Duplex winding motor drive control system and control method

Abstract

The invention belongs to the field of airborne electric actuating system control, and discloses a double-winding motor driving control system and a driving control method, the driving control system comprises a first control driving structure and a second control driving structure, and the first control driving structure and the second control driving structure are connected through an information interaction module. Each of the first control driving structure and the second control driving structure comprises a control module, a bus driver, a motor driver and a circuit breaker which are connected in sequence, the input end of the control module is connected with an upper computer, a Hall module and a self-monitoring module, and the self-monitoring module and the control module are connected with the input end of an OR gate; the output end of the OR gate is connected with the circuit breaker, and the output end of the circuit breaker is connected with the double-winding brushless motor. According to the invention, the reliability of the double-winding motor driving system can be improved, and especially the fault that a motor brake cannot be started due to interphase short circuit of a single-winding driver is avoided.

Description

Technical Field

[0001] The present invention belongs to the field of airborne electric actuation system control, and relates to a dual-winding motor control technology for an electric actuation system, and specifically relates to a dual-winding motor drive control system and a drive control method. Background Art

[0002] In order to ensure the reliability and safety of aircraft equipment, the airborne electric actuation system is designed with redundancy according to its importance. For example, the main control surface in the flight control system is usually controlled by a dual motor drive system or a dual winding motor drive system. Compared with the dual motor actuator, the dual winding motor actuator has the advantages of small size, light weight and low cost.

[0003] In order to meet the effectiveness and reliability of the dual-winding motor drive system, it is necessary to design a driving and fault switching method suitable for the dual-winding motor. Summary of the invention

[0004] In order to achieve the purpose of meeting the effectiveness and reliability of a dual-winding motor drive system, the present invention discloses a dual-winding motor drive control system, the system comprising a first control drive structure and a second control drive structure, the first control drive structure and the second control drive structure being connected via an information interaction module.

[0005] Among them, the first control drive structure and the second control drive structure both include a control module, a bus driver, a motor driver and a circuit breaker connected in sequence, the input end of the control module is respectively connected to the host computer, the Hall module and the self-monitoring module, the self-monitoring module and the control module are both connected to the input end of the OR gate, the output end of the OR gate is connected to the circuit breaker, and the output end of the circuit breaker is connected to the dual-winding brushless motor.

[0006] Furthermore, the self-monitoring module includes an MCU monitoring submodule, a brushless motor voltage monitoring submodule and a brushless motor current monitoring submodule.

[0007] Furthermore, the circuit breaker includes a digital optocoupler and a plurality of bidirectional thyristor diodes, wherein a first end of each bidirectional thyristor diode is connected to the motor driver, a second end is connected to the dual-winding brushless motor, and a third end is connected to the digital optocoupler.

[0008] Furthermore, the information interaction module includes a CCDL bus and a hard line, and the hard line performs heartbeat interaction on the control module of the first control drive structure and the control module of the second control drive structure after being isolated by an optical coupler.

[0009] Furthermore, the first control drive structure and the second control drive structure both include a power switch, one end of the power switch is connected to the self-monitoring module, and the other end is connected to the bus driver.

[0010] Furthermore, the first control drive structure and the second control drive structure both include an electronic switch, one end of the electronic switch is connected to the self-monitoring module, and the other end is connected to the motor driver.

[0011] The embodiment of the present invention further provides a dual-winding motor drive control method, which controls the dual-winding brushless motor through the dual-winding motor drive control system. The control method includes the following steps:

[0012] S1. Analyze the host computer instruction or preset working logic, and select the current control drive structure for controlling the operation of the dual-winding brushless motor according to the analysis result, wherein the current control drive structure is the first control drive structure or the second control drive structure;

[0013] S2, using a Hall module corresponding to the current control drive structure to collect Hall signals, and using a control algorithm to solve the Hall signals to output a speed PWM signal and a steering PWM signal of the dual-winding brushless motor; and controlling the dual-winding brushless motor to work according to the speed PWM signal and the steering PWM signal;

[0014] S3. Collect the voltage signal or current signal of the dual-winding brushless motor in real time, judge the voltage signal or the current signal according to a threshold value, control the current control drive structure to disconnect when it is judged to be overvoltage or overcurrent, output an abnormal signal to another control drive structure that communicates with the current control drive structure, and switch to the control drive structure to control the dual-winding brushless motor according to the abnormal signal.

