WO2023241442A1 - Heterogeneous motor control device and method - Google Patents

Heterogeneous motor control device and method Download PDF

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Publication number
WO2023241442A1
WO2023241442A1 PCT/CN2023/099057 CN2023099057W WO2023241442A1 WO 2023241442 A1 WO2023241442 A1 WO 2023241442A1 CN 2023099057 W CN2023099057 W CN 2023099057W WO 2023241442 A1 WO2023241442 A1 WO 2023241442A1
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WIPO (PCT)
Prior art keywords
motor
unit
signal
control
status
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PCT/CN2023/099057
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French (fr)
Chinese (zh)
Inventor
赵慧超
李帅
侯克晗
李芝炳
董力嘉
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中国第一汽车股份有限公司
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Publication of WO2023241442A1 publication Critical patent/WO2023241442A1/en

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Classifications

    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • Embodiments of the present application relate to motor control technology, for example, to a heterogeneous motor control device and method.
  • DSP/MCU and CPLD/FPGA are two different architecture types of chips, both of which can be used as motor control devices. Based on the special process of CPLD/FPGA, they generally have faster processing speeds than DSP/MCU. At present, most of the motor control devices are implemented using chips of one architecture (DSP/MCU), which are limited to a certain extent by the computing speed of DSP/MCU and cannot meet higher speed motor control applications. Moreover, under certain working conditions It will affect the smooth output of motor torque.
  • This application provides a heterogeneous motor control device and method, which utilizes the fast computing characteristics of the first Field Programmable Gate Array (FPGA) control system to realize current closed-loop control and pulse width modulation (Pulse Width Modulation, PWM) modulation, using the second microcontroller unit (MCU) control system to complete signal fault diagnosis, which can complete complex control of the motor more quickly, not only meet the needs of higher speed motor control applications, but also achieve a more stable output. Sliding motor torque output.
  • FPGA Field Programmable Gate Array
  • PWM pulse width modulation
  • embodiments of the present application provide a heterogeneous motor control device, which includes: a first FPGA control system, a second MCU control system and a motor drive unit;
  • the first FPGA control system includes a main control unit, and the main control unit is configured as:
  • pulse signals are output to the motor drive unit according to the speed command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to work in the speed control state;
  • a pulse signal is output to the motor drive unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal to drive the motor to operate in the torque control state.
  • the second MCU control system includes a diagnostic unit, the diagnostic unit is configured to receive the three-phase current signal, the bus voltage signal and the position signal, and perform and the position signal for fault diagnosis.
  • embodiments of the present application provide a heterogeneous motor control method, which method is applied to the heterogeneous motor control device described in the first aspect.
  • the heterogeneous motor control method includes:
  • the main control unit in the first FPGA control system When the speed control mode is enabled, the main control unit in the first FPGA control system outputs a pulse signal to the motor drive unit according to the speed command signal, the three-phase current signal, the bus voltage signal and the position signal to drive the motor at a speed Work in the control state; or, when the torque control mode is enabled, a pulse signal is output to the motor drive unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal to drive the motor to rotate. Work in torque control state;
  • the main control unit feeds back the three-phase current signal, the bus voltage signal and the position signal to the diagnostic unit in the second MCU control system;
  • the diagnostic unit receives the three-phase current signal, the bus voltage signal and the position signal, and performs fault diagnosis based on the three-phase current signal, the bus voltage signal and the position signal.
  • Figure 1 is a schematic structural diagram of a heterogeneous motor control device provided by an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of another heterogeneous motor control device provided by an embodiment of the present application.
  • Figure 3 is a schematic structural diagram of a heterogeneous motor control method provided by an embodiment of the present application.
  • Figure 4 is a schematic structural diagram of another heterogeneous motor control method provided by an embodiment of the present application.
  • Figure 1 is a schematic structural diagram of a heterogeneous motor control device provided by an embodiment of the present application.
  • the device includes: a first FPGA control system 10, a second MCU control system 20 and a motor drive unit 30;
  • An FPGA control system 10 includes a main control unit 11, which is configured to When the speed control mode is enabled, pulse signals are output to the motor drive unit 30 according to the speed command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to work in the speed control state; when the torque control mode is enabled, according to The torque command signal, three-phase current signal, bus voltage signal and position signal output pulse signals to the motor drive unit 30 to drive the motor to work in a torque control state; the three-phase current signal, bus voltage signal and position signal are fed back to the second MCU control system 20; the second MCU control system 20 includes a diagnostic unit 21.
  • the diagnostic unit 21 is configured to receive three-phase current signals, bus voltage signals and position signals, and perform fault diagnosis based on the three-phase current signals, bus voltage signals and
  • the first FPGA control system 10 can work in two different control modes: the speed control mode and the torque control mode; optionally, when the speed control mode is enabled, the first FPGA control system 10 controls the speed control mode according to the speed command signal, The three-phase current signal, bus voltage signal and position signal output pulse signals to the motor drive unit 30 to drive the motor to work in a speed control state; among which, the speed command signal can be converted into a reference value of the three-phase current signal; the three-phase current signal is real-time The collected current signal output by the drive motor; the bus voltage signal is the bus voltage signal of the drive motor; the position signal is the actual collected position information of the drive motor rotor, so that the current is formed based on the reference value of the three-phase current signal and the three-phase current signal The closed-loop control simultaneously outputs pulse signals based on the bus voltage signal and position signal through PWM modulation to drive the motor drive unit 30 to operate, thereby maintaining the motor operating within a preset speed range.
  • the speed command signal can be converted into a reference value
  • the first FPGA control system 10 When the first FPGA control system 10 is enabled in the torque control mode, it outputs pulse signals to the motor drive unit 30 according to the torque command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to operate in the torque control state. ; Among them, the torque command signal can be converted into the reference value of the three-phase current signal; in this way, a current closed-loop control is formed based on the reference value of the three-phase current signal and the three-phase current signal, and at the same time, it is based on the bus voltage signal and position signal, and is modulated by PWM The pulse signal is output to drive the motor driving unit 30 to operate, thereby maintaining the motor operating within a preset torque range.
  • the second MCU control system 20 can receive three-phase current signals, bus voltage signals and position signals, and perform fault diagnosis based on the three-phase current signals, bus voltage signals and position signals.
