CN117060689A - Control device for motor and gate driver, motor driving device and motor system - Google Patents
Control device for motor and gate driver, motor driving device and motor system Download PDFInfo
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- CN117060689A CN117060689A CN202311066351.8A CN202311066351A CN117060689A CN 117060689 A CN117060689 A CN 117060689A CN 202311066351 A CN202311066351 A CN 202311066351A CN 117060689 A CN117060689 A CN 117060689A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
- H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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Abstract
The invention discloses a control device of a motor and a gate driver, motor driving equipment and a motor system, and relates to the technical field of motor control, wherein a motor control part comprises a position loop controller, a speed loop controller, a current loop controller and a PWM generator, and can generate PWM control signals; the active control part of the current source type gate electrode drive generates a gate electrode current source control signal according to a preset parameter value, a feedback value of the motor and a feedback value of the current source type gate electrode drive component; the PWM control signal and the gate current source control signal jointly control the current source type gate driving assembly to work and the motor to work. The invention can solve the problems of voltage stress, electromagnetic interference, insulation breakdown, long line reflection and the like caused by overlarge dv/dt in the switching process of the power switch tube.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a control device for a motor and a gate driver, a motor driving apparatus, and a motor system.
Background
Industrial motors typically operate at higher voltages, for example, three-phase 380V, and after rectification, the dc bus typically operates at between 500V-800V, and the power semiconductors switch at a faster rate, resulting in greater dv/dt. In particular, to further improve efficiency and control performance, motor drivers increasingly employ third generation wide bandgap semiconductors (e.g., sicmosfets) with faster switching speeds as power switching transistors. Compared with Si material, the SiC material has the characteristics of wide forbidden band, high saturated electron drift rate, high breakdown field strength, high heat conductivity and the like, so that the SiC device has lower on-resistance, faster switching speed, higher breakdown voltage and higher heat conductivity, and the excellent characteristics bring possibility for simplifying a power electronic circuit and miniaturizing and high-efficiency of a system. Since the switching speed of SiC devices is faster (on times can reach 10-20 ns), excessive dv/dt can occur during switching. Excessive dv/dt can lead to the following problems:
(1) Voltage stress; due to the existence of parasitic inductance of the circuit, excessive dv/dt in the switching process can cause transient voltage spike and high-frequency oscillation, thereby threatening the safe operation of the power switch tube.
(2) Electromagnetic interference; excessive dv/dt can interfere with the proper operation of other circuits, particularly control circuits, by conduction and radiation, causing system failure. And industrial equipment is required to comply with electromagnetic compatibility standards such as conducted interference (CE) and radiated interference (RE), too high interference may cause the equipment to fail the electromagnetic compatibility standards, and thus production and sales may be limited.
(3) Breakdown of the motor insulation; excessive dv/dt may cause motor insulation breakdown, thereby causing motor failure and malfunction.
(4) Long line reflection; in practical application, the motor driver and the motor may be in different physical positions, and need to be connected by a longer cable (tens of meters to hundreds of meters), and the transmission of the motor driver and the motor may generate a long-line reflection effect, so that a reflection voltage with the amplitude equivalent to the voltage of the incident wave is formed, thereby generating overvoltage at the motor end, further increasing the insulating burden of the motor winding and affecting the service life of the motor.
In order to suppress the excessive dv/dt and the high-frequency oscillation problem caused by the dv/dt, it is necessary to design a suitable power switch tube gate driving circuit according to the characteristics of different power switch tubes and the characteristics of a system. Several known methods of gate driving and their limitations are listed below.
Method 1: in the conventional voltage source type gate driving and current source type gate driving methods, as shown in fig. 1, the method needs to adjust gate driving resistance or driving current according to different power switching devices and specific circuit parameters, and simultaneously considers different long line configurations so as to simultaneously meet the requirements of dv/dt and EMI standards under all working conditions. The design and verification of the method are complex, the final design depends on the worst dv/dt checking working condition, and under other working conditions, the design result may not be the optimal solution, so that the switching speed is reduced and the switching loss is increased.
Method 2: an active gate driving method based on an analog circuit, as shown in fig. 2, is difficult to adapt to different power switching tube characteristics and discrete circuit parameters, such as parasitic capacitance, inductance and the like. Circuit parameters are difficult to debug and poorly adapted.
