A dual-battery driving direct current motor voltage stabilization control system and control method

Abstract

The present application relates to the direct current motor voltage stabilizing control technology, specifically relates to a kind of double battery drive direct current motor voltage stabilizing control system and control method, the system includes controller, and the user input control panel connected with controller, compensation drive circuit, power failure signal detection circuit and drive circuit, also include respectively with drive circuit, compensation drive circuit and power failure signal detection circuit connection direct current motor;Power failure signal detection circuit is connected with compensation drive circuit.This method carries out multiple gear voltage drive to motor, and main battery in double battery is powered to load by drive circuit, and auxiliary battery passes through compensation drive circuit and plays voltage stabilizing effect, constructs threshold voltage and capacitor rising voltage, obtains the parameter required for control by power failure signal detection circuit, and discharge compensation time is obtained by calculation, and voltage compensation is carried out by controller control capacitor discharge.This method effectively solves the interference caused by battery voltage drop on control when portable electric appliance is driven by battery, and auxiliary power supply is rapidly switched to supply energy.

Description

Technical Field

[0001] This invention belongs to the field of DC motor voltage regulation and control technology, and specifically relates to a dual-battery driven DC motor voltage regulation and control system and method. Background Technology

[0002] DC motors are widely used in daily life, such as in small fans and toy cars. They are usually powered by batteries and use graded speed regulation. As the battery usage time increases, the battery voltage will gradually decrease, which will introduce a large interference factor to the voltage regulation control. The common voltage regulation control method is to sample the motor terminal voltage and use the control algorithm to modulate the PWM duty cycle to control the output of the switching transistor. The decrease in power supply voltage will introduce a large interference factor, which will have a significant impact on the control. Summary of the Invention

[0003] To address the problems existing in the background technology, the present invention provides a dual-battery voltage regulation control that can detect and compensate for power supply voltage drops.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a dual-battery driven DC motor voltage regulation control system, including a controller, a user input control panel connected to the controller, a compensation drive circuit, a power failure signal detection circuit, and a drive circuit, and also including a DC motor connected to the drive circuit, the compensation drive circuit, and the power failure signal detection circuit respectively; the power failure signal detection circuit is connected to the compensation drive circuit.

[0005] In the above-mentioned dual-battery driven DC motor voltage regulation control system, the drive circuit includes a main power supply E1 and a first PMOS transistor PMOS. The main power supply E1 is connected to the source of the first PMOS transistor PMOS, the drain of the first PMOS transistor PMOS is connected to the DC motor, and the gate of the first PMOS transistor PMOS is connected to the compensation drive circuit.

[0006] In the aforementioned dual-battery driven DC motor voltage regulation control system, the compensation drive circuit includes a second PMOS transistor PMOS1, a third PMOS transistor PMOS2, a first resistor R, a capacitor C, a diode, and an auxiliary power supply E2. The positive terminal of the auxiliary power supply E2 is connected to the source of the second PMOS transistor PMOS1, and the negative terminal of the auxiliary power supply E2 is grounded. The gate of the second PMOS transistor PMOS1 is connected to the gate of the first PMOS transistor PMOS1 and leads out a GPIO interface. The drain of the second PMOS transistor PMOS1 is connected to one end of the parallel branch of the capacitor C and the first resistor R, as well as the positive terminal of the diode. The other end of the parallel branch of the capacitor C and the first resistor R is connected to the source of the third PMOS transistor PMOS2 and grounded. The gate of the third PMOS transistor PMOS2 serves as the GPIO1 interface. The drain of the third PMOS transistor PMOS2 is connected to the DC motor, and the negative terminal of the diode is connected to the DC motor.

