Non-inductive permanent magnet motor control system and control method thereof

Abstract

The invention discloses a non-inductive permanent magnet motor control system and a control method thereof, the system comprises a main control module, a power driving module and a power supply module, the main control module comprises an FU6812L2 type central processor, and under the control of the central processor, a PWM control signal is provided for the power driving module; the power driving module receives the PWM control signal, generates a three-phase alternating current signal according to the PWM control signal so as to control the operation of the non-inductive permanent magnet motor, and collects the three-phase alternating current signal in real time; the main control module monitors the running state of the non-inductive permanent magnet motor in real time according to the three-phase alternating current signal; the power supply module provides working voltage for the master control module and the power driving module. Based on the FU6812L2 type central processing unit, on the basis that efficient and stable control over the non-inductive permanent magnet motor is achieved, the cost and complexity of a motor control system are remarkably reduced, and the motor control system has high cost performance.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to an inductive permanent magnet motor control system and a control method thereof. Background Art

[0002] The working principle of the inductive permanent magnet synchronous motor is mainly to generate a rotational torque through the interaction of the magnetic field between the permanent magnet and the electromagnetic coil, thereby driving the motor to rotate. Compared with the inductive permanent magnet synchronous motor, the inductive permanent magnet synchronous motor does not need to be induced by the induction armature to induce the motor rotor, so its structure is relatively simple and the cost is low. It is widely used in low-performance, low-cost fields such as household appliances, power tools, and robots.

[0003] At present, the control circuit of the inductive permanent magnet synchronous motor usually monitors and controls the motor state through an architecture composed of sensors, encoders and other devices to achieve precise control of the motor. However, the cost of the control circuit is high, resulting in a low cost-effectiveness of the entire inductive permanent magnet motor in actual application. Summary of the invention

[0004] In view of this, the present invention provides a non-inductive permanent magnet motor control system and a control method thereof to solve the problem that the existing non-inductive permanent magnet motor control circuit has high cost, resulting in low cost performance of the entire non-inductive permanent magnet motor in practical applications.

[0005] The present invention provides an inductive permanent magnet motor control system, the system comprising a main control module, a power drive module and a power supply module, the output end of the power supply module is electrically connected to the input end of the main control module and the input end of the power drive module, the output end of the main control module is electrically connected to the inductive permanent magnet motor through the power drive module, the output end of the power drive module is also electrically connected to the input end of the main control module, and the input end of the power supply module is also electrically connected to the output end of the main control module;

[0006] The main control module includes a central processing unit of model FU6812L2, which is used to provide a PWM control signal to the power driving module under the control of the central processing unit;

[0007] The power drive module is used to receive the PWM control signal and generate a three-phase alternating current signal according to the PWM control signal to control the operation of the inductive permanent magnet motor according to the three-phase alternating current signal; and is also used to collect the three-phase alternating current signal in real time and feed back the three-phase alternating current signal to the central processing unit in real time;

[0008] The main control module is also used to monitor the operating state of the inductive permanent magnet motor in real time according to the received three-phase alternating current signal under the control of the central processing unit;

[0009] The power supply module is used to provide working voltage to the main control module and the power driving module respectively.

[0010] Optionally, the power drive module includes a three-phase inverter unit, a drive unit and a three-phase current acquisition unit; the input end of the three-phase inverter unit, the input end of the drive unit and the input end of the three-phase current acquisition unit are all electrically connected to the output end of the power supply module, the input end of the three-phase inverter unit is also electrically connected to the output end of the central processing unit, the output end of the three-phase inverter unit is electrically connected to the inductive permanent magnet motor through the drive unit, the input end of the three-phase current acquisition unit is electrically connected to the output end of the drive unit, and the output end of the three-phase current acquisition unit is electrically connected to the input end of the central processing unit;

[0011] The three-phase inverter unit is used to receive the PWM control signal provided by the central processor, and convert the input voltage into the three-phase alternating current signal under the control of the PWM control signal;

[0012] The driving unit is used to receive the three-phase alternating current signal provided by the three-phase inverter unit, process the three-phase alternating current signal, and transmit the processed three-phase alternating current signal to the inductorless permanent magnet motor;

[0013] The three-phase current acquisition unit is used to collect the processed three-phase alternating current signal provided by the driving unit to the inductive permanent magnet motor in real time, and transmit it to the central processing unit.

[0014] Optionally, the three-phase inverter unit includes a three-phase half-bridge drive chip U9, a capacitor C44, a capacitor C46, ​​a capacitor C48, a capacitor C50, a capacitor C54, a resistor R57, a resistor R58, a resistor R59, a resistor R60, a resistor R63, a resistor R64, a resistor R65, a resistor R66, a resistor R67, a resistor R71 and a resistor R72;

[0015] The low-end power pin VCC of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the power supply module, and the power ground pin VSS and the low-end gate drive pin COM of the three-phase half-bridge driver chip U9 are both grounded; the first end of the capacitor C44 is connected to the common connection end between the low-end power pin VCC of the three-phase half-bridge driver chip U9 and the output end of the power supply module, and the second end of the capacitor C44 is grounded; the first high-end signal input pin HIN1 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R57, and the second high-end signal input pin HIN2 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R57. The resistor R58 is electrically connected to the output end of the central processing unit, and the third high-end signal input pin HIN3 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R59; the first low-end signal input pin LIN1 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R60, the second low-end signal input pin LIN2 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R63, and the third low-end signal input pin LIN3 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R65;

[0016] The fault indication pin FAULT of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R67, the first end of the resistor R64 is connected to the common connection end between the resistor R67 and the output end of the central processing unit, and the second end of the resistor R64 is electrically connected to the output end of the power supply module; the enable pin EN of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R71; the external RC input pin RCIN of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the power supply module through a resistor R72, the first end of the capacitor C50 is connected to the common connection end between the external RC input pin RCIN of the three-phase half-bridge driver chip U9 and the resistor R72, and the second end of the capacitor C50 is grounded;

[0017] The first high-end floating absolute voltage pin VB1 of the three-phase half-bridge driver chip U9 is electrically connected to the input end of the drive unit through capacitor C46, ​​the second high-end floating absolute voltage pin VB2 of the three-phase half-bridge driver chip U9 is electrically connected to the input end of the drive unit through capacitor C48, and the third high-end floating absolute voltage pin VB3 of the three-phase half-bridge driver chip U9 is electrically connected to the input end of the drive unit through capacitor C54; the first high-end floating offset voltage pin VS1, the second high-end floating offset voltage pin VS2, the second high-end floating offset voltage pin VS3, the first high-end output pin HO1, the second high-end output pin HO2, the third high-end output pin HO3, the first low-end output pin LO1, the second low-end output pin LO2 and the third low-end output pin LO3 of the three-phase half-bridge driver chip U9 are all electrically connected to the input end of the drive unit.

[0018] Optionally, the driving unit includes a MOS transistor Q5, a MOS transistor Q6, a MOS transistor Q7, a MOS transistor Q8, a MOS transistor Q9, a MOS transistor Q10, a diode D15, a diode D16, a diode D17, a diode D18, a diode D22, a diode D23, a capacitor C47, a capacitor C49, a capacitor C51, a capacitor C52, a capacitor C57, a capacitor C58, a resistor R55, a resistor R56, a resistor R61, a resistor R66, a resistor R70, a resistor R74, a resistor R75, a resistor R78, a resistor R79, a resistor R81, a resistor R87, a resistor R88, a resistor R90, a resistor R91 and a resistor R92;

[0019] The drain of the MOS tube Q5, the drain of the MOS tube Q7 and the drain of the MOS tube Q9 are all electrically connected to the output end of the power supply module, the source of the MOS tube Q5 is electrically connected to the drain of the MOS tube Q6, the source of the MOS tube Q7 is electrically connected to the drain of the MOS tube Q8, and the source of the MOS tube Q9 is electrically connected to the drain of the MOS tube Q10; the source of the MOS tube Q6 is grounded through the resistor R70, the source of the MOS tube Q8 is grounded through the resistor R81, and the source of the MOS tube Q10 is grounded through the resistor R92; the source of the MOS tube Q5 .... The common connection end between the source of the MOS tube Q6 and the drain of the MOS tube Q6, the common connection end between the source of the MOS tube Q7 and the drain of the MOS tube Q8, and the common connection end between the source of the MOS tube Q9 and the drain of the MOS tube Q10 are all electrically connected to the inductive permanent magnet motor; the common connection end between the source of the MOS tube Q6 and the resistor R70, the common connection end between the source of the MOS tube Q8 and the resistor R81, and the common connection end between the source of the MOS tube Q10 and the resistor R92 are all electrically connected to the input end of the three-phase current acquisition unit;

[0020] The base of the MOS transistor Q5 is electrically connected to the output end of the three-phase inverter unit through the resistor R55, the first end of the resistor R56, the first end of the capacitor C47 and the positive electrode of the diode D15 are all connected to the common connection end between the base of the MOS transistor Q5 and the resistor R55, the second end of the resistor R56 and the second end of the capacitor C47 are all connected to the common connection end between the source of the MOS transistor Q5 and the drain of the MOS transistor Q6, and the negative electrode of the diode D15 is electrically connected to the output end of the three-phase inverter unit; the base of the MOS transistor Q6 is electrically connected to the output end of the three-phase inverter unit through the resistor R61, the first end of the resistor R66, the first end of the capacitor C49 and the positive electrode of the diode D16 are all connected to the common connection end between the base of the MOS transistor Q6 and the resistor R61, the second end of the resistor R66 and the second end of the capacitor C49 are all connected to the common connection end between the source of the MOS transistor Q6 and the resistor R70, and the negative electrode of the diode D16 is electrically connected to the output end of the three-phase inverter unit;

[0021] The base of the MOS transistor Q7 is electrically connected to the output end of the three-phase inverter unit through the resistor R74, the first end of the resistor R75, the first end of the capacitor C51 and the positive electrode of the diode D17 are all connected to the common connection end between the base of the MOS transistor Q7 and the resistor R74, the second end of the resistor R75 and the second end of the capacitor C51 are all connected to the common connection end between the source of the MOS transistor Q7 and the drain of the MOS transistor Q8, and the negative electrode of the diode D17 is electrically connected to the output end of the three-phase inverter unit; the base of the MOS transistor Q8 is electrically connected to the output end of the three-phase inverter unit through the resistor R78, the first end of the resistor R79, the first end of the capacitor C52 and the positive electrode of the diode D18 are all connected to the common connection end between the base of the MOS transistor Q8 and the resistor R78, the second end of the resistor R79 and the second end of the capacitor C52 are all connected to the common connection end between the source of the MOS transistor Q8 and the resistor R81, and the negative electrode of the diode D18 is electrically connected to the output end of the three-phase inverter unit;

[0022] The base of the MOS transistor Q9 is electrically connected to the output end of the three-phase inverter unit through the resistor R87, the first end of the resistor R88, the first end of the capacitor C57 and the positive electrode of the diode D22 are all connected to the common connection end between the base of the MOS transistor Q9 and the resistor R87, the second end of the resistor R88 and the second end of the capacitor C57 are all connected to the common connection end between the source of the MOS transistor Q9 and the drain of the MOS transistor Q10, and the negative electrode of the diode D22 is electrically connected to the output end of the three-phase inverter unit; the base of the MOS transistor Q10 is electrically connected to the output end of the three-phase inverter unit through the resistor R90, the first end of the resistor R91, the first end of the capacitor C58 and the positive electrode of the diode D23 are all connected to the common connection end between the base of the MOS transistor Q10 and the resistor R90, the second end of the resistor R91 and the second end of the capacitor C58 are all connected to the common connection end between the source of the MOS transistor Q10 and the resistor R92, and the negative electrode of the diode D23 is electrically connected to the output end of the three-phase inverter unit.

[0023] Optionally, the three-phase current acquisition unit includes three current acquisition circuits;

[0024] Each of the current acquisition circuits includes an operational amplifier, a first capacitor, a second capacitor, a third capacitor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor and an eleventh resistor;

[0025] In each of the current acquisition circuits, the positive power supply pin of the op amp is electrically connected to the output end of the power supply module, and the negative power supply pin of the op amp is grounded; the positive input pin of the op amp is electrically connected to the output end of the drive unit through the sixth resistor and the fifth resistor in sequence, and the reverse input pin of the op amp is grounded through the ninth resistor and the eighth resistor in sequence; the first end of the first capacitor is connected to the common connection end between the sixth resistor and the fifth resistor, and the second end of the first capacitor is connected to the common connection end between the ninth resistor and the eighth resistor;

[0026] The positive input pin of the operational amplifier is also electrically connected to the output end of the power supply module through the third resistor and the first resistor in sequence, the first end of the second resistor and the first end of the fourth resistor are both connected to the common connection end between the third resistor and the first resistor, the second end of the second resistor is grounded, and the second end of the fourth resistor is connected to the common connection end between the positive input pin of the operational amplifier and the third resistor;

[0027] The output pin of the operational amplifier is electrically connected to the input terminal of the central processing unit through the seventh resistor; the first end of the tenth resistor, the first end of the eleventh resistor and the first end of the third capacitor are all connected to the common connection terminal between the reverse input pin of the operational amplifier and the ninth resistor; the second end of the tenth resistor, the second end of the eleventh resistor and the second end of the third capacitor are all connected to the common connection terminal between the output pin of the operational amplifier and the seventh resistor; the first end of the second capacitor is connected to the common connection terminal between the seventh resistor and the input terminal of the central processing unit, and the second end of the second capacitor is grounded.

[0028] Optionally, the power driving module further includes a current sampling protection unit, the input end of the current sampling protection unit is electrically connected to the output end of the driving unit and the output end of the power supply module, and the output end of the current sampling protection unit is electrically connected to the input end of the central processing unit;

[0029] The current sampling protection unit is used to receive the processed three-phase alternating current signal output by the driving unit, and perform current sampling protection according to the processed three-phase alternating current signal.

