Redundant brushless motor control system and electromechanical equipment

Abstract

The invention provides a redundant brushless motor control system and electromechanical equipment, and belongs to the technical field of electromechanical control. The system comprises a control unit, a first pre-driving chip, a second pre-driving chip, a diode circuit, a switch module and a redundant brushless motor, the first pre-driving chip and the second pre-driving chip respectively feed back a first power-on diagnosis result and a second power-on diagnosis result to the control unit according to the power-on diagnosis instruction; the control unit determines a target pre-driving chip according to the first power-on diagnosis result and the second power-on diagnosis result and sends an operation instruction to the target pre-driving chip, and the target pre-driving chip outputs a high level or a low level to each diode connected with the target pre-driving chip under the action of the operation instruction so as to control the redundant brushless motor. According to the invention, the construction cost of the redundant brushless motor control system can be reduced, and the control process of the redundant brushless motor can be simplified.

Description

Technical Field

[0001] The present application relates to the field of electromechanical control technology, and in particular to a redundant brushless motor control system and an electromechanical device. Background Art

[0002] As a new type of DC motor, the brushless motor not only has the characteristics of the brushless motor, but also can achieve the performance of the variable frequency motor. Among them, the brushless motor replaces the traditional contact commutator and brushes with electronic switching devices. The brushless motor has the advantages of high reliability, no commutation sparks and low mechanical noise. Therefore, it is widely used in electric vehicles, air conditioners and other daily electrical appliances. However, in order to reduce the failure rate of the brushless motor, a redundant system is often deployed in the brushless motor. However, while the redundant system reduces the failure rate of the brushless motor, it will affect the reliability of the brushless motor. Therefore, a reliable redundant brushless motor control method is urgently needed to improve the reliability of the redundant brushless motor.

[0003] In the related art, generally two pre-driver chips are used to control the three-phase bridge drive motor. The drive signals generated by the two pre-driver chips enter the two chip select chips respectively. The control signals output by the chip select chips are used to control the three-phase bridge drive motor at the same time. Among them, the chip select chip is used to isolate the drive signals of the two pre-driver chips. At the same time, only one group of pre-driver chips and their corresponding chip select chips are used to control the three-phase bridge drive motor, and the other group of pre-driver chips and their corresponding chip select chips are prohibited from outputting drive signals.

[0004] However, when controlling the redundant brushless motor based on the related technology, there are problems such as high cost of chip selection chip and complicated control process of the redundant brushless motor. Summary of the invention

[0005] The purpose of the present application is to provide a redundant brushless motor control system and electromechanical equipment, which can reduce the construction cost of the redundant brushless motor control system and simplify the redundant brushless motor control process.

[0006] The embodiment of the present application is implemented as follows:

[0007] In a first aspect of an embodiment of the present application, a redundant brushless motor control system is provided, the redundant brushless motor control system comprising: a control unit, a first pre-driver chip, a second pre-driver chip, a first diode circuit, a second diode circuit, a switch module, and a redundant brushless motor;

[0008] The first diode circuit and the second diode circuit respectively include a plurality of diodes in parallel, and the output end of each diode in the first diode circuit and the output end of each diode in the second diode circuit are both connected to the control end of the switch module;

[0009] The input end of each diode in the first diode circuit is connected to the output end of the first pre-driver chip, and the input end of each diode in the second diode circuit is connected to the output end of the second pre-driver chip;

[0010] The control unit sends a power-on diagnosis instruction to the first pre-driver chip and the second pre-driver chip;

[0011] The first pre-driver chip feeds back a first power-on diagnosis result to the control unit according to the power-on diagnosis instruction, and the second pre-driver chip feeds back a second power-on diagnosis result to the control unit according to the power-on diagnosis instruction;

[0012] The control unit determines a target pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result, sends an operation instruction to the target pre-driver chip, and sends an operation prohibition instruction to pre-driver chips other than the target pre-driver chip;

[0013] Under the action of the running instruction, the target pre-driver chip outputs a high level or a low level to each diode connected to the target pre-driver chip, so as to control the on and off of the switch module through each diode connected to the target pre-driver, so as to control the redundant brushless motor.

[0014] As a possible implementation, the switch module includes: a high-side switch group and a low-side switch group, wherein the high-side switch group includes a plurality of first switches, and the low-side switch group includes a plurality of second switches;

[0015] The first diode circuit includes a first diode group and a second diode group in parallel, and the first diode group and the second diode group include a plurality of diodes of the same number;

[0016] The second diode circuit includes a third diode group and a fourth diode group connected in parallel, and the third diode group and the fourth diode group include a plurality of diodes of the same number;

[0017] The control end of each first switch is respectively connected to the output end of a diode in the first diode group and the output end of a diode in the third diode group;

[0018] The control end of each second switch is respectively connected to the output end of a diode in the second diode group and the output end of a diode in the fourth diode group.

[0019] As a possible implementation manner, the control unit sends a power-on diagnosis instruction to the first pre-driver chip and the second pre-driver chip, including:

[0020] The control unit starts power-on initialization and sends power-on diagnosis instructions to the first pre-driver chip and the second pre-driver chip respectively via the communication interface.

[0021] As a possible implementation manner, the control unit determines the target pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result, including:

[0022] The control unit selects a target pre-driver chip from among the first pre-driver chip and the second pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result.

