Frequency-jittering same-phase control method for double three-phase motors

Abstract

The invention discloses a dual three-phase motor jitter frequency in-phase control method, and the method comprises the steps: a main controller generates a first control frequency according to a preset frequency, and controls a first winding to carry out frequency conversion through the first control frequency; the main controller converts the first control frequency into a PWM signal for communication and transmits the PWM signal to the auxiliary controller; the auxiliary controller receives the PWM signal for communication, converts the PWM signal for communication into a second control frequency, and controls the frequency conversion of the second winding according to the second control frequency; wherein the second control frequency and the first control frequency are consistent in frequency and phase. According to the scheme, the current sampling fluctuation and the motor torque fluctuation in the operation process of the dual three-phase motor can be reduced, so that the vibration and noise of the motor are effectively reduced, and the operation efficiency and the overall stability of the motor are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a method for controlling a dual three-phase motor with frequency jitter and same phase. Background Art

[0002] Dual three-phase motors are widely used in many fields and scenarios due to their high energy conversion efficiency, good control performance and high reliability. In order to ensure the normal operation of dual three-phase motors, the existing technology uses redundant control systems to control them. Redundant control systems can improve the fault tolerance of the system and ensure that when a part fails, other parts can still work normally to maintain the stable operation of the motor.

[0003] However, the dual three-phase motors under the redundant control system have problems with current sampling fluctuations and motor torque fluctuations, which will cause the motor control system to respond untimely to motor load changes and increase the vibration and noise of the equipment. Summary of the invention

[0004] The present invention provides a control method for frequency-jittering and phase-synchronizing dual three-phase motors to solve the problem of phase asynchronism of dual three-phase motors in a redundant control system, which in turn causes current sampling fluctuations and motor torque fluctuations.

[0005] According to one aspect of the present invention, a control method for frequency jittering and phase synchronization of a dual three-phase motor is provided. In a dual three-phase motor redundant control system, a main controller controls a first winding of the dual three-phase motor, and an auxiliary controller controls a second winding of the dual three-phase motor. The control method includes:

[0006] The main controller generates a first control frequency according to a preset frequency, and uses the first control frequency to control the first winding to perform frequency conversion;

[0007] The main controller converts the first control frequency into a PWM signal for communication, and transmits the signal to the auxiliary controller;

[0008] The auxiliary controller receives the communication PWM signal, converts the communication PWM signal into a second control frequency, and controls the frequency conversion of the second winding according to the second control frequency; wherein the second control frequency is consistent with the frequency and phase of the first control frequency.

[0009] According to another aspect of the present invention, a control device for frequency-shaking and phase-matching of dual three-phase motors is provided, comprising: a main controller module and an auxiliary controller module;

[0010] Wherein, the main controller module includes:

[0011] A frequency generating module, used to generate the first control frequency according to the preset frequency, and use the first control frequency to control the first winding to perform frequency conversion;

[0012] A frequency conversion module, used for converting the first control frequency into the communication PWM signal, and transmitting the signal to the auxiliary controller;

[0013] The auxiliary controller module comprises:

[0014] A frequency receiving module is used to receive the communication PWM signal, and convert the communication PWM signal into the second control frequency, and control the frequency conversion of the second winding according to the second control frequency; wherein the second control frequency is consistent with the frequency and phase of the first control frequency.

[0015] According to another aspect of the present invention, a control system for a dual three-phase motor is provided, comprising: a dual three-phase motor and a controller, wherein the controller executes the control method for controlling the frequency jittering and phase synchronization of the dual three-phase motor according to any embodiment of the present invention.