[0030] Optionally, the current sampling protection unit includes an op amp U4B, a diode D19, a diode D20, a diode D21, a capacitor C53, a capacitor C55, a capacitor C56, a resistor R76, a resistor R77, a resistor R80, a resistor R82, a resistor R83, a resistor R84, a resistor R85 and a resistor R86;

[0031] The positive power supply pin of the operational amplifier U4B is electrically connected to the output end of the power supply module, the first end of the capacitor C55 is connected to the common connection end between the positive power supply pin of the operational amplifier U4B and the output end of the power supply module, and the second end of the capacitor C55 is grounded; the negative power supply pin of the operational amplifier U4B is grounded;

[0032] The positive input pin of the amplifier U4B is grounded through the resistor R76; the first end of the resistor R80, the first end of the resistor R82 and the first end of the resistor R84 are all electrically connected to the output end of the driving unit, the second end of the resistor R80 is electrically connected to the positive input pin of the amplifier U4B through the diode D19, the second end of the resistor R82 is electrically connected to the positive input pin of the amplifier U4B through the diode D20, and the second end of the resistor R84 is electrically connected to the positive input pin of the amplifier U4B through the diode D21; the reverse input pin of the amplifier U4B is grounded through the capacitor C56, the first end of the resistor R85 and the first end of the resistor R86 are both connected to the common connection end between the reverse input pin of the amplifier U4B and the capacitor C56, the second end of the resistor R85 is electrically connected to the output end of the power supply module, and the second end of the resistor R86 is grounded;

[0033] The output pin of the operational amplifier U4B is electrically connected to the input end of the central processing unit through the resistor R77, the first end of the resistor R83 and the first end of the capacitor C53 are both connected to the common connection end between the output pin of the operational amplifier U4B and the resistor R77, and the second end of the resistor R83 and the second end of the capacitor C53 are both grounded.

[0034] Optionally, the power supply module includes a safety filter unit, a surge suppression rectifier unit, a power factor correction unit, an analog-to-digital conversion unit and a DC-DC conversion unit;

[0035] The input end of the safety filter unit is electrically connected to an external power supply, the output end of the safety filter unit is electrically connected to the input end of the DC-DC conversion unit through the surge suppression rectifier unit, the power factor correction unit, and the analog-to-digital conversion unit in sequence, the output end of the power factor correction unit, the output end of the analog-to-digital conversion unit, and the output end of the DC-DC conversion unit are all electrically connected to the input end of the power driving module, the output end of the DC-DC conversion unit is also electrically connected to the input end of the central processing unit, and the input end of the surge suppression rectifier unit and the input end of the power factor correction unit are also electrically connected to the output end of the central processing unit;

[0036] The safety filter unit is used to receive a power supply voltage provided by an external power supply and perform filtering on the power supply voltage;

[0037] The surge suppression rectifier unit is used to receive the filtered power supply voltage provided by the safety filter unit, and, under the control of the central processor, rectify the filtered power supply to obtain a DC voltage signal;

[0038] The power factor correction unit is used to receive the DC voltage signal provided by the surge suppression rectifier unit, and perform power factor correction on the DC voltage signal under the control of the central processor; and provide the DC voltage signal after power factor correction to the analog-to-digital conversion unit and the power driving module respectively;

[0039] The analog-to-digital conversion unit is used to receive the DC voltage signal after power factor correction, and perform analog-to-digital conversion on the DC voltage signal after power factor correction to obtain a first digital voltage signal with a first voltage value; and provide the first digital voltage signal with the first voltage value to the DC-DC conversion unit and the power driving module respectively;

[0040] The DC-DC conversion unit is used to receive the first digital voltage signal having a first voltage value, and convert the first digital voltage signal having the first voltage value into a second digital voltage signal having a second voltage value; and provide the second digital voltage signal having the second voltage value to the central processing unit and the power driving module respectively.

[0041] Optionally, the safety filter unit includes a common mode inductor FL1, a fuse F1, a capacitor CX1, a capacitor CX2, a capacitor CY2, a capacitor CY3, a resistor R62, a resistor R68, a resistor R69 and a resistor R73;

[0042] Pin No. 2 of the common-mode inductor FL1 is electrically connected to the positive signal terminal of the external power supply through the fuse F1, and pin No. 1 of the common-mode inductor FL1 is electrically connected to the negative signal terminal of the external power supply. The first end of the resistor R68 and the first end of the capacitor CX1 are both connected to the common connection terminal between pin No. 2 of the common-mode inductor FL1 and the fuse F1, and the second end of the resistor R68 and the second end of the capacitor CX1 are both connected to the common connection terminal between pin No. 1 of the common-mode inductor FL1 and the negative signal terminal of the external power supply.

[0043] Pin No. 3 and Pin No. 4 of the common-mode inductor FL1 are electrically connected to the input end of the surge suppression rectifier unit, the first end of the capacitor CX2 and the first end of the capacitor CY2 are connected to the common connection end between pin No. 3 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit, the second end of the capacitor CY2 is grounded, the second end of the capacitor CX2 and the first end of the capacitor CY3 are connected to the common connection end between pin No. 4 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit, and the second end of the capacitor CY3 is grounded; the first end of the resistor R62 is connected to the common connection end between pin No. 3 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit, and the second end of the resistor R62 is connected to the common connection end between pin No. 4 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit through resistors R69 and R73 in sequence.

[0044] Optionally, the surge suppression rectifier unit includes a relay K1, a bridge rectifier diode D3, a diode D4, a transistor Q2, a resistor R1, a resistor R6, a resistor R9, a resistor R10 and a resistor R58;

[0045] The first input pin of the bridge rectifier diode D3 is electrically connected to the first output end of the safety filter unit through the resistor R1, and the second input pin of the bridge rectifier diode D3 is electrically connected to the second output end of the safety filter unit; the first output pin and the second output pin of the bridge rectifier diode D3 are both electrically connected to the input end of the power factor correction unit;

[0046] The first end of the coil of the relay K1 is electrically connected to the +15V power supply terminal, and the second end of the coil of the relay K1 is electrically connected to the collector of the transistor Q2 through the resistor R6; the anode of the diode D4 and the first end of the resistor R58 are both connected to the common connection terminal between the second end of the coil of the relay K1 and the resistor R6, the cathode of the diode D4 is connected to the common connection terminal between the first end of the coil of the relay K1 and the +15V power supply terminal, and the second end of the resistor R58 is connected to the common connection terminal between the resistor R6 and the collector of the transistor Q2; the transistor The base of Q2 is electrically connected to the output end of the central processing unit through the resistor R9, the first end of the resistor R10 is connected to the common connection end between the base of the transistor Q2 and the resistor R9, and the second end of the resistor R10 is grounded; the emitter of the transistor Q2 is grounded; the static contact of the relay K1 is connected to the common connection end between the first input pin of the bridge rectifier diode D3 and the resistor R1, the first moving contact of the relay K1 is connected to the common connection end between the resistor R1 and the first output end of the safety filter unit, and the second moving contact of the relay K1 is suspended.

[0047] Optionally, the power factor correction unit includes a power factor correction chip U8, a MOS tube Q1, a MOS tube Q3, a triode Q4, an inductor L1, a Schottky diode D4, a diode D3, a diode D10, a diode D11, a unidirectional conducting diode D13, a capacitor CY1, a capacitor C22, a capacitor C23, a polar capacitor C24, a polar capacitor C25, a polar capacitor C26, a capacitor C27, a capacitor C36, a capacitor C37, a capacitor C 38, capacitor C39, capacitor C40, capacitor C41, capacitor C42, capacitor C43, capacitor C45, resistor R27, resistor R29, resistor R30, resistor R31, resistor R32, resistor R34, resistor R35, resistor R37, resistor R38, resistor R40, resistor R41, resistor R44, resistor R46, resistor R47, resistor R48, resistor R49, resistor R51, resistor R52, resistor R53 and resistor R54;

[0048] The first end of the inductor L1 is electrically connected to the first output end of the surge suppression rectifier unit, and the second end of the inductor L1 is electrically connected to the input end of the analog-to-digital conversion unit and the input end of the power driving module through the Schottky diode D4; the anode of the diode D3 and the first end of the capacitor CY1 are both connected to the common connection end between the first end of the inductor L1 and the first output end of the surge suppression rectifier unit, the cathode of the diode D3 is connected to the common connection end between the Schottky diode D4 and the input end of the analog-to-digital conversion unit, and the second end of the capacitor CY1 is electrically connected to the second output end of the surge suppression rectifier unit; the capacitor C The first end of capacitor C22, the first end of capacitor C23, the positive electrode of polar capacitor C24, the positive electrode of polar capacitor C25 and the positive electrode of polar capacitor C26 are all connected to the common connection end between Schottky diode D4 and the input end of the analog-to-digital conversion unit, the second end of capacitor C22, the second end of capacitor C23, the negative electrode of polar capacitor C24, the negative electrode of polar capacitor C25 and the negative electrode of polar capacitor C26 are all grounded; the negative electrode of diode D11 and the first end of resistor R32 are all electrically connected to the second output end of the surge suppression rectifier unit, and the positive electrode of diode D11 and the second end of resistor R32 are all grounded;

[0049] The source of the MOS tube Q1 is connected to the common connection end between the second end of the inductor L1 and the Schottky diode D4, the drain of the MOS tube Q1 is grounded, and the gate of the MOS tube is electrically connected to the gate driver chip GATE of the power factor correction chip U8 through the resistor R29; the positive electrode of the diode D10, the first end of the resistor R27 and the first end of the capacitor C27 are all connected to the common connection end between the gate of the MOS tube and the resistor R29, the negative electrode of the diode D10 is connected to the common connection end between the resistor R29 and the gate driver chip GATE of the power factor correction chip U8, and the second end of the resistor R27 and the second end of the capacitor C27 are both grounded;

[0050] The inductor current detection pin ISENSE of the power factor correction chip U8 is electrically connected to the second output end of the surge suppression rectifier unit through a resistor R44, the first end of the capacitor C38 is connected to the common connection end between the inductor current detection pin ISENSE of the power factor correction chip U8 and the resistor R44, and the second end of the capacitor C38 is grounded; the ground pin GND of the power factor correction chip U8 is grounded, the current loop compensation pin ICOMP of the power factor correction chip U8 is grounded through a capacitor C36, and the frequency setting pin FREQ of the power factor correction chip U8 is grounded through a resistor R46; the power pin VCC of the power factor correction chip U8 is grounded through a capacitor C43, and the first end of the capacitor C42 is connected to the power pin VCC of the power factor correction chip U8. The common connection terminal between VCC and capacitor C43, the second end of capacitor C42 is grounded; the output voltage detection pin VSENSE of the power factor correction chip U8 is grounded through resistor R49, the first end of capacitor C39 and the first end of resistor R48 are both connected to the common connection terminal between the output voltage detection pin VSENSE of the power factor correction chip U8 and resistor R49, the second end of capacitor C39 and the second end of resistor R48 are both grounded; the voltage loop compensation pin VCOMP of the power factor correction chip U8 is grounded through resistor R47 and capacitor C41 in turn, the first end of capacitor C40 is connected to the common connection terminal between the voltage loop compensation pin VCOMP of the power factor correction chip U8 and resistor R47, and the second end of capacitor C40 is grounded;

[0051] The gate of the MOS tube Q3 is electrically connected to the collector of the transistor Q4 through the resistor R52, the source of the MOS tube Q3 is electrically connected to the +15V power supply end, the first end of the resistor R51 is connected to the common connection end between the source of the MOS tube Q3 and the +15V power supply end, the second end of the resistor R51 is connected to the common connection end between the gate of the MOS tube Q3 and the resistor R52, and the drain of the MOS tube Q3 is connected to the common connection end between the power pin VCC of the power factor correction chip U8 and the capacitor C43; the base of the transistor Q4 is electrically connected to the output end of the central processing unit through the resistor R53, the first end of the resistor R54 and the first end of the capacitor C45 are both connected to the common connection end between the base of the transistor Q4 and the resistor R53, the second end of the resistor R54 and the second end of the capacitor C45 are both grounded, and the emitter of the transistor Q4 is grounded;

[0052] The first end of the resistor R30 and the first end of the resistor R31 are both connected to the common connection end between the Schottky diode D4 and the input end of the analog-to-digital conversion unit; the second end of the resistor R30 is connected to the common connection end between the output voltage detection pin VSENSE of the power factor correction chip U8 and the resistor R49 through the resistor R34, the resistor R37 and the resistor R41 in sequence; the second end of the resistor R31 is electrically connected to the input end of the power driving module through the resistor R35 and the resistor R38 in sequence; the first end of the resistor R40 and the first end of the capacitor C37 are both connected to the common connection end between the resistor R38 and the input end of the power driving module, and the second end of the resistor R40 and the second end of the capacitor C37 are both grounded;

[0053] The unidirectional conducting diode D13 includes a first sub-diode and a second sub-diode; wherein the cathode of the first sub-diode and the anode of the second sub-diode are connected together and connected to the common connection end between the resistor R38 and the input end of the power driving module; the anode of the first sub-diode is grounded, and the cathode of the second sub-diode is electrically connected to the +3.3V power supply end.

[0054] Optionally, the analog-to-digital conversion unit includes a power management chip U5, an inductor L2, a diode D5, a diode D7, a diode D8, a light-emitting diode D9, a capacitor C16, a capacitor C18, a capacitor C19, a capacitor C20, a capacitor C21, a polarized capacitor C17, a resistor R24, a resistor R25, a resistor R26 and a resistor R28;

[0055] The drain pin DRAIN of the power management chip U5 is electrically connected to the output end of the power factor correction unit, the first end of the capacitor C16 is connected to the common connection end between the drain pin DRAIN of the power management chip U5 and the output end of the power factor correction unit, and the second end of the capacitor C16 is grounded; the ground pin GND of the power management chip U5 is electrically connected to the input end of the DC-DC conversion unit and the input end of the power driving module through the inductor L2, and the vacant pin NC of the power management chip U5 is connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2;

[0056] The positive electrode of the diode D7 is connected to the common connection end between the inductor L2 and the input end of the DC-DC conversion unit, and the negative electrode of the diode D7 is connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2 through the diode D8 and the capacitor C18 in sequence; the first end of the resistor R24 ​​and the first end of the capacitor C19 are both connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2, the second end of the resistor R24 ​​is connected to the common connection end between the negative electrode of the diode D7 and the diode D8 through the resistor R28, and the second end of the capacitor C19 is also connected to the common connection end between the negative electrode of the diode D7 and the diode D8; the power pin VCC of the power management chip U5 is connected to the common connection end between the diode D8 and the capacitor C18, and the error amplifier input pin EA-IN of the power management chip U5 is connected to the common connection end between the second end of the resistor R24 ​​and the resistor R28;

[0057] The first end of capacitor C20 and the first end of capacitor C21 are both connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2, the second end of capacitor C20 is electrically connected to the error amplifier output pin EA-OUT of the power management chip U5, and the second end of capacitor C21 is connected to the common connection end between the second end of capacitor C20 and the error amplifier output pin EA-OUT of the power management chip U5 through resistor R26; the cathode of diode D5 is connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2, and the anode of diode D5 is grounded; the anode of polar capacitor C17 and the first end of resistor R25 are both connected to the common connection end between inductor L2 and the input end of the DC-DC conversion unit, the cathode of polar capacitor C17 is grounded, and the second end of resistor R25 is grounded through light-emitting diode D9.