  • the second MCU control system 20 will determine Whether the three-phase current signal is greater than the preset current value, whether the bus voltage signal is greater than the preset voltage value and whether the position signal is greater than the preset value, to determine whether the current overcurrent fault, bus voltage overvoltage or undervoltage fault, or abnormal position fault; so The second MCU control system 20 is also used to complete signal fault diagnosis.
  • Figure 2 is a schematic structural diagram of another heterogeneous motor control device provided by an embodiment of the present application.
  • the first FPGA control system 10 also includes a detection unit 12; the detection unit 12, It is configured to detect the temperature and status of the motor drive unit 30; and send the temperature and status of the motor drive unit 30 to the diagnostic unit 21; the diagnostic unit 21 is also configured to perform fault diagnosis based on the temperature and status of the motor drive unit 30.
  • the main control unit 12 is also configured to receive the fault status of the diagnostic unit 21 and adjust the output pulse signal according to the fault status of the diagnostic unit 21 .
  • the motor drive unit 30 is an Insulated Gate Bipolar Transistor (IGBT) drive tube;
  • the detection unit 12 can detect the temperature and opening and closing status of each IGBT drive tube;
  • the diagnostic unit 21 detects the IGBT drive tube when detecting the When the temperature is abnormal or the opening and closing status is abnormal, it is determined that each IGBT drive tube is faulty; at the same time, the main control unit 11 receives the fault status output by the diagnosis unit 21, and adjusts the output pulse signal according to the fault status output by the diagnosis unit 21 to ensure that each IGBT drive The tube drive is normal, thereby ensuring that the entire motor control system enters a safe state.
  • IGBT Insulated Gate Bipolar Transistor
  • the main control unit 11 receives the output of the diagnostic unit 21 the fault state, and adjust the output pulse signal according to the fault state output by the diagnosis unit 21 to ensure that each IGBT drive tube is driven normally, thereby ensuring that the entire motor control system enters a safe state.
  • the main control unit 11 is also configured to feedback the control status of the drive motor;
  • the second MCU control system also includes a communication unit 22;
  • the communication unit 22 is configured to receive the control status of the drive motor and transmit the control status of the drive motor to The control status of the drive motor is fed back to the external controller; among them, the control status of the drive motor includes: drive motor speed control status, drive motor torque control status, drive motor standby status and drive motor control fault status.
  • the main control unit 11 when the main control unit 11 is enabled in the speed control mode, it outputs pulse signals to the motor drive unit 30 according to the speed command signal, three-phase current signal, bus voltage signal and position signal. At this time, the drive motor is in the speed control state; when When the torque control mode is enabled, the main control unit 11 outputs pulse signals to the motor drive unit 30 based on the speed command signal, three-phase current signal, bus voltage signal and position signal.
  • the drive motor is in the torque control state; and if When the main control unit 11 does not receive the speed control mode enable signal and the main control unit 11 does not receive the torque control mode enable signal, the main control unit 11 is in the standby state, and the drive motor is in the standby state at this time; if If the main control unit 11 cannot output a pulse signal according to the speed command signal, three-phase current signal, bus voltage signal and position signal in the speed control mode or torque control mode, the main control unit 11 is in a control fault state, and the motor is driven at this time.
  • the main control unit 11 can feedback the control status of the drive motor in real time, and the communication unit 22 simultaneously receives the control status of the drive motor and feeds back the control status of the drive motor to the external controller to realize the external controller's control of the main control status. Real-time monitoring of the control status of the drive motor of the control unit 11.
  • the second MCU control system 20 also includes an emergency processing unit 23; the emergency processing unit 23 is electrically connected to an external controller, and the emergency processing unit 23 outputs emergency processing in response to receiving an emergency instruction from the external controller. signal to the motor drive unit 30 to cause the motor drive unit to disconnect to The safety protection of the entire motor control device is ensured through the emergency processing unit 23 in the first MCU control system 20 .
  • this embodiment also provides a heterogeneous motor control method, which is applied to the heterogeneous motor control device of the above embodiment.
  • Figure 3 is a flow chart of a heterogeneous motor control method provided by the embodiment of the present application. As shown in Figures 3 and 4, the method includes:
  • the main control unit in the first FPGA control system When the main control unit in the first FPGA control system is enabled in the speed control mode, it outputs pulse signals to the motor drive unit according to the speed command signal, three-phase current signal, bus voltage signal and position signal to drive the motor in the speed control state. work; or, when the torque control mode is enabled, the pulse signal is output to the motor drive unit according to the torque command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to work in the torque control state.
  • the main control unit feeds back the three-phase current signal, bus voltage signal and position signal to the diagnostic unit in the second MCU control system.
  • the diagnosis unit receives the three-phase current signal, the bus voltage signal and the position signal, and performs fault diagnosis based on the three-phase current signal, the bus voltage signal and the position signal.
  • This solution is based on two control systems with different architectures: the first FPGA control system and the second MCU control system. It uses the fast computing characteristics of the first FPGA control system to realize current closed-loop control and PWM modulation, and uses the second MCU control system to complete the signal processing. Fault diagnosis can complete complex motor control more quickly, which not only meets higher speed motor control applications, but also achieves smoother and smoother motor torque output.
  • Figure 4 is a flow chart of another heterogeneous motor control method provided by the embodiment of the present application; as shown in Figures 2 and 4, the method includes:
  • main control unit in the first FPGA control system When the main control unit in the first FPGA control system is enabled in the speed control mode, it outputs pulse signals to the motor drive unit according to the speed command signal, three-phase current signal, bus voltage signal and position signal to drive the motor in the speed control state. work; or, when the torque control mode is enabled, the pulse signal is output to the motor drive unit according to the torque command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to work in the torque control state.
  • the main control unit feeds back the three-phase current signal, bus voltage signal and position signal to the diagnostic unit in the second MCU control system.
  • the detection unit detects the temperature and status of the motor drive unit; and sends the temperature and status of the motor drive unit to the diagnosis unit.
  • the diagnostic unit receives the three-phase current signal, bus voltage signal and position signal, and performs fault diagnosis based on the three-phase current signal, bus voltage signal and position signal; and receives the temperature and status of the motor drive unit, and detects the fault based on the detection unit Perform troubleshooting on the temperature and status of the motor drive unit break.
