Dual-motor control system

Abstract

The invention discloses a dual-motor control system, and the system comprises a control module which is configured to generate PWM interruption when the PWM counting of a first motor reaches a PWM counting set value under the condition that the waveforms of a first triangular carrier wave and a second triangular carrier wave are consistent; the moment I when the second motor generates the PWM interruption is a half PWM period after the moment when the first motor generates the PWM interruption; under the condition that the waveforms of the first triangular carrier wave and the second triangular carrier wave are complementary, generating PWM interruption when the PWM counting of the first motor reaches a PWM counting set value; the moment II of generating PWM interruption to the second motor is a half PWM period after the moment of generating PWM interruption to the first motor. According to the invention, the problems of dual-motor PWM interruption conflict and current sampling interference can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor group control, and in particular to a dual-motor control system. Background Art

[0002] A multi-motor system consists of a series of motor subsystems that can share the load torque. Compared with multiple single-motor systems, a multi-motor system can not only reduce costs by sharing some resources, but also be easily expanded by adding new drives. Multi-motor systems are widely used in some industries that have high requirements for speed synchronization, angle synchronization, reliability or easy scalability, such as paper mills, textile industry, steel mills, etc.

[0003] Multi-motor systems involve motor group control, which is an important development direction for future motor system control, especially for some scenarios that require coordinated control of multiple motors. In recent years, the technology of single-chip control of dual-motor operation has been promoted, and interrupt conflicts and current AD sampling interference may occur when single-chip control of dual-motor operation, especially when controlling two motors with the same control parameters, such as the control method of dual motors, the same carrier frequency, and AD sampling using the same set of units, while the start and stop and operation status of the two motors are independent of each other.

[0004] See also Figure 2 When the triangle carrier frequencies of the dual motors are the same and start counting at the same time, a PWM count peak interrupt is generated at the same time, that is, the PWM interrupt occurs when the PWM count value reaches the PWM cycle setting value N, then the PWM interrupt of one of the motors will be suspended and the interrupt service program will be delayed. If the interrupt service program is delayed for more than half a PWM cycle (equal to the carrier cycle Ts), it will affect the control of the next PWM cycle. Therefore, the first half of the next PWM cycle will use the calculation value of the previous PWM interrupt service program.

[0005] Figure 2 The PWM interrupts of the first motor and the second motor are generated at the same time, and the PWM interrupt service program of the second motor is delayed, causing the execution of the interrupt service program of the second motor to exceed half a PWM cycle. In this way, for the second motor, it will affect the control of the next PWM cycle. This is the PWM interrupt conflict of dual motor control.

[0006] On the other hand, when the current sampling of the two motors uses the same AD sampling unit, see Figure 3 , AN000~AN003 are four channels of the same AD unit. Usually, an AD sampling unit has only one sample holder. If multiple channels are sampled at the same time, Figure 4The dotted line marks the current sampling point interference problem. Then the sample holder can only hold the sampling data of one channel. If each channel wants to get the sampling data accurately, it needs to be staggered in time. This leads to the current AD sampling interference problem. Patent CN111313767B proposes a chopping period orthogonal dual motor current sensor collaborative system and correction method. For the above current AD sampling interference, the problem of simultaneous sampling of two channels may still occur. See Figure 5 (There is interference at the current sampling points marked by dotted lines).

[0007] Therefore, solving the dual-motor PWM interrupt conflict and current AD sampling interference problems is a basic issue in controlling dual motors.

[0008] The above information disclosed in the background technology is only used to increase the understanding of the background technology of the present application, and therefore, it may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0009] In response to the problems pointed out in the background technology, the present application provides a dual-motor control system, which avoids PWM interrupt conflicts by setting the PWM interrupts of the dual motors to be complementary, and avoids the problem of dual-motor current sampling interference by setting the dual-motor current sampling to be performed at different counting positions.

[0010] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: The present application relates to a dual-motor control system, comprising: A first inverter, which is used to invert the bus voltage into a three-phase voltage to supply power to the first motor of the dual motors, and the first triangular carrier is used for modulation to control the switch tube in the first inverter; A second inverter, which is used to invert the bus voltage into a three-phase voltage to supply power to the second motor in the dual motors, and a second triangular carrier is used for modulation to control the switch tube in the second inverter, the first triangular carrier and the second triangular carrier have the same carrier frequency, and the PWM count setting value is also the same; A control module configured to: When the waveforms of the first triangular carrier and the second triangular carrier are consistent, a PWM interrupt is generated when the PWM count of the first motor reaches a PWM count setting value; The moment I when the second motor generates a PWM interrupt is half a PWM cycle after the moment when the first motor generates a PWM interrupt, and the position corresponding to the moment I is the position where the PWM count of the second motor is zero; The current sampling point of the first motor is located at the PWM count increasing stage, and the current sampling point of the second motor is located at the PWM count decreasing stage; In the case where the waveforms of the first triangular carrier and the second triangular carrier are complementary, when the PWM count of the first motor reaches a PWM count setting value, a PWM interrupt is generated; The moment II at which the PWM interrupt is generated for the second motor is half a PWM cycle after the moment at which the PWM interrupt is generated for the first motor, and the position corresponding to the moment II is the position at which the PWM count of the second motor is the PWM count setting value; The current sampling point of the first motor is located in the PWM count increasing stage, and the current sampling point of the second motor is located in the PWM count increasing stage.

[0011] The dual-motor control system involved in the present application avoids PWM interrupt conflicts by setting the PWM interrupt generation time of the first triangular carrier of the first motor and the PWM interrupt generation time of the second triangular carrier of the second motor at different positions, and also avoids the problem of dual-motor current sampling interference by setting the dual-motor current sampling at different PWM counting positions.