[0058] Optionally, the DC-DC conversion unit includes a voltage stabilization control chip U7, a conversion chip U6, an inductor L3, a capacitor C28, a capacitor C29, a capacitor C30, a capacitor C31, a capacitor C32, a capacitor C33, a capacitor C34, a capacitor C35, a resistor R33 and a resistor R39;

[0059] The power pin VIN of the voltage stabilizing control chip U7 is connected to the enable pin EN and is electrically connected to the output end of the analog-to-digital conversion unit. The first end of the capacitor C33, the first end of the capacitor C34 and the first end of the capacitor C35 are all connected to the common connection end between the power pin VIN of the voltage stabilizing control chip U7 and the output end of the analog-to-digital conversion unit. The second end of the capacitor C33, the second end of the capacitor C34 and the second end of the capacitor C35 are all grounded. The ground pin GND of the voltage stabilizing control chip U7 is grounded.

[0060] The switch pin SW of the voltage stabilizing control chip U7 is electrically connected to the input pin IN of the conversion chip U6 through the inductor L3, and the guide pin VBST of the voltage stabilizing control chip U7 is connected to the common connection end between the switch pin SW of the voltage stabilizing control chip U7 and the inductor L3 through the capacitor C30; the first end of the capacitor C31, the first end of the capacitor C32, the first end of the resistor R33 and the first end of the capacitor C29 are all connected to the common connection end between the inductor L3 and the input pin IN of the conversion chip U6, the second end of the capacitor C31, the second end of the capacitor C32 and the second end of the capacitor C29 are all grounded, and the second end of the resistor R33 is grounded through the resistor R39; the feedback pin VFB of the voltage stabilizing control chip U7 is connected to the common connection end between the second end of the resistor R33 and the resistor R39;

[0061] The enable pin EN of the conversion chip U6 is connected to the input pin IN of the conversion chip U6, and the ground pin GND of the conversion chip U6 is grounded; the output pin OUT of the conversion chip U6 is electrically connected to the input end of the central processing unit and the input end of the power driving module, the first end of the capacitor C28 is connected to the common connection end between the output pin OUT of the conversion chip U6 and the input end of the central processing unit, and the second end of the capacitor C28 is grounded.

[0062] In addition, the present invention also provides a method for controlling a non-inductive permanent magnet motor, which uses the aforementioned non-inductive permanent magnet motor control system to control the non-inductive permanent magnet motor, and the method comprises:

[0063] The power supply module is used to provide working voltage to the main control module and the power drive module respectively;

[0064] Under the control of the central processing unit of model FU6812L2 in the main control module, a PWM control signal is provided to the power drive module;

[0065] The power driving module receives the PWM control signal, and generates a three-phase alternating current signal according to the PWM control signal, so as to control the operation of the inductive permanent magnet motor according to the three-phase alternating current signal; the power driving module also collects the three-phase alternating current signal in real time, and feeds back the three-phase alternating current signal in real time to the central processing unit;

[0066] Under the control of the central processing unit, the main control module monitors the operating state of the inductive permanent magnet motor in real time according to the received three-phase alternating current signal.

[0067] The beneficial effects of the present invention are as follows: under the control of the FU6812L2 model central processing unit, the main control module provides a PWM control signal to the power driving module, which can control the on and off time of the power switch device in the power driving module, thereby adjusting the waveform and amplitude of the output voltage and current; under the action of the PWM control signal, the power driving module controls the power switch device inside it to generate a three-phase AC signal, and the three-phase AC signal can be used to realize the driving operation of the inductive permanent magnet motor; at the same time, the power driving module also collects the three-phase AC signal in real time and feeds it back to the central processing unit, so as to monitor the operating state of the inductive permanent magnet motor in real time during its driving operation, so as to facilitate the real-time grasp of the working state and load condition of the inductive permanent magnet motor, and improve the stability and safety of the system; in the above working process, the power supply module provides the required working voltage to the main control module and the power driving module respectively, so as to ensure that each module can operate normally;

[0068] The inductive permanent magnet motor control system and control method of the present invention, the central processing unit of the FU6812L2 model is highly integrated. Based on the combination of the central processing unit of this model and the power drive module, the calculation and control of the inductive permanent magnet motor drive can be automatically completed. On the basis of realizing efficient and stable control of the inductive permanent magnet motor, the number of external components and wiring complexity can be reduced, and the maintenance and replacement costs of the system are also reduced, which significantly reduces the cost and complexity of the motor control system and has a high cost performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0070] Figure 1 The structure diagram of a non-inductive permanent magnet motor control system in the first embodiment of the present invention is shown;

[0071] Figure 2 The complete structural diagram of the inductive permanent magnet motor control system in the first embodiment of the present invention is shown;

[0072] Figure 3 The circuit design diagram of the three-phase inverter unit, the drive unit and the current sampling protection unit in the first embodiment of the present invention is shown;

[0073] Figure 4 A circuit design diagram of a current acquisition circuit in a three-phase current acquisition unit in Embodiment 1 of the present invention is shown;

[0074] Figure 5 The circuit design diagram of the safety filter unit in the first embodiment of the present invention is shown;

[0075] Figure 6The circuit design diagram of the surge suppression rectifier unit in the first embodiment of the present invention is shown;

[0076] Figure 7 The circuit design diagram of the power factor correction unit in the first embodiment of the present invention is shown;

[0077] Figure 8 The circuit design diagram of the analog-to-digital conversion unit in the first embodiment of the present invention is shown;

[0078] Fig. 9 The circuit design diagram of the DC-DC conversion unit in the first embodiment of the present invention is shown;

[0079] Fig.10 A flow chart of a method for controlling an inductive permanent magnet motor in a second embodiment of the present invention is shown. DETAILED DESCRIPTION

[0080] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0081] Embodiment 1

[0082] This embodiment provides a non-inductive permanent magnet motor control system. Figure 1 As shown, the system includes a main control module, a power drive module and a power supply module, the output end of the power supply module is electrically connected to the input end of the main control module and the input end of the power drive module, the output end of the main control module is electrically connected to the inductive permanent magnet motor through the power drive module, the output end of the power drive module is also electrically connected to the input end of the main control module, and the input end of the power supply module is also electrically connected to the output end of the main control module;

[0083] The main control module includes a central processing unit of model FU6812L2, which is used to provide a PWM control signal to the power driving module under the control of the central processing unit;

[0084] The power drive module is used to receive the PWM control signal and generate a three-phase alternating current signal according to the PWM control signal to control the operation of the inductive permanent magnet motor according to the three-phase alternating current signal; and is also used to collect the three-phase alternating current signal in real time and feed back the three-phase alternating current signal to the central processing unit in real time;

[0085] The main control module is also used to monitor the operating state of the inductive permanent magnet motor in real time according to the received three-phase alternating current signal under the control of the central processing unit;

[0086] The power supply module is used to provide working voltage to the main control module and the power driving module respectively.

[0087] In this embodiment, the main control module, under the control of the FU6812L2 model central processing unit, provides a PWM control signal to the power driving module, which can control the on and off time of the power switching device in the power driving module, thereby adjusting the waveform and amplitude of the output voltage and current; under the action of the PWM control signal, the power driving module controls the power switching device inside it to generate a three-phase AC signal, and the three-phase AC signal can be used to realize the driving operation of the inductive permanent magnet motor; at the same time, the power driving module also collects the three-phase AC signal in real time and feeds it back to the central processing unit, so as to monitor its operating state in real time during the driving operation of the inductive permanent magnet motor, so as to facilitate the real-time grasp of the working state and load condition of the inductive permanent magnet motor, and improve the stability and safety of the system; in the above working process, the power supply module provides the required working voltage to the main control module and the power driving module respectively to ensure that each module can operate normally.

[0088] The inductive permanent magnet motor control system based on FU6812L2 control of this embodiment has a highly integrated central processing unit of the FU6812L2 model. The combination of the central processing unit of this model and the power drive module can automatically complete the calculation and control of the inductive permanent magnet motor drive. On the basis of realizing efficient and stable control of the inductive permanent magnet motor, it can also reduce the number of external components and wiring complexity, and also reduce the maintenance and replacement costs of the system, significantly reducing the cost and complexity of the motor control system, and has a high cost performance.

[0089] Each module of the inductive permanent magnet motor control system of this embodiment is further described below.

[0090] In this embodiment, if Figure 2 As shown, the main control module also includes a memory, an interface unit and an LED indication unit. The memory, the interface unit and the LED indication unit are all electrically connected to the central processing unit, and the interface unit is also communicatively connected to an external device.

[0091] In the above-mentioned main control module, the memory can be used to store the operating program, control algorithm, parameter settings and temporary data during the operation of the entire control system. The interface unit is connected to the external device for communication, which can realize the data interaction between the entire main control module and the external device, such as receiving sensor data and control instructions provided by the external device, so as to facilitate the automatic control of the entire control system; the LED indicator unit can display the operating status and fault status of the entire control system through its own display status, so that users can more intuitively grasp the status of the control system. The main control module combines the FU6812L2 model central processing unit (CPU) with the above-mentioned memory, interface unit and LED indicator unit, so as to make the control of the inductive permanent magnet motor more efficient and stable.

[0092] Specifically, the memory in this embodiment is a FLASH memory, and the interface unit is an RS485 interface.

[0093] In this embodiment, if Figure 2 As shown, the power drive module includes a three-phase inverter unit, a drive unit and a three-phase current acquisition unit; the input end of the three-phase inverter unit, the input end of the drive unit and the input end of the three-phase current acquisition unit are all electrically connected to the output end of the power supply module, the input end of the three-phase inverter unit is also electrically connected to the output end of the central processing unit, the output end of the three-phase inverter unit is electrically connected to the inductive permanent magnet motor through the drive unit, the input end of the three-phase current acquisition unit is electrically connected to the output end of the drive unit, and the output end of the three-phase current acquisition unit is electrically connected to the input end of the central processing unit;

[0094] The three-phase inverter unit is used to receive the PWM control signal provided by the central processor, and convert the input voltage into the three-phase alternating current signal under the control of the PWM control signal;

[0095] The driving unit is used to receive the three-phase alternating current signal provided by the three-phase inverter unit, process the three-phase alternating current signal, and transmit the processed three-phase alternating current signal to the inductorless permanent magnet motor;

[0096] The three-phase current acquisition unit is used to collect the processed three-phase alternating current signal provided by the driving unit to the inductive permanent magnet motor in real time, and transmit it to the central processing unit.

[0097] In the above-mentioned power drive module, the three-phase inverter unit is the core of the entire module, which is used for the conversion of three-phase alternating current, can realize the conversion of electric energy, ensure the quality of subsequent output voltage and current, and thus ensure the smooth operation of the inductive permanent magnet motor; the drive unit is a bridge connecting the three-phase inverter unit and the inductive permanent magnet motor, and can amplify and shape the three-phase alternating current generated by the three-phase inverter unit to provide the necessary driving voltage and current for the inductive permanent magnet motor, and drive the motor to operate within a safe working area; the three-phase current acquisition unit is used to collect the three-phase alternating current signal provided by the drive unit to the inductive permanent magnet motor in real time, and transmit it to the central processing unit, which can realize current sampling protection, such as overcurrent protection, etc., to further ensure that the inductive permanent magnet motor operates within a safe working area.

[0098] Preferably, if Figure 3 As shown, the three-phase inverter unit includes a three-phase half-bridge drive chip U9, a capacitor C44, a capacitor C46, ​​a capacitor C48, a capacitor C50, a capacitor C54, a resistor R57, a resistor R58, a resistor R59, a resistor R60, a resistor R63, a resistor R64, a resistor R65, a resistor R66, a resistor R67, a resistor R71 and a resistor R72;

[0099] The low-end power pin VCC of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the power supply module, and the power ground pin VSS and the low-end gate drive pin COM of the three-phase half-bridge driver chip U9 are both grounded; the first end of the capacitor C44 is connected to the common connection end between the low-end power pin VCC of the three-phase half-bridge driver chip U9 and the output end of the power supply module, and the second end of the capacitor C44 is grounded; the first high-end signal input pin HIN1 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R57, and the second high-end signal input pin HIN2 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R57. The resistor R58 is electrically connected to the output end of the central processing unit, and the third high-end signal input pin HIN3 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R59; the first low-end signal input pin LIN1 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R60, the second low-end signal input pin LIN2 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R63, and the third low-end signal input pin LIN3 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R65;

[0100] The fault indication pin FAULT of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R67, the first end of the resistor R64 is connected to the common connection end between the resistor R67 and the output end of the central processing unit, and the second end of the resistor R64 is electrically connected to the output end of the power supply module; the enable pin EN of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R71; the external RC input pin RCIN of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the power supply module through a resistor R72, the first end of the capacitor C50 is connected to the common connection end between the external RC input pin RCIN of the three-phase half-bridge driver chip U9 and the resistor R72, and the second end of the capacitor C50 is grounded;

[0101] The first high-end floating absolute voltage pin VB1 of the three-phase half-bridge driver chip U9 is electrically connected to the input end of the drive unit through capacitor C46, ​​the second high-end floating absolute voltage pin VB2 of the three-phase half-bridge driver chip U9 is electrically connected to the input end of the drive unit through capacitor C48, and the third high-end floating absolute voltage pin VB3 of the three-phase half-bridge driver chip U9 is electrically connected to the input end of the drive unit through capacitor C54; the first high-end floating offset voltage pin VS1, the second high-end floating offset voltage pin VS2, the second high-end floating offset voltage pin VS3, the first high-end output pin HO1, the second high-end output pin HO2, the third high-end output pin HO3, the first low-end output pin LO1, the second low-end output pin LO2 and the third low-end output pin LO3 of the three-phase half-bridge driver chip U9 are all electrically connected to the input end of the drive unit.

[0102] In the above-mentioned three-phase inverter unit, a three-phase half-bridge driver chip U9 with enable and fault detection is used as the inverter core, which can not only control the three half-bridge circuits at the same time, but also provide accurate three-phase AC signals to ensure that the subsequent inductive permanent magnet motor can operate normally according to the control instructions; it can also effectively monitor various abnormal conditions in the motor driving process, so that the entire control system can respond and handle faults in time to ensure the safe operation of the entire control system; based on the enable control and fault detection of the three-phase half-bridge driver chip, it can effectively increase the reliability and efficiency of the system and protect the motor and drive circuit.