[0007] In the aforementioned dual-battery driven DC motor voltage regulation control system, the power-down signal detection circuit includes a voltage divider resistor string, a fifth resistor Rm, a fourth PMOS transistor PMOS4, a fifth PMOS transistor PMOS5, a sixth PMOS transistor PMOS6, and a voltage comparator. The voltage divider resistor string includes a second resistor R1, a third resistor R2, and a fourth resistor R3. One end of the fifth resistor Rm is connected to one end of the second resistor R1, and the other end of the fifth resistor Rm is grounded. The other end of the second resistor R1 is connected to the source of the fourth PMOS transistor PMOS4. The gate of the fourth PMOS transistor PMOS4 serves as the GPIO2.1 interface, and the drain of the fourth PMOS transistor PMOS4 is connected to the sixth PMOS transistor PMOS6. The drains of PMOS transistor PMOS6 are connected together. The third resistor R2 is connected between the source of the fourth PMOS transistor and the source of the fifth PMOS transistor PMOS5. The gate of the fifth PMOS transistor PMOS5 serves as the GPIO2.2 interface. The drain of the fifth PMOS transistor PMOS5 is connected to the negative terminal of the voltage comparator. The positive terminal of the voltage comparator is connected to the positive terminal of capacitor C. The output of the voltage comparator is connected to the controller. The fourth resistor R3 is connected between the source of the fifth PMOS transistor PMOS5 and the source of the sixth PMOS transistor PMOS6. The source of the sixth PMOS transistor PMOS6 is connected to the DC motor. The gate of the sixth PMOS transistor PMOS6 serves as the GPIO2.3 interface.

[0008] A control method for a dual-battery driven DC motor voltage regulation control system includes:

[0009] Step 1. Set the voltage level, and turn on the corresponding switching transistor to start the voltage regulation control according to the preset voltage level;

[0010] Step 2. A series of voltage divider resistors are connected in parallel at the motor terminals to obtain the threshold voltage required for control.

[0011] Step 3. Connect a resistor Rm in series at the bottom of the voltage divider resistor string to raise the threshold voltage. The raised voltage is used as the critical detection value for the power failure voltage. When the power supply voltage drops above this voltage, the controller receives a pulse and enters voltage regulation control.

[0012] Step 4. Obtain the first power-down signal, modulate the capacitor discharge in the compensation drive circuit to compensate for the critical power-down voltage, and at the same time obtain the output pulse of the voltage comparator thereafter. Based on the time difference of the received pulse, obtain the discrete power-down voltage point in the monitoring time domain by equivalently changing the power-down voltage and the capacitor charging voltage, and then convert it into the corresponding compensation voltage in the controller compensation output time domain and output it.

[0013] In the control method of the above-mentioned dual-battery driven DC motor voltage regulation control system, step 1 specifically includes: setting multiple preset voltage regulation levels. U ref-kThe value k is a positive integer, and the controller outputs a low level to the GPIO2.k port to turn on the corresponding PMOS transistor.

[0014] In the control method of the above-mentioned dual-battery driven DC motor voltage regulation control system, step 2 is specifically implemented as follows:

[0015] Each gear's voltage regulation control preset threshold voltage ,

[0016] The preset value corresponds to the on-time of the switching transistor in the drive circuit for the corresponding voltage level. For auxiliary power supply voltage, Let k be the charging time constant, and k be a positive integer.

[0017] In the control method of the above-mentioned dual-battery driven DC motor voltage regulation control system, the specific implementation of step 3 includes:

[0018] Voltage divider resistor connected in series with ground terminal and series resistor Used to obtain the critical power failure monitoring voltage value. Select Corresponding critical power failure monitoring voltage value: ;

[0019] in, The power-off detection coefficient. , For the equivalent resistance of the resistor series, take , To determine the required resistor size for each voltage regulation control preset threshold voltage, This is the main power supply voltage.

[0020] In the control method of the above-mentioned dual-battery driven DC motor voltage regulation control system, step 4 is specifically implemented as follows:

[0021] When the controller receives the voltage comparator output pulse for the first time, it activates capacitor discharge compensation in the compensation drive circuit. The controller controls the initial capacitor discharge time to be... ;

[0022] in, This corresponds to the critical power-off voltage. Preset threshold voltages for each gear's voltage regulation control. The discharge time constant is The load equivalent resistance;

[0023] The voltage regulation control time domain is greater than the PWM pulse output period and less than the control time domain of the outer loop control algorithm.

[0024]

[0025] The controller receives pulses and records the time difference between adjacent pulses. The power-down voltage value is obtained:

[0026] Where D represents the duty cycle corresponding to the switching transistor control in the drive circuit. The controller pulse output frequency is set to 10kHz.

[0027] Define the compensation voltage y, and the power loss rate as... ;

[0028] Controller compensation output prediction model in the time domain:

[0029]

[0030] Capacitor discharge compensation time: .

