Cross sorting transmission controller and control method thereof

Abstract

The invention relates to a cross sorting transmission controller and a control method thereof. The cross sorting transmission controller comprises a direct-current power supply input module, a switching power supply module, an MCU control module, an inverter circuit module, a sensor module, a communication module, a reverse connection protection module, a key input module and an OTA upgrading module. When the motor runs, the encoder measures the position and speed change of the rotor in real time and feeds back the position and speed change to the control system; the system accurately controls the operation of the motor through three-ring adjustment of position, speed and current; and the OTA upgrading module realizes remote monitoring and control. A non-inductive FOC observer algorithm is adopted, phase current and bus voltage detection are combined, the rotor position is estimated, it is ensured that when a sensor is damaged, the sensor can still be seamlessly switched to a non-inductive state, and the service life of the servo motor is prolonged; the third-phase current is reconstructed by using a double-resistor sampling technology, and the program can flexibly configure speed, current, torque and power rings to adapt to different scene requirements; the expandability and the flexibility are improved by adopting the OTA upgrading technology, and the maintainability and the safety of the system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a cross sorting transmission controller and a control method thereof. Background Art

[0002] Logistics sorting is one of the key links in the logistics industry. Its main purpose is to classify, collect and distribute large quantities of goods, packages or commodities according to different attributes, order information, customer needs, etc. according to pre-set rules or destinations, so as to improve the processing efficiency and accuracy of logistics. As the core component of the cross-belt sorting system, the cross-sorting transmission controller is connected with multiple key components to ensure the smooth operation of the entire sorting system.

[0003] However, due to structural and algorithm limitations, the existing cross-sorting transmission controller has a slow response speed to changes in motor speed and load, and cannot meet the requirements of modern logistics systems for rapid response; and, because the control accuracy is limited by hardware and software, for sorting tasks that require precise control of motor speed, torque and position, it is unable to provide sufficiently high control accuracy to meet the needs of certain high-precision sorting tasks, thereby affecting the accuracy and efficiency of logistics sorting.

[0004] In addition, the components of traditional cross-sorting transmission controllers are numerous and complex, and are prone to failure. Especially under long-term operation and high-load working conditions, the internal heat of the motor is serious, which can easily cause damage to the motor Hall. The failure rate is high, affecting the stability and reliability of the system.

[0005] At the same time, traditional cross-sorting transmission controllers lack scalability and flexibility, do not have OTA functions, and cannot remotely receive and install software updates via wireless networks. Each software update requires technicians to be on site in person; this not only increases labor costs, but may also cause production or service interruptions, thereby increasing overall maintenance costs.

[0006] Therefore, the cross-sorting transmission controller in the prior art has many disadvantages such as complex structure, slow response speed, low control accuracy, low maintainability and safety. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a cross sorting transmission controller and a control method thereof, which have the characteristics of simple structure, fast response speed, high control accuracy, low cost, silent operation, etc.

[0008] The technical solution adopted by the present invention to solve the technical problem is: a control method of a cross sorting transmission controller, comprising the following steps:

[0009] S1, 48V DC power supply is input to the switching power supply module through the reverse connection protection module; the switching power supply module outputs 5V and 13V two-way voltage for use by the control circuit and the power circuit respectively;

[0010] S2, MCU control module collects the speed and position signals of the motor from the Hall sensor and encoder, collects the temperature signal through the NTC sensor, and receives the external communication command input by the key input module;

[0011] S3, according to the input signal, the MCU control module runs the control algorithm, combines the real-time feedback signal to calculate the optimal PWM control signal, and outputs it to the inverter circuit module;

[0012] S4, the inverter circuit converts 13V DC into three-phase AC to drive the servo motor to operate; the servo motor adjusts the speed and torque according to the PWM control signal, and feeds back the position information to the MCU to form a closed-loop control;

[0013] S5, RS485 communication module maintains data exchange with external devices, uploads status information and receives new instructions to complete remote monitoring and control.

[0014] Furthermore, in step S4 described in the present invention, the closed-loop control structure includes three layers, namely: position loop, speed loop and current loop; the motor will generate position and speed values ​​during operation, the encoder collects the position and speed values ​​of the motor and outputs a feedback signal after calculation, and the feedback signal of the encoder enters these three-layer closed-loop control structure.

