Driving controller suitable for high-computing-power multi-axis synchronous driving and packaging system

Abstract

The invention provides a driving controller suitable for high-computing-power multi-axis synchronous driving and a packaging system, and relates to the technical field of motor control. The driving controller comprises a central processing module used for receiving external input information sent by a comprehensive control system and generating a control instruction; the motor control module is used for generating a first driving signal according to the control instruction; the motor driving module is used for receiving a first driving signal sent by the motor control module so as to drive an external assembly, the motor driving module is further used for collecting detection data of the external assembly and sending the detection data to the motor control module, and the motor control module is further used for generating a second driving signal according to the detection data and sending the second driving signal to the motor driving module; the power supply and distribution module is used for converting the voltage of an external power supply into secondary voltage so as to supply power to the modules. The driving controller can meet the requirements of path planning, task scheduling, resource management, power supply and distribution, multi-axis real-time motor driving control, communication with other subsystems and the like under the condition of high computing power.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and more specifically, to a drive controller and packaging system suitable for high-computing-power multi-axis synchronous drive. Background Art

[0002] Most motor control systems use a drive controller to drive the motor, for example: providing power output and achieving forward and reverse control of the motor; achieving speed control, such as speed regulation, speed feedback and closed-loop control; achieving torque control, such as providing torque regulation and overload protection functions; achieving protection functions, such as providing overcurrent, overheating, overvoltage and other protection functions; and achieving communication and monitoring functions.

[0003] The existing drive controllers are mainly traditional drive controllers, including a power module, a motor control module, a feedback signal acquisition module and a communication module. Their working principle is: converting the input direct current into controllable alternating current to achieve precise control of the motor, thereby driving the motor to rotate and meet the different working requirements of the motor.

[0004] Although traditional drive controllers have the advantages of mature technology, low cost, simple and convenient interface, they still have disadvantages such as low computing power, low intelligence, small number of drive axes, poor synchronization and real-time performance, and single communication and collection feedback interface. Summary of the invention

[0005] In order to solve at least one of the above problems, the present application proposes a drive controller and packaging system suitable for high-computing-power multi-axis synchronous drive.

[0006] According to the first aspect of the present application, at least one embodiment of the present application provides a drive controller suitable for high-computing-power multi-axis synchronous drive, including: a central processing module, used to receive external input information sent by an integrated control system, and generate control instructions according to the external input information; a motor control module, connected to the central processing module, used to receive the control instructions of the central processing module, and generate a first drive signal according to the control instructions; a motor drive module, connected to the motor control module, used to receive the first drive signal sent by the motor control module to drive an external component, the motor drive module is also used to collect detection data of the external component and send it to the motor control module, the motor control module is also used to generate a second drive signal based on the detection data and send it to the motor drive module; a power supply and distribution module, connected to an external power supply, the central processing module, the motor control module and the motor drive module respectively, for converting the voltage of the external power supply into a secondary voltage to power the central processing module, the motor control module and the motor drive module.

[0007] For example, in some embodiments of the present application, the central processing module includes: a central processing unit; a first programmable logic processor, which is connected to the central processing unit and the motor control module respectively, and the first programmable logic processor cooperates with the central processing unit to receive the external input information and generate control instructions, and is also used to receive the detection data sent by the motor control module to realize a fault monitoring function.

[0008] For example, in some embodiments of the present application, the central processing module is also used to: when it is determined that a fault has occurred based on the detection data, output a control instruction to the motor control module so that the motor control module outputs the first drive signal to start or stop the external component.

[0009] For example, in some embodiments of the present application, the central processing module further includes: a receiving module, which is connected to the camera subsystem and the integrated control system respectively, and is used to forward information of the camera subsystem to the integrated control system.

[0010] For example, in some embodiments of the present application, the detection data includes: voltage data, current data, switch quantity data and / or feedback data.