[0031] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention effectively solves the problem of insufficient battery voltage leading to voltage regulation control failure when portable electrical appliances are powered by batteries. Furthermore, the voltage regulation control circuit is simple and low-cost. When the main power supply fails, it can quickly switch to auxiliary power to prevent damage to the devices. By using dual batteries for voltage regulation output, it effectively solves the impact of battery voltage drop on control, extends the device's battery life, and is beneficial for powering remote unmanned equipment. Attached Figure Description

[0032] Figure 1 This is a block diagram of a dual-battery driven DC motor voltage regulation control system according to an embodiment of the present invention;

[0033] Figure 2 This is a flowchart of the voltage regulation control method of the dual-battery driven DC motor voltage regulation control system according to an embodiment of the present invention;

[0034] Figure 3 This is a diagram of the driving circuit and compensation circuit according to an embodiment of the present invention;

[0035] Figure 4 This is a circuit diagram for detecting power-down signals according to an embodiment of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0037] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0038] The present invention will be further described below with reference to specific embodiments, but these are not intended to limit the scope of the invention.

[0039] This embodiment can drive the motor with multiple voltage levels. After receiving a control command, it performs voltage regulation control on the corresponding voltage level. The main battery supplies power to the load through the drive circuit, and the auxiliary battery plays a voltage regulation role through the compensation drive circuit. It constructs a threshold voltage proportional to the voltage level and a capacitor rise voltage in the auxiliary drive circuit that is proportional to the on-time of the switching transistor in the drive circuit. The required parameters for control are obtained through the power-down signal detection circuit, the discharge compensation time is calculated, and the controller controls the capacitor to discharge for voltage compensation.

[0040] This embodiment is achieved through the following technical solutions, such as... Figure 1 As shown, a dual-battery driven DC motor voltage regulation control system includes a controller, a user input control panel connected to the controller, a compensation drive circuit, a power failure signal detection circuit, and a drive circuit. It also includes a DC motor connected to the drive circuit, the compensation drive circuit, and the power failure signal detection circuit respectively. The power failure signal detection circuit is connected to the compensation drive circuit.

[0041] like Figure 3 As shown, the driving circuit includes a main power supply E1 and a first PMOS transistor (PMOS). The main power supply E1 is connected to the source of the first PMOS transistor (PMOS). The drain of the first PMOS transistor (PMOS) is connected to the DC motor. The gate of the first PMOS transistor (PMOS) is connected to the compensation driving circuit. The compensation driving circuit includes a second PMOS transistor (PMOS1), a third PMOS transistor (PMOS2), a first resistor R, a capacitor C, a diode, and an auxiliary power supply E2. The positive terminal of the auxiliary power supply E2 is connected to the source of the second PMOS transistor (PMOS1), and the negative terminal of the auxiliary power supply E2 is grounded. The gate of the second PMOS transistor (PMOS1) is connected to the gate of the first PMOS transistor (PMOS) and leads out a GPIO interface. The drain of the second PMOS transistor (PMOS1) is connected to one end of the parallel branch of the capacitor C and the first resistor R, as well as the positive terminal of the diode. The other end of the parallel branch of the capacitor C and the first resistor R is connected to the source of the third PMOS transistor (PMOS2) and grounded. The gate of the third PMOS transistor (PMOS2) serves as the GPIO1 interface. The drain of the third PMOS transistor (PMOS2) is connected to the DC motor, and the negative terminal of the diode is connected to the DC motor.

[0042] When the GPIO port outputs a low level, both the first PMOS transistor (PMOS) and the second PMOS transistor (PMOS1) are simultaneously turned on, supplying power to the motor via the main power supply E1. In the voltage regulation control circuit, the auxiliary power supply E2 charges the capacitor. Since the voltage across the positive terminal of the diode is less than that across the negative terminal, the diode does not conduct. When the GPIO port outputs a high level, both the first PMOS transistor (PMOS) and the second PMOS transistor (PMOS1) are simultaneously turned off, stopping the power supply to the drive circuit. At this time, the voltage across the positive terminal of the diode is greater than that across the negative terminal, meaning it conducts. Simultaneously, the GPIO port outputs a low level, and the capacitor discharges, supplying power to the motor. The first resistor R is used to modulate the capacitor's charging and discharging time constant and to absorb excess discharge from the capacitor. For a PWM controller with a 10kHz pulse period, the voltage values ​​of the main power supply E1 and the auxiliary power supply E2 are set to equal the rated input voltage of the motor. , .