[0015] Furthermore, in step S4 of the present invention, the process of driving the servo motor to operate is:

[0016] S41, sampling the three-phase current of the motor to obtain ia, ib;

[0017] S42, ic is calculated by Kirchhoff's law to obtain ic = -(ia + ib);

[0018] S43, ia, ib, ic are transformed by Clark to obtain iα, iβ;

[0019] S44, obtain iq,id by Park transformation of ia,iβ;

[0020] S45, calculating the error between iq, id and its set value iq_ref, id_ref;

[0021] S46, inputting the above error into two PID controllers to obtain output control voltages Vq and Vd;

[0022] S47, perform inverse Park transformation on Vq and Vd to obtain Vα and Vβ;

[0023] S48, synthesizing the voltage space vector with Vα and Vβ, inputting it into the SVPWM module for modulation, and outputting the state code values ​​of the three half bridges at that moment;

[0024] S49, controlling the MOS tube switch of the three-phase inverter according to the output code value to drive the motor.

[0025] Furthermore, in step S5 of the present invention, remote monitoring and control are performed by an OTA upgrade module; the execution method of the OTA upgrade module includes:

[0026] A. Upgrade request from APP to GTWL: APP sends an upgrade request to GTWL; after receiving the upgrade request, GTWL checks the transmission status; if the transmission status is good, GTWL sends a confirmation message to APP; if the transmission status is not good, GTWL rechecks the transmission status;

[0027] B. Upgrade request from GTWL to the host computer: GTWL sends an upgrade request to the host computer; after receiving the upgrade request, the host computer sends a confirmation message to the subordinate computer; if the host computer does not receive the confirmation message, GTWL waits for a while and then resends the upgrade request;

[0028] C. Data transmission process: GTWL starts to send file data, sending 200-byte data blocks each time; after receiving the data block, the host computer sends a confirmation message; if the host computer does not receive the confirmation message, GTWL resends the data packet; this process repeats until the entire file transfer is completed;

[0029] D. File verification and confirmation process: After the file transfer is completed, the host computer verifies the file; if the verification is successful, the host computer sends a verification success message; if the verification fails, the host computer sends a verification failure message, and GTWL resends the file data.

[0030] Furthermore, the data receiving method of the OTA upgrade module described in the present invention is: the MCU receives the OTA data packet sent by the module during the execution of the application code; the OTA data is composed of data packets of a fixed size, each packet has packet offset information, and according to the packet offset information, the MCU sorts the data packets and combines them according to the size of the flash page, and writes them to the flash until the last packet of data; after the reception is completed, the OTA upgrade flag is set to notify the bootload when the MCU is restarted, and finally the MCU is restarted.

[0031] Furthermore, after the bootload described in the present invention is started, it first identifies whether the OTA upgrade flag is set; if not, it jumps directly to the application code area; if there is an OTA upgrade, the data in the OTA data area is moved to the application code area. After the transfer is completed, the OTA flag is cleared, and finally the application code area is jumped.

[0032] At the same time, the present invention provides a cross sorting transmission controller, including a DC power input module, a switching power module, an MCU control module, an inverter circuit module, a sensor module, a communication module, a reverse connection protection module, a key input module and an OTA upgrade module;

[0033] The DC power input module is connected to the switching power module;

[0034] The switching power supply module converts the voltage input by the DC power supply input module and outputs two voltages, one of which is output to the MCU control module, the sensor module and the communication module, and the other is output to the inverter circuit module;

[0035] The MCU control module is connected to the sensor module, and the MCU control module collects the real-time signal of the sensor module, performs logic processing to generate a PWM signal and sends it to the inverter circuit module;

[0036] The inverter circuit module receives the PWM control signal from the MCU control module, outputs three-phase AC power through the power switch tube MOSFET, and drives the motor to rotate;

[0037] The sensor module includes a Hall sensor, an encoder and an NTC sensor; the Hall sensor detects the rough position of the motor rotor and outputs a pulse signal to the MCU control module; the encoder sends a speed and position signal; the NTC sensor detects the system temperature in real time;

[0038] The communication module is connected to the external control system to upload the motor status and receive control commands;

[0039] The DC power input module is connected to the subsequent switching power module through the reverse connection protection module;

[0040] The key input module includes a dial switch, and the user inputs the target instruction through the dial switch, and the MCU control module updates the motor operation status after collecting the signal;

[0041] The OTA upgrade module is used for interaction between APP, GTWL and the host computer; for upgrade request, data transmission, verification and confirmation operations.

