Multi-motor operation control system

Abstract

The present application provides a multi-motor operation control system, including a current acquisition device, an analog-to-digital conversion device, a digital logic control device, a PWM switch control device, and N three-phase inverter bridge circuits. The current acquisition device is used to obtain the three-phase current and bus current of each of the N motors when they are running, wherein N is an integer greater than zero; the analog-to-digital conversion device converts the three-phase current and bus current of the N motors into digital signals; the digital logic control device is used to output a pulse width modulation signal after performing FOC algorithm logic processing on the digital signal; the PWM switch control device is used to receive the pulse width modulation signal and output a control signal according to the pulse width modulation signal; the N three-phase inverter bridge circuits are used to control the operating current of the N motors according to the control signal output by the PWM switch control device. The multi-motor operation control system provided by the present application is suitable for the operation control of multiple motors in different scenarios and is easy to use.

Description

Technical Field

[0001] The present application relates to power electronics technology, and in particular to a multi-motor operation control system. Background Art

[0002] A motor is an electromagnetic device that converts or transmits electrical energy according to the law of electromagnetic induction. It is mainly used as a power source for electrical appliances or various machines. Among motors, brushless DC motors are widely used in the automotive, automation, aerospace and other fields due to their advantages of low-speed and high-power operation, small size, light weight, good stability and high efficiency.

[0003] In the operation of a brushless DC motor, a controller is generally required to control the operation of the brushless DC motor. In the prior art, it is generally directly controlled by a microcontroller (Micro Control Unit, MCU for short), that is, some control programs are set in the MCU to control the operation of the brushless DC motor. However, in the prior art, an MCU can only control the operation of a single motor and cannot control the operation of multiple motors. If multiple motors are to be controlled, a control program that can control the operation of multiple motors needs to be developed on the MCU. The development of the control program for the operation of multiple motors is complicated, and if the motor type, parameters, etc. are changed, the control program for the operation of multiple motors needs to be revised again.

[0004] The development and modification of MCU programs are relatively complex and are not suitable for the operation control of multiple motors in various scenarios. Therefore, designing a system for the operation control of multiple motors in different scenarios is an urgent problem to be solved. Summary of the invention

[0005] The present application provides a multi-motor operation control system to solve the problem that the existing motor operation control chip is not suitable for the operation control of multiple motors in various scenarios.

[0006] On the one hand, the present application provides a multi-motor operation control system, comprising:

[0007] A current acquisition device, used to obtain the three-phase current and bus current of each of the N motors when the motor is running, wherein N is an integer greater than zero;

[0008] An analog-to-digital conversion device is connected to the output end of the current acquisition device, and uses N analog-to-digital conversion devices ADC with a multi-channel sampling and holding function to convert the three-phase currents of the N motors and the bus current into digital signals;

[0009] A digital logic control device, connected to the output end of the analog-to-digital conversion device, for performing FOC algorithm logic processing on the digital signal and then outputting a pulse width modulation signal;

[0010] A PWM switch control device, connected to the output end of the digital logic control device, for receiving the pulse width modulation signal and outputting a control signal according to the pulse width modulation signal;

[0011] N three-phase inverter bridge circuits are connected to the output end of the PWM switch control device and are used to control the operating currents of the N motors according to the control signals output by the PWM switch control device.

[0012] In one embodiment, it also includes:

[0013] The overcurrent protection circuit is used to process the current of each motor when it is running, and when the current is greater than a preset current, an overcurrent signal is output to the digital logic control device.

[0014] In one embodiment, the overcurrent protection circuit includes:

[0015] N analog comparison circuits, used for collecting the current of each motor from the current collection device, and outputting the overcurrent signal when the current is greater than a preset current;

[0016] a programmable circuit, wherein a first input terminal of the programmable circuit is connected to an output terminal of the digital logic control device, a second input terminal of the programmable circuit is connected to output terminals of the N analog comparison circuits, and an output terminal of the programmable circuit is connected to an input terminal of the PWM switch control device;

[0017] The programmable circuit is used to input the overcurrent signal to the digital logic control device and receive a PWM control signal output by the digital logic control device based on the overcurrent signal. The programmable circuit controls the PWM switch control device according to the PWM control signal.

