Dual-channel motor controller without position sensor

Abstract

The invention provides a dual-channel motor controller without a position sensor, and belongs to the technical field of motor control, and the controller specifically comprises a three-phase current signal detection module which is used for detecting the three-phase current of two motors; the three-phase counter electromotive force signal detection module is used for detecting the three-phase counter electromotive force of the two motors; the two groups of IPM temperature signal modules are used for detecting the IPM temperatures of the two motors respectively; the 28V voltage signal detection module is used for detecting 28V voltage signals of the motor; the 270V voltage signal detection module is used for detecting a 270V voltage signal of the motor; and the control module is used for controlling the other motor to start at an interval of 1S after one motor is started. Through the processing scheme provided by the invention, the efficient control of the motor is realized, and meanwhile, the robustness of the motor is improved, so that the motor can be used under various severe conditions.

Description

Technical Field

[0001] The present application relates to the field of motor control, and in particular to a dual-channel position sensorless motor controller. Background Art

[0002] The existing pure hardware motor circuit design methods are mainly as follows:

[0003] a) Use three Hall sensors to directly transmit the sensed magnetic field signal to the subsequent field effect tube driver;

[0004] b) The motor and controller are not monitored and the working status cannot be obtained.

[0005] For pure hardware motor circuits, the main problems are as follows:

[0006] a) The motor operation can only be controlled by hardware, and the protection function cannot be realized;

[0007] b) It does not have health monitoring function and cannot monitor the working status of the motor and controller;

[0008] c) It does not have the function of real-time communication with the host computer.

[0009] At present, the use of motor controllers with health monitoring and communication functions is increasing, so the existing technology urgently needs to break through the above problems. Summary of the invention

[0010] In view of this, the present application provides a dual-channel position sensorless motor controller, which solves the problems in the prior art, achieves efficient control of the motor, and improves the robustness of the motor so that it can be used under various harsh conditions.

[0011] The present application provides a dual-channel position sensorless motor controller adopts the following technical solution:

[0012] A dual-channel position sensorless motor controller, comprising:

[0013] A three-phase current signal detection module is used to detect the three-phase currents of the two motors;

[0014] A three-way back electromotive force signal detection module is used to detect the three-way back electromotive force of two motors;

[0015] Two sets of IPM temperature signal modules detect the IPM temperatures of the two motors respectively;

[0016] 28V voltage signal detection module, used to detect the 28V voltage signal of the motor;

[0017] 270V voltage signal detection module, used to detect the 270V voltage signal of the motor;

[0018] The control module is used to control the start of another motor after one motor is started for 1S.

[0019] Optionally, the three-phase current signal detection module includes:

[0020] A first current sensor, a second current sensor and an operational amplifier U10, wherein the first current sensor is used to convert the U-phase current of the first motor into an IU1_Hall level signal and then output it to the operational amplifier U10, and the IU1_Hall level signal is amplified by the operational amplifier U10 and then converted into an IU1 level signal and transmitted to the control module; the second current sensor is used to convert the V-phase current of the first motor into an IV1_Hall level signal and then output it to the operational amplifier U10, and the IV1_Hall level signal is amplified by the operational amplifier U10 and then converted into an IV1 level signal and transmitted to the control module, wherein the U-phase current and the V-phase current of the first motor are connected to different output terminals of the operational amplifier U10, and the IU1 level signal and the IV1 level signal are output through two different output terminals of the operational amplifier U10;

[0021] A third current sensor and an operational amplifier U21, wherein the third current sensor is used to convert the W-phase current of the first motor into an IW1_Hall level signal and then output it to the operational amplifier U21, and the IW1_Hall level signal is amplified by the operational amplifier U21 and then converted into an IW1 level signal and transmitted to the control module;

[0022] A fourth current sensor, a fifth current sensor and an operational amplifier U19, wherein the fourth current sensor is used to convert the U-phase current of the second motor into an IU2_Hall level signal and then output it to the operational amplifier U19, and the IU2_Hall level signal is amplified by the operational amplifier U19 and then converted into an IU2 level signal and transmitted to the control module; the fifth current sensor is used to convert the V-phase current of the second motor into an IV2_Hall level signal and then output it to the operational amplifier U19, and the IV2_Hall level signal is amplified by the operational amplifier U19 and then converted into an IV2 level signal and transmitted to the control module, wherein the U-phase current and the V-phase current of the second motor are connected to different output terminals of the operational amplifier U19, and the IU2 level signal and the IV2 level signal are output through two different output terminals on the operational amplifier U19;

