Isolated electric machine control device and vehicle

Abstract

The application discloses a kind of isomorphic motor control device and vehicle.Therein, the isomorphic motor control device includes: MCU control module;FPGA control module, FPGA control module is transmitted with the control signal of target motor by Ethernet and MCU control module, wherein, control signal includes at least one of the following: current signal, voltage signal, position signal, temperature signal and current instruction signal;IGBT drive module, IGBT drive module is carried out signal interaction with MCU control module and FPGA control module respectively;Wherein, FPGA control module is used to obtain the state signal that IGBT drive module reports to FPGA control module, and FPGA control module exports PWM signal according to state signal to control target motor output torque.The present scheme makes full use of the internal AD conversion unit and decoding module of MCU control module to complete signal sampling and position decoding, solves the problem that the cost of heterogeneous control scheme is relatively high due to the use of external AD module, improves the robustness of system, and reduces the production cost of isomorphic motor control device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a heterogeneous motor control device and a vehicle. BACKGROUND

[0002] With the increasing speed of new energy electric drive system, the control requirements and control architecture requirements of the electric drive system are also increasing, and the dual-core heterogeneous platform is a solution for high-speed applications. The MCU and FPGA are combined in the dual-core heterogeneous platform, the FPGA mainly completes the motor core control algorithm according to the external sampled current signal, voltage signal, position / speed signal and current instruction signal provided by the MCU, including current closed-loop control and PWM modulation; the MCU mainly receives external controller instruction signals (torque instruction or speed instruction, etc.) through the CAN interface and the like, and sends the instruction signals to the FPGA chip after processing, the motor current sampling, temperature sampling and voltage sampling are all completed by the external AD sampling module, and the position decoding is also independently run in the FPGA. This solution does not make full use of the built-in AD sampling module and soft decoding module of the MCU, which not only has high cost, but also has high performance requirements for the FPGA, which is not conducive to industrialization.

[0003] At present, there is no effective solution to the above problems. SUMMARY

[0004] The heterogeneous motor control device and the vehicle provided by the embodiments of the present application at least solve the technical problem of high cost of the heterogeneous control scheme caused by the use of external AD modules.

[0005] According to an aspect of an embodiment of the present application, a heterogeneous motor control device is provided, comprising: an MCU control module; an FPGA control module, the FPGA control module transmits control signals of a target motor with the MCU control module through Ethernet, wherein the control signals include at least one of the following: current signal, voltage signal, position signal, temperature signal and current instruction signal; an IGBT drive module, the IGBT drive module is in signal interaction with the MCU control module and the FPGA control module respectively; wherein the FPGA control module is configured to acquire a state signal reported by the IGBT drive module to the FPGA control module, and the FPGA control module outputs a PWM signal according to the state signal to control the torque output of the target motor.

[0006] Optionally, the FPGA control module comprises a first sending unit, the first sending unit is configured to send a control state signal of the target motor to the MCU control module, wherein the control state signal includes at least one of the following: torque control state signal, speed control state signal, standby state signal and fault state signal.

[0007] Optionally, the MCU control module comprises a second receiving unit, the second receiving unit is configured to receive a control state signal, and the MCU control module is configured to send the received control state signal to an external controller through a CAN interface.

[0008] Optionally, the FPGA control module comprises: a current closed-loop control unit, the current closed-loop control unit is configured to perform PID control adjustment to obtain a voltage instruction signal according to a current instruction signal and an actual current signal sent by the MCU control module; and a PWM modulation unit, the PWM modulation unit is configured to output a three-phase PWM duty cycle signal by adopting SVPWM space vector modulation on the voltage instruction signal, and apply the three-phase PWM duty cycle signal to the IGBT drive module to drive the target motor to output torque.

[0009] Optionally, the MCU control module comprises a third receiving unit, the third receiving unit is configured to receive an external control instruction signal through a CAN interface, wherein the external control instruction signal comprises at least one of a torque instruction and a speed instruction.

[0010] Optionally, the MCU control module comprises a fourth receiving unit, the fourth receiving unit is configured to receive an external signal, wherein the external signal comprises at least one of a current signal, a voltage signal, a motor temperature signal and an IGBT temperature signal.