[0018] In one embodiment, the current collection device includes:

[0019] A sampling resistor circuit is used to obtain the initial three-phase current and bus current of each of the N motors when the motor is running;

[0020] A differential amplifier circuit, connected to the output end of the sampling resistor circuit, for differentially amplifying the initial three-phase current and the bus current;

[0021] The sampling and holding circuit is connected to the output end of the differential amplifier circuit and to the input end of the analog-to-digital conversion device, and is used to output the three-phase current and the bus current at the same time.

[0022] In one embodiment, the current collection device further includes:

[0023] a first filter circuit, wherein an input end of the first filter circuit is connected to an output end of the sampling resistor circuit, and an output end of the first filter circuit is connected to an input end of the differential amplifier circuit;

[0024] A second filter circuit, wherein the input end of the second filter circuit is connected to the output end of the differential amplifier circuit, and the output end of the second filter circuit is connected to the input end of the sample and hold circuit.

[0025] In one embodiment, the digital logic control device comprises:

[0026] A CLARK module, connected to the output terminal signal of the current acquisition device, and used to transform the digital signal into a first current and a second current based on a CLARK coordinate transformation, wherein the first current and the second current are two-phase current digital quantities;

[0027] A PARK module connected to the output end of the CLARK module, configured to simultaneously receive a rotor electrical angle signal of the motor, and convert the first current and the second current into a third current and a fourth current based on the rotor electrical angle signal and PARK coordinate transformation;

[0028] a PID regulating module, connected to the output end of the PARK module, configured to receive a first regulating current and a second regulating current, and determine a first regulating voltage based on the first regulating current and the third current, and determine a second regulating voltage based on the second regulating current and the fourth current;

[0029] an anti-PARK module, connected to the output end of the PID adjustment module, configured to receive the rotor electrical angle signal, and convert the first control voltage and the second control voltage into a third control voltage and a fourth control voltage based on the rotor electrical angle signal and an anti-PARK coordinate transformation;

[0030] The SVPWM module is connected to the output end of the anti-PARK module, and is used for converting the third regulation voltage and the fourth regulation voltage into the pulse width modulation signal, and inputting the pulse width modulation signal into the PWM switch control device.

[0031] In one embodiment, the analog-to-digital conversion device is further used to receive an external analog signal and convert the external analog signal into an external digital signal, and the multi-motor operation control system further includes:

[0032] an observer, connected to an input end of the PARK module and an input end of the anti-PARK module, configured to receive the external digital signal, the first current, the second current, the third regulation voltage, and the fourth regulation voltage, and determine the rotor electrical angle signal according to the external digital signal, the first current, the second current, the third regulation voltage, and the fourth regulation voltage;

[0033] The external analog signal at least includes the bus analog voltage signals of the N motors.

[0034] In one embodiment, it also includes:

[0035] A low-pass filter is connected to the output end of the observer and to the input end of the PARK module and the input end of the anti-PARK module, and is used for performing low-pass filtering on the rotor electrical angle signal.

[0036] In one embodiment, it also includes:

[0037] A single-pole double-throw switch connected to an input end of the PID regulating module, wherein when the single-pole double-throw switch is closed at a first position point, the PID regulating module receives the first regulating current and the second regulating current;

[0038] When the single-pole double-throw switch is closed at the second position, the first regulating current and the second regulating current are input into the anti-PARK module as the third regulating voltage and the fourth regulating voltage.

[0039] In one embodiment, a storage module is further included, and the storage module is used to exchange information with the motor control mainboard;

[0040] The storage module is used to store the motor operating parameters, the three-phase current signal, the first regulating current, the second regulating current, the first regulating voltage, the second regulating voltage and the pulse width modulation signal.

[0041] The multi-motor operation control system provided by the present application is provided with a current acquisition device, an analog-to-digital conversion device, a digital logic control device, a PWM switch control device and N three-phase inverter bridge circuits. Among them, the current acquisition device can obtain the three-phase current and bus current of each motor in the N motors when they are running, and then the analog-to-digital conversion device converts the three-phase current and bus current into digital signals. The digital logic control device processes the digital signal and outputs a pulse width modulation signal, and then the PWM switch control device controls the three-phase inverter bridge circuit according to the pulse width modulation signal to indirectly control the operating current of the N motors. Therefore, the development difficulty and use difficulty of the multi-motor operation control system provided by the present application are very low, and in actual use, only relevant signal lines and circuit lines need to be added. Therefore, the multi-motor operation control system provided by the present application can solve the problem that the existing motor operation control chip is not suitable for the operation control of multiple motors in various scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] Figure 1 A schematic diagram of a multi-motor operation control system provided for one embodiment of the present application.

