuit II and a pulse counter II to obtain an angle digital quantity, and inputting the angle digital quantity into a multiplier;
the multiplier receives the digital quantity normalization coefficient output by the register unit, and the normalization digital quantity is obtained after calculation through the hardware floating-point multiplier.
Different physical quantities are converted by a sampling circuit, a special integrated circuit chip or a specially designed pulse counter, current, voltage and pulse signals are formed after conversion, and burrs and noise interference are filtered by a resistance-capacitance filter circuit. For continuous physical quantity acquisition signals, normalization processing is generally realized through a linear voltage division or amplification circuit; and for the pulse type physical quantity acquisition signal, a Schmitt trigger is adopted for pulse shaping and pulse amplitude discrimination. The digitization of the acquired signals is realized by a pulse counter, and the digitized variables are calculated by a hardware floating-point multiplier to obtain normalized digital quantities. The normalization coefficients of the linear voltage division or amplification circuit and the hardware floating-point multiplier are obtained through a register unit, and a user sets a normalization coefficient register of each physical quantity in the system initialization stage. The pulse counter is used for counting the number of pulses, automatically increasing the number of the pulses and decreasing the number of the pulses according to the condition of the input pulses, the width of the counter is 32 bits with symbols, and the counter automatically returns to zero after the counting overflows. The pulse counting mirror image counter is used for measuring and calculating speed, the pulse counting mirror image counter can be automatically cleared after the set unit time is counted, the pulse counting mirror image counter can correspondingly count once every time the pulse counting mirror image counter counts for one time, and compared with the pulse counting mirror image counter, the pulse counting mirror image counter cannot be periodically cleared. The unit time generator periodically sends out zero clearing pulses to the pulse mirror image counter according to the set time for periodic zero clearing operation, the unit time is set by a user configuration register in the initialization stage as with the normalization coefficient, and the unit time generator obtains the set time from the register.
The normalized signal comprises normalized digital quantity and normalized analog quantity, and the normalized digital quantity and the normalized analog quantity are respectively input into a digital quantity processing flow and an analog quantity processing flow for subsequent processing;
the digital quantity processing flow receives the digital quantity threshold value and the configuration signal output by the register unit, processes the input signal and outputs four paths of signals: normalizing the digital quantity and inputting the digital quantity into an algorithm circuit; (2) controlling quantity signals are input into the motor controller; (3) Hardware interrupt signal, input user application interface, (4) status signal, input register unit;
the analog processing flow receives the analog threshold value and the configuration signal output by the register unit, processes the input signal and outputs four paths of signals: (1) The normalized analog quantity is converted into a normalized digital quantity through the AD conversion unit and then is input into the algorithm circuit; (2) a control quantity signal is input into the motor controller; (3) a hardware interrupt signal is input into the user application interface; (4) status signals, input to the register unit;
the digital quantity processing flow and the analog quantity processing flow realize the comparison and calculation of different types of sensor signals and set thresholds and output high-priority control quantity and hardware interrupt signals; the analog quantity processing flow does not perform analog-to-digital conversion and digital processing on the electric signal converted by the sensor, and directly processes the analog signal in an analog quantity comparison mode, wherein the analog quantity comparison is realized by an analog quantity comparator, and the digital quantity comparison is realized by a digital quantity comparator;
setting a comparison threshold value through a setting register;
sending the set comparison threshold value to a DA conversion unit for conversion, outputting a comparison analog quantity threshold value, naming the analog quantity threshold value as B, naming the normalized analog quantity as A, inputting A and B into an analog quantity comparator, outputting a comparison result after comparison by the comparator, wherein the comparison result is a digital quantity 0/1 level, outputting 1 if A is greater than or equal to B, and outputting 0 if A is less than B;
the set comparison threshold and the input digital quantity of the normalization digital quantity are respectively named as B and A, the input digital quantity and the normalization digital quantity are respectively input into a digital quantity comparator, the comparison result is the level of 0/1 of the digital quantity, if A is greater than or equal to B, 1 is output, otherwise, 0 is output;
the comparison result is used for generating a state signal and a control quantity signal; the output signal of the comparator is input into the inverter to generate a hardware interrupt signal.
