Multivariable integrated modular permanent magnet synchronous motor control and protection system and method

Abstract

The invention discloses a multivariable integrated modular permanent magnet synchronous motor control and protection system and method, and relates to the field of motors. The DSP main control unit outputs an EPWM control signal through the CPLD protection unit and further drives the modularized voltage source inverter to output a power output signal to drive the modularized permanent magnet synchronous motor, and the position sensor monitors the position of a motor rotor in real time and sends the position to the DSP main control unit. The DSP main control unit is used for logically judging the position of a motor rotor, the output direct current bus voltage, the line voltage signal, the direct current bus current, the phase current signal and the inverter temperature signal of the modularized voltage source inverter, outputting an EPWM input signal to the CPLD hardware logic protection module for logical operation, and outputting a high / low level after logical operation; and the high / low level is used for receiving an EPWM input signal and then outputting an EPWM control signal to drive the modular voltage source inverter to continue / stop working, so that the production and manufacturing cost is reduced, the complexity of the system is reduced, and the hardware protection and software protection functions for a three-phase winding are realized.

Description

Technical Field

[0001] The present invention relates to the field of motors, and particularly to a multi-variable integrated modular permanent magnet synchronous motor control and protection system and method. Background Art

[0002] Modular permanent magnet synchronous motor control systems have broad application prospects in some specific fields where the performance of certain power semiconductor devices is limited, such as aerospace, electric vehicles, ship propulsion, industrial production, etc., due to characteristics such as low-voltage high-power output, high reliability, and high control flexibility. Each set of three-phase windings of a modular permanent magnet synchronous motor requires a three-phase inverter control system. As the number of three-phase windings increases, the production cost and system complexity of the modular motor drive system gradually increase, and how to implement hardware protection and software protection functions for the three-phase windings is a current research hotspot.

[0003] Therefore, how to optimize the system design, reduce the production cost and system complexity of the modular motor drive system, and at the same time implement hardware protection and software protection functions for the three-phase windings is an urgent problem to be solved currently. Summary of the Invention

[0004] The present invention is to solve the problem of how to optimize the system design, reduce the production cost and system complexity of the modular motor drive system, and at the same time implement hardware protection and software protection functions for the three-phase windings, thereby providing a multi-variable integrated modular permanent magnet synchronous motor control and protection system and method.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A multi-variable integrated modular permanent magnet synchronous motor control and protection system, which includes a control power supply 1, a power supply 2, a DSP main control unit 3, a CPLD protection unit 4, a modular voltage source inverter 5, a position sensor 6, and a modular permanent magnet synchronous motor 7, an EPWM input signal (8), an EPWM control signal (9), a power output signal (10), and a motor rotor position sampling signal (11);

[0007] The EPWM input signal (8) includes a first EPWM input signal 3-6, a second EPWM signal input 3-7, a third EPWM input signal 3-8, and a fourth EPWM input signal 3-9;

[0008] The EPWM control signal (9) includes a first EPWM control signal 4-10, a second EPWM control signal 4-11, a third EPWM control signal 4-12, and a fourth EPWM control signal 4-13;

[0009] The control power supply 1 is used to supply power to the DSP main control unit 3 and the CPLD protection unit 4;

[0010] The power supply 2 is used to supply power to the modular voltage source inverter 5;

[0011] The DSP main control unit 3 is used to send the EPWM input signal (8) to the CPLD protection unit 4;

[0012] The modular voltage source inverter 5 is used to receive the EPWM control signal (9) sent by the CPLD protection unit 4, and output the DC bus voltage, line voltage signal, DC bus current, phase current signal and inverter temperature signal to the CPLD protection unit 4 and the DSP main control unit 3, and is also used to output the power output signal (10) to drive the modular permanent magnet synchronous motor 7;

[0013] The CPLD protection unit 4 is used to receive the EPWM input signal (8) sent by the DSP main control unit 3, perform logical judgment on it and then output the EPWM control signal (9) to the modular voltage source inverter 5; it is also used to receive the DC bus voltage, line voltage signal, DC bus current, phase current signal and inverter temperature signal in the modular voltage source inverter 5 and perform logical judgment on them: if one of the DC bus voltage, line voltage signal, DC bus current, phase current signal and inverter temperature signal exceeds the corresponding limit value, the CPLD protection unit 4 stops outputting the EPWM control signal (9) to the modular voltage source inverter 5;

[0014] The position sensor 6 is used to collect the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor 7 and output it to the DSP main control unit 3.

[0015] Further, the modular voltage source inverter 5 includes a first control signal input module 5-1, a second control signal input module 5-2, a third control signal input module 5-3, a fourth control signal input module 5-4, a bus current and voltage sampling signal module 5-5, a first voltage source inverter module 5-6, a second voltage source inverter module 5-7, a third voltage source inverter module 5-8, a fourth voltage source inverter module 5-9, an inverter temperature sampling signal module 5-10, a phase current and line voltage sampling signal module 5-11, a first power output module 5-12, a second power output module 5-13, a third power output module 5-14, and a fourth power output module 5-15;

[0016] The first control signal input module 5-1 is used to output a first control signal to the first voltage source inverter module 5-6, and after being inverted by the first voltage source inverter module 5-6, generate a first inverted control signal and input it to the first power output module 5-12;

[0017] The second control signal input module 5-2 is used to output a second control signal to the second voltage source inverter module 5-7. After being inverted by the second voltage source inverter module 5-7, a second inverted control signal is generated and input to the second power output module 5-13;

[0018] The third control signal input module 5-3 is used to output a third control signal to the third voltage source inverter module 5-8. After being inverted by the third voltage source inverter module 5-8, a third inverted control signal is generated and input to the third power output module 5-14;

[0019] The fourth control signal input module 5-4 is used to output a fourth control signal to the fourth voltage source inverter module 5-9. After being inverted by the fourth voltage source inverter module 5-9, a fourth inverted control signal is generated and input to the fourth power output module 5-15;

[0020] The bus current and voltage sampling signal module 5-5 is used to collect the DC bus current and DC bus voltage signals of the first voltage source inverter module 5-6, the second voltage source inverter module 5-7, the third voltage source inverter module 5-8, and the fourth voltage source inverter module 5-9, and input them to the DSP main control unit 3 and the CPLD protection unit 4;

[0021] The inverter temperature sampling signal module 5-10 is used to collect the inverter temperature signals of the first voltage source inverter module 5-6, the second voltage source inverter module 5-7, the third voltage source inverter module 5-8, and the fourth voltage source inverter module 5-9, and input them to the DSP main control unit 3 and the CPLD protection unit 4;

[0022] The phase current and line voltage sampling signal module 5-11 is used to collect the line voltage signals and phase current signals of the first power output module 5-12, the second power output module 5-13, the third power output module 5-14, and the fourth power output module 5-15, and input the line voltage signals and phase current signals to the DSP main control unit 3 and the CPLD protection unit 4;

[0023] The first power output module 5-12, the second power output module 5-13, the third power output module 5-14, and the fourth power output module 5-15 are used to output power output signals (10) to the modular permanent magnet synchronous motor 7 to drive the modular permanent magnet synchronous motor 7.