[0011] For example, in some embodiments of the present application, the motor control module includes: a digital switch quantity acquisition circuit, used to receive the switch quantity data and convert it into a first signal; an analog quantity acquisition circuit, used to receive the voltage data and / or the current data and convert it into a second signal; a feedback acquisition circuit, used to receive the feedback data and convert it into a third signal; a DSP processing chip; a second programmable logic processor, the second programmable logic processor is respectively connected to the digital switch quantity acquisition circuit, the analog quantity acquisition circuit, the feedback acquisition circuit, the DSP processing chip and the central processing module, and is used to receive the first signal, the second signal and / or the third signal, and cooperate with the DSP processing chip to generate a first output signal and a second output signal according to the first signal, the second signal and / or the third signal, and the second output signal is sent to the central processing module, the second programmable logic processor is also used to receive the control instruction generated by the central processing module, and cooperate with the DSP processing chip to generate a third output signal according to the control instruction; a PWM waveform drive circuit, connected to the second programmable logic processor, and is used to receive the third output signal or the first output signal, and generate the first drive signal or the second drive signal, wherein the first drive signal or the second drive signal includes a PWM wave.

[0012] For example, in some embodiments of the present application, the motor drive module includes: a DC motor drive circuit, used to receive the first drive signal and the second drive signal sent by the motor control module, and output them to the external component; a voltage and current acquisition circuit, used to acquire the detection data of the external component and send it to the motor control module.

[0013] For example, in some embodiments of the present application, the motor drive module also includes: a motor current filter amplifier circuit, connected to the voltage and current acquisition circuit, and used to filter and amplify the detection data; an analog switch, connected to the motor current filter amplifier circuit, and used to send the detection data that has been filtered and amplified to the motor control module in batches when the external component inputs multiple channels of the detection data.

[0014] For example, in some embodiments of the present application, the power supply and distribution module includes: a relay, including: a first switch, connected to the external power supply, the camera subsystem and the external component respectively, for directly providing the power of the external power supply to the camera subsystem and the external component; a second switch, one end of which is connected to the external power supply; a fuse, connected to the other end of the second switch; a surge suppressor, connected to the fuse, for suppressing voltage fluctuations of the external power supply; a filter, connected to the surge suppressor, for filtering the voltage of the external power supply; a DC / DC module, connected to the filter, the central processing module, the motor control module and the motor drive module respectively, to convert the filtered voltage of the external power supply into a secondary voltage to power the central processing module, the motor control module and the motor drive module.

[0015] According to the second aspect of the present application, at least one embodiment of the present application provides a packaging system, comprising: a housing for encapsulating a drive controller as described in any one of the first aspects, wherein the central processing module, the motor control module, the motor drive module and the power supply and distribution module in the drive controller are stacked and installed; and a heat dissipating aluminum substrate, which is bonded to the inner surface of the housing and the motor drive module, and is used to dissipate heat for the motor drive module.

[0016] Through the above example embodiments, a drive controller provided by the present application has the advantages of high computing power, high intelligence, multi-axis drive (at least 10 axes), strong synchronization and real-time performance, and rich communication and acquisition feedback interfaces. The drive controller provided by the present application can meet the requirements of path planning, task scheduling, resource management, power supply and distribution, multi-axis real-time motor drive control, and communication with other subsystems under high computing power conditions. Among them: the central processing module adopts a dual-processor architecture of a CPU processor and a parallel high-performance FPGA programmable logic processor to meet the motion path planning and multi-task intelligent scheduling functions under high computing power conditions, and can reasonably configure system resources, enrich communication and feedback interfaces with external systems, thereby ensuring the safety and reliability of system operation; the motor control module adopts an FPGA programmable logic processor, which can realize the function of parallel real-time synchronous drive control of multiple motors, thereby meeting the requirements of multi-axis drive and real-time synchronization.

[0017] The present application also provides a packaging system for a drive controller, wherein each module adopts a stacked and modular design, making the packaging system easy to install, update and maintain.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] By describing in detail exemplary embodiments thereof with reference to the accompanying drawings, the above and other objects, features and advantages of the present application will become more apparent. The accompanying drawings described below are only some embodiments of the present application, and are not intended to limit the present application.