The user can configure a hardware interrupt mode through a register, and the interrupt mode has two types: if the value is larger than the set value, generating interruption, and if the value is smaller than the set value, generating interruption; different interrupt modes determine whether an inverter is added between the comparison result and the interrupt signal, namely whether the bypass mode of the inverter is enabled, and the specific interrupt mode and the enabling and the disabling of the inverter depend on specific designs. The internal structures of the digital quantity processing stream and the analog quantity processing stream are as shown in fig. 4, if the input normalization signal is an analog quantity signal, the normalization signal is input to the algorithm circuit after being converted by the AD conversion unit, and if the input normalization signal is a digital quantity signal, the normalization signal is directly input to the algorithm circuit. The configuration signal (bypass mode enable signal) of the inverter is output by the register unit.
Examples of interrupt modes are: if the input electric signal analog quantity is greater than the set value to generate interrupt, generating hardware interrupt and informing a user of a hardware interrupt function to perform corresponding processing; if the analog quantity of the input electric signal is smaller than the set analog quantity, no hardware interrupt is generated.
In particular, for some important physical quantities, such as: the current and the voltage are directly applied to the motor, if the current and the voltage are too large, the hardware can be directly burnt out if the rated power is exceeded, so that for the physical quantities needing special treatment, an analog quantity treatment flow branch is recommended, and if a digital quantity treatment flow branch is adopted, the following conditions can occur: the analog quantity is converted into the digital quantity, a certain time is needed for the self analog-to-digital conversion, after the conversion is finished, the processor is informed of an interrupt program through hardware interrupt, the size of the value is judged by software, and the calling of processing branches is determined according to the size of the value, so that the time overhead is very large. If the analog quantity is adopted to process the flow, the analog quantity is not subjected to analog-to-digital conversion, the analog quantity is not subjected to program and software comparison of a processor, the comparison is directly completed by a hardware comparator, a high-priority hardware control signal is directly generated or the hardware of the processor is interrupted, the processing and response time is greatly shortened, the response time is completely determined by a hardware circuit, the time overhead can reach nanosecond level, if the motor has fault conditions such as overcurrent and overvoltage, the hardware circuit and the motor equipment can be effectively protected, and the purposes of sensing, calculating, processing and controlling and outputting localization are achieved. For the pulse type sensor signal, because the signal has digital quantity characteristic, the signal must go through the digital quantity processing branch, the analog quantity processing branch can not process the signal, the internal structure of the digital quantity processing flow and the analog quantity processing flow is different and is identical except the comparator, the comparator of the analog quantity processing flow adopts an analog signal comparator, and the comparator of the digital quantity processing flow adopts a digital comparator with 32bit width.
The algorithm circuit receives the algorithm configuration and the algorithm parameters output by the register unit, processes the received signals and outputs two paths of signals: (1) a control quantity signal is input into a motor controller; (2) inputting a status signal into the register unit; meanwhile, the algorithm circuit can also acquire rotor state data uploaded by the motor controller.
The algorithm circuit comprises a PID algorithm module and a rotor stalling detection module, wherein the PID algorithm module calculates a control quantity according to an input normalized digital quantity, unit configuration output by the register unit and a closed-loop control target, and the unit configuration comprises a PID coefficient and stalling timeout time; the rotor stalling detection module judges whether the rotor is in a normal state according to the real-time rotor information and the unit configuration: if the rotor is still in the stop state beyond the set timeout time, outputting a state signal of stall fault, otherwise, if the rotor is in the normal state, outputting a state signal of normal operation, and the internal structure of the algorithm circuit is shown in fig. 5
The motor controller is used for controlling the motor and is matched with a control signal and a state signal interface of the motor, the motor controller adopts the existing mature technology, and adopts SVPWM, driving, clarke-Park conversion and the like to complete motor driving and rotor state feedback.
