KR100412710B1 - 2-axes motor controller using a microprocessor - Google Patents

Abstract

A two-axis motor controller using a microprocessor is disclosed. The two-axis motor controller using the disclosed microprocessor is a two-axis motor controller using a microprocessor provided to control two motors simultaneously using one microprocessor. An encoder signal processing submodule that applies DC and detects the speed and position of the motor; A SERCOS first communication submodule for the primary motor shaft; A SERCOS second communication submodule for the secondary motor shaft; A processor submodule, wherein the control power supply detection function is implemented and uses the EPLD to implement various interrupt generations; A PWM sub module for generating a PWM signal for controlling a two-axis motor and including a motor phase current sensing unit, a motor driving DC power sensing unit, and a motor temperature detection unit; A first connector installed to supply a DC voltage to the main board; A communication board provided to be connected to the main board according to a form of a command input for interfacing with a predetermined external controller; A second connector installed to interface with the communication board; And a third connector installed to interface with the IGBT inverter module. According to the present invention, there is an advantage in that two motors can be simultaneously controlled using one microprocessor.

Description

2-axis motor controller using microprocessor {2-AXES MOTOR CONTROLLER USING A MICROPROCESSOR}

The present invention relates to a motor controller using a microprocessor, and more particularly, to a two-axis motor controller using an improved microprocessor to simultaneously control two motors using one microprocessor. It is about.

As shown in FIG. 1, a hybrid EV has a gate driver 11 which transmits a pulse signal for turning on / off an insulated gate bi-polar transistor (IGBT). And an alternator controller, which is directly connected to the engine and generates a power required for the vehicle, and a hybrid generator controller that is a primary motor controller that converts a three-phase AC voltage into a DC voltage (Prius: 300V) (12). ECU, ETC 13, which is an engine controller and an engine throttle controller, a vehicle and motor controller 14, which is a secondary motor controller that controls driving force for vehicle driving control, and a first DC, which is a 12V auxiliary power supply converter. / DC converter 15, a second DC / DC converter 16 which is a 24V auxiliary power supply converter, and a battery management system (BMS) 17, which is a controller for monitoring and controlling battery power. So It is composed.

In the hybrid electric vehicle configured as described above, it can be seen that two motor controllers are required. The primary motor controller is a controller (converter) that receives a three-phase AC voltage from the alternator directly connected to the engine and converts it into a DC voltage to supply power to the battery, and the secondary motor controller is a DC-link received from the battery. There is a three-phase AC motor controller (inverter) that generates power using a link voltage to drive a vehicle.

As such, each motor controller is required for one motor, thereby increasing the price of the product.

Thus, the prior art has resulted in an increase in price by using two identical motor controllers for two motors, and the quality of the oscillator that generates the main clock on which the microprocessor operates is not the same. If a processor is applied, transient control malfunction may occur during precise control.

The present invention has been made to solve the above problems, it is possible to control two motors at the same time by using one microprocessor to reduce the price, to prevent the occurrence of malfunction 2-axis motor controller using a microprocessor The purpose is to provide.

1 is a circuit diagram showing the main configuration of a general hybrid electric vehicle.

2 is a view schematically showing the configuration of a two-axis motor controller using a microprocessor according to the present invention.

3 is a schematic functional block diagram of a two-axis motor controller for an analog / digital interface.

4 is a table showing the characteristics of the main sub-module of the two-axis motor controller using a microprocessor according to the present invention.

5 is a table showing analog signals required for two-axis motor control.