[0042] The beneficial effects of the present invention are that the defects existing in the background technology are solved, and a sensorless FOC observer algorithm is adopted to detect the phase current and bus voltage, establish an observer through mathematical modeling, and combine the PLL technology to realize the estimation of the rotor position; if the sensor is damaged in the future, it can directly switch to the sensorless state, thereby improving the service life of the servo motor; dual-resistance sampling is used to collect the phase current and reconstruct the third-phase current, and the speed loop, current loop, torque loop, and power loop can be configured in the program to meet the application of different scenarios; the OTA upgrade technology is adopted to increase the scalability and flexibility, and improve the maintainability and safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a circuit principle block diagram of the controller of the present invention;

[0044] Figure 2 It is a flow chart of the vector control method of the present invention for estimating the rotor position and measuring the speed;

[0045] Figure 3 This is the block diagram of the encoder / sensorless FOC control of the present invention;

[0046] Figure 4 It is a flowchart of OTA data receiving process of the present invention;

[0047] Figure 5 It is a schematic diagram of the MCU data writing process of the present invention;

[0048] Figure 6 It is a schematic diagram of the process after bootload is started in the present invention;

[0049] Figure 7 It is a schematic diagram of the data processing process after bootload is started in the present invention. DETAILED DESCRIPTION

[0050] The present invention will now be described in further detail in conjunction with the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0051] like Figure 1-Figure 7 A cross-sorting transmission controller shown is used in a logistics cross-sorting system, including a DC power input module, a switching power supply module, an MCU control module, an inverter circuit module, a sensor module, a communication module, a reverse connection protection module, a key input module and an OTA upgrade module.

[0052] in,

[0053] The input voltage of the DC power input module is DC 48V. The DC power input module is connected to the subsequent switching power module through the reverse protection module to ensure that the circuit can be automatically disconnected when the input power polarity is reversed to protect the safety of the equipment.

[0054] The switching power supply module converts the DC48V voltage input by the DC power input module and outputs two voltages, namely 5V output and 13V output. One 5V voltage is output to low-voltage devices such as the MCU control module, sensor module and communication module, and the other 13V voltage is output to the inverter circuit module to provide working voltage for power devices.

[0055] The sensor module includes a Hall sensor, an encoder, and an NTC sensor; the Hall sensor detects the rough position of the motor rotor and outputs a pulse signal to the MCU control module for speed estimation. The encoder provides high-precision speed and position signals, and the MCU calculates the real-time speed and angle of the motor through the heterodyne method to achieve precise control. The NTC sensor detects the system temperature in real time. If the temperature exceeds the set value, the MCU triggers a protection mechanism to stop the motor.

[0056] The MCU control module serves as the control core and is connected to the sensor module to perform the following functions:

[0057] Signal acquisition: Get real-time signals from Hall sensors, encoders, NTC sensors, and DIP switches.

[0058] Logic processing: Based on the collected motor speed, position, temperature and input information, the vector control algorithm (FOC) is run to generate PWM signals in real time.

[0059] Output control: Send the generated PWM signal to the inverter circuit and exchange data with external devices through the 485 communication module.

[0060] The inverter circuit module receives the PWM control signal and 13V power supply from the MCU control module, outputs three-phase AC power through the power switch tube MOSFET, and drives the motor to rotate.

[0061] The servo motor receives the three-phase AC output from the inverter circuit and achieves the target speed and torque according to the frequency and amplitude of the input current. The feedback of the Hall sensor and encoder signals ensures that the actual speed and position of the motor reach the set value.

[0062] The key input module includes a dip switch. The user inputs the target instruction (adjusts the speed) through the dip switch. The MCU control module collects the signal and updates the operating status of the servo motor.

[0063] The reverse connection protection module ensures that the circuit will be automatically disconnected when the input power polarity is reversed to protect the safety of the equipment.

[0064] The RS485 communication module is connected to the external control system to upload the motor status and receive control commands (such as start, stop and target speed).

[0065] The working process of the controller system includes the following steps:

[0066] S1, 48V DC power supply is input to the switching power supply module through the reverse connection protection module; the switching power supply module outputs 5V and 13V two-way voltage for use by the control circuit and the power circuit respectively;

[0067] S2, MCU control module collects the speed and position signals of the motor from the Hall sensor and encoder, collects the temperature signal through the NTC sensor, and receives the external communication command input by the key input module;

[0068] S3. According to the input signal, the MCU control module runs the vector control algorithm FOC, calculates the optimal PWM control signal in combination with the real-time feedback signal, and outputs it to the inverter circuit module;

[0069] S4, the inverter circuit converts 13V DC into three-phase AC to drive the servo motor to operate; the servo motor adjusts the speed and torque according to the PWM control signal, and feeds back the position information to the MCU to form a closed-loop control;

[0070] S5, RS485 communication module maintains data exchange with external devices, uploads status information and receives new instructions to complete remote monitoring and control.