[0023] As a possible implementation manner, the control unit selects a target pre-driver chip from the first pre-driver chip and the second pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result, including:

[0024] If the first pre-driver chip indicated by the first power-on diagnosis result is powered on normally, and the second pre-driver chip indicated by the second power-on diagnosis result has a power-on fault, the control unit determines that the first pre-driver chip is the target pre-driver chip;

[0025] If the first pre-driver chip indicated by the first power-on diagnosis result has a power-on failure, and the second pre-driver chip indicated by the second power-on diagnosis result is powered on normally, the control unit determines that the second pre-driver chip is the target pre-driver chip.

[0026] As a possible implementation manner, the control unit selects a target pre-driver chip from the first pre-driver chip and the second pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result, and further includes:

[0027] If the first pre-driver chip indicated by the first power-on diagnosis result is powered on normally, and the second pre-driver chip indicated by the second power-on diagnosis result is powered on normally, the control unit determines that the first pre-driver chip is the target pre-driver chip.

[0028] As a possible implementation method, the target pre-driver chip outputs a high level or a low level to each diode connected to the target pre-driver chip under the action of the running instruction, so as to control the on and off of the switch module through each diode connected to the target pre-driver, including:

[0029] If the target pre-driver chip is the first pre-driver chip, the first pre-driver chip sends a high level to each diode in the first diode group, and sends a low level to each diode in the second diode group, so as to control the on and off of each first switch in the high-side switch group through each diode in the first diode group, and control the on and off of each second switch in the low-side switch group through each diode in the second diode group;

[0030] If the target pre-driver chip is the second pre-driver chip, the second pre-driver chip sends a high level to each diode in the third diode group and sends a low level to each diode in the fourth diode group, so as to control the on and off of each first switch in the high-side switch group through each diode in the third diode group, and control the on and off of each second switch in the low-side switch group through each diode in the fourth diode group.

[0031] As a possible implementation manner, after the control unit determines the target pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result and sends an operation instruction to the target pre-driver chip, the method includes:

[0032] The target pre-driver chip feeds back the driving information to the control unit in real time;

[0033] The control unit determines whether the target pre-driver chip has a driver fault according to the received driver information.

[0034] As a possible implementation manner, the control unit determines whether the target pre-driver chip has a driver fault according to the received driver information, including:

[0035] If the target pre-driver chip indicated by the driving information has a driving fault, the control unit sends a prohibition operation instruction to the target pre-driver chip, and determines a new target pre-driver chip according to the power-on diagnosis results of pre-driver chips other than the target pre-driver chip.

[0036] A second aspect of an embodiment of the present application provides an electromechanical device, which includes the redundant brushless motor control system described in the first aspect.

[0037] The beneficial effects of the embodiments of the present application include:

[0038] A redundant brushless motor control system provided in an embodiment of the present application is composed of a control unit, a first pre-driver chip, a second pre-driver chip, a first diode circuit, a second diode circuit, a switch module and a redundant brushless motor, wherein the first diode circuit and the second diode circuit are both composed of multiple parallel diodes, the input end of each diode in the first diode circuit is connected to the output end of the first pre-driver chip, the input end of each diode in the second diode circuit is connected to the output end of the second pre-driver chip, and the output end of each diode in the first diode circuit and the output end of each diode in the second diode circuit are both connected to the control end of the switch module. The control unit starts power-on initialization and sends a power-on diagnostic instruction to the first pre-driver chip and the second pre-driver chip; the first pre-driver chip starts a power-on self-test according to the received power-on diagnostic instruction, and feeds back the first power-on diagnostic result to the control unit according to the power-on self-test result, and at the same time, the second pre-driver chip starts a power-on self-test according to the received power-on diagnostic instruction, and feeds back the second power-on diagnostic result to the control unit according to the power-on self-test result; the control unit determines the target pre-driver chip according to the first power-on diagnostic result and the second power-on diagnostic result, and sends an operation instruction to the target pre-driver chip, and at the same time sends a prohibition operation instruction to the pre-driver chips other than the target pre-driver chip; under the action of the operation instruction, the target pre-driver chip sends a high level or a low level to each diode in the diode circuit connected to the target pre-driver chip, so as to control the on and off of the switch module through the diode circuit connected to the target pre-driver chip, so as to control the redundant brushless motor, so that the drive signals of the first pre-driver chip and the second pre-driver chip can be isolated through the first diode circuit and the second diode circuit, and only the target pre-driver chip needs to be triggered to run, without controlling the on and off of the diode circuit. In this way, the construction cost of the redundant brushless motor control system can be reduced and the redundant brushless motor control process can be simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of the structure of a first redundant brushless motor control system provided in an embodiment of the present application;

[0041] Figure 2 A flowchart of a first redundant brushless motor control method provided in an embodiment of the present application;

[0042] Figure 3A schematic diagram of the structure of a second redundant brushless motor control system provided in an embodiment of the present application;

[0043] Figure 4 A flowchart of a second redundant brushless motor control method provided in an embodiment of the present application;

[0044] Figure 5 A flowchart of a third redundant brushless motor control method provided in an embodiment of the present application;

[0045] Figure 6 A flowchart of a fourth redundant brushless motor control method provided in an embodiment of the present application;

[0046] Figure 7 A schematic diagram of the structure of an electromechanical device provided in an embodiment of the present application.