[0044] Figure 2 A schematic diagram of a multi-motor operation control system provided for another embodiment of the present application.

[0045] Figure 3 A schematic diagram of a multi-motor operation control system provided in accordance with yet another embodiment of the present application.

[0046] Description of Figure Numbers:

[0047] Multi-motor operation control system10

[0048] Current collection device 100

[0049] Sampling resistor circuit 110

[0050] Differential amplifier circuit 120

[0051] Sample and hold circuit 130

[0052] The first filter circuit 140

[0053] Second filter circuit 150

[0054] Analog-to-digital conversion device 200

[0055] Digital logic control device 300

[0056] CLARK Module 310

[0057] PARK Module 320

[0058] PID regulation module 330

[0059] Anti-PARK module 340

[0060] SVPWM Module 350

[0061] Observer 360

[0062] Low pass filter 370

[0063] Electrical Angle Sensor 380

[0064] Switch 390

[0065] PWM switch control device 400

[0066] Three-phase inverter bridge circuit 500

[0067] Overcurrent protection circuit 600

[0068] Analog comparison circuit 610

[0069] Programmable circuit 620

[0070] Motor 20

[0071] PWM polarity and dead zone control module 21

[0072] High speed clock oscillation circuit 22

[0073] Storage module 23

[0074] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0075] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0076] In the operation of a brushless DC motor, a controller is generally required to control the operation of the brushless DC motor. In the prior art, it is generally directly controlled by a microcontroller (Micro Control Unit, MCU for short), that is, some control programs are set in the MCU to control the operation of the brushless DC motor. However, in the prior art, an MCU can only control the operation of a single motor and cannot control the operation of multiple motors. If multiple motors are to be controlled, a control program that can control the operation of multiple motors needs to be developed on the MCU. The development of the control program for the operation of multiple motors is complicated, and if the motor type, parameters, etc. are changed, the control program for the operation of multiple motors needs to be revised again.

[0077] That is, in the existing multi-motor operation control, the development and modification of the MCU program is relatively complicated and is not suitable for the multi-motor operation control in various scenarios. Therefore, designing a system for multi-motor operation control in different scenarios is an urgent problem to be solved.

[0078] Based on this, the present application provides a multi-motor operation control system 10, which introduces a current acquisition device, an analog-to-digital conversion device, a digital logic control device, a PWM switch control device, and N three-phase inverter bridge circuits to control the operation of N motors. In actual use, the relevant signal lines and circuit lines can be added according to the number of motors that need to be controlled. It is easy to use and solves the problem that the existing motor operation control chip is not suitable for the operation control of multiple motors in various scenarios.

[0079] See also Figure 1 The present application provides a multi-motor operation control system 10, including a current acquisition device 100, an analog-to-digital conversion device 200, a digital logic control device 300, a PWM switch control device 400 and N three-phase inverter bridge circuits 500.

[0080] The current acquisition device 100 is used to obtain the three-phase current and bus current of each motor 20 when N motors 20 are running, wherein N is an integer greater than zero, and the bus current refers to the total current ( Figure 1 The bus current is represented as the total current). Figure 1 This is a schematic diagram of the multi-motor operation control system 10 when N is equal to 2, but it does not limit the selection range of N, that is, the current acquisition device 100 can collect the three-phase current and bus current of one or more motors 20 when they are running. Figure 1 Ia, Ib and Ic shown in are the three-phase currents when the motor is running.

[0081] Optionally, the current collection device 100 may include a sampling resistor circuit 110 , a differential amplifier circuit 120 and a sample-and-hold circuit 130 .

[0082] The sampling resistor circuit 110 is used to obtain the three-phase current and bus current of each motor in the N motors when they are running. The sampling resistor circuit 110 includes a sampling resistor, which is used for current sampling. The size of the sampling resistor can be adjusted according to actual needs, and this embodiment does not limit it. Optionally, the sampling resistor is a resistor that can be edited by the chip where the digital logic control device 300 is located.