  • the main control unit receives the fault status of the diagnostic unit and adjusts the output pulse signal according to the fault status of the diagnostic unit.
  • the diagnostic unit 21 when the diagnostic unit 21 detects abnormal temperature or abnormal opening and closing status of each IGBT drive tube, it determines that each IGBT drive tube is faulty; or when the diagnostic unit 21 determines that the current is overcurrent based on the three-phase current signal, the bus voltage signal and the position signal. In the event of a fault, bus voltage overvoltage or undervoltage fault, or abnormal position fault, the main control unit 12 receives the fault status of the diagnostic unit 21, and adjusts the output pulse signal according to the fault status of the diagnostic unit 21 to ensure that each IGBT drive tube is driven normally. This ensures that the entire motor control system enters a safe state.
  • the main control unit feeds back the control status of the drive motor.
  • the communication unit receives the control status of the drive motor and feeds back the control status of the drive motor to the external controller; wherein, the control status of the drive motor includes: drive motor speed control status, drive motor torque control status, drive motor standby status and Drive motor control fault condition.
  • the second MCU control system 20 also includes an emergency processing unit 23; the emergency processing unit 23 is electrically connected to an external controller, and the emergency processing unit 23 responds to receiving an emergency instruction from the external controller and outputs an emergency processing signal to The motor driving unit 30 is disconnected to ensure that the entire motor control system enters a safe state through the emergency processing unit 23 in the first MCU control system.

Abstract

The present application discloses a heterogeneous motor control device and method. The device comprises: a first FPGA control system, a second MCU control system, and a motor driving unit. The first FPGA control system comprises a main control unit, the main control unit being configured to: output a pulse signal to the motor driving unit according to a rotational speed instruction signal, a three-phase current signal, a bus voltage signal, and a position signal when a rotational speed control mode is enabled, so as to drive a motor to operate in a rotational speed control state; output a pulse signal to the motor driving unit according to a torque instruction signal, the three-phase current signal, the bus voltage signal, and the position signal when a torque control mode is enabled, so as to drive the motor to operate in a torque control state; and feed the three-phase current signal, the bus voltage signal, and the position signal back to the second MCU control system. The second MCU control system comprises a diagnosis unit, the diagnosis unit being configured to receive the three-phase current signal, the bus voltage signal, and the position signal, and perform fault diagnosis according to the current signal, the bus voltage signal, and the position signal.

Description

一种异构电机控制装置及方法A heterogeneous motor control device and method
本申请要求在2022年06月16日提交中国专利局、申请号为202210686788.0的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。This application claims priority to the Chinese patent application with application number 202210686788.0, which was submitted to the China Patent Office on June 16, 2022. The entire content of this application is incorporated into this application by reference.
技术领域Technical field
本申请实施例涉及电机控制技术，例如涉及一种异构电机控制装置及方法。Embodiments of the present application relate to motor control technology, for example, to a heterogeneous motor control device and method.
背景技术Background technique
DSP/MCU与CPLD/FPGA属于两种不同架构类型的芯片，都可以作为电机的控制装置，基于CPLD/FPGA的特殊制程，其一般要比DSP/MCU具有更快的处理运算速度。目前电机的控制装置大部分都是用一种架构的芯片(DSP/MCU)来实现，一定程度受限于DSP/MCU的运算速度，无法满足更高转速的电机控制应用，而且一定工况下会影响电机转矩的平稳输出。DSP/MCU and CPLD/FPGA are two different architecture types of chips, both of which can be used as motor control devices. Based on the special process of CPLD/FPGA, they generally have faster processing speeds than DSP/MCU. At present, most of the motor control devices are implemented using chips of one architecture (DSP/MCU), which are limited to a certain extent by the computing speed of DSP/MCU and cannot meet higher speed motor control applications. Moreover, under certain working conditions It will affect the smooth output of motor torque.
发明内容Contents of the invention
本申请提供一种异构电机控制装置及方法，利用第一现场可编程逻辑门阵列(Field Programmable Gate Array，FPGA)控制系统快速运算的特点实现了电流闭环控制及脉冲宽度调制(Pulse Width Modulation，PWM)调制，利用第二微控制单元(Microcontroller Unit，MCU)控制系统完成信号的故障诊断，可以更快速完成电机的复杂控制，不仅满足更高转速的电机控制应用，而且可以实现输出更加平稳丝滑的电机转矩输出。This application provides a heterogeneous motor control device and method, which utilizes the fast computing characteristics of the first Field Programmable Gate Array (FPGA) control system to realize current closed-loop control and pulse width modulation (Pulse Width Modulation, PWM) modulation, using the second microcontroller unit (MCU) control system to complete signal fault diagnosis, which can complete complex control of the motor more quickly, not only meet the needs of higher speed motor control applications, but also achieve a more stable output. Sliding motor torque output.
第一方面，本申请实施例提供了一种异构电机控制装置，该装置包括：第一FPGA控制系统、第二MCU控制系统及电机驱动单元；In the first aspect, embodiments of the present application provide a heterogeneous motor control device, which includes: a first FPGA control system, a second MCU control system and a motor drive unit;
所述第一FPGA控制系统包括主控单元，所述主控单元设置为：The first FPGA control system includes a main control unit, and the main control unit is configured as:
在转速控制模式使能时，根据转速指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至所述电机驱动单元以驱动电机以转速控制状态工作；When the speed control mode is enabled, pulse signals are output to the motor drive unit according to the speed command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to work in the speed control state;
在转矩控制模式使能时，根据转矩指令信号、所述三相电流信号、所述母线电压信号及所述位置信号输出脉冲信号至所述电机驱动单元以驱动电机以转矩控制状态工作； When the torque control mode is enabled, a pulse signal is output to the motor drive unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal to drive the motor to operate in the torque control state. ;
将所述三相电流信号、所述母线电压信号及所述位置信号反馈至所述第二MCU控制系统；Feed back the three-phase current signal, the bus voltage signal and the position signal to the second MCU control system;
所述第二MCU控制系统包括诊断单元，所述诊断单元设置为接收所述三相电流信号、所述母线电压信号及所述位置信号，并根据所述三相电流信号、所述母线电压信号及所述位置信号进行故障诊断。The second MCU control system includes a diagnostic unit, the diagnostic unit is configured to receive the three-phase current signal, the bus voltage signal and the position signal, and perform and the position signal for fault diagnosis.