[0047] Description of the drawings: 10: redundant brushless motor control system; 101: control unit; 102: first pre-driver chip; 103: second pre-driver chip; 104: first diode circuit; 1041: first diode group; 1042: second diode group; 105: second diode circuit; 1051: third diode group; 1052: fourth diode group; 106: switch module; 1061: high-side switch group; 611: first switch; 1062: low-side switch group; 621: second switch; 107: redundant brushless motor; 20: electromechanical equipment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0049] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0050] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0051] In the description of the present application, it should be noted that the terms "first", "second", "third", "fourth", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0052] At present, the three-phase bridge drive motor is often controlled by two pre-driver chips. The drive signals generated by the two pre-driver chips enter the two chip select chips respectively, and then the control signals are output to the three-phase bridge drive motor via the chip select chip. Among them, the chip select chip is used to realize the isolation of the drive signals of the two pre-driver chips. At the same time, only one group of pre-driver chips and their corresponding chip select chips are used to control the three-phase bridge drive motor, and the other group of pre-driver chips and their corresponding chip select chips are prohibited from running. However, this scheme introduces a chip select chip to realize the isolation of the drive signals of the two pre-driver chips. The construction cost of the chip select chip is high and the maintenance difficulty is large, which causes a significant increase in the production cost of the redundant brushless motor control system. In addition, in this scheme, the control unit not only needs to control the operation of the pre-driver chip, but also needs to control the operation of the chip select chip, which makes the control process of the redundant brushless motor more complicated and requires a higher load rate of the control unit.

[0053] To this end, an embodiment of the present application provides a redundant brushless motor control system, which is composed of a control unit, a first pre-driver chip, a second pre-driver chip, a first diode circuit, a second diode circuit, a switch module and a redundant brushless motor, wherein the first diode circuit and the second diode circuit are both composed of a plurality of parallel diodes, the input end of the first diode circuit is connected to the output end of the first pre-driver chip, the input end of the second diode circuit is connected to the output end of the second pre-driver chip, the output end of the first diode and the output end of the second diode are both connected to the control end of the switch module, the control unit selects the target pre-driver chip based on the power-on detection results of the first pre-driver chip and the second pre-driver chip, and sends an operation instruction to the target pre-driver chip, and the target pre-driver chip controls the on and off of the switch module through the diode circuit connected to the target pre-driver chip under the action of the operation instruction, so as to achieve the purpose of controlling the redundant brushless motor. In this way, the construction cost of the redundant brushless motor control system can be reduced, and the effect of simplifying the redundant brushless motor control process can be achieved.

[0054] In summary, the redundant brushless motor control system provided by the present application realizes the isolation of the drive signals of the first pre-driver chip and the second pre-driver chip through the unidirectional conductivity of the first diode circuit and the second diode circuit, and the redundant brushless motor control system provided by the present application only needs to determine the target pre-driver chip based on the power-on detection results of the first pre-driver chip and the second pre-driver chip. After the target pre-driver chip receives the operation instruction sent by the control unit, it controls the redundant brushless motor through the diode circuit connected thereto, and the target pre-driver chip sends the drive signal and the diode circuit transmits the control signal to the switch module without being controlled by the control unit, and the production cost and maintenance cost of each diode in the diode circuit are low. However, the traditional redundant brushless motor control system isolates the drive signals of the first pre-driver chip and the second pre-driver chip through the first chip select chip and the second chip select chip. The control unit not only needs to control the first pre-driver chip or the second pre-driver chip to send the drive signal, but also needs to control the corresponding chip select chip to send the control signal to the switch module. The traditional redundant brushless motor control system has high requirements on the load rate of the control unit, and the production and construction costs are also high, and the control process of the redundant brushless motor is complicated.

[0055] The redundant brushless motor control system and electromechanical equipment provided in the embodiments of the present application are explained in detail below in conjunction with the accompanying drawings.

[0056] Figure 1 A schematic diagram of a redundant brushless motor control system provided in this application, see Figure 1 The redundant brushless motor control system 10 provided in the embodiment of the present application includes: a control unit 101, a first pre-driver chip 102, a second pre-driver chip 103, a first diode circuit 104, a second diode circuit 105, a switch module 106 and a redundant brushless motor 107.

[0057] Optionally, the control unit 101 can be implemented by an on-board computer ECU, which includes a microcontroller MCU. The control unit 101 starts power-on initialization, and the controller MCU selects a target pre-driver chip based on the power-on diagnosis results of the first pre-driver chip 102 and the second pre-driver chip 103, and sends a startup operation instruction to the target pre-driver chip.

[0058] Optionally, the first pre-driver chip 102 and the second pre-driver chip 103 are both implemented by driver chips, and the first pre-driver chip 102 and the second pre-driver chip 103 are both used to generate driving signals for driving the motor, such as ignition signals, etc., which is not specifically limited in this application.

[0059] The first diode circuit 104 and the second diode circuit 105 respectively include a plurality of diodes in parallel, and the output end of each diode in the first diode circuit 104 and the output end of each diode in the second diode circuit 105 are both connected to the control end of the switch module 106 .

[0060] Optionally, the first diode circuit 104 and the second diode circuit 105 each include a plurality of parallel diodes, and there is no direct connection relationship between the diodes. The output end of each diode in the first diode circuit 104 and the output end of each diode in the second diode circuit 105 are both connected to the control end of the switch module 106, that is, the first diode circuit 104 and the second diode circuit 105 are both used to send a switch control signal to the switch module 106.

[0061] The input end of each diode in the first diode circuit 104 is connected to the output end of the first pre-driver chip 102 , and the input end of each diode in the second diode circuit 105 is connected to the output end of the second pre-driver chip 103 .

[0062] Optionally, the input end of each diode in the first diode circuit 104 is connected to the output end of the first pre-driver chip 102, and the output end of each diode in the first diode circuit 104 is connected to the control end of the switch module 106, that is, the first diode circuit 104 transmits the drive signal output by the first pre-driver chip 102 to the control end of the switch module 106.