[0083] The differential amplifier circuit 120 is connected to the output end of the sampling resistor circuit 110, and is used to differentially amplify the initial three-phase current and the bus current, or to amplify the differential mode signals and suppress the common mode signals of the initial three-phase current and the bus current.

[0084] The sample hold circuit 130 is connected to the output end of the differential amplifier circuit 120 and to the input end of the analog-to-digital conversion device. The sample hold circuit 130 is used to output the three-phase current and the bus current at the same time. The sample hold circuit 130 (sample hold devices) is referred to as S / H and is a circuit used in an analog / digital (A / D) conversion system. The role of the sample hold circuit 130 in this embodiment is to ensure that N groups of phase currents and bus information can be collected at the same time during the analog-to-digital conversion of the N analog-to-digital conversion devices 200.

[0085] Optionally, the current collection device 100 further includes a first filter circuit 140 and a second filter circuit 150 .

[0086] The input end of the first filter circuit 140 is connected to the output end of the sampling resistor circuit 110, and the output end of the first filter circuit 140 is connected to the input end of the differential amplifier circuit 120. The input end of the second filter circuit 150 is connected to the output end of the differential amplifier circuit 120, and the output end of the second filter circuit 150 is connected to the input end of the sample and hold circuit 130. Both the first filter circuit 140 and the second filter circuit 150 are used to filter out ripples in the current signal. The first filter circuit 140 and the second filter circuit 150 can also be replaced by components that can perform filtering, which can be selected according to actual needs and are not limited in this application.

[0087] The analog-to-digital conversion device 200 is connected to the output end of the current acquisition device 100, and optionally, the analog-to-digital conversion device 200 is connected to the output end of the sample-and-hold circuit 130. The analog-to-digital conversion device 200 uses N analog-to-digital conversion devices ADC (analog to digital converter) with multi-channel sample-and-hold functions to convert the three-phase currents of the N motors 20 and the bus current into digital signals. Optionally, the analog-to-digital conversion device 200 can be an analog-to-digital converter, an analog-to-digital conversion circuit, or other devices that can convert analog signals and digital signals.

[0088] The digital logic control device 300 is connected to the output end of the analog-to-digital conversion device 200. The digital logic control device 300 is used to process the digital signal and then output a pulse width modulation signal. During the operation of the motor, it is necessary to regulate the operation of the motor 20 according to the actual operating conditions of the motor 20, and the digital logic control device 300 is used to regulate the operation of the motor 20. Specifically, the digital logic control device 300 receives the digital signal sent by the analog-to-digital conversion device 200, and then performs PID (proportional-integral-differential) closed-loop regulation on the digital signal and then outputs the pulse width modulation signal. The digital logic control device 300 can also be connected to a serial peripheral interface (Serial Peripheral Interface, referred to as SPI) for communication with external devices.

[0089] The PWM (Pulse width modulation) switch control device is connected to the output end of the digital logic control device 300, and is used to receive the pulse width modulation signal and output a control signal according to the pulse width modulation signal. Figure 1 As shown, the pulse width modulation signal output from the digital logic control device 300 can also be input to the PWM switch control device 400 after passing through the PWM polarity and dead zone control module 21. The PWM polarity and dead zone control module 21 includes a module for performing PWM polarity control and a module for performing PWM dead zone control. In actual use, PWM polarity and dead zone control can be implemented by software on a computer. Optionally, the PWM polarity and dead zone control module 21 can also be a circuit module, which directly implements PWM polarity control and PWM dead zone control without software control.

[0090] The N three-phase inverter bridge circuits 500 are connected to the output end of the PWM switch control device 400, and are used to control the operating current of the N motors 20 according to the control signal output by the PWM switch control device 400. That is, each motor 20 corresponds to a three-phase inverter bridge circuit 500 to achieve separate motor control. The three-phase inverter bridge circuit 500 is a three-phase bridge inverter circuit. In actual use, the number of the three-phase inverter bridge circuits 500 can be selected according to the number of motors 20 that need to be controlled.