[0012] Since the first motor and the second motor are controlled independently, the start and stop, operating status and speed of the motors may be different. When the motor stops, in order to update some control variables and related registers, such as changing the carrier frequency, it is necessary to stop the PMW count and clear it. This causes the motor to stop for a period of time in PWM, so that the PWM count and PWM interrupt relationship of the first motor and the second motor change. Therefore, it is necessary to consider the situation of motor shutdown to adapt to the PWM interrupt relationship and current sampling timing described above.

[0013] In some embodiments of the present application, the control module is further configured to: When one of the first motor and the second motor stops, the PWM count of the stopped motor is stopped and cleared, and when the PWM count of the other motor that is not stopped reaches the value for causing a PWM interrupt, the initial value of the PWM count of the stopped motor is set, and then the PWM count of the stopped motor is restarted.

[0014] The problem of the destruction of the PWM counts and interruption relationship of the dual motors caused by the motor shutdown is solved by restarting the PWM count of the stopped motor when an interruption occurs in the one motor that is still running.

[0015] According to the different waveforms of the first triangle carrier wave for the first motor and the second triangle carrier wave for the second motor, the PWM count of the stopped motor is restarted when an interruption occurs by using one of the motors that is still running.

[0016] In some embodiments of the present application, when the waveforms of the first triangular carrier and the second triangular carrier are consistent, when the first motor stops, the PWM count of the first motor is stopped and cleared, and when the value of the PWM count of the running second motor reaches zero, the initial value of the PWM count of the first motor is set to zero, and then the PWM count of the first motor is restarted; When the second motor stops, the PWM count of the second motor stops and is cleared, and when the PWM count value of the running first motor reaches the PWM count setting value, the PWM count initial value of the first motor is set to the PWM count setting value, and then the PWM count of the second motor is restarted.

[0017] In some embodiments of the present application, when the waveforms of the first triangular carrier and the second triangular carrier are complementary, when the first motor stops, the PWM count of the first motor stops and is cleared, and when the value of the PWM count of the running second motor reaches the PWM count setting value, the initial value of the PWM count of the first motor is set to zero, and then the PWM count of the first motor is restarted; When the second motor stops, the PWM count of the second motor stops and is cleared, and when the PWM count value of the running first motor reaches the PWM count setting value, the initial PWM count value of the first motor is set to zero, and then the PWM count of the second motor is restarted.

[0018] In some embodiments of the present application, the control module is further configured to: When the first motor and the second motor are initialized and stopped at the same time, the PWM count of the first motor is started first, and the initial value of the PWM count of the second motor is configured in the PWM interrupt generated by the first motor, and then the PWM count of the second motor is restarted.

[0019] In some embodiments of the present application, when the waveforms of the first triangular carrier and the second triangular carrier are consistent, the PWM count of the first motor is first started, and when the first motor generates a PWM interrupt, the initial PWM count value of the second motor is set to the PWM count setting value, and then the PWM count of the second motor is restarted.

[0020] In some embodiments of the present application, when the waveforms of the first triangular carrier and the second triangular carrier are complementary, the PWM count of the first motor is first started, and when the first motor generates a PWM interrupt, the initial value of the PWM count of the second motor is set to zero, and then the PWM count of the second motor is restarted.

[0021] In order to better perform PWM count judgment on another motor when the motor is stopped, the present application involves the PWM count state. When the motor is stopped and the PWM is interrupted, it is judged whether to start the PWM count of the motor, set the initial value of the count, and change the PWM count state according to the flag of the PWM count state of another motor.

[0022] In some embodiments of the present application, the dual-motor control system further includes: A setting module, used for setting a PWM count state of the first motor and a PWM count state of the second motor; The PWM counting state is set to three states corresponding to three flags respectively; When the flag of the PWM counting state is set to the first flag, it indicates initialization; when the flag of the PWM counting state is set to the second flag, it indicates that the PWM counting is started; when the flag of the PWM counting state is set to the third flag, it indicates that the PWM counting is stopped and there is a need to start.

[0023] Depending on whether the first motor or the second motor is stopped in the main cycle, the following description is respectively given.

[0024] In some embodiments of the present application, the control module is configured to: S11: when the first motor stops, controlling the PWM count of the first motor to stop and clear, determining whether the mark of the PWM count state of the first motor is the first mark, or whether the mark of the PWM count state of the second motor is the third mark, if yes, proceeding to S12, if no, proceeding to S13; S12: starting the PWM count of the first motor, and setting the flag of the PWM count state of the first motor to a second flag, and proceeding to S14 when the first motor generates a PWM interrupt; S13: setting the flag of the PWM count state of the first motor to a third flag, and proceeding to S17 when the second motor generates a PWM interrupt; S14: Determine whether the flag of the PWM count state of the second motor is the third flag, if so, proceed to S15, if not, proceed to S16; S15: start the PWM count of the second motor, set the flag of the PWM count state of the second motor to the second flag, and proceed to S16; S16: exiting the PWM interruption generated by the first motor; S17: Determine whether the flag of the PWM count state of the first motor is the third flag, if so, proceed to S18, if not, proceed to S19; S18: starting the PWM count of the first motor, and setting the flag of the PWM count state of the first motor to the second flag, and proceeding to S19; S19: Exit the PWM interruption generated by the second motor.

[0025] In some embodiments of the present application, the control module is configured to: S21: when the second motor stops, controlling the PWM count of the second motor to stop and clear, determining whether the flag indicating the PWM count state of the first motor is a third flag, if so, proceeding to S22, if not, proceeding to S23; S22: start the PWM count of the second motor, and set the flag of the PWM count state of the second motor to a second flag, and proceed to S24 when the second motor generates a PWM interrupt; S23: setting the flag of the PWM count state of the second motor to a third flag, and proceeding to S27 when the first motor generates a PWM interrupt; S24: Determine whether the flag of the PWM count state of the first motor is the third flag, if so, proceed to S25, if not, proceed to S26; S25: start the PWM count of the first motor, and set the flag of the PWM count state of the first motor to the second flag, and proceed to S26; S26: exiting the PWM interruption generated by the second motor; S27: Determine whether the flag of the PWM count state of the second motor is the third flag, if so, proceed to S28, if not, proceed to S29; S28: start the PWM count of the second motor, and set the flag of the PWM count state of the second motor to a second flag, and proceed to S29; S29: Exit the PWM interruption generated by the first motor.