<Description of Symbols for Main Parts of Drawings>

100. Motherboard

110. Encoder Signal Processing Submodule

120.SERCOS First Communication (COM1) Submodule

130.SERCOS Second Communication (COM2) Submodule

140. Processor Submodule

150. PWM submodule

200. Communication Board

In the two-axis motor controller using a microprocessor of the present invention for achieving the above object, in the two-axis motor controller using a microprocessor provided to be able to control two motors at the same time using a single microprocessor, An encoder signal processing submodule, which applies AC / DC for the interface of the analog output type encoder and detects the speed and position of the motor; A SERCOS first communication submodule for the primary motor shaft; A SERCOS second communication submodule for the secondary motor shaft; A processor submodule, wherein the control power supply detection function is implemented and uses the EPLD to implement various interrupt generations; A PWM sub module for generating a PWM signal for controlling a two-axis motor and including a motor phase current sensing unit, a motor driving DC power sensing unit, and a motor temperature detection unit; A first connector installed to supply a DC voltage to the main board; A communication board provided to be connected to the main board according to a form of a command input for interfacing with a predetermined external controller; A second connector installed to interface with the communication board; And a third connector installed to interface with the IGBT inverter module.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a schematic diagram showing a two-axis motor controller using a microprocessor according to the present invention, and FIG. 3 is a schematic diagram of a two-axis motor controller for an analog / digital interface.

Referring to each of the drawings, the two-axis motor controller using a microprocessor according to the present invention is configured to control two motors at the same time using a single microprocessor, the main board 100 and the main board An encoder signal processing (ESP) sub-module (110) provided on (100) and applying AC / DC for the interface of the analog output type encoder and detecting the speed and position of the motor. SERCOS first communication (COM1) submodule 120 for the primary motor shaft, and the same hardware as the SERCOS first communication (COM1) submodule 120, and SERCOS second communication (COM2) for the secondary motor shaft Sub-module 130, the control power detection function is implemented and the processor sub-module 140 using the EPLD to implement various interrupt generation, and generates a Pulse Width Modulation (PWM) signal for 2-axis motor control And a PWM sub module 150 including a motor phase current sensing unit, a motor driving DC power sensing unit, and a motor temperature detecting unit, and a first connector X01 installed to supply a DC voltage to the main board 100. And a communication board 200 provided to be connected to the main board 100 according to a form of a command input for interfacing with a predetermined external controller, and a second connector X02 installed for interfacing with the communication board 200. Interface with IGBT inverter module Claim 3 is configured to include a connector (X03) is provided for.

The main board 100 includes a fourth connector X04 for interfacing with the DAC output port, a fourth 'connector X04a for interfacing with the digital input port DI / O, and external encoders 1,2. Fourth and 5 'connectors (X05, X05a) for interfacing with and sixth and 6' connectors (X06, X6a) for interfacing with encoders 1,2.

As shown in FIG. 3, the communication board 200 is divided into an analog interface type and a digital interface type. That is, the communication board 200 is divided into an analog controller 210 and a digital controller 220. An analog submodule of the digital interface type, the SERCOS submodule 211 for the SERCOS interface and the CAN submodule 211 'for the CAN interface are provided according to the specifications of the external controller. Select one and use it.

In FIG. 3, the DSP or C165 212 implements various functions for motor control using a high speed processor, and represents software (S / W) such as a current (torque) controller, a speed controller, and a system monitoring function.

The PWM 213 generally applies a space voltage vector PWM technique, and the SERCOS submodule 211 or the CAN submodule 211 ′ is provided with a CAN communication module and a SERCOS communication module for digital interface with another controller. ANA 221 is provided for analog interface with other controllers.

A table briefly summarizing the characteristics of the sub-modules provided in the main board 100 and the communication board 200 as described above is illustrated in FIG. 4.

5 is a table showing analog signals required for two-axis motor control, and as shown in FIG. 3, necessary signals are input to the sub-modules according to each function.

Referring to the necessity of a two-axis motor controller using a microprocessor according to the present invention configured as described above are as follows.

First, the optimal processor selection is required. With the advent of low-cost DSPs such as the TMS320F240, the need for frequent hardware (H / W) changes is emerging to reduce costs, and research on optimal processors suitable for motor controller systems for electric vehicles and machine tools is needed.

There is also a need for a standardized control board that is commonly applicable to the digitization studies of converters that convert the AC voltage output from the alternator to a DC voltage in electric vehicles and 42V system vehicles and to control servo / spindle motors used in machine tools.