[0016] The technical solution of the embodiment of the present invention uses a first control frequency to control the first winding of the dual three-phase motor for frequency conversion, and transmits the first control frequency to the auxiliary controller in the form of a PWM signal, thereby generating a second control frequency, and using the second control frequency to control the second winding for frequency conversion. By keeping the frequency and phase of the first control frequency consistent with the second control frequency, the first winding and the second winding of the dual three-phase motor are kept in synchronous operation, that is, the frequency jittering same-phase control of the dual three-phase motor is achieved. This solution is conducive to reducing the current sampling fluctuations and motor torque fluctuations during the operation of the dual three-phase motor, thereby effectively reducing the vibration and noise of the motor, and improving the operating efficiency and overall stability of the motor.

[0017] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A flow chart of a method for controlling the frequency jittering and phase synchronization of dual three-phase motors provided by an embodiment of the present invention;

[0020] Figure 2A schematic diagram of a first control frequency and a second control frequency provided by an embodiment of the present invention;

[0021] Figure 3 A flow chart of another method for controlling the frequency jittering and phase synchronization of dual three-phase motors provided by an embodiment of the present invention;

[0022] Figure 4 A flow chart of another method for controlling the frequency jittering and phase synchronization of dual three-phase motors provided by an embodiment of the present invention;

[0023] Figure 5 A flow chart of another method for controlling the frequency jittering and phase synchronization of dual three-phase motors provided by an embodiment of the present invention;

[0024] Figure 6 A flow chart of another method for controlling the frequency jittering and phase synchronization of dual three-phase motors provided by an embodiment of the present invention;

[0025] Figure 7 A schematic diagram of the structure of a control device for frequency-jittering and phase-matching of dual three-phase motors provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] In order to facilitate understanding of the control method for dual three-phase motor frequency shaking and phase matching provided by the embodiment of the present invention, the control system for dual three-phase motor frequency shaking and phase matching provided by the embodiment of the present invention is first explained as follows.

[0029] A dual three-phase motor refers to an electric motor with two independent three-phase windings, which can be powered by independent power supplies or the same power supply. Due to the dual winding structure of the dual three-phase motor, it can maintain a high energy conversion efficiency under high load conditions. Moreover, during the use of the dual three-phase motor, even if one of the motor windings fails, the other motor winding can continue to work, thereby improving the reliability of the entire equipment.

[0030] Frequency jitter refers to the frequency fluctuation or vibration phenomenon that occurs when the motor is running. This jitter may be caused by factors such as uneven load, control signal error or mechanical imbalance, affecting the stability and performance of the motor. Frequency jitter control of dual three-phase motors can disperse the interference of switching frequency to achieve the purpose of reducing electromagnetic interference.

[0031] In-phase refers to maintaining a consistent phase relationship between multiple windings or phases of the motor.

[0032] A redundant control system refers to setting up multiple backups in the control system to ensure that when one of the control units fails, other backup units can take over control and ensure the normal operation of the system.

[0033] In the dual three-phase motor redundant control system, the main controller controls the first winding of the dual three-phase motor, and the auxiliary controller controls the second winding of the dual three-phase motor. Specifically, the dual three-phase motor is equipped with a redundant control system, which includes a main controller and an auxiliary controller, which control the first winding and the second winding of the dual three-phase motor respectively. This redundant control method can ensure that if the main controller fails, the auxiliary controller can still take over the control of the motor to ensure the normal operation of the motor. In addition, the two controllers control different windings respectively, which can achieve load balancing and optimization, thereby improving the performance and efficiency of the motor.

[0034] Figure 1 A flow chart of a control method for dual three-phase motor frequency jittering and phase synchronization provided in an embodiment of the present invention. This embodiment can be applied to dual three-phase motor control under a redundant control system. The method can be executed by a control device for dual three-phase motor frequency jittering and phase synchronization. The control device can be implemented in the form of hardware and / or software. The control device can be configured in the control system of the dual three-phase motor.

[0035] like Figure 1 As shown, the method includes:

[0036] S110, the main controller generates a first control frequency according to a preset frequency, and uses the first control frequency to control the first winding to perform frequency conversion.