[0020] Figure 1 A schematic diagram showing a drive controller suitable for high computing power multi-axis synchronous drive according to an exemplary embodiment;

[0021] Figure 2 A schematic diagram showing a circuit structure of an exemplary drive controller;

[0022] Figure 3 A schematic diagram showing a central processing module of an exemplary embodiment;

[0023] Figure 4 A schematic diagram showing a motor control module of an exemplary embodiment;

[0024] Figure 5 A schematic diagram showing a motor drive module of an exemplary embodiment;

[0025] Figure 6 A schematic diagram showing a power supply and distribution module according to an exemplary embodiment;

[0026] Figure 7 A schematic diagram of a packaging system for a drive controller according to an exemplary embodiment is shown. DETAILED DESCRIPTION

[0027] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0028] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0029] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0030] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. 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 limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0031] Those skilled in the art will appreciate that the drawings are merely schematic diagrams of example embodiments, and the modules or processes in the drawings are not necessarily necessary for implementing the present application, and therefore cannot be used to limit the scope of protection of the present application.

[0032] Figure 1 A schematic diagram of a drive controller suitable for high-computing-power multi-axis synchronous drive according to an exemplary embodiment is shown.

[0033] like Figure 1 As shown, the drive controller suitable for high computing power multi-axis synchronous drive includes: a central processing controller 101, a motor control module 102, a motor drive module 103 and a power supply and distribution module 104.

[0034] The central processing module 101 is used to receive external input information sent by the integrated control system and generate control instructions according to the external input information.

[0035] The motor control module 102 is connected to the central processing module 101 and is used to receive a control instruction from the central processing module 101 and generate a first driving signal according to the control instruction.

[0036] The motor drive module 103 is connected to the motor control module 102 and is used to receive the first drive signal sent by the motor control module 102 to drive the external component. The motor drive module 103 is also used to collect detection data of the external component and send it to the motor control module 102. The motor control module 102 is also used to generate a second drive signal based on the detection data and send it to the motor drive module 103.

[0037] The power supply and distribution module 104 is used to connect to the external power supply, the central processing module 101, the motor control module 102 and the motor drive module 103 respectively, and convert the voltage of the external power supply into a secondary voltage to power the central processing module 101, the motor control module 102 and the motor drive module 103.

[0038] Among them, Figure 3 As shown, the central processing module 101 includes: a central processing unit 1011 (CPU) and a first programmable logic processor 1012 (FPGA). The first programmable logic processor cooperates with the central processing unit to receive external input information of the integrated control system and generate control instructions. The central processing unit and the first programmable logic processor are also used to receive detection data sent by the motor control module 102 to realize the fault monitoring function of the external components.

[0039] The central processing module 101 is also used to: when it is determined that a fault occurs according to the detection data sent by the motor control module 102, output a control instruction to the motor control module 102 so that the motor control module 102 outputs a first drive signal to start or stop the external component.

[0040] According to some embodiments, the central processing module 101 further includes: a receiving module 1013. The receiving module 1013 is connected to the camera subsystem and the integrated control system respectively, and is used to forward the information of the camera subsystem to the integrated control system.

[0041] The central processing module 101 includes a multi-task high-speed CPU central processing unit and a parallel high-performance FPGA programmable logic processor, and has the function of high-computing power intelligent system management of the whole machine, and has the function of multi-bus communication with the visual lighting subsystem, the integrated control system and the motor control module. Through the collaborative processing of the multi-task high-speed CPU central processing unit and the parallel high-performance FPGA programmable logic processor, it has the functions of fault monitoring, diagnosis processing, path planning, task scheduling and resource allocation management. In addition, when a fault occurs, the central processing module 101 can start the fault-tolerant management strategy, reorganize resources, and ensure the reliability of the task.

