Motor drive control circuit, device and method based on ARM architecture
By using an ARM-based motor drive control circuit, employing a resolver RDC chip and an IPM module, the problems of large size and high cost in existing motor control circuits are solved, achieving high-precision, compact, and low-power motor control.
Patent Information
- Application Number
- CN202511496489.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-20
- Publication Date
- 2026-01-23
AI Technical Summary
Existing motor control circuit solutions are bulky, costly, have complex power supply systems, and low tracking speeds, which cannot meet the requirements of low cost and miniaturization of weapons and equipment.
The motor drive control circuit based on ARM architecture includes a motor main control circuit, a drive circuit, a sampling circuit, and a communication circuit. It utilizes a resolver RDC chip and an IPM module to achieve high-precision control and a lightweight design.
It achieves low-cost, high-precision, and compact motor control, reduces resolver angle measurement noise, improves tracking speed, and reduces circuit size and power consumption.
Smart Images
Figure CN121396006A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of electrical engineering application, and in particular to a motor driving control circuit, device and method based on ARM architecture. BACKGROUND
[0002] The frame type inertial measurement unit realizes the functions of the conventional strapdown inertial measurement unit, and is provided with a rotating mechanism, a locking mechanism and a high-speed digital processing circuit. The frame type inertial measurement unit receives control instructions from a flight control machine or a launch control device, and realizes online self-calibration, self-alignment and self-detection of the strapdown inertial measurement unit, thereby providing a powerful guarantee for reducing the difficulty of use and maintenance of the troops and improving the mobile combat capability of the troops.
[0003] The rotating mechanism servo control system is essential in the frame type inertial measurement unit product. The motor control circuit controls the rotating mechanism system. In the prior art, the motor control circuit scheme includes five circuit boards, i.e., a driving motor control board, an inner ring locking board, an outer ring locking board, an excitation board and a decoding board. This scheme has problems such as large size, high cost, complex power supply system and low tracking rate, and cannot meet the increasingly severe low-cost and small-size requirements of weapon equipment.
[0004] Therefore, there is an urgent need to provide a low-cost, high-precision and small-size control circuit. SUMMARY
[0005] The present application provides a motor driving control circuit, device and method based on ARM architecture to solve the problems in the prior art.
[0006] To achieve the above-mentioned purpose, the present application realizes the following technical scheme: In a first aspect, the present application provides a motor driving control circuit based on ARM architecture, comprising: A motor main control circuit is used for receiving control instructions, acquiring angle information and current information through a data bus and an address bus to realize motor closed-loop control, collecting photoelectric tube signals through an IO port to identify the state of the locking mechanism to realize locking motor control, and controlling a driving circuit through an output PWM signal. A driving circuit receives the PWM signal output by the motor main control circuit, generates a driving signal, and realizes driving control of the motor. A sampling circuit is used for detecting the position state information of the double-axis rotating mechanism, and is also used for collecting the gyroscopic angle measurement signal. A communication circuit is arranged on the motor main control circuit, and is used for receiving control instructions and feeding back the state information of the driving circuit to the motor main control circuit.
[0007] Optionally, the sampling circuit comprises resolver-to-digital conversion (RDC) chip, excitation signal amplification circuit, resolver, sine and cosine signal conditioning circuit, the resolver-to-digital conversion (RDC) chip outputs excitation signal, the excitation signal is amplified by the excitation signal amplification circuit and then input into the resolver, the resolver outputs sine and cosine signals, and the sine and cosine signals are input into the sine and cosine signal conditioning circuit, the sine and cosine signals are filtered by the sine and cosine signal conditioning circuit and then input into the resolver-to-digital conversion (RDC) chip for calculation, and the calculation result is transmitted to the master control chip through the data bus.
[0008] Optionally, the resolver-to-digital conversion (RDC) chip comprises coarse channel resolver-to-digital conversion (RDC) chip and fine channel resolver-to-digital conversion (RDC) chip, the resolver comprises coarse channel resolver and fine channel resolver, and the sine and cosine signal conditioning circuit comprises first sine and cosine signal conditioning circuit and second sine and cosine signal conditioning circuit.