[0063] Optionally, the input end of each diode in the second diode circuit 105 is connected to the output end of the second pre-driver chip 103, and the output end of each diode in the second diode circuit 105 is connected to the control end of the switch module 106, that is, the second diode circuit 105 transmits the drive signal output by the second pre-driver chip 103 to the control end of the switch module 106.

[0064] It is worth noting that the driving signal sent by the first pre-driver chip 102 to each diode in the first diode circuit 104 is a high and low level, and the control signal applied by the first diode circuit 104 to the control end of the switch module 106 is also a high and low level, and the first diode circuit 104 does not convert the driving signal output by the first pre-driver chip 102; similarly, the driving signal sent by the second pre-driver chip 103 to each diode in the second diode circuit 105 is a high and low level, and the control signal applied by the second diode circuit 105 to the control end of the switch module 106 is also a high and low level, and the second diode circuit 105 does not convert the driving signal output by the second pre-driver chip 103.

[0065] In addition, each diode in the first diode circuit 104 and each diode in the second diode circuit 105 do not need to be controlled by the control unit 101. Each diode in the first diode circuit 104 is turned on after receiving the driving signal output by the first pre-driver chip 102, and the driving signal output by the first pre-driver chip 102 is directly applied to the control end of the switch module 106; similarly, each diode in the second diode circuit 105 is turned on after receiving the driving signal output by the second pre-driver chip 103, and the driving signal output by the second pre-driver chip 103 is directly applied to the control end of the switch module 106.

[0066] It is worth noting that the first pre-driver chip 102 and the second pre-driver chip 103 cannot operate at the same time, that is, the first diode circuit 104 and the second diode circuit 105 will not be turned on at the same time, and the switch module 106 is only controlled by one diode circuit.

[0067] Figure 2 The flowchart of the first redundant brushless motor control method provided in this application is shown in FIG. Figure 2 The redundant brushless motor control method is used to indicate the operation logic of the redundant brushless motor control system. The operation logic of the redundant brushless motor control system is as follows:

[0068] S201 : The control unit 101 sends a power-on diagnosis instruction to the first pre-driver chip 102 and the second pre-driver chip 103 .

[0069] Optionally, when the control unit 101 starts power-on initialization, the control unit 101 sends a power-on diagnostic instruction to the first pre-driver chip 102 and the second pre-driver chip 103, and the power-on diagnostic instruction is used to instruct the first pre-driver chip 102 and the second pre-driver chip 103 to start power-on self-test.

[0070] Optionally, the control unit 101 is communicatively connected with the first pre-driver chip 102 and the second pre-driver chip 103, and the control unit 101 can send a power-on diagnostic instruction to the first pre-driver chip 102 and the second pre-driver chip 103 via the communication interface SPI. It is worth noting that the first pre-driver chip 102 and the second pre-driver chip 103 are both provided with a data port for communicating with the control unit 101.

[0071] S202 , the first pre-driver chip 102 feeds back a first power-on diagnosis result to the control unit 101 according to the power-on diagnosis instruction, and the second pre-driver chip 103 feeds back a second power-on diagnosis result to the control unit 101 according to the power-on diagnosis instruction.

[0072] Optionally, after the first pre-driver chip 102 receives the power-on diagnostic instruction sent by the control unit 101, the first pre-driver chip 102 starts to perform a power-on self-test, and according to the power-on self-test state of the first pre-driver chip 102, feeds back a first power-on diagnostic result to the control unit 101. The first power-on diagnostic result is used to indicate a diagnostic result of whether the first pre-driver chip 102 can be powered on normally, and the first power-on diagnostic result includes: the first pre-driver chip 102 is powered on normally or the first pre-driver chip 102 is powered on abnormally.

[0073] Optionally, after the second pre-driver chip 103 receives the power-on diagnostic instruction sent by the control unit 101, the second pre-driver chip 103 starts to perform a power-on self-test, and feeds back a second power-on diagnostic result to the control unit 101 according to the power-on self-test state of the second pre-driver chip 103. The second power-on diagnostic result is used to indicate the diagnostic result of whether the second pre-driver chip 103 can be powered on normally, and the second power-on diagnostic result includes: the second pre-driver chip 103 is powered on normally or the second pre-driver chip 103 is powered on abnormally.

[0074] It is worth noting that both the first pre-driver chip 102 and the second pre-driver chip 103 can perform power-on self-test. The first pre-driver chip 102 and the second pre-driver chip 103 do not need the control unit 101 to control the power-on diagnosis process. The control unit 101 only triggers the first pre-driver chip 102 and the second pre-driver chip 103 to start the power-on self-test process.

[0075] S203 , the control unit 101 determines a target pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result, and sends an operation instruction to the target pre-driver chip, and sends an operation prohibition instruction to pre-driver chips other than the target pre-driver chip.

[0076] Optionally, the control unit 101 determines whether the first pre-driver chip 102 is powered on normally according to the received first power-on diagnosis result, and at the same time, the control unit 101 determines whether the second pre-driver chip 103 is powered on normally according to the received second power-on diagnosis result.

[0077] Optionally, if there is a power-on anomaly in the first pre-driver chip 102 and the second pre-driver chip 103, the pre-driver chip that is powered on normally is used as the target pre-driver chip; if the first pre-driver chip 102 and the second pre-driver chip 103 are both powered on normally, the first pre-driver chip 102 is preferably used as the target pre-driver chip; if there is a power-on anomaly in both the first pre-driver chip 102 and the second pre-driver chip 103, there is a hardware failure in the redundant brushless motor control system 10, and the redundant brushless motor control system 10 needs to be repaired. It is worth noting that the failure of any pre-driver chip in the redundant brushless motor control system 10 does not affect the control of the redundant brushless motor control system 10.

