Stepping motor vector driving circuit and method, electronic equipment and butterfly valve

Abstract

The invention provides a stepping motor vector driving circuit and method, electronic equipment and a butterfly valve, and relates to the technical field of butterfly valve control, the driving circuit is used for controlling a stepping motor, and the stepping motor is used for driving a valve in the butterfly valve to act; the stepping motor is internally provided with at least two coils, the stepping motor vector driving circuit comprises at least two voltage control modules, and each target voltage control module comprises a first controlled unit, a second controlled unit, a third controlled unit and a fourth controlled unit; the controlled ends of the first controlled unit and the third controlled unit are connected to one end of a target coil; the controlled ends of the second controlled unit and the fourth controlled unit are connected to the other end of the target coil; the control ends of the first controlled unit, the second controlled unit, the third controlled unit and the fourth controlled unit are controlled by PWM signals to execute turn-off, and the voltage passing through the target coil is controlled. The safety of the butterfly valve is improved through vector control, and the manufacturing cost of the butterfly valve is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of butterfly valve control, and in particular to a stepping motor vector drive circuit, method, electronic equipment and butterfly valve. Background Art

[0002] The core mechanism of the vacuum butterfly valve as a fluid control device is to use a circular butterfly plate as an opening and closing element to open and close the fluid channel and adjust the flow rate through the rotation of the valve seat.

[0003] For vacuum butterfly valves, stepper motor drive can be specifically adopted in the prior art. In order to improve the accuracy of stepper motor drive, subdivision drive control can be specifically adopted. However, if subdivision drive control is adopted, at least the following problems will occur. First, a dedicated control chip is required to drive the motor, thereby increasing the manufacturing cost of the butterfly valve. Secondly, the output torque of the stepper motor will be reduced due to the use of subdivision drive control, affecting the performance of the butterfly valve. Finally, the use of subdivision drive control will cause the temperature of the motor driver to rise, affecting the service life of the stepper motor, and further affecting the safety of the butterfly valve. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a stepper motor vector drive circuit, method, electronic device and butterfly valve, in order to solve at least part of the above-mentioned technical problems.

[0005] In a first aspect, an embodiment of the present application provides a stepper motor vector drive circuit, wherein the drive circuit is used to control a stepper motor, and the stepper motor is used to drive the movement of a valve in a butterfly valve;

[0006] The stepper motor is provided with at least two coils, and the stepper motor vector drive circuit comprises: at least one voltage control module, and the voltage control module corresponds to the coils one by one;

[0007] Each target voltage control module includes: a first controlled unit, a second controlled unit, a third controlled unit and a fourth controlled unit;

[0008] The controlled ends of the first and third controlled units are connected to one end of the target coil;

[0009] The controlled ends of the second and fourth controlled units are connected to the other end of the target coil;

[0010] The control terminals of the first controlled unit, the second controlled unit, the third controlled unit and the fourth controlled unit are controlled by the PWM signal to perform shutdown, thereby controlling the voltage passing through the target coil;

[0011] Wherein, the target voltage control module is a voltage control module among the voltage control modules;

[0012] The target coil is a coil among the coils corresponding to the target voltage control module.

[0013] This application can complete the vector control of the stepper motor by using the stepper motor vector drive circuit. In the butterfly valve control, no dedicated chip is required to drive the stepper motor, which reduces the cost. Secondly, compared with the use of subdivision drive control, the output torque of the stepper motor will not be reduced during control, and the performance of the butterfly valve will not be affected. Finally, the use of vector drive instead of subdivision drive control avoids the technical problem of the temperature increase of the subdivision control motor driver, prolongs the service life of the stepper motor, and improves the safety of the butterfly valve.

[0014] One possible manner is that the first controlled unit and the second controlled unit are controlled in a complementary manner, and the third controlled unit and the fourth controlled unit are controlled in a complementary manner.

[0015] In one possible manner, the first controlled unit includes: one of an enhancement mode MOSFET, a triode and an IGBT transistor;

[0016] The second controlled unit includes: one of an enhancement mode MOSFET, a triode and an IGBT transistor;

[0017] The third controlled unit includes: one of an enhancement mode MOSFET, a triode and an IGBT transistor;

[0018] The fourth controlled unit includes: one of an enhancement mode MOSFET, a triode and an IGBT transistor.