[0103] Specifically, in Figure 3 In the embodiment, the three-phase half-bridge driver chip U9 with enable and fault detection specifically adopts the three-phase half-bridge IGBT driver chip of NSG2136 model. The three high-end signal input pins HN1~HN3, three low-end signal input pins LN1~LN3, fault indication pin FAULT and enable pin EN of the chip are all connected to the central processing unit of FU6812L2 model.

[0104] The other resistors and capacitors in the three-phase inverter unit are selected according to the actual situation. Appropriate models or specifications are selected and are not listed here.

[0105] Preferably, if Figure 3 As shown, the driving unit includes MOS transistor Q5, MOS transistor Q6, MOS transistor Q7, MOS transistor Q8, MOS transistor Q9, MOS transistor Q10, diode D15, diode D16, diode D17, diode D18, diode D22, diode D23, capacitor C47, capacitor C49, capacitor C51, capacitor C52, capacitor C57, capacitor C58, resistor R55, resistor R56, resistor R61, resistor R66, resistor R70, resistor R74, resistor R75, resistor R78, resistor R79, resistor R81, resistor R87, resistor R88, resistor R90, resistor R91 and resistor R92;

[0106] The drain of the MOS tube Q5, the drain of the MOS tube Q7 and the drain of the MOS tube Q9 are all electrically connected to the output end of the power supply module, the source of the MOS tube Q5 is electrically connected to the drain of the MOS tube Q6, the source of the MOS tube Q7 is electrically connected to the drain of the MOS tube Q8, and the source of the MOS tube Q9 is electrically connected to the drain of the MOS tube Q10; the source of the MOS tube Q6 is grounded through the resistor R70, the source of the MOS tube Q8 is grounded through the resistor R81, and the source of the MOS tube Q10 is grounded through the resistor R92; the source of the MOS tube Q5 .... The common connection end between the source of the MOS tube Q6 and the drain of the MOS tube Q6, the common connection end between the source of the MOS tube Q7 and the drain of the MOS tube Q8, and the common connection end between the source of the MOS tube Q9 and the drain of the MOS tube Q10 are all electrically connected to the inductive permanent magnet motor; the common connection end between the source of the MOS tube Q6 and the resistor R70, the common connection end between the source of the MOS tube Q8 and the resistor R81, and the common connection end between the source of the MOS tube Q10 and the resistor R92 are all electrically connected to the input end of the three-phase current acquisition unit;

[0107] The base of the MOS transistor Q5 is electrically connected to the output end of the three-phase inverter unit through the resistor R55, the first end of the resistor R56, the first end of the capacitor C47 and the positive electrode of the diode D15 are all connected to the common connection end between the base of the MOS transistor Q5 and the resistor R55, the second end of the resistor R56 and the second end of the capacitor C47 are all connected to the common connection end between the source of the MOS transistor Q5 and the drain of the MOS transistor Q6, and the negative electrode of the diode D15 is electrically connected to the output end of the three-phase inverter unit; the base of the MOS transistor Q6 is electrically connected to the output end of the three-phase inverter unit through the resistor R61, the first end of the resistor R66, the first end of the capacitor C49 and the positive electrode of the diode D16 are all connected to the common connection end between the base of the MOS transistor Q6 and the resistor R61, the second end of the resistor R66 and the second end of the capacitor C49 are all connected to the common connection end between the source of the MOS transistor Q6 and the resistor R70, and the negative electrode of the diode D16 is electrically connected to the output end of the three-phase inverter unit;

[0108] The base of the MOS transistor Q7 is electrically connected to the output end of the three-phase inverter unit through the resistor R74, the first end of the resistor R75, the first end of the capacitor C51 and the positive electrode of the diode D17 are all connected to the common connection end between the base of the MOS transistor Q7 and the resistor R74, the second end of the resistor R75 and the second end of the capacitor C51 are all connected to the common connection end between the source of the MOS transistor Q7 and the drain of the MOS transistor Q8, and the negative electrode of the diode D17 is electrically connected to the output end of the three-phase inverter unit; the base of the MOS transistor Q8 is electrically connected to the output end of the three-phase inverter unit through the resistor R78, the first end of the resistor R79, the first end of the capacitor C52 and the positive electrode of the diode D18 are all connected to the common connection end between the base of the MOS transistor Q8 and the resistor R78, the second end of the resistor R79 and the second end of the capacitor C52 are all connected to the common connection end between the source of the MOS transistor Q8 and the resistor R81, and the negative electrode of the diode D18 is electrically connected to the output end of the three-phase inverter unit;

[0109] The base of the MOS transistor Q9 is electrically connected to the output end of the three-phase inverter unit through the resistor R87, the first end of the resistor R88, the first end of the capacitor C57 and the positive electrode of the diode D22 are all connected to the common connection end between the base of the MOS transistor Q9 and the resistor R87, the second end of the resistor R88 and the second end of the capacitor C57 are all connected to the common connection end between the source of the MOS transistor Q9 and the drain of the MOS transistor Q10, and the negative electrode of the diode D22 is electrically connected to the output end of the three-phase inverter unit; the base of the MOS transistor Q10 is electrically connected to the output end of the three-phase inverter unit through the resistor R90, the first end of the resistor R91, the first end of the capacitor C58 and the positive electrode of the diode D23 are all connected to the common connection end between the base of the MOS transistor Q10 and the resistor R90, the second end of the resistor R91 and the second end of the capacitor C58 are all connected to the common connection end between the source of the MOS transistor Q10 and the resistor R92, and the negative electrode of the diode D23 is electrically connected to the output end of the three-phase inverter unit.

[0110] In the driving unit of the above structure, the main architecture of the entire driving unit composed of 6 MOS tubes can effectively reduce the power consumption of the entire driving unit, and the switching speed is fast, so that the entire motor control system can operate more efficiently, and can reduce the complexity and cost of the driving circuit.

[0111] Specifically, Figure 3 Among them, MOS tube Q5, MOS tube Q6, MOS tube Q7, MOS tube Q8, MOS tube Q9, and MOS tube Q10 are all NMOS tubes. The common connection terminal between the source of MOS tube Q5 and the drain of MOS tube Q6 outputs a U-phase voltage signal, which is electrically connected to the U-phase input terminal of the inductive permanent magnet motor. The common connection terminal between the source of MOS tube Q7 and the drain of MOS tube Q8 outputs a V-phase voltage signal, which is electrically connected to the V-phase input terminal of the inductive permanent magnet motor; the common connection terminal between the source of MOS tube Q9 and the drain of MOS tube Q10 outputs a W-phase voltage signal, which is electrically connected to the W-phase input terminal of the inductive permanent magnet motor. The common connection terminal between the source of MOS tube Q6 and resistor R70 is connected to the circuit input terminal (specifically, Figure 3 The common connection end between the source of the MOS tube Q8 and the resistor R81 is electrically connected to the circuit input end (specifically, Figure 3 The common connection end between the source of the MOS tube Q10 and the resistor R92 is electrically connected to the circuit input end (specifically, Figure 3 ICCW port) for electrical connection.

[0112] Specifically, Figure 3In the embodiment, the base of the MOS tube Q5 is electrically connected to the first high-end output pin HO1 of the three-phase half-bridge IGBT driver chip of NSG2136 model through the resistor R55, the base of the MOS tube Q7 is electrically connected to the second high-end output pin HO2 of the three-phase half-bridge IGBT driver chip of NSG2136 model through the resistor R74, and the base of the MOS tube Q9 is electrically connected to the third high-end output pin HO3 of the three-phase half-bridge IGBT driver chip of NSG2136 model through the resistor R87; the base of the MOS tube Q6 is electrically connected to the first low-end output pin LO1 of the three-phase half-bridge IGBT driver chip of NSG2136 model through the resistor R61, the base of the MOS tube Q8 is electrically connected to the second low-end output pin LO2 of the three-phase half-bridge IGBT driver chip of NSG2136 model through the resistor R78, and the base of the MOS tube Q10 is electrically connected to the third low-end output pin LO3 of the three-phase half-bridge IGBT driver chip of NSG2136 model through the resistor R90.

[0113] The common connection end between the source of the MOS tube Q5 and the drain of the MOS tube Q6 is directly electrically connected to the first high-end floating offset voltage pin VS1 of the three-phase half-bridge IGBT driver chip of the NSG2136 model on the one hand, and is electrically connected to the first high-end floating absolute voltage pin VB1 of the three-phase half-bridge IGBT driver chip of the NSG2136 model through the capacitor C46 on the other hand; the common connection end between the source of the MOS tube Q7 and the drain of the MOS tube Q8 is directly electrically connected to the second high-end floating offset voltage pin VS1 of the three-phase half-bridge IGBT driver chip of the NSG2136 model on the one hand. On the one hand, the common connection end between the source of the MOS tube Q9 and the drain of the MOS tube Q10 is directly electrically connected to the third high-end floating offset voltage pin VS3 of the three-phase half-bridge IGBT driver chip of the NSG2136 model, and on the other hand, it is electrically connected to the third high-end floating absolute voltage pin VB3 of the three-phase half-bridge IGBT driver chip of the NSG2136 model through the capacitor C54.

[0114] Similarly, the resistors, capacitors and diodes in the drive unit are selected according to the actual situation. The appropriate models or specifications are selected and are not listed here.

[0115] Preferably, the three-phase current acquisition unit includes three current acquisition circuits;

[0116] like Figure 4 As shown, each of the current acquisition circuits includes an operational amplifier, a first capacitor, a second capacitor, a third capacitor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor and an eleventh resistor;

[0117] In each of the current acquisition circuits, the positive power supply pin of the op amp is electrically connected to the output end of the power supply module, and the negative power supply pin of the op amp is grounded; the positive input pin of the op amp is electrically connected to the output end of the drive unit through the sixth resistor and the fifth resistor in sequence, and the reverse input pin of the op amp is grounded through the ninth resistor and the eighth resistor in sequence; the first end of the first capacitor is connected to the common connection end between the sixth resistor and the fifth resistor, and the second end of the first capacitor is connected to the common connection end between the ninth resistor and the eighth resistor;

[0118] The positive input pin of the operational amplifier is also electrically connected to the output end of the power supply module through the third resistor and the first resistor in sequence, the first end of the second resistor and the first end of the fourth resistor are both connected to the common connection end between the third resistor and the first resistor, the second end of the second resistor is grounded, and the second end of the fourth resistor is connected to the common connection end between the positive input pin of the operational amplifier and the third resistor;

[0119] The output pin of the operational amplifier is electrically connected to the input terminal of the central processing unit through the seventh resistor; the first end of the tenth resistor, the first end of the eleventh resistor and the first end of the third capacitor are all connected to the common connection terminal between the reverse input pin of the operational amplifier and the ninth resistor; the second end of the tenth resistor, the second end of the eleventh resistor and the second end of the third capacitor are all connected to the common connection terminal between the output pin of the operational amplifier and the seventh resistor; the first end of the second capacitor is connected to the common connection terminal between the seventh resistor and the input terminal of the central processing unit, and the second end of the second capacitor is grounded.

[0120] In the above-mentioned three-phase current acquisition unit, the three-phase current acquisition and amplification are realized by three rail-to-rail input and output three-phase current acquisition circuits, which can expand the signal range, so that the entire control system can handle a wider range of current changes and expand the adaptability range; it can also have a higher dynamic range when processing three-phase current signal acquisition, and thus more accurately capture and amplify the slight changes in the three-phase current signal, thereby improving the sampling precision and accuracy; in addition, due to the wide input and output voltage range of the rail-to-rail operational amplifier, the demand for external circuits, such as level conversion circuits, limiting circuits, etc., can be reduced, which reduces the complexity and cost of the circuit, while improving the reliability and stability of the system.

[0121] It should be understood that Figure 4 Only one current acquisition circuit (specifically, the U-phase current acquisition circuit) is shown in the figure. The circuit structures of the other two current acquisition circuits are the same and are not shown here.

[0122] Specifically, in Figure 4 In the current acquisition circuit shown, the operational amplifier is specifically Figure 4The operational amplifier U4A in the embodiment, the first capacitor, the second capacitor and the third capacitor are specifically Figure 4 C5, C6 and C8, the first resistor, the second resistor, the third resistor, the fourth resistor, the fifth resistor, the sixth resistor, the seventh resistor, the eighth resistor, the ninth resistor, the tenth resistor and the eleventh resistor are specifically Figure 4 The resistors R7, R8, R9, R10, R11, R12, R14, R15, R16, R17 and R18 are connected to the output terminal of the drive unit (specifically, R12, R11) through the sixth resistor and the fifth resistor (specifically, the resistor R12 and the resistor R11). Figure 3 The source of the MOS tube Q6 is electrically connected to the common connection end between the resistor R70. The output pin of the operational amplifier U4A is electrically connected to the input end of the central processing unit (specifically the ADCU port) through the seventh resistor (specifically the resistor R14).

[0123] Furthermore, if Figure 2 As shown, the power driving module further includes a current sampling protection unit, the input end of the current sampling protection unit is electrically connected to the output end of the driving unit and the output end of the power supply module, and the output end of the current sampling protection unit is electrically connected to the input end of the central processing unit;

[0124] The current sampling protection unit is used to receive the processed three-phase alternating current signal output by the driving unit, and perform current sampling protection according to the processed three-phase alternating current signal.

[0125] By directly setting a current sampling protection unit in the power drive module for current sampling protection, the current conditions of the three outputs can be effectively monitored in real time. Once a current abnormality occurs (such as overcurrent, short circuit, etc.), it can immediately respond and take measures, such as cutting off the power supply or adjusting the output, to prevent power devices, loads or the entire system from being damaged due to overcurrent, greatly improving the safety of the system; monitoring the currents of the three outputs separately can control and adjust the currents more finely, improving the stability of the system.