[0009] Optionally, the driving circuit comprises inner and outer frame driving circuits and inner and outer frame locking circuits, and the driving circuit is composed of IPM modules.
[0010] Optionally, the master control chip of the motor master control circuit is an ARM architecture MCU chip minimum system.
[0011] In the second aspect, the application provides a motor driving control device based on an ARM architecture, comprising the motor driving control circuit based on the ARM architecture.
[0012] In the third aspect, the application provides a motor driving control method based on an ARM architecture, comprising: The motor master control circuit receives a control instruction, acquires angle information and current information through a data bus and an address bus, realizes motor closed-loop control, acquires photoelectric tube signals through an IO port to identify the state of a locking mechanism and realize locking motor control, and controls the driving circuit through an output PWM signal. The driving circuit receives the PWM signal output by the motor master control circuit, generates a driving signal, and realizes driving control of the motor. The sampling circuit detects the position state information of the double-shaft indexing mechanism and collects resolver angle measurement signals. The communication circuit arranged on the motor master control circuit receives a control instruction and feeds back the state information of the driving circuit to the motor master control circuit.
[0013] Advantages: The application provides a motor driving control circuit based on an ARM architecture, adopts a resolver decoding RDC chip, realizes angle analysis of a double-channel resolver transmitter through a discrete device scheme, can be applied to high-precision control of a frame type inertial measurement unit rotating frame, compared with an existing excitation and decoding module scheme, simplifies a power supply system, greatly reduces device cost, reduces resolver angle measurement noise, improves tracking rate, greatly reduces circuit volume and power consumption, and can achieve the purpose of providing a low-cost, high-precision and small-sized control circuit. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 A frame type inertial measurement unit rotating mechanism servo control circuit block diagram for the preferred embodiment of the application; Figure 2 A sampling circuit diagram for the preferred embodiment of the application; Figure 3 A split type independent clamping PID control motor three closed loop control algorithm schematic diagram for the preferred embodiment of the application. DETAILED DESCRIPTION
[0015] The technical solutions of the application will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the application.
[0016] Unless otherwise defined, the technical terms or scientific terms used in the application should be understood as the general meanings understood by those skilled in the art. The terms "first level", "second level" and similar terms used in the application do not represent any order, quantity or importance, but are only used to distinguish different components. Similarly, "one" or "a" and similar terms do not represent a quantity limit, but represent the existence of at least one. The terms "connected" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "up", "down", "left", "right" and the like only represent relative positional relationships, which change when the absolute position of the described object changes.
[0017] It should be understood that the motor driving control circuit based on the ARM architecture provided by the application can be applied to the four-axis integration and small-sized hardware design of the frame type inertial measurement unit, realizes the integration of the four-axis integration driving control circuit and the inner and outer ring resolver angle measurement circuit on the frame type inertial measurement unit motor control board, greatly improves the circuit integration, and realizes the light, small and low-cost design.
[0018] Please refer to Figure 1The application provides a motor driving control circuit based on an ARM architecture, which comprises: A motor main control circuit is used for receiving a control instruction, acquiring angle information and current information through a data bus and an address bus, realizing motor closed-loop control, collecting a photoelectric tube signal to identify the state of a locking mechanism to realize locking motor control through an IO port, and controlling a driving circuit through an output PWM signal. A driving circuit is used for receiving a PWM signal output by the motor main control circuit, generating a driving signal, and realizing driving control of the motor. A sampling circuit is used for detecting the position state information of a double-shaft indexing mechanism and collecting resolver angle measurement signals. A communication circuit is arranged on the motor main control circuit and is used for receiving a control instruction and feeding back the state information of the driving circuit to the motor main control circuit.