[0019] One possible manner is that the butterfly valve is a vacuum butterfly valve.

[0020] In a second aspect, the present application provides a stepper motor vector control method, which is applied to a stepper motor vector control device, wherein the stepper motor vector control device comprises: a controller, a PWM signal generator and a stepper motor vector drive circuit according to any one of claims 1 to 4 connected in sequence, wherein the method comprises:

[0021] The controller obtains a current rotor angle value and a target rotor angle value for the stepper motor, and uses PID control to determine a target rotor speed value for the stepper motor based on an error between the current rotor angle value and the target rotor angle value as a feedback amount;

[0022] The controller obtains a current rotor speed value for the stepper motor, and uses a PID control to determine a target current value in a rotating coordinate system based on an error between the current rotor speed value for the stepper motor and a target rotor speed value for the stepper motor as a feedback amount;

[0023] The controller obtains a current current value in a rotating coordinate system, uses an error between the current current value in the rotating coordinate system and a target current value in the rotating coordinate system as a feedback amount, and adopts PID control to determine a first target voltage value, wherein the first target voltage value is an expected voltage value in the rotating coordinate system;

[0024] The controller adjusts the duty cycle of the PWM signal output by the PWM signal generator, and each voltage control module in the stepper motor vector drive circuit responds to the duty cycle of the PWM signal to meet the corresponding second target voltage value, and the second target voltage value corresponding to each voltage control module is determined based on the first target voltage value.

[0025] One possible way is that the controller obtains the current rotor angle value for the stepper motor and the target rotor angle value for the stepper motor, and uses the error between the current rotor angle value for the stepper motor and the target rotor angle value for the stepper motor as feedback, and before the step of using PID control to determine the target rotor speed value for the stepper motor, the method further includes:

[0026] Set the initial value of the rotor position for the stepper motor.

[0027] One possible way is that the stepper motor is a two-phase stepper motor, and the stepper is provided with two sets of coils;

[0028] The controller obtains the current current value in the rotating coordinate system, and uses the error between the current current value in the rotating coordinate system and the target current value in the rotating coordinate system as a feedback amount, and in the step of determining the first target voltage value by using PID control, the current current value in the rotating coordinate system is determined by the following method:

[0029] Measuring the current value of each coil in the two sets of coils in a two-phase stationary coordinate system;

[0030] Performing Park transformation on the current value of each coil in the two coil groups in the two-phase stationary coordinate system to obtain the current current value in the rotating coordinate system;

[0031] The second target voltage value corresponding to each voltage control module is determined based on an inverse PARK transformation of the first target voltage value.

[0032] One possible way is that the stepper motor is a three-phase stepper motor, and the stepper is provided with three sets of coils;

[0033] The controller obtains the current current value in the rotating coordinate system, and uses the error between the current current value in the rotating coordinate system and the target current value in the rotating coordinate system as a feedback amount, and in the step of determining the first target voltage value by using PID control, the current current value in the rotating coordinate system is determined by the following method:

[0034] Measuring the current value of each of the three groups of coils in a three-phase stationary coordinate system;

[0035] Performing CLARK conversion and PARK transformation on the current value of each coil in the three coil groups in the three-phase stationary coordinate system to obtain the current current value;

[0036] The second target voltage value is determined based on the first target voltage value after inverse PARK transformation and inverse CLARK transformation.

[0037] In a third aspect, the present application provides an electronic device, including:

[0038] at least one processor; and

[0039] at least one memory in communication with the processor, wherein:

[0040] The memory stores program instructions executable by the processor, and the processor can execute the method as described in the second aspect by calling the program instructions.

[0041] In a fourth aspect, the present application provides a butterfly valve, which includes a stepper motor, and the stepper motor is driven by the stepper motor vector drive circuit as described in the first aspect.