[0078] Optionally, the target pre-driver chip is used to indicate the pre-driver chip that provides the driving signal in the redundant brushless motor control system 10 . The target pre-driver chip must be powered on normally, and the target pre-driver chip is one of the first pre-driver chip 102 and the second pre-driver chip 103 .

[0079] Optionally, the control unit 101 sends an operation instruction to the target pre-driver chip, and the operation instruction is used to indicate an instruction to trigger the target pre-driver chip to start providing a driving signal. At the same time, the control unit 101 sends a prohibition operation instruction to pre-driver chips other than the target pre-driver chip, and the prohibition operation instruction is used to indicate an instruction to prohibit pre-driver chips other than the target pre-driver chip from outputting a driving signal. After receiving the prohibition operation instruction, the pre-driver chips other than the target pre-driver chip enter a standby state.

[0080] S204. The target pre-driver chip outputs a high level or a low level to each diode connected to the target pre-driver chip under the action of the operation instruction, so as to control the on-off of the switch module through each diode connected to the target pre-driver, so as to control the redundant brushless motor.

[0081] Optionally, the target pre-driver chip is triggered to start running by an operation instruction, and the target pre-driver chip sends a high level or a low level to each diode in the diode circuit connected to the target pre-driver chip, wherein the high level is used to implement high-side driving and the low level is used to implement low-side driving.

[0082] Optionally, each diode in the diode circuit connected to the target pre-driver chip controls the on / off of a switch module connected thereto based on a received high level or low level, so as to control a redundant brushless motor.

[0083] In an embodiment of the present application, a redundant brushless motor control system is composed of a control unit, a first pre-driver chip, a second pre-driver chip, a first diode circuit, a second diode circuit, a switch module and a redundant brushless motor, wherein the first diode circuit and the second diode circuit are both composed of multiple parallel diodes, the input end of each diode in the first diode circuit is connected to the output end of the first pre-driver chip, the input end of each diode in the second diode circuit is connected to the output end of the second pre-driver chip, and the output end of each diode in the first diode circuit and the output end of each diode in the second diode circuit are both connected to the control end of the switch module. The control unit starts power-on initialization and sends a power-on diagnostic instruction to the first pre-driver chip and the second pre-driver chip; the first pre-driver chip starts a power-on self-test according to the received power-on diagnostic instruction, and feeds back the first power-on diagnostic result to the control unit according to the power-on self-test result, and at the same time, the second pre-driver chip starts a power-on self-test according to the received power-on diagnostic instruction, and feeds back the second power-on diagnostic result to the control unit according to the power-on self-test result; the control unit determines the target pre-driver chip according to the first power-on diagnostic result and the second power-on diagnostic result, and sends an operation instruction to the target pre-driver chip, and at the same time sends a prohibition operation instruction to the pre-driver chips other than the target pre-driver chip; under the action of the operation instruction, the target pre-driver chip sends a high level or a low level to each diode in the diode circuit connected to the target pre-driver chip, so as to control the on and off of the switch module through the diode circuit connected to the target pre-driver chip, so as to control the redundant brushless motor, so that the drive signals of the first pre-driver chip and the second pre-driver chip can be isolated through the first diode circuit and the second diode circuit, and only the target pre-driver chip needs to be triggered to run, without controlling the on and off of the diode circuit. In this way, the construction cost of the redundant brushless motor control system can be reduced and the redundant brushless motor control process can be simplified.

[0084] Figure 3 The schematic diagram of the structure of the second redundant brushless motor control system provided in this application is shown in FIG. Figure 3 The switch module 106 in the redundant brushless motor control system 10 provided in the embodiment of the present application includes: a high-side switch group 1061 and a low-side switch group 1062, wherein the high-side switch group 1061 includes a plurality of first switches 611, and the low-side switch group 1062 includes a plurality of second switches 621.

[0085] Optionally, the high-side switch group 1061 performs high-side driving on the redundant brushless motor 107 under the control signal output by the diode circuit, and the low-side switch group 1062 performs low-side driving on the redundant brushless motor 107 under the control signal output by the diode circuit. The high-side switch group 1061 is composed of a plurality of first switches 611, and the low-side switch group 1062 includes a plurality of second switches 621. Both the first switch 611 and the second switch 621 can be implemented by metal oxide field effect transistors, such as NMOS transistors, PMOS transistors, etc., and this application does not make specific limitations on this.

[0086] As an optional implementation, see Figure 3 The high-side switch group 1061 includes three first switches 611, and the high-side switch group 1061 realizes the three-phase high-side drive of the redundant brushless motor through each first switch 611; similarly, the low-side switch group 1062 also includes three second switches 621, and the low-side switch group 1062 realizes the three-phase low-side drive of the redundant brushless motor through each second switch 621.

[0087] The first diode circuit 104 includes a first diode group 1041 and a second diode group 1042 which are arranged in parallel. The first diode group 1041 and the second diode group 1042 include a plurality of diodes of the same number.

[0088] Optionally, the first diode circuit 104 includes a first diode group 1041 and a second diode group 1042 in parallel, wherein the first diode group 1041 and the second diode group 1042 include an equal number of parallel diodes, and the first diode circuit 104 receives a high level output by the first pre-driver chip 102 via the first diode group 1041, and the first diode circuit 104 receives a low level output by the first pre-driver chip 102 via the second diode group 1042.