[0026] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 It is the topological structure diagram of the existing dual motor control; Figure 2 The schematic diagram of the PWM interrupt conflict existing in the existing dual motor control; Figure 3 It is a structural block diagram of the current AD sampling unit in the existing dual motor control; Figure 4 Schematic diagram of the location of the current AD sampling point in the existing dual motor control Figure 1 ; Figure 5 Schematic diagram of the location of the current AD sampling point in the existing dual motor control Figure 2 ; Figure 6 The principle of PWM interruption and current sampling point in the dual motor control system proposed in this application is Figure 1 ; Figure 7 The principle of PWM interruption and current sampling point in the dual motor control system proposed in this application is Figure 2 ; Figure 8 A schematic diagram of a change in PWM interrupt relationship caused by PWM counting stopping when one of the motors stops in the existing dual-motor control; Fig. 9 Schematic diagram of the PWM count restart after one motor stops in the dual motor control system proposed in this application Figure 1 ; Fig.10 Schematic diagram of the PWM count restart after one motor stops in the dual motor control system proposed in this application Figure 2 ; Fig.11 This is a main cycle flow chart when the first motor is stopped in the dual-motor control system proposed in the present application; Fig.12 It is a main cycle flow chart when the second motor is stopped in the dual-motor control system proposed in this application; Fig.13 A flow chart of when the first motor generates a first PWM interrupt in the dual-motor control system proposed in the present application; Fig.14 This is a flow chart when the second motor in the dual-motor control system proposed in this application generates a second PWM interrupt.

[0029] Reference numerals: 10. First motor; 10'. First inverter; 20. Second motor; 20'. Second inverter. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0032] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0033] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0035] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0036] <Basic working principle of air conditioner> The air conditioner performs the air conditioner's refrigeration cycle by using a compressor, condenser, expansion valve, and evaporator. The refrigeration cycle includes a series of processes involving compression, condensation, expansion, and evaporation to cool or heat the indoor space.

[0037] The low-temperature and low-pressure refrigerant enters the compressor, which compresses it into high-temperature and high-pressure refrigerant gas and discharges the compressed refrigerant gas. The discharged refrigerant gas flows into the condenser. The condenser condenses the compressed refrigerant into a liquid phase, and the heat is released to the surrounding environment through the condensation process.

[0038] The expansion valve expands the high-temperature and high-pressure liquid refrigerant condensed in the condenser into a low-pressure liquid refrigerant. The evaporator evaporates the refrigerant expanded in the expansion valve and returns the low-temperature and low-pressure refrigerant gas to the compressor. The evaporator can achieve a cooling effect by utilizing the latent heat of evaporation of the refrigerant to exchange heat with the material to be cooled. In the entire cycle, the air conditioner can adjust the temperature of the indoor space.

[0039] The outdoor unit of the air conditioner refers to a portion of a refrigeration cycle including a compressor and an outdoor heat exchanger, the indoor unit of the air conditioner includes an indoor heat exchanger, and an expansion valve may be provided in the indoor unit or the outdoor unit.

[0040] The indoor heat exchanger and the outdoor heat exchanger function as a condenser or an evaporator. When the indoor heat exchanger functions as a condenser, the air conditioner functions as a heater in a heating mode, and when the indoor heat exchanger functions as an evaporator, the air conditioner functions as a cooler in a cooling mode.

[0041] The outdoor fan or indoor fan is generally realized by a permanent magnet synchronous motor (PMSM) driving the impeller.

[0042] In this application, dual motor drive is mainly involved.

[0043] See also Figure 1The dual-motor drive topology includes a first inverter 10 ′, a first motor 10 , a second inverter 20 ′, a second motor 20 and a control module (not shown).

[0044] The DC bus input voltage of the first inverter 10' is connected to the positive and negative input interfaces (i.e., P, N) of the bus voltage Vdc, and the DC bus input voltage of the second inverter 20' is also connected to the positive and negative input interfaces of the bus voltage Vdc. The three-phase bridge arms of the first inverter 10' are respectively connected to the three-phase windings of the first motor 10, and the three-phase bridge arms of the second inverter 20' are respectively connected to the three-phase windings of the second motor 20.

[0045] The first inverter 10 ′ is used to invert the DC bus voltage Vdc and output a three-phase voltage to drive the first motor 10 ; the second inverter 20 ′ is used to invert the DC bus voltage Vdc and output a three-phase voltage to drive the second motor 20 .

[0046] Taking the first inverter 10' as an example, the first inverter 10' is composed of six switching tubes, namely, the switching tube T1 of the U-phase upper bridge arm, the switching tube T3 of the V-phase upper bridge arm, the switching tube T5 of the W-phase upper bridge arm, the switching tube T2 of the U-phase lower bridge arm, the switching tube T4 of the V-phase lower bridge arm, and the switching tube T6 of the W-phase lower bridge arm.

[0047] The first triangular carrier is used to modulate a sine wave to output a PWM signal to modulate the switch tube in the first inverter 10 ′.

[0048] The second triangular carrier is used to modulate the sine wave to output a PMW signal to modulate the switch tube in the second inverter 20 ′.

[0049] The first triangular carrier and the second triangular carrier involved in the present application have the same carrier frequency and the same PWM count setting value (ie, N).

[0050] Among them, the PWM count setting value N can be predetermined according to the clock frequency and the clock frequency.

[0051] In some embodiments of the present application, the PWM counting method of the first triangular carrier and the second triangular carrier adopts an up-down counting mode, that is, counting is incremented from the zero value at the trough position of the triangular carrier to the peak position until the count reaches the PWM count setting value N, and then counting is decremented from the peak position to the zero value at the trough position, and so on.

