CN118157525A - Small outboard engine motor driving control method and system - Google Patents
Small outboard engine motor driving control method and system Download PDFInfo
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- CN118157525A CN118157525A CN202311870481.7A CN202311870481A CN118157525A CN 118157525 A CN118157525 A CN 118157525A CN 202311870481 A CN202311870481 A CN 202311870481A CN 118157525 A CN118157525 A CN 118157525A
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Abstract
The invention provides a method and a system for controlling the driving of a motor of a small outboard engine, wherein the method comprises the following steps: the high-voltage direct current output by the battery is converted into low-voltage direct current through a DCDC circuit and an LDO circuit and then is supplied to the main controller; the battery outputs high-voltage direct current, and after the power-on impact current is reduced through the pre-charging circuit, the direct current is converted into alternating current through the three-phase inverter for driving the motor; the precharge circuit samples the power-on current, amplifies the sampling current through the amplifying circuit and converts the sampling current through the ADC circuit, and outputs the sampling current to the main controller, wherein the main controller is an MCU and a DSP; and the main controller controls the brushless motor through a non-inductive FOC algorithm and an SVPWM technology according to the sampling current information. By the scheme, the software and hardware cost of the brushless direct current motor driving control can be reduced, and the driving control precision can be ensured.
Description
Technical Field
The invention belongs to the field of motors, and particularly relates to a motor drive control method and system for a small outboard engine.
Background
The small outboard motor usually adopts a brushless direct current motor, which is a motor with high efficiency, low noise and low maintenance, adopts electronic phase inversion to replace mechanical phase inversion, and overcomes the defects of the brush motor. Brushless dc motors generally include three control modes, square wave control, sine wave control, and FOC (field oriented control).
Square wave control (also called trapezoidal wave control, 120 DEG control, 6-step commutation control) is a simple control mode, which leads direct current to three phases through a three-phase inverter, so as to switch between positive and negative currents and control the rotating speed of a motor.
Sine wave control is an advanced control mode, and three-phase voltage is converted into sine wave by means of magnetic field directional control (FOC) or space vector modulation (SVPWM) and the like, so that the rotating speed of a motor is controlled.
FOC (Field Oriented Control, i.e., magnetic field vector control) control is a brushless motor control method that can independently control torque and magnetic flux, thereby improving motor efficiency and dynamic response, and FOC control generally requires high hardware and software costs, including high-performance processors, sensors, controllers, and the like.
Aiming at the brushless motor driving control problem based on FOC, a driving control scheme with lower software and hardware cost is necessary to be provided.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a method and a system for controlling the driving of a small outboard motor, which are used for solving the problem of high cost of the driving control of the existing brushless motor based on FOC.
In a first aspect of an embodiment of the present invention, there is provided a small outboard engine motor drive control method including:
The high-voltage direct current output by the battery is converted into low-voltage direct current through a DCDC circuit and an LDO circuit and then is supplied to the main controller;
The battery outputs high-voltage direct current, and after the power-on impact current is reduced through the pre-charging circuit, the direct current is converted into alternating current through the three-phase inverter for driving the motor;
the precharge circuit samples the power-on current, amplifies the sampling current through the amplifying circuit and converts the sampling current through the ADC circuit, and outputs the sampling current to the main controller, wherein the main controller is an MCU and a DSP;
And the main controller controls the brushless motor through a non-inductive FOC algorithm and an SVPWM technology according to the sampling current information.
In a second aspect of the embodiments of the present invention, there is provided a small-sized outboard motor drive control system including at least a battery, a DCDC circuit, an LDO circuit, a precharge circuit, a three-phase inverter, an amplifying circuit, an ADC circuit, a main controller;
the battery is used for supplying power to the three-phase inverter and the main controller; the DCDC circuit is used for converting direct-current voltage; the LDO circuit is used for stabilizing the voltage to constant output voltage; the precharge circuit is used for reducing the power-on impact current and sampling the power-on current; the three-phase inverter is used for converting direct current into alternating current so as to drive the motor; the amplifying circuit is used for amplifying the sampling current; the ADC circuit is used for carrying out analog-to-digital conversion on the current sampling signal; the main controller comprises an MCU and a DSP and is used for driving and controlling the brushless motor through a non-inductive FOC algorithm and an SVPWM technology according to the sampling current information.