[0023] A sixth current sensor and an operational amplifier U23, wherein the sixth current sensor is used to convert the W-phase current of the second motor into an IW2_Hall level signal and then output it to the operational amplifier U23, and the IW2_Hall level signal is amplified by the operational amplifier U23 and then converted into an IW2 level signal and transmitted to the control module;

[0024] A protective resistor is connected in series to the input end of the operational amplifier, and the protective resistor is connected to the analog ground; a voltage divider resistor is connected to the output end of the operational amplifier; and a first-order filter circuit is connected to the output end of the operational amplifier.

[0025] Optionally, the output end of the operational amplifier is connected to a switching diode for clamping the voltage signal entering the core controller.

[0026] Optionally, the three-phase back electromotive force signal detection module includes two sets of zero-crossing detection hardware circuits and isolation hardware circuits, one set of zero-point detection hardware circuit and isolation hardware circuit corresponding to detecting the three-phase back electromotive force signal of one motor;

[0027] The zero-crossing detection hardware circuit divides the voltages of the U-phase, V-phase and W-phase through the voltage-dividing resistors and obtains Phase_U, Phase_V and Phase_W through the first-order filtering, and then inputs them into the voltage comparator. The voltage comparator compares the neutral point voltage MITTEL with Phase_U, Phase_V and Phase_W respectively to obtain ISO_ZU signal, ISO_ZV signal and ISO_ZW signal;

[0028] The ISO_ZU signal, ISO_ZV signal and ISO_ZW signal are converted into ISO_ZU_IO, ISO_ZV_IO and ISO_ZW_IO by the operational amplifier of the isolation hardware circuit and then transmitted to the control module.

[0029] Optionally, the IPM temperature signal module includes two sets of IPM temperature detection circuits and amplification hardware circuits, one set of IPM temperature detection circuits and amplification hardware circuits is used to detect the IPM temperature of a motor, and the amplification hardware circuit includes a first isolation operational amplifier and a voltage follower;

[0030] The IPM temperature detection circuit is used to convert the temperature signal into a voltage signal IC_temp. The voltage signal IC_temp is converted into differential voltage signals IPM_TEMP+ and IPM_TEMP- through a first isolation operational amplifier. The IPM_TEMP+ and IPM_TEMP- signals are converted into stable voltage signals ISO_VOT through a voltage follower of an amplifying hardware circuit and transmitted to a control module.

[0031] Optionally, the 28V voltage signal detection module includes a resistor R45, a resistor R187, a resistor R188 and a second isolation operational amplifier U40;

[0032] Resistors R45, R187, and R188 divide the 28V voltage and transmit it to the isolation operational amplifier U40, converting it into differential voltage signals 28VBUS+ and 28VBUS-. 28VBUS+ and 28VBUS- are converted into stable voltage signals ADC_28VBUS by the operational amplifier U21 and transmitted to the control module.

[0033] Among them, at two input terminals of the W-phase current operational amplifier U21 of the first motor, 28VBUS+ and 28VBUS- are transmitted to the other two input terminals of the operational amplifier U21, and the IW1 level signal and ADC_28VBUS signal are output through two different output terminals of the operational amplifier U21.

[0034] Optionally, the 270V voltage signal detection module includes a resistor R111, a resistor R112, a resistor R113, a resistor R120, an isolation operational amplifier U37 and a voltage follower U18;

[0035] Resistors R111, R112, R113 and R120 divide the 270V voltage and transmit it to the isolation operational amplifier U37, converting it into differential voltage signals V_BUS+ and V_BUS-. The voltage signals V_BUS+ and V_BUS- are converted into stable voltage signals ADC_VBUS by the voltage follower U18 and then transmitted to the control module.