[0071] like Figure 3 As shown in the figure, the motor will generate position and speed values ​​during operation. The encoder collects the position and speed values ​​of the motor and calculates and outputs feedback signals. The feedback signals of the encoder enter the three-layer closed-loop control structure of the control system: position loop, speed loop and current loop. Each loop is adjusted by PI in turn to ensure accurate control of the motor.

[0072] The specific method is:

[0073] 1. Sample the three-phase current of the motor to obtain ia and ib;

[0074] 2. ic is calculated by Kirchhoff's law to obtain ic = -(ia + ib);

[0075] 3. Use Clark transformation to get iα, iβ from ia, ib, ic;

[0076] 4. Obtain iq,id by Park transformation of ia,iβ;

[0077] 5. Calculate the error between iq, id and its set value iq_ref, id_ref;

[0078] 6. Input the above error into two PID (only PI) controllers to obtain the output control voltages Vq and Vd;

[0079] 7. Perform inverse Park transformation on Vq and Vd to obtain Vα and Vβ;

[0080] 8. Use Vα and Vβ to synthesize the voltage space vector, input it into the SVPWM module for modulation, and output the state code values ​​of the three half bridges at that moment;

[0081] 9. Control the MOS tube switch of the three-phase inverter according to the previously output code value to drive the motor.

[0082] The three phase currents of the motor are sampled. In this step, a series sampling resistor is used for current sampling. Since the working current of the motor is generally large, the resistance of the sampling resistor is very small, even close to the resistance of the wire. Therefore, there are some particularities in the actual sampling circuit PCB design, such as using the Kelvin connection method. In the actual circuit design of this embodiment, the sampling method selects dual-resistance sampling, and only two sampling resistors are needed. Because of Kirchhoff's current law (KCL), at any moment, the sum of all currents entering a node is equal to the sum of all currents leaving this node, that is, only two phase currents need to be known to calculate the third phase current.

[0083] The calculation method of PWM control signal includes the following steps:

[0084] First, the permanent magnet synchronous motor and control system are initialized and measured to determine the system's resonant frequency f0 and bandwidth Δf. The resonant frequency range is defined as [f0-Δf, f0+Δf], and the frequency hysteresis width f is set. hys and initial gain K init In addition, the static parameters of the motor are measured, including stator resistance R, stator inductance L s , and the flux linkage ψ f . Record these parameters for subsequent control and calculation.

[0085] S31, real-time acquisition of three-phase current signals, and conversion to a stationary coordinate system; the three-phase current signals are ia, ib, ic, the stationary coordinate system is α-β, and the conversion method is: iα=ia,

[0086] S32, performing current error calculation and saturation function gain adjustment;

[0087] The current iα, iβ in the stationary coordinate system is converted to the dq coordinate system. The conversion formula is: id = iαcos(θ) + iβsin(θ), iq = -iαsin(θ) + iβcos(θ); after comparing with the target current setting value id*, iq*, the current error is: ed = id*-id, eq = iq*-iq; according to the current error, the control gain K is adjusted using the saturation function. The adjustment formula is: K = sat(Kinit+G(ed, eq)), where sat is a saturation function used to limit the gain within the allowable range:

[0088]

[0089] S33, calculating the back electromotive force and filtering the back electromotive force;

[0090] Calculate the back electromotive force ed in the dq coordinate system according to the motor voltage equation, eq:

[0091]

[0092] Among them, u s is the voltage, i s is the current;

[0093] In order to reduce noise interference, the back electromotive force e d , e q For low-pass filtering, a first-order low-pass filter is used, and the filtering formula is:

[0094]

[0095] S34, calculating the rotor angle and speed according to the filtered back electromotive force;

[0096] The rotor angle θ is calculated using the filtered back EMF using the CORDIC algorithm or the inverse tangent formula:

[0097]

[0098] Calculate the rotation speed ω using the change in angle:

[0099]

[0100] S35, the filtered back electromotive force e d ,filtered,e q , filtered performs 2r / 2s coordinate transformation to generate corresponding control signals; and according to the calculated speed and rotor angle, the drive signal is adjusted in real time to ensure stable operation of the motor.