By applying the invention, the system completes the sensing and calculating integrated motor driving control system shown in FIG. 1; the sensing and calculating integrated unit needs an external auxiliary circuit except for the sensor part, and other unit modules do not need external auxiliary circuits, so that chip integration or system-in-package can be realized, power consumption control is facilitated, and design threshold is reduced; and is beneficial to miniaturization and microminiaturization application; after a single chip and system-in-package are adopted, the original discrete component circuit is replaced, so that the hardware cost is reduced; all state acquisition and control of the method are mapped through a register, a high-priority signal or an asynchronous signal informs a controller designed by specific application through interruption, and a discrete signal and a state signal of a motor control drive control part are managed through the register and the interruption mode, so that the complexity of a control system and the complexity of design are simplified; by adopting the sensing and calculating integrated unit, the link of a closed-loop control link is simplified, so that the distortion of hardware signals is reduced, and the control precision is improved; the computing circuit of the sensing and computing integrated unit is realized by hardware, so that the response performance of the system is improved; when a user designs and uses the method, only parameter input and interrupt processing need to be concerned, and digital quantity and analog quantity processing flow and an algorithm circuit integrate a closed-loop processing flow of a driving control signal, so that the method reduces the complexity of design; the digital quantity and analog quantity processing flow integrates a threshold comparison circuit and can output a high-priority control signal which can be directly applied to a shutdown signal of a motor controller, so that the shutdown signal can be sent out in a very short time, and the threshold comparison results are stored in a register and can be inquired by a controller specially designed for application, so that the system has the functions of motor fault diagnosis and protection.
The invention relates to a motor and steering engine drive control method based on integration of sensing and calculation. Because functional modules such as motor state information acquisition, signal transmission, signal processing calculation, motor drive control quantity output and the like are integrated into one unit module, the method has the following advantages:
the sensing and calculating integrated design is beneficial to the miniaturization application of the system and the module;
the sensing and calculating integrated design is beneficial to reducing the hardware cost;
the sensing and calculation integrated design can be applied to single-chip integration and system-in-package, and the single-chip integration or the system-in-package is beneficial to power consumption control and design simplification;
the design can simplify the link of a closed-loop control link of the motor control system and improve the control precision;
the design algorithm part adopts a hardware special computing circuit, and can improve the response performance of the system;
the designed calculating circuit supports parameter input and optional interrupt modes, integrates a closed-loop processing flow of a driving control signal, and simplifies the design complexity;
the design has the functions of motor fault diagnosis and protection.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (5)
1. A motor drive control system based on sensing and calculation integration is characterized by comprising a sensing and calculation integration unit, a motor controller and a register unit;
inputting the motor state quantity of the motor equipment into the sensing and calculating integrated unit as a feedback loop of driving control; meanwhile, the motor controller collects rotor signals of the motor equipment and transmits the rotor signals to the sensing and calculating integrated unit;
the sensing and calculating integrated unit completes processing and calculation of feedback data and outputs the following signals: (1) The hardware interrupt signal is used as an asynchronous notification signal of the user interface and transmitted to the user application interface; (2) The control quantity signal is input into the motor controller to control the running state of the motor equipment; (3) inputting a motor state signal into the register unit;
the register unit is respectively connected with the sensing and calculation integrated unit, the motor controller and the user application interface, and the state signals of the sensing and calculation integrated unit and the motor controller are mapped into the register unit and transmitted to the user application interface through the register unit; the parameters set by the user application interface and the unit configuration are sent to the sensing and calculating integrated unit through the register unit.
2. The sensory-integrative motor drive control system according to claim 1, wherein the sensory-integrative unit comprises a sensor data preprocessing unit, a digital quantity processing stream, an analog quantity processing stream, an arithmetic circuit, an AD conversion unit and a DA conversion unit;
the sensor data preprocessing unit is used for converting the sensor data representing the motor state quantity into a uniform electric signal and carrying out normalization processing; the normalized signal comprises normalized digital quantity and normalized analog quantity, and the normalized digital quantity and the normalized analog quantity are respectively input into a digital quantity processing stream and an analog quantity processing stream for subsequent processing;
the digital quantity processing flow receives the digital quantity threshold value and the configuration signal output by the register unit, processes the input signal and outputs four paths of signals: normalizing the digital quantity and inputting the digital quantity into an algorithm circuit; (2) a control quantity signal is input into the motor controller; (3) Hardware interrupt signal, input user application interface, (4) status signal, input register unit;
the analog processing flow receives the analog threshold value and the configuration signal output by the register unit, processes the input signal and outputs four paths of signals: (1) The normalized analog quantity is converted into a normalized digital quantity through the AD conversion unit and then is input into the algorithm circuit; (2) controlling quantity signals are input into the motor controller; (3) a hardware interrupt signal is input into the user application interface; (4) inputting a status signal into the register unit;
the algorithm circuit receives the algorithm configuration and the algorithm parameters output by the register unit, processes the received signals and outputs two paths of signals: (1) a control quantity signal is input into a motor controller; (2) inputting a status signal into the register unit; meanwhile, the algorithm circuit can also acquire rotor state data uploaded by the motor controller.