[0042] like Figure 3 As shown, the central processing module 101 includes a 422 interface, a 1553B bus interface, an SPI interface, an LVDS transceiver interface and a 164245 interface. Among them, the central processing module 101 communicates with the visual lighting subsystem, the remote control subsystem and the data transmission subsystem using the 422 interface to realize the sending of control instructions and the receiving of information. The central processing module 101 communicates with the integrated control system using the 1553B bus to receive external input information sent by the integrated control system, including ground control instructions, and transmits relevant telemetry data to the integrated control system. The central processing module 101 communicates with the motor control module 102 using the 422 and SPI interfaces. The central processing module 101 communicates with the camera subsystem and the integrated control system using LVDS to realize the LVDS communication function with the camera subsystem and the integrated control system. The central processing module 101 also uses a 164245 interface to output control instructions and / or power supply and distribution instructions to the motor control module 102 and / or the power supply and distribution module 104 , and collects the power supply and distribution status of the power supply and distribution module 104 through the 164245 interface.

[0043] According to some embodiments, the detection data includes: voltage data, current data, switch quantity data and / or feedback data.

[0044] like Figure 4 As shown, the motor control module 102 includes: a digital switch quantity acquisition circuit 1024 , an analog quantity acquisition circuit 1025 , a feedback acquisition circuit 1026 , a DSP processing chip 1021 , a second programmable logic processor 1022 and a PWM waveform driving circuit 1023 .

[0045] The digital switch quantity acquisition circuit 1024 is used to receive switch quantity data and convert it into a first signal. The analog quantity acquisition circuit 1025 is used to receive voltage data and / or current data and convert it into a second signal. The feedback acquisition circuit 1026 is used to receive feedback data and convert it into a third signal. The second programmable logic processor 1022 is connected to the digital switch quantity acquisition circuit 1024, the analog quantity acquisition circuit 1025, the feedback acquisition circuit 1026, the DSP processing chip 1021 and the central processing module 101 respectively, and is used to receive the first signal, the second signal and / or the third signal, and cooperate with the DSP processing chip 1021 to generate a first output signal and a second output signal according to the first signal, the second signal and / or the third signal, and the second output signal is sent to the central processing module 101. The second programmable logic processor 1022 is also used to receive the control instruction generated by the central processing module 101, and cooperate with the DSP processing chip 1021 to generate a third output signal according to the control instruction. The PWM waveform driving circuit 1023 is connected to the second programmable logic processor 1022, and is used to receive the third output signal or the first output signal and generate a first driving signal or a second driving signal, wherein the first driving signal or the second driving signal includes a PWM wave.

[0046] The motor control module 102 includes an FPGA programmable logic processor with parallel processing capabilities and a high-speed computing DSP processing chip, a PWM waveform drive circuit, a digital switch quantity acquisition circuit, an analog quantity acquisition circuit and a feedback acquisition circuit. It communicates with the central processing module through an internal serial bus to complete the reception and analysis of instructions, the upload of measurement data and the issuance of drive signals.

[0047] like Figure 2 As shown, the external components include: motor components of the robot arm, end effector components and repeated locking devices. The motor control module 102 controls 7 joint path motion planning movements, 1 end gripper grasping and 2 robot arm locking motor movements through the motor drive module 103. At the same time, the motor drive module 103 also needs to collect external feedback data (10 speed sensors and 8 position sensors), 6 switch data and motor voltage and current data.

[0048] like Figure 4As shown, the motor control module 102 completes the management and scheduling of the robot arm subsystem tasks through the coordinated processing of the FPGA programmable logic processor and the high-speed computing DSP processing chip. The motor control module 102 includes a 422 interface, an SPI interface and a 164245 interface. The motor control module 102 communicates with the central processing module 101 using the 422 interface and the SPI interface. The motor control module 102 obtains the motor voltage data, current data and feedback data collected by the motor drive module 103 through the 164245 interface, and outputs the first drive signal and the second drive signal through the 164245 interface.