[0015] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the processor implements any of the above-mentioned dual-winding motor drive control methods to achieve the purpose of meeting the effectiveness and reliability of the dual-winding motor drive system.

[0016] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program for executing any of the above-mentioned dual-winding motor drive control methods to achieve the purpose of meeting the effectiveness and reliability of the dual-winding motor drive system.

[0017] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in the embodiments of this specification include at least: the dual-winding motor drive control system and control method of the present invention can improve the reliability of the dual-winding motor drive system by setting two independent and communicating first control drive structures and second control drive structures, especially avoiding the failure of the motor brake to start due to the short circuit between phases of a single set of winding drivers. At the same time, through the setting of the self-monitoring module, it is possible to monitor each module in the first control drive structure or the second control drive structure and monitor the current or voltage of the dual-winding brushless motor to ensure the normal operation of the dual-winding brushless motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 This is a schematic diagram of a dual-winding motor drive control system disclosed in an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a circuit breaker disclosed in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of a self-monitoring module disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0023] 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 the following embodiments and the features of the embodiments can be combined with each other in the absence of conflict. 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.

[0024] The embodiment of the present invention discloses a dual-winding motor drive control system, the system includes a first control drive structure and a second control drive structure, and the first control drive structure and the second control drive structure are connected via an information interaction module. The first control drive structure and the second control drive structure are both independent control channels. Under normal working conditions, one control channel can be designated as a working channel according to the host computer instruction, or polling can be performed between the two control channels according to the control logic and the number of power-on times. When any control channel is a working channel, the control drive of a set of windings is completed according to the control rate. In this process, the self-monitoring module monitors the control channel. When a fault occurs in the control channel, the fault information is transmitted and the channel is switched through the information interaction module to achieve the backup drive of the dual-winding motor.

[0025] Among them, see Figure 1 As shown, the first control drive structure and the second control drive structure both include a control module (MCU), a bus driver, a motor driver and a circuit breaker connected in sequence, the input end of the control module is respectively connected to the host computer, the Hall module and the self-monitoring module, the self-monitoring module and the control module are both connected to the input end of the OR gate, the output end of the OR gate is connected to the circuit breaker, and the output end of the circuit breaker is connected to the dual-winding brushless motor.

[0026] Furthermore, a three-phase full-bridge module is provided in the motor driver. The three-phase full-bridge module can output a voltage of variable size and direction according to the input PWM frequency and duty cycle, and change the direction of the stator magnetic field by changing the phase-to-phase voltage and current direction of the motor winding, thereby realizing forward and reverse rotation of the motor.

[0027] Furthermore, the self-monitoring module includes an MCU monitoring sub-module, a brushless motor voltage monitoring sub-module and a brushless motor current monitoring sub-module, wherein the MCU monitoring sub-module is used to monitor the embedded software of the control module (MCU) and the control module itself, the brushless motor voltage monitoring sub-module is used to monitor the voltage of the dual-winding brushless motor, and the brushless motor current monitoring sub-module is used to monitor the current of the dual-winding brushless motor.

[0028] Specifically, the schematic diagram of the self-monitoring module can be found in Figure 3As shown, the self-monitoring module monitors the MCU and embedded software, monitors the motor current, and monitors the brushless motor voltage. The watchdog input is connected to the control module (MCU), and the output is connected to the OR gate input. When a fault is detected in the MCU itself or the embedded software in the MCU, the watchdog outputs a high level, causing the OR gate to output a high level to control the circuit breaker to disconnect. At the same time, the self-monitoring module controls the power switch and the electronic switch to disconnect, the circuit breaker disconnects the driver and the motor winding, and the motor stops. When the current monitoring and voltage monitoring modules detect that the brushless motor is overcurrent or overvoltage, the OR gate outputs a high level to control the circuit breaker port, and the power switch and the electronic switch are disconnected. At the same time, the self-monitoring module controls the circuit breaker module to disconnect the driver and the motor winding, and the motor stops.