[0042] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A schematic diagram of the voltage control module and the coil corresponding to the embodiment of the present invention is provided;

[0046] FIG2( a) is a schematic diagram showing an exemplary voltage control module and a corresponding coil provided in an embodiment of the present invention;

[0047] FIG2( b) is another exemplary schematic diagram showing the correspondence between a voltage control module and a coil provided in an embodiment of the present invention;

[0048] Figure 3 A diagram of a voltage control module and a coil connection module provided in an embodiment of the present invention;

[0049] Figure 4 A voltage control module and a coil control circuit diagram provided by an embodiment of the present invention;

[0050] FIG5( a) is a diagram of a voltage control module and a coil control circuit according to an exemplary embodiment of the present invention;

[0051] FIG5( b ) is a voltage control module and a coil control circuit diagram of another exemplary embodiment provided by an embodiment of the present invention;

[0052] Figure 6 A flow chart of a stepping motor vector control method provided by an embodiment of the present invention;

[0053] Figure 7(a) to Figure 7(c) for Figure 6 The control block diagram of each step in the embodiment shown;

[0054] Figure 7(d) shows Figure 6 The stepper motor control block diagram in the embodiment shown;

[0055] Figure 8 This is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] The core mechanism of the vacuum butterfly valve as a fluid control device is to use a circular butterfly plate as an opening and closing element to open and close the fluid channel and adjust the flow rate through the rotation of the valve seat.

[0058] For vacuum butterfly valves, the prior art specifically uses stepper motor drive. In order to improve the precision of stepper motor drive, subdivision drive control can be specifically used. However, if subdivision drive control is used, at least the following problems exist: first, a dedicated control chip is required to drive the motor, thereby increasing the manufacturing cost of the butterfly valve; second, the output torque of the stepper motor is reduced due to the use of subdivision drive control, affecting the performance of the vacuum butterfly valve; finally, the subdivision drive control will cause the motor driver to output a higher current to keep the motor running stably at a smaller step angle. This will increase the energy loss of the motor, increase the temperature of the motor driver, affect the service life of the stepper motor, and affect the sealing and safety of the vacuum butterfly valve.

[0059] In view of this, the present application provides a stepper motor vector drive circuit, method, electronic device and butterfly valve. First, the drive circuit is used instead of the drive chip to reduce the manufacturing cost of the butterfly valve. Secondly, vector control is used to alleviate the technical problem of using subdivision drive control to reduce output torque in the prior art. Finally, vector drive is used instead of subdivision drive control to avoid the technical problem of temperature increase of the subdivision control motor driver, thereby improving the sealing and safety of the butterfly valve.

[0060] First, the butterfly valve involved in the following will be specifically described:

[0061] Butterfly valve: refers to a valve whose closing part (valve disc or butterfly plate) is a disc, which rotates around the valve axis to achieve opening and closing. Based on the working pressure, butterfly valves can be divided into vacuum butterfly valves, low-pressure butterfly valves, medium-pressure butterfly valves, high-pressure butterfly valves and ultra-high-pressure butterfly valves.

[0062] To facilitate understanding of this embodiment, a stepping motor vector drive circuit disclosed in an embodiment of the present invention is first introduced in detail.

[0063] In the embodiment provided in the present application, the driving circuit is used to control the stepping motor, and here, the stepping motor is used to drive the movement of the valve in the vacuum butterfly valve.

[0064] In this embodiment, at least two electric coils are arranged in the stepper motor. When the coils are energized, a magnetic field is generated around them according to the principle of electromagnetic induction. This magnetic field interacts with the permanent magnets or electromagnets on the motor rotor to generate torque, driving the motor to rotate. One coil can correspond to one phase. For example, assuming that there are two coils in the stepper motor, the motor is a two-phase stepper motor.

[0065] In order to control the voltage, in the embodiment provided in the present application, a voltage control module is provided for each coil. It can be seen that the aforementioned stepper motor vector drive circuit includes at least two voltage control modules, and the voltage control modules correspond to the coils one by one.

[0066] Reference Figure 1 , voltage control module A corresponds to coil a, voltage control module B corresponds to coil b, and so on.

[0067] The following will explain each voltage control module:

[0068] In the embodiments provided in the present application, for the convenience of description, one voltage control module in the voltage control module is taken as an example for explanation, and one voltage control module in the voltage control module is called a target voltage control module, and the coil controlled by the target voltage control module is called a target coil. In other words, the target coil is the coil in the coil corresponding to the target voltage control module.

[0069] Exemplarily, referring to FIG. 2( a ), the target voltage control module may refer to voltage control module A, voltage control module B, or voltage control module C.