[0052] In dual-motor control, the output voltage / current is controlled by different duty cycles of the PWM signal to drive the switch tube. Therefore, the duty cycle changes in real time. The general software logic is: enter PWM interrupt → current sampling → PI control → obtain the output duty cycle.

[0053] In order to avoid conflicts between the PWM interrupt of the first motor 10 and the PWM interrupt of the second motor 20 in the dual motor control drive (such as Figure 2 As shown), in some embodiments of the present application, the control module sets the PWM interrupt of the first motor 10 and the PWM interrupt of the second motor 20 to a complementary form.

[0054] See also Figure 6 and Figure 7 , and are explained separately according to the different waveforms of the first triangular carrier and the second triangular carrier.

[0055] See also Figure 6 , Figure 6 It is shown in FIG. 1 that the waveforms of the first triangular carrier and the second triangular carrier are consistent, and the counting is synchronized.

[0056] The PWM count of the first triangular carrier and the PWM count of the second triangular carrier start counting from zero at the same time, and then decrease to zero when they reach the PWM count setting value, and repeat this process.

[0057] That is, at the same time, when the PWM count of the first triangle carrier reaches the PWM count setting value, the PWM count of the second triangle carrier also reaches the PWM count setting value, and when the PWM count of the first triangle carrier reaches zero, the PWM count of the second triangle carrier also reaches zero.

[0058] In some embodiments of the present application, in order to avoid dual-motor PWM interrupt conflicts, the PWM interrupt of the first motor 10 is set when the PWM count increases to the PWM count setting value (peak position), and the PWM interrupt of the second motor 20 is set when the PWM count decreases to zero (trough position).

[0059] In this way, the PWM interrupts of the first motor 10 and the second motor 20 are staggered, and the PWM interrupt service routines do not affect each other.

[0060] At this time, the time I of the PWM interruption generated by the second triangular carrier is half a PWM cycle after the PWM interruption time generated by the first motor 10.

[0061] Among them, the PWM period is the carrier period Ts.

[0062] As is well known, the mainstream control algorithm for permanent magnet synchronous motors is Field-Oriented Control (FOC), also known as vector control.

[0063] The FOC control is to perform inversion control on the inverter.

[0064] The FOC control involved therein requires the sampling current of any two phases of any motor in the dual motors.

[0065] In some embodiments of the present application, in order to avoid the current sampling conflict in the dual motors as described in the background technology, still refer to Figure 6 The current sampling point of the first motor 10 is performed during the PWM count increasing stage, and the current sampling point of the second motor 20 is performed during the PWM count decreasing stage. Thus, there will be no problem of sampling the currents of the two motors at the same time.

[0066] See also Figure 7 , Figure 7 It is shown in FIG. 1 that the waveforms of the first triangular carrier and the second triangular carrier are complementary, and the counting directions are opposite.

[0067] The PWM count of the first triangular carrier starts from zero and increases to reach the PWM count setting value, and then decreases to zero, and repeats this process.

[0068] The PWM count of the second triangular carrier starts from the PWM count setting value and decreases to zero, and then increases to reach the PWM count setting value, and repeats this process.

[0069] That is, at the same time, the PWM count of the first triangular carrier increases to reach the PWM count setting value, the PWM count of the second triangular carrier decreases from the PWM count setting value to zero, the PWM count of the first triangular carrier decreases from the PWM count setting value to zero, and the PWM count of the second triangular carrier increases from zero to reach the PWM count setting value.

[0070] In some embodiments of the present application, in order to avoid dual-motor PWM interrupt conflicts, the PWM interrupt of the first motor 10 is set when the PWM count increases and reaches the PWM count setting value (peak position), and the PWM interrupt of the second motor 20 is set when the PWM count increases and reaches the PWM count setting value (peak position).

[0071] In this way, both motors generate PWM interrupts when the PWM count reaches the peak position, but when the first motor 10 generates PWM interrupts when the PWM count reaches the peak position, the PWM count of the second motor 20 is zero and reaches the valley position.

[0072] In this way, the PWM interrupts of the first motor 10 and the second motor 20 are staggered, and the PWM interrupt service routines do not affect each other.

[0073] At this time, the moment II of the PWM interruption generated by the second triangular carrier is half a PWM cycle after the PWM interruption moment generated by the first motor 10 .

[0074] In some embodiments of the present application, see Figure 7In order to avoid current sampling conflicts in the dual motors as described in the background technology, the current sampling point of the first motor 10 is performed in the PWM count increasing stage, and the current sampling point of the second motor 20 is also performed in the PWM count increasing stage.

[0075] Although current sampling is performed during the PWM count increment phase, due to the difference of half a PWM cycle, the problem of sampling the two motor currents at the same time will not occur.

[0076] Since the two motors are controlled independently, the start and stop, running state and speed of the motors may be different. When the motor is stopped, in order to update some control variables and registers, such as changing the carrier frequency, the PWM count needs to be stopped and cleared, which causes the PWM of the motor to stop for a period of time, thereby changing the PWM count and interrupt relationship of the first motor 10 and the second motor 20, making the above problems more complicated. Figure 8 shown.

[0077] Therefore, in order to overcome the problem that the PWM count and PWM interrupt relationship of the first motor 10 and the second motor 20 are destroyed due to the need to stop and clear the PWM count when the motor is shut down, the present application solves the problem by restarting the PWM count of the stopped motor by a motor that is still running.

[0078] In some embodiments of the present application, when one of the first motor 10 and the second motor 20 stops, the PWM count of the stopped motor is stopped and cleared, and when the PWM count of the other non-stopped motor reaches the value at which a PWM interrupt occurs, the initial value of the PWM count of the stopped motor is set, and then the PWM count of the stopped motor is restarted.

[0079] See also Fig. 9 and Fig.10 , the following description is still given based on the different waveforms of the first triangular carrier and the second triangular carrier.

[0080] See also Fig. 9 , Fig. 9 It is shown in FIG. 1 that the waveforms of the first triangular carrier and the second triangular carrier are consistent, and the counting is synchronized.