[0036] In summary, this application includes the following beneficial technical effects:

[0037] Based on the original pure hardware motor control circuit, this application has been redesigned by adding electronic components such as an ARM controller, an isolation operational amplifier, and an RS-422 communication chip. On the basis of achieving the original control of the three-phase motor operation, the circuit reliability and motor robustness are further improved, and RS-422 communication function and health monitoring function are added. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is a circuit diagram of the three-phase current signal detection module of the present application;

[0040] Figure 2 It is the U-phase current detection circuit of motor No. 1 of the present application;

[0041] Figure 3 It is a circuit diagram of the three-phase back electromotive force signal detection module of the present application;

[0042] Figure 4 This is the circuit diagram of the zero-crossing detection hardware and isolation hardware of the U-phase of motor No. 1 of the present application;

[0043] Figure 5 It is a circuit diagram of the IPM temperature signal module of the present application;

[0044] Figure 6 This is the temperature detection circuit and amplification hardware circuit diagram of the IPM module of motor No. 1 of this application;

[0045] Figure 7 It is the 270V voltage detection circuit of this application;

[0046] Figure 8 This is the 28V voltage detection circuit of this application;

[0047] Fig. 9 It is the execution flowchart of this application program;

[0048] Fig.10 This is the RS-422 communication circuit of this application. DETAILED DESCRIPTION

[0049] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0050] The following describes the implementation methods of the present application through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0051] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0052] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show the components related to the present application rather than being drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0053] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0054] An embodiment of the present application provides a dual-channel position sensorless motor controller.

[0055] A dual-channel position sensorless motor controller, comprising:

[0056] The three-phase current signal detection module is used to detect the three-phase current of the two motors.

[0057] The three-phase current signal detection module comprises:

[0058] like Figure 1 As shown, a first current sensor, a second current sensor and an operational amplifier U10, the first current sensor is used to convert the U-phase current of the first motor into an IU1_Hall level signal and then output it to the operational amplifier U10, the IU1_Hall level signal is amplified by the operational amplifier U10 and converted into an IU1 level signal and transmitted to the control module; the second current sensor is used to convert the V-phase current of the first motor into an IV1_Hall level signal and then output it to the operational amplifier U10, the IV1_Hall level signal is amplified by the operational amplifier U10 and converted into an IV1 level signal and transmitted to the control module, wherein the U-phase current and the V-phase current of the first motor are connected to different output terminals of the operational amplifier U10, and the IU1 level signal and the IV1 level signal are output through two different output terminals on the operational amplifier U10.

[0059] The third current sensor and operational amplifier U21, the third current sensor is used to convert the W-phase current of the first motor into an IW1_Hall level signal and output it to the operational amplifier U21, the IW1_Hall level signal is amplified by the operational amplifier U21 and converted into an IW1 level signal and transmitted to the control module.

[0060] A fourth current sensor, a fifth current sensor and an operational amplifier U19, wherein the fourth current sensor is used to convert the U-phase current of the second motor into an IU2_Hall level signal and then output it to the operational amplifier U19, and the IU2_Hall level signal is amplified by the operational amplifier U19 and then converted into an IU2 level signal and transmitted to the control module; the fifth current sensor is used to convert the V-phase current of the second motor into an IV2_Hall level signal and then output it to the operational amplifier U19, and the IV2_Hall level signal is amplified by the operational amplifier U19 and then converted into an IV2 level signal and transmitted to the control module, wherein the U-phase current and the V-phase current of the second motor are connected to different output terminals of the operational amplifier U19, and the IU2 level signal and the IV2 level signal are output through two different output terminals on the operational amplifier U19.

[0061] The sixth current sensor and operational amplifier U23, the sixth current sensor is used to convert the W-phase current of the second motor into an IW2_Hall level signal and then output it to the operational amplifier U23, the IW2_Hall level signal is amplified by the operational amplifier U23 and then converted into an IW2 level signal and transmitted to the control module.

[0062] A protective resistor is connected in series to the input end of the operational amplifier, and the protective resistor is connected to the analog ground; a voltage divider resistor is connected to the output end of the operational amplifier; and a first-order filter circuit is connected to the output end of the operational amplifier.

[0063] The output end of the operational amplifier is connected with a switching diode for clamping the voltage signal entering the core controller.

[0064] like Figure 2As shown, the embodiment of the present application takes the U-phase current detection of motor No. 1 as an example for explanation. The U29 current sensor converts the current flowing through the U-phase into an IU1_Hall level signal, and after amplification by the operational amplifier U10 and related peripheral circuits, it is converted into an IU1 level signal and transmitted to the core controller. R159 and R166 are added to the input end of the operational amplifier U10, where R159 and R166 are used as protection resistors and connected to the analog ground; voltage divider resistors R29 and R33 are added to the output end of the operational amplifier U10; R30 and C149 are added to the output end of the operational amplifier U10 to form a first-order filter circuit; the esd protection device D3 is added to the output end of the operational amplifier U10 as a switching diode, which is used to clamp the voltage signal entering the core controller. The comprehensive function realizes the detection of the U-phase current.