[0037] Specifically, the main controller refers to the main control unit of the system, which is responsible for managing and controlling the first winding of the motor. The main controller performs core functions such as starting, stopping, speed regulation and torque control of the motor. The main controller usually has higher computing power and response speed to handle real-time control tasks and ensure efficient performance of the motor under normal operating conditions.

[0038] The preset frequency refers to the target frequency value set in advance in the motor control system. By setting the appropriate preset frequency, the energy efficiency of the equipment can be optimized, energy consumption can be reduced, and the stability and reliability of the system can be improved.

[0039] The first control frequency refers to the frequency generated by the main controller of the dual three-phase motor according to the preset frequency to control the first winding. The frequency of the first control frequency depends on the application and design of the motor. For example, the first control frequency can be 50Hz AC. In certain specific applications, such as electric vehicles and servo systems, the first control frequency of the three-phase motor can be as high as several hundred hertz (for example, 300Hz to 1000Hz) to achieve higher dynamic response and more precise speed control.

[0040] The first winding refers to the first three-phase winding in the motor, which is usually composed of three coils and connected to a three-phase power supply. The first winding is usually responsible for the main power output of the motor, and generates a rotating magnetic field through interaction with the power supply, thereby driving the motor to rotate. In other embodiments, the three-phase winding can also be replaced by a multi-phase winding.

[0041] In an embodiment of the present invention, the main controller generates a first control frequency according to a frequency preset in the motor design process, and uses the first control frequency to adjust the frequency of the first winding of the motor. Using the preset frequency as a reference point of the main controller, the control strategy is adjusted according to the running state and load condition of the motor and the first control frequency is generated to ensure that the first winding of the motor works in the best state.

[0042] S120: The main controller converts the first control frequency into a PWM signal for communication and transmits it to the auxiliary controller.

[0043] Specifically, the communication PWM signal refers to the signal generated by the pulse width modulation (PWM) technology. The PWM signal modulates the effective value of the signal by changing the width of the pulse. The frequency of the pulse remains unchanged, and the change in the pulse width determines the intensity of the information or control transmitted. PWM can flexibly adjust the duty cycle to achieve different information transmission requirements to achieve communication between the main controller and the auxiliary controller.

[0044] The auxiliary controller is the auxiliary control unit of the system, which performs similar control tasks as the main controller to ensure that the secondary winding of the motor can also work normally. The auxiliary controller is designed to provide redundancy. Once the main controller fails, the auxiliary controller can take over the control tasks to ensure the continuous operation of the motor.

[0045] In the embodiment of the present invention, the main controller converts the first control frequency it generates into a PWM signal, and uses the PWM signal to transmit the control frequency information to the auxiliary controller, thereby providing a reference for the control frequency of the auxiliary controller.

[0046] Optionally, the communication PWM signal realizes data transmission through inter-board communication and is transmitted to the auxiliary controller in the form of a pulse width modulation signal controlled by an internal model.

[0047] Specifically, inter-board communication refers to the data exchange and information transmission process between the main board where the main controller is located and the auxiliary board where the auxiliary control is located in the control system of the dual three-phase motor. Inter-board communication can support efficient data exchange between different modules and achieve flexible interoperability between different modules by using standardized communication protocols. Exemplarily, inter-board communication includes serial communication methods (such as I2C, SPI and UART), parallel communication methods, network communication methods (such as CAN) and wireless communication methods (such as Bluetooth and Wi-Fi).

[0048] Internal Model Control Pulse Width Modulation (IMC-PWM) refers to a control signal that combines internal model control theory and pulse width modulation technology. Internal model control refers to a control strategy that predicts the behavior of the system by building a mathematical model of the controlled system and generates a control signal based on the model output. Internal model control can improve the robustness and stability of the system.

[0049] In the embodiment of the present invention, the communication PWM signal is converted into an IMC-PWM signal, and the IMC-PWM signal is transmitted from the main controller to the auxiliary controller through inter-board communication. The IMC-PWM technology can realize precise control of dual three-phase motors.