第二方面，本申请实施例提供了一种异构电机控制方法，该方法应用于上述第一方面所述的异构电机控制装置，所述异构电机控制方法包括：In a second aspect, embodiments of the present application provide a heterogeneous motor control method, which method is applied to the heterogeneous motor control device described in the first aspect. The heterogeneous motor control method includes:
所述第一FPGA控制系统内的主控单元在转速控制模式使能时，根据转速指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至所述电机驱动单元以驱动电机以转速控制状态工作；或者，在转矩控制模式使能时，根据转矩指令信号、所述三相电流信号、所述母线电压信号及位置信号输出脉冲信号至所述电机驱动单元以驱动电机以转矩控制状态工作；When the speed control mode is enabled, the main control unit in the first FPGA control system outputs a pulse signal to the motor drive unit according to the speed command signal, the three-phase current signal, the bus voltage signal and the position signal to drive the motor at a speed Work in the control state; or, when the torque control mode is enabled, a pulse signal is output to the motor drive unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal to drive the motor to rotate. Work in torque control state;
所述主控单元将所述三相电流信号、所述母线电压信号及所述位置信号反馈至第二MCU控制系统内的诊断单元；The main control unit feeds back the three-phase current signal, the bus voltage signal and the position signal to the diagnostic unit in the second MCU control system;
所述诊断单元接收所述三相电流信号、所述母线电压信号及所述位置信号，并根据所述三相电流信号、所述母线电压信号及所述位置信号进行故障诊断。The diagnostic unit receives the three-phase current signal, the bus voltage signal and the position signal, and performs fault diagnosis based on the three-phase current signal, the bus voltage signal and the position signal.
附图说明Description of the drawings
图1是本申请实施例提供的一种异构电机控制装置的结构示意图；Figure 1 is a schematic structural diagram of a heterogeneous motor control device provided by an embodiment of the present application;
图2是本申请实施例提供的另一种异构电机控制装置的结构示意图；Figure 2 is a schematic structural diagram of another heterogeneous motor control device provided by an embodiment of the present application;
图3是本申请实施例提供的一种异构电机控制方法的结构示意图；Figure 3 is a schematic structural diagram of a heterogeneous motor control method provided by an embodiment of the present application;
图4是本申请实施例提供的另一种异构电机控制方法的结构示意图。Figure 4 is a schematic structural diagram of another heterogeneous motor control method provided by an embodiment of the present application.
具体实施方式Detailed ways
下面结合附图和实施例对本申请作详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。The present application will be described in detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely for explanation of the present application. In addition, it should be noted that, for convenience of description, only some but not all structures related to the present application are shown in the drawings.
图1是本申请实施例提供的一种异构电机控制装置的结构示意图，如图1所示，该装置包括：第一FPGA控制系统10、第二MCU控制系统20及电机驱动单元30；第一FPGA控制系统10包括主控单元11，主控单元11设置为在转 速控制模式使能时，根据转速指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至电机驱动单元30以驱动电机以转速控制状态工作；在转矩控制模式使能时，根据转矩指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至电机驱动单元30以驱动电机以转矩控制状态工作；将三相电流信号、母线电压信号及位置信号反馈至第二MCU控制系统20；第二MCU控制系统20包括诊断单元21，诊断单元21设置为接收三相电流信号、母线电压信号及位置信号，并根据三相电流信号、母线电压信号及位置信号进行故障诊断。Figure 1 is a schematic structural diagram of a heterogeneous motor control device provided by an embodiment of the present application. As shown in Figure 1, the device includes: a first FPGA control system 10, a second MCU control system 20 and a motor drive unit 30; An FPGA control system 10 includes a main control unit 11, which is configured to When the speed control mode is enabled, pulse signals are output to the motor drive unit 30 according to the speed command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to work in the speed control state; when the torque control mode is enabled, according to The torque command signal, three-phase current signal, bus voltage signal and position signal output pulse signals to the motor drive unit 30 to drive the motor to work in a torque control state; the three-phase current signal, bus voltage signal and position signal are fed back to the second MCU control system 20; the second MCU control system 20 includes a diagnostic unit 21. The diagnostic unit 21 is configured to receive three-phase current signals, bus voltage signals and position signals, and perform fault diagnosis based on the three-phase current signals, bus voltage signals and position signals. .
其中，第一FPGA控制系统10可以在转速控制模式及转矩控制模式两种不同的控制模式下工作；可选的，第一FPGA控制系统10在转速控制模式使能时，根据转速指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至电机驱动单元30以驱动电机以转速控制状态工作；其中，转速指令信号可以转换为三相电流信号的参考值；三相电流信号为实时采集的驱动电机输出的电流信号；母线电压信号为驱动电机工作的母线电压信号；位置信号为实际采集的驱动电机转子的位置信息，这样根据三相电流信号的参考值及三相电流信号构成电流闭环控制，同时依据母线电压信号及位置信号，并经过PWM调制输出脉冲信号，以驱动电机驱动单元30工作，从而使得电机处于维持在预设转速范围内工作。Among them, the first FPGA control system 10 can work in two different control modes: the speed control mode and the torque control mode; optionally, when the speed control mode is enabled, the first FPGA control system 10 controls the speed control mode according to the speed command signal, The three-phase current signal, bus voltage signal and position signal output pulse signals to the motor drive unit 30 to drive the motor to work in a speed control state; among which, the speed command signal can be converted into a reference value of the three-phase current signal; the three-phase current signal is real-time The collected current signal output by the drive motor; the bus voltage signal is the bus voltage signal of the drive motor; the position signal is the actual collected position information of the drive motor rotor, so that the current is formed based on the reference value of the three-phase current signal and the three-phase current signal The closed-loop control simultaneously outputs pulse signals based on the bus voltage signal and position signal through PWM modulation to drive the motor drive unit 30 to operate, thereby maintaining the motor operating within a preset speed range.