[0070] Here, if the target voltage control module is A, the target coil is coil a, if the target voltage control module is B, the target coil is coil b, and if the target voltage control module is C, the target coil is coil c.

[0071] 2( b ), the target voltage control module may refer to either voltage control module A or voltage control module B.

[0072] If the target voltage control module is A, the target coil is coil a, and if the target voltage control module is B, the target coil is coil b.

[0073] Reference Figure 3In this embodiment, in order to control the voltage passing through each coil, in the embodiment provided in the present application, for each target voltage control module, it includes a first controlled unit, a second controlled unit, a third controlled unit and a fourth controlled unit. The control ends of the first controlled unit, the second controlled unit, the third controlled unit and the fourth controlled unit are controlled by the PWM signal to execute shutdown, thereby controlling the voltage passing through the target coil.

[0074] Through the above method, compared with the butterfly valve controlled by the subdivision drive motor, the vector control of the stepper motor can be completed by using the stepper motor vector drive circuit. In the butterfly valve control, no dedicated chip is required to drive the stepper motor, which reduces the cost. Secondly, compared with the use of subdivision drive control, the output torque of the stepper motor will not be reduced during control, and the performance of the butterfly valve will not be affected. Finally, the use of vector drive instead of subdivision drive control avoids the technical problem of the temperature increase of the subdivision control motor driver, prolongs the service life of the stepper motor, and improves the safety of the butterfly valve.

[0075] In the embodiment provided in the present application, the first controlled unit and the second controlled unit are controlled in a complementary manner, and the third controlled unit and the fourth controlled unit are controlled in a complementary manner.

[0076] It should be noted that the so-called complementary control mode means that the two controlled units cannot be turned on or off at the same time. In other words, when one of the first controlled unit and the second controlled unit is turned on, the other controlled unit is turned off; when one of the third controlled unit and the fourth controlled unit is turned on, the other controlled unit is turned off.

[0077] Exemplarily, the first and fourth controlled units are controlled by the PWM signal to be turned on at the same time. When the first and fourth controlled units are turned on, the target coil forms a current closed loop together with the first and fourth controlled units.

[0078] In this embodiment, the duty cycle of the PWM signal output is used to control the conduction time of the first and fourth controlled units and the voltage value applied to both ends of the target coil. At this time, the current in the target coil flows from one end to the other end of the target coil.

[0079] Correspondingly, the second and third controlled units are controlled by the PWM signal to be turned on at the same time. When the second and third controlled units are turned on, the target coil forms a current closed loop together with the second and third controlled units.

[0080] In another exemplary embodiment, the first controlled unit and the third controlled unit are controlled by the PWM signal to be turned on at the same time. When the first and third controlled units are turned on, the target coil forms a current closed loop together with the first and third controlled units.

[0081] Correspondingly, the second controlled unit and the fourth controlled unit are controlled by the PWM signal to be turned on at the same time. When the second and fourth controlled units are turned on, the target coil forms a current closed loop together with the second and fourth controlled units.

[0082] In this embodiment, the duty cycle of the PWM signal output is used to control the conduction time of the second and third controlled units and the voltage value applied to both ends of the target coil. At this time, the current in the target coil flows from the other end to one end of the target coil.

[0083] Thus, a bridge circuit is formed by using the first, second, third and fourth controlled units, and the direction of the current passing through the coil is changed.

[0084] Specifically, for the first controlled unit, it specifically includes an enhancement mode MOSFET, a triode, or an IGBT transistor.

[0085] For the first controlled unit, the conduction condition is that the controlled end is turned on when receiving a high level.

[0086] Furthermore, with respect to the enhancement-mode MOSFET, it may specifically be a P-channel enhancement-mode MOSFET or an N-channel enhancement-mode MOSFET, which is not limited here.

[0087] In addition, the first controlled unit may specifically be an NPN transistor or a PNP transistor, and those skilled in the art may design it by themselves according to design requirements, which is not limited here.

[0088] In addition, the first controlled unit may be an IGBT transistor.

[0089] Those skilled in the art may select a suitable component as the first controlled unit based on performance requirements and cost considerations.

[0090] The second controlled unit can be specifically classified into one of enhancement mode MOSFET, triode and IGBT transistor. For the description of each element in the second controlled unit, please refer to the above, which will not be repeated here.