[0089] As an optional implementation, see Figure 3 , the first diode circuit 104 is composed of six parallel diodes, wherein the first diode group 1041 includes three diodes, namely, diode D11, diode D12 and diode D13, which are respectively used to receive the three-phase high level GH1, GH2 and GH3 output by the first pre-driver chip 102; the second diode group 1042 includes three diodes, namely, diode D21, diode D22 and diode D23, which are respectively used to receive the three-phase high level GL1, GL2 and GL3 output by the first pre-driver chip 102. It is worth noting that the three-phase high level and the three-phase low level are both driving signals output by the first pre-driver chip 102.

[0090] The second diode circuit 105 includes a third diode group 1051 and a fourth diode group 1052 which are connected in parallel. The third diode group 1051 and the fourth diode group 1052 include a plurality of diodes of the same number.

[0091] Optionally, the second diode circuit 105 includes a third diode group 1051 and a fourth diode group 1052 in parallel, wherein the third diode group 1051 and the fourth diode group 1052 include an equal number of parallel diodes, and the second diode circuit 105 receives a high level output by the second pre-driver chip 103 via the third diode group 1051, and the second diode circuit 105 receives a low level output by the second pre-driver chip 103 via the fourth diode group 1052.

[0092] As an optional implementation, see Figure 3 The second diode circuit 105 is composed of six parallel diodes, wherein the third diode group 1051 includes three diodes, namely, a diode D31, a diode D32 and a diode D33, and the diode D31, the diode D32 and the diode D33 are respectively used to receive the three-phase high levels GH1, GH2 and GH3 output by the second pre-driver chip 103; the fourth diode group 1052 includes three diodes, namely, a diode D41, a diode D42 and a diode D43, and the diode D41, the diode D42 and the diode D43 are respectively used to receive the three-phase high levels GL1, GL2 and GL3 output by the second pre-driver chip 103.

[0093] The control end of each first switch 611 is connected to the output end of a diode in the first diode group 1041 and the output end of a diode in the third diode group 1051 respectively.

[0094] Optionally, the control end of each first switch 611 in the high-side switch group 1061 is respectively connected to the output end of each diode in the first diode group 1041, and the control end of each first switch 611 in the high-side switch group 1061 is also connected to the output end of each diode in the third diode group 1051, that is, the high-side switch group 1061 is controlled by the first diode group 1041 or the third diode group 1051.

[0095] The control end of each second switch 621 is connected to the output end of a diode in the second diode group 1042 and the output end of a diode in the fourth diode group 1052 respectively.

[0096] Optionally, the control end of each second switch 621 in the low-side switch group 1062 is respectively connected to the output end of each diode in the second diode group 1042, and the control end of each second switch 621 in the low-side switch group 1062 is also connected to the output end of each diode in the fourth diode group 1052, that is, the low-side switch group 1062 is controlled by the second diode group 1042 or the fourth diode group 1052.

[0097] As an optional implementation, see Figure 3 The redundant brushless motor control system 10 provided in the embodiment of the present application further includes capacitors C1, C2 and C3, and a resistor is connected to the input end of the redundant brushless motor 107.

[0098] In a possible implementation, the operation of step S201 may specifically be:

[0099] The control unit 101 starts power-on initialization, and sends a power-on diagnosis instruction to the first pre-driver chip 102 and the second pre-driver chip 103 via the communication interface.

[0100] Optionally, when the control unit starts power-on initialization, the control unit 101 sends a power-on diagnostic instruction to the first pre-driver chip 102 and the second pre-driver chip 103 via the communication interface SPI at the same time. The first pre-driver chip 102 and the second pre-driver chip 103 are initialized under the action of the power-on diagnostic instruction and perform power-on self-test.

[0101] For a possible implementation, see Figure 4 The operation of step S203 may specifically be:

[0102] S401 : The control unit 101 selects a target pre-driver chip from the first pre-driver chip 102 and the second pre-driver chip 103 according to a first power-on diagnosis result and a second power-on diagnosis result.

[0103] Optionally, the control unit 101 determines the power-on status of the first pre-driver chip 102 and the second pre-driver chip 103 based on the first power-on diagnostic result and the second power-on diagnostic result, and selects a target pre-driver chip between the first pre-driver chip 102 and the second pre-driver chip 103 based on the power-on status of the first pre-driver chip 102 and the second pre-driver chip 103 to provide a drive signal for the redundant brushless motor 107.

[0104] For a possible implementation, see Figure 4 The operation of step S401 may also be specifically:

[0105] S4011: If the first pre-driver chip 102 indicated by the first power-on diagnosis result is powered on normally, and the second pre-driver chip 103 indicated by the second power-on diagnosis result has a power-on fault, the control unit 101 determines that the first pre-driver chip 102 is the target pre-driver chip.

[0106] Optionally, normal power-on is used to indicate that the pre-driver chip can be powered on and run normally, and power-on failure is used to indicate that the pre-driver chip cannot be powered on and run.

[0107] Optionally, when the control unit 101 determines that the first pre-driver chip 102 is powered on normally according to the first power-on diagnosis result, and determines that the second pre-driver chip 103 has a power-on failure according to the second power-on diagnosis result, the control unit 101 uses the first pre-driver chip 102 as the target pre-driver chip.

[0108] S4012: If the first pre-driver chip 102 indicated by the first power-on diagnosis result has a power-on failure, and the second pre-driver chip 103 indicated by the second power-on diagnosis result is powered on normally, the control unit 101 determines that the second pre-driver chip 103 is the target pre-driver chip.

[0109] Optionally, when the control unit 101 determines that the first pre-driver chip 102 has a power-on failure according to the first power-on diagnosis result, and determines that the second pre-driver chip 103 is powered on normally according to the second power-on diagnosis result, the control unit 101 uses the second pre-driver chip 103 as the target pre-driver chip.