[0011] Optionally, the MCU control module comprises at least one AD conversion unit, the AD conversion unit is configured to convert analog voltage, current and temperature signals into digital signals, and the MCU control module is configured to send the digital signals converted by the AD conversion unit to the FPGA control module through Ethernet.

[0012] Optionally, the MCU control module comprises a fifth receiving unit and a decoding unit, the fifth receiving unit is configured to receive an external position sensor signal through a CAN interface, the decoding unit is configured to obtain a position signal of the target motor according to the external position sensor signal, and the MCU control module is configured to send the position signal to the FPGA control module through Ethernet.

[0013] Optionally, when the MCU control module receives a speed instruction through a CAN interface, speed closed-loop control is performed in the MCU control module, and then a current instruction signal is transmitted to the FPGA control module, and when the MCU control module receives a torque instruction through a CAN interface, the MCU control module decomposes the torque instruction into a current instruction signal and transmits the current instruction signal to the FPGA control module.

[0014] Optionally, the heterogeneous motor control device further comprises an external storage unit and a power supply, the MCU control module and the FPGA control module are each provided with at least one external storage unit, and the MCU control module and the FPGA control module are each provided with one power supply, wherein the external storage unit comprises at least one of RAM, ROM and EEPROM.

[0015] According to another aspect of the embodiment of the present application, a vehicle is further provided, comprising: the heterogeneous motor control device, which is the above-mentioned heterogeneous motor control device.

[0016] In the embodiment of the present application, the signals required for motor control, such as voltage, current, temperature and position, are obtained by means of fully utilizing the internal resources of the MCU control module to complete signal sampling and position decoding, and these signals are transmitted to the FPGA through Ethernet for motor core control algorithm, so as to achieve the purpose of saving the external AD module in the prior art, thereby realizing the technical effect of reducing the production cost of the heterogeneous motor control device, and further solving the technical problem of high cost of the heterogeneous control scheme caused by using the external AD module. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are included to provide a further understanding of the present application and constitute a part of this application, illustrate embodiments of the present application and together with the description serve to explain the present application. In the drawings:

[0018] Fig. 1 is a logic block diagram of a first embodiment of the heterogeneous motor control device according to the present application;

[0019] Fig. 2 is a logic block diagram of a second embodiment of the heterogeneous motor control device according to the present application. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and in the above-described drawings are intended to distinguish similar objects and not necessarily describe a particular chronological or sequential order. It should be understood that the use of such terms herein is intended to cover the embodiments of the present application whether used in a dependent or independent manner. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a list of steps or units not necessarily limited to those clearly identified as such. It should be understood that the use of such terms herein is intended to cover the embodiments of the present application whether used in a dependent or independent manner.

[0022] According to an embodiment of the present application, a method embodiment of a heterogeneous motor control device is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0023] In combination Figs. 1-2 As shown, according to an embodiment of the present application, a heterogeneous motor control device is provided.

[0024] Specifically, the heterogeneous motor control device comprises: an MCU control module 10; an FPGA control module 20, the FPGA control module 20 transmits a control signal of a target motor with the MCU control module 10 through Ethernet, wherein the control signal comprises at least one of the following: a current signal, a voltage signal, a position signal, a temperature signal and a current instruction signal; an IGBT drive module 30, the IGBT drive module 30 respectively interacts with the MCU control module 10 and the FPGA control module 20; wherein the FPGA control module 20 is used to acquire a state signal reported by the IGBT drive module 30 to the FPGA control module 20, and the FPGA control module 20 outputs a PWM signal according to the state signal to control the target motor to output torque.

[0025] In the embodiment, the internal resources of the MCU control module 10 are fully utilized to complete signal sampling and position decoding, and obtain signals such as voltage, current, temperature, and position required for motor control. These signals are transmitted to the FPGA control module 20 through Ethernet for motor core control algorithm, which can eliminate the external AD module in the prior art and cancel the position decoding function in the FPGA control module 20. Specifically, the Ethernet used for transmitting signals in the embodiment is a high-speed Ethernet. By using the heterogeneous motor control device, the hardware resources are saved, the internal control algorithm of the FPGA control module 20 is simplified, the robustness of the system is improved, and the production cost of the heterogeneous motor control device is reduced.