3. The motor driving control system based on integration of sensing and computation of claim 2, wherein the sensor data preprocessing unit comprises a filter circuit, a sampling circuit, a temperature sensitive resistor sampling circuit, a gyroscope, a linear voltage division or amplification circuit, a first pulse shaping amplitude discrimination circuit, a first pulse counter, a pulse mirror image counter, a unit time stamp generator, an angle encoder, a second pulse shaping amplitude discrimination circuit, a second pulse counter and a multiplier, wherein the sampling circuit, the temperature sensitive resistor sampling circuit, the gyroscope, the linear voltage division or amplification circuit are respectively connected with the filter circuit;
the sampling circuit collects current data of the motor, the temperature-sensitive resistor sampling circuit collects temperature data, the gyroscope collects attitude data of the motor, voltage, current, temperature and attitude are input into the filter circuit to be filtered to obtain voltage analog quantity, current analog quantity, temperature analog quantity and attitude analog quantity, the four analog quantities are input into the linear voltage division or amplification circuit, and the linear voltage division or amplification circuit is combined with an analog quantity normalization coefficient output by the register unit to realize normalization processing through the linear voltage division or amplification circuit;
inputting the rotating speed data of the motor into a first pulse shaping amplitude discrimination circuit to carry out pulse shaping and pulse amplitude discrimination, and then inputting a first pulse counter, wherein the first pulse counter outputs a distance digital quantity signal and respectively inputs a pulse mirror image counter and a multiplier; the pulse mirror image counter is used for measuring and calculating the speed, and can automatically clear the pulse mirror image counter after the set unit time is timed to expire, and the pulse mirror image counter can count once correspondingly every time the pulse counter counts one time; the unit time generator periodically sends out zero clearing pulses to the pulse mirror image counter according to set time for periodic zero clearing operation; the number of revolutions output by the pulse mirror image counter is input into a multiplier;
collecting motor angle data through an angle encoder, inputting the motor angle data into a pulse shaping amplitude discrimination circuit II and a pulse counter II to obtain an angle digital quantity, and inputting the angle digital quantity into a multiplier;
the multiplier receives the digital quantity normalization coefficient output by the register unit, and the normalization digital quantity is obtained after calculation through the hardware floating-point multiplier.
4. The sensory-integrative motor drive control system according to claim 2, wherein the digital quantity processing flow and the analog quantity processing flow realize comparison calculation of different types of sensor signals and set thresholds and output a control quantity of high priority and a hardware interrupt signal; the analog quantity processing flow does not perform analog-to-digital conversion and digital processing on the electric signal converted by the sensor, and directly processes the analog signal in an analog quantity comparison mode, wherein the analog quantity comparison is realized by an analog quantity comparator, and the digital quantity comparison is realized by a digital quantity comparator;
setting a comparison threshold value through a setting register;
sending the set comparison threshold value to a DA conversion unit for conversion, and then outputting a comparison analog quantity threshold value, wherein the analog quantity threshold value is named as B, the normalized analog quantity is named as A, A and B are input into an analog quantity comparator, the comparator outputs a comparison result after comparison, the comparison result is a digital quantity 0/1 level, if A is greater than or equal to B, 1 is output, and if A is less than B, 0 is output;
the set comparison threshold and the input digital quantity of the normalization digital quantity are respectively named as B and A, the input digital quantity and the normalization digital quantity are respectively input into a digital quantity comparator, the comparison result is the level of 0/1 of the digital quantity, if A is greater than or equal to B, 1 is output, otherwise, 0 is output;
the comparison result is used for generating a state signal and a control quantity signal; the output signal of the comparator is input into the inverter to generate a hardware interrupt signal.
5. The motor drive control system based on sensory-computational integration according to claim 2, wherein the algorithm circuit comprises a PID algorithm module and a rotor stall detection module, the PID algorithm module calculates a control quantity according to an input normalized digital quantity, a unit configuration output by the register unit, and a closed-loop control target, the unit configuration including a PID coefficient and a stall timeout time; the rotor stalling detection module judges whether the rotor is in a normal state according to the rotor real-time information and the unit configuration: and if the rotor is still in a stop state beyond the set timeout time, outputting a state signal of stall fault, otherwise, if the rotor is in a normal state, outputting a state signal of normal operation.
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