[0029] Furthermore, the circuit breaker is used to control the on-off status between the motor driver and the motor winding. When working with the first control drive structure, the circuit breaker of the second control drive structure disconnects the three-phase output of the motor driver and the motor, and the motor phases are non-closed loops. The setting of the circuit breaker can prevent the motor braking caused by the short circuit between the driver phases, which leads to the overall failure of the dual-winding motor. The circuit breaker includes a digital optocoupler and a plurality of bidirectional thyristor diodes, and the first end of each bidirectional thyristor diode is connected to the motor driver, the second end is connected to the dual-winding brushless motor, and the third end is connected to the digital optocoupler.

[0030] Specifically, see Figure 2 As shown, the first terminal of the bidirectional thyristor diode V1 is connected to the U phase of the motor driver, the second terminal is connected to the U phase of the brushless motor, and the third terminal is connected to the optocoupler isolator; the first terminal of the bidirectional thyristor diode V2 is connected to the V phase of the motor driver, the second terminal is connected to the V phase of the brushless motor, and the third terminal is connected to the optocoupler isolator; the first terminal of the bidirectional thyristor diode V3 is connected to the W phase of the motor driver, the second terminal is connected to the W phase of the brushless motor, and the third terminal is connected to the optocoupler isolator.

[0031] Further, see Figure 1 As shown, the information interaction module includes a CCDL bus and a hard wire, and the CCDL bus can be implemented using RS422 or CAN bus. The hard wire performs heartbeat interaction on the control module of the first control drive structure and the control module of the second control drive structure after optical coupling isolation. The CCDL bus and the hard wire are two parallel channels. When the system is running, the communication of the CCDL bus is the main one by default, and the communication of the hard wire is auxiliary. When the CCDL bus fails, so that the first control drive structure and the second control drive structure cannot normally exchange information, the "heartbeat" signal transmission is simulated by PWM. For example, when the first control drive structure fails, the hard wire "heartbeat" signal stops and is a fixed level. When the second control drive structure detects that the "heartbeat" signal stops, it takes over the faulty channel to control the motor.

[0032] Further, see Figure 1 As shown, the first control drive structure and the second control drive structure both include a power switch, one end of the power switch is connected to the self-monitoring module, and the other end is connected to the bus driver. The power switch is used to power the bus driver. When the switch is closed, the bus driver is powered, and when the switch is open, the bus driver is cut off from power supply;

[0033] Further, see Figure 1 As shown, the first control drive structure and the second control drive structure both include an electronic switch, one end of the electronic switch is connected to the self-monitoring module, and the other end is connected to the motor driver. The electronic switch is a motor driver power switch, and when the switch is closed, the motor driver is powered, and when the switch is open, the motor driver is powered off.

[0034] Based on the same inventive concept, a dual-winding motor drive control method is also provided in an embodiment of the present invention, as described in the following embodiment. Since the principle of solving the problem by the dual-winding motor drive control method is similar to that of the dual-winding motor drive control system in the above embodiment, the implementation of the dual-winding motor drive control method can realize the control of the operation of the dual-winding brushless motor through each module in the dual-winding motor drive control system. Specifically, the control method includes the following steps:

[0035] S1. Analyze the host computer instruction or preset working logic, and select the current control drive structure for controlling the operation of the dual-winding brushless motor according to the analysis result, wherein the current control drive structure is the first control drive structure or the second control drive structure.

[0036] S2. Use the Hall module corresponding to the current control drive structure to collect Hall signals, and use the control algorithm to solve the Hall signals to output the speed PWM signal and the steering PWM signal of the dual-winding brushless motor; control the operation of the dual-winding brushless motor according to the speed PWM signal and the steering PWM signal.

[0037] Specifically, on the one hand, the motor position can be calculated through the Hall signal, and the two-phase winding (AB winding) can be turned on to realize the forward and reverse rotation and speed control of the motor; on the other hand, the host computer instructions or internal control rate can be solved according to the control module (MCU), and 6 PWMs can be output to the bus driver according to the solved speed and torque requirements. The bus driver transmits the PWM signal and provides a certain current. The motor driver changes the phase-to-phase voltage and current direction of the motor winding according to the input PWM frequency and duty cycle, and then changes the direction of the stator magnetic field to realize the rotation of the motor.

[0038] S3. Collect the voltage signal or current signal of the dual-winding brushless motor in real time, judge the voltage signal or the current signal according to a threshold value, control the current control drive structure to disconnect when it is judged to be overvoltage or overcurrent, output an abnormal signal to another control drive structure that communicates with the current control drive structure, and switch to the control drive structure to control the dual-winding brushless motor according to the abnormal signal.