[0024] Furthermore, the DSP master control unit 3 includes a temperature sampling signal conversion circuit 3-1, a DC bus and a line voltage sampling signal conversion circuit 3-2, a DC bus and a phase current sampling signal conversion circuit 3-3, a motor rotor position sampling signal conversion circuit 3-4, a modular permanent magnet synchronous motor control algorithm circuit 3-5, a first EPWM signal 3-6, a second EPWM signal 3-7, a third EPWM signal 3-8, and a fourth EPWM signal 3-9;

[0025] The temperature sampling signal conversion circuit 3-1 is configured to receive the inverter temperature signal of the modular voltage source inverter 5 and convert the inverter temperature signal into a digital signal for input to the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0026] The DC bus and line voltage sampling signal conversion circuit 3-2 is configured to receive the DC bus voltage and line voltage signals of the modular voltage source inverter 5 and convert the DC bus voltage and line voltage signals into digital signals for input to the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0027] The DC bus and phase current sampling signal conversion circuit 3-3 is configured to receive the DC bus current and phase current signals of the modular voltage source inverter 5 and convert the DC bus current and phase current signals into digital signals for input to the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0028] The motor rotor position sampling signal conversion circuit 3-4 is configured to receive the motor rotor position sampling signal (11) collected by the position sensor 6 and convert the motor rotor position sampling signal (11) into a digital signal for input to the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0029] The modular permanent magnet synchronous motor control algorithm circuit 3-5 is configured to receive the inverter temperature signal, the DC bus voltage and line voltage signals, the DC bus current and phase current signals, and the motor rotor position sampling signal (11) sent by the temperature sampling signal conversion circuit 3-1, the DC bus and line voltage sampling signal conversion circuit 3-2, the DC bus and phase current sampling signal conversion circuit 3-3, and the motor rotor position sampling signal conversion circuit 3-4, compare them with the given values, generate a first EPWM signal 3-6, a second EPWM signal 3-7, a third EPWM signal 3-8, and a fourth EPWM signal 3-9, and send the first EPWM signal 3-6, the second EPWM signal 3-7, the third EPWM signal 3-8, and the fourth EPWM signal 3-9 to the CPLD protection unit 4.

[0030] Furthermore, the CPLD protection unit 4 includes a temperature comparison circuit 4-1, a DC bus and a line voltage comparison circuit 4-2, a DC bus and a phase current comparison circuit 4-3, a motor rotor position comparison circuit 4-4, a CPLD hardware logic protection module 4-5, a first EPWM control signal 4-10, a second EPWM control signal 4-11, a third EPWM control signal 4-12, and a fourth EPWM control signal 4-13;

[0031] The temperature comparison circuit 4-1 is configured to receive the inverter temperature signal of the modular voltage source inverter 5, compare it with a set limit value, and output a high / low level: when the received inverter temperature signal exceeds the limit value, a high level is output; otherwise, a low level is output.

[0032] The DC bus and line voltage comparison circuit 4-2 is configured to receive the DC bus voltage and line voltage signals of the modular voltage source inverter 5, compare them with a set limit value, and output a high / low level: when the received bus voltage and line voltage signals exceed the limit value, a high level is output; otherwise, a low level is output.

[0033] The DC bus and phase current comparison circuit 4-3 is configured to receive the DC bus current and phase current signals of the modular voltage source inverter 5, compare them with a set limit value, and output a high / low level: when the DC bus current and phase current signals exceed the limit value, a high level is output; otherwise, a low level is output.

[0034] The motor rotor position comparison circuit 4-4 is configured to receive the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor 7, compare it with a set limit value, and output a high / low level: when the motor rotor position sampling signal (11) exceeds the limit value, a high level is output; otherwise, a low level is output.

[0035] The CPLD hardware logic protection module 4-5 is configured to receive the first EPWM input signal 4-6, the second EPWM input signal 4-7, the third EPWM input signal 4-8, the fourth EPWM input signal 4-9, and the aforementioned high / low levels, and perform a logical judgment on them:

[0036] If any one of the inverter temperature signal, the DC bus voltage and line voltage signals, the DC bus current and phase current signals, and the motor rotor position sampling signal (11) does not exceed the limit value, the first EPWM control signal 4-10, the second EPWM control signal 4-11, the third EPWM control signal 4-12, and the fourth EPWM control signal 4-13 are output;

[0037] If any one of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) exceeds the limit value, the first EPWM control signal 4-10, the second EPWM control signal 4-11, the third EPWM control signal 4-12, and the fourth EPWM control signal 4-13 will not be output.

[0038] According to the control and protection method of the multi-variable integrated modular permanent magnet synchronous motor control and protection system, the method includes:

[0039] A method for supplying power to the DSP main control unit 3 and the CPLD protection unit 4;

[0040] A method for supplying power to the modular voltage source inverter 5;

[0041] A method for sending the EPWM input signal (8) to the CPLD protection unit 4;

[0042] A method for receiving the EPWM control signal (9) sent by the CPLD protection unit 4, and outputting the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal to the CPLD protection unit 4 and the DSP main control unit 3, and a method for outputting the power output signal (10) to drive the modular permanent magnet synchronous motor 7;

[0043] A method for receiving the EPWM input signal (8) sent by the DSP main control unit 3, performing logical judgment on it, and then outputting the EPWM control signal (9) to the modular voltage source inverter 5; a method for receiving the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal in the modular voltage source inverter 5 and performing logical judgment on them: If any one of the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal exceeds the corresponding limit value, the CPLD protection unit 4 will stop outputting the EPWM control signal (9) to the modular voltage source inverter 5;

[0044] A method for collecting the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor 7 and outputting it to the DSP main control unit 3;

[0045] A method for receiving the inverter temperature signal of the modular voltage source inverter 5 and converting the inverter temperature signal into a digital signal and inputting it into the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0046] A method for receiving the DC bus voltage and line voltage signals of the modular voltage source inverter 5 and converting the DC bus voltage and line voltage signals into digital signals and inputting them into the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0047] A method directly for receiving the DC bus current and phase current signals of the modular voltage source inverter 5 and converting the DC bus current and phase current signals into digital signals and inputting them into the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0048] A method for receiving the motor rotor position sampling signal (11) collected by the position sensor 6 and converting the motor rotor position sampling signal (11) into a digital signal and inputting it into the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0049] A method for receiving the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) sent by the temperature sampling signal conversion circuit 3-1, DC bus and line voltage sampling signal conversion circuit 3-2, DC bus and phase current sampling signal conversion circuit 3-3, and motor rotor position sampling signal conversion circuit 3-4, comparing them with given values, generating a first EPWM signal 3-6, a second EPWM signal 3-7, a third EPWM signal 3-8, and a fourth EPWM signal 3-9, and sending the first EPWM signal 3-6, the second EPWM signal 3-7, the third EPWM signal 3-8, and the fourth EPWM signal 3-9 to the CPLD protection unit 4;