[0126] Preferably, if Figure 3 As shown, the current sampling protection unit includes an operational amplifier U4B, a diode D19, a diode D20, a diode D21, a capacitor C53, a capacitor C55, a capacitor C56, a resistor R76, a resistor R77, a resistor R80, a resistor R82, a resistor R83, a resistor R84, a resistor R85 and a resistor R86;

[0127] The positive power supply pin of the operational amplifier U4B is electrically connected to the output end of the power supply module, the first end of the capacitor C55 is connected to the common connection end between the positive power supply pin of the operational amplifier U4B and the output end of the power supply module, and the second end of the capacitor C55 is grounded; the negative power supply pin of the operational amplifier U4B is grounded;

[0128] The positive input pin of the amplifier U4B is grounded through the resistor R76; the first end of the resistor R80, the first end of the resistor R82 and the first end of the resistor R84 are all electrically connected to the output end of the driving unit, the second end of the resistor R80 is electrically connected to the positive input pin of the amplifier U4B through the diode D19, the second end of the resistor R82 is electrically connected to the positive input pin of the amplifier U4B through the diode D20, and the second end of the resistor R84 is electrically connected to the positive input pin of the amplifier U4B through the diode D21; the reverse input pin of the amplifier U4B is grounded through the capacitor C56, the first end of the resistor R85 and the first end of the resistor R86 are both connected to the common connection end between the reverse input pin of the amplifier U4B and the capacitor C56, the second end of the resistor R85 is electrically connected to the output end of the power supply module, and the second end of the resistor R86 is grounded;

[0129] The output pin of the operational amplifier U4B is electrically connected to the input end of the central processing unit through the resistor R77, the first end of the resistor R83 and the first end of the capacitor C53 are both connected to the common connection end between the output pin of the operational amplifier U4B and the resistor R77, and the second end of the resistor R83 and the second end of the capacitor C53 are both grounded.

[0130] In the current sampling protection unit of the above structure, the first end of the resistor R80, the first end of the resistor R82 and the first end of the resistor R84 are all electrically connected to the output end of the driving unit, the second end of the resistor R80 is electrically connected to the positive input pin of the operational amplifier U4B through the diode D19, the second end of the resistor R82 is electrically connected to the positive input pin of the operational amplifier U4B through the diode D20, and the second end of the resistor R84 is electrically connected to the positive input pin of the operational amplifier U4B through the diode D21. The sampling and protection of the first current (such as the U-phase current) can be achieved through the resistor R80 and the diode D19, the sampling and protection of the second current (such as the V-phase current) can be achieved through the resistor R82 and the diode D20, and the sampling and protection of the third current (such as the W-phase current) can be achieved through the resistor R84 and the diode D21, so that the sampling and protection of the three-phase current can be achieved simultaneously with a simple circuit design structure. The whole structure is simple and the cost is low.

[0131] Similarly, this embodiment Figure 3 The current sampling protection unit and Figure 4 Each component in the current acquisition circuit shown can be selected with appropriate specifications or product models according to actual conditions, and there is no restriction here.

[0132] In this embodiment, if Figure 2 As shown, the power supply module includes a safety filter unit, a surge suppression rectifier unit, a power factor correction unit, an analog-to-digital conversion unit and a DC-DC conversion unit;

[0133] The input end of the safety filter unit is electrically connected to an external power supply, the output end of the safety filter unit is electrically connected to the input end of the DC-DC conversion unit through the surge suppression rectifier unit, the power factor correction unit, and the analog-to-digital conversion unit in sequence, the output end of the power factor correction unit, the output end of the analog-to-digital conversion unit, and the output end of the DC-DC conversion unit are all electrically connected to the input end of the power driving module, the output end of the DC-DC conversion unit is also electrically connected to the input end of the central processing unit, and the input end of the surge suppression rectifier unit and the input end of the power factor correction unit are also electrically connected to the output end of the central processing unit;

[0134] The safety filter unit is used to receive a power supply voltage provided by an external power supply and perform filtering on the power supply voltage;

[0135] The surge suppression rectifier unit is used to receive the filtered power supply voltage provided by the safety filter unit, and, under the control of the central processor, rectify the filtered power supply to obtain a DC voltage signal;

[0136] The power factor correction unit is used to receive the DC voltage signal provided by the surge suppression rectifier unit, and perform power factor correction on the DC voltage signal under the control of the central processor; and provide the DC voltage signal after power factor correction to the analog-to-digital conversion unit and the power driving module respectively;

[0137] The analog-to-digital conversion unit is used to receive the DC voltage signal after power factor correction, and perform analog-to-digital conversion on the DC voltage signal after power factor correction to obtain a first digital voltage signal with a first voltage value; and provide the first digital voltage signal with the first voltage value to the DC-DC conversion unit and the power driving module respectively;

[0138] The DC-DC conversion unit is used to receive the first digital voltage signal having a first voltage value, and convert the first digital voltage signal having the first voltage value into a second digital voltage signal having a second voltage value; and provide the second digital voltage signal having the second voltage value to the central processing unit and the power driving module respectively.

[0139] In the entire power supply module, firstly, the external power supply is connected through the safety filter unit, which can ensure the electrical safety of the external power supply and filter out the high-frequency noise and interference in the power grid; after filtering, the unit obtains a clean and stable AC voltage signal and inputs it into the surge suppression rectifier unit; the surge suppression rectifier unit suppresses the surge voltage and transient overvoltage in the power grid to protect the subsequent circuit from damage, and through rectification processing, the input AC voltage signal is rectified into a DC voltage signal; then the power factor correction is performed through the power factor correction unit, which can improve the power factor of the power supply voltage, reduce the reactive power loss in the power grid, and reduce harmonic pollution; the analog-to-digital conversion unit of the subsequent stage receives the DC voltage signal processed by the power factor correction unit, performs analog-to-digital conversion on it, and obtains a digital voltage signal, which is convenient for subsequent digital control and processing; finally, through the voltage conversion of the DC-DC conversion unit, the first digital voltage signal with a first voltage value can be converted into a second digital voltage signal with a second voltage value, which is convenient for the power supply needs of the subsequent circuit. The power supply module of the above architecture can ensure efficient, stable and reliable operation of the power supply, ensure that the subsequent circuit obtains a stable and safe voltage signal, and meet the precise power supply requirements of each circuit.

[0140] Preferably, if Figure 5 As shown, the safety filter unit includes a common mode inductor FL1, a fuse F1, a capacitor CX1, a capacitor CX2, a capacitor CY2, a capacitor CY3, a resistor R62, a resistor R68, a resistor R69 and a resistor R73;

[0141] Pin No. 2 of the common-mode inductor FL1 is electrically connected to the positive signal terminal of the external power supply through the fuse F1, and pin No. 1 of the common-mode inductor FL1 is electrically connected to the negative signal terminal of the external power supply. The first end of the resistor R68 and the first end of the capacitor CX1 are both connected to the common connection terminal between pin No. 2 of the common-mode inductor FL1 and the fuse F1, and the second end of the resistor R68 and the second end of the capacitor CX1 are both connected to the common connection terminal between pin No. 1 of the common-mode inductor FL1 and the negative signal terminal of the external power supply.

[0142] Pin No. 3 and Pin No. 4 of the common-mode inductor FL1 are electrically connected to the input end of the surge suppression rectifier unit, the first end of the capacitor CX2 and the first end of the capacitor CY2 are connected to the common connection end between pin No. 3 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit, the second end of the capacitor CY2 is grounded, the second end of the capacitor CX2 and the first end of the capacitor CY3 are connected to the common connection end between pin No. 4 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit, and the second end of the capacitor CY3 is grounded; the first end of the resistor R62 is connected to the common connection end between pin No. 3 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit, and the second end of the resistor R62 is connected to the common connection end between pin No. 4 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit through resistors R69 and R73 in sequence.

[0143] In the safety filter unit of the above structure, the fuse F1 can quickly cut off the circuit when the circuit is overloaded or short-circuited, preventing the modules in the control system from being damaged by overcurrent; the resistor R68 is specifically a varistor, which can sense the voltage change in the circuit. When the voltage exceeds a certain threshold, the resistance of the varistor will decrease rapidly, thereby shunting the excessive current and preventing the components in the circuit from being damaged by overvoltage. Two X capacitors (i.e., capacitor CX1 and capacitor CX2) are connected across the positive signal terminal of the external power supply (specifically the live wire of the external power supply) and the negative signal terminal of the external power supply (specifically the zero wire of the external power supply), which can suppress differential mode interference; and two Y capacitors (i.e., capacitor CY2 and capacitor CY3) are connected across the positive signal terminal of the external power supply (specifically the live wire of the external power supply) and the ground wire and the negative signal terminal (specifically the zero wire of the external power supply) and the ground wire, which can suppress common mode interference. Based on these four capacitors, the filtering effect of the circuit can be significantly improved. The common-mode inductor FL1 can effectively filter out the common-mode electromagnetic interference on the signal line and prevent itself from emitting electromagnetic interference. The four capacitors combined with the common-mode inductor FL1 can form a more complete filtering network and further optimize the filtering effect. The resistors R62, R69 and R73 form a discharge resistor structure, which limits the current in the circuit and prevents the circuit from being damaged due to excessive current. The safety filter unit of the above structure can not only effectively improve the anti-interference ability and stability of the control system, but also has a compact structure and high integration, which can effectively save design space and reduce costs.

[0144] Preferably, if Figure 6 As shown, the surge suppression rectifier unit includes a relay K1, a bridge rectifier diode D3, a diode D4, a transistor Q2, a resistor R1, a resistor R6, a resistor R9, a resistor R10 and a resistor R58;

[0145] The first input pin of the bridge rectifier diode D3 is electrically connected to the first output end of the safety filter unit through the resistor R1, and the second input pin of the bridge rectifier diode D3 is electrically connected to the second output end of the safety filter unit; the first output pin and the second output pin of the bridge rectifier diode D3 are both electrically connected to the input end of the power factor correction unit;

[0146] The first end of the coil of the relay K1 is electrically connected to the +15V power supply terminal, and the second end of the coil of the relay K1 is electrically connected to the collector of the transistor Q2 through the resistor R6; the anode of the diode D4 and the first end of the resistor R58 are both connected to the common connection terminal between the second end of the coil of the relay K1 and the resistor R6, the cathode of the diode D4 is connected to the common connection terminal between the first end of the coil of the relay K1 and the +15V power supply terminal, and the second end of the resistor R58 is connected to the common connection terminal between the resistor R6 and the collector of the transistor Q2; the transistor The base of Q2 is electrically connected to the output end of the central processing unit through the resistor R9, the first end of the resistor R10 is connected to the common connection end between the base of the transistor Q2 and the resistor R9, and the second end of the resistor R10 is grounded; the emitter of the transistor Q2 is grounded; the static contact of the relay K1 is connected to the common connection end between the first input pin of the bridge rectifier diode D3 and the resistor R1, the first moving contact of the relay K1 is connected to the common connection end between the resistor R1 and the first output end of the safety filter unit, and the second moving contact of the relay K1 is suspended.

[0147] In the surge suppression rectifier unit of the above structure, the resistor R1 is a power resistor. When the module is powered on, the static contact of the relay K1 (i.e. Figure 6 The contact 5 in the circuit is connected to its second moving contact, and the second moving contact is in a suspended state, so the power resistor can be used for charging, which can effectively limit the size of the surge current and prevent damage to the circuit and equipment due to excessive current; after the charging is stable, the central processor controls the relay K1 to switch the static contact to connect with the first moving contact, and the power resistor R1 is short-circuited, which can avoid the continuous energy consumption of the resistor in the circuit and improve the energy efficiency of the entire system. Based on the precise switching of the relay K1, the circuit achieves a good balance between surge suppression and energy saving, and also improves the stability and reliability of the system. Among them, in the intelligent control of the relay K1, the transistor Q2 is used to achieve it, which has a fast response speed and high control accuracy, can ensure that the switching action of the relay K1 is accurate and reliable, the circuit structure is simple, the energy consumption is low, and it is easy to implement. In addition, in the surge suppression rectifier unit of the above structure, the bridge rectifier diode D3 realizes rectification, which has a relatively good rectification efficiency and rectification effect.

[0148] Specifically, in Figure 6In the surge suppression rectifier unit shown, the base of the transistor Q2 is electrically connected to the output end of the central processing unit (specifically, the R_DELAY port) through the resistor R9. The surge suppression rectifier unit of this structure can rectify the external power supply voltage into a 310V DC voltage signal.

[0149] Preferably, if Figure 7 As shown, the power factor correction unit includes a power factor correction chip U8, a MOS tube Q1, a MOS tube Q3, a triode Q4, an inductor L1, a Schottky diode D4, a diode D3, a diode D10, a diode D11, a unidirectional conducting diode D13, a capacitor CY1, a capacitor C22, a capacitor C23, a polar capacitor C24, a polar capacitor C25, a polar capacitor C26, a capacitor C27, a capacitor C36, a capacitor C37, and a capacitor C3 8. capacitor C39, capacitor C40, capacitor C41, capacitor C42, capacitor C43, capacitor C45, resistor R27, resistor R29, resistor R30, resistor R31, resistor R32, resistor R34, resistor R35, resistor R37, resistor R38, resistor R40, resistor R41, resistor R44, resistor R46, resistor R47, resistor R48, resistor R49, resistor R51, resistor R52, resistor R53 and resistor R54;

[0150] The first end of the inductor L1 is electrically connected to the first output end of the surge suppression rectifier unit, and the second end of the inductor L1 is electrically connected to the input end of the analog-to-digital conversion unit and the input end of the power driving module through the Schottky diode D4; the anode of the diode D3 and the first end of the capacitor CY1 are both connected to the common connection end between the first end of the inductor L1 and the first output end of the surge suppression rectifier unit, the cathode of the diode D3 is connected to the common connection end between the Schottky diode D4 and the input end of the analog-to-digital conversion unit, and the second end of the capacitor CY1 is electrically connected to the second output end of the surge suppression rectifier unit; the capacitor C The first end of capacitor C22, the first end of capacitor C23, the positive electrode of polar capacitor C24, the positive electrode of polar capacitor C25 and the positive electrode of polar capacitor C26 are all connected to the common connection end between Schottky diode D4 and the input end of the analog-to-digital conversion unit, the second end of capacitor C22, the second end of capacitor C23, the negative electrode of polar capacitor C24, the negative electrode of polar capacitor C25 and the negative electrode of polar capacitor C26 are all grounded; the negative electrode of diode D11 and the first end of resistor R32 are all electrically connected to the second output end of the surge suppression rectifier unit, and the positive electrode of diode D11 and the second end of resistor R32 are all grounded;

[0151] The source of the MOS tube Q1 is connected to the common connection end between the second end of the inductor L1 and the Schottky diode D4, the drain of the MOS tube Q1 is grounded, and the gate of the MOS tube is electrically connected to the gate driver chip GATE of the power factor correction chip U8 through the resistor R29; the positive electrode of the diode D10, the first end of the resistor R27 and the first end of the capacitor C27 are all connected to the common connection end between the gate of the MOS tube and the resistor R29, the negative electrode of the diode D10 is connected to the common connection end between the resistor R29 and the gate driver chip GATE of the power factor correction chip U8, and the second end of the resistor R27 and the second end of the capacitor C27 are both grounded;