[0043] like Figure 4 As shown, the power-down signal detection circuit includes a voltage divider resistor string, a fifth resistor Rm, a fourth PMOS transistor PMOS4, a fifth PMOS transistor PMOS5, a sixth PMOS transistor PMOS6, and a voltage comparator. The voltage divider resistor string includes a second resistor R1, a third resistor R2, and a fourth resistor R3. One end of the fifth resistor Rm is connected to one end of the second resistor R1, and the other end of the fifth resistor Rm is grounded. The other end of the second resistor R1 is connected to the source of the fourth PMOS transistor PMOS4. The gate of the fourth PMOS transistor PMOS4 serves as the GPIO2.1 interface, and the drain of the fourth PMOS transistor PMOS4 is connected to the source of the sixth PMOS transistor PMOS6. The drains of transistors 6 and 6 are connected together. The third resistor R2 is connected between the source of the fourth PMOS transistor and the source of the fifth PMOS transistor PMOS5. The gate of the fifth PMOS transistor PMOS5 serves as the GPIO2.2 interface. The drain of the fifth PMOS transistor PMOS5 is connected to the negative terminal of the voltage comparator. The positive terminal of the voltage comparator is connected to the positive terminal of capacitor C. The output of the voltage comparator is connected to the controller. The fourth resistor R3 is connected between the source of the fifth PMOS transistor PMOS5 and the source of the sixth PMOS transistor PMOS6. The source of the sixth PMOS transistor PMOS6 is connected to the DC motor. The gate of the sixth PMOS transistor PMOS6 serves as the GPIO2.3 interface.

[0044] Figure 3 The positive terminal of capacitor C in the auxiliary drive circuit is connected to Figure 4 The positive terminal of the voltage comparator in the power-down signal detection circuit, and the positive terminal voltage of the motor are... Figure 4 In the power-down signal detection circuit, resistors are connected in series. Figure 4 In the power failure signal detection circuit, the output port of the voltage comparator is connected to the external interrupt interface of the controller, and the interrupt is triggered by the rising edge.

[0045] The main power supply E1 uses a lithium battery, while the auxiliary power supply E2 uses a lead-acid battery. When the main power supply voltage drops, the auxiliary power supply provides power to the compensation drive circuit to maintain the motor's stable operation, which can extend the life of the lithium battery. In addition, the lithium battery has a high energy density, which can improve the overall working efficiency when used as the main drive. The lead-acid battery has the advantages of high safety factor and stable voltage. Therefore, when the lithium battery malfunctions, it can be switched to lead-acid battery power supply to maintain operation.

[0046] The controller uses GPIO, GPIO1, GPIO2.1, GPIO2.2, and GPIO2.3 to perform PWM control on the first PMOS transistor, the second PMOS transistor, the third PMOS transistor, the fourth PMOS transistor, the fifth PMOS transistor, and the sixth PMOS transistor, PMOS6. The GPIO ports can simultaneously control the conduction and cutoff of the first PMOS transistor in the drive circuit and the second PMOS transistor, PMOS1, in the auxiliary drive circuit, allowing the drive circuit and the auxiliary drive circuit to operate independently and supply power to both ends of the motor. Simultaneously, it transmits the conduction information of the drive circuit's switching transistors to the auxiliary drive circuit. GPIO1 controls the third PMOS transistor, PMOS2, to achieve discharge compensation, thus stabilizing the voltage. GPIO2.1, GPIO2.2, and GPIO2.3 control the fourth PMOS transistor, PMOS4, PMOS5, and PMOS6 to activate the corresponding voltage regulation control.

[0047] like Figure 2 As shown, a control method for a dual-battery driven DC motor voltage regulation control system includes:

[0048] S1. Set the voltage level, and turn on the corresponding switching transistor to start voltage regulation control according to the preset value of the level;

[0049] Obtain multiple preset voltage values ( The controller outputs a low level through the GPIO2.k port to turn on the corresponding PMOS transistor; k is a positive integer.

[0050] S2. A series of voltage-dividing resistors connected in parallel at the motor end are used to obtain the threshold voltage required for control.