[0050] A method for receiving the inverter temperature signal of the modular voltage source inverter 5, comparing it with a set limit value, and outputting a high / low level: when the received inverter temperature signal exceeds the limit value, output a high level, otherwise, output a low level;

[0051] A method for receiving the DC bus voltage and line voltage signals of the modular voltage source inverter 5, comparing them with a set limit value, and outputting a high / low level: when the received bus voltage and line voltage signals exceed the limit value, output a high level, otherwise, output a low level;

[0052] A method for receiving the DC bus current and phase current signals of the modular voltage source inverter 5, comparing them with a set limit value, and outputting a high / low level: when the DC bus current and phase current signals exceed the limit value, output a high level, otherwise, output a low level;

[0053] A method for receiving the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor 7, comparing it with a set limit value, and outputting a high / low level: when the motor rotor position sampling signal (11) exceeds the defined value, output a high level, otherwise, output a low level;

[0054] A method for receiving the first EPWM input signal 4 - 6, the second EPWM input signal 4 - 7, the third EPWM input signal 4 - 8, the fourth EPWM input signal 4 - 9 and the aforementioned high / low level, and performing logical judgment on them:

[0055] If one of the inverter temperature signal, DC bus voltage and line voltage signal, DC bus current and phase current signal, and motor rotor position sampling signal (11) does not exceed the limit value, then output the first EPWM control signal 4 - 10, the second EPWM control signal 4 - 11, the third EPWM control signal 4 - 12, and the fourth EPWM control signal 4 - 13;

[0056] If one of the inverter temperature signal, DC bus voltage and line voltage signal, DC bus current and phase current signal, and motor rotor position sampling signal (11) exceeds the limit value, then do not output the first EPWM control signal 4 - 10, the second EPWM control signal 4 - 11, the third EPWM control signal 4 - 12, and the fourth EPWM control signal 4 - 13.

[0057] Further, the specific method for outputting the first EPWM control signal 4 - 10, the second EPWM control signal 4 - 11, the third EPWM control signal 4 - 12, and the fourth EPWM control signal 4 - 13 when one of the inverter temperature signal, DC bus voltage and line voltage signal, DC bus current and phase current signal, and motor rotor position sampling signal (11) does not exceed the limit value is:

[0058] If the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) are compared with the set limit values by a comparator to generate high and low levels, the high and low levels are sent to the CPLD hardware logic protection module 4-5 together. The CPLD hardware logic protection module 4-5 performs logical operations on the high and low levels, and outputs a high / low level after the logical operations. The high / low level acts on receiving the first EPWM input signal 3-6, the second EPWM input signal 3-7, the third EPWM input signal 3-8, and the fourth EPWM input signal 3-9, and then outputs the first EPWM control signal 4-10, the second EPWM control signal 4-11, the third EPWM control signal 4-12, and the fourth EPWM control signal 4-13 to drive the enabling terminal of the modular voltage source inverter. When the enabling terminal of the modular voltage source inverter receives the high / low level, it enables the enabling terminal of the modular voltage source inverter to continue working / stop working, and outputs / does not output the first EPWM control signal 4-10, the second EPWM control signal 4-11, the third EPWM control signal 4-12, and the fourth EPWM control signal 4-13 to the first voltage source inverter module 5-6, the second voltage source inverter module 5-7, the third voltage source inverter module 5-8, and the fourth voltage source inverter module 5-9.

[0059] Further, the limit values of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) are specific values set according to the specific scenario (converted into voltage values according to the proportional relationship for comparison with the sampling values).

[0060] Beneficial effects: The present invention integrates and miniaturizes the modular permanent magnet synchronous motor control system by using a high-performance digital signal processor (DSP). Through a main control unit, the acquisition of multi-module and multi-physical quantity parameters and the implementation of complex control algorithms are realized. The system hardware protection function is realized through the design of the logic circuit and the application of the programmable logic gate device (CPLD) to improve the system reliability.

[0061] The present invention proposes a multi-variable integrated acquisition modular inverter control and protection system for the modular permanent magnet synchronous motor control system. On the motor control hardware platform designed based on a single DSP main control, parameters such as motor voltage, current, speed, and inverter temperature are collected, and the performance of each module system is regulated based on the collected signals. At the same time, the CPLD is used to realize the hardware protection of the entire system.

[0062] The modular permanent magnet synchronous motor control and protection system with multi-variable integrated acquisition proposed by the present invention uses a high-performance digital signal processor (DSP) as the main control unit, achieving high integration and miniaturization of the system. This system can collect key parameters such as voltage, current, position information of the modular permanent magnet synchronous motor, and the temperature of the inverter on the basis of a single main control unit, not only significantly improving the system's comprehensive monitoring ability of the motor operating state, but also realizing an efficient hardware protection function through logic circuit design and programmable logic gate devices (CPLD), enhancing the stability and security of the system. This design not only simplifies the system structure, reduces production and maintenance costs, but also further improves the system's self-protection ability under abnormal conditions through the fast response and precise control of the CPLD. While improving the system integration, control accuracy and economic benefits, it also ensures the reliability and durability of the motor control system. Brief Description of the Drawings

[0063] Figure 1 is a schematic structural diagram of the modular permanent magnet synchronous motor control and protection system with multi-variable integration;

[0064] Figure 2 is a schematic diagram of the components of the DSP main control unit;

[0065] Figure 3 is a schematic diagram of the components of the CPLD protection unit;

[0066] Figure 4 is a schematic diagram of the components of the modular voltage source inverter. Detailed Embodiments

[0067] Detailed Embodiment 1. Refer to Figure 1 to specifically describe this embodiment. The modular permanent magnet synchronous motor control and protection system with multi-variable integration described in this embodiment includes a control power supply 1, a power supply 2, a DSP main control unit 3, a CPLD protection unit 4, a modular voltage source inverter 5, a position sensor 6, and a modular permanent magnet synchronous motor 7, an EPWM input signal (8), an EPWM control signal (9), a power output signal (10), and a motor rotor position sampling signal (11);

[0068] The EPWM input signal (8) includes a first EPWM input signal 3-6, a second EPWM signal input 3-7, a third EPWM input signal 3-8, and a fourth EPWM input signal 3-9;

[0069] The EPWM control signal (9) includes a first EPWM control signal 4-10, a second EPWM control signal 4-11, a third EPWM control signal 4-12, and a fourth EPWM control signal 4-13;

[0070] The control power supply 1 is used to supply power to the DSP main control unit 3 and the CPLD protection unit 4;

[0071] The power supply 2 is used to supply power to the modular voltage source inverter 5;

[0072] The DSP main control unit 3 is used to send the EPWM input signal (8) to the CPLD protection unit 4;

[0073] The modular voltage source inverter 5 is used to receive the EPWM control signal (9) sent by the CPLD protection unit 4, and output the DC bus voltage, line voltage signal, DC bus current, phase current signal and inverter temperature signal to the CPLD protection unit 4 and the DSP main control unit 3, and is also used to output the power output signal (10) to drive the modular permanent magnet synchronous motor 7;

[0074] The CPLD protection unit 4 is used to receive the EPWM input signal (8) sent by the DSP main control unit 3, perform logical judgment on it and then output the EPWM control signal (9) to the modular voltage source inverter 5; it is also used to receive the DC bus voltage, line voltage signal, DC bus current, phase current signal and inverter temperature signal in the modular voltage source inverter 5 and perform logical judgment on them: if one of the DC bus voltage, line voltage signal, DC bus current, phase current signal and inverter temperature signal exceeds the corresponding limit value, the CPLD protection unit 4 stops outputting the EPWM control signal (9) to the modular voltage source inverter 5;

[0075] The position sensor 6 is used to collect the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor 7 and output it to the DSP main control unit 3.