[0065] The three-way back electromotive force signal detection module is used to detect the three-way back electromotive force of two motors.

[0066] like Figure 3 As shown, the three-phase back electromotive force signal detection module includes two sets of zero-crossing detection hardware circuits and isolation hardware circuits. One set of zero-point detection hardware circuits and isolation hardware circuits detects the three-phase back electromotive force signal of a motor; the zero-crossing detection hardware circuit divides the voltages of the U-phase, V-phase and W-phase through a voltage-dividing resistor and then obtains Phase_U, Phase_V and Phase_W through a first-order filter, and then inputs them into the voltage comparator; the voltage comparator compares the neutral point voltage MITTEL with Phase_U, Phase_V, Phase_W respectively to obtain ISO_ZU signal, ISO_ZV signal and ISO_ZW signal; the ISO_ZU signal, ISO_ZV signal and ISO_ZW signal are converted into ISO_ZU_IO, ISO_ZV_IO and ISO_ZW_IO through the operational amplifier of the isolation hardware circuit and then transmitted to the control module.

[0067] like Figure 4 As shown, the embodiment of the present application takes the detection of the U phase electromotive force of motor No. 1 as an example for explanation. The voltage-dividing resistors R14 and R126 divide the U phase voltage and obtain Phase_U1 through the first-order filter, and compare Phase_U1 with the neutral point voltage MITTEL1 through the comparator U13, and output the ISO_ZU1 voltage signal; and convert it into ISO_ZU1_IO through the isolation amplifier U42 and transmit it to the core controller. On the one hand, the feedback signal is reduced from 5V to 3.3V to adapt to the single-chip port, and on the other hand, the ground planes at both ends are divided to reduce crosstalk and other problems. The comprehensive function realizes the detection of the U phase electromotive force.

[0068] Two sets of IPM temperature signal modules detect the IPM temperatures of the two motors respectively.

[0069] like Figure 5 As shown, the IPM temperature signal module includes two sets of IPM temperature detection circuits and amplifying hardware circuits. One set of IPM temperature detection circuits and amplifying hardware circuits is used to detect the IPM temperature of a motor. The amplifying hardware circuit includes a first isolation operational amplifier and a voltage follower. The IPM temperature detection circuit is used to convert the temperature signal into a voltage signal IC_temp. The voltage signal IC_temp is converted into differential voltage signals IPM_TEMP+ and IPM_TEMP- through the first isolation operational amplifier. The IPM_TEMP+ and IPM_TEMP- signals are converted into stable voltage signals ISO_VOT through the voltage follower of the amplifying hardware circuit and transmitted to the control module.

[0070] like Figure 6 As shown, the embodiment of the present application takes the temperature detection of IPM module No. 1 as an example for explanation. The temperature detection IC integrated in the IPM module converts the temperature into a voltage signal IC1_temp, and transmits it to the isolation operational amplifier U34, and converts it into a differential voltage signal IPM1_TEMP+ and IPM1_TEMP-, so that it has a higher anti-interference ability during the inter-board transmission process. And it is converted into a stable voltage signal ISO_VOT1 through the voltage follower U20 and related hardware circuits and transmitted to the core controller, wherein R141 is used as a protection resistor and connected to the analog ground; R75 and R80 are used as voltage divider resistors; R76 and C191 together form a first-order filter circuit; D11 is a switching diode, which is used to clamp the voltage signal entering the core controller. The temperature of IPM module No. 1 is detected.

[0071] The 28V voltage signal detection module is used to detect the 28V voltage signal of the motor.

[0072] like Figure 8 As shown, the 28V voltage signal detection module includes a resistor R45, a resistor R187, a resistor R188 and a second isolation operational amplifier U40; the resistors R45, R187 and R188 divide the 28V voltage and transmit it to the isolation operational amplifier U40, converting it into differential voltage signals 28VBUS+ and 28VBUS-, so that it has higher anti-interference ability during transmission; 28VBUS+ and 28VBUS- are converted into stable voltage signals ADC_28VBUS through the operational amplifier U21 and transmitted to the control module;

[0073] Among them, at two input terminals of the W-phase current operational amplifier U21 of the first motor, 28VBUS+ and 28VBUS- are transmitted to the other two input terminals of the operational amplifier U21, and the IW1 level signal and ADC_28VBUS signal are output through two different output terminals of the operational amplifier U21.

