Multi-channel motor drive control system

Abstract

The embodiment of the invention provides a multi-channel motor driving control system, which comprises a plurality of independent driving channels, each driving channel comprises a high-side power switch, a current detection unit and a sampling resistor and is used for independently driving a motor or a load; the control unit is used for adjusting the output of each driving channel by acquiring a feedback signal of the current detection unit; the protection circuit comprises a voltage transient suppression element and a follow current element and is used for suppressing voltage spikes and absorbing reverse electromotive force; the power supply management module is used for acquiring an input voltage and converting the input voltage into a plurality of isolated power supplies to supply power to the driving channel and the control unit; and the communication interface is used for receiving an external control instruction and transmitting feedback data.

Description

Technical Field

[0001] The present invention relates to the field of information technology, and in particular to a multi-channel motor drive control system. Background Art

[0002] Multi-channel motor drive control systems face a complex technical challenge: how to achieve precise and coordinated control across multiple independent drive channels while ensuring system reliability and stability. This problem involves multiple aspects: First, multi-channel control increases the complexity of signal distribution, making accurate allocation of control commands to each channel crucial. Second, when multiple motors operate in parallel, current state monitoring and feedback regulation for each channel become difficult, easily leading to a decrease in control accuracy. Furthermore, electromagnetic interference and voltage fluctuations in multi-channel systems are more severe, making effective drive protection and power management a major challenge. Furthermore, coordinated control of multiple motors places higher demands on communication and command processing. These interrelated sub-problems together constitute the core technical contradiction of multi-channel motor drive control: achieving independent and precise control of multiple channels while ensuring overall system coordination and stability. This contradiction manifests itself in the trade-off between control accuracy and system complexity, and the balance between channel independence and overall coordination. Resolving this technical challenge is crucial for improving the control performance and application scope of multi-motor systems. Summary of the Invention

[0003] In view of the above problems, a multi-channel motor drive control system is proposed to overcome the above problems or at least partially solve the above problems.

[0004] In some embodiments of the present application, a multi-channel motor drive control system is disclosed, including: Multiple independent drive channels, each drive channel includes a high-side power switch, a current detection unit and a sampling resistor, and is used to independently drive a motor or load; a control unit