[0019] In the application, the main control chip of the motor main control circuit is an ARM architecture MCU chip minimum system, which replaces a traditional DSP+FPGA scheme, in the specific work, a host computer system sends a servo control instruction to the main control chip of the motor main control circuit, the servo control instruction is filtered through instruction limiting, and then is used as a speed ring given value through position ring P control, the speed ring is divided into an independent clamping PI control output as a current ring given value, the current ring decoupling control adopts a rotor field oriented vector control algorithm, phase current signals are collected for closed-loop control, and then the motor is driven by a power amplifier to drive the indexing mechanism to move. The flow describes that the servo control adopts three-ring control of a position ring, a speed ring and a current ring, and software codes are embedded in the main control chip.
[0020] The motor driving control circuit based on the ARM architecture adopts a resolver resolving RDC chip, realizes angle resolution of a double-channel resolver transmitter through a discrete device scheme, can be applied to high-precision control of a frame type inertial measurement unit rotating frame, compared with an existing excitation and decoding module scheme, simplifies a power supply system, greatly reduces device cost, reduces resolver angle measurement noise, improves tracking rate, greatly reduces circuit volume and power consumption, and can achieve the purpose of providing a low-cost, high-precision and small-sized control circuit.
[0021] Optionally, the sampling circuit comprises a resolver resolving RDC chip, an excitation signal amplification circuit, a resolver, and a sine and cosine signal conditioning circuit, the resolver resolving RDC chip outputs an excitation signal, the excitation signal is amplified through the excitation signal amplification circuit and then is input into the resolver, the resolver outputs sine and cosine signals, and the sine and cosine signals are input into the sine and cosine signal conditioning circuit, the sine and cosine signals are filtered through the sine and cosine signal conditioning circuit and then are input into the resolver resolving RDC chip for resolving, and the resolving result is transmitted to the main control chip through a data bus.
[0022] In a specific example, the resolver-decoding RDC chip includes a coarse-channel resolver-decoding RDC chip and a fine-channel resolver-decoding RDC chip, the resolver includes a resolver coarse channel and a resolver fine channel, and the sine-cosine signal conditioning circuit includes a first sine-cosine signal conditioning circuit and a second sine-cosine signal conditioning circuit.
[0023] In this embodiment, as shown in Figure 2 The fine-channel resolver-decoding RDC chip outputs an excitation signal, which is amplified by an excitation signal amplification circuit as an input signal of the resolver coarse channel and the resolver fine channel. After being transformed by the resolver coarse channel and the resolver fine channel, the signal becomes a sine-cosine signal of the resolver coarse channel and the resolver fine channel. Each signal is filtered by a sine-cosine signal conditioning circuit and then input to the resolver-decoding RDC chip of the resolver coarse channel and the resolver fine channel, respectively, for decoding. The decoding results are transmitted to the master control chip through a data bus. The master control chip combines and decodes the data of the two channels to obtain 21-bit motor position information.
[0024] Optionally, the driving circuit includes inner and outer frame driving circuits and inner and outer frame locking circuits, and the driving circuit is composed of IPM modules. In actual work, the motor master control circuit outputs a PWM signal to control the inner and outer frame driving circuits and the inner and outer frame locking circuits.
[0025] In this optional embodiment, the motor control circuit driving circuit is optimized, and the traditional motor driving circuit composed of a digital isolation chip, a MOSFET gate drive chip and a MOSFET power tube is replaced by an IPM module, so that light and small size and low cost design can be achieved.
[0026] Optionally, the motor master control circuit includes (please supplement the specific structure of the motor master control circuit here).
[0027] The application also provides a motor driving control device based on an ARM architecture, which includes the motor driving control circuit based on the ARM architecture.
[0028] The application also provides a motor driving control method based on an ARM architecture, which includes: The motor master control circuit receives a control instruction, acquires angle information and current information through a data bus and an address bus to realize motor closed-loop control, acquires a photoelectric tube signal to identify the state of a locking mechanism to realize locking motor control through an IO port, and controls the driving circuit through an output PWM signal. The driving circuit receives the PWM signal output by the motor master control circuit to generate a driving signal and realize driving control of the motor. The sampling circuit detects the position state information of the double-shaft indexing mechanism and collects resolver angle measurement signals. The communication circuit arranged on the motor main control circuit receives the control instruction and feeds back the state information of the driving circuit to the motor main control circuit.