[0050] S130, the auxiliary controller receives the communication PWM signal, and converts the communication PWM signal into a second control frequency, and controls the frequency conversion of the second winding according to the second control frequency; wherein the second control frequency is consistent with the frequency and phase of the first control frequency.

[0051] Specifically, the second winding refers to the second three-phase winding in the motor, which consists of three coils and operates independently of the first winding. The second winding is usually used to provide redundancy to ensure that the motor can continue to operate when the first winding fails. By coordinating the work of the first winding and the second winding, load balance can be achieved, motor vibration and noise can be reduced, and overall efficiency can be improved.

[0052] The second control frequency refers to the frequency responsible for controlling the second winding, which is generated by the auxiliary controller of the dual three-phase motor according to the communication PWM signal.

[0053] Figure 2 A schematic diagram of a first control frequency and a second control frequency provided by an embodiment of the present invention. Figure 2 As shown, the second control frequency is consistent with the frequency and phase of the first control frequency, that is, the second control frequency has the same frequency and phase as the first control frequency. The consistency of the frequency and phase of the first control frequency and the second control frequency can ensure that the first winding and the second winding of the dual three-phase motor are synchronized during operation. By coordinating the synchronous operation of the two windings, the overall operating efficiency of the motor can be improved, energy consumption can be reduced, and the service life of the equipment can be extended.

[0054] The technical solution of the embodiment of the present invention uses a first control frequency to control the first winding of the dual three-phase motor for frequency conversion, and transmits the first control frequency to the auxiliary controller in the form of a PWM signal, thereby generating a second control frequency, and uses the second control frequency to control the second winding for frequency conversion. The embodiment of the present invention maintains the consistency of frequency and phase between the first control frequency and the second control frequency, so that the first winding and the second winding of the dual three-phase motor maintain synchronous operation, which is conducive to achieving frequency jittering and same-phase control of the dual three-phase motor. Therefore, this solution is conducive to reducing the current sampling fluctuations and motor torque fluctuations during the operation of the dual three-phase motor, thereby effectively reducing the vibration and noise of the motor and improving the operating efficiency and overall stability of the motor.

[0055] Figure 3 A flow chart of another method for controlling the frequency jittering and phase synchronization of dual three-phase motors provided by an embodiment of the present invention. Figure 3 As shown, based on the above embodiment, optionally, before using the first control frequency to control the first winding to perform frequency conversion, it also includes:

[0056] S100: The main controller delays the first control frequency by one beat, and then uses the first control frequency to control the first winding to perform frequency conversion.

[0057] Specifically, the delay of the first control frequency by one beat refers to delaying the first control frequency by one cycle. For example, if the first control frequency is set to 50 Hz, that is, there are 50 cycles per second, and the duration of each cycle is 20 milliseconds, the delay of one beat means that the signal is delayed by one cycle relative to the expected time, that is, 20 milliseconds. During the beat of the first control frequency delay, the first frequency signal generated by the main controller is transmitted to the auxiliary controller and the corresponding second control frequency is generated, that is, sufficient time difference is reserved for the transmission of the frequency signal between the main controller and the auxiliary controller and the frequency signal processing of the auxiliary controller.

[0058] Optionally, controlling the frequency conversion of the second winding according to the second control frequency includes:

[0059] In the next cycle, the auxiliary controller controls the second winding according to the second control frequency.

[0060] Specifically, since the first control frequency of the main controller is delayed by one beat, during the delay period, the frequency signal is transmitted between the main controller and the auxiliary controller, and the auxiliary controller generates a control frequency for controlling the second winding. In this way, in the next cycle, the auxiliary controller controls the second winding according to the second control frequency, and the main controller controls the first winding according to the first control frequency. Since the first control frequency and the second control frequency are consistent in frequency and phase, the first winding and the second winding are synchronized in the next cycle.