Method 3: in order to overcome the disadvantages of method 2, a digitally controlled programmable gate driver based method is proposed. As shown in fig. 3, the gate driving chip uses 63 groups of parallel CMOS drivers, and active gate driving control is realized by selecting the number of parallel CMOS drivers. The FPGA controller is configured to control the gate driving chip, as shown in fig. 4. The input of the FPGA controller is a PWM signal, the feedback is a load current signal, and the output is a 12-bit digital signal and a clock signal. The output signal changes the gate driving capability by selecting the parallel number of CMOS switching tubes of the gate driving chip. The method has the advantage of being programmable, and can optimize the output capacity after the circuit design is completed. But this method has the disadvantage of: 1) The gate driving chip has multiple output stages (63 stages), complex design and high cost. 2) The method actively adapts and suppresses overhigh dv/dt, and simultaneously has poor adaptability to complex working conditions such as motor long-line driving and the like.
Disclosure of Invention
In order to solve the above technical problems and overcome the limitations of the above known methods, namely to solve the problems of voltage stress, electromagnetic interference, insulation breakdown, long line reflection and the like caused by excessive dv/dt in the switching process of a power switch tube, the invention provides a control device of a motor and a gate driver, motor driving equipment and a motor system.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a control device of a motor and a gate driver, which at least comprises: a motor control part and a current source type gate electrode driving active control part;
the motor control part comprises a position loop controller, a speed loop controller, a current loop controller and a PWM generator; the position loop controller is used for generating a speed instruction according to the position instruction and the fed-back motor position information; the speed controller is used for generating a current instruction according to the speed instruction and the fed-back motor speed information; the current loop controller is used for generating a PWM instruction according to the current instruction and the fed-back motor phase current information; the PWM generator is used for generating PWM control signals according to PWM instructions;
the active control part of the current source type gate electrode drive is used for generating a gate electrode current source control signal according to a preset parameter value, a feedback value of the motor and a feedback value of the current source type gate electrode drive component;
the PWM control signal and the gate current source control signal are used for controlling the current source type gate driving assembly to work and further controlling the motor to work.
In a second aspect, the present invention provides a motor driving apparatus, including the control device of the motor and gate driver of the first aspect, and a current source type gate driving assembly;
the current source type gate electrode driving assembly comprises an upper bridge arm, a lower bridge arm and a power amplifier; the feedback dv/dt is determined according to the total voltage of the upper bridge arm and the lower bridge arm and/or the voltage of the lower bridge arm end;
the upper bridge arm at least comprises one controllable current source type gate driver, the lower bridge arm at least comprises one controllable current source type gate driver, and the input end of the power amplifier is connected with the output ends of all the controllable current source type gate drivers;
the current source type gate electrode driving component is used for controlling the motor to work according to the PWM control signal and the gate electrode current source control signal.
In a third aspect, the present invention provides a motor system comprising a motor drive apparatus according to the second aspect, and a motor connected to an output of the motor drive apparatus.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the invention, different dv/dt control targets can be set according to different power switch devices, different line parasitic parameters and different lengths of cable connection. The dv/dt control target can be adjusted according to voltage stress, the withstand voltage of a motor, the generated electromagnetic interference level and the like, or different gate driving capabilities can be selected according to different load currents, so that the problem of different interference levels under different load currents can be solved, the contradiction problem of radiation interference levels and power switch tube switching loss under single driving capability is solved, and meanwhile, the motor control and gate driving control are combined to form a common control unit, so that more accurate and controllable motor control and driving are realized, and the problems of voltage stress, electromagnetic interference, insulation breakdown, long-line reflection and the like caused by overlarge dv/dt in the power switch tube switching process are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a conventional voltage source type gate driver and a controllable current source type gate driver in the prior art; FIG. 1 (a) is a block diagram illustrating a conventional voltage source type gate driver according to an embodiment of the present invention; FIG. 1 (b) is a block diagram illustrating a conventional controllable current source type gate driver according to an embodiment of the present invention;
FIG. 2 is a block diagram of an active gate driver based on analog circuitry in the prior art;
FIG. 3 is a block diagram of a prior art programmable gate driver chip with 63-level drive capability;
FIG. 4 is a block diagram of a control circuit of a programmable gate driver chip according to the prior art;
FIG. 5 is a block diagram of a servo drive system according to an embodiment of the present invention;
FIG. 6 is a block diagram illustrating a control unit in a servo drive system according to an embodiment of the present invention;
fig. 7 is a block diagram of a motor driving apparatus according to an embodiment of the present invention;
FIG. 8 is a block diagram of a control device for a motor and a gate driver according to an embodiment of the present invention;
FIG. 9 is a block diagram of an active control method of a current source type gate driving active control portion for setting dv/dt according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a PWM-type gate current source control signal according to an embodiment of the present invention;
FIG. 11 is a block diagram of an active control method for a current source gate driver following a load current according to an embodiment of the present invention;
fig. 12 is a schematic diagram of an implementation of a controllable current source type gate driver according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
A servo driver for controlling and driving the servo motor will be described as an example. As shown in fig. 5, the servo driving system mainly comprises a rectifying unit, a power inverting unit, a resistance braking unit, a motor, an encoder and a control unit.