[0039] At the same time, the bus driver has the function of enabling / disabling PWM transmission. When the bus driver is enabled, the bus transceiver transmits the PWM signal to the motor driver; when the bus driver is disabled, the bus transceiver outputs a high impedance state and stops PWM signal transmission.

[0040] The dual-winding motor drive control system and control method of the present invention can improve the reliability of the dual-winding motor drive system by setting two independent first control drive structures and second control drive structures that communicate with each other, especially avoiding the motor brake failure caused by the short circuit between phases of a single set of winding drivers. At the same time, through the setting of the self-monitoring module, it is possible to monitor each module in the first control drive structure or the second control drive structure and monitor the current or voltage of the dual-winding brushless motor to ensure the normal operation of the dual-winding brushless motor.

[0041] In this embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above-mentioned dual-winding motor drive control methods when executing the computer program.

[0042] Specifically, the computer device may be a computer terminal, a server or a similar computing device.

[0043] In this embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program for executing any of the above-mentioned dual-winding motor drive control methods.

[0044] Specifically, computer-readable storage media include permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media does not include transitory media such as modulated data signals and carrier waves.

[0045] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of the present invention are not limited to any specific combination of hardware and software.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dual-winding motor drive control system, characterized in that: It comprises a first control driving structure and a second control driving structure, wherein the first control driving structure and the second control driving structure are connected via an information interaction module; The first control drive structure and the second control drive structure both include a control module, a bus driver, a motor driver and a circuit breaker connected in sequence, the input end of the control module is respectively connected to the host computer, the Hall module and the self-monitoring module, the self-monitoring module and the control module are both connected to the input end of the OR gate, the output end of the OR gate is connected to the circuit breaker, and the output end of the circuit breaker is connected to the dual-winding brushless motor.

2. The dual-winding motor drive control system according to claim 1, characterized in that: The self-monitoring module includes an MCU monitoring submodule, a brushless motor voltage monitoring submodule and a brushless motor current monitoring submodule.

3. The dual-winding motor drive control system according to claim 1, characterized in that: The circuit breaker includes a digital optocoupler and a plurality of bidirectional thyristor diodes, wherein a first end of each bidirectional thyristor diode is connected to the motor driver, a second end is connected to the dual-winding brushless motor, and a third end is connected to the digital optocoupler.

4. The dual-winding motor drive control system according to claim 1, characterized in that: The information interaction module includes a CCDL bus and a hard line. The hard line performs heartbeat interaction on the control module of the first control drive structure and the control module of the second control drive structure after being isolated by an optical coupler.

5. The dual-winding motor drive control system according to any one of claims 1 to 4, characterized in that: The first control drive structure and the second control drive structure both include a power switch, one end of the power switch is connected to the self-monitoring module, and the other end is connected to the bus driver.

6. The dual-winding motor drive control system according to any one of claims 1 to 4, characterized in that: The first control drive structure and the second control drive structure both include an electronic switch, one end of the electronic switch is connected to the self-monitoring module, and the other end is connected to the motor driver.

7. A dual-winding motor drive control method, characterized in that: The dual-winding brushless motor is controlled by a dual-winding motor drive control system according to any one of claims 1 to 6, wherein the control method comprises: Parsing the host computer instruction or the preset working logic, and selecting the current control drive structure for controlling the operation of the dual-winding brushless motor according to the parsing result, wherein the current control drive structure is the first control drive structure or the second control drive structure; Using a Hall module corresponding to the current control drive structure to collect Hall signals, and using a control algorithm to solve the Hall signals to output a speed PWM signal and a steering PWM signal of the dual-winding brushless motor; controlling the dual-winding brushless motor to work according to the speed PWM signal and the steering PWM signal; The voltage signal or current signal of the dual-winding brushless motor is collected in real time, the voltage signal or the current signal is judged according to a threshold value, and when it is judged to be overvoltage or overcurrent, the current control drive structure is controlled to be disconnected, an abnormal signal is output to another control drive structure that communicates with the current control drive structure, and the dual-winding brushless motor is controlled by switching to the control drive structure according to the abnormal signal.

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