[0061] The technical solution of the embodiment of the present invention provides a time difference for transmitting the frequency signal and converting the frequency signal into the second control frequency by the auxiliary controller by delaying the first control frequency by one beat, so that the main controller and the auxiliary controller can control the first winding and the second winding respectively at the same frequency in the next cycle, thereby realizing the frequency-shaking same-phase control of the dual three-phase motor. The control process of this solution is simple, which simplifies the design and debugging process of the motor control system, reduces the complexity of the system, and facilitates implementation and maintenance.

[0062] Figure 4 A flow chart of another method for controlling the frequency jittering and phase synchronization of dual three-phase motors provided by an embodiment of the present invention. Figure 4 As shown, based on the above embodiment, the method includes:

[0063] S210. Execute a control algorithm for controlling a first winding of the dual three-phase motor according to a first control frequency to obtain a first winding control parameter.

[0064] Specifically, the control algorithm refers to the mathematical model and rules used to process input signals and generate control outputs, which can achieve precise control of the motor. Common control algorithms include PID control, fuzzy control, and state feedback control.

[0065] The first winding control parameter refers to a specific value or variable in the control algorithm used to control the first winding of the motor. For example, these variables may include duty cycle, frequency, phase angle, and current limit.

[0066] In the embodiment of the present invention, a control algorithm is executed according to the first control frequency to obtain the first winding control parameter. A reasonable control algorithm can enable the motor to respond quickly to load changes and ensure that the motor can still operate smoothly in a rapidly changing environment. Accurate control parameters can help the motor operate at the optimal operating point, reduce energy consumption, and improve the energy efficiency of the system.

[0067] S220 , performing PWM modulation according to the first winding control parameter to obtain a first PWM modulation signal to perform variable frequency control on the first winding.

[0068] Specifically, PWM modulation refers to a technique for controlling voltage or power output by changing the duty cycle of a signal. PWM modulation is efficient, easy to implement, and flexible, and can achieve precise power control with low energy consumption.

[0069] The first PWM modulation signal refers to a signal generated by PWM modulation, which is used to control the voltage and current of the first winding to achieve effective control of the first winding of the motor. The frequency and duty cycle of the first PWM modulation signal determine the output characteristics of the first winding of the motor and directly affect the running stability of the motor.

[0070] In the embodiment of the present invention, by performing PWM modulation on the control parameter of the first winding, an effective PWM signal can be generated, thereby achieving variable frequency control of the first winding of the motor.

[0071] S230: The main controller converts the first control frequency into a PWM signal for communication and transmits it to the auxiliary controller.

[0072] S240, the auxiliary controller receives the communication PWM signal, converts the communication PWM signal into a second control frequency, and controls the frequency conversion of the second winding according to the second control frequency; wherein the second control frequency is consistent with the frequency and phase of the first control frequency.

[0073] The technical solution of the embodiment of the present invention processes the first control frequency to obtain a first PWM modulation signal for controlling the first winding of the dual three-phase motor. Then, a second control frequency for controlling the second winding is generated according to the first control frequency, and the frequency and phase of the first control frequency and the second control frequency are kept consistent to achieve frequency jittering and same-phase control of the dual three-phase motor. The control frequency is converted into a PWM signal to control the motor winding, which can quickly adapt to load changes by adjusting the duty cycle, effectively control the output power of the motor, and achieve precise control of the motor speed and torque to meet various application requirements.

[0074] Figure 5 A flow chart of another method for controlling the frequency jittering and phase synchronization of dual three-phase motors provided by an embodiment of the present invention. Figure 5 As shown, based on the above embodiment, the method includes:

[0075] S310. The main controller generates a first control frequency according to a preset frequency, and uses the first control frequency to control the first winding to perform frequency conversion.

[0076] S320, the communication PWM signal realizes data transmission through inter-board communication, and is transmitted to the auxiliary controller in the form of a pulse width modulation signal controlled by an internal model.