[0076] In this embodiment, the DSP main control unit 3 sends the EPWM input signal (8) to the CPLD protection unit 4; the CPLD protection unit 4 performs logical judgment on the EPWM input signal (8) and then outputs the EPWM control signal (9) to the modular voltage source inverter 5; the modular voltage source inverter 5 outputs the DC bus voltage, line voltage signal, DC bus current, phase current signal and inverter temperature signal to the DSP main control unit 3 and the CPLD protection unit 4, and the CPLD protection unit 4 performs logical judgment on the DC bus voltage, line voltage signal, DC bus current, phase current signal and inverter temperature signal in the modular voltage source inverter 5:

[0077] If one of the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal exceeds the corresponding limit value, the CPLD protection unit 4 stops outputting the EPWM control signal (9) to the modular voltage source inverter 5, and then the modular voltage source inverter 5 does not output the power output signal 10 to the modular permanent magnet synchronous motor 7, playing a role in hardware protection for the modular permanent magnet synchronous motor 7;

[0078] If none of the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal exceeds the corresponding limit value, the CPLD protection unit 4 outputs the EPWM control signal (9) to the modular voltage source inverter 5, and then the modular voltage source inverter 5 outputs the power output signal 10 to the modular permanent magnet synchronous motor 7, thereby driving the modular permanent magnet synchronous motor 7 to operate;

[0079] The position sensor 6 collects the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor 7 and outputs it to the DSP main control unit 3.

[0080] The DSP main control unit 3 and the CPLD protection unit 4 control the modular voltage source inverter 5 in real time. The modular voltage source inverter 5 outputs the power output signal to drive the modular permanent magnet synchronous motor 7. The position sensor 6 monitors in real time whether the motor rotor position of the modular permanent magnet synchronous motor 7 reaches the specified position. Thus, the DSP main control unit 3 and the CPLD protection unit 4 adjust the EPWM input signal and the EPWM control signal to achieve closed-loop feedback control.

[0081] By using a high-performance digital signal processor (DSP) as the main control unit, this system realizes the high integration and miniaturization of the system. This system can collect key parameters such as the voltage, current, position information of the modular permanent magnet synchronous motor, and the inverter temperature on the basis of a single main control unit. It not only significantly improves the system's comprehensive monitoring ability of the motor operating state, but also realizes an efficient hardware protection function through logic circuit design and programmable logic gate devices (CPLD), enhancing the stability and security of the system. This design not only simplifies the system structure, reduces the production and maintenance costs, but also further improves the system's self-protection ability in case of anomalies through the fast response and precise control of the CPLD. While improving the system integration, control accuracy, and economic benefits, it also ensures the reliability and durability of the motor control system. It solves the problem of reducing the production and manufacturing costs of the modular motor drive system and the complexity of the system through optimizing the system design, and at the same time realizes the hardware protection and software protection functions for the three-phase windings.

[0082] Specific Embodiment 2. Refer to Figure 4Describing this embodiment, the multi-variable integrated modular permanent magnet synchronous motor control and protection system, the modular voltage source inverter 5 includes a first control signal input module 5-1, a second control signal input module 5-2, a third control signal input module 5-3, a fourth control signal input module 5-4, a bus current and voltage sampling signal module 5-5, a first voltage source inverter module 5-6, a second voltage source inverter module 5-7, a third voltage source inverter module 5-8, a fourth voltage source inverter module 5-9, an inverter temperature sampling signal module 5-10, a phase current and line voltage sampling signal module 5-11, a first power output module 5-12, a second power output module 5-13, a third power output module 5-14, and a fourth power output module 5-15;

[0083] The first control signal input module 5-1 is used to output a first control signal to the first voltage source inverter module 5-6, and after being inverted by the first voltage source inverter module 5-6, a first inverted control signal is generated and input to the first power output module 5-12;

[0084] The second control signal input module 5-2 is used to output a second control signal to the second voltage source inverter module 5-7, and after being inverted by the second voltage source inverter module 5-7, a second inverted control signal is generated and input to the second power output module 5-13;

[0085] The third control signal input module 5-3 is used to output a third control signal to the third voltage source inverter module 5-8, and after being inverted by the third voltage source inverter module 5-8, a third inverted control signal is generated and input to the third power output module 5-14;

[0086] The fourth control signal input module 5-4 is used to output a fourth control signal to the fourth voltage source inverter module 5-9, and after being inverted by the fourth voltage source inverter module 5-9, a fourth inverted control signal is generated and input to the fourth power output module 5-15;

[0087] The bus current and voltage sampling signal module 5-5 is used to collect the DC bus current and DC bus voltage signals of the first voltage source inverter module 5-6, the second voltage source inverter module 5-7, the third voltage source inverter module 5-8, and the fourth voltage source inverter module 5-9, and input them to the DSP main control unit 3 and the CPLD protection unit 4;

[0088] The inverter temperature sampling signal module 5-10 is used to collect the inverter temperature signals of the first voltage source inverter module 5-6, the second voltage source inverter module 5-7, the third voltage source inverter module 5-8, and the fourth voltage source inverter module 5-9, and input them to the DSP main control unit 3 and the CPLD protection unit 4;

[0089] The phase current and line voltage sampling signal module 5-11 is used to collect the line voltage signals and phase current signals of the first power output module 5-12, the second power output module 5-13, the third power output module 5-14, and the fourth power output module 5-15, and input the line voltage signals and phase current signals into the DSP main control unit 3 and the CPLD protection unit 4;

[0090] The first power output module 5-12, the second power output module 5-13, the third power output module 5-14, and the fourth power output module 5-15 are used to output power output signals (10) to the modular permanent magnet synchronous motor 7 to drive the modular permanent magnet synchronous motor 7.