[0049] like Figure 5 As shown, the motor driving module 103 includes: a DC motor driving circuit 1031 and a voltage and current acquisition circuit 1032 .

[0050] The DC motor driving circuit 1031 is used to receive the first driving signal and the second driving signal sent by the motor control module 102 and output them to the external component. The voltage and current acquisition circuit 1032 is used to collect detection data of the external component and send it to the motor control module 102.

[0051] According to some embodiments, the motor driving module 103 further includes: a motor current filter amplifier circuit 1033 and an analog switch 1034 .

[0052] The motor current filter amplifier circuit 1033 is connected to the voltage and current acquisition circuit 1032 for filtering and amplifying the detection data. The analog switch 1034 is connected to the motor current filter amplifier circuit 1033 for sending the filtered and amplified detection data to the motor control module 102 in batches when the external component inputs multiple detection data.

[0053] For example, the motor control module 102 outputs a PWM signal to the motor drive module 103 to drive and control 10 DC brushless motors. The motor drive module 103 collects current signals, and the 10 current signals are filtered and amplified, and then output to the motor control module 102 after chip selection through the analog switch 1034. For example, the analog switch 1034 only outputs two current signals to the motor control module 102 at a time.

[0054] The motor driving module 103 is used to collect signals from external components, and at the same time use the PWM wave generated by the motor control module 102 to drive the driving chip of the DC motor in the external component, and finally complete the driving control of the DC motor.

[0055] like Figure 6 As shown, the power supply and distribution module 104 includes: a relay 1041 , a fuse 1042 , a surge suppressor 1043 , a filter 1044 and a DC / DC module 1045 .

[0056] The relay 1041 includes: a first switch 10411 and a second switch 10412. The first switch 10411 is connected to the external power supply, the visual illumination subsystem and the external component respectively, and is used to directly provide the power of the external power supply to the camera subsystem and the external component. One end of the second switch 10412 is connected to the external power supply. The fuse 1042 is connected to the other end of the second switch 10412. The power supply and distribution module 104 realizes the distribution and control of the primary power supply and the secondary power supply through the relay 1041.

[0057] The surge suppressor 1043 is connected to the fuse 1042 to suppress the voltage fluctuation of the external power supply. The current of the external power supply can be limited to 1.5 times of the corresponding rated current or within 2A, and the duration is not more than 2ms, and the rising slope is not more than 10 6 The filter 1044 is connected to the surge suppressor 1043 and is used to filter the voltage of the external power supply.

[0058] The DC / DC module 1045 is connected to the filter 1044, the central processing module 101, the motor control module 102 and the motor drive module 103 respectively to convert the voltage of the external power supply after filtering into a secondary voltage to supply power to the central processing module 101, the motor control module 102 and the motor drive module 103. The DC / DC module 1045 includes a plurality of DC / DC sub-modules, which are provided to other modules of the drive controller through an internal bus. For example, a single DC / DC sub-module provides 15W output power to generate a +5V secondary voltage required by a single module. For another example, a single DC / DC sub-module provides 30W output power to generate a ±12V secondary voltage required by a single machine.

[0059] The power supply and distribution module 104 is used to supply power to the central processing module 101, the motor control module 102, the motor drive module 103 and the visual illumination subsystem inside the drive controller. The power supply and distribution module 104 is also used to receive control instructions from the central processing module 101 to close or open the first switch 10411 and / or the second switch 10412, and to operate the corresponding DC / DC submodule to supply power to the corresponding system, component or module.

[0060] The drive controller provided by the present application has the advantages of high computing power, high intelligence, multi-axis drive (at least 10 axes), strong synchronization and real-time performance, and rich communication and collection feedback interfaces. It can meet the requirements of path planning, task scheduling, resource management, power supply and distribution, multi-axis real-time motor drive control, and communication with other subsystems under high computing power conditions. Among them: the central processing module adopts a dual processor architecture of a CPU processor and a parallel high-performance FPGA programmable logic processor to meet the motion path planning and multi-task intelligent scheduling functions under high computing power conditions, and can reasonably configure system resources, enrich the communication and feedback interfaces with external systems, thereby ensuring the safety and reliability of system operation; the motor control module adopts an FPGA programmable logic processor, which can realize the function of parallel real-time synchronous drive control of multiple motors, thereby meeting the requirements of multi-axis drive and real-time synchronization.