[0091] The third controlled unit can be specifically classified into one of enhancement mode MOSFET, triode and IGBT transistor. For the description of each element in the third controlled unit, please refer to the above, which will not be repeated here.

[0092] The fourth controlled unit may be an enhanced MOSFET, a triode, or an IGBT transistor. For the description of each element in the fourth controlled unit, please refer to the above description, which will not be repeated here.

[0093] Exemplarily, if the first, second, third and fourth controlled units are all enhancement-type MOSFETs, Q1 corresponds to the first controlled unit, Q2 corresponds to the second controlled unit, Q3 corresponds to the third controlled unit, and Q4 corresponds to the fourth controlled unit. When Q1 and Q4 are turned on, the current flows from the left side to the right side of the coil L, and when Q2 and Q3 are turned on, the current flows from the right side to the left side of the coil L.

[0094] By adjusting the output duty cycle of the PWM signal input by Q1, Q2, Q3 and Q4, the voltage across the coil can be adjusted.

[0095] If the stepper motor is a three-phase stepper motor, the circuit diagram of each voltage control module is shown in FIG5(a). If the stepper motor is a two-phase stepper motor, the circuit diagram of each voltage control module is shown in FIG5(b).

[0096] Combined with the above, butterfly valves can be divided into vacuum butterfly valves, low-pressure butterfly valves, medium-pressure butterfly valves, high-pressure butterfly valves and ultra-high-pressure butterfly valves according to the working pressure. For vacuum butterfly valves, due to the particularity of the vacuum system, the valve opening control accuracy is required to be high. The stepper motor needs to be able to rotate accurately according to the preset angle to ensure the precise opening and closing of the valve, as well as the precise regulation of the flow rate. This requires the control system of the stepper motor to have high precision and stability. Due to the particularity of the vacuum system, the valve opening control accuracy is required to be high. The stepper motor needs to be able to rotate accurately according to the preset angle to ensure the precise opening and closing of the valve, as well as the precise regulation of the flow rate. This requires the control system of the stepper motor to have high precision and stability.

[0097] At the same time, vacuum butterfly valves usually work in harsh environments, such as high temperature, low temperature, vacuum or corrosive media, etc. The stepper motor and its control system need to be able to work stably in these special environments without being affected by environmental factors.

[0098] Based on the above reasons, vacuum butterfly valves are more demanding in terms of stepper motor control compared to other butterfly valves.

[0099] In view of this, as a preferred embodiment, this stepper motor vector drive circuit is applied to the control of the vacuum butterfly valve. The above-mentioned stepper motor vector drive circuit is used to control the stepper motor in the vacuum butterfly valve, which can avoid the temperature increase of the motor driver caused by the separate drive control and improve the sealing of the vacuum butterfly valve.

[0100] Based on the above embodiments, the present application also provides a stepper motor vector control method, a stepper motor vector control device comprising: a controller, a PWM signal generator and a stepper motor vector drive circuit provided in the above embodiments connected in sequence, Figure 6 , a stepper motor vector control method provided in an embodiment of the present application includes:

[0101] S101: The controller obtains the current rotor angle value and the target rotor angle value of the stepper motor, and uses PID control to determine the target rotor speed value of the stepper motor based on the error between the current rotor angle value and the target rotor angle value of the stepper motor as feedback.

[0102] Referring to Figure 7(a), in this step, the controller first performs real-time detection on the current angle value of the rotor of the stepper motor (i.e., the current angle value of the rotor in the stepper motor) to obtain the current angle value of the rotor of the stepper motor and the target angle value of the rotor of the stepper motor (i.e., the target angle value of the rotor in the stepper motor). Then, based on the error between the current angle value of the rotor of the stepper motor (i.e., the current angle value of the rotor in the stepper motor) and the target angle value of the rotor of the stepper motor as feedback, PID control (Proportional-Integral-Derivative) is used to determine the target speed value of the rotor of the stepper motor, i.e., the expected speed value of the rotor of the stepper motor.

[0103] In this step, when the rotor of the stepper motor rotates according to the rotor target speed value for the stepper motor, the current speed value of the rotor of the stepper motor and the rotor target speed value for the stepper motor are calculated.