[0077] S330, the auxiliary controller performs timer input capture on the internal model control pulse width modulation signal.

[0078] Specifically, timer input capture refers to the use of the timer module to capture the data of external signals at a specific moment, usually used to measure the time interval or frequency of events. Through input capture, the microcontroller can record the timestamp of the external signal change, thereby achieving accurate time measurement and event counting.

[0079] In the embodiment of the present invention, the use of timer input capture can achieve real-time response, ensuring that the auxiliary controller can quickly process external signal changes.

[0080] S340, analyzing the internal model control pulse width modulation signal through the auxiliary board frequency drive analysis algorithm to obtain a second control frequency.

[0081] Specifically, the frequency-driven analysis algorithm is a method used for signal processing and control system analysis, which converts time domain signals into frequency domain for analysis and processing. This algorithm uses the characteristics of frequency to extract the frequency components of the signal and identify the dynamic characteristics and performance indicators of the system.

[0082] In the embodiment of the present invention, the pulse width modulation signal controlled by the internal model is analyzed by the frequency drive analysis algorithm on the auxiliary board to obtain the second control frequency. The analysis of the pulse width modulation signal can understand the frequency component of the signal and identify the dynamic characteristics and performance indicators of the system. Using the second control frequency to control the second winding of the dual three-phase motor can timely adjust and optimize the control strategy and improve the system performance and response speed.

[0083] The technical solution of the embodiment of the present invention obtains the second control frequency for controlling the second winding by capturing and analyzing the signal transmitted by the main controller. The auxiliary controller adopts TIM capture to achieve high-precision time measurement, real-time response and system efficiency improvement. The pulse width modulation signal controlled by the internal model is analyzed by the frequency-driven analysis algorithm on the auxiliary board, which can effectively extract frequency information, optimize the control strategy, and improve the performance and reliability of the system.

[0084] Figure 6 A flow chart of another method for controlling the frequency jittering and phase synchronization of dual three-phase motors provided by an embodiment of the present invention. Figure 6 As shown, based on the above embodiment, the method includes:

[0085] S410. The main controller generates a first control frequency according to a preset frequency, and uses the first control frequency to control the first winding to perform frequency conversion.

[0086] S420: The main controller converts the first control frequency into a PWM signal for communication and transmits it to the auxiliary controller.

[0087] S430, the auxiliary controller receives the communication PWM signal and converts the communication PWM signal into a second control frequency.

[0088] S440, executing a control algorithm for controlling the second winding of the dual three-phase motor according to the second control frequency to obtain a second winding control parameter.

[0089] Specifically, the second winding control parameter refers to a specific value or variable in the control algorithm used to control the second winding of the motor. For example, these variables may include duty cycle, frequency, phase angle, current limit, etc.

[0090] In the embodiment of the present invention, the control algorithm is executed according to the second control frequency to obtain the second winding control parameter. A reasonable control algorithm can enable the motor to respond quickly to load changes and ensure that the motor can still operate smoothly in a rapidly changing environment. Accurate control parameters can help the motor operate at the optimal operating point, reduce energy consumption, and improve the energy efficiency of the system.

[0091] S450, performing PWM modulation according to the second winding control parameter to obtain a second PWM modulation signal to perform variable frequency control on the second winding.

[0092] Specifically, the second PWM modulation signal refers to a signal generated by PWM modulation, which is used to control the voltage and current of the second winding to achieve effective control of the second winding of the motor. The frequency and duty cycle of the second PWM modulation signal determine the output characteristics of the second winding of the motor and directly affect the running stability of the motor.

[0093] In the embodiment of the present invention, by performing PWM modulation on the control parameter of the second winding, an effective PWM signal can be generated, thereby achieving variable frequency control of the second winding of the motor.