[0026] Optionally, the FPGA control module 20 includes a first sending unit configured to send a control state signal of the target motor to the MCU control module 10, wherein the control state signal includes at least one of a torque control state signal, a speed control state signal, a standby state signal, and a fault state signal. By using the fast operation of the FPGA control module 20, the complex control of the motor is realized more quickly, which not only meets the motor control application of higher speed, but also realizes more stable and smooth motor torque output.

[0027] Optionally, the MCU control module 10 includes a second receiving unit configured to receive the control state signal, and the MCU control module 10 sends the received control state signal to an external controller through a CAN interface. In the embodiment, the control state signal includes at least one of a torque control state signal, a speed control state signal, a standby state signal, and a fault state signal. By setting this way, the control states of the target motor can be fed back in real time, and the MCU control module 10 receives the control states of the target motor and sends the received control state signal to the external controller through the CAN interface, so as to realize real-time monitoring of the control states of the target motor by the external controller. In the embodiment, the second receiving unit can specifically receive an external control instruction signal through the CAN interface, or receive the external control instruction signal through other communication modes.

[0028] Optionally, the FPGA control module 20 includes a current closed-loop control unit configured to perform PID control adjustment on a current instruction signal and an actual current signal sent by the MCU control module 10 to obtain a voltage instruction signal; and a PWM modulation unit configured to output three-phase PWM duty cycle signals by SVPWM space vector modulation on the voltage instruction signal, and apply the three-phase PWM duty cycle signals to the IGBT driving module 30 to drive the target motor to output torque.

[0029] In the above embodiment, the current closed-loop control unit adjusts the voltage instruction signal according to the current instruction signal sent by the MCU and the actual current signal, the PWM modulation unit modulates the voltage instruction signal output by the PID control to output a three-phase PWM duty cycle signal using SVPWM space vector modulation, and applies the three-phase PWM duty cycle signal to the IGBT drive module 30 to finally drive the target motor to output torque. By taking advantage of the fast operation of the FPGA control module 20, the current closed-loop control and PWM modulation in different modes are realized in the FPGA control module 20, and the complex control of the motor is completed more quickly, which not only meets the motor control application at a higher speed, but also realizes a more stable and smooth motor torque output.

[0030] Optionally, the MCU control module 10 comprises a third receiving unit configured to receive an external control instruction signal through a CAN interface, wherein the external control instruction signal comprises at least one of a torque instruction and a speed instruction. In this way, the third receiving unit of the MCU control module 10 can receive the external control instruction signal through the CAN interface to realize real-time feedback of the instruction signal such as the torque instruction and the speed instruction sent by the external controller. Optionally, the third receiving unit can receive the external control instruction signal through the CAN interface, or can receive the external control instruction signal through other communication modes.

[0031] Optionally, the MCU control module 10 comprises a fourth receiving unit configured to receive an external signal, wherein the external signal comprises at least one of a current signal, a voltage signal, a motor temperature signal, and an IGBT temperature signal. In this way, the fourth receiving unit of the MCU control module 10 can receive the external signal to realize real-time feedback of the external signal such as the current signal, the voltage signal, the motor temperature signal, and the IGBT temperature signal sent by the external controller.

[0032] Optionally, the MCU control module 10 comprises at least one AD conversion unit configured to convert analog voltage, current, and temperature signals into digital signals, and the MCU control module 10 sends the digital signals converted by the AD conversion unit to the FPGA control module 20 through Ethernet. In this embodiment, the AD conversion unit is configured to convert analog voltage, current, and temperature signals into digital signals. When the fourth receiving unit of the MCU control module 10 receives the analog voltage, current, and temperature signals, the AD conversion unit is used to complete the signal conversion, and the FPGA control module 20 is sent through Ethernet. Specifically, the Ethernet used to transmit signals in this embodiment is a high-speed Ethernet.

[0033] Optionally, the MCU control module 10 comprises a fifth receiving unit and a decoding unit, the fifth receiving unit receives an external position sensor signal, the decoding unit obtains a position signal of the target motor according to the external position sensor signal, and the MCU control module 10 sends the position signal to the FPGA control module 20 through Ethernet. In the embodiment, the decoding unit is used to complete the position decoding of a position sensor such as a resolver, and when the fifth receiving unit of the MCU control module 10 receives the external position sensor signal, the target motor position signal is obtained by using the decoding unit inside the MCU control module 10, and the MCU control module 10 sends the FPGA control module 20 through Ethernet. Specifically, the Ethernet used to transmit the signal in the embodiment is a high-speed Ethernet.