[0091] Optionally, a high-speed clock oscillation circuit 22 can also be set in the multi-motor operation control system 10. The high-speed clock oscillation circuit 22 can also be a PLL phase-locked loop circuit, which is used to coordinate the timing relationship between the PWM signal output by the digital logic control device 300 and the analog-to-digital conversion device 200 when performing analog-to-digital conversion, so as to facilitate the control of the sampling window on the computer, thereby achieving more stable and accurate signal acquisition.

[0092] The multi-motor operation control system 10 provided in this embodiment is provided with a current acquisition device 100, an analog-to-digital conversion device 200, a digital logic control device 300, a PWM switch control device 400 and N three-phase inverter bridge circuits 500. Among them, the current acquisition device 100 can obtain the three-phase current and bus current of each motor 20 in the N motors 20 when they are running, and then the analog-to-digital conversion device 200 converts the three-phase current and bus current into digital signals. The digital logic control device 300 processes the digital signal and outputs a pulse width modulation signal, and then the PWM switch control device 400 controls the three-phase inverter bridge circuit 500 according to the pulse width modulation signal to indirectly control the operating current of the N motors 20. Therefore, the development difficulty and use difficulty of the multi-motor operation control system 10 provided in this embodiment are very low, and in actual use, only relevant signal lines and circuit lines need to be added. Therefore, the multi-motor operation control system 10 provided in this embodiment can solve the problem that the existing motor operation control chip is not suitable for the operation control of multiple motors 20 in various different scenarios.

[0093] See also Figure 2 In one embodiment of the present application, the multi-motor operation control system 10 also includes an overcurrent protection circuit 600, which is used to process the current of each motor 20 during operation, and when the current is greater than a preset current, output an overcurrent signal to the digital logic control device 300.

[0094] Optionally, the overcurrent protection circuit 600 includes N analog comparison circuits 610 and a programmable circuit 620 .

[0095] The analog comparison circuit 610 is used to collect the current of each motor 20 from the current acquisition device 100, and output the overcurrent signal when the current is greater than the preset current. Optionally, the analog comparison circuit 610 can be a CMP (Comparator), and the CMP analog comparison circuit is a programmable analog circuit. Optionally, the preset current can be programmed in the CMP analog comparison circuit, and when the current is greater than the preset current, the analog comparison circuit 610 generates the overcurrent signal. Optionally, the preset current value can also be directly input from the outside to the analog comparison circuit 610, and when the current is greater than the preset current, the analog comparison circuit 610 generates the overcurrent signal. Optionally, the CMP can be a direct input current type CMP, or it can be an indirect input voltage type CMP that converts a voltage signal through a resistor.

[0096] The first input end of the programmable circuit 620 is connected to the output end of the digital logic control device 300, the second input end of the programmable circuit 620 is connected to the output end of the N analog comparison circuits 610, and the output end of the programmable circuit 620 is connected to the input end of the PWM switch control device 400. The programmable circuit 620 is used to input the overcurrent signal to the digital logic control device 300, and receive the PWM control signal output by the digital logic control device 300 based on the overcurrent signal, and the programmable circuit 620 controls the PWM switch control device 400 according to the PWM control signal. That is, when the motor 20 is running with overcurrent, the digital logic control device 300 can program the programmable circuit 620 so that the control signal output by the PWM switch control device 400 can reduce the running current of the motor 20.

[0097] If the current of the motor 20 during operation is greater than the preset current, the PWM switch control device 400 can be controlled by the digital logic control device 300 through the programmable control. At this time, the digital logic control device 300 can also receive the digital signal sent by the analog-to-digital conversion device 200, and output the PWM control signal to the programmable circuit 620 after comprehensive processing of the overcurrent signal and the digital signal.

[0098] Optionally, the programmable circuit 620 may also implement a filtering function.

[0099] The multi-motor operation control system 10 provided in this embodiment introduces the overcurrent protection circuit 600, which can compare the current generated when the motor 20 is running with the preset current, and send an overcurrent signal to the digital logic control device 300 when the current is greater than the preset current. Then the digital logic control device 300 generates a PWM control signal according to the overcurrent signal, and the programmable circuit 620 controls the PWM switch control device 400 according to the PWM control signal. The control of the PWM switch control device 400 by the programmable circuit 620 can affect the control of the operating current of the motor 20 by the three-phase inverter bridge circuit 500, thereby achieving the purpose of the current of the motor 20 being less than or equal to the preset current. Therefore, the multi-motor 20 operation control system 10 provided in this embodiment can realize real-time overcurrent protection for the motor 20 when it is running, so as to enhance the safety of the operation of the motor 20.