[0152] The inductor current detection pin ISENSE of the power factor correction chip U8 is electrically connected to the second output end of the surge suppression rectifier unit through a resistor R44, the first end of the capacitor C38 is connected to the common connection end between the inductor current detection pin ISENSE of the power factor correction chip U8 and the resistor R44, and the second end of the capacitor C38 is grounded; the ground pin GND of the power factor correction chip U8 is grounded, the current loop compensation pin ICOMP of the power factor correction chip U8 is grounded through a capacitor C36, and the frequency setting pin FREQ of the power factor correction chip U8 is grounded through a resistor R46; the power pin VCC of the power factor correction chip U8 is grounded through a capacitor C43, and the first end of the capacitor C42 is connected to the power pin VCC of the power factor correction chip U8. The common connection terminal between VCC and capacitor C43, the second end of capacitor C42 is grounded; the output voltage detection pin VSENSE of the power factor correction chip U8 is grounded through resistor R49, the first end of capacitor C39 and the first end of resistor R48 are both connected to the common connection terminal between the output voltage detection pin VSENSE of the power factor correction chip U8 and resistor R49, the second end of capacitor C39 and the second end of resistor R48 are both grounded; the voltage loop compensation pin VCOMP of the power factor correction chip U8 is grounded through resistor R47 and capacitor C41 in turn, the first end of capacitor C40 is connected to the common connection terminal between the voltage loop compensation pin VCOMP of the power factor correction chip U8 and resistor R47, and the second end of capacitor C40 is grounded;

[0153] The gate of the MOS tube Q3 is electrically connected to the collector of the transistor Q4 through the resistor R52, the source of the MOS tube Q3 is electrically connected to the +15V power supply end, the first end of the resistor R51 is connected to the common connection end between the source of the MOS tube Q3 and the +15V power supply end, the second end of the resistor R51 is connected to the common connection end between the gate of the MOS tube Q3 and the resistor R52, and the drain of the MOS tube Q3 is connected to the common connection end between the power pin VCC of the power factor correction chip U8 and the capacitor C43; the base of the transistor Q4 is electrically connected to the output end of the central processing unit through the resistor R53, the first end of the resistor R54 and the first end of the capacitor C45 are both connected to the common connection end between the base of the transistor Q4 and the resistor R53, the second end of the resistor R54 and the second end of the capacitor C45 are both grounded, and the emitter of the transistor Q4 is grounded;

[0154] The first end of the resistor R30 and the first end of the resistor R31 are both connected to the common connection end between the Schottky diode D4 and the input end of the analog-to-digital conversion unit; the second end of the resistor R30 is connected to the common connection end between the output voltage detection pin VSENSE of the power factor correction chip U8 and the resistor R49 through the resistor R34, the resistor R37 and the resistor R41 in sequence; the second end of the resistor R31 is electrically connected to the input end of the power driving module through the resistor R35 and the resistor R38 in sequence; the first end of the resistor R40 and the first end of the capacitor C37 are both connected to the common connection end between the resistor R38 and the input end of the power driving module, and the second end of the resistor R40 and the second end of the capacitor C37 are both grounded;

[0155] The unidirectional conducting diode D13 includes a first sub-diode and a second sub-diode; wherein the cathode of the first sub-diode and the anode of the second sub-diode are connected together and connected to the common connection end between the resistor R38 and the input end of the power driving module; the anode of the first sub-diode is grounded, and the cathode of the second sub-diode is electrically connected to the +3.3V power supply end.

[0156] In the power factor correction unit of the above structure, the voltage output by the surge suppression rectifier unit (specifically a 310V DC voltage signal) can be boosted to a stable DC voltage signal (specifically a 380V DC voltage signal) required by the subsequent circuit (specifically the analog-to-digital conversion unit and the drive unit in the power drive module), which can ensure the normal operation of the control system; the entire circuit adopts efficient PFC power correction technology, which can significantly reduce the loss of reactive power, improve energy efficiency, reduce the harmonic components in the current, and improve the quality and stability of the power grid; the circuit structure is simple and reliable, and the cost is low.

[0157] exist Figure 7In the power factor correction unit shown, the first end of the inductor L1 is electrically connected to the first output end (specifically the DC+ port) of the surge suppression rectifier unit, and the second end of the capacitor CY1 is electrically connected to the second output end (specifically the DC- port) of the surge suppression rectifier unit; the base of the transistor Q4 is electrically connected to the output end (specifically the EN_PFC port) of the central processing unit through the resistor R53.

[0158] Preferably, if Figure 8 As shown, the analog-to-digital conversion unit includes a power management chip U5, an inductor L2, a diode D5, a diode D7, a diode D8, a light-emitting diode D9, a capacitor C16, a capacitor C18, a capacitor C19, a capacitor C20, a capacitor C21, a polarized capacitor C17, a resistor R24, a resistor R25, a resistor R26 and a resistor R28;

[0159] The drain pin DRAIN of the power management chip U5 is electrically connected to the output end of the power factor correction unit, the first end of the capacitor C16 is connected to the common connection end between the drain pin DRAIN of the power management chip U5 and the output end of the power factor correction unit, and the second end of the capacitor C16 is grounded; the ground pin GND of the power management chip U5 is electrically connected to the input end of the DC-DC conversion unit and the input end of the power driving module through the inductor L2, and the vacant pin NC of the power management chip U5 is connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2;

[0160] The positive electrode of the diode D7 is connected to the common connection end between the inductor L2 and the input end of the DC-DC conversion unit, and the negative electrode of the diode D7 is connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2 through the diode D8 and the capacitor C18 in sequence; the first end of the resistor R24 ​​and the first end of the capacitor C19 are both connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2, the second end of the resistor R24 ​​is connected to the common connection end between the negative electrode of the diode D7 and the diode D8 through the resistor R28, and the second end of the capacitor C19 is also connected to the common connection end between the negative electrode of the diode D7 and the diode D8; the power pin VCC of the power management chip U5 is connected to the common connection end between the diode D8 and the capacitor C18, and the error amplifier input pin EA-IN of the power management chip U5 is connected to the common connection end between the second end of the resistor R24 ​​and the resistor R28;

[0161] The first end of capacitor C20 and the first end of capacitor C21 are both connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2, the second end of capacitor C20 is electrically connected to the error amplifier output pin EA-OUT of the power management chip U5, and the second end of capacitor C21 is connected to the common connection end between the second end of capacitor C20 and the error amplifier output pin EA-OUT of the power management chip U5 through resistor R26; the cathode of diode D5 is connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2, and the anode of diode D5 is grounded; the anode of polar capacitor C17 and the first end of resistor R25 are both connected to the common connection end between inductor L2 and the input end of the DC-DC conversion unit, the cathode of polar capacitor C17 is grounded, and the second end of resistor R25 is grounded through light-emitting diode D9.

[0162] The analog-to-digital conversion unit of the above structure can utilize non-isolation technology to efficiently convert the DC voltage signal after power factor correction (specifically a 380V DC voltage signal) into a 15V digital voltage signal, and provide it to the subsequent circuit (including the DC-DC conversion unit and the three-phase inverter unit in the power drive module) for use. It has a simple structure and low cost.

[0163] Preferably, if Fig. 9 As shown, the DC-DC conversion unit includes a voltage stabilization control chip U7, a conversion chip U6, an inductor L3, a capacitor C28, a capacitor C29, a capacitor C30, a capacitor C31, a capacitor C32, a capacitor C33, a capacitor C34, a capacitor C35, a resistor R33 and a resistor R39;

[0164] The power pin VIN of the voltage stabilizing control chip U7 is connected to the enable pin EN and is electrically connected to the output end of the analog-to-digital conversion unit. The first end of the capacitor C33, the first end of the capacitor C34 and the first end of the capacitor C35 are all connected to the common connection end between the power pin VIN of the voltage stabilizing control chip U7 and the output end of the analog-to-digital conversion unit. The second end of the capacitor C33, the second end of the capacitor C34 and the second end of the capacitor C35 are all grounded. The ground pin GND of the voltage stabilizing control chip U7 is grounded.

[0165] The switch pin SW of the voltage stabilizing control chip U7 is electrically connected to the input pin IN of the conversion chip U6 through the inductor L3, and the guide pin VBST of the voltage stabilizing control chip U7 is connected to the common connection end between the switch pin SW of the voltage stabilizing control chip U7 and the inductor L3 through the capacitor C30; the first end of the capacitor C31, the first end of the capacitor C32, the first end of the resistor R33 and the first end of the capacitor C29 are all connected to the common connection end between the inductor L3 and the input pin IN of the conversion chip U6, the second end of the capacitor C31, the second end of the capacitor C32 and the second end of the capacitor C29 are all grounded, and the second end of the resistor R33 is grounded through the resistor R39; the feedback pin VFB of the voltage stabilizing control chip U7 is connected to the common connection end between the second end of the resistor R33 and the resistor R39;

[0166] The enable pin EN of the conversion chip U6 is connected to the input pin IN of the conversion chip U6, and the ground pin GND of the conversion chip U6 is grounded; the output pin OUT of the conversion chip U6 is electrically connected to the input end of the central processing unit and the input end of the power driving module, the first end of the capacitor C28 is connected to the common connection end between the output pin OUT of the conversion chip U6 and the input end of the central processing unit, and the second end of the capacitor C28 is grounded.

[0167] The DC-DC conversion unit of the above structure also uses non-isolation technology to efficiently convert the 15V digital voltage signal into a 3.3V digital voltage signal, which is provided to the subsequent circuit (including the central processing unit, the current sampling protection unit and the three-phase current acquisition unit) for use. It has a simple structure and low cost.

[0168] Each component in each unit of the power supply module of this embodiment can select appropriate specifications and models according to actual conditions, and will not be listed here.

[0169] Preferably, if Figure 2 As shown, the power driving module also includes an overcurrent processing unit;

[0170] The input end of the overcurrent processing unit is electrically connected to the output end of the three-phase current acquisition unit, and the output end of the overcurrent processing unit is electrically connected to the input end of the three-phase inverter unit;

[0171] The overcurrent processing unit is used to receive the processed three-phase AC power signal collected by the three-phase current collection unit, and determine whether an overcurrent phenomenon occurs in the three-phase AC power signal; when an overcurrent phenomenon occurs, a switch control signal is generated, and the switch control signal is output to the three-phase inverter unit to control the three-phase inverter unit to cut off or limit the current.

[0172] Through the overcurrent processing unit set up as above, protective measures can be taken immediately when overcurrent occurs, and the three-phase inverter unit can be controlled to cut off or limit the current, effectively preventing the circuit from being damaged due to overcurrent, improving system safety and extending system service life.

[0173] The overcurrent processing unit of this embodiment can adopt a conventional circuit design, which is not limited here.

[0174] Embodiment 2

[0175] A method for controlling a non-inductive permanent magnet motor is provided, wherein the non-inductive permanent magnet motor control system of the first embodiment is used to control the non-inductive permanent magnet motor. Fig.10 As shown, the method includes:

[0176] S1: Use the power supply module to provide working voltage to the main control module and the power drive module respectively;

[0177] S2: Under the control of the central processing unit of model FU6812L2 in the main control module, a PWM control signal is provided to the power drive module;

[0178] S3: The power driving module receives the PWM control signal, and generates a three-phase alternating current signal according to the PWM control signal, so as to control the operation of the inductive permanent magnet motor according to the three-phase alternating current signal; the power driving module also collects the three-phase alternating current signal in real time, and feeds back the three-phase alternating current signal in real time to the central processing unit;

[0179] S4: Under the control of the central processing unit, the main control module monitors the operating state of the inductive permanent magnet motor in real time according to the received three-phase alternating current signal.

[0180] In this embodiment, the power supply module provides the required working voltage to the main control module and the power drive module respectively to ensure that each module can operate normally; under the control of the FU6812L2 model central processing unit, the main control module provides a PWM control signal to the power drive module, which can control the on and off time of the power switch device in the power drive module, thereby adjusting the waveform and amplitude of the output voltage and current; under the action of the PWM control signal, the power drive module controls the power switch device inside it to generate a three-phase AC signal, and the three-phase AC signal can be used to realize the driving operation of the inductive permanent magnet motor; at the same time, the power drive module also collects the three-phase AC signal in real time and feeds it back to the central processing unit, so as to monitor the operating status of the inductive permanent magnet motor in real time during its driving operation, so as to facilitate real-time grasp of the working status and load condition of the inductive permanent magnet motor, and improve the stability and safety of the system.

[0181] The inductive permanent magnet motor control method of this embodiment has a highly integrated central processing unit of model FU6812L2. Based on the combination of this model of central processing unit and the power drive module, the calculation and control of the inductive permanent magnet motor drive can be automatically completed. On the basis of realizing efficient and stable control of the inductive permanent magnet motor, the number of external components and wiring complexity can be reduced, and the maintenance and replacement costs of the system are also reduced, which significantly reduces the cost and complexity of the motor control system and has a high cost performance.

[0182] The structure of the inductive permanent magnet motor control system used in the control method described in this embodiment is the same as that of the control system described in Example 1. Therefore, for details not included in this embodiment, please refer to Example 1 and Figure 1 and Fig. 9 The detailed description will not be repeated here.

[0183] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A non-inductive permanent magnet motor control system, characterized in that: The system comprises a main control module, a power drive module and a power supply module, wherein the output end of the power supply module is electrically connected to the input end of the main control module and the input end of the power drive module, the output end of the main control module is electrically connected to the inductive permanent magnet motor through the power drive module, the output end of the power drive module is also electrically connected to the input end of the main control module, and the input end of the power supply module is also electrically connected to the output end of the main control module; The main control module includes a central processing unit of model FU6812L2, which is used to provide a PWM control signal to the power driving module under the control of the central processing unit; The power drive module is used to receive the PWM control signal and generate a three-phase alternating current signal according to the PWM control signal to control the operation of the inductive permanent magnet motor according to the three-phase alternating current signal; and is also used to collect the three-phase alternating current signal in real time and feed back the three-phase alternating current signal to the central processing unit in real time; The main control module is also used to monitor the operating state of the inductive permanent magnet motor in real time according to the received three-phase alternating current signal under the control of the central processing unit; The power supply module is used to provide working voltage to the main control module and the power driving module respectively.