当第一FPGA控制系统10在转矩控制模式使能时，根据转矩指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至电机驱动单元30以驱动电机以转矩控制状态工作；其中，转矩指令信号可以转换为三相电流信号的参考值；这样根据三相电流信号的参考值及三相电流信号构成电流闭环控制，同时依据母线电压信号及位置信号，并经过PWM调制输出脉冲信号，以驱动电机驱动单元30工作，从而使得电机处于维持在预设转矩范围内工作。本方案利用第一FPGA控制系统快速运算的特点，在第一FPGA控制系统10实现了不同模式下的电流闭环控制及PWM调制，以更快速完成电机的复杂控制，不仅满足更高转速的电机控制应用，而且可以实现输出更加平稳丝滑的电机转矩输出。同时第二MCU控制系统20可以接收三相电流信号、母线电压信号及位置信号，并根据三相电流信号、母线电压信号及位置信号进行故障诊断，可选的，第二MCU控制系统20会判定三相电流信号是否大于预设电流值，母线电压信号是否大于预设电压值及位置信号是否大于预设值，以判定电流过流故障、母线电压过压或者欠压故障、位置异常故障；如此还利用第二MCU控制系统20完成信号的故障诊断。When the first FPGA control system 10 is enabled in the torque control mode, it outputs pulse signals to the motor drive unit 30 according to the torque command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to operate in the torque control state. ; Among them, the torque command signal can be converted into the reference value of the three-phase current signal; in this way, a current closed-loop control is formed based on the reference value of the three-phase current signal and the three-phase current signal, and at the same time, it is based on the bus voltage signal and position signal, and is modulated by PWM The pulse signal is output to drive the motor driving unit 30 to operate, thereby maintaining the motor operating within a preset torque range. This solution takes advantage of the fast computing characteristics of the first FPGA control system to implement current closed-loop control and PWM modulation in different modes in the first FPGA control system 10 to complete complex control of the motor more quickly, not only to meet the needs of higher-speed motor control application, and can achieve smoother and smoother motor torque output. At the same time, the second MCU control system 20 can receive three-phase current signals, bus voltage signals and position signals, and perform fault diagnosis based on the three-phase current signals, bus voltage signals and position signals. Optionally, the second MCU control system 20 will determine Whether the three-phase current signal is greater than the preset current value, whether the bus voltage signal is greater than the preset voltage value and whether the position signal is greater than the preset value, to determine whether the current overcurrent fault, bus voltage overvoltage or undervoltage fault, or abnormal position fault; so The second MCU control system 20 is also used to complete signal fault diagnosis.
可选的，图2是本申请实施例提供的另一种异构电机控制装置的结构示意图，如图2所示，第一FPGA控制系统10还包括检测单元12；检测单元12， 设置为检测电机驱动单元30的温度及状态；并将电机驱动单元30的温度及状态发送至诊断单元21；诊断单元21，还设置为根据电机驱动单元30的温度及状态进行故障诊断。可选的，主控单元12还设置为接收诊断单元21的故障状态，并根据诊断单元21的故障状态调整输出脉冲信号。Optionally, Figure 2 is a schematic structural diagram of another heterogeneous motor control device provided by an embodiment of the present application. As shown in Figure 2, the first FPGA control system 10 also includes a detection unit 12; the detection unit 12, It is configured to detect the temperature and status of the motor drive unit 30; and send the temperature and status of the motor drive unit 30 to the diagnostic unit 21; the diagnostic unit 21 is also configured to perform fault diagnosis based on the temperature and status of the motor drive unit 30. Optionally, the main control unit 12 is also configured to receive the fault status of the diagnostic unit 21 and adjust the output pulse signal according to the fault status of the diagnostic unit 21 .
其中，电机驱动单元30为绝缘栅双极型晶体管(Insulated Gate Bipolar Transistor，IGBT)驱动管；检测单元12可以检测各IGBT驱动管的温度及开闭状态；诊断单元21当检测到各IGBT驱动管的温度异常或者开闭状态异常时则判定各IGBT驱动管发生故障；同时主控单元11接收诊断单元21输出的故障状态，并根据诊断单元21输出的故障状态调整输出脉冲信号，保证各IGBT驱动管驱动正常，从而保证整个电机控制系统进入安全状态。可以理解的是，当诊断单元21根据三相电流信号、母线电压信号及位置信号判定电流过流故障、母线电压过压或者欠压故障、位置异常故障时，主控单元11接收诊断单元21输出的故障状态，并根据诊断单元21输出的故障状态调整输出脉冲信号，保证各IGBT驱动管驱动正常，从而保证整个电机控制系统进入安全状态。Among them, the motor drive unit 30 is an Insulated Gate Bipolar Transistor (IGBT) drive tube; the detection unit 12 can detect the temperature and opening and closing status of each IGBT drive tube; the diagnostic unit 21 detects the IGBT drive tube when detecting the When the temperature is abnormal or the opening and closing status is abnormal, it is determined that each IGBT drive tube is faulty; at the same time, the main control unit 11 receives the fault status output by the diagnosis unit 21, and adjusts the output pulse signal according to the fault status output by the diagnosis unit 21 to ensure that each IGBT drive The tube drive is normal, thereby ensuring that the entire motor control system enters a safe state. It can be understood that when the diagnostic unit 21 determines a current overcurrent fault, a bus voltage overvoltage or undervoltage fault, or an abnormal position fault based on the three-phase current signal, the bus voltage signal and the position signal, the main control unit 11 receives the output of the diagnostic unit 21 the fault state, and adjust the output pulse signal according to the fault state output by the diagnosis unit 21 to ensure that each IGBT drive tube is driven normally, thereby ensuring that the entire motor control system enters a safe state.
可选的，参照图2，主控单元11还设置为反馈驱动电机的控制状态；第二MCU控制系统还包括通讯单元22；通讯单元22，设置为接收驱动电机的控制状态，并将驱动电机的控制状态反馈至外部控制器；其中，驱动电机的控制状态包括：驱动电机转速控制状态、驱动电机转矩控制状态、驱动电机待机状态及驱动电机控制故障状态。Optionally, referring to Figure 2, the main control unit 11 is also configured to feedback the control status of the drive motor; the second MCU control system also includes a communication unit 22; the communication unit 22 is configured to receive the control status of the drive motor and transmit the control status of the drive motor to The control status of the drive motor is fed back to the external controller; among them, the control status of the drive motor includes: drive motor speed control status, drive motor torque control status, drive motor standby status and drive motor control fault status.