[0051] Each gear's voltage regulation control preset threshold voltage ,

[0052] The preset value corresponds to the on-time of the switching transistor in the drive circuit for the corresponding voltage level. For auxiliary power supply voltage, This is the charging time constant.

[0053] S3. Connect a resistor in series at the bottom of the voltage divider resistor series. The threshold voltage is raised, and a portion of the voltage is raised as the critical detection value for the power-down voltage. If the voltage is exceeded, the controller receives a pulse and enters voltage regulation control.

[0054] A voltage divider resistor is connected in series with the ground terminal and a resistor is connected in series. Used to obtain the critical power failure monitoring voltage value. Select Corresponding critical power failure monitoring voltage value: ;

[0055] in, The power-off detection coefficient. To determine the equivalent resistance of the resistor series, take... , To determine the required resistor size for each voltage regulation control preset threshold voltage, Main power supply voltage;

[0056] It should be much larger than the load equivalent resistance to prevent low output efficiency. The smaller the value, the smaller the critical power-down voltage that can be detected. Here, we take... .

[0057] S4. Acquire the first power-down signal, modulate the capacitor discharge in the compensation drive circuit to compensate for the critical power-down voltage, and simultaneously acquire the output pulse of the voltage comparator thereafter. Based on the time difference of the received pulse, obtain the discrete power-down voltage point in the monitoring time domain by equivalently converting the power-down voltage change and the capacitor charging voltage change, and then convert it into the corresponding compensation voltage in the controller compensation output time domain and output it.

[0058] When the controller receives the voltage comparator output pulse for the first time, it activates capacitor discharge compensation in the compensation drive circuit. The controller controls the initial capacitor discharge time to be... ;

[0059] in, This corresponds to the critical power-off voltage. Preset threshold voltages for each gear's voltage regulation control. The discharge time constant is This represents the equivalent resistance of the load.

[0060] The voltage regulation control time domain should be greater than the PWM pulse output period and less than the control time domain of the outer loop control algorithm. In this embodiment, it is as follows:

[0061]

[0062] The controller receives pulses and records the time difference between adjacent pulses. The power-down voltage value is obtained:

[0063] Where D is the duty cycle corresponding to the switching transistor control of the drive circuit. The controller pulse output frequency is set to 10kHz.

[0064] Define the compensation voltage y, and the power loss rate as... ;

[0065] Controller compensation output time-domain prediction model

[0066]

[0067] Capacitor discharge compensation time: .

[0068] In practical implementation, the preset values ​​for multiple voltage levels are set. , , The controller controls GPIO2.1, GPIO2.2, and GPIO2.3 to output low levels to enable voltage regulation at the corresponding settings; a system is constructed as follows. Figure 4 The resistor string sequence in the power-down signal detection circuit shown is used to obtain the preset threshold voltage for each voltage regulation control corresponding to the voltage at each node. ;

[0069] The on-time of the switching transistor in the corresponding drive circuit for the corresponding voltage level (k takes values ​​of 1, 2, or 3). For auxiliary power supply voltage, This is the charging time constant.

[0070] The resistance values ​​of each resistor are as follows:

[0071] , Pick .

[0072] For the above resistor string, connect a resistor in series with its ground terminal. Used to obtain the critical power failure monitoring voltage value:

[0073]

[0074] in Main power supply voltage, The smaller the value, the smaller the critical power-off voltage that can be detected; here, K=0.01 is chosen.

[0075] like Figure 4 In the power failure signal detection circuit shown, after the corresponding gear control transistor is turned on, the threshold voltage signal is input to the negative terminal of the voltage comparator, and the positive terminal of the voltage comparator is connected to... Figure 3 The positive terminal of the diode in the compensation drive circuit.

[0076] The operating characteristics of the drive circuit and auxiliary drive circuit are as follows: When the GPIO port of the drive circuit outputs a low level, the first PMOS transistor (PMOS) and the second PMOS transistor (PMOS1) are simultaneously turned on, the main power supply powers the motor, and the auxiliary power supply in the compensation drive circuit charges the capacitor. At this time, because the voltage across the positive terminal of the diode is less than that across the negative terminal, the diode does not conduct. Therefore, we can obtain the peak voltage rise of the capacitor, which is proportional to the conduction time of the switching transistor in the drive circuit.