In the embodiment of the invention, the MCU chip and the DSP chip with low cost can be used as a main controller, the motor control is specially processed through the DSP, and the brushless motor is controlled by adopting the non-inductive FOC algorithm and the SVPWM technology, so that the cost of software and hardware based on the FOC brushless motor driving control can be effectively reduced, and the motor control precision and the motor efficiency can be ensured. Meanwhile, the precharge circuit is adopted to replace an expensive precharge control chip, so that the hardware cost can be further reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for controlling driving of a small outboard engine motor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a main controller program according to an embodiment of the present invention;
Fig. 3 is a schematic structural view of a driving control system of a small-sized outboard motor according to an embodiment of the invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. 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.
It should be understood that the term "comprising" and other similar meaning in the description of the invention or the claims and the above-mentioned figures is intended to cover a non-exclusive inclusion, such as a process, method or system, apparatus comprising a series of steps or elements, without limitation to the listed steps or elements. Furthermore, "first" and "second" are used to distinguish between different objects and are not used to describe a particular order.
Referring to fig. 1, a flow chart of a driving control method of a small outboard engine motor provided in an embodiment of the invention includes:
S101, converting high-voltage direct current output by a battery into low-voltage direct current through a DCDC circuit and an LDO circuit, and supplying power to a main controller;
the DCDC circuit and the LDO circuit can convert high-voltage direct current output by the battery into low-voltage direct current to supply power for the MCU.
S102, after the high-voltage direct current output by the battery reduces the power-on impact current through a pre-charging circuit, the direct current is converted into alternating current through a three-phase inverter for driving a motor;
The direct current output by the battery is converted into alternating current through the three-phase inverter, and then the motor can be directly driven. The precharge circuit can reduce the rush current at power-up.
S103, sampling the power-on current by the precharge circuit, amplifying the sampling current by the amplifying circuit and converting the sampling current by the ADC circuit, and outputting the sampling current to a main controller, wherein the main controller is an MCU (micro controller unit) and a DSP (digital signal processor);
s104, the main controller controls the brushless motor through a non-inductive FOC algorithm and an SVPWM technology according to the sampling current information.
The MCU in the main controller can be an 8051 single chip microcomputer and is used for processing motor control logic, and the DSP (digital signal processor) is used for specially controlling the motor.
The main controller is connected with a driving chip FD6288T, and the driving chip FD6288T is connected with a three-phase inverter;
The main controller adjusts the driving current of the three-phase inverter by adjusting the duty ratio of PWM and changing the conduction degree of the MOS tube.
For example, by collecting the current twice in a PWM period, the phase current I a,Ib,Ic can be collected, for example, when the upper tube of the B phase and the upper tube of the C phase are conducted, the lower tube of the A phase is conducted, the phase current I a is measured, when the upper tube of the A phase is conducted, the lower tube of the B phase and the lower tube of the C phase is conducted, the phase current I b is measured, and according to kirchhoff's current law, the sum of the phase currents is 0, the phase current I can be calculated c
Specifically, the non-inductive FOC algorithm includes:
Converting motor phase current under a three-phase static coordinate system to a rotating coordinate system which is static relative to the axis of a rotor magnetic pole through coordinate transformation, and controlling the motor through controlling the vector magnitude and direction under the rotating coordinate system;
The three-phase current is converted into two-phase currents which are mutually orthogonal through Clark conversion, the two-phase current is converted into I d and I q through Park conversion, the D-axis current is set to be 0, and the Q-axis current is changed to control the moment.
Based on the formula U (K) =u (K-1) +k p·(E(k)-E(k-1))+Ki ·e (K), incremental PID control is performed on the motor, K p and K i being PI coefficients.
Taking a current loop as an example, U (k-1) is taken as a current Q-axis current I q of the driver, E (k) -E (k-1) is taken as a difference value between a target current I qref and a current I q, and the current U (k) to be given in the next step is output after calculation, wherein I q is the current U (k).