As shown in fig. 6, the control unit mainly includes three control modes of position, speed and torque. The frequency converter for controlling the common alternating current asynchronous motor generally does not comprise a position control mode.
The control unit generally adopts a Micro Controller Unit (MCU) or a Digital Signal Processor (DSP) as a control core to realize a relatively complex algorithm. The input of the control unit can be classified into a position command, a speed command or a current command according to the control mode. Feedback from the control unit includes samples of motor current, samples of dc bus capacitor voltage, position and speed information obtained from the encoder, etc. The output of the control unit is a (low voltage) Pulse Width Modulation (PWM) control signal, and a (high voltage) power signal is generated through a gate driver to drive a power amplifier and further drive a motor. The gate driver simultaneously achieves electrical isolation of the control unit and the power unit. The power amplifier is an inverter bridge composed of 6 power switching tubes, and the power switching tubes comprise silicon-based MOSFET, IGBT, gaN transistors, siCNOSFETs and the like.
Fig. 7 is a block diagram of a motor driving apparatus, as shown in fig. 7, which has a rich working mode, flexible configuration, and strong adaptability to complex working conditions. Mainly comprises the following components: a control device 101 of a motor and gate driver, an upper bridge arm controllable current source type gate driver 102 and a lower bridge arm controllable current source type gate driver 103. The upper bridge arm controllable current source type gate driver 102 and the lower bridge arm controllable current source type gate driver 103 are described in detail in the second embodiment, and are not described herein again.
The control inputs of the control device 101 of the motor and gate driver comprise inputs of control instructions and configuration parameters.
The feedback inputs of the control device 101 of the motor and gate driver include encoder feedback, total upper and lower leg voltages, lower leg terminal voltages, and motor phase currents.
The output signals of the control device 101 of the motor and gate driver include PWM control signals for controlling the upper and lower legs of the three-phase inverter bridge, and gate current source control signals for each controllable current source gate driver.
As shown in fig. 8, the control device for a motor and gate driver provided in this embodiment (i.e. the control device 101 for a motor and gate driver in fig. 7) includes a motor control portion 201, a current source type gate driving active control portion 202, and a control parameter configuration portion 203.
The motor control part 201 includes a position loop controller, a speed loop controller, a current loop controller, and a PWM generator; the position loop controller is used for generating a speed instruction according to the position instruction and the fed-back motor position information; the speed controller is used for generating a current instruction according to the speed instruction and the fed-back motor speed information; the current loop controller is used for generating a PWM instruction according to the current instruction and the fed-back motor phase current information; the PWM generator is used for generating PWM control signals according to PWM instructions.
Here, the motor control unit 201 may include all or part of the above-described components, depending on the control object and the division with the upper control unit.
The active current source gate driving control unit 202 is configured to generate a gate current source control signal according to a preset parameter value, a feedback value of the motor, and a feedback value of the current source gate driving component.
The PWM control signal and the gate current source control signal are used for controlling the current source type gate driving assembly to work and further controlling the motor to work.
The active control method of the current source type gate driving active control part 202 can have various implementation manners according to different control targets and control modes.
Specifically, the current source type gate driving active control section 202 includes a first current source type gate driving control module.
The first current source type gate electrode driving control module is used for generating a gate electrode current source control signal according to the difference value between the set dv/dt and the feedback dv/dt in a first working mode; the feedback dv/dt is determined from the voltage on the current source gate drive component.