[0094] The technical solution of the embodiment of the present invention processes the second control frequency to obtain a second PWM modulation signal for controlling the second winding of the dual three-phase motor. Then, a second control frequency for controlling the second winding is generated according to the second control frequency, and the frequency and phase of the second control frequency are kept consistent with the second control frequency to achieve frequency jittering and same-phase control of the dual three-phase motor. The control frequency is converted into a PWM signal to control the motor winding, which can quickly adapt to load changes by adjusting the duty cycle, effectively control the output power of the motor, and achieve precise control of the motor speed and torque to meet various application requirements.

[0095] Figure 7 A schematic diagram of a control device for dual three-phase motor frequency jittering and phase synchronization provided by an embodiment of the present invention. Figure 7 As shown, based on the above embodiments, the device includes: a main controller module 510 and an auxiliary controller module 520. The main controller module 510 and the auxiliary controller module 520 jointly control the dual three-phase motor 530.

[0096] The main controller module 510 includes:

[0097] The frequency generating module 511 is used to generate a first control frequency according to a preset frequency, and use the first control frequency to control the first winding to perform frequency conversion.

[0098] The frequency conversion module 512 is used to convert the first control frequency into a communication PWM signal and transmit it to the auxiliary controller.

[0099] The auxiliary controller module 520 includes:

[0100] The frequency receiving module 521 is used to receive the communication PWM signal, convert the communication PWM signal into a second control frequency, and control the frequency conversion of the second winding according to the second control frequency; wherein the second control frequency is consistent with the frequency and phase of the first control frequency.

[0101] Optionally, the main controller module 510 further includes:

[0102] The frequency delay module 513 is used to delay the first control frequency by one beat, and then use the first control frequency to control the first winding to perform frequency conversion.

[0103] A first motor control module 514, configured to execute a control algorithm for controlling a first winding of the dual three-phase motor according to a first control frequency to obtain a first winding control parameter;

[0104] A first PWM modulation module 515, configured to perform PWM modulation according to the first winding control parameter to obtain a first PWM modulation signal to perform variable frequency control on the first winding;

[0105] The auxiliary controller module 520 further includes:

[0106] A second motor control module 522, configured to execute a control algorithm for controlling the second winding of the dual three-phase motor according to the second control frequency to obtain a second winding control parameter;

[0107] The second PWM modulation module 523 is used to perform PWM modulation according to the second winding control parameter to obtain a second PWM modulation signal to perform variable frequency control on the second winding.

[0108] In addition, the auxiliary controller module 520 may further include: a timer capture module 524, used for capturing the internal model control pulse width modulation signal by timer input; an auxiliary board frequency drive analysis module 525, used for analyzing the internal model control pulse width modulation signal by using an auxiliary board frequency drive analysis algorithm to obtain a second control frequency.

[0109] The control device for dual three-phase motor frequency jittering and phase matching provided in the embodiment of the present invention can execute the control method for dual three-phase motor frequency jittering and phase matching provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0110] An embodiment of the present invention further provides a control system for a dual three-phase motor, including: a dual three-phase motor and a controller. The controller can execute the control method for frequency jittering and phase synchronization of the dual three-phase motor provided by any embodiment of the present invention, and has corresponding beneficial effects.

[0111] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0112] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for dual three-phase motor frequency jittering and phase synchronization, characterized in that: In a dual three-phase motor redundant control system, a main controller controls a first winding of the dual three-phase motor, and an auxiliary controller controls a second winding of the dual three-phase motor. The control method includes: The main controller generates a first control frequency according to a preset frequency, and uses the first control frequency to control the first winding to perform frequency conversion; The main controller converts the first control frequency into a PWM signal for communication, and transmits the signal to the auxiliary controller; The auxiliary controller receives the communication PWM signal, converts the communication PWM signal into a second control frequency, and controls the frequency conversion of the second winding according to the second control frequency; wherein the second control frequency is consistent with the frequency and phase of the first control frequency.