[0100] See also Figure 2 and Figure 3 The digital logic control device 300 in the multi-motor operation control system 10 provided by an embodiment of the present application includes a CLARK module 310 , a PARK module 320 , a PID adjustment module 330 , an anti-PARK module 340 and a SVPWM module 350 .

[0101] The CLARK module 310 is connected to the output terminal signal of the current acquisition device 100, and is used to transform the digital signal into the first current and the second current based on the CLARK coordinate transformation. The CLARK coordinate transformation is the αβ coordinate transformation, such as Figure 3 As shown, Ialpha represents the first current, Ibeta represents the second current, Ia, Ib and Ic represent digital signals corresponding to the three-phase currents, and correspondingly, the first current and the second current are two-phase current digital quantities.

[0102] The PARK module 320 is connected to the output end of the CLARK module 310, and is used to simultaneously receive the rotor electrical angle signal of the motor 20, and convert the first current and the second current into a third current and a fourth current based on the rotor electrical angle signal and the PARK coordinate transformation. The PARK coordinate transformation is a dq coordinate transformation, such as Figure 3 As shown, that is, the PARK module 320 is used to convert Ialpha and Ibeta into Id and Iq.

[0103] The PID adjustment module 330 is connected to the output end of the PARK module 320. The PID adjustment module 330 is used to receive the first adjustment current and the second adjustment current, and determine the first adjustment voltage based on the first adjustment current and the third current, and determine the second adjustment voltage based on the second adjustment current and the fourth current. Figure 3 As shown, the PID adjustment module 330 receives the first adjustment current Idref and the second adjustment current Iqref, and outputs the first adjustment voltage Vd and the second adjustment voltage Vq.

[0104] The rotor electrical angle can be represented by E_Angle. The rotor electrical angle can be directly measured by the electrical angle sensor and then input into the PARK module 320. The layout position, specification and model of the electrical angle sensor can be selected according to actual needs, and this application does not limit it. Optionally, the analog-to-digital conversion device 200 is also used to receive an external analog signal and convert the external analog signal into an external digital signal, and the external analog signal at least includes the bus analog voltage signal of the N motors 20. The multi-motor operation control system 10 also includes an observer 360, which is connected to the input end of the PARK module 320 and the input end of the anti-PARK module. It is used to receive the external digital signal, the first current, the second current, the first control voltage and the second control voltage, and determine the rotor electrical angle signal according to the external digital signal, the first current, the second current, the first control voltage and the second control voltage.

[0105] Optionally, the external analog signal may also include a control analog voltage signal, a temperature analog voltage signal, etc. The control analog voltage signal is used to adjust the operating speed of the motor 20, and the temperature analog voltage signal is used to adjust the operating temperature of the motor 20.

[0106] Optionally, the observer 360 is, for example, a sliding mode control observer or a model reference adaptive observer.

[0107] Optionally, the multi-motor operation control system 10 further includes a low-pass filter 370, which is connected to the output end of the observer 360 and to the input end of the PARK module 320 and the input end of the anti-PARK module 340. Figure 3 As shown, a single-pole double-throw switch can be provided between the low-pass filter 370 and the sliding mode control observer and the model reference adaptive observer, and the single-pole double-throw switch is used to put the sliding mode observer or the model reference adaptive observer into use. The low-pass filter 370 is used to perform low-pass filtering on the rotor electrical angle signal, and input the low-pass filtered signal to the PARK module 320 and the anti-PARK module 340.

[0108] Optionally, the multi-motor operation control system 10 may further include an electrical angle sensor 380, which is connected to the input end of the PARK module 320 and the input end of the anti-PARK module 340. The multi-motor operation control system 10 is used to collect the rotor electrical angle signal and input the rotor electrical angle signal to the PARK module 320 and the anti-PARK module 340. The rotor electrical angle signal output by the electrical angle sensor 380 and the rotor electrical angle signal output by the observer 360 can be selectively input into the PARK module 320 and the anti-PARK module 340.