[0081] As described above, in this case, the PWM count of the first triangular carrier and the PWM count of the second triangular carrier start counting from zero at the same time, and then decrease to zero when they reach the PWM count setting value, and repeat this process.

[0082] Therefore, in some embodiments of the present application, when the first motor 10 stops, the PWM count is stopped and cleared, and after the control variables and related register configurations are updated, the PWM count of the first motor 10 is not immediately restarted.

[0083] When the PWM count of the running second motor 20 reaches the valley position and a PWM interrupt occurs (ie, reaches the zero value at which a PWM interrupt occurs), the initial PWM count value of the first motor 10 is set to zero (see Fig. 9 The position is indicated by the dotted arrow in the figure), and then the PWM count of the first motor 10 is restarted.

[0084] As a result, the PWM counts of the first motor 10 and the second motor 20 are resynchronized at the valley position.

[0085] In some embodiments of the present application, when the second motor 20 stops, the PWM count is stopped and cleared, and after the control variables and related register configurations are updated, the PWM count of the second motor 20 is not immediately restarted.

[0086] When the PWM count of the running first motor 10 reaches the peak position and a PWM interrupt occurs (i.e., reaches the PWM count setting value at which a PWM interrupt occurs), the PWM count initial value of the second motor 20 is set to the PWM count setting value (see Fig. 9 The position is indicated by the solid arrow in the figure), and then the PWM count of the second motor 20 is restarted.

[0087] As a result, the PWM counts of the first motor 10 and the second motor 20 are resynchronized at the peak positions.

[0088] See also Fig.10 , Fig.10 It is shown in FIG. 1 that the waveforms of the first triangular carrier and the second triangular carrier are complementary, and the counting directions are opposite.

[0089] As described above, in this case, the PWM count of the first triangular carrier starts from zero and increases to reach the PWM count setting value, and then decreases to zero, and so on.

[0090] The PWM count of the second triangular carrier starts from the PWM count setting value and decreases to zero, and then increases to reach the PWM count setting value, and repeats this process.

[0091] In some embodiments of the present application, when the first motor 10 stops, the PWM count is stopped and cleared, and after the control variables and related register configurations are updated, the PWM count of the first motor 10 is not immediately restarted.

[0092] When the PWM count of the running second motor 20 reaches the peak position and a PWM interrupt occurs (i.e., when the PWM count setting value for the PWM interrupt occurs is reached), the initial PWM count value of the first motor 10 is set to zero (see Fig.10 The position is indicated by the dotted arrow in the figure), and then the PWM count of the first motor 10 is restarted.

[0093] In some embodiments of the present application, when the second motor 20 stops, the PWM count is stopped and cleared, and after the control variables and related register configurations are updated, the PWM count of the second motor 20 is not immediately restarted.

[0094] When the PWM count of the running first motor 10 reaches the peak position and a PWM interrupt occurs (i.e., reaches the PWM count setting value for PWM interrupt), the initial PWM count value of the second motor 20 is set to zero (see Fig.10 The position is indicated by the solid arrow in the figure), and then the PWM count of the second motor 20 is restarted.

[0095] As a result, the PWM counts of the first motor 10 and the second motor 20 are restored to a complementary form.

[0096] In some embodiments of the present application, when two motors are initialized and stopped at the same time, the PWM count of the first motor 10 is started by default first, and when the PWM count of the first motor 10 reaches the peak position and a PWM interrupt occurs, the initial value of the PWM count of the second motor 20 is configured, and the PWM count of the second motor 20 is restarted.

[0097] The description is still made based on the different waveforms of the first triangular carrier and the second triangular carrier.

[0098] In some embodiments of the present application, see Fig. 9 When the waveforms of the first triangular carrier and the second triangular carrier are consistent and the counts are synchronized, when the two motors are initialized and stopped at the same time, the PWM count of the first motor 10 is started first.

[0099] When the PWM count of the first motor 10 reaches the peak position and a PWM interrupt occurs (ie, reaches the PWM count setting value for PWM interrupt), the initial PWM count value of the second motor 20 is set to zero, and then the PWM count of the second motor 20 is restarted.

[0100] As a result, the PWM counts of the first motor 10 and the second motor 20 are resynchronized at the valley position.

[0101] In some embodiments of the present application, see Fig.10 In the case where the waveforms of the first triangular carrier and the second triangular carrier are complementary and the counting directions are opposite, when the two motors are initialized and stopped at the same time, the PWM counting of the first motor 10 is started first.

[0102] When the PWM count of the first motor 10 reaches the peak position and a PWM interrupt occurs (ie, reaches the PWM count setting value for PWM interrupt), the initial PWM count value of the second motor 20 is set to zero, and then the PWM count of the second motor 20 is restarted.

[0103] As a result, the PWM counts of the first motor 10 and the second motor 20 are restored to a complementary form.

[0104] In order to restart the PWM counts of the first motor 10 and the second motor 20 and configure their respective PWM count initial values ​​when the first motor 10 and the second motor 20 stop first and then stop, the PWM interruption and current sampling point positions in the first motor 10 and the second motor 20 meet the requirements of FIG. Figure 6 and Figure 7 As shown in the relationship, in some embodiments of the present application, a setting module (not shown) is used to set the PWM count state of each motor.

[0105] In some embodiments of the present application, the PWM counting state is set to have three states corresponding to three flags.

[0106] The three flags include a first flag, a second flag and a third flag, and the three states include a first state corresponding to the first flag, a second state corresponding to the second flag and a third state corresponding to the third flag.

[0107] When the flag of the PWM count state is set to the first flag (for example, 0), the first state is the initialization after the MCU chip is reset.

[0108] When the flag of the PWM count state is set to a second flag (eg, 1), the second state is PWM count on.

[0109] When the flag of the PWM counting state is set to the third flag (for example, 2), the third state is that the PWM counting is stopped, but there is a need to start.