其中，当主控单元11在转速控制模式使能时，根据转速指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至电机驱动单元30，此时驱动电机处于转速控制状态；当主控单元11在转矩控制模式使能时，根据转速指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至电机驱动单元30，此时驱动电机处于转矩控制状态；而若主控单元11未收到转速控制模式使能信号，且主控单元11未收到转矩控制模式使能信号时，则主控单元11为待机状态，则此时驱动电机处于待机状态；若主控单元11在转速控制模式下或者转矩控制模式下根据转速指令信号、三相电流信号、母线电压信号及位置信号无法输出脉冲信号，则主控单元11处于控制故障状态，此时驱动电机处于控制故障状态；主控单元11可以实时反馈驱动电机的各控制状态，通讯单元22同时接收驱动电机的控制状态，并将驱动电机的控制状态反馈至外部控制器，以实现外部控制器对主控单元11驱动电机的控制状态的实时监控。Among them, when the main control unit 11 is enabled in the speed control mode, it outputs pulse signals to the motor drive unit 30 according to the speed command signal, three-phase current signal, bus voltage signal and position signal. At this time, the drive motor is in the speed control state; when When the torque control mode is enabled, the main control unit 11 outputs pulse signals to the motor drive unit 30 based on the speed command signal, three-phase current signal, bus voltage signal and position signal. At this time, the drive motor is in the torque control state; and if When the main control unit 11 does not receive the speed control mode enable signal and the main control unit 11 does not receive the torque control mode enable signal, the main control unit 11 is in the standby state, and the drive motor is in the standby state at this time; if If the main control unit 11 cannot output a pulse signal according to the speed command signal, three-phase current signal, bus voltage signal and position signal in the speed control mode or torque control mode, the main control unit 11 is in a control fault state, and the motor is driven at this time. In a control fault state; the main control unit 11 can feedback the control status of the drive motor in real time, and the communication unit 22 simultaneously receives the control status of the drive motor and feeds back the control status of the drive motor to the external controller to realize the external controller's control of the main control status. Real-time monitoring of the control status of the drive motor of the control unit 11.
可选的，参照图2，第二MCU控制系统20还包括应急处理单元23；应急处理单元23与外部控制器电连接，应急处理单元23响应于接收到外部控制器的应急指令，输出应急处理信号至电机驱动单元30以使电机驱动单元断开，以 通过第一MCU控制系统20内的应急处理单元23保证整个电机控制装置的安全防护。Optionally, referring to Figure 2, the second MCU control system 20 also includes an emergency processing unit 23; the emergency processing unit 23 is electrically connected to an external controller, and the emergency processing unit 23 outputs emergency processing in response to receiving an emergency instruction from the external controller. signal to the motor drive unit 30 to cause the motor drive unit to disconnect to The safety protection of the entire motor control device is ensured through the emergency processing unit 23 in the first MCU control system 20 .
基于同一构思，本实施例还提供了一种异构电机控制方法，该方法应用于上述实施例的异构电机控制装置，图3是本申请实施例提供的一种异构电机控制方法的流程图，如图3和4所示，该方法包括：Based on the same concept, this embodiment also provides a heterogeneous motor control method, which is applied to the heterogeneous motor control device of the above embodiment. Figure 3 is a flow chart of a heterogeneous motor control method provided by the embodiment of the present application. As shown in Figures 3 and 4, the method includes:
S110、第一FPGA控制系统内的主控单元在转速控制模式使能时，根据转速指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至电机驱动单元以驱动电机以转速控制状态工作；或者，在转矩控制模式使能时，根据转矩指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至电机驱动单元以驱动电机以转矩控制状态工作。S110. When the main control unit in the first FPGA control system is enabled in the speed control mode, it outputs pulse signals to the motor drive unit according to the speed command signal, three-phase current signal, bus voltage signal and position signal to drive the motor in the speed control state. work; or, when the torque control mode is enabled, the pulse signal is output to the motor drive unit according to the torque command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to work in the torque control state.
S120、主控单元将三相电流信号、母线电压信号及位置信号反馈至第二MCU控制系统内的诊断单元。S120. The main control unit feeds back the three-phase current signal, bus voltage signal and position signal to the diagnostic unit in the second MCU control system.
S130、诊断单元接收三相电流信号、母线电压信号及位置信号，并根据三相电流信号、母线电压信号及位置信号进行故障诊断。S130. The diagnosis unit receives the three-phase current signal, the bus voltage signal and the position signal, and performs fault diagnosis based on the three-phase current signal, the bus voltage signal and the position signal.
本方案基于第一FPGA控制系统及第二MCU控制系统两种不同架构的控制系统，利用第一FPGA控制系统快速运算的特点实现了电流闭环控制及PWM调制，利用第二MCU控制系统完成信号的故障诊断，可以更快速完成电机的复杂控制，不仅满足更高转速的电机控制应用，而且可以实现输出更加平稳丝滑的电机转矩输出。This solution is based on two control systems with different architectures: the first FPGA control system and the second MCU control system. It uses the fast computing characteristics of the first FPGA control system to realize current closed-loop control and PWM modulation, and uses the second MCU control system to complete the signal processing. Fault diagnosis can complete complex motor control more quickly, which not only meets higher speed motor control applications, but also achieves smoother and smoother motor torque output.
可选的，在上述方案的基础上，图4是本申请实施例提供的另一种异构电机控制方法的流程图；如图2和4所示，该方法包括：Optionally, based on the above solution, Figure 4 is a flow chart of another heterogeneous motor control method provided by the embodiment of the present application; as shown in Figures 2 and 4, the method includes:
S210、第一FPGA控制系统内的主控单元在转速控制模式使能时，根据转速指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至电机驱动单元以驱动电机以转速控制状态工作；或者，在转矩控制模式使能时，根据转矩指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至电机驱动单元以驱动电机以转矩控制状态工作。S210. When the main control unit in the first FPGA control system is enabled in the speed control mode, it outputs pulse signals to the motor drive unit according to the speed command signal, three-phase current signal, bus voltage signal and position signal to drive the motor in the speed control state. work; or, when the torque control mode is enabled, the pulse signal is output to the motor drive unit according to the torque command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to work in the torque control state.