[0109] Optionally, the digital logic control device 300 may further include a switch 390. Figure 3 As shown, the switch 390 can be connected to the input end of the PID adjustment module 330. When the switch 390 is at the first position ( Figure 3 When the switch 390 is at the second position (point A shown in FIG), the PID adjustment module 330 receives the first adjustment current Idref and the second adjustment current Iqref, and the multi-motor operation control system 10 performs current closed-loop control. Figure 3 When the first regulating current Idref and the second regulating current Iqref are input to the anti-PARK module 340, the multi-motor operation control system 10 performs a simple open-loop control.

[0110] That is, when the single-pole double-throw switch 380 is closed at the first position point, the PID adjustment module 330 will compare the difference between the first adjustment current Idref and the third current Id, and the difference between the second adjustment current Iqref and the fourth current Iq, and then process the two differences. At this time, the first adjustment current Idref and the second adjustment current Iqref will be directly input into the PID adjustment module 330, and the first adjustment voltage and the second adjustment voltage will be input into the anti-PARK module 340. When the single-pole double-throw switch 380 is closed at the second position point, the first adjustment current Idref and the second adjustment current Iqref will be directly input into the anti-PARK module 340 as the third adjustment voltage and the fourth adjustment voltage.

[0111] The anti-PARK module 340 is connected to the output end of the PID adjustment module 330. The anti-PARK module 340 is used to receive the rotor electrical angle signal, and convert the first control voltage and the second control voltage into the third control voltage and the fourth control voltage based on the rotor electrical angle signal and the anti-PARK coordinate transformation. The PARK module 320 is used to convert Ialpha and Ibeta into Id and Iq, and the anti-PARK module 340 is used to convert the first control voltage Vd and the second control voltage Vq into the fourth control voltage Vbeta and the third control voltage Valpha.

[0112] The SVPWM module 350 is connected to the output end of the anti-PARK module 340. The SVPWM module 350 is used to convert the third control voltage and the fourth control voltage into the pulse width modulation signal, and input the pulse width modulation signal to the PWM switch control device 400 (PWM switch control circuit 400). Figure 3 not shown).

[0113] Optionally, the multi-motor operation control system 10 may further include a storage module 23. The storage module 23 is used to store motor operation parameters, the three-phase current, the bus current, the first regulating current, the second regulating current, the first regulating voltage, the second regulating voltage and the pulse width modulation signal. In addition, the storage module 23 is also used to store the voltage, current, etc. during the operation of the motor 20, and is also used to store other signals generated by the current acquisition device 100, the analog-to-digital conversion device 200 and the digital logic control device 300.

[0114] The storage module 23 is used to exchange information with the motor control mainboard, which is the MCU described above. The storage module 23 can exchange information with the MCU to transfer its own stored data to the MCU, and the MCU can record or monitor the data stored in the storage module 23.

[0115] The multi-motor operation control system 10 provided in this embodiment describes the specific circuit structure of the digital logic control device 300. Compared with the method of direct control by the microcontroller MCU in the existing motor operation control, the digital logic control device 300 can control the motor operation more professionally and has higher reliability.

[0116] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

[0117] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0118] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A multi-motor operation control system, characterized in that: include: A current acquisition device, used to obtain the three-phase current and bus current of each of the N motors when they are running, wherein N is an integer greater than 2; An analog-to-digital conversion device is connected to the output end of the current acquisition device, and uses N analog-to-digital conversion devices ADC with a multi-channel sampling and holding function to convert the three-phase currents of the N motors and the bus current into digital signals; A digital logic control device, connected to the output end of the analog-to-digital conversion device, for performing FOC algorithm logic processing on the digital signal and then outputting a pulse width modulation signal; A PWM switch control device, connected to the output end of the digital logic control device, for receiving the pulse width modulation signal and outputting a control signal according to the pulse width modulation signal; N three-phase inverter bridge circuits are connected to the output end of the PWM switch control device, and are used to control the operating currents of the N motors according to the control signals output by the PWM switch control device. The number of the three-phase inverter bridge circuits is selected according to the number of the motors that need to be controlled; It also includes an overcurrent protection circuit, which is used to process the current of each motor when it is running, and when the current is greater than a preset current, output an overcurrent signal to the digital logic control device; The overcurrent protection circuit comprises: N analog comparison circuits, used for collecting the current of each motor from the current collection device, and outputting the overcurrent signal when the current is greater than a preset current; a programmable circuit, wherein a first input terminal of the programmable circuit is connected to an output terminal of the digital logic control device, a second input terminal of the programmable circuit is connected to output terminals of the N analog comparison circuits, and an output terminal of the programmable circuit is connected to an input terminal of the PWM switch control device; The programmable circuit is used to input the overcurrent signal to the digital logic control device and receive a PWM control signal output by the digital logic control device based on the overcurrent signal. The programmable circuit controls the PWM switch control device according to the PWM control signal.