[0091] Specific Embodiment 3. Refer to Figure 2 This embodiment is described. The DSP main control unit 3 includes a temperature sampling signal conversion circuit 3-1, a DC bus and a line voltage sampling signal conversion circuit 3-2, a DC bus and a phase current sampling signal conversion circuit 3-3, a motor rotor position sampling signal conversion circuit 3-4, a modular permanent magnet synchronous motor control algorithm circuit 3-5, a first EPWM input signal 3-6, a second EPWM input signal 3-7, a third EPWM input signal 3-8, and a fourth EPWM input signal 3-9;

[0092] The temperature sampling signal conversion circuit 3-1 is used to receive the inverter temperature signal of the modular voltage source inverter 5 and convert the inverter temperature signal into a digital signal and input it into the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0093] The DC bus and the line voltage sampling signal conversion circuit 3-2 are used to receive the DC bus voltage and line voltage signals of the modular voltage source inverter 5 and convert the DC bus voltage and line voltage signals into digital signals and input them into the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0094] The DC bus and the phase current sampling signal conversion circuit 3-3 are used to receive the DC bus current and phase current signals of the modular voltage source inverter 5 and convert the DC bus current and phase current signals into digital signals and input them into the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0095] The motor rotor position sampling signal conversion circuit 3-4 is used to receive the motor rotor position sampling signal (11) collected by the position sensor 6 and convert the motor rotor position sampling signal (11) into a digital signal and input it into the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0096] The modular permanent magnet synchronous motor control algorithm circuit 3-5 is used to receive the inverter temperature signal, DC bus voltage and line voltage signal, DC bus current and phase current signal, and motor rotor position sampling signal (11) sent by the temperature sampling signal conversion circuit 3-1, DC bus and line voltage sampling signal conversion circuit 3-2, DC bus and phase current sampling signal conversion circuit 3-3, and motor rotor position sampling signal conversion circuit 3-4, compare them with the given values, generate the first EPWM signal 3-6, the second EPWM signal 3-7, the third EPWM signal 3-8, and the fourth EPWM signal 3-9, and send the first EPWM signal 3-6, the second EPWM signal 3-7, the third EPWM signal 3-8, and the fourth EPWM signal 3-9 to the CPLD protection unit 4.

[0097] Specific Embodiment 4. Refer to Figure 3 This embodiment will be described. The CPLD protection unit 4 includes a temperature comparison circuit 4-1, a DC bus and line voltage comparison circuit 4-2, a DC bus and phase current comparison circuit 4-3, a motor rotor position comparison circuit 4-4, a CPLD hardware logic protection module 4-5, a first EPWM control signal 4-10, a second EPWM control signal 4-11, a third EPWM control signal 4-12, and a fourth EPWM control signal 4-13;

[0098] The temperature comparison circuit 4-1 is used to receive the inverter temperature signal of the modular voltage source inverter 5, compare it with the set limit value, and output a high / low level: when the received inverter temperature signal exceeds the limit value, a high level is output; otherwise, a low level is output.

[0099] The DC bus and line voltage comparison circuit 4-2 is used to receive the DC bus voltage and line voltage signals of the modular voltage source inverter 5, compare them with the set limit values, and output a high / low level: when the received bus voltage and line voltage signals exceed the limit values, a high level is output; otherwise, a low level is output.

[0100] The DC bus and phase current comparison circuit 4-3 is used to receive the DC bus current and phase current signals of the modular voltage source inverter 5, compare them with the set limit values, and output a high / low level: when the DC bus current and phase current signals exceed the limit values, a high level is output; otherwise, a low level is output.

[0101] The motor rotor position comparison circuit 4-4 is used to receive the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor 7, compare it with the set limit value, and output a high / low level: when the motor rotor position sampling signal (11) exceeds the limit value, a high level is output; otherwise, a low level is output.

[0102] The CPLD hardware logic protection module 4 - 5 is used to receive the first EPWM input signal 4 - 6, the second EPWM input signal 4 - 7, the third EPWM input signal 4 - 8, the fourth EPWM input signal 4 - 9 and the aforementioned received high / low levels, and perform logical judgments on them:

[0103] If any one of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) does not exceed the limit value, then output the first EPWM control signal 4 - 10, the second EPWM control signal 4 - 11, the third EPWM control signal 4 - 12, and the fourth EPWM control signal 4 - 13;

[0104] If any one of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) exceeds the limit value, then do not output the first EPWM control signal 4 - 10, the second EPWM control signal 4 - 11, the third EPWM control signal 4 - 12, and the fourth EPWM control signal 4 - 13.

[0105] The multi - variable integrated acquisition modular permanent magnet synchronous motor control and protection system proposed by the present invention uses a high - performance digital signal processor (DSP) as the main control unit, realizing the high integration and miniaturization of the system. This system can collect key parameters such as voltage, current, position information of the modular permanent magnet synchronous motor and inverter temperature on the basis of a single main control unit, not only significantly improving the system's comprehensive monitoring ability of the motor operating state, but also realizing an efficient hardware protection function through logical circuit design and programmable logic gate devices (CPLD), enhancing the stability and security of the system. This design not only simplifies the system structure, reduces production and maintenance costs, but also further improves the system's self - protection ability under abnormal conditions through the fast response and precise control of the CPLD. While improving the system integration, control accuracy and economic benefits, it also ensures the reliability and durability of the motor control system.

[0106] Specific embodiment five. According to the control and protection method of the multi - variable integrated modular permanent magnet synchronous motor control and protection system, the method includes:

[0107] A method for supplying power to the DSP main control unit 3 and the CPLD protection unit 4;

[0108] A method for supplying power to the modular voltage source inverter 5;

[0109] A method for sending the EPWM input signal (8) to the CPLD protection unit 4;

[0110] A method for receiving the EPWM control signal (9) sent by the CPLD protection unit 4 and outputting the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal to the CPLD protection unit 4 and the DSP main control unit 3, and a method for outputting a power output signal (10) to drive the modular permanent magnet synchronous motor 7;

[0111] A method for receiving the EPWM input signal (8) sent by the DSP main control unit 3, performing a logical judgment on it, and outputting the EPWM control signal (9) to the modular voltage source inverter 5; a method for receiving the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal in the modular voltage source inverter 5 and performing a logical judgment on them: if one of the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal exceeds the corresponding limit value, the CPLD protection unit 4 stops outputting the EPWM control signal (9) to the modular voltage source inverter 5;

[0112] A method for collecting the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor 7 and outputting it to the DSP main control unit 3;

[0113] A method for receiving the inverter temperature signal of the modular voltage source inverter 5 and converting the inverter temperature signal into a digital signal and inputting it to the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0114] A method for receiving the DC bus voltage and line voltage signal of the modular voltage source inverter 5 and converting the DC bus voltage and line voltage signal into a digital signal and inputting it to the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0115] A method for directly receiving the DC bus current and phase current signal of the modular voltage source inverter 5 and converting the DC bus current and phase current signal into a digital signal and inputting it to the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0116] A method for receiving the motor rotor position sampling signal (11) collected by the position sensor 6 and converting the motor rotor position sampling signal (11) into a digital signal and inputting it to the modular permanent magnet synchronous motor control algorithm circuit 3-5;