[0077] like Figure 4 The power-down signal detection circuit diagram shown compares the capacitor's rising voltage with the corresponding design threshold voltage. When the main power supply voltage drops below the set critical power-down voltage detection value, the controller receives the first pulse from the voltage comparator. At this point, the controller calculates the first capacitor discharge time.

[0078]

[0079] in, This corresponds to the critical power-off voltage. Preset threshold voltages for each gear's voltage regulation control. The discharge time constant is This is the equivalent resistance of the motor.

[0080] In the auxiliary drive circuit, the diode, the second PMOS transistor (PMOS1), and the third PMOS transistor (PMOS2) work together to isolate the driving circuit from the operating section of the auxiliary drive circuit. Simultaneously, they control the conduction of the third PMOS transistor (PMOS2) to compensate for capacitor discharge. The resistor R is used to modulate the capacitor charging and discharging time constant and absorb excess capacitor discharge. For a PWM controller with a 10kHz pulse period, the main power supply and auxiliary power supply voltages are set to equal the motor's rated input voltage. , ;

[0081] Simultaneously, the subsequent power outage situation is monitored in real time, and a predictive compensation output model is established to calculate the discharge time to compensate for the magnitude of the power outage voltage.

[0082] The time domain of the predictive model's control output should be greater than the PWM pulse output period and less than the control algorithm's output control time domain. In this embodiment, it is as follows:

[0083]

[0084] The controller receives pulses and records the time difference between adjacent pulses. The power-down voltage value is obtained:

[0085] Where D is the duty cycle corresponding to the switching transistor control of the drive circuit. The controller pulse output frequency is set to 10kHz.

[0086] Define the compensation voltage y, and the power loss rate as... ;

[0087] Controller compensation output prediction model in the time domain:

[0088]

[0089] Capacitor discharge compensation time: ;

[0090] The advantage of using the voltage regulation control time domain is that this method is used to solve the impact of power failure on closed-loop control. Therefore, the voltage regulation control time domain range can effectively offset the interference introduced by the external closed-loop control, and at the same time, it provides us with the sample time interval for iteratively predicting the discharge time.

[0091] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the content of this specification should be included within the protection scope of the present invention.