[0110] As follows, see Figures 11 to 14 The different orders in which the first motor 10 and the second motor 20 are shut down successively are described respectively.

[0111] In some embodiments of the present application, see Fig.11 , describes the main cycle process when the first motor 10 is stopped first.

[0112] S11: When the first motor 10 stops, determine whether the flag of the PWM count state of the first motor 10 is the first flag, or whether the flag of the PWM count state of the second motor 20 is the third flag. If so, proceed to S12; if not, proceed to S13.

[0113] Here, the first motor 10 is stopped. When the mark of the PWM count state of the first motor 10 is the first mark, it indicates initialization after the MCU chip is reset. At this time, the first motor 10 and the second motor 20 are stopped at the same time, which is consistent with the above description.

[0114] If the flag of the PWM count state of the first motor 10 is the first flag, or the flag of the PWM count state of the second motor 20 is the third flag, it means that the initialization or PWM count of the second motor 20 is stopped but there is a need to start.

[0115] If the flag of the PWM count state of the first motor 10 is not the first flag, and the flag of the PWM count state of the second motor 20 is not the third flag, it means that it is not initialized, and the PWM count of the second motor 20 is also turned on.

[0116] S12: starting the PWM count of the first motor 10, and setting the flag of the PWM count state of the first motor 10 to the second flag, and proceeding to the first PWM interrupt when the first motor 10 generates the first PWM interrupt.

[0117] During initialization or when the PWM count of the second motor 20 is stopped but there is a need to start it, the PWM count of the first motor 10 is started, and the flag of the PWM count state of the first motor 10 is set to the second flag, so as to judge whether to start the PWM count of the second motor 20 according to the PWM count state of the second motor 20 in the PWM interrupt of the first motor 10.

[0118] Whether to start the counting of the second motor 20, set the PWM counting initial value and the PWM counting state, needs to be performed in the first PWM interruption generated by the first motor 10, which will be described in detail below.

[0119] S13: setting the flag of the PWM count state of the first motor 10 to a third flag, and proceeding to the second PWM interrupt when the second motor 20 generates a second PWM interrupt.

[0120] When it is not initialized and the PWM count of the second motor 20 is also turned on, it means that the second motor 20 is in the PWM count on state, and the flag of the PWM count state of the first motor 10 is set to the third flag, indicating that the PWM count of the first motor 10 is stopped but there is a need to turn it on, and it is prepared to judge whether to turn on the PWM count of the first motor 10 according to the PWM count state of the first motor 10 in the PWM interrupt of the second motor 20.

[0121] Whether to start the counting of the first motor 10, set the PWM counting initial value and the PWM counting state, needs to be performed in the second PWM interruption generated by the second motor 20, which will be described in detail below.

[0122] As follows, see Fig.13 , a flowchart in a first PWM interrupt generated by the first motor 10 will be described.

[0123] S14: Determine whether the flag of the PWM count state of the second motor 20 is the third flag, if so, proceed to S15, if not, proceed to S16.

[0124] In the first PWM interrupt service program, it is determined whether the flag of the PWM count state of the second motor 20 is the third flag.

[0125] If the flag of the PWM counting state of the second motor 20 is the third flag, it means that the PWM counting of the second motor 20 is stopped but there is a need to start.

[0126] If the flag of the PWM count state of the second motor 20 is not the third flag, it means that the PWM count of the second motor 20 is turned on, so that the PWM counts of the first motor 10 and the second motor 20 meet the requirements of Figure 6 and Figure 7 The relationship shown in FIG. 1 is then performed to S16.

[0127] S15: Start the PWM count of the second motor 20, and set the flag of the PWM count state of the second motor 20 to the second flag, and proceed to S16.

[0128] When the PWM count of the second motor 20 stops but there is a need to start it, the PWM count of the second motor 20 is started, and the flag of the PWM count state of the second motor 20 is set to the second flag, indicating that the PWM count of the second motor 20 is started, so that the PWM counts of the first motor 10 and the second motor 20 meet the requirements of Figure 6 and Figure 7 The relationship shown in FIG. 1 is then performed to S16.

[0129] S16: Exit.

[0130] That is, the first PWM interrupt generated by the first motor 10 is exited.

[0131] As follows, see Fig.14 , a flow chart of the second PWM interrupt generated by the second motor 20 will be described.

[0132] S17: Determine whether the flag of the PWM count state of the first motor 10 is the third flag, if so, proceed to S18, if not, proceed to S19.

[0133] In the interrupt service program of the second motor 20 , whether the PWM count state of the first motor 10 is the third flag.

[0134] If the flag of the PWM counting state of the first motor 10 is the third flag, it means that the PWM counting of the first motor 10 is stopped but there is a need to start.

[0135] If the flag of the PWM count state of the first motor 10 is not the third flag, it means that the PWM count of the first motor 10 is turned on, so that the PWM counts of the first motor 10 and the second motor 20 meet the requirements of Figure 6 and Figure 7 The relationship shown in FIG. 1 is then performed to S19.

[0136] S18: Start the PWM count of the first motor 10, and set the flag of the PWM count state of the first motor 10 to the second flag, and proceed to S19.

[0137] When the PWM count of the first motor 10 stops but there is a need to start it, the PWM count of the first motor 10 is started, and the flag of the PWM count state of the first motor 10 is set to the second flag, indicating that the PWM count of the first motor 10 is started, so that the PWM counts of the first motor 10 and the second motor 20 meet the requirements of Figure 6 and Figure 7 The relationship shown in FIG. 1 is then performed to S19.

[0138] S19: Exit.

[0139] That is, the second PWM interrupt generated by the second motor 20 is exited.

[0140] In some embodiments of the present application, see Fig.12 , describes the main cycle process when the second motor 20 is shut down first.

[0141] S21: When the second motor 20 stops, the PWM count of the second motor 20 is controlled to stop and clear, and it is determined whether the flag of the PWM count state of the first motor 10 is the third flag. If so, proceed to S22, otherwise proceed to S23.