[0117] A method for receiving the inverter temperature signal, DC bus voltage and line voltage signal, DC bus current and phase current signal, and motor rotor position sampling signal (11) sent by the temperature sampling signal conversion circuit 3-1, DC bus and line voltage sampling signal conversion circuit 3-2, DC bus and phase current sampling signal conversion circuit 3-3, and motor rotor position sampling signal conversion circuit 3-4, comparing with the given value, generating the first EPWM input signal 3-6, second EPWM input signal 3-7, third EPWM input signal 3-8, and fourth EPWM input signal 3-9, and sending the first EPWM input signal 3-6, second EPWM input signal 3-7, third EPWM input signal 3-8, and fourth EPWM input signal 3-9 to the CPLD protection unit 4;

[0118] A method for receiving the inverter temperature signal of the modular voltage source inverter 5, comparing with the set limit value, and outputting high / low level: when the received inverter temperature signal exceeds the limit value, output high level; otherwise, output low level;

[0119] A method for receiving the DC bus voltage and line voltage signals of the modular voltage source inverter 5, comparing with the set limit value, and outputting high / low level: when the received bus voltage and line voltage signals exceed the limit value, output high level; otherwise, output low level;

[0120] A method for receiving the DC bus current and phase current signals of the modular voltage source inverter 5, comparing with the set limit value, and outputting high / low level: when the DC bus current and phase current signals exceed the limit value, output high level; otherwise, output low level;

[0121] A method for receiving the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor 7, comparing with the set limit value, and outputting high / low level: when the motor rotor position sampling signal (11) exceeds the limit value, output high level; otherwise, output low level;

[0122] A method for receiving the first EPWM input signal 4-6, second EPWM input signal 4-7, third EPWM input signal 4-8, fourth EPWM input signal 4-9 and the aforementioned high / low level, and performing logical judgment on them:

[0123] If any one of the inverter temperature signal, DC bus voltage and line voltage signal, DC bus current and phase current signal, and motor rotor position sampling signal (11) does not exceed the limit value, output the first EPWM control signal 4-10, second EPWM control signal 4-11, third EPWM control signal 4-12, and fourth EPWM control signal 4-13;

[0124] If any one of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) exceeds the limit value, the first EPWM control signal 4-10, the second EPWM control signal 4-11, the third EPWM control signal 4-12, and the fourth EPWM control signal 4-13 are not output.

[0125] Specific Embodiment Six. The specific method for outputting the first EPWM control signal 4-10, the second EPWM control signal 4-11, the third EPWM control signal 4-12, and the fourth EPWM control signal 4-13 when any one of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) does not exceed the limit value is as follows:

[0126] If the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) are compared with the set limit value by a comparator to generate high and low levels, and the high and low levels are sent to the CPLD hardware logic protection module 4-5 together. The CPLD hardware logic protection module 4-5 performs a logic operation on the high and low levels, and outputs a high / low level after the logic operation. The high / low level acts on receiving the first EPWM input signal 3-6, the second EPWM input signal 3-7, the third EPWM input signal 3-8, and the fourth EPWM input signal 3-9, and then outputs the first EPWM control signal 4-10, the second EPWM control signal 4-11, the third EPWM control signal 4-12, and the fourth EPWM control signal 4-13 to drive the enabling end of the modular voltage source inverter. When the enabling end of the modular voltage source inverter receives the high / low level, it enables the enabling end of the modular voltage source inverter to continue working / stop working, and outputs / does not output the first EPWM control signal 4-10, the second EPWM control signal 4-11, the third EPWM control signal 4-12, and the fourth EPWM control signal 4-13 to the first voltage source inverter module 5-6, the second voltage source inverter module 5-7, the third voltage source inverter module 5-8, and the fourth voltage source inverter module 5-9.

[0127] Specific Embodiment Seven. The limit values of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) are specific values set according to the specific scenario (converted into voltage values according to the proportional relationship for comparison with the sampling values).

[0128] For example, the maximum DC bus voltage that the system can withstand is 120V. After the voltage sensor collects the 120V voltage, it will compress the 120V into 3V output according to the proportional relationship (direct proportion) based on the function of the DSP chip. In the CPLD hardware logic protection module 4-5, the value of 3V can be set by using the power supply and high-precision resistors (this is the limit value). Compare the converted DC bus voltage signal with the set limit value of 3V. If it exceeds 3V, a high level is sent; if it is lower than 3V, a low level is sent. The same applies to others.

[0129] The DSP main control unit outputs an EPWM control signal through the CPLD protection unit, and then drives the modular voltage source inverter to output a power output signal to drive the modular permanent magnet synchronous motor. The position sensor monitors the rotor position of the motor in real time and sends it to the DSP main control unit. The DSP main control unit makes logical judgments on the rotor position of the motor, the output DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal of the modular voltage source inverter, and then outputs an EPWM input signal to the CPLD hardware logic protection module for logical operation. After logical operation, a high / low level is output. The high / low level is used to output an EPWM control signal to drive the modular voltage source inverter to continue / stop working after receiving the EPWM input signal, which solves the problems of reducing production and manufacturing costs, the complexity of the system, and the hardware and software protection functions for the three-phase windings.

[0130] The present invention is illustrated by several specific embodiments. Those skilled in the art should understand that various transformations and equivalent substitutions can be made to the present invention without departing from the scope of the present invention. In addition, various modifications can be made to the present invention for specific situations or circumstances without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed, but should include all embodiments falling within the scope of the claims of the present invention.

Claims

1. A modular permanent magnet synchronous motor control and protection system with multi-variable integration, characterized in that, The system includes a control power supply (1), a power supply (2), a DSP main control unit (3), a CPLD protection unit (4), a modular voltage source inverter (5), a position sensor (6), and a modular permanent magnet synchronous motor (7), an EPWM input signal (8), an EPWM control signal (9), a power output signal (10), and a motor rotor position sampling signal (11); The EPWM input signal (8) includes a first EPWM input signal (3-6), a second EPWM signal input (3-7), a third EPWM input signal (3-8), and a fourth EPWM input signal (3-9); The EPWM control signal (9) includes a first EPWM control signal (4-10), a second EPWM control signal (4-11), a third EPWM control signal (4-12), and a fourth EPWM control signal (4-13); The control power supply (1) is used to supply power to the DSP main control unit (3) and the CPLD protection unit (4); The power supply (2) is used to supply power to the modular voltage source inverter (5); The DSP main control unit (3) is used to send the EPWM input signal (8) to the CPLD protection unit (4); The modular voltage source inverter (5) is used to receive the EPWM control signal (9) sent by the CPLD protection unit (4), and output a DC bus voltage, a line voltage signal, a DC bus current, a phase current signal, and an inverter temperature signal to the CPLD protection unit (4) and the DSP main control unit (3), and is also used to output a power output signal (10) to drive the modular permanent magnet synchronous motor (7); The CPLD protection unit (4) is used to receive the EPWM input signal (8) sent by the DSP main control unit (3), perform logical judgment on it, and then output the EPWM control signal (9) to the modular voltage source inverter (5); it is also used to receive the DC bus voltage, the line voltage signal, the DC bus current, the phase current signal, and the inverter temperature signal in the modular voltage source inverter (5) and perform logical judgment on them: if one of the DC bus voltage, the line voltage signal, the DC bus current, the phase current signal, and the inverter temperature signal exceeds the corresponding limit value, the CPLD protection unit (4) stops outputting the EPWM control signal (9) to the modular voltage source inverter (5); The position sensor (6) is used to collect the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor (7) and output it to the DSP main control unit (3).