Further, the current source type gate driving active control part 202 further includes a second current source type gate driving control module.
And the second current source type gate electrode driving control module is used for generating a gate electrode current source control signal according to the current instruction output by the speed controller and the fed-back motor phase current information in a second working mode.
The current source type gate driving active control part 202 includes, but is not limited to, the above two operation modes.
Further, the current source type gate driving active control part further comprises a mode selection module.
Wherein, the mode selection module is used for:
outputting a first instruction when the first working mode is selected; the first instruction is used for starting the first current source type gate electrode driving control module to start working;
outputting a second instruction when the second working mode is selected; the second instruction is used for starting the second current source type gate electrode driving control module to start working.
The first current source type gate driving control module comprises a difference calculator, a current source type control regulator and a first gate current source control signal generator.
The difference calculator is used for calculating a difference between the set dv/dt and the feedback dv/dt.
The current source type control regulator is used for generating a driving current set value according to the difference value.
The first gate current source control signal generator is used for generating a gate current source control signal according to a driving current set value output by the current source type control regulator.
The second current source type gate drive control module comprises a current source type control selector and a second gate current source control signal generator.
The current source type control selector is used for generating a driving current set value according to a current instruction output by the speed controller, fed-back motor phase current information and a configuration mode; the configuration mode comprises a function mode, a table lookup mode and an interpolation mode based on table lookup.
The second gate current source control signal generator is used for generating a gate current source control signal according to a driving current set value output by the current source type control selector.
The control parameter configuration unit 203 is configured to provide a configuration mode of setting dv/dt, a control parameter of the position loop controller, a control parameter of the speed loop controller, a control parameter (such as PID parameter) of the current loop controller, and the current source type control selector.
The active control method of the current source type gate driving active control section 202 is described below by way of two examples.
Before describing two examples, a lower current source type gate driving assembly is first described, and the current source type gate driving assembly comprises an upper bridge arm, a lower bridge arm and a power amplifier; the feedback dv/dt is determined according to the total voltage of the upper bridge arm and the lower bridge arm and/or the voltage of the lower bridge arm end.
The upper bridge arm at least comprises one controllable current source type gate driver, the lower bridge arm at least comprises one controllable current source type gate driver, and the input end of the power amplifier is connected with the output ends of all the controllable current source type gate drivers.
The power amplifier consists of a plurality of power switching tubes; for example, the power amplifier may be an inverter bridge consisting of 6 power switching transistors, including silicon-based MOSFET, IGBT, gaN transistors, sicmosfets, and the like.
Example 1: an active control method of a current source type gate electrode driving active control part for setting dv/dt, namely a first working mode, as shown in fig. 9, wherein the input of the method comprises dv/dt setting from a control parameter configuration part 203, feedback comprises total voltage of an upper bridge arm, a lower bridge arm and terminal voltage of the lower bridge arm, and dv/dt of a power switch tube during switching is calculated according to the feedback voltage; the difference Verr between the dv/dt set value and the feedback dv/dt value is used as the input of a current source control regulator, and the current source control regulator can adopt a PID controller or other control modes; obtaining a drive current set value Iset of a gate current source, such as 0.5A, by limiting the output of the current source type control regulator; the set value passes through a first gate current source control signal generator and outputs a gate current source control signal. The gate current source control signal may be in the form of a digital signal, such as a pulse or PWM, or may be in the form of an analog quantity.
When the gate current source control signal represents the driving current setting value of the gate current source in the form of a digital signal, the driving current setting value of the gate current source may be represented by duty ratio information of a fixed switching frequency, for example, the fixed switching frequency is 100khz, a duty ratio of 0% represents the driving current setting value of 0a, a duty ratio of 100% represents the driving current setting value of 1A, as shown in fig. 10, where T is a switching period (inverse of the switching frequency), and D is a duty ratio. When the gate current source control signal is in the form of an analog output (DAC) representing the driving current setting of the gate current source, for example, input 0V represents the driving current setting of 0a,3V represents the driving current setting of 1A, etc.
According to different control real-time requirements, the method can be divided into real-time control, self-adaptive control and the like.