[0142] Here, the second motor 20 is shut down, and the PWM count of the second motor 20 needs to be controlled to stop and reset.

[0143] When the flag of the PWM count state of the first motor 10 is the third flag, it indicates that the PWM count of the first motor 10 is stopped but there is a need to start.

[0144] The mark of the PWM count state of the first motor 10 is not the third mark, which means that the PWM count of the first motor 10 is also turned on, indicating that the first motor 10 is in the PWM count turned on state.

[0145] S22: starting the PWM count of the second motor 20, and setting the flag of the PWM count state of the second motor 20 to a second flag, and proceeding to the second PWM interrupt when the second motor 20 generates a second PWM interrupt.

[0146] When the PWM count of the first motor 10 is stopped but there is a need to start it, start the PWM count of the second motor 20, and set the flag of the PWM count state of the second motor 20 to the second flag, which is convenient for judging whether to start the PWM count of the first motor 10 according to the PWM count state of the first motor 10 in the PWM interrupt of the second motor 20.

[0147] Specifically, whether to start the count of the first motor 10, set the initial value of the PWM count, and the PWM count state need to be carried out in the second PWM interrupt generated by the second motor 20, which will be specifically described below.

[0148] S23: Set the flag of the PWM count state of the second motor 20 to the third flag, and proceed to the second PWM interrupt when the second motor 20 generates a second PWM interrupt.

[0149] When the first motor 10 is in the PWM count start state, set the flag of the PWM count state of the second motor 20 to the third flag, indicating that the PWM count of the second motor 20 is stopped but there is a need to start it, and prepare to judge whether to start the PWM count of the second motor 20 according to the PWM count state of the second motor 20 in the PWM interrupt of the first motor 10.

[0150] Specifically, whether to start the count of the second motor 20, set the initial value of the PWM count, and the PWM count state need to be carried out in the first PWM interrupt generated by the first motor 10, which will be specifically described below.

[0151] As follows, see Fig.14 , the flowchart in the second PWM interrupt generated by the second motor 20 will be described.

[0152] S24: Judge whether the flag of the PWM count state of the first motor 10 is the third flag. If it is, proceed to S25; if not, proceed to S26.

[0153] In the second PWM interrupt service routine, judge whether the flag of the PWM count state of the first motor 10 is the third flag.

[0154] If the flag of the PWM count state of the first motor 10 is the third flag, it means that the PWM count of the first motor 10 is stopped but there is a need to start it.

[0155] If the flag of the PWM count state of the first motor 10 is not the third flag, it means that the PWM count of the first motor 10 is on. Make the PWM counts of the first motor 10 and the second motor 20 satisfy the relationship shown in Figure 6 and Figure 7 , and then proceed to S26.

[0156] S25: Start the PWM count of the first motor 10, and set the flag of the PWM count state of the first motor 10 to the second flag, and proceed to S26.

[0157] When the PWM count of the first motor 10 stops but there is a need to start it, the PWM count of the first motor 10 is started, and the flag of the PWM count state of the first motor 10 is set to the second flag, indicating that the PWM count of the first motor 10 is started, so that the PWM counts of the first motor 10 and the second motor 20 meet the requirements of Figure 6 and Figure 7 The relationship shown in FIG. 1 is shown, and then the process proceeds to S26.

[0158] S26: Exit.

[0159] That is, the second PWM interruption generated by the second motor 20 is terminated.

[0160] As follows, see Fig.13 , a flow chart of a first PWM interrupt generated by the first motor 10 will be described.

[0161] S27: Determine whether the flag of the PWM count state of the second motor 20 is the third flag. If so, proceed to S28; if not, proceed to S29.

[0162] In the interrupt service program of the first motor 10 , it is determined whether the PWM count state of the second motor 20 is a third flag.

[0163] If the flag of the PWM counting state of the second motor 20 is the third flag, it means that the PWM counting of the second motor 20 is stopped but there is a need to start.

[0164] If the flag of the PWM count state of the second motor 20 is not the third flag, it means that the PWM count of the second motor 20 is turned on, so that the PWM counts of the first motor 10 and the second motor 20 meet the requirements of Figure 6 and Figure 7 The relationship shown in FIG. 1 is then performed to S29.

[0165] S28: Start the PWM count of the second motor 20, and set the flag of the PWM count state of the second motor 20 to the second flag, and proceed to S29.

[0166] When the PWM count of the second motor 20 stops but there is a need to start it, the PWM count of the second motor 20 is started, and the flag of the PWM count state of the second motor 20 is set to the second flag, indicating that the PWM count of the second motor 20 is started, so that the PWM counts of the first motor 10 and the second motor 20 meet the requirements of Figure 6 and Figure 7 The relationship shown in FIG. 1 is then performed to S29.

[0167] S29: Exit.

[0168] That is, the first PWM interrupt generated by the first motor 10 is exited.

[0169] In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0170] The above are only specific embodiments of the present invention, but the protection scope of the present invention 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 by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A dual motor control system, It is characterized in that include: A first inverter, which is used to invert the bus voltage into a three-phase voltage to supply power to the first motor of the dual motors, and the first triangular carrier is used for modulation to control the switch tube in the first inverter; A second inverter, which is used to invert the bus voltage into a three-phase voltage to supply power to the second motor in the dual motors, and a second triangular carrier is used for modulation to control the switch tube in the second inverter, the first triangular carrier and the second triangular carrier have the same carrier frequency, and the PWM count setting value is also the same; A control module configured to: When the waveforms of the first triangular carrier and the second triangular carrier are consistent, a PWM interrupt is generated when the PWM count of the first motor reaches a PWM count setting value; The moment I when the second motor generates a PWM interrupt is half a PWM cycle after the moment when the first motor generates a PWM interrupt, and the position corresponding to the moment I is the position where the PWM count of the second motor is zero; The current sampling point of the first motor is located in the PWM count increasing stage, and the current sampling point of the second motor is located in the PWM count decreasing stage; In the case where the waveforms of the first triangular carrier and the second triangular carrier are complementary, when the PWM count of the first motor reaches a PWM count setting value, a PWM interrupt is generated; The moment II at which the PWM interrupt is generated for the second motor is half a PWM cycle after the moment at which the PWM interrupt is generated for the first motor, and the position corresponding to the moment II is the position at which the PWM count of the second motor is the PWM count setting value; The current sampling point of the first motor is located in the PWM count increasing stage, and the current sampling point of the second motor is located in the PWM count increasing stage.