2. The multi-variable integrated modular permanent magnet synchronous motor control and protection system according to claim 1, characterized in that The modular voltage source inverter (5) includes a first control signal input module (5-1), a second control signal input module (5-2), a third control signal input module (5-3), a fourth control signal input module (5-4), a bus current and voltage sampling signal module (5-5), a first voltage source inverter module (5-6), a second voltage source inverter module (5-7), a third voltage source inverter module (5-8), a fourth voltage source inverter module (5-9), an inverter temperature sampling signal module (5-10), a phase current and line voltage sampling signal module (5-11), a first power output module (5-12), a second power output module (5-13), a third power output module (5-14), and a fourth power output module (5-15); The first control signal input module (5-1) is used to output a first control signal to the first voltage source inverter module (5-6), and after inversion by the first voltage source inverter module (5-6), a first inverted control signal is generated and input to the first power output module (5-12); The second control signal input module (5-2) is used to output a second control signal to the second voltage source inverter module (5-7), and after inversion by the second voltage source inverter module (5-7), a second inverted control signal is generated and input to the second power output module (5-13); The third control signal input module (5-3) is used to output a third control signal to the third voltage source inverter module (5-8), and after inversion by the third voltage source inverter module (5-8), a third inverted control signal is generated and input to the third power output module (5-14); The fourth control signal input module (5-4) is used to output a fourth control signal to the fourth voltage source inverter module (5-9), and after inversion by the fourth voltage source inverter module (5-9), a fourth inverted control signal is generated and input to the fourth power output module (5-15); The bus current and voltage sampling signal module (5-5) is used to collect the DC bus current and DC bus voltage signals of the first voltage source inverter module (5-6), the second voltage source inverter module (5-7), the third voltage source inverter module (5-8), and the fourth voltage source inverter module (5-9), and input them to the DSP main control unit (3) and the CPLD protection unit (4); The inverter temperature sampling signal module (5-10) is used to collect the inverter temperature signals of the first voltage source inverter module (5-6), the second voltage source inverter module (5-7), the third voltage source inverter module (5-8), and the fourth voltage source inverter module (5-9), and input them to the DSP main control unit (3) and the CPLD protection unit (4); The phase current and line voltage sampling signal module (5-11) is used to collect the line voltage signals and phase current signals of the first power output module (5-12), the second power output module (5-13), the third power output module (5-14), and the fourth power output module (5-15), and input the line voltage signals and phase current signals into the DSP main control unit (3) and the CPLD protection unit (4); The first power output module (5-12), the second power output module (5-13), the third power output module (5-14), and the fourth power output module (5-15) are used to output power output signals (10) to the modular permanent magnet synchronous motor (7) to drive the modular permanent magnet synchronous motor (7).

3. The multi-variable integrated modular permanent magnet synchronous motor control and protection system according to claim 1, characterized in that The DSP main control unit (3) includes a temperature sampling signal conversion circuit (3-1), a DC bus and a line voltage sampling signal conversion circuit (3-2), a DC bus and a phase current sampling signal conversion circuit (3-3), a motor rotor position sampling signal conversion circuit (3-4), a modular permanent magnet synchronous motor control algorithm circuit (3-5), a first EPWM input signal (3-6), a second EPWM input signal (3-7), a third EPWM input signal (3-8), and a fourth EPWM input signal (3-9); The temperature sampling signal conversion circuit (3-1) is used to receive the inverter temperature signal of the modular voltage source inverter (5) and convert the inverter temperature signal into a digital signal and input it into the modular permanent magnet synchronous motor control algorithm circuit (3-5); The DC bus and line voltage sampling signal conversion circuit (3-2) is used to receive the DC bus voltage and line voltage signals of the modular voltage source inverter (5) and convert the DC bus voltage and line voltage signals into digital signals and input them into the modular permanent magnet synchronous motor control algorithm circuit (3-5); The DC bus and phase current sampling signal conversion circuit (3-3) is used to receive the DC bus current and phase current signals of the modular voltage source inverter (5) and convert the DC bus current and phase current signals into digital signals and input them into the modular permanent magnet synchronous motor control algorithm circuit (3-5); The motor rotor position sampling signal conversion circuit (3-4) is used to receive the motor rotor position sampling signal (11) collected by the position sensor (6) and convert the motor rotor position sampling signal (11) into a digital signal and input it into the modular permanent magnet synchronous motor control algorithm circuit (3-5); The modular permanent magnet synchronous motor control algorithm circuit (3 - 5) is used to receive the inverter temperature signal, DC bus voltage and line voltage signal, DC bus current and phase current signal, and motor rotor position sampling signal (11) sent by the temperature sampling signal conversion circuit (3 - 1), DC bus and line voltage sampling signal conversion circuit (3 - 2), DC bus and phase current sampling signal conversion circuit (3 - 3), and motor rotor position sampling signal conversion circuit (3 - 4), compare them with the given values, generate the first EPWM input signal (3 - 6), the second EPWM input signal (3 - 7), the third EPWM input signal (3 - 8), and the fourth EPWM input signal (3 - 9), and send the first EPWM input signal (3 - 6), the second EPWM input signal (3 - 7), the third EPWM input signal (3 - 8), and the fourth EPWM input signal (3 - 9) to the CPLD protection unit (4).

4. The multi-variable integrated modular permanent magnet synchronous motor control and protection system according to claim 1, wherein The CPLD protection unit (4) includes a temperature comparison circuit (4 - 1), a DC bus and line voltage comparison circuit (4 - 2), a DC bus and phase current comparison circuit (4 - 3), a motor rotor position comparison circuit (4 - 4), a CPLD hardware logic protection module (4 - 5), a first EPWM control signal (4 - 10), a second EPWM control signal (4 - 11), a third EPWM control signal (4 - 12), and a fourth EPWM control signal (4 - 13); The temperature comparison circuit (4 - 1) is used to receive the inverter temperature signal of the modular voltage source inverter (5), compare it with the set limit value, and output a high / low level: when the received inverter temperature signal exceeds the limit value, it outputs a high level; otherwise, it outputs a low level; The DC bus and line voltage comparison circuit (4 - 2) is used to receive the DC bus voltage and line voltage signals of the modular voltage source inverter (5), compare them with the set limit values, and output a high / low level: when the received bus voltage and line voltage signals exceed the limit values, it outputs a high level; otherwise, it outputs a low level; The DC bus and phase current comparison circuit (4 - 3) is used to receive the DC bus current and phase current signals of the modular voltage source inverter (5), compare them with the set limit values, and output a high / low level: when the DC bus current and phase current signals exceed the limit values, it outputs a high level; otherwise, it outputs a low level; The motor rotor position comparison circuit (4 - 4) is used to receive the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor (7), compare it with the set limit value, and output a high / low level: when the motor rotor position sampling signal (11) exceeds the limit value, it outputs a high level; otherwise, it outputs a low level; The CPLD hardware logic protection module (4 - 5) is used to receive the first EPWM input signal 4 - 6, the second EPWM input signal 4 - 7, the third EPWM input signal 4 - 8, the fourth EPWM input signal 4 - 9 and the aforementioned high / low levels, and perform logical judgment on them: If one of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) does not exceed the limit value, then output the first EPWM control signal (4-10), the second EPWM control signal (4-11), the third EPWM control signal (4-12), and the fourth EPWM control signal (4-13); If one of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) exceeds the limit value, then do not output the first EPWM control signal (4-10), the second EPWM control signal (4-11), the third EPWM control signal (4-12), and the fourth EPWM control signal (4-13).