[0061] The present application also provides a packaging system for a drive controller, such as Figure 7 As shown, it includes a housing 701 and a heat dissipation aluminum substrate 702 .

[0062] The housing 701 is used to encapsulate the drive controller as described above. The central processing module 101, the motor control module 102, the motor drive module 103 and the power supply and distribution module 104 in the drive controller are all separate modules, and each module is stacked. The heat dissipation aluminum substrate 702 is attached to the inner surface of the housing 701 and the motor drive module 103, and is used to dissipate heat for the motor drive module 103.

[0063] The structural design of the drive controller is based on the principles of implementing the relevant standards, taking full account of the requirements of weight reduction and structural strength design. Under the condition of ensuring the mechanical and physical properties of the structure, a modular structure is adopted to facilitate the debugging and manufacturing of the unit circuit. The structure is simple and has good processing technology. The main structural material is aluminum alloy 2A12-H112. There are closely matched convex and concave stoppers between each plate for positioning. They are fastened with screws, which is conducive to meeting the requirements of the lap resistance between the shells and can play a good shielding role, protecting the internal circuit and reducing external electromagnetic radiation.

[0064] The heat dissipation aluminum substrate 702 is composed of a circuit layer, an insulating layer and a metal base layer, and is an electronic substrate material with good heat dissipation performance. The heat dissipation aluminum substrate 702 is placed next to the motor drive module 103, and the heat generated by the power electronic components in the motor drive module 103 is quickly conducted away through the metal base layer, and then the heat is dissipated into the air through heat dissipation devices such as heat sinks and housings.

[0065] The internal modules of the drive controller include a power supply and distribution module 104, a central processing module 101, a motor control module 102, a motor drive module 103 and a heat dissipation aluminum substrate 703, which are located in different structural layers of a stacked installation. This stacked, modular internal structure design realizes easy installation, easy updating and easy maintenance of the packaging system. Among them, the central processing module 101, the motor control module 102 and the power supply and distribution module 104 can be placed in any layer. Preferably, the power supply and distribution module 104 is placed in the bottom layer and fits with another surface of the housing 701 to dissipate heat for the power supply and distribution module 104.

[0066] The present application provides a packaging system for a drive controller, wherein each module adopts a stacked and modular design, making the packaging system easy to install, update and maintain.

[0067] It should be clearly understood that the present application describes how to form and use specific examples, but the present application is not limited to any details of these examples. On the contrary, based on the teaching of the content disclosed in the present application, these principles can be applied to many other embodiments.

[0068] In addition, it should be noted that the above figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present application, and are not intended to be limiting. It is easy to understand that the processes shown in the above figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0069] The exemplary embodiments of the present application are specifically shown and described above. It should be understood that the present application is not limited to the detailed structures, configurations or implementations described herein; on the contrary, the present application is intended to cover various modifications and equivalent configurations included within the objectives and scope of the appended claims.

Claims

1. A drive controller suitable for high computing power multi-axis synchronous drive, characterized in that: include: The central processing module is used to receive external input information sent by the integrated control system and generate control instructions according to the external input information; A motor control module, connected to the central processing module, configured to receive a control instruction from the central processing module and generate a first drive signal according to the control instruction; A motor driving module, connected to the motor control module, used to receive the first driving signal sent by the motor control module to drive the external component, the motor driving module is also used to collect detection data of the external component and send it to the motor control module, and the motor control module is also used to generate a second driving signal according to the detection data and send it to the motor driving module; The power supply and distribution module is respectively connected to the external power supply, the central processing module, the motor control module and the motor drive module, and is used to convert the voltage of the external power supply into a secondary voltage to supply power to the central processing module, the motor control module and the motor drive module.