[0101] The hysteresis controller ensures that the motor operates within the specified frequency range. If the system detects that the resonant frequency f0 exceeds the set range [f0-Δf, f0+Δf], the gain adjustment mechanism is triggered to restore the motor to a steady state.

[0102] Therefore, in simple terms, the entire motor control process can be summarized as follows: when the motor is running, the rotor position and speed change; the encoder measures these changes in real time and feeds back the position and speed to the control system; the control system adjusts step by step through the position loop, speed loop and current loop, and finally controls the current and voltage of the motor to make the motor run at the desired position and speed.

[0103] This closed-loop control architecture ensures high precision, high dynamic performance and stability of the motor system.

[0104] In addition, this embodiment also uses an OTA upgrade module to achieve remote monitoring and control; Figure 4-Figure 7 As shown, the execution methods of the OTA upgrade module include:

[0105] A. Upgrade request from APP to GTWL: APP sends an upgrade request to GTWL; after receiving the upgrade request, GTWL checks the transmission status; if the transmission status is good, GTWL sends a confirmation message to APP; if the transmission status is not good, GTWL rechecks the transmission status;

[0106] B. Upgrade request from GTWL to the host computer: GTWL sends an upgrade request to the host computer; after receiving the upgrade request, the host computer sends a confirmation message to the subordinate computer; if the host computer does not receive the confirmation message, GTWL waits for a while and then resends the upgrade request;

[0107] C. Data transmission process: GTWL starts to send file data, sending 200-byte data blocks each time; after receiving the data block, the host computer sends a confirmation message; if the host computer does not receive the confirmation message, GTWL resends the data packet; this process repeats until the entire file transfer is completed;

[0108] D. File verification and confirmation process: After the file transfer is completed, the host computer verifies the file; if the verification is successful, the host computer sends a verification success message; if the verification fails, the host computer sends a verification failure message, and GTWL resends the file data.

[0109] The data receiving method of the OTA upgrade module is as follows: the MCU receives the OTA data packet sent by the module during the execution of the application code; the OTA data is composed of data packets of fixed size, each packet has packet offset information, and according to the packet offset information, the MCU sorts the data packets and combines them according to the size of the flash page, and writes them to the flash until the last packet of data; after the reception is completed, the OTA upgrade flag is set to notify the bootload when the MCU restarts, and finally the MCU is restarted.

[0110] After bootload is started, it first identifies whether the OTA upgrade flag is set; if not, it jumps directly to the application code area; if there is an OTA upgrade, the data in the OTA data area is moved to the application code area. After the move is completed, the OTA flag is cleared and finally jumps to the application code area.

[0111] When moving OTA data, first read the OTA upgrade data in the OTAdata data area; then erase the original data in the app data area; finally write the OTA upgrade data.

[0112] The above description only describes the specific implementation mode of the present invention. Various examples do not limit the essential content of the present invention. After reading the description, ordinary technicians in the relevant technical field can modify or deform the specific implementation modes described above without departing from the essence and scope of the invention.

Claims

1. A control method for a cross sorting transmission controller, characterized in that: The following steps are included: S1, 48V DC power supply is input to the switching power supply module through the reverse connection protection module; the switching power supply module outputs 5V and 13V two-way voltage for use by the control circuit and the power circuit respectively; S2, MCU control module collects the motor speed and position signals from the encoder, collects the temperature signal through the NTC sensor, and receives the external communication command input by the key input module; S3, according to the input signal, the MCU control module runs the control algorithm, combines the real-time feedback signal to calculate the optimal PWM control signal, and outputs it to the inverter circuit module; S4, the inverter circuit converts 13V DC into three-phase AC to drive the servo motor to operate; the servo motor adjusts the speed and torque according to the PWM control signal, and feeds back the position information to the MCU to form a closed-loop control; S5, RS485 communication module maintains data exchange with external devices, uploads status information and receives new instructions to complete remote monitoring and control.

2. A control method for a cross sorting transmission controller as claimed in claim 1, characterized in that: In the step S4, the closed-loop control structure includes three layers, namely: position loop, speed loop and current loop; the motor will generate position and speed values ​​during operation, the encoder collects the position and speed values ​​of the motor and outputs a feedback signal after calculation, and the feedback signal of the encoder enters the three-layer closed-loop control structure.