[0029] In the specific work, the control logic of the main control chip in the motor main control circuit is as follows: As shown in Figure 3 The host computer system sends a servo control instruction to the main control chip, the servo control instruction is filtered by the instruction limiting, and then is given by the position loop P control as the speed loop, the speed loop is divided into an independent clamping PI control output as the current loop, the current loop decoupling control adopts the rotor field oriented vector control algorithm, the phase current signal is collected for closed loop control, and then the motor is driven by the power amplifier to drive the indexing mechanism to act.
[0030] In the embodiment, the three-loop control architecture is optimized, and the PID algorithm is improved into a split type independent clamping PID control, so that the dynamic response capability of the system can be improved under the premise of improving the stability of the system.
[0031] The above describes the preferred embodiments of the application in detail. It should be understood that those skilled in the art can make many modifications and changes without creative labor according to the concept of the application. Therefore, any technical solution obtained by logical analysis, reasoning or limited experiment on the basis of the prior art according to the concept of the application shall be within the protection scope defined by the claims.
Claims
1. An ARM architecture based motor drive control circuit, characterized by, It comprises: a motor main control circuit for receiving control instructions, obtaining angle information and current information through a data bus and an address bus to realize motor closed-loop control, collecting photoelectric tube signals through an IO port to identify the state of a locking mechanism to realize locking motor control, and controlling a driving circuit through an output PWM signal; a driving circuit for receiving the PWM signal output by the motor main control circuit to generate a driving signal and realize driving control of the motor; a sampling circuit for detecting position state information of a double-shaft indexing mechanism and collecting resolver angle measurement signals; a communication circuit provided on the motor main control circuit for receiving control instructions and feeding back state information of the driving circuit to the motor main control circuit.
2. The ARM architecture-based motor driving control circuit according to claim 1, characterized in that: the sampling circuit comprises a resolver solution RDC chip, an excitation signal amplification circuit, a resolver, and a sine and cosine signal conditioning circuit, the resolver solution RDC chip outputs an excitation signal, the excitation signal is amplified by the excitation signal amplification circuit and then input into the resolver, the resolver outputs sine and cosine signals and inputs the sine and cosine signals into the sine and cosine signal conditioning circuit, the sine and cosine signals are filtered by the sine and cosine signal conditioning circuit and then input into the resolver solution RDC chip for solution, and the solution result is transmitted to the main control chip through a data bus.
3. The ARM architecture based motor drive control circuit according to claim 2, wherein, the resolver solution RDC chip comprises a coarse-channel resolver solution RDC chip and a fine-channel resolver solution RDC chip, the resolver comprises a coarse-channel resolver and a fine-channel resolver, and the sine and cosine signal conditioning circuit comprises a first sine and cosine signal conditioning circuit and a second sine and cosine signal conditioning circuit.
4. The ARM architecture based motor drive control circuit according to claim 1, wherein, the driving circuit comprises inner and outer frame driving circuits and inner and outer frame locking circuits, and the driving circuit is composed of IPM modules.
5. The ARM architecture based motor drive control circuit according to claim 1, wherein, the main control chip of the motor main control circuit is an ARM architecture MCU chip minimum system.
6. An electric motor drive control device based on an ARM architecture, characterized by comprising: It comprises the ARM architecture-based motor driving control circuit according to any one of claims 1-5.
7. A motor drive control method based on ARM architecture, characterized in that, It comprises: receiving control instructions through the motor main control circuit, obtaining angle information and current information through a data bus and an address bus to realize motor closed-loop control, collecting photoelectric tube signals through an IO port to identify the state of a locking mechanism to realize locking motor control, and controlling a driving circuit through an output PWM signal; adopting a driving circuit to receive the PWM signal output by the motor main control circuit to generate a driving signal and realize driving control of the motor; detecting position state information of a double-shaft indexing mechanism through a sampling circuit and collecting resolver angle measurement signals; adopting a communication circuit provided on the motor main control circuit to receive control instructions and feed back state information of the driving circuit to the motor main control circuit.