2. The drive controller according to claim 1, characterized in that: The central processing module comprises: CPU; The first programmable logic processor is connected to the central processing unit and the motor control module respectively. The first programmable logic processor and the central processing unit cooperate with each other to receive the external input information and generate control instructions. The first programmable logic processor is also used to receive the detection data sent by the motor control module to realize a fault monitoring function.

3. The drive controller according to claim 2, characterized in that: The central processing module is also used for: When it is determined according to the detection data that a fault occurs, a control instruction is output to the motor control module so that the motor control module outputs the first drive signal to start or stop the external component.

4. The drive controller according to claim 2, characterized in that: The central processing module also includes: The receiving module is connected to the camera subsystem and the integrated control system respectively, and is used to forward the information of the camera subsystem to the integrated control system.

5. The drive controller according to claim 2, characterized in that: The detection data includes: voltage data, current data, switch quantity data and / or feedback data.

6. The drive controller according to claim 5, characterized in that: The motor control module comprises: A digital switch quantity acquisition circuit, used for receiving the switch quantity data and converting it into a first signal; An analog quantity acquisition circuit, used for receiving the voltage data and / or the current data, and converting them into a second signal; A feedback collection circuit, used for receiving the feedback data and converting it into a third signal; DSP processing chip; a second programmable logic processor, the second programmable logic processor is connected to the digital switch quantity acquisition circuit, the analog quantity acquisition circuit, the feedback acquisition circuit, the DSP processing chip and the central processing module respectively, and is used to receive the first signal, the second signal and / or the third signal, and cooperate with the DSP processing chip for processing, and generate a first output signal and a second output signal according to the first signal, the second signal and / or the third signal, and the second output signal is sent to the central processing module. The second programmable logic processor is also used to receive a control instruction generated by the central processing module, and cooperate with the DSP processing chip for processing, and generate a third output signal according to the control instruction; A PWM waveform driving circuit is connected to the second programmable logic processor, and is used to receive the third output signal or the first output signal, and generate the first drive signal or the second drive signal, wherein the first drive signal or the second drive signal includes a PWM wave.

7. The drive controller according to claim 1, characterized in that: The motor drive module comprises: a DC motor driving circuit, configured to receive the first driving signal and the second driving signal sent by the motor control module, and output them to the external component; The voltage and current acquisition circuit is used to acquire the detection data of the external components and send the data to the motor control module.

8. The drive controller according to claim 7, characterized in that: The motor drive module also includes: A motor current filter amplifier circuit, connected to the voltage and current acquisition circuit, for filtering and amplifying the detection data; The analog switch is connected to the motor current filter amplifier circuit and is used to send the detection data that has been filtered and amplified to the motor control module in batches when the external component inputs multiple detection data.

9. The drive controller according to claim 1, characterized in that: The power supply and distribution module comprises: Relays, including: A first switch, connected to the external power source, the camera subsystem and the external component respectively, for directly providing power from the external power source to the camera subsystem and the external component; A second switch, one end of which is connected to the external power supply; a fuse connected to the other end of the second switch; A surge suppressor, connected to the fuse, for suppressing voltage fluctuations of the external power supply; a filter, connected to the surge suppressor, for filtering the voltage of the external power supply; The DC / DC module is respectively connected to the filter, the central processing module, the motor control module and the motor drive module to convert the voltage of the external power supply after filtering into a secondary voltage to supply power to the central processing module, the motor control module and the motor drive module.

10. A packaging system, characterized in that: include: A housing for encapsulating a drive controller according to any one of claims 1 to 9, wherein the central processing module, the motor control module, the motor drive module and the power supply and distribution module in the drive controller are stacked; The heat dissipation aluminum substrate is attached to the inner surface of the shell and the motor drive module, and is used to dissipate heat for the motor drive module.

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