2. The inductive permanent magnet motor control system according to claim 1 is characterized in that: The power drive module includes a three-phase inverter unit, a drive unit and a three-phase current acquisition unit; the input end of the three-phase inverter unit, the input end of the drive unit and the input end of the three-phase current acquisition unit are all electrically connected to the output end of the power supply module, the input end of the three-phase inverter unit is also electrically connected to the output end of the central processing unit, the output end of the three-phase inverter unit is electrically connected to the inductive permanent magnet motor through the drive unit, the input end of the three-phase current acquisition unit is electrically connected to the output end of the drive unit, and the output end of the three-phase current acquisition unit is electrically connected to the input end of the central processing unit; The three-phase inverter unit is used to receive the PWM control signal provided by the central processor, and convert the input voltage into the three-phase alternating current signal under the control of the PWM control signal; The driving unit is used to receive the three-phase alternating current signal provided by the three-phase inverter unit, process the three-phase alternating current signal, and transmit the processed three-phase alternating current signal to the inductorless permanent magnet motor; The three-phase current acquisition unit is used to collect the processed three-phase alternating current signal provided by the driving unit to the inductive permanent magnet motor in real time, and transmit it to the central processing unit.

3. The inductive permanent magnet motor control system according to claim 2 is characterized in that: The three-phase inverter unit includes a three-phase half-bridge drive chip U9, a capacitor C44, a capacitor C46, ​​a capacitor C48, a capacitor C50, a capacitor C54, a resistor R57, a resistor R58, a resistor R59, a resistor R60, a resistor R63, a resistor R64, a resistor R65, a resistor R66, a resistor R67, a resistor R71 and a resistor R72; The low-end power pin VCC of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the power supply module, and the power ground pin VSS and the low-end gate drive pin COM of the three-phase half-bridge driver chip U9 are both grounded; the first end of the capacitor C44 is connected to the common connection end between the low-end power pin VCC of the three-phase half-bridge driver chip U9 and the output end of the power supply module, and the second end of the capacitor C44 is grounded; the first high-end signal input pin HIN1 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R57, and the second high-end signal input pin HIN2 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R57. The resistor R58 is electrically connected to the output end of the central processing unit, and the third high-end signal input pin HIN3 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R59; the first low-end signal input pin LIN1 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R60, the second low-end signal input pin LIN2 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R63, and the third low-end signal input pin LIN3 of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through the resistor R65; The fault indication pin FAULT of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R67, the first end of the resistor R64 is connected to the common connection end between the resistor R67 and the output end of the central processing unit, and the second end of the resistor R64 is electrically connected to the output end of the power supply module; the enable pin EN of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the central processing unit through a resistor R71; the external RC input pin RCIN of the three-phase half-bridge driver chip U9 is electrically connected to the output end of the power supply module through a resistor R72, the first end of the capacitor C50 is connected to the common connection end between the external RC input pin RCIN of the three-phase half-bridge driver chip U9 and the resistor R72, and the second end of the capacitor C50 is grounded; The first high-end floating absolute voltage pin VB1 of the three-phase half-bridge driver chip U9 is electrically connected to the input end of the drive unit through capacitor C46, ​​the second high-end floating absolute voltage pin VB2 of the three-phase half-bridge driver chip U9 is electrically connected to the input end of the drive unit through capacitor C48, and the third high-end floating absolute voltage pin VB3 of the three-phase half-bridge driver chip U9 is electrically connected to the input end of the drive unit through capacitor C54; the first high-end floating offset voltage pin VS1, the second high-end floating offset voltage pin VS2, the second high-end floating offset voltage pin VS3, the first high-end output pin HO1, the second high-end output pin HO2, the third high-end output pin HO3, the first low-end output pin LO1, the second low-end output pin LO2 and the third low-end output pin LO3 of the three-phase half-bridge driver chip U9 are all electrically connected to the input end of the drive unit.

4. The inductive permanent magnet motor control system according to claim 2 is characterized in that: The driving unit includes MOS transistor Q5, MOS transistor Q6, MOS transistor Q7, MOS transistor Q8, MOS transistor Q9, MOS transistor Q10, diode D15, diode D16, diode D17, diode D18, diode D22, diode D23, capacitor C47, capacitor C49, capacitor C51, capacitor C52, capacitor C57, capacitor C58, resistor R55, resistor R56, resistor R61, resistor R66, resistor R70, resistor R74, resistor R75, resistor R78, resistor R79, resistor R81, resistor R87, resistor R88, resistor R90, resistor R91 and resistor R92; The drain of the MOS tube Q5, the drain of the MOS tube Q7 and the drain of the MOS tube Q9 are all electrically connected to the output end of the power supply module, the source of the MOS tube Q5 is electrically connected to the drain of the MOS tube Q6, the source of the MOS tube Q7 is electrically connected to the drain of the MOS tube Q8, and the source of the MOS tube Q9 is electrically connected to the drain of the MOS tube Q10; the source of the MOS tube Q6 is grounded through the resistor R70, the source of the MOS tube Q8 is grounded through the resistor R81, and the source of the MOS tube Q10 is grounded through the resistor R92; the source of the MOS tube Q5 .... The common connection end between the source of the MOS tube Q6 and the drain of the MOS tube Q6, the common connection end between the source of the MOS tube Q7 and the drain of the MOS tube Q8, and the common connection end between the source of the MOS tube Q9 and the drain of the MOS tube Q10 are all electrically connected to the inductive permanent magnet motor; the common connection end between the source of the MOS tube Q6 and the resistor R70, the common connection end between the source of the MOS tube Q8 and the resistor R81, and the common connection end between the source of the MOS tube Q10 and the resistor R92 are all electrically connected to the input end of the three-phase current acquisition unit; The base of the MOS transistor Q5 is electrically connected to the output end of the three-phase inverter unit through the resistor R55, the first end of the resistor R56, the first end of the capacitor C47 and the positive electrode of the diode D15 are all connected to the common connection end between the base of the MOS transistor Q5 and the resistor R55, the second end of the resistor R56 and the second end of the capacitor C47 are all connected to the common connection end between the source of the MOS transistor Q5 and the drain of the MOS transistor Q6, and the negative electrode of the diode D15 is electrically connected to the output end of the three-phase inverter unit; the base of the MOS transistor Q6 is electrically connected to the output end of the three-phase inverter unit through the resistor R61, the first end of the resistor R66, the first end of the capacitor C49 and the positive electrode of the diode D16 are all connected to the common connection end between the base of the MOS transistor Q6 and the resistor R61, the second end of the resistor R66 and the second end of the capacitor C49 are all connected to the common connection end between the source of the MOS transistor Q6 and the resistor R70, and the negative electrode of the diode D16 is electrically connected to the output end of the three-phase inverter unit; The base of the MOS transistor Q7 is electrically connected to the output end of the three-phase inverter unit through the resistor R74, the first end of the resistor R75, the first end of the capacitor C51 and the positive electrode of the diode D17 are all connected to the common connection end between the base of the MOS transistor Q7 and the resistor R74, the second end of the resistor R75 and the second end of the capacitor C51 are all connected to the common connection end between the source of the MOS transistor Q7 and the drain of the MOS transistor Q8, and the negative electrode of the diode D17 is electrically connected to the output end of the three-phase inverter unit; the base of the MOS transistor Q8 is electrically connected to the output end of the three-phase inverter unit through the resistor R78, the first end of the resistor R79, the first end of the capacitor C52 and the positive electrode of the diode D18 are all connected to the common connection end between the base of the MOS transistor Q8 and the resistor R78, the second end of the resistor R79 and the second end of the capacitor C52 are all connected to the common connection end between the source of the MOS transistor Q8 and the resistor R81, and the negative electrode of the diode D18 is electrically connected to the output end of the three-phase inverter unit; The base of the MOS transistor Q9 is electrically connected to the output end of the three-phase inverter unit through the resistor R87, the first end of the resistor R88, the first end of the capacitor C57 and the positive electrode of the diode D22 are all connected to the common connection end between the base of the MOS transistor Q9 and the resistor R87, the second end of the resistor R88 and the second end of the capacitor C57 are all connected to the common connection end between the source of the MOS transistor Q9 and the drain of the MOS transistor Q10, and the negative electrode of the diode D22 is electrically connected to the output end of the three-phase inverter unit; the base of the MOS transistor Q10 is electrically connected to the output end of the three-phase inverter unit through the resistor R90, the first end of the resistor R91, the first end of the capacitor C58 and the positive electrode of the diode D23 are all connected to the common connection end between the base of the MOS transistor Q10 and the resistor R90, the second end of the resistor R91 and the second end of the capacitor C58 are all connected to the common connection end between the source of the MOS transistor Q10 and the resistor R92, and the negative electrode of the diode D23 is electrically connected to the output end of the three-phase inverter unit.

5. The inductive permanent magnet motor control system according to claim 2 is characterized in that: The three-phase current acquisition unit includes three current acquisition circuits; Each of the current acquisition circuits includes an operational amplifier, a first capacitor, a second capacitor, a third capacitor, a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor and an eleventh resistor; In each of the current acquisition circuits, the positive power supply pin of the op amp is electrically connected to the output end of the power supply module, and the negative power supply pin of the op amp is grounded; the positive input pin of the op amp is electrically connected to the output end of the drive unit through the sixth resistor and the fifth resistor in sequence, and the reverse input pin of the op amp is grounded through the ninth resistor and the eighth resistor in sequence; the first end of the first capacitor is connected to the common connection end between the sixth resistor and the fifth resistor, and the second end of the first capacitor is connected to the common connection end between the ninth resistor and the eighth resistor; The positive input pin of the operational amplifier is also electrically connected to the output end of the power supply module through the third resistor and the first resistor in sequence, the first end of the second resistor and the first end of the fourth resistor are both connected to the common connection end between the third resistor and the first resistor, the second end of the second resistor is grounded, and the second end of the fourth resistor is connected to the common connection end between the positive input pin of the operational amplifier and the third resistor; The output pin of the operational amplifier is electrically connected to the input terminal of the central processing unit through the seventh resistor; the first end of the tenth resistor, the first end of the eleventh resistor and the first end of the third capacitor are all connected to the common connection terminal between the reverse input pin of the operational amplifier and the ninth resistor; the second end of the tenth resistor, the second end of the eleventh resistor and the second end of the third capacitor are all connected to the common connection terminal between the output pin of the operational amplifier and the seventh resistor; the first end of the second capacitor is connected to the common connection terminal between the seventh resistor and the input terminal of the central processing unit, and the second end of the second capacitor is grounded.

6. The inductive permanent magnet motor control system according to claim 2, characterized in that: The power driving module further includes a current sampling protection unit, the input end of the current sampling protection unit is electrically connected to the output end of the driving unit and the output end of the power supply module, and the output end of the current sampling protection unit is electrically connected to the input end of the central processing unit; The current sampling protection unit is used to receive the processed three-phase alternating current signal output by the driving unit, and perform current sampling protection according to the processed three-phase alternating current signal.

7. The inductive permanent magnet motor control system according to claim 6, characterized in that: The current sampling protection unit includes an operational amplifier U4B, a diode D19, a diode D20, a diode D21, a capacitor C53, a capacitor C55, a capacitor C56, a resistor R76, a resistor R77, a resistor R80, a resistor R82, a resistor R83, a resistor R84, a resistor R85 and a resistor R86; The positive power supply pin of the operational amplifier U4B is electrically connected to the output end of the power supply module, the first end of the capacitor C55 is connected to the common connection end between the positive power supply pin of the operational amplifier U4B and the output end of the power supply module, and the second end of the capacitor C55 is grounded; the negative power supply pin of the operational amplifier U4B is grounded; The positive input pin of the amplifier U4B is grounded through the resistor R76; the first end of the resistor R80, the first end of the resistor R82 and the first end of the resistor R84 are all electrically connected to the output end of the driving unit, the second end of the resistor R80 is electrically connected to the positive input pin of the amplifier U4B through the diode D19, the second end of the resistor R82 is electrically connected to the positive input pin of the amplifier U4B through the diode D20, and the second end of the resistor R84 is electrically connected to the positive input pin of the amplifier U4B through the diode D21; the reverse input pin of the amplifier U4B is grounded through the capacitor C56, the first end of the resistor R85 and the first end of the resistor R86 are both connected to the common connection end between the reverse input pin of the amplifier U4B and the capacitor C56, the second end of the resistor R85 is electrically connected to the output end of the power supply module, and the second end of the resistor R86 is grounded; The output pin of the operational amplifier U4B is electrically connected to the input end of the central processing unit through the resistor R77, the first end of the resistor R83 and the first end of the capacitor C53 are both connected to the common connection end between the output pin of the operational amplifier U4B and the resistor R77, and the second end of the resistor R83 and the second end of the capacitor C53 are both grounded.

8. The inductive permanent magnet motor control system according to claim 1, characterized in that: The power supply module includes a safety filter unit, a surge suppression rectifier unit, a power factor correction unit, an analog-to-digital conversion unit and a DC-DC conversion unit; The input end of the safety filter unit is electrically connected to an external power supply, the output end of the safety filter unit is electrically connected to the input end of the DC-DC conversion unit through the surge suppression rectifier unit, the power factor correction unit, and the analog-to-digital conversion unit in sequence, the output end of the power factor correction unit, the output end of the analog-to-digital conversion unit, and the output end of the DC-DC conversion unit are all electrically connected to the input end of the power driving module, the output end of the DC-DC conversion unit is also electrically connected to the input end of the central processing unit, and the input end of the surge suppression rectifier unit and the input end of the power factor correction unit are also electrically connected to the output end of the central processing unit; The safety filter unit is used to receive a power supply voltage provided by an external power supply and perform filtering on the power supply voltage; The surge suppression rectifier unit is used to receive the filtered power supply voltage provided by the safety filter unit, and, under the control of the central processor, rectify the filtered power supply to obtain a DC voltage signal; The power factor correction unit is used to receive the DC voltage signal provided by the surge suppression rectifier unit, and perform power factor correction on the DC voltage signal under the control of the central processor; and provide the DC voltage signal after power factor correction to the analog-to-digital conversion unit and the power driving module respectively; The analog-to-digital conversion unit is used to receive the DC voltage signal after power factor correction, and perform analog-to-digital conversion on the DC voltage signal after power factor correction to obtain a first digital voltage signal with a first voltage value; and provide the first digital voltage signal with the first voltage value to the DC-DC conversion unit and the power driving module respectively; The DC-DC conversion unit is configured to receive the first digital voltage signal having a first voltage value, and convert the first digital voltage signal having the first voltage value into a second digital voltage signal having a second voltage value; The second digital voltage signal having a second voltage value is provided to the central processing unit and the power driving module respectively.