2. The dual motor control system according to claim 1, It is characterized in that The control module is further configured to: When one of the first motor and the second motor stops, the PWM count of the stopped motor is stopped and cleared, and when the PWM count of the other motor that is not stopped reaches the value for causing a PWM interrupt, the initial value of the PWM count of the stopped motor is set, and then the PWM count of the stopped motor is restarted.

3. The dual motor control system according to claim 2, It is characterized in that In the case where the waveforms of the first triangular carrier and the second triangular carrier are consistent, when the first motor stops, the PWM count of the first motor is stopped and cleared, and when the value of the PWM count of the running second motor reaches zero, the initial value of the PWM count of the first motor is set to zero, and then the PWM count of the first motor is restarted; When the second motor stops, the PWM count of the second motor stops and is cleared, and when the PWM count value of the running first motor reaches the PWM count setting value, the PWM count initial value of the first motor is set to the PWM count setting value, and then the PWM count of the second motor is restarted.

4. The dual motor control system according to claim 2 or 3, It is characterized in that In the case where the waveforms of the first triangular carrier and the second triangular carrier are complementary, when the first motor stops, the PWM count of the first motor is stopped and cleared, and when the value of the PWM count of the running second motor reaches the PWM count setting value, the initial value of the PWM count of the first motor is set to zero, and then the PWM count of the first motor is restarted; When the second motor stops, the PWM count of the second motor stops and is cleared, and when the PWM count value of the running first motor reaches the PWM count setting value, the initial PWM count value of the first motor is set to zero, and then the PWM count of the second motor is restarted.

5. The dual motor control system according to claim 1, It is characterized in that The control module is further configured to: When the first motor and the second motor are initialized and stopped at the same time, the PWM count of the first motor is first started, and the initial value of the PWM count of the second motor is configured in the PWM interrupt generated by the first motor, and then the PWM count of the second motor is restarted.

6. The dual motor control system according to claim 5, It is characterized in that When the waveforms of the first triangular carrier and the second triangular carrier are consistent, the PWM count of the first motor is started first, and when the first motor generates a PWM interrupt, the initial PWM count value of the second motor is set to the PWM count setting value, and then the PWM count of the second motor is restarted.

7. The dual motor control system according to claim 5 or 6, It is characterized in that When the waveforms of the first triangular carrier and the second triangular carrier are complementary, the PWM count of the first motor is first started, and when the first motor generates a PWM interrupt, the initial value of the PWM count of the second motor is set to zero, and then the PWM count of the second motor is restarted.

8. The dual motor control system according to claim 1, It is characterized in that The dual-motor control system further includes: A setting module, used for setting a PWM count state of the first motor and a PWM count state of the second motor; The PWM counting state is set to three states corresponding to three flags respectively; When the flag of the PWM counting state is set to the first flag, it indicates initialization; when the flag of the PWM counting state is set to the second flag, it indicates that the PWM counting is started; when the flag of the PWM counting state is set to the third flag, it indicates that the PWM counting is stopped and there is a need to start.

9. The dual motor control system according to claim 8, It is characterized in that The control module is configured to: S11: when the first motor stops, controlling the PWM count of the first motor to stop and clear, determining whether the mark of the PWM count state of the first motor is the first mark, or whether the mark of the PWM count state of the second motor is the third mark, if yes, proceeding to S12, if no, proceeding to S13; S12: starting the PWM count of the first motor, and setting the flag of the PWM count state of the first motor to a second flag, and proceeding to S14 when the first motor generates a PWM interrupt; S13: setting the flag of the PWM count state of the first motor to a third flag, and proceeding to S17 when the second motor generates a PWM interrupt; S14: Determine whether the flag of the PWM count state of the second motor is the third flag, if so, proceed to S15, if not, proceed to S16; S15: start the PWM count of the second motor, set the flag of the PWM count state of the second motor to the second flag, and proceed to S16; S16: exiting the PWM interruption generated by the first motor; S17: Determine whether the flag of the PWM count state of the first motor is the third flag, if so, proceed to S18, if not, proceed to S19; S18: starting the PWM count of the first motor, and setting the flag of the PWM count state of the first motor to the second flag, and proceeding to S19; S19: Exit the PWM interruption generated by the second motor.

10. The dual-motor control system according to claim 8, It is characterized in that The control module is configured to: S21: when the second motor stops, controlling the PWM count of the second motor to stop and clear, determining whether the flag of the PWM count state of the first motor is a third flag, if so, proceeding to S22, if not, proceeding to S23; S22: start the PWM count of the second motor, and set the flag of the PWM count state of the second motor to a second flag, and proceed to S24 when the second motor generates a PWM interrupt; S23: setting the flag of the PWM count state of the second motor to a third flag, and proceeding to S27 when the first motor generates a PWM interrupt; S24: Determine whether the flag of the PWM count state of the first motor is the third flag, if so, proceed to S25, if not, proceed to S26; S25: start the PWM count of the first motor, and set the flag of the PWM count state of the first motor to the second flag, and proceed to S26; S26: exiting the PWM interruption generated by the second motor; S27: Determine whether the flag of the PWM count state of the second motor is the third flag, if so, proceed to S28, if not, proceed to S29; S28: start the PWM count of the second motor, and set the flag of the PWM count state of the second motor to a second flag, and proceed to S29; S29: Exit the PWM interruption generated by the first motor.

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