The real-time control means that in the switching process of the power switching tube, the change of the voltage of the output end in the switching process of the power switching tube is sampled in real time, the feedback value dv/dt is calculated in real time, and the current source control signal of the current source control regulator is used for controlling the dv/dt to be near the set target value. Real-time control requires extremely fast sampling frequency and extremely high computational power, and generally employs a Field Programmable Gate Array (FPGA) as a control core.
Adaptive control refers to measuring dv/dt for the current period, and adjusting the gate current source control signal by a current source control regulator, but the control signal is only asserted in a subsequent control period. Adaptive control sacrifices the bandwidth and control real-time of the current source control regulator, thus eliminating the need for extremely fast adoption frequencies and extremely high computational power. The adaptive control mode may employ a microcontroller unit (MCU), a Digital Signal Processor (DSP) and an FPGA as control cores.
Example 2: an active control method of current source type gate drive following load current is shown in fig. 11, namely a second working mode, and the method mainly solves the problem that the electromagnetic interference level of a motor system is different under different load currents. In some practical cases, the Radiation (RE) level is significantly higher during low load current conditions than during high load current conditions. In order to solve the radiation of the low-load current working condition, the prior art adopts a design for reducing the driving capability of the gate electrode, but the reduction of the driving capability of the gate electrode can cause the generation of excessive switching loss under the high-load current working condition. According to the active control method for the current source type gate electrode driving following the load current, which is provided by the embodiment, the driving capability of the gate electrode current source is adjusted in real time according to different load current working conditions, so that low radiation under the low load current working condition and low loss under the high load current working condition can be realized at the same time.
The input to the method includes the internal state of the motor control section and the configuration of the current source control selector. The internal state of the motor control portion includes, but is not limited to, a current command, a current feedback value, and the like. The current source control selector is configured by the control parameter configuration unit 203, and the configuration modes may include a function mode, a table lookup mode, an interpolation mode based on table lookup, and the like. The configuration mode based on the table lookup is as follows:
table 1a current source control selector configuration table
Application example: when the current command is in the command range 1 (0-10A) and the current feedback is in the feedback range 1 (0-10A), the gate driving current source is set to a set value 1 (e.g., 0.2A). When the above condition is not satisfied, the gate driving current source setting value is kept unchanged.
A function-based implementation is as follows: when the absolute value error of the current command and the current feedback is within the set range, the gate drive current source set value=k is the current command. k is a pre-designed proportional gain parameter. When the above condition is not satisfied, the gate driving current source setting value is kept unchanged.
In the present embodiment, the PWM generator included in the motor control section 201 exchanges information with the current source type gate drive active control section 202. The PWM information output by the PWM generator includes a PWM period, a duty cycle, an on time, and the like. The information provided to the PWM generator by the current source gate drive active control 202 is the switching state of the power switch, which includes the real-time power switch output voltage based on feedback or calculation. The PWM generator can perform short-circuit protection according to the real-time value of the voltage of the output end of the power switch tube and the current PWM information, and turn off the output of the PWM control signal according to the DESAT information.
In this embodiment, the total voltage of the upper and lower bridge arms is collected by a first voltage collector disposed on the current source type gate driving assembly; the lower bridge arm end voltage is acquired by a second voltage acquisition device arranged on the current source type gate electrode driving assembly; the motor phase current information is acquired by a current collector arranged on the motor; the motor position information and the motor speed information are determined by an encoder provided on the motor.
Example two
The embodiment provides a motor driving device, which comprises the control device of the motor and gate driver and the current source type gate driving assembly.
The current source type gate electrode driving assembly comprises an upper bridge arm, a lower bridge arm and a power amplifier; the feedback dv/dt is determined according to the total voltage of the upper bridge arm and the lower bridge arm and/or the voltage of the lower bridge arm end.
The upper bridge arm at least comprises one controllable current source type gate driver, the lower bridge arm at least comprises one controllable current source type gate driver, and the input end of the power amplifier is connected with the output ends of all the controllable current source type gate drivers.
The current source type gate electrode driving component is used for controlling the motor to work according to the PWM control signal and the gate electrode current source control signal.
Preferably, the power amplifier is composed of a plurality of power switching transistors.
As shown in fig. 12, the controllable current source type gate driver according to the present embodiment includes a driving control logic circuit 301, a current source control circuit 302, and a current source and charge/discharge switch circuit 303. The current source and charge/discharge switching circuit 303 includes a current source and a charge/discharge switching circuit.