S220、主控单元将三相电流信号、母线电压信号及位置信号反馈至第二MCU控制系统内的诊断单元。S220. The main control unit feeds back the three-phase current signal, bus voltage signal and position signal to the diagnostic unit in the second MCU control system.
S230、检测单元检测电机驱动单元的温度及状态；并将电机驱动单元的温度及状态发送至诊断单元。S230. The detection unit detects the temperature and status of the motor drive unit; and sends the temperature and status of the motor drive unit to the diagnosis unit.
S240、诊断单元接收三相电流信号、母线电压信号及位置信号，并根据三相电流信号、母线电压信号及位置信号进行故障诊；以及接收电机驱动单元的温度及状态，并根据检测单元检测到的电机驱动单元的温度及状态进行故障诊 断。S240, the diagnostic unit receives the three-phase current signal, bus voltage signal and position signal, and performs fault diagnosis based on the three-phase current signal, bus voltage signal and position signal; and receives the temperature and status of the motor drive unit, and detects the fault based on the detection unit Perform troubleshooting on the temperature and status of the motor drive unit break.
S250、主控单元接收诊断单元的故障状态，并根据诊断单元的故障状态调整输出脉冲信号。S250. The main control unit receives the fault status of the diagnostic unit and adjusts the output pulse signal according to the fault status of the diagnostic unit.
其中，诊断单元21当检测到各IGBT驱动管的温度异常或者开闭状态异常则判定各IGBT驱动管发生故障；或者当诊断单元21根据三相电流信号、母线电压信号及位置信号判定电流过流故障、母线电压过压或者欠压故障、位置异常故障时，主控单元12接收诊断单元21的故障状态，并根据诊断单元21的故障状态，调整输出脉冲信号，保证各IGBT驱动管驱动正常，从而保证整个电机控制系统进入安全状态。Among them, when the diagnostic unit 21 detects abnormal temperature or abnormal opening and closing status of each IGBT drive tube, it determines that each IGBT drive tube is faulty; or when the diagnostic unit 21 determines that the current is overcurrent based on the three-phase current signal, the bus voltage signal and the position signal. In the event of a fault, bus voltage overvoltage or undervoltage fault, or abnormal position fault, the main control unit 12 receives the fault status of the diagnostic unit 21, and adjusts the output pulse signal according to the fault status of the diagnostic unit 21 to ensure that each IGBT drive tube is driven normally. This ensures that the entire motor control system enters a safe state.
S260、主控单元反馈驱动电机的控制状态。S260. The main control unit feeds back the control status of the drive motor.
S270、通讯单元接收驱动电机的控制状态并将驱动电机的控制状态反馈至外部控制器；其中，驱动电机的控制状态包括：驱动电机转速控制状态、驱动电机转矩控制状态、驱动电机待机状态及驱动电机控制故障状态。S270, the communication unit receives the control status of the drive motor and feeds back the control status of the drive motor to the external controller; wherein, the control status of the drive motor includes: drive motor speed control status, drive motor torque control status, drive motor standby status and Drive motor control fault condition.
其中，参照图2，第二MCU控制系统20还包括应急处理单元23；应急处理单元23与外部控制器电连接，应急处理单元23响应于接收到外部控制器的应急指令，输出应急处理信号至电机驱动单元30以使电机驱动单元断开，以通过第一MCU控制系统内的应急处理单元23确保整个电机控制系统进入安全状态。 2, the second MCU control system 20 also includes an emergency processing unit 23; the emergency processing unit 23 is electrically connected to an external controller, and the emergency processing unit 23 responds to receiving an emergency instruction from the external controller and outputs an emergency processing signal to The motor driving unit 30 is disconnected to ensure that the entire motor control system enters a safe state through the emergency processing unit 23 in the first MCU control system.

Claims (10)

  1. 一种异构电机控制装置，包括：第一现场可编程逻辑门阵列FPGA控制系统、第二微控制单元MCU控制系统及电机驱动单元；A heterogeneous motor control device, including: a first field programmable logic gate array FPGA control system, a second micro control unit MCU control system and a motor drive unit;
    所述第一FPGA控制系统包括主控单元，所述主控单元设置为：The first FPGA control system includes a main control unit, and the main control unit is configured as:
    在转速控制模式使能时，根据转速指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至所述电机驱动单元以驱动电机以转速控制状态工作；When the speed control mode is enabled, pulse signals are output to the motor drive unit according to the speed command signal, three-phase current signal, bus voltage signal and position signal to drive the motor to work in the speed control state;
    在转矩控制模式使能时，根据转矩指令信号、所述三相电流信号、所述母线电压信号及所述位置信号输出脉冲信号至所述电机驱动单元以驱动电机以转矩控制状态工作；When the torque control mode is enabled, a pulse signal is output to the motor drive unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal to drive the motor to operate in the torque control state. ;
    将所述三相电流信号、所述母线电压信号及所述位置信号反馈至所述第二MCU控制系统；Feed back the three-phase current signal, the bus voltage signal and the position signal to the second MCU control system;
    所述第二MCU控制系统包括诊断单元，所述诊断单元设置为接收所述三相电流信号、所述母线电压信号及所述位置信号，并根据所述三相电流信号、所述母线电压信号及所述位置信号进行故障诊断。The second MCU control system includes a diagnostic unit, the diagnostic unit is configured to receive the three-phase current signal, the bus voltage signal and the position signal, and perform and the position signal for fault diagnosis.
  2. 根据权利要求1所述的异构电机控制装置，其中，所述第一FPGA控制系统还包括检测单元；所述检测单元，设置为：The heterogeneous motor control device according to claim 1, wherein the first FPGA control system further includes a detection unit; the detection unit is configured to:
    检测所述电机驱动单元的温度及状态；并将所述电机驱动的温度及状态发送至所述诊断单元；Detect the temperature and status of the motor drive unit; and send the temperature and status of the motor drive to the diagnostic unit;
    根据所述电机驱动单元的温度及状态进行故障诊断。Fault diagnosis is performed based on the temperature and status of the motor drive unit.