[0034] Optionally, all receiving units in the MCU control module 10 in the above embodiment can be the same receiving unit, or can be separately designed different receiving units.

[0035] Optionally, when the MCU control module 10 receives the speed instruction through the CAN interface, the speed closed-loop control is performed in the MCU control module 10, and then the current instruction signal is transmitted to the FPGA control module 20. When the MCU control module 10 receives the torque instruction through the CAN interface, the MCU control module 10 decomposes the torque instruction into a current instruction signal and transmits it to the FPGA control module 20.

[0036] In the above embodiment, when the MCU control module 10 receives the speed instruction signal through the CAN interface, the speed closed-loop control is performed in the MCU control module 10, and then the current instruction signal is transmitted to the FPGA control module 20. When the MCU control module 10 receives the torque instruction signal through the CAN interface, the torque instruction signal is decomposed into a current instruction signal and transmitted to the FPGA control module 20. In this way, the characteristics of fast operation of the FPGA control module 20 are utilized to realize more rapid completion of complex motor control, not only to meet the higher speed motor control application, but also to realize more smooth motor torque output. In the embodiment, the fourth receiving unit specifically receives the external control instruction signal through the CAN interface, and can also receive the external control instruction signal through other communication modes.

[0037] Optionally, the heterogeneous motor control device further comprises an external storage unit and a power supply, the MCU control module 10 and the FPGA control module 20 are respectively provided with at least one external storage unit, and the MCU control module 10 and the FPGA control module 20 are respectively provided with one power supply, wherein the external storage unit comprises at least one of RAM, ROM and EEPROM. In the embodiment, the MCU control module 10 and the FPGA control module 20 are externally connected with the external storage unit, the MCU control module 10 and the FPGA control module 20 communicate with the storage unit to complete the storage of relevant necessary data, and the external storage unit can be a RAM, a ROM, an EEPROM or the like. The power supply 1 is a power supply for the MCU control module 10, and the power supply 2 is a power supply for the FPGA control module 20.

[0038] According to another aspect of the embodiment of the present application, a vehicle is also provided, comprising: the heterogeneous motor control device in the above-mentioned embodiments.

[0039] In the above-mentioned embodiments, the internal resources of the MCU control module 10 are fully utilized to complete signal sampling and position decoding, and signals such as voltage, current, temperature and position required for motor control are obtained, which are transmitted to the FPGA control module 20 through Ethernet for motor core control algorithm, and the external AD module in the prior art solution can be omitted, and the position decoding function in the FPGA control module 20 is cancelled. Specifically, the Ethernet used for transmitting signals in the embodiment adopts a high-speed Ethernet. The vehicle with the heterogeneous motor control device solves the technical problem that the cost of the heterogeneous control solution is high due to the use of the external AD module, the external AD module in the prior art solution is omitted, and the heterogeneous motor control device is adopted, which not only saves hardware resources, but also simplifies the internal control algorithm of the FPGA control module 20, improves the robustness of the system, and reduces the production cost of the heterogeneous motor control device.

[0040] In the above-mentioned embodiments, the heterogeneous motor control device is provided based on MCU and FPGA chips with different architectures, the FPGA control module 20 mainly completes the target motor core control algorithm according to the current signal, the voltage signal, the position signal, the temperature signal and the current instruction signal transmitted by the MCU control module 10 through the high-speed Ethernet, including current closed-loop control and PWM modulation, and combines the state output PWM signal reported by the IGBT driving module 30 to the IGBT driving module 30 to drive the target motor to output torque by using the IGBT driving module 30.

[0041] By the above embodiment, the internal resources of the MCU control module 10 can be fully utilized to complete signal sampling and position decoding, and obtain the signals such as voltage, current, temperature and position required for motor control, which are transmitted to the FPGA through the Ethernet for motor core control algorithm, so that the external AD module in the prior art scheme can be omitted, and the position decoding function in the FPGA is cancelled. Specifically, the Ethernet used for transmitting signals in the embodiment adopts a high-speed Ethernet. By using the heterogeneous motor control device, hardware resources are saved, the FPGA internal control algorithm is simplified, the robustness of the system is improved, and the production cost of the heterogeneous motor control device is reduced.