2. The control method for dual three-phase motor frequency shaking and phase synchronization according to claim 1 is characterized in that: Before using the first control frequency to control the first winding to perform frequency conversion, the method further includes: The main controller delays the first control frequency by one beat, and then uses the first control frequency to control the first winding to perform frequency conversion.

3. The control method for dual three-phase motor frequency shaking and phase synchronization according to claim 2 is characterized in that: The auxiliary controller controls the second winding according to the second control frequency, including: In the next cycle, the auxiliary controller controls the second winding according to the second control frequency.

4. The control method for dual three-phase motor frequency shaking and phase synchronization according to claim 1 is characterized in that The main controller generates a first control frequency according to a preset frequency, and uses the first control frequency to control the first winding to perform frequency conversion, including: executing a control algorithm for controlling the first winding of the dual three-phase motor according to the first control frequency to obtain a first winding control parameter; PWM modulation is performed according to the first winding control parameter to obtain a first PWM modulation signal to perform variable frequency control on the first winding.

5. The control method for dual three-phase motor frequency shaking and phase synchronization according to claim 1 is characterized in that: The main controller converts the first control frequency into a PWM signal for communication and transmits the signal to the auxiliary controller, including: The communication PWM signal realizes data transmission through inter-board communication and is transmitted to the auxiliary controller in the form of an internal model controlled pulse width modulation signal.

6. The control method for dual three-phase motor frequency shaking and phase synchronization according to claim 5 is characterized in that: The auxiliary controller receives the communication PWM signal and converts the communication PWM signal into a second control frequency, including: The auxiliary controller performs timer input capture on the internal model control pulse width modulation signal; The internal model control pulse width modulation signal is analyzed by the auxiliary board frequency drive analysis algorithm to obtain the second control frequency.

7. The control method for dual three-phase motor frequency shaking and phase synchronization according to claim 1 is characterized in that: The auxiliary controller controls the second winding according to the second control frequency, including: executing a control algorithm for controlling the second winding of the dual three-phase motor according to the second control frequency to obtain a second winding control parameter; PWM modulation is performed according to the second winding control parameter to obtain a second PWM modulation signal to perform variable frequency control on the second winding.

8. A control device for dual three-phase motor frequency shaking and phase synchronization, characterized in that: include: A main controller module and a secondary controller module; Wherein, the main controller module includes: A frequency generating module, used to generate the first control frequency according to the preset frequency, and use the first control frequency to control the first winding to perform frequency conversion; A frequency conversion module, used for converting the first control frequency into the communication PWM signal, and transmitting the signal to the auxiliary controller; The auxiliary controller module comprises: A frequency receiving module is used to receive the communication PWM signal, and convert the communication PWM signal into the second control frequency, and control the frequency conversion of the second winding according to the second control frequency; wherein the second control frequency is consistent with the frequency and phase of the first control frequency.

9. The control device for dual three-phase motor frequency shaking and phase synchronization according to claim 8, characterized in that: The main controller module further includes: The frequency delay module is used to delay the first control frequency by one beat, and then use the first control frequency to control the first winding to perform frequency conversion. a first motor control module, configured to execute a control algorithm for controlling the first winding of the dual three-phase motor according to the first control frequency to obtain a first winding control parameter; A first PWM modulation module, used for performing PWM modulation according to the first winding control parameter to obtain a first PWM modulation signal to perform variable frequency control on the first winding; The auxiliary controller module further includes: a second motor control module, configured to execute a control algorithm for controlling the second winding of the dual three-phase motor according to the second control frequency to obtain a second winding control parameter; The second PWM modulation module is used to perform PWM modulation according to the second winding control parameter to obtain a second PWM modulation signal to perform variable frequency control on the second winding.

10. A control system for a dual three-phase motor, characterized in that: include: A dual three-phase motor and a controller, wherein the controller executes the dual three-phase motor frequency-shaking and phase-matching control method described in any one of claims 1-7.

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