[0074] The 270V voltage signal detection module is used to detect the 270V voltage signal of the motor.

[0075] like Figure 7 As shown, the 270V voltage signal detection module includes resistor R111, resistor R112, resistor R113, resistor R120, isolation operational amplifier U37 and voltage follower U18; resistor R111, resistor R112, resistor R113 and resistor R120 divide the 270V voltage and transmit it to the isolation operational amplifier U37, and convert it into differential voltage signals V_BUS+ and V_BUS-, so that it has higher anti-interference ability during inter-board transmission; the voltage signals V_BUS+ and V_BUS- are converted into stable voltage signals ADC_VBUS by the voltage follower U18 and then transmitted to the control module.

[0076] The control module is used to control the start of another motor after one motor starts for 1S. Fig. 9 As shown, the present application designs a motor control program based on two sets of identical hardware structures. After the system initialization is completed, first, it will comprehensively judge whether to send the motor start command based on the interrupt task and whether the speed loop update time is reached. Secondly, it will comprehensively judge whether the motor executes the start command based on the speed loop execution cycle, the current loop execution FOC, the current ADC conversion state, etc. Finally, when the first fan is started, according to the controller's comprehensive judgment logic, the starting current and other factors at the moment of simultaneous starting are reduced, and the same program is executed after an interval of 1S to start another motor. And during the working process, the current and speed of the two motors are independently detected to realize functions such as simultaneous control and time-sharing control.

[0077] RS-422 communication functions, such as Fig.10 As shown, a dedicated RS-422 communication chip U22 is used to convert the controller communication signals 1RS422_RXD and 1RS422_RXD into UP422sendA+ and UP422sendA- and A422sendUP+ and A422sendUP- for interacting with the host computer, where ZD1 and ZD2 are transient suppression diodes for protecting the four 422 signal lines. The integrated function realizes the function of communicating with the host computer.

[0078] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A dual-channel position sensorless motor controller, characterized in that: include: A three-phase current signal detection module is used to detect the three-phase currents of the two motors; A three-way back electromotive force signal detection module is used to detect the three-way back electromotive force of two motors; Two sets of IPM temperature signal modules detect the IPM temperatures of the two motors respectively; 28V voltage signal detection module, used to detect the 28V voltage signal of the motor; 270V voltage signal detection module, used to detect the 270V voltage signal of the motor; The control module is used to control the start of another motor after one motor is started for 1S.

2. The dual-channel position sensorless motor controller according to claim 1, characterized in that: The three-phase current signal detection module comprises: A first current sensor, a second current sensor and an operational amplifier U10, wherein the first current sensor is used to convert the U-phase current of the first motor into an IU1_Hal l level signal and then output it to the operational amplifier U10, and the IU1_Hall level signal is amplified by the operational amplifier U10 and then converted into an IU1 level signal and transmitted to the control module; the second current sensor is used to convert the V-phase current of the first motor into an IV1_Hall level signal and then output it to the operational amplifier U10, and the IV1_Hall level signal is amplified by the operational amplifier U10 and then converted into an IV1 level signal and transmitted to the control module, wherein the U-phase current and the V-phase current of the first motor are connected to different output terminals of the operational amplifier U10, and the IU1 level signal and the IV1 level signal are output through two different output terminals of the operational amplifier U10; A third current sensor and an operational amplifier U21, wherein the third current sensor is used to convert the W-phase current of the first motor into an IW1_Hall level signal and then output it to the operational amplifier U21, and the IW1_Hall level signal is amplified by the operational amplifier U21 and then converted into an IW1 level signal and transmitted to the control module; A fourth current sensor, a fifth current sensor and an operational amplifier U19, wherein the fourth current sensor is used to convert the U-phase current of the second motor into an IU2_Hall level signal and then output it to the operational amplifier U19, and the IU2_Hall level signal is amplified by the operational amplifier U19 and then converted into an IU2 level signal and transmitted to the control module; the fifth current sensor is used to convert the V-phase current of the second motor into an IV2_Hall level signal and then output it to the operational amplifier U19, and the IV2_Hall level signal is amplified by the operational amplifier U19 and then converted into an IV2 level signal and transmitted to the control module, wherein the U-phase current and the V-phase current of the second motor are connected to different output terminals of the operational amplifier U19, and the IU2 level signal and the IV2 level signal are output through two different output terminals of the operational amplifier U19; A sixth current sensor and an operational amplifier U23, wherein the sixth current sensor is used to convert the W-phase current of the second motor into an IW2_Hall level signal and then output it to the operational amplifier U23, and the IW2_Hall level signal is amplified by the operational amplifier U23 and then converted into an IW2 level signal and transmitted to the control module; A protective resistor is connected in series to the input end of the operational amplifier, and the protective resistor is connected to the analog ground; a voltage divider resistor is connected to the output end of the operational amplifier; and a first-order filter circuit is connected to the output end of the operational amplifier.