Claims

1. A control method of a dual-battery driving DC motor voltage stabilization control system, the system comprising a controller, a user input control panel connected to the controller, a compensation driving circuit, a power failure signal detection circuit and a driving circuit, and further comprising a DC motor connected to the driving circuit, the compensation driving circuit and the power failure signal detection circuit respectively, the power failure signal detection circuit being connected to the compensation driving circuit; the driving circuit comprising a main power supply (E1) and a first PMOS tube (PMOS), the main power supply (E1) being connected to the source of the first PMOS tube (PMOS), the drain of the first PMOS tube (PMOS) being connected to the DC motor, and the gate of the first PMOS tube (PMOS) being connected to the compensation driving circuit; the control method of the system comprising: Step 1.Setting a voltage gear, and opening a corresponding switch tube according to a voltage gear preset value to start voltage stabilization control; Step 2.Using a parallel connection of a voltage divider resistor string at the motor end to obtain a threshold voltage required for control; Step 3.Series connecting a resistor Rm at the bottom of the voltage divider resistor string to pull up the threshold voltage, and using a part of the voltage as a power failure voltage critical detection value, so that when the power supply voltage drops by more than the voltage, the controller receives a pulse to enter voltage stabilization control; Step 4.Obtaining a first power failure signal, modulating the discharge of a capacitor in the compensation driving circuit to compensate for the critical power failure voltage, and simultaneously obtaining a voltage comparator output pulse thereafter, and according to a time difference of the received pulses, obtaining discrete power failure voltage points in a monitoring time domain by equivalent of a power failure voltage change and a capacitor charging voltage change, and then converting the discrete power failure voltage points into corresponding compensation voltages in a controller compensation output time domain, and outputting; specifically including: the voltage stabilization control time domain being greater than a PWM pulse output period and less than an outer loop control algorithm control time domain; a prediction model in the controller compensation output time domain: the power failure signal detection circuit comprising a second resistor (R1), a third resistor (R2), a fourth resistor (R3), and a fifth resistor (Rm), one end of the fifth resistor (Rm) being connected to one end of the second resistor (R1), the other end of the fifth resistor (Rm) being grounded, the other end of the second resistor (R1) being connected to the source of a fourth PMOS tube (PMOS4), the gate of the fourth PMOS tube (PMOS4) being a GPIO2.1 interface, the drain of the fourth PMOS tube (PMOS4) being connected to the drain of a sixth PMOS tube (PMOS6), the third resistor (R2) being connected between the source of the fourth PMOS tube and the source of a fifth PMOS tube (PMOS5), the gate of the fifth PMOS tube (PMOS5) being a GPIO2.2 interface, the drain of the fifth PMOS tube (PMOS5) being connected to the negative electrode of a voltage comparator, the positive electrode of the voltage comparator being connected to the positive electrode of a capacitor (C), the output end of the voltage comparator being connected to the controller, the fourth resistor (R3) being connected between the source of the fifth PMOS tube (PMOS5) and the source of the sixth PMOS tube (PMOS6), the source of the sixth PMOS tube (PMOS6) being connected to the DC motor, and the gate of the sixth PMOS tube (PMOS6) being a GPIO2.3 interface; the specific implementation of Step 2 including: the specific implementation of Step 3 including: ​ The compensation driving circuit comprises a second PMOS tube (PMOS1), a third PMOS tube (PMOS2), a first resistor (R), a capacitor (C), a diode and an auxiliary power supply (E2); the positive pole of the auxiliary power supply (E2) is connected to the source of the second PMOS tube (PMOS1), the negative pole of the auxiliary power supply (E2) is grounded, the gate of the second PMOS tube (PMOS1) is connected to the gate of the first PMOS tube (PMOS) and leads to a GPIO interface, the drain of the second PMOS tube (PMOS1) is connected to one end of a parallel branch of the capacitor (C) and the first resistor (R) and the positive pole of the diode, the other end of the parallel branch of the capacitor (C) and the first resistor (R) is connected to the source of the third PMOS tube (PMOS2) and grounded, the gate of the third PMOS tube (PMOS2) is used as a GPIO1 interface, the drain of the third PMOS tube (PMOS2) is connected to a direct current motor, and the negative pole of the diode is connected to the direct current motor; the power failure signal detection circuit comprises a voltage dividing resistor string, a fifth resistor (Rm), a fourth PMOS tube (PMOS4), a fifth PMOS tube (PMOS5), a sixth PMOS tube (PMOS6) and a voltage comparator; and the compensation driving circuit is characterized in that, ​ ​ ​ ​ ​ When the controller receives the voltage comparator output pulse for the first time, the compensation drive circuit is started to discharge the capacitor, and the first discharge time of the capacitor is controlled by the controller ; wherein, is a corresponding critical dropout voltage, is a preset threshold voltage for each gear steady voltage control, is a discharge time constant, is an equivalent resistance of the load; ​ The controller receives the pulses and records the time difference between adjacent pulses The dropout voltage value is obtained: Wherein, D is the drive circuit switch tube control corresponding duty cycle, The controller pulse output frequency is 10 kHz. A compensation voltage amount y is defined, and the power-down rate is ; ​ Capacitor discharge compensation time: .

2. The control method of the dual-battery driving DC motor voltage stabilization control system according to claim 1, characterized by, ​ 3. The control method of the dual-battery driving DC motor voltage stabilization control system according to claim 1, characterized by, Step 1 includes setting multiple preset voltage regulation levels. U ref-k The value k is a positive integer, and the controller outputs a low level to the GPIO2.k port to turn on the corresponding PMOS transistor.

4. The control method of the dual-battery driving DC motor voltage stabilization control system according to claim 1, characterized by, ​ The preset threshold voltage of each gear steady voltage control , for corresponding voltage gear pre-set value corresponding drive circuit switch tube open time, for auxiliary power voltage, for charging time constant, k is a positive integer.

5. The control method of the dual-battery driving DC motor voltage stabilization control system according to claim 1, characterized by, ​ A voltage dividing resistor string has a series resistor connected in series with the terminal of the voltage dividing resistor string for acquiring a critical brown-out monitoring voltage value, , selecting a corresponding critical brown-out monitoring voltage value: ; Wherein, is a power failure detection coefficient, , is the equivalent resistance of the resistance string, taken , is the resistance size required to obtain the preset threshold voltage of voltage stabilization control of each gear, is the main power supply voltage.

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