[0104] S102: The controller obtains a current rotor speed value for the stepper motor, and uses PID control to determine a target current value based on an error between the current rotor speed value for the stepper motor and a target rotor speed value for the stepper motor as a feedback quantity.

[0105] Referring to Figure 7(b), in this step, the target voltage value corresponds to the expected voltage value in the rotating coordinate system. In this step, an encoder is used to obtain the current rotor speed value of the stepper motor (i.e., the current speed value of the stepper motor), and the error between the current rotor speed value of the stepper motor and the target rotor speed value of the stepper motor is used as feedback to determine the target current value in the rotating coordinate system.

[0106] It should be noted that the target current value in the rotating coordinate system corresponds to the expected current in the rotating coordinate system. When the current passing through the stepper motor coil meets the target current value in the rotating coordinate system, the current rotor speed value of the stepper motor meets the target rotor speed value of the stepper motor.

[0107] S103: The controller obtains a current current value in the rotating coordinate system, and uses PID control to determine a first target voltage value based on an error between the current current value in the rotating coordinate system and a target current value in the rotating coordinate system as a feedback amount.

[0108] It should be noted that the first target voltage value is an expected voltage value in the rotating coordinate system.

[0109] Referring to Figure 7(c), in this step, the controller obtains the current current value in the rotating coordinate system, and performs feedback adjustment based on the error between the current current value in the rotating coordinate system and the target current value in the rotating coordinate system as the feedback amount, and uses PID control to determine the first target voltage value.

[0110] S104: The controller adjusts the duty cycle of the PWM signal output by the PWM signal generator, and each voltage control module in the stepper motor vector drive circuit responds to the duty cycle of the PWM signal to meet the corresponding second target voltage value.

[0111] It should be noted that the second target voltage value corresponds to the expected voltage value of each voltage control module. Figure 7(a) to Figure 7(c) ,The control block diagram of the stepper motor is shown in Figure 7(d).

[0112] Through the above method, the output duty cycle of the PWM output by the PWM signal generator corresponding to each voltage module can be determined, and the vector control of the stepper motor can be realized by determining the output duty cycle. In the control implementation, only a PID control chip is required, and no motor drive chip is required, thereby reducing the manufacturing cost of the butterfly valve. Secondly, vector control is used to alleviate the technical problem of using subdivision drive control to reduce the output torque in the prior art. Finally, vector drive is used instead of subdivision drive control to avoid the technical problem of temperature increase of the subdivision control motor driver, thereby improving the sealing and safety of the butterfly valve.

[0113] In this step, in order to determine the target rotor angle value for the stepper motor, S101 is required: the controller obtains the current rotor angle value and the target rotor angle value for the stepper motor, and based on the error between the current rotor angle value and the target rotor angle value for the stepper motor as feedback, before using PID control to determine the target rotor speed value for the stepper motor, it is also necessary to set the initial rotor position value for the stepper motor.

[0114] The following will specifically describe the control methods of two-phase stepper motors and three-phase stepper motors:

[0115] Referring to FIG. 5( a ), the stepper motor in the butterfly valve is a three-phase stepper motor, and the stepper motor is provided with three sets of coils. In this scenario, the current value of the rotating coordinate system can be determined in the following manner:

[0116] First, the current value of each of the three coils in the three-phase stationary coordinate system is measured, and then the current value of each of the three coils in the three-phase stationary coordinate system is subjected to CLARK conversion and PARK transformation to obtain the current current value.

[0117] Correspondingly, if the second target voltage value is to be determined, it is necessary to perform an inverse PARK transformation and an inverse CLARK transformation on the expected voltage value (ie, the first target voltage value) in the rotating coordinate system.

[0118] In other words, the second target voltage value is determined based on the first target voltage value after inverse PARK transformation and inverse CLARK transformation.

[0119] By completing the transformation between the three-phase coordinate system and the rotating coordinate system in the above manner, vector control of the three-phase stepper motor is realized.

[0120] Exemplarily, it is assumed that a P-channel enhancement type MOSFET is used as the controlled unit, that is, a P-channel enhancement type MOSFET is used as the controlled unit in each voltage control module.