3. A control method for a cross sorting transmission controller as claimed in claim 3, characterized in that: In step S4, the process of driving the servo motor to operate is: S41, sampling the three-phase current of the motor to obtain ia, ib; S42, ic is calculated by Kirchhoff's law to obtain ic = -(ia + ib); S43, ia, ib, ic are transformed by Clark to obtain iα, iβ; S44, obtain iq,id by Park transformation of ia,iβ; S45, calculating the error between iq, id and its set value iq_ref, id_ref; S46, inputting the above error into two PID controllers to obtain output control voltages Vq and Vd; S47, perform inverse Park transformation on Vq and Vd to obtain Vα and Vβ; S48, synthesizing the voltage space vector with Vα and Vβ, inputting it into the SVPWM module for modulation, and outputting the state code values ​​of the three half bridges at that moment; S49, controlling the MOS tube switch of the three-phase inverter according to the output code value to drive the motor.

4. A control method for a cross sorting transmission controller as claimed in claim 1, characterized in that: In step S5, remote monitoring and control is performed by an OTA upgrade module; the execution method of the OTA upgrade module includes: A. Upgrade request from APP to GTWL: APP sends an upgrade request to GTWL; after receiving the upgrade request, GTWL checks the transmission status; if the transmission status is good, GTWL sends a confirmation message to APP; if the transmission status is not good, GTWL rechecks the transmission status; B. Upgrade request from GTWL to the host computer: GTWL sends an upgrade request to the host computer; after receiving the upgrade request, the host computer sends a confirmation message to the subordinate computer; if the host computer does not receive the confirmation message, GTWL waits for a while and then resends the upgrade request; C. Data transmission process: GTWL starts to send file data, sending 200-byte data blocks each time; after receiving the data block, the host computer sends a confirmation message; if the host computer does not receive the confirmation message, GTWL resends the data packet; this process repeats until the entire file transfer is completed; D. File verification and confirmation process: After the file transfer is completed, the host computer verifies the file; if the verification is successful, the host computer sends a verification success message; if the verification fails, the host computer sends a verification failure message, and GTWL resends the file data.

5. A control method for a cross sorting transmission controller as claimed in claim 4, characterized in that: The data receiving method of the OTA upgrade module is as follows: the MCU receives the OTA data packet sent by the module during the execution of the application code; the OTA data is composed of data packets of fixed size, each packet has packet offset information, and according to the packet offset information, the MCU sorts the data packets and combines them according to the size of the flash page, and writes them into the flash until the last packet of data; After receiving, the OTA upgrade flag is set to notify the bootload when the MCU restarts, and finally the MCU is restarted.

6. A control method for a cross sorting transmission controller as claimed in claim 4, characterized in that: After the bootload is started, it first identifies whether the OTA upgrade flag is set; if not, it directly jumps to the application code area; If there is an OTA upgrade, the data in the OTA data area will be moved to the application code area. After the move is completed, the OTA flag will be cleared and finally jump to the application code area.

7. The controller used in the control method of a cross sorting transmission controller according to claim 1, characterized in that: Including DC power input module, switching power module, MCU control module, inverter circuit module, sensor module, communication module, reverse connection protection module, key input module and OTA upgrade module; The DC power input module is connected to the switching power module; The switching power supply module converts the voltage input by the DC power supply input module and outputs two voltages, one of which is output to the MCU control module, the sensor module and the communication module, and the other is output to the inverter circuit module; The MCU control module is connected to the sensor module, and the MCU control module collects the real-time signal of the sensor module, performs logic processing to generate a PWM signal and sends it to the inverter circuit module; The inverter circuit module receives the PWM control signal from the MCU control module, outputs three-phase AC power through the power switch tube MOSFET, and drives the motor to rotate; The sensor module includes a Hall sensor, an encoder and an NTC sensor; the Hall sensor detects the rough position of the motor rotor and outputs a pulse signal to the MCU control module; the encoder sends a speed and position signal; the NTC sensor detects the system temperature in real time; The communication module is connected to the external control system to upload the motor status and receive control commands; The DC power input module is connected to the subsequent switching power module through the reverse connection protection module; The key input module includes a dial switch, and the user inputs the target instruction through the dial switch, and the MCU control module updates the motor operation status after collecting the signal; The OTA upgrade module is used for interaction between APP, GTWL and the host computer; for upgrade request, data transmission, verification and confirmation operations.

Images