The driving control logic circuit 301 is configured to control the charge and discharge states of the current source and the charge and discharge switching circuit 303 according to the PWM control signal output by the PWM generator. For example, when the input PWM control signal is at a high level, the current source and the charge-discharge switch circuit 303 are in a charging state, the current source charges the gate of the power switch through the resistor Rg, and the power switch is turned on; when the input PWM control signal is at a low level, the current source and the charge/discharge switching circuit 303 are in a discharge state, the current source discharges the gate of the power switching transistor through the resistor Rg, and the power switching transistor is turned off.
The current source control circuit 302 is configured to control the charge and discharge currents of the current source and the charge and discharge switch circuit 303 according to the control signal of the gate current source. The control signal of the gate current source may be a digital signal such as a pulse or PWM; or may be an analog signal.
Meanwhile, the gate driver realizes the electrical isolation of the control signal and the power-on gate driving signal, and the electrical isolation mode can adopt magnetic isolation, capacitance isolation, optical coupling isolation technology and the like.
Example III
The present embodiment provides a motor system, including the motor driving device described in the second embodiment, and a motor connected to an output end of the motor driving device.
Compared with the prior art, the invention has the following advantages:
first, the motor control and the gate drive control are integrated to form a common control unit, so that more accurate and controllable motor control and drive are realized.
The gate drive method has limited acquisition of system control state and feedback information, mainly including input PWM, gate drive voltage feedback, and individual methods introduce load current feedback. Compared with the known gate driving method, the invention can fully utilize the control state of the system and various feedback, including the current control instruction of the current loop controller, output internal control information such as PWM generation information and feedback information such as load current, bus voltage and terminal voltage of the power switch tube. More importantly, the common control unit is simultaneously responsible for motor control and gate drive control, so that control information can be shared between the motor control and the gate drive control, and the control is more accurate and reliable, and the monitoring protection is more timely.
In the embodiment of the active control method of the current source type gate electrode drive shown in fig. 9, a control unit sets a dv/dt control target value, dv/dt is calculated through feedback of a system, and then the drive current of a drive current source is regulated through a closed-loop regulator, so that the magnitude of dv/dt can be accurately controlled in real time, and the problems of system voltage stress, electromagnetic interference, long-line reflection and the like caused by excessive dv/dt are effectively solved.
In the embodiment of the active control method of the current source type gate driving following the load current shown in fig. 11, the current instruction and the current feedback information of the motor control unit are utilized, and the current source control selector is set through the control unit, so that the driving capability of selecting different driving current sources according to different load currents is realized, the problem that the electromagnetic interference levels are different under different load currents is solved, and the contradiction problem of the radiation interference level and the switching loss of the power switch tube under the single driving capability is solved.
Meanwhile, as the motor control and the gate electrode driving adopt a common control unit, the control system can master all information of the system in real time, such as accurate PWM (pulse width modulation) on time and on time, and terminal voltage and load current conditions of the power switch tube, and therefore, the control unit can realize accurate, reliable and timely system monitoring and protection according to the information of the control systems.
Secondly, the control mode is configurable and has strong adaptability.
The existing configuration methods based on analog hardware, such as method 1 and method 2 in the prior art, are difficult to adapt to different power switch tube characteristics and discrete circuit parameters, such as parasitic capacitance, inductance and the like. Circuit parameters are difficult to debug and poorly adapted. The programmable driving method represented by the prior art method 3 is complex to realize, has poor adaptability, and cannot well cope with complex working conditions such as overhigh dv/dt, motor long-line driving and the like.
According to the method provided by the invention, the control target can be selected through the control parameters, and the control effect can be set through the control parameters, so that the driving capability of the method is simple to debug, and the adaptability is strong.
The active control method shown in fig. 9 can set different dv/dt control targets according to different power switching devices, different line parasitic parameters and different lengths of cable connections. The dv/dt control target may be adjusted according to voltage stress, withstand voltage of the motor, and the level of electromagnetic interference generated, etc.