[0121] When the controller determines the current current value in the rotating coordinate system in the above manner, the first target voltage value is determined according to the above steps S102 and S103, and then the first target voltage value is subjected to inverse PARK transformation and inverse CLARK transformation to determine the output voltage of each voltage control module. Based on the output voltage of each voltage control module, the duty cycle of the PWM signal generator output is determined to control the on and off of each P-channel enhancement MOSFET.

[0122] Referring to FIG. 5( b ), the stepper motor in the butterfly valve is a two-phase stepper motor, which is provided with two sets of coils. The stepper motor is a two-phase stepper motor. In this case, the current current value in the rotating coordinate system can be determined in the following manner:

[0123] First, the current value of each coil in the two sets of coils in the two-phase stationary coordinate system is measured, and then the current value of each coil in the two sets of coils in the two-phase stationary coordinate system is Park transformed to obtain the current current value in the rotating coordinate system.

[0124] Correspondingly, if the second target voltage value is to be determined, it is necessary to perform an inverse PARK transformation on the expected voltage value (ie, the first target voltage value) in the rotating coordinate system.

[0125] Exemplarily, it is assumed that a P-channel enhancement type MOSFET is used as the controlled unit, that is, a P-channel enhancement type MOSFET is used as the controlled unit in each voltage control module.

[0126] When the controller determines the current current value in the rotating coordinate system in the above manner, the first target voltage value is determined according to the above steps S102 and S103, and then the first target voltage value is inversely PARK transformed to determine the output voltage of each voltage control module. Based on the output voltage of each voltage control module, the duty cycle of the PWM signal generator output is determined to control the on and off of each P-channel enhancement MOSFET.

[0127] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0128] Figure 8 FIG5 is a block diagram of an exemplary electronic device suitable for implementing an embodiment of the present invention. The electronic device shown in FIG5 is only an example and should not bring any limitation to the functions and scope of use of the embodiment of the present invention.

[0129] like Figure 8 As shown, the electronic device is in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: one or more processors 410, memory 430, and a communication bus 440 connecting different system components (including memory 430 and processing unit 410).

[0130] The communication bus 440 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnection (PCI) bus.

[0131] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0132] The memory 430 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 430 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0133] A program / utility having a set (at least one) of program modules may be stored in memory 430, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described in the embodiments of the present invention.

[0134] The processor 410 executes various functional applications and data processing by running the programs stored in the memory 430, such as implementing the embodiments of the present invention. Figure 6 The method provided by the illustrated embodiment.

[0135] On the basis of the above-mentioned embodiments, the embodiments of the present application further provide a butterfly valve, wherein the butterfly valve comprises a stepper motor, and the stepper motor is driven by the stepper motor vector drive circuit provided by the above-mentioned embodiments.

[0136] The above describes specific embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0137] In the description of the embodiments of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In the embodiments of the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in the embodiments of the present invention and the features of the different embodiments or examples, without contradiction.

[0138] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0139] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred implementation of the embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0140] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0141] It should be noted that the terminals involved in the embodiments of the present invention may include but are not limited to personal computers (PCs), personal digital assistants (PDAs), wireless handheld devices, tablet computers, mobile phones, MP3 players, MP4 players, etc.

[0142] In the several embodiments provided in the embodiments of the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0143] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0144] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (Processor) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), disk or optical disk and other media that can store program codes.

[0145] The above description is only a preferred embodiment of the embodiment of the present invention and is not intended to limit the embodiment of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiment of the present invention should be included in the scope of protection of the embodiment of the present invention.

Claims

1. A stepper motor vector drive circuit, characterized in that: The driving circuit is used to control the stepper motor, and the stepper motor is used to drive the action of the valve in the butterfly valve; The stepper motor is provided with at least two coils, and the stepper motor vector drive circuit comprises: at least two voltage control modules, and the voltage control modules correspond to the coils one by one; Each target voltage control module includes: a first controlled unit, a second controlled unit, a third controlled unit and a fourth controlled unit; The controlled ends of the first and third controlled units are connected to one end of the target coil; The controlled ends of the second and fourth controlled units are connected to the other end of the target coil; The control terminals of the first controlled unit, the second controlled unit, the third controlled unit and the fourth controlled unit are controlled by the PWM signal to execute shutdown, and control the voltage passing through the target coil; wherein the target voltage control module is a voltage control module in the voltage control modules; The target coil is a coil among the coils corresponding to the target voltage control module.