[0110] S4013: If the first pre-driver chip 102 indicated by the first power-on diagnosis result is powered on normally, and the second pre-driver chip 103 indicated by the second power-on diagnosis result is powered on normally, the control unit 101 determines that the first pre-driver chip 102 is the target pre-driver chip.

[0111] Optionally, when the control unit 101 determines that the first pre-driver chip 102 is powered on normally according to the first power-on diagnosis result, and determines that the second pre-driver chip 103 is also powered on normally according to the second power-on diagnosis result, the control unit 101 prioritizes the first pre-driver chip 102 as the target pre-driver chip. It is worth noting that when both the first pre-driver chip 102 and the second pre-driver chip 103 are powered on normally, the priority call to the first pre-driver chip 102 is a call rule set in advance by the user, and the rule is deployed in the control unit 101, and this application does not make specific restrictions on this.

[0112] For a possible implementation, see Figure 5 The operation of step S204 may also be specifically:

[0113] S501. If the target pre-driver chip is the first pre-driver chip 102, the first pre-driver chip 102 sends a high level to each diode in the first diode group 1041, and sends a low level to each diode in the second diode group 1042, so as to control the on and off of each first switch 611 in the high-side switch group 1061 through each diode in the first diode group 1041, and control the on and off of each second switch 621 in the low-side switch group 1062 through each diode in the second diode group 1042.

[0114] Optionally, when the control unit 101 uses the first pre-driver chip 102 as the target pre-driver chip, the control unit 101 sends an operation instruction to the first pre-driver chip 102, and the first pre-driver chip 102 sends a three-phase high level to each diode in the first diode group 1041 in the first diode circuit 104 under the action of the operation instruction. At the same time, the first pre-driver chip 102 sends a three-phase low level to each diode in the second diode group 1042 in the first diode circuit 104 under the action of the operation instruction. Each diode in the first diode group 1041 applies the received three-phase high level to the control end of each first switch 611 in the high-side switch group 1061 to achieve high-side drive of the redundant brushless motor 107, and each diode in the second diode group 1042 applies the received three-phase low level to the control end of each second switch 621 in the low-side switch group 1062 to achieve low-side drive of the redundant brushless motor 107.

[0115] S502. If the target pre-driver chip is the second pre-driver chip 103, the second pre-driver chip 103 sends a high level to each diode in the third diode group 1051, and sends a low level to each diode in the fourth diode group 1052, so as to control the on and off of each first switch 611 in the high-side switch group 1061 through each diode in the third diode group 1051, and control the on and off of each second switch 621 in the low-side switch group 1062 through each diode in the fourth diode group 1052.

[0116] Optionally, when the control unit 101 takes the second pre-driver chip 103 as the target pre-driver chip, the control unit 101 sends an operation instruction to the second pre-driver chip 103, and the second pre-driver chip 103 sends a three-phase high level to each diode in the third diode group 1051 in the second diode circuit 105 under the action of the operation instruction. At the same time, the second pre-driver chip 103 sends a three-phase low level to each diode in the fourth diode group 1052 in the second diode circuit 105 under the action of the operation instruction, and each diode in the third diode group 1051 applies the received three-phase high level to the control end of each first switch 611 in the high-side switch group 1061 to achieve high-side drive of the redundant brushless motor 107, and each diode in the fourth diode group 1052 applies the received three-phase low level to the control end of each second switch 621 in the low-side switch group 1062 to achieve low-side drive of the redundant brushless motor 107.

[0117] For a possible implementation, see Figure 6 The operations after step S204 may specifically be:

[0118] S205 , the target pre-driving chip feeds back driving information to the control unit 101 in real time.

[0119] Optionally, when the target pre-driver chip sends a driving signal to the diode circuit connected to the target pre-driver chip, the target pre-driver chip feeds back driving information to the control unit 101 in real time, and the driving information is used to indicate information generated by the target pre-driver chip driving the redundant brushless motor 107. The driving information is used to characterize whether the target pre-driver chip drives the redundant brushless motor 107 normally, that is, whether there is a driving fault in the target pre-driver chip driving the redundant brushless motor 107.

[0120] S206 , the control unit 101 determines whether the target pre-driver chip has a driving fault according to the received driving information.

[0121] Optionally, the control unit 101 determines in real time whether the target pre-driver chip drives the redundant brushless motor 107 normally according to the received driving information, and the driving fault is used to indicate that the target pre-driver chip drives the redundant brushless motor 107 abnormally.

[0122] S601: If the target pre-driver chip indicated by the driving information has a driving fault, the control unit 101 sends a prohibition instruction to the target pre-driver chip, and determines a new target pre-driver chip according to the power-on diagnosis results of pre-driver chips other than the target pre-driver chip.

[0123] Optionally, when the control unit 101 receives a signal that a drive fault exists in the target pre-driver chip, the control unit 101 sends a prohibit operation instruction to the target pre-driver chip to control the target pre-driver chip to stop running. At the same time, the control unit 101 determines whether other pre-driver chips meet the operation requirements based on the power-on diagnosis results of other pre-driver chips other than the target pre-driver chip. If the pre-driver chips other than the target pre-driver chip are powered on normally, the pre-driver chip is used as the new target pre-driver chip, and the new target pre-driver chip takes over the faulty target pre-driver chip to continue driving the redundant brushless motor 107.