The method shown in fig. 11 can select different gate driving capacities according to different load currents, can solve the problem of different interference levels under different load currents, and solves the contradiction problem of radiation interference levels and power switch tube switching loss under a single driving capacity.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (10)
1. A control device for a motor and a gate driver, comprising at least: a motor control part and a current source type gate electrode driving active control part;
the motor control part comprises a position loop controller, a speed loop controller, a current loop controller and a PWM generator; the position loop controller is used for generating a speed instruction according to the position instruction and the fed-back motor position information; the speed controller is used for generating a current instruction according to the speed instruction and the fed-back motor speed information; the current loop controller is used for generating a PWM instruction according to the current instruction and the fed-back motor phase current information; the PWM generator is used for generating PWM control signals according to PWM instructions;
the active control part of the current source type gate electrode drive is used for generating a gate electrode current source control signal according to a preset parameter value, a feedback value of the motor and a feedback value of the current source type gate electrode drive component;
the PWM control signal and the gate current source control signal are used for controlling the current source type gate driving assembly to work and further controlling the motor to work.
2. The control device of a motor and gate driver according to claim 1, wherein the operation mode of the current source gate driving active control part comprises a first current source gate driving control module;
the first current source type gate electrode driving control module is used for generating a gate electrode current source control signal according to the difference value between the set dv/dt and the feedback dv/dt in a first working mode; the feedback dv/dt is determined from the voltage on the current source gate drive component.
3. The control device of a motor and gate driver according to claim 2, wherein the operation mode of the current source gate driving active control part further comprises a second current source gate driving control module;
and the second current source type gate electrode driving control module is used for generating a gate electrode current source control signal according to the current instruction output by the speed controller and the fed-back motor phase current information in a second working mode.
4. A control device for a motor and gate driver according to claim 3, wherein the current source type gate driving active control section further comprises a mode selection module;
wherein, the mode selection module is used for:
outputting a first instruction when the first working mode is selected; the first instruction is used for starting the first current source type gate electrode driving control module to start working;
outputting a second instruction when the second working mode is selected; the second instruction is used for starting the second current source type gate electrode driving control module to start working.
5. The control device of a motor and gate driver of claim 2, wherein the first current source type gate drive control module comprises a difference calculator, a current source type control regulator, and a first gate current source control signal generator;
the difference calculator is used for calculating the difference between the set dv/dt and the feedback dv/dt;
the current source type control regulator is used for generating a driving current set value according to the difference value;
the first gate current source control signal generator is used for generating a gate current source control signal according to a driving current set value output by the current source type control regulator.
6. A control device for a motor and gate driver according to claim 3, wherein said second current source type gate drive control module comprises a current source type control selector and a second gate current source control signal generator;
the current source type control selector is used for generating a driving current set value according to a current instruction output by the speed controller, fed-back motor phase current information and a configuration mode; the configuration mode comprises a function mode, a table lookup mode and an interpolation mode based on table lookup;
the second gate current source control signal generator is used for generating a gate current source control signal according to a driving current set value output by the current source type control selector.
7. A control device for a motor and gate driver according to any one of claims 2-6, further comprising: a control parameter configuration unit;
the control parameter configuration part is used for providing a set dv/dt, a control parameter of the position loop controller, a control parameter of the speed loop controller, a control parameter of the current loop controller and a configuration mode of the current source type control selector.
8. A motor drive apparatus comprising a current source gate drive assembly and a control device for a motor and gate driver as claimed in any one of claims 1 to 7;
the current source type gate electrode driving assembly comprises an upper bridge arm, a lower bridge arm and a power amplifier; the feedback dv/dt is determined according to the total voltage of the upper bridge arm and the lower bridge arm and/or the voltage of the lower bridge arm end;
the upper bridge arm at least comprises one controllable current source type gate driver, the lower bridge arm at least comprises one controllable current source type gate driver, and the input end of the power amplifier is connected with the output ends of all the controllable current source type gate drivers;
the current source type gate electrode driving component is used for controlling the motor to work according to the PWM control signal and the gate electrode current source control signal.
9. The motor drive apparatus of claim 8 wherein the controllable current source gate driver comprises drive control logic, current source control circuitry, and current source and charge-discharge switching circuitry;
the drive control logic circuit is used for controlling the charge and discharge states of the current source and the charge and discharge switch circuit according to the PWM control signal output by the PWM generator;
the current source control circuit is used for controlling the charge and discharge current of the current source and the charge and discharge switch circuit according to the control signal of the gate current source.
10. A motor system comprising the motor drive apparatus of claim 7, and a motor coupled to an output of the motor drive apparatus.
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