3. The dual-channel position sensorless motor controller according to claim 2, characterized in that: The output end of the operational amplifier is connected with a switching diode for clamping the voltage signal entering the core controller.

4. The dual-channel position sensorless motor controller according to claim 1, characterized in that: The three-phase back electromotive force signal detection module includes two sets of zero-point detection hardware circuits and isolation hardware circuits, one set of zero-point detection hardware circuit and isolation hardware circuit corresponding to the detection of the three-phase back electromotive force signal of a motor; The zero-crossing detection hardware circuit divides the voltages of the U-phase, V-phase and W-phase through the voltage-dividing resistors and obtains Phase_U, Phase_V and Phase_W through the first-order filtering, and then inputs them into the voltage comparator. The voltage comparator compares the neutral point voltage MITTEL with Phase_U, Phase_V and Phase_W respectively to obtain ISO_ZU signal, ISO_ZV signal and ISO_ZW signal; The ISO_ZU signal, ISO_ZV signal and ISO_ZW signal are converted into ISO_ZU_IO, ISO_ZV_IO and ISO_ZW_IO by the operational amplifier of the isolation hardware circuit and then transmitted to the control module.

5. The dual-channel position sensorless motor controller according to claim 1, characterized in that: The IPM temperature signal module includes two sets of IPM temperature detection circuits and amplification hardware circuits, one set of IPM temperature detection circuits and amplification hardware circuits are used to detect the IPM temperature of a motor, and the amplification hardware circuit includes a first isolation operational amplifier and a voltage follower; The IPM temperature detection circuit is used to convert the temperature signal into a voltage signal IC_temp. The voltage signal IC_temp is converted into differential voltage signals IPM_TEMP+ and IPM_TEMP- through a first isolation operational amplifier. The IPM_TEMP+ and IPM_TEMP- signals are converted into stable voltage signals ISO_VOT through a voltage follower of an amplifying hardware circuit and transmitted to a control module.

6. The dual-channel position sensorless motor controller according to claim 2, characterized in that: The 28V voltage signal detection module includes a resistor R45, a resistor R187, a resistor R188 and a second isolation operational amplifier U40; Resistors R45, R187, and R188 divide the 28V voltage and transmit it to the isolation operational amplifier U40, converting it into differential voltage signals 28VBUS+ and 28VBUS-. 28VBUS+ and 28VBUS- are converted into stable voltage signals ADC_28VBUS by the operational amplifier U21 and transmitted to the control module. Among them, at two input terminals of the W-phase current operational amplifier U21 of the first motor, 28VBUS+ and 28VBUS- are transmitted to the other two input terminals of the operational amplifier U21, and the IW1 level signal and ADC_28VBUS signal are output through two different output terminals of the operational amplifier U21.

7. The dual-channel position sensorless motor controller according to claim 1, characterized in that: The 270V voltage signal detection module includes a resistor R111, a resistor R112, a resistor R113, a resistor R120, an isolation operational amplifier U37 and a voltage follower U18; Resistors R111, R112, R113 and R120 divide the 270V voltage and transmit it to the isolation operational amplifier U37, converting it into differential voltage signals V_BUS+ and V_BUS-. The voltage signals V_BUS+ and V_BUS- are converted into stable voltage signals ADC_VBUS by the voltage follower U18 and then transmitted to the control module.

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