[0124] Figure 7 This is a schematic diagram of the structure of an electromechanical device provided by this application, see Figure 7 The electromechanical device 20 provided in the embodiment of the present application includes: a redundant brushless motor control system 10. The electromechanical device 20 executes the steps described in any of the above embodiments via the redundant brushless motor control system 10. The specific implementation process is consistent with the above, and the present application does not make any specific limitations on this.

[0125] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0126] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A redundant brushless motor control system, characterized in that: The redundant brushless motor control system comprises: a control unit, a first pre-driver chip, a second pre-driver chip, a first diode circuit, a second diode circuit, a switch module and a redundant brushless motor; The first diode circuit and the second diode circuit respectively include a plurality of diodes in parallel, and the output end of each diode in the first diode circuit and the output end of each diode in the second diode circuit are both connected to the control end of the switch module; The input end of each diode in the first diode circuit is connected to the output end of the first pre-driver chip, and the input end of each diode in the second diode circuit is connected to the output end of the second pre-driver chip; The control unit sends a power-on diagnosis instruction to the first pre-driver chip and the second pre-driver chip; The first pre-driver chip feeds back a first power-on diagnosis result to the control unit according to the power-on diagnosis instruction, and the second pre-driver chip feeds back a second power-on diagnosis result to the control unit according to the power-on diagnosis instruction; The control unit determines a target pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result, sends an operation instruction to the target pre-driver chip, and sends an operation prohibition instruction to pre-driver chips other than the target pre-driver chip; Under the action of the running instruction, the target pre-driver chip outputs a high level or a low level to each diode connected to the target pre-driver chip, so as to control the on and off of the switch module through each diode connected to the target pre-driver, so as to control the redundant brushless motor.

2. The redundant brushless motor control system according to claim 1, characterized in that: The switch module includes: a high-side switch group and a low-side switch group, wherein the high-side switch group includes a plurality of first switches, and the low-side switch group includes a plurality of second switches; The first diode circuit includes a first diode group and a second diode group in parallel, and the first diode group and the second diode group include a plurality of diodes of the same number; The second diode circuit includes a third diode group and a fourth diode group connected in parallel, and the third diode group and the fourth diode group include a plurality of diodes of the same number; The control end of each of the first switches is respectively connected to the output end of a diode in the first diode group and the output end of a diode in the third diode group; The control end of each second switch is respectively connected to the output end of a diode in the second diode group and the output end of a diode in the fourth diode group.

3. The redundant brushless motor control system according to claim 1, characterized in that: The control unit sends a power-on diagnosis instruction to the first pre-driver chip and the second pre-driver chip, including: The control unit starts power-on initialization and sends power-on diagnosis instructions to the first pre-driver chip and the second pre-driver chip respectively via the communication interface.

4. The redundant brushless motor control system according to claim 1, characterized in that: The control unit determines a target pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result, including: The control unit selects a target pre-driver chip from the first pre-driver chip and the second pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result.

5. The redundant brushless motor control system according to claim 4, characterized in that: The control unit selects a target pre-driver chip from the first pre-driver chip and the second pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result, including: If the first pre-driver chip indicated by the first power-on diagnosis result is powered on normally, and the second pre-driver chip indicated by the second power-on diagnosis result has a power-on fault, the control unit determines that the first pre-driver chip is a target pre-driver chip; If the first pre-driver chip indicated by the first power-on diagnosis result has a power-on failure, and the second pre-driver chip indicated by the second power-on diagnosis result is powered on normally, the control unit determines that the second pre-driver chip is a target pre-driver chip.

6. The redundant brushless motor control system according to claim 4, characterized in that: The control unit selects a target pre-driver chip from the first pre-driver chip and the second pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result, and further includes: If the first pre-driver chip indicated by the first power-on diagnosis result is powered on normally, and the second pre-driver chip indicated by the second power-on diagnosis result is powered on normally, the control unit determines that the first pre-driver chip is a target pre-driver chip.

7. The redundant brushless motor control system according to claim 2, characterized in that: The target pre-driver chip outputs a high level or a low level to each diode connected to the target pre-driver chip under the action of the operation instruction, so as to control the switching module to be turned on and off through each diode connected to the target pre-driver, including: If the target pre-driver chip is a first pre-driver chip, the first pre-driver chip sends a high level to each diode in the first diode group, and sends a low level to each diode in the second diode group, so as to control the on and off of each first switch in the high-side switch group through each diode in the first diode group, and control the on and off of each second switch in the low-side switch group through each diode in the second diode group; If the target pre-driver chip is the second pre-driver chip, the second pre-driver chip sends a high level to each diode in the third diode group and sends a low level to each diode in the fourth diode group, so as to control the on and off of each first switch in the high-side switch group through each diode in the third diode group, and control the on and off of each second switch in the low-side switch group through each diode in the fourth diode group.

8. The redundant brushless motor control system according to claim 1, characterized in that: After the control unit determines a target pre-driver chip according to the first power-on diagnosis result and the second power-on diagnosis result and sends an operation instruction to the target pre-driver chip, the method includes: The target pre-driver chip feeds back driving information to the control unit in real time; The control unit determines whether the target pre-driver chip has a driving fault according to the received driving information.

9. The redundant brushless motor control system according to claim 8, characterized in that: The control unit determines whether the target pre-driver chip has a driving fault according to the received driving information, including: If the target pre-driver chip indicated by the driving information has a driving fault, the control unit sends a prohibition operation instruction to the target pre-driver chip, and determines a new target pre-driver chip according to the power-on diagnosis result of the pre-driver chip other than the target pre-driver chip.

10. An electromechanical device, characterized in that: The electromechanical device comprises the redundant brushless motor control system according to any one of claims 1-9.

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