9. The inductive permanent magnet motor control system according to claim 8, characterized in that: The safety filter unit includes a common mode inductor FL1, a fuse F1, a capacitor CX1, a capacitor CX2, a capacitor CY2, a capacitor CY3, a resistor R62, a resistor R68, a resistor R69 and a resistor R73; Pin No. 2 of the common-mode inductor FL1 is electrically connected to the positive signal terminal of the external power supply through the fuse F1, and pin No. 1 of the common-mode inductor FL1 is electrically connected to the negative signal terminal of the external power supply. The first end of the resistor R68 and the first end of the capacitor CX1 are both connected to the common connection terminal between pin No. 2 of the common-mode inductor FL1 and the fuse F1, and the second end of the resistor R68 and the second end of the capacitor CX1 are both connected to the common connection terminal between pin No. 1 of the common-mode inductor FL1 and the negative signal terminal of the external power supply. Pin No. 3 and Pin No. 4 of the common-mode inductor FL1 are electrically connected to the input end of the surge suppression rectifier unit, the first end of the capacitor CX2 and the first end of the capacitor CY2 are connected to the common connection end between pin No. 3 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit, the second end of the capacitor CY2 is grounded, the second end of the capacitor CX2 and the first end of the capacitor CY3 are connected to the common connection end between pin No. 4 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit, and the second end of the capacitor CY3 is grounded; the first end of the resistor R62 is connected to the common connection end between pin No. 3 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit, and the second end of the resistor R62 is connected to the common connection end between pin No. 4 of the common-mode inductor FL1 and the input end of the surge suppression rectifier unit through resistors R69 and R73 in sequence.

10. The inductive permanent magnet motor control system according to claim 8, characterized in that: The surge suppression rectifier unit includes a relay K1, a bridge rectifier diode D3, a diode D4, a transistor Q2, a resistor R1, a resistor R6, a resistor R9, a resistor R10 and a resistor R58; The first input pin of the bridge rectifier diode D3 is electrically connected to the first output end of the safety filter unit through the resistor R1, and the second input pin of the bridge rectifier diode D3 is electrically connected to the second output end of the safety filter unit; the first output pin and the second output pin of the bridge rectifier diode D3 are both electrically connected to the input end of the power factor correction unit; The first end of the coil of the relay K1 is electrically connected to the +15V power supply terminal, and the second end of the coil of the relay K1 is electrically connected to the collector of the transistor Q2 through the resistor R6; the anode of the diode D4 and the first end of the resistor R58 are both connected to the common connection terminal between the second end of the coil of the relay K1 and the resistor R6, the cathode of the diode D4 is connected to the common connection terminal between the first end of the coil of the relay K1 and the +15V power supply terminal, and the second end of the resistor R58 is connected to the common connection terminal between the resistor R6 and the collector of the transistor Q2; the transistor The base of Q2 is electrically connected to the output end of the central processing unit through the resistor R9, the first end of the resistor R10 is connected to the common connection end between the base of the transistor Q2 and the resistor R9, and the second end of the resistor R10 is grounded; the emitter of the transistor Q2 is grounded; the static contact of the relay K1 is connected to the common connection end between the first input pin of the bridge rectifier diode D3 and the resistor R1, the first moving contact of the relay K1 is connected to the common connection end between the resistor R1 and the first output end of the safety filter unit, and the second moving contact of the relay K1 is suspended.

11. The inductive permanent magnet motor control system according to claim 8, characterized in that: The power factor correction unit includes a power factor correction chip U8, a MOS tube Q1, a MOS tube Q3, a triode Q4, an inductor L1, a Schottky diode D4, a diode D3, a diode D10, a diode D11, a unidirectional conducting diode D13, a capacitor CY1, a capacitor C22, a capacitor C23, a polar capacitor C24, a polar capacitor C25, a polar capacitor C26, a capacitor C27, a capacitor C36, a capacitor C37, and a capacitor C38. , capacitor C39, capacitor C40, capacitor C41, capacitor C42, capacitor C43, capacitor C45, resistor R27, resistor R29, resistor R30, resistor R31, resistor R32, resistor R34, resistor R35, resistor R37, resistor R38, resistor R40, resistor R41, resistor R44, resistor R46, resistor R47, resistor R48, resistor R49, resistor R51, resistor R52, resistor R53 and resistor R54; The first end of the inductor L1 is electrically connected to the first output end of the surge suppression rectifier unit, and the second end of the inductor L1 is electrically connected to the input end of the analog-to-digital conversion unit and the input end of the power driving module through the Schottky diode D4; the anode of the diode D3 and the first end of the capacitor CY1 are both connected to the common connection end between the first end of the inductor L1 and the first output end of the surge suppression rectifier unit, the cathode of the diode D3 is connected to the common connection end between the Schottky diode D4 and the input end of the analog-to-digital conversion unit, and the second end of the capacitor CY1 is electrically connected to the second output end of the surge suppression rectifier unit; the capacitor C The first end of capacitor C22, the first end of capacitor C23, the positive electrode of polar capacitor C24, the positive electrode of polar capacitor C25 and the positive electrode of polar capacitor C26 are all connected to the common connection end between Schottky diode D4 and the input end of the analog-to-digital conversion unit, the second end of capacitor C22, the second end of capacitor C23, the negative electrode of polar capacitor C24, the negative electrode of polar capacitor C25 and the negative electrode of polar capacitor C26 are all grounded; the negative electrode of diode D11 and the first end of resistor R32 are all electrically connected to the second output end of the surge suppression rectifier unit, and the positive electrode of diode D11 and the second end of resistor R32 are all grounded; The source of the MOS tube Q1 is connected to the common connection end between the second end of the inductor L1 and the Schottky diode D4, the drain of the MOS tube Q1 is grounded, and the gate of the MOS tube is electrically connected to the gate driver chip GATE of the power factor correction chip U8 through the resistor R29; the positive electrode of the diode D10, the first end of the resistor R27 and the first end of the capacitor C27 are all connected to the common connection end between the gate of the MOS tube and the resistor R29, the negative electrode of the diode D10 is connected to the common connection end between the resistor R29 and the gate driver chip GATE of the power factor correction chip U8, and the second end of the resistor R27 and the second end of the capacitor C27 are both grounded; The inductor current detection pin ISENSE of the power factor correction chip U8 is electrically connected to the second output end of the surge suppression rectifier unit through a resistor R44, the first end of the capacitor C38 is connected to the common connection end between the inductor current detection pin ISENSE of the power factor correction chip U8 and the resistor R44, and the second end of the capacitor C38 is grounded; the ground pin GND of the power factor correction chip U8 is grounded, the current loop compensation pin ICOMP of the power factor correction chip U8 is grounded through a capacitor C36, and the frequency setting pin FREQ of the power factor correction chip U8 is grounded through a resistor R46; the power pin VCC of the power factor correction chip U8 is grounded through a capacitor C43, and the first end of the capacitor C42 is connected to the power pin VCC of the power factor correction chip U8. The common connection terminal between VCC and capacitor C43, the second end of capacitor C42 is grounded; the output voltage detection pin VSENSE of the power factor correction chip U8 is grounded through resistor R49, the first end of capacitor C39 and the first end of resistor R48 are both connected to the common connection terminal between the output voltage detection pin VSENSE of the power factor correction chip U8 and resistor R49, the second end of capacitor C39 and the second end of resistor R48 are both grounded; the voltage loop compensation pin VCOMP of the power factor correction chip U8 is grounded through resistor R47 and capacitor C41 in turn, the first end of capacitor C40 is connected to the common connection terminal between the voltage loop compensation pin VCOMP of the power factor correction chip U8 and resistor R47, and the second end of capacitor C40 is grounded; The gate of the MOS tube Q3 is electrically connected to the collector of the transistor Q4 through the resistor R52, the source of the MOS tube Q3 is electrically connected to the +15V power supply end, the first end of the resistor R51 is connected to the common connection end between the source of the MOS tube Q3 and the +15V power supply end, the second end of the resistor R51 is connected to the common connection end between the gate of the MOS tube Q3 and the resistor R52, and the drain of the MOS tube Q3 is connected to the common connection end between the power pin VCC of the power factor correction chip U8 and the capacitor C43; the base of the transistor Q4 is electrically connected to the output end of the central processing unit through the resistor R53, the first end of the resistor R54 and the first end of the capacitor C45 are both connected to the common connection end between the base of the transistor Q4 and the resistor R53, the second end of the resistor R54 and the second end of the capacitor C45 are both grounded, and the emitter of the transistor Q4 is grounded; The first end of the resistor R30 and the first end of the resistor R31 are both connected to the common connection end between the Schottky diode D4 and the input end of the analog-to-digital conversion unit; the second end of the resistor R30 is connected to the common connection end between the output voltage detection pin VSENSE of the power factor correction chip U8 and the resistor R49 through the resistor R34, the resistor R37 and the resistor R41 in sequence; the second end of the resistor R31 is electrically connected to the input end of the power driving module through the resistor R35 and the resistor R38 in sequence; the first end of the resistor R40 and the first end of the capacitor C37 are both connected to the common connection end between the resistor R38 and the input end of the power driving module, and the second end of the resistor R40 and the second end of the capacitor C37 are both grounded; The unidirectional conducting diode D13 includes a first sub-diode and a second sub-diode; wherein the cathode of the first sub-diode and the anode of the second sub-diode are connected together and connected to the common connection end between the resistor R38 and the input end of the power driving module; the anode of the first sub-diode is grounded, and the cathode of the second sub-diode is electrically connected to the +3.3V power supply end.

12. The inductive permanent magnet motor control system according to claim 8, characterized in that: The analog-to-digital conversion unit includes a power management chip U5, an inductor L2, a diode D5, a diode D7, a diode D8, a light-emitting diode D9, a capacitor C16, a capacitor C18, a capacitor C19, a capacitor C20, a capacitor C21, a polarized capacitor C17, a resistor R24, a resistor R25, a resistor R26 and a resistor R28; The drain pin DRAIN of the power management chip U5 is electrically connected to the output end of the power factor correction unit, the first end of the capacitor C16 is connected to the common connection end between the drain pin DRAIN of the power management chip U5 and the output end of the power factor correction unit, and the second end of the capacitor C16 is grounded; the ground pin GND of the power management chip U5 is electrically connected to the input end of the DC-DC conversion unit and the input end of the power driving module through the inductor L2, and the vacant pin NC of the power management chip U5 is connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2; The positive electrode of the diode D7 is connected to the common connection end between the inductor L2 and the input end of the DC-DC conversion unit, and the negative electrode of the diode D7 is connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2 through the diode D8 and the capacitor C18 in sequence; the first end of the resistor R24 ​​and the first end of the capacitor C19 are both connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2, the second end of the resistor R24 ​​is connected to the common connection end between the negative electrode of the diode D7 and the diode D8 through the resistor R28, and the second end of the capacitor C19 is also connected to the common connection end between the negative electrode of the diode D7 and the diode D8; the power pin VCC of the power management chip U5 is connected to the common connection end between the diode D8 and the capacitor C18, and the error amplifier input pin EA-IN of the power management chip U5 is connected to the common connection end between the second end of the resistor R24 ​​and the resistor R28; The first end of capacitor C20 and the first end of capacitor C21 are both connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2, the second end of capacitor C20 is electrically connected to the error amplifier output pin EA-OUT of the power management chip U5, and the second end of capacitor C21 is connected to the common connection end between the second end of capacitor C20 and the error amplifier output pin EA-OUT of the power management chip U5 through resistor R26; the cathode of diode D5 is connected to the common connection end between the ground pin GND of the power management chip U5 and the inductor L2, and the anode of diode D5 is grounded; the anode of polar capacitor C17 and the first end of resistor R25 are both connected to the common connection end between inductor L2 and the input end of the DC-DC conversion unit, the cathode of polar capacitor C17 is grounded, and the second end of resistor R25 is grounded through light-emitting diode D9.

13. The inductive permanent magnet motor control system according to claim 8, characterized in that: The DC-DC conversion unit includes a voltage stabilization control chip U7, a conversion chip U6, an inductor L3, a capacitor C28, a capacitor C29, a capacitor C30, a capacitor C31, a capacitor C32, a capacitor C33, a capacitor C34, a capacitor C35, a resistor R33 and a resistor R39; The power pin VIN of the voltage stabilizing control chip U7 is connected to the enable pin EN and is electrically connected to the output end of the analog-to-digital conversion unit. The first end of the capacitor C33, the first end of the capacitor C34 and the first end of the capacitor C35 are all connected to the common connection end between the power pin VIN of the voltage stabilizing control chip U7 and the output end of the analog-to-digital conversion unit. The second end of the capacitor C33, the second end of the capacitor C34 and the second end of the capacitor C35 are all grounded. The ground pin GND of the voltage stabilizing control chip U7 is grounded. The switch pin SW of the voltage stabilizing control chip U7 is electrically connected to the input pin IN of the conversion chip U6 through the inductor L3, and the guide pin VBST of the voltage stabilizing control chip U7 is connected to the common connection end between the switch pin SW of the voltage stabilizing control chip U7 and the inductor L3 through the capacitor C30; the first end of the capacitor C31, the first end of the capacitor C32, the first end of the resistor R33 and the first end of the capacitor C29 are all connected to the common connection end between the inductor L3 and the input pin IN of the conversion chip U6, the second end of the capacitor C31, the second end of the capacitor C32 and the second end of the capacitor C29 are all grounded, and the second end of the resistor R33 is grounded through the resistor R39; the feedback pin VFB of the voltage stabilizing control chip U7 is connected to the common connection end between the second end of the resistor R33 and the resistor R39; The enable pin EN of the conversion chip U6 is connected to the input pin IN of the conversion chip U6, and the ground pin GND of the conversion chip U6 is grounded; the output pin OUT of the conversion chip U6 is electrically connected to the input end of the central processing unit and the input end of the power driving module, the first end of the capacitor C28 is connected to the common connection end between the output pin OUT of the conversion chip U6 and the input end of the central processing unit, and the second end of the capacitor C28 is grounded.

14. A method for controlling an inductive permanent magnet motor, characterized in that: The inductive permanent magnet motor control system according to any one of claims 1 to 13 is used to control the inductive permanent magnet motor, the method comprising: The power supply module is used to provide working voltage to the main control module and the power drive module respectively; Under the control of the central processing unit of model FU6812L2 in the main control module, a PWM control signal is provided to the power drive module; The power driving module receives the PWM control signal, and generates a three-phase alternating current signal according to the PWM control signal, so as to control the operation of the inductive permanent magnet motor according to the three-phase alternating current signal; the power driving module also collects the three-phase alternating current signal in real time, and feeds back the three-phase alternating current signal in real time to the central processing unit; Under the control of the central processing unit, the main control module monitors the operating state of the inductive permanent magnet motor in real time according to the received three-phase alternating current signal.

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