2. The circuit according to claim 1, characterized in that The first controlled unit and the second controlled unit are in a complementary control mode, and the third controlled unit and the fourth controlled unit are in a complementary control mode.

3. The circuit according to claim 1 or 2, characterized in that: The first controlled unit includes: one of an enhancement mode MOSFET, a triode and an IGBT transistor; The second controlled unit includes: one of an enhancement mode MOSFET, a triode and an IGBT transistor; The third controlled unit includes: one of an enhancement mode MOSFET, a triode and an IGBT transistor; The fourth controlled unit includes: one of an enhancement mode MOSFET, a triode and an IGBT transistor.

4. The circuit according to claim 3, characterized in that The butterfly valve is a vacuum butterfly valve.

5. A stepper motor vector control method, characterized in that: Applied to a stepper motor vector control device, the stepper motor vector control device comprises: a controller, a PWM signal generator and a stepper motor vector drive circuit according to any one of claims 1 to 4 connected in sequence, the method comprising: The controller obtains a current rotor angle value and a target rotor angle value for the stepper motor, and uses PID control to determine a target rotor speed value for the stepper motor based on an error between the current rotor angle value and the target rotor angle value as a feedback amount; The controller obtains a current rotor speed value for the stepper motor, and uses a PID control to determine a target current value in a rotating coordinate system based on an error between the current rotor speed value for the stepper motor and a target rotor speed value for the stepper motor as a feedback amount; The controller obtains a current current value in a rotating coordinate system, uses an error between the current current value in the rotating coordinate system and a target current value in the rotating coordinate system as a feedback amount, and adopts PID control to determine a first target voltage value, wherein the first target voltage value is an expected voltage value in the rotating coordinate system; The controller adjusts the duty cycle of the PWM signal output by the PWM signal generator, and each voltage control module in the stepper motor vector drive circuit responds to the duty cycle of the PWM signal to meet the corresponding second target voltage value, and the second target voltage value corresponding to each voltage control module is determined based on the first target voltage value.

6. The method according to claim 5, characterized in that Before the step of obtaining a current rotor angle value and a target rotor angle value for the stepper motor by the controller, and determining a target rotor speed value for the stepper motor by using PID control based on an error between the current rotor angle value and the target rotor angle value as a feedback amount, the method further comprises: Set the initial value of the rotor position for the stepper motor.

7. The method according to claim 5, characterized in that The stepper motor is a two-phase stepper motor, and the stepper is provided with two sets of coils; The controller obtains the current current value in the rotating coordinate system, and uses the error between the current current value in the rotating coordinate system and the target current value in the rotating coordinate system as a feedback amount, and in the step of determining the first target voltage value by using PID control, the current current value in the rotating coordinate system is determined by the following method: Measuring the current value of each coil in the two sets of coils in a two-phase stationary coordinate system; Performing Park transformation on the current value of each coil in the two coil groups in the two-phase stationary coordinate system to obtain the current current value in the rotating coordinate system; The second target voltage value corresponding to each voltage control module is determined based on an inverse PARK transformation of the first target voltage value.

8. The method according to claim 5, characterized in that The stepper motor is a three-phase stepper motor, and the stepper is provided with three sets of coils; The controller obtains the current current value in the rotating coordinate system, and uses the error between the current current value in the rotating coordinate system and the target current value in the rotating coordinate system as a feedback amount, and in the step of determining the first target voltage value by using PID control, the current current value in the rotating coordinate system is determined by the following method: Measuring the current value of each of the three groups of coils in a three-phase stationary coordinate system; Performing CLARK conversion and PARK transformation on the current value of each coil in the three coil groups in the three-phase stationary coordinate system to obtain the current current value; The second target voltage value is determined based on the first target voltage value after inverse PARK transformation and inverse CLARK transformation.

9. An electronic device, characterized in that: include: at least one processor; as well as at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 5 to 8 by calling the program instructions.

10. A butterfly valve, characterized in that: The butterfly valve comprises a stepper motor, and the stepper motor is driven by a stepper motor vector drive circuit as claimed in any one of claims 1 to 4.

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