5. The control and protection method of the multi-variable integrated modular permanent magnet synchronous motor control and protection system according to claims 1, 2, 3, and 4, characterized in that, The method includes: A method for supplying power to the DSP main control unit (3) and the CPLD protection unit (4); A method for supplying power to the modular voltage source inverter (5); A method for sending the EPWM input signal (8) to the CPLD protection unit (4); A method for receiving the EPWM control signal (9) sent by the CPLD protection unit (4), and outputting the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal to the CPLD protection unit (4) and the DSP main control unit (3), and a method for outputting the power output signal (10) to drive the modular permanent magnet synchronous motor (7); A method for receiving the EPWM input signal (8) sent by the DSP main control unit (3), making a logical judgment on it, and then outputting the EPWM control signal (9) to the modular voltage source inverter (5); A method for receiving the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal in the modular voltage source inverter (5) and making a logical judgment on them: If one of the DC bus voltage, line voltage signal, DC bus current, phase current signal, and inverter temperature signal exceeds the corresponding limit value, then the CPLD protection unit (4) stops outputting the EPWM control signal (9) to the modular voltage source inverter (5); A method for collecting the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor (7) and outputting it to the DSP main control unit (3); A method for receiving the inverter temperature signal of the modular voltage source inverter (5) and converting the inverter temperature signal into a digital signal and inputting it into the modular permanent magnet synchronous motor control algorithm circuit (3-5); A method for receiving the DC bus voltage and line voltage signals of the modular voltage source inverter (5) and converting the DC bus voltage and line voltage signals into digital signals and inputting them into the modular permanent magnet synchronous motor control algorithm circuit (3-5); A method for directly receiving the DC bus current and phase current signals of the modular voltage source inverter (5) and converting the DC bus current and phase current signals into digital signals and inputting them into the modular permanent magnet synchronous motor control algorithm circuit (3-5); A method for receiving the motor rotor position sampling signal (11) collected by the position sensor (6) and converting the motor rotor position sampling signal (11) into a digital signal and inputting it into the modular permanent magnet synchronous motor control algorithm circuit (3-5); A method for receiving the inverter temperature signal, DC bus voltage and line voltage signal, DC bus current and phase current signal, and motor rotor position sampling signal (11) sent by the temperature sampling signal conversion circuit (3-1), DC bus and line voltage sampling signal conversion circuit (3-2), DC bus and phase current sampling signal conversion circuit (3-3), and motor rotor position sampling signal conversion circuit (3-4), comparing with the given value, generating the first EPWM input signal (3-6), the second EPWM input signal (3-7), the third EPWM input signal (3-8), the fourth EPWM input signal (3-9), and sending the first EPWM input signal (3-6), the second EPWM input signal (3-7), the third EPWM input signal (3-8), the fourth EPWM input signal (3-9) to the CPLD protection unit (4); A method for receiving the inverter temperature signal of the modular voltage source inverter (5) and comparing it with the set limit value to output a high / low level: when the received inverter temperature signal exceeds the limit value, output a high level, otherwise, output a low level; A method for receiving the DC bus voltage and line voltage signals of the modular voltage source inverter (5) and comparing them with the set limit value to output a high / low level: when the received bus voltage and line voltage signals exceed the limit value, output a high level, otherwise, output a low level; A method for receiving the DC bus current and phase current signals of the modular voltage source inverter (5) and comparing them with the set limit value to output a high / low level: when the DC bus current and phase current signals exceed the limit value, output a high level, otherwise, output a low level; A method for receiving the motor rotor position sampling signal (11) of the modular permanent magnet synchronous motor (7) and comparing it with the set limit value to output a high / low level: when the motor rotor position sampling signal (11) exceeds the limit value, output a high level, otherwise, output a low level; A method for receiving the first EPWM input signal 4-6, the second EPWM input signal 4-7, the third EPWM input signal 4-8, the fourth EPWM input signal 4-9 and the aforementioned high / low level and performing a logical judgment on them: If any one of the inverter temperature signal, DC bus voltage and line voltage signal, DC bus current and phase current signal, and motor rotor position sampling signal (11) does not exceed the limit value, output the first EPWM control signal (4-10), the second EPWM control signal (4-11), the third EPWM control signal (4-12), and the fourth EPWM control signal (4-13); If any one of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) exceeds the limit value, the first EPWM control signal (4-10), the second EPWM control signal (4-11), the third EPWM control signal (4-12), and the fourth EPWM control signal (4-13) will not be output.

6. The multi-variable integrated modular permanent magnet synchronous motor control and protection method according to claim 5, characterized in that The specific method for outputting the first EPWM control signal (4-10), the second EPWM control signal (4-11), the third EPWM control signal (4-12), and the fourth EPWM control signal (4-13) when any one of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) does not exceed the limit value is as follows: After the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) are compared with the set limit value by a comparator to generate high and low levels, the high and low levels are sent to the CPLD hardware logic protection module (4-5) together. The CPLD hardware logic protection module (4-5) performs logical operations on the high and low levels, and outputs a high / low level after the logical operations. The high / low level acts on receiving the first EPWM input signal (3-6), the second EPWM input signal (3-7), the third EPWM input signal (3-8), and the fourth EPWM input signal (3-9), and then outputs the first EPWM control signal (4-10), the second EPWM control signal (4-11), the third EPWM control signal (4-12), and the fourth EPWM control signal (4-13) to drive the enable terminal of the modular voltage source inverter. When the enable terminal of the modular voltage source inverter receives the high / low level, it enables the enable terminal of the modular voltage source inverter to continue working / stop working, and outputs / does not output the first EPWM control signal (4-10), the second EPWM control signal (4-11), the third EPWM control signal (4-12), and the fourth EPWM control signal (4-13) to the first voltage source inverter module (5-6), the second voltage source inverter module (5-7), the third voltage source inverter module (5-8), and the fourth voltage source inverter module (5-9).

7. The multi-variable integrated modular permanent magnet synchronous motor control and protection method according to claim 5, characterized in that, The limit values of the inverter temperature signal, DC bus voltage and line voltage signals, DC bus current and phase current signals, and motor rotor position sampling signal (11) are specific values set according to the specific scenario (converted into voltage values according to the proportional relationship for comparison with the sampling values).

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