In addition, miniaturization, high integration, and high performance are required. Control boards consisting of multiple peripherals can be directly used with ASICs to develop reliable, high performance, and compact products.

In addition, the performance of the motor control processor can be improved by hardwareizing fixed functions such as coordinate transformation, PWM, and encoder counters, which do not require a function change according to an application among the drive control functions. In addition, it can take the lead in price competitiveness with advanced companies that possess high-performance motor control technology.

Then, there is a need for digital communication research and development. A high speed processor is required for the implementation of high performance vector control, and the analog command input is sensitive to noise and countermeasures are required.

In addition, it can be expected to improve the reliability of the system through the application of CAN communication in the application of electric vehicles, the need for high-speed communication with the upper NC and secure the reliability of the system when applied for machine tools, and a predetermined encoder (1024 ppr sin / cos) It is possible to improve the position control degree of servo motor controller.

And we need products that have complementary features. There is a need for a hardware design with a structure that can prevent the leakage of technology such as circuit imitation and enable stable supply and demand of components (removing component discontinuity). In addition, in order to shorten the development period, drive development is required in the shortest period for frequent design changes and additional functions, and for this, development of a sub-module type hardware system is required.

By the necessity of the two-axis motor controller as described above is configured a two-axis motor controller using a microprocessor according to the present invention.

Therefore, the present invention proposes a hardware configuration that can control two motors at the same time by using one microprocessor. As described above, two motor controllers are used in a series hybrid electric vehicle, and one processor By controlling this, the economic disadvantage of the hybrid electric vehicle can be reduced.

It can also be applied to the modular type servo / spindle motor controller for machine tools. For this purpose, the hardware structure of the controller is proposed as a sub-module structure, and command inputs (e.g. speed command) can be used to facilitate the interface with other external controllers. According to the type of input, it is divided into analog interface type and digital interface type. All hardware is identical except for submodules for analog and digital interfaces.

As described above, the two-axis motor controller using the microprocessor according to the present invention has the following effects.

Synchronous control of two motors is possible, protection by PWM noise, and digital communication functions such as CAN or SERCOS are easy to implement.

In addition, the maintenance is simple with the sub-module development, and the test is simple with the implementation of the functionalized sub-module, and one microprocessor can be saved, thereby reducing the weight and cost.

In addition, the development convenience is increased, the development period is shortened, for example, easy to modify and supplement. And it is easy to incorporate new technologies.

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent embodiments are possible. Therefore, the true scope of protection of the present invention should be defined only by the appended claims.

Claims (3)

In the 2-axis motor controller using a microprocessor provided to control two motors at the same time using a single microprocessor, An encoder signal processing submodule, which applies AC / DC for the interface of the analog output type encoder and detects the speed and position of the motor; A SERCOS first communication submodule for the primary motor shaft; A SERCOS second communication submodule for the secondary motor shaft; A processor submodule, wherein the control power supply detection function is implemented and uses the EPLD to implement various interrupt generations; A PWM sub module for generating a PWM signal for controlling a two-axis motor and including a motor phase current sensing unit, a motor driving DC power sensing unit, and a motor temperature detection unit; A first connector installed to supply a DC voltage to the main board; A communication board provided to be connected to the main board according to a form of a command input for interfacing with a predetermined external controller; A second connector installed to interface with the communication board; And a third connector provided for interfacing with the IGBT inverter module. The method of claim 1, The main board is a two-axis motor controller using a microprocessor, characterized in that a plurality of connectors for the interface of the external encoder, motor encoder, DAC output port, and digital input port is provided. The method of claim 1, The communication board is divided into an analog interface type and a digital interface type, and the analog interface type is provided with an analog submodule for an analog interface, and the digital interface type is a SERCOS submodule for a SERCOS interface and a CAN interface for a CAN interface. The sub-module is provided, the two-axis motor controller using a microprocessor, characterized in that to use any one of them according to the specification of the external controller.