2. The multi-motor operation control system according to claim 1, characterized in that: The current collection device comprises: A sampling resistor circuit is used to obtain the three-phase current and bus current of each of the N motors when the motor is running; A differential amplifier circuit, connected to the output end of the sampling resistor circuit, for differentially amplifying the three-phase current and the bus current; The sampling and holding circuit is connected to the output end of the differential amplifier circuit and to the input end of the analog-to-digital conversion device, and is used to output the three-phase current and the bus current at the same time.

3. The multi-motor operation control system according to claim 2, characterized in that: The current collection device also includes: a first filter circuit, wherein an input end of the first filter circuit is connected to an output end of the sampling resistor circuit, and an output end of the first filter circuit is connected to an input end of the differential amplifier circuit; A second filter circuit, wherein the input end of the second filter circuit is connected to the output end of the differential amplifier circuit, and the output end of the second filter circuit is connected to the input end of the sample and hold circuit.

4. The multi-motor operation control system according to claim 1, characterized in that: The digital logic control device comprises: A CLARK module, connected to the output terminal signal of the current acquisition device, and used to transform the digital signal into a first current and a second current based on a CLARK coordinate transformation, wherein the first current and the second current are two-phase current digital quantities; A PARK module connected to the output end of the CLARK module, configured to simultaneously receive a rotor electrical angle signal of the motor, and convert the first current and the second current into a third current and a fourth current based on the rotor electrical angle signal and PARK coordinate transformation; a PID regulating module, connected to the output end of the PARK module, configured to receive a first regulating current and a second regulating current, and determine a first regulating voltage based on the first regulating current and the third current, and determine a second regulating voltage based on the second regulating current and the fourth current; an anti-PARK module, connected to the output end of the PID adjustment module, configured to receive the rotor electrical angle signal, and convert the first control voltage and the second control voltage into a third control voltage and a fourth control voltage based on the rotor electrical angle signal and an anti-PARK coordinate transformation; The SVPWM module is connected to the output end of the anti-PARK module, and is used for converting the third regulation voltage and the fourth regulation voltage into the pulse width modulation signal, and inputting the pulse width modulation signal into the PWM switch control device.

5. The multi-motor operation control system according to claim 4, characterized in that: The analog-to-digital conversion device is also used to receive an external analog signal and convert the external analog signal into an external digital signal. The multi-motor operation control system also includes: an observer, connected to an input end of the PARK module and an input end of the anti-PARK module, configured to receive the external digital signal, the first current, the second current, the third regulation voltage, and the fourth regulation voltage, and determine the rotor electrical angle signal according to the external digital signal, the first current, the second current, the third regulation voltage, and the fourth regulation voltage; The external analog signal at least includes the bus analog voltage signals of the N motors.

6. The multi-motor operation control system according to claim 5, characterized in that: Also includes: A low-pass filter is connected to the output end of the observer and to the input end of the PARK module and the input end of the anti-PARK module, and is used for performing low-pass filtering on the rotor electrical angle signal.

7. The multi-motor operation control system according to claim 4, characterized in that: Also includes: A single-pole double-throw switch connected to the input end of the PID adjustment module; When the single-pole double-throw switch is closed at a first position point, the PID adjustment module receives the first adjustment current and the second adjustment current; When the single-pole double-throw switch is closed at the second position, the first regulating current is used as the first regulating voltage, the second regulating current is used as the second regulating voltage, and the first regulating current and the second regulating current are input into the anti-PARK module.

8. The multi-motor operation control system according to any one of claims 4 to 7, characterized in that: It also includes a storage module, which is used to interact with the motor control mainboard; The storage module is used to store the motor operating parameters, the three-phase current signal, the first regulating current, the second regulating current, the first regulating voltage, the second regulating voltage and the pulse width modulation signal.

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