[0042] The heterogeneous motor control device is set based on the MCU and the FPGA chips with different architectures. The FPGA control module 20 mainly completes the target motor core control algorithm according to the current signal, voltage signal, position signal, temperature signal and current instruction signal transmitted by the MCU control module 10 through the high-speed Ethernet, including current closed-loop control and PWM modulation, and combines the state output PWM signal reported by the IGBT drive module 30 to the IGBT drive module 30, and drives the target motor to output torque by using the IGBT drive module 30. By using the fast operation characteristics of the FPGA control module 20, the complex control of the motor is more quickly completed, which not only meets the motor control application of higher speed, but also can realize more stable and smooth motor torque output.

[0043] In the above embodiments of the present application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0044] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other ways. Among them, the device embodiments described above are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, units or modules, which can be electrical or other forms.

[0045] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0046] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software function unit.

[0047] When the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application, essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0048] The above is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A heterogeneous motor control device, characterized in that, include: The MCU control module includes at least one AD conversion unit, which is used to convert analog voltage, current and temperature signals into digital signals. The MCU control module sends the digital signals converted by the AD conversion unit to the FPGA control module via Ethernet. An FPGA control module transmits control signals of the target motor to the MCU control module via Ethernet, wherein the control signals include at least one of the following: current signal, voltage signal, position signal, temperature signal, and current command signal; The IGBT driver module interacts with the MCU control module and the FPGA control module via signals. The FPGA control module is used to acquire the status signal reported by the IGBT drive module to the FPGA control module. The FPGA control module outputs a PWM signal according to the status signal to control the output torque of the target motor. The FPGA control module includes a first transmitting unit, which is used to send the control status signal of the target motor to the MCU control module. The control status signal includes at least one of the following: torque control status signal, speed control status signal, standby status signal, and fault status signal. The FPGA control module includes: A current closed-loop control unit, which performs PID control adjustment to obtain a voltage command signal based on the current command signal sent by the MCU control module and the actual current signal; The PWM modulation unit uses SVPWM space vector modulation to output a three-phase PWM duty cycle signal from the voltage command signal and applies it to the IGBT drive module to drive the target motor to output torque.

2. The heterogeneous motor control device according to claim 1, characterized in that, The MCU control module includes a second receiving unit, which is used to receive the control status signal. The MCU control module sends the received control status signal to an external controller through a CAN interface.

3. The heterogeneous motor control device according to claim 2, characterized in that, The MCU control module includes a third receiving unit, which receives external control command signals through the CAN interface. The external control command signals include at least one of the following: torque command and speed command.

4. The heterogeneous motor control device according to claim 2, characterized in that, The MCU control module includes a fourth receiving unit, which receives external signals, including at least one of the following: current signal, voltage signal, motor temperature signal, and IGBT temperature signal.

5. The heterogeneous motor control device according to claim 2, characterized in that, The MCU control module includes a fifth receiving unit and a decoding unit. The fifth receiving unit receives signals from an external position sensor, and the decoding unit obtains the position signal of the target motor based on the external position sensor signals. The MCU control module then sends the position signal to the FPGA control module via Ethernet.

6. The heterogeneous motor control device according to claim 3, characterized in that, After the MCU control module receives the speed command through the CAN interface, it performs closed-loop speed control in the MCU control module and then transmits the current command signal to the FPGA control module. After the MCU control module receives the torque command through the CAN interface, it decomposes the torque command into a current command signal and transmits it to the FPGA control module.

7. The heterogeneous motor control device according to claim 1, characterized in that, The heterogeneous motor control device further includes an external storage unit and a power supply. The MCU control module and the FPGA control module are each provided with at least one of the external storage units, and the MCU control module and the FPGA control module are each provided with a power supply. The external storage unit includes at least one of the following: RAM, ROM, and EEPROM.

8. A vehicle, comprising a heterogeneous motor control device, characterized in that, The heterogeneous motor control device is the heterogeneous motor control device according to any one of claims 1 to 7.

Images