Taking a speed ring as an example, U (k-1) is taken as a reference current I qref of the current Q axis of the driver, E (k) -E (k-1) is taken as a difference value between a target speed and the current speed, and a next reference current U (k): I qref is output after calculation and assigned to the current ring.
The electric angle of the motor and the current speed in the speed ring are calculated by a synovial membrane observer in the DSP, the synovial membrane observer estimates reverse electromotive force through the current observer according to input voltage and current, and then the angular speed and the speed ring speed are estimated through the reverse electromotive force.
Preferably, the main controller realizes a hardware overcurrent protection circuit through the interruption of the comparator, receives control information through the serial port interruption, recovers and drives the motor in a main cycle after the completion of confirmation, samples current data of the drive motor through the timing interruption, and transmits the sampled data to the DSP.
As shown in fig. 2, after the main controller is initialized by software and hardware, a current detection circuit is used, when the current input is 0, the bias voltage of an operational amplifier is set through VHALF, then a pre-charge switch pre-charge is opened, the capacitor is waited for charging, when the difference between 48VIN and 48V is not large, a charge pump is opened to complete pre-charging, the motor is controlled by a FOC state machine, a hardware overcurrent protection circuit is realized through the interruption of a comparator, control information is received through the interruption of a serial port, the motor is recovered and driven in a main cycle after the completion of confirmation, data sampling is carried out on the driver through the timing interruption, the protection processing is carried out, and the parameters are transferred to the DSP control motor.
The FOC state machine is in a preparation state when the motor is stationary, when a starting command is received, the motor firstly enters an initial motor parameter in an initialization state, then enters a pre-positioning state for two times to pre-position to determine the position of a rotor, then enters a starting state, starts through strong dragging, performs open-loop operation, cuts into a speed loop to be closed when the speed in the open-loop state reaches a switching speed, keeps the state in the operation state all the time, enters a stop state to slow down and stop when a shutdown command is received, and returns to the preparation state after completely stopping outputting.
In this embodiment, not only can reduce brushless motor drive control's software and hardware cost, can ensure motor control accuracy and motor efficiency moreover, implementation process is simple, and motor control is sensitive reliable.
It should be understood that the sequence number of each step in the above embodiment does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not be construed as limiting the implementation process of the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a driving control system of a small-sized outboard motor according to an embodiment of the invention, the system at least includes a battery 310, a DCDC circuit 320, an LDO circuit 330, a precharge circuit 340, an amplifying circuit 350, an ADC circuit 360, a three-phase inverter 370, and a main controller 380;
the battery 310 is used to power the three-phase inverter 370 and the main controller 380; the DCDC circuit 320 is configured to convert a dc voltage; the LDO circuit 330 is used for stabilizing the voltage to a constant output voltage; the precharge circuit 340 is configured to reduce a power-up rush current and sample the power-up current; the three-phase inverter 370 is used for converting direct current into alternating current to drive a motor; the amplifying circuit 350 is used for amplifying the sampling current; the ADC circuit 360 is configured to perform analog-to-digital conversion on the current sampling signal; the main controller 380 includes an MCU and a DSP for driving and controlling the brushless motor through the non-inductive FOC algorithm and the SVPWM technique according to the sampled current information.
The main controller 380 is connected with a driving chip FD6288T, and the driving chip FD6288T is connected with a three-phase inverter 370;
The main controller 380 adjusts the driving current of the three-phase inverter 370 by adjusting the duty ratio of the PWM and changing the conduction degree of the MOS transistor.
Specifically, the non-inductive FOC algorithm includes:
Converting motor phase current under a three-phase static coordinate system to a rotating coordinate system which is static relative to the axis of a rotor magnetic pole through coordinate transformation, and controlling the motor through controlling the vector magnitude and direction under the rotating coordinate system;
The three-phase current is converted into two-phase currents which are mutually orthogonal through Clark conversion, the two-phase current is converted into I d and I q through Park conversion, the D-axis current is set to be 0, and the Q-axis current is changed to control the moment.