  3. 根据权利要求1所述的异构电机控制装置，其中，所述主控单元还设置为反馈驱动电机的控制状态；The heterogeneous motor control device according to claim 1, wherein the main control unit is further configured to feedback the control status of the drive motor;
    所述第二MCU控制系统还包括通讯单元；所述通讯单元，设置为接收所述驱动电机的控制状态并将所述驱动电机的控制状态反馈至外部控制器；其中，所述驱动电机的控制状态包括：驱动电机转速控制状态、驱动电机转矩控制状态、驱动电机待机状态及驱动电机控制故障状态。The second MCU control system also includes a communication unit; the communication unit is configured to receive the control status of the driving motor and feedback the control status of the driving motor to an external controller; wherein, the control status of the driving motor The status includes: drive motor speed control status, drive motor torque control status, drive motor standby status and drive motor control fault status.
  4. 根据权利要求3所述的异构电机控制装置，其中，所述第二MCU控制系统还包括应急处理单元；所述应急处理单元与所述外部控制器电连接，所述应急处理单元设置为响应于接收到所述外部控制器的应急指令，输出应急处理信号至所述电机驱动单元以使所述电机驱动单元断开。The heterogeneous motor control device according to claim 3, wherein the second MCU control system further includes an emergency processing unit; the emergency processing unit is electrically connected to the external controller, and the emergency processing unit is configured to respond Upon receiving the emergency command from the external controller, an emergency processing signal is output to the motor drive unit to disconnect the motor drive unit.
  5. 根据权利要求2所述的异构电机控制装置，其中，所述主控单元，还设置为接收所述诊断单元的故障状态，并根据所述诊断单元的故障状态调整输出所述脉冲信号。 The heterogeneous motor control device according to claim 2, wherein the main control unit is further configured to receive the fault status of the diagnostic unit and adjust and output the pulse signal according to the fault status of the diagnostic unit.
  6. 一种异构电机控制方法，应用于上述权利要求1-5任一项所述的异构电机控制装置，所述异构电机控制方法包括：A heterogeneous motor control method, applied to the heterogeneous motor control device according to any one of the above claims 1-5, the heterogeneous motor control method includes:
    所述第一FPGA控制系统内的主控单元在转速控制模式使能时，根据转速指令信号、三相电流信号、母线电压信号及位置信号输出脉冲信号至所述电机驱动单元以驱动电机以转速控制状态工作；或者在转矩控制模式使能时，根据转矩指令信号、所述三相电流信号、所述母线电压信号及位置信号输出脉冲信号至所述电机驱动单元以驱动电机以转矩控制状态工作；When the speed control mode is enabled, the main control unit in the first FPGA control system outputs a pulse signal to the motor drive unit according to the speed command signal, the three-phase current signal, the bus voltage signal and the position signal to drive the motor at a speed Work in the control state; or when the torque control mode is enabled, a pulse signal is output to the motor drive unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal to drive the motor with torque. control state work;
    所述主控单元将所述三相电流信号、所述母线电压信号及所述位置信号反馈至第二MCU控制系统内的诊断单元；The main control unit feeds back the three-phase current signal, the bus voltage signal and the position signal to the diagnostic unit in the second MCU control system;
    所述诊断单元接收所述三相电流信号、所述母线电压信号及所述位置信号，并根据所述三相电流信号、所述母线电压信号及所述位置信号进行故障诊断。The diagnostic unit receives the three-phase current signal, the bus voltage signal and the position signal, and performs fault diagnosis based on the three-phase current signal, the bus voltage signal and the position signal.
  7. 根据权利要求6所述的异构电机控制方法，其中，所述第一FPGA控制系统还包括检测单元；The heterogeneous motor control method according to claim 6, wherein the first FPGA control system further includes a detection unit;
    所述异构电机控制方法还包括：The heterogeneous motor control method also includes:
    所述检测单元检测所述电机驱动单元的温度及状态；并将所述电机驱动单元的温度及状态发送至所述诊断单元；The detection unit detects the temperature and status of the motor drive unit; and sends the temperature and status of the motor drive unit to the diagnosis unit;
    所述诊断单元根据所述电机驱动单元的温度及状态进行故障诊断。The diagnosis unit performs fault diagnosis based on the temperature and status of the motor drive unit.
  8. 根据权利要求7所述的异构电机控制方法，还包括：The heterogeneous motor control method according to claim 7, further comprising:
    所述主控单元接收所述诊断单元的故障状态，并根据所述诊断单元的故障状态调整输出所述脉冲信号。The main control unit receives the fault status of the diagnostic unit, and adjusts and outputs the pulse signal according to the fault status of the diagnostic unit.
  9. 根据权利要求6所述的异构电机控制方法，其中，所述第一FPGA控制系统还包括通讯单元；所述异构电机控制方法还包括：The heterogeneous motor control method according to claim 6, wherein the first FPGA control system further includes a communication unit; the heterogeneous motor control method further includes:
    所述主控单元反馈驱动电机的控制状态；The main control unit feeds back the control status of the drive motor;
    所述通讯单元接收所述驱动电机的控制状态，并将所述驱动电机的控制状态反馈至外部控制器；其中，所述驱动电机的控制状态包括：驱动电机转速控制状态、驱动电机转矩控制状态、驱动电机待机状态及驱动电机控制故障状态。The communication unit receives the control status of the drive motor and feeds back the control status of the drive motor to an external controller; wherein the control status of the drive motor includes: drive motor speed control status, drive motor torque control status, drive motor standby status and drive motor control fault status.
  10. 根据权利要求9所述的异构电机控制方法，其中，所述第二MCU控制系统还包括应急处理单元；所述应急处理单元与所述外部控制器电连接，The heterogeneous motor control method according to claim 9, wherein the second MCU control system further includes an emergency processing unit; the emergency processing unit is electrically connected to the external controller,
    所述异构电机控制方法还包括：The heterogeneous motor control method also includes:
    所述应急处理单元响应于接收到所述外部控制器的应急指令，输出应急处理信号至电机驱动单元以使电机驱动单元断开。 In response to receiving an emergency instruction from the external controller, the emergency processing unit outputs an emergency processing signal to the motor drive unit to disconnect the motor drive unit.
PCT/CN2023/099057 2022-06-16 2023-06-08 Heterogeneous motor control device and method WO2023241442A1 (en)

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