Preferably, the main controller 380 implements a hardware overcurrent protection circuit through a comparator interrupt, receives control information through a serial interrupt, recovers and drives the motor in a main cycle after confirmation is completed, samples current data of the drive motor through a timing interrupt, and transmits the sampled data to the DSP.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system, apparatus and module may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A small outboard motor drive control method, characterized by comprising:
The high-voltage direct current output by the battery is converted into low-voltage direct current through a DCDC circuit and an LDO circuit and then is supplied to the main controller;
The battery outputs high-voltage direct current, and after the power-on impact current is reduced through the pre-charging circuit, the direct current is converted into alternating current through the three-phase inverter for driving the motor;
the precharge circuit samples the power-on current, amplifies the sampling current through the amplifying circuit and converts the sampling current through the ADC circuit, and outputs the sampling current to the main controller, wherein the main controller is an MCU and a DSP;
And the main controller controls the brushless motor through a non-inductive FOC algorithm and an SVPWM technology according to the sampling current information.
2. The method of claim 1, wherein the master controller is connected to a drive chip FD6288T, the drive chip FD6288T being connected to a three-phase inverter;
The main controller adjusts the driving current of the three-phase inverter by adjusting the duty ratio of PWM and changing the conduction degree of the MOS tube.
3. The method of claim 1, wherein the non-inductive FOC algorithm comprises:
Converting motor phase current under a three-phase static coordinate system to a rotating coordinate system which is static relative to the axis of a rotor magnetic pole through coordinate transformation, and controlling the motor through controlling the vector magnitude and direction under the rotating coordinate system;
The three-phase current is converted into two-phase currents which are mutually orthogonal through Clark conversion, the two-phase current is converted into I d and I q through Park conversion, the D-axis current is set to be 0, and the Q-axis current is changed to control the moment.
4. The method of claim 1, wherein the main controller implements a hardware overcurrent protection circuit through a comparator interrupt, receives control information through a serial interrupt and resumes and drives the motor in a main cycle after confirmation is completed, samples current data of the drive motor through a timer interrupt, and transfers the sampled data to the DSP.
5. The small-sized outboard motor drive control system is characterized by at least comprising a battery, a DCDC circuit, an LDO circuit, a precharge circuit, a three-phase inverter, an amplifying circuit, an ADC circuit and a main controller;
the battery is used for supplying power to the three-phase inverter and the main controller; the DCDC circuit is used for converting direct-current voltage; the LDO circuit is used for stabilizing the voltage to constant output voltage; the precharge circuit is used for reducing the power-on impact current and sampling the power-on current; the three-phase inverter is used for converting direct current into alternating current so as to drive the motor; the amplifying circuit is used for amplifying the sampling current; the ADC circuit is used for carrying out analog-to-digital conversion on the current sampling signal; the main controller comprises an MCU and a DSP and is used for driving and controlling the brushless motor through a non-inductive FOC algorithm and an SVPWM technology according to the sampling current information.
6. The system of claim 4, wherein the master controller is connected to a drive chip FD6288T, the drive chip FD6288T being connected to a three-phase inverter;
The main controller adjusts the driving current of the three-phase inverter by adjusting the duty ratio of PWM and changing the conduction degree of the MOS tube.
7. The system of claim 4, wherein the non-inductive FOC algorithm comprises:
Converting motor phase current under a three-phase static coordinate system to a rotating coordinate system which is static relative to the axis of a rotor magnetic pole through coordinate transformation, and controlling the motor through controlling the vector magnitude and direction under the rotating coordinate system;
The three-phase current is converted into two-phase currents which are mutually orthogonal through Clark conversion, the two-phase current is converted into I d and I q through Park conversion, the D-axis current is set to be 0, and the Q-axis current is changed to control the moment.
8. The system of claim 4, wherein the main controller implements a hardware overcurrent protection circuit through a comparator interrupt, receives control information through a serial interrupt and resumes and drives the motor in a main cycle after confirmation is completed, samples current data of the drive motor through a timer interrupt, and transfers the sampled data to the DSP.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311870481.7A CN118157525A (en) | 2023-12-29 | 2023-12-29 | Small outboard engine motor driving control method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311870481.7A CN118157525A (en) | 2023-12-29 | 2023-12-29 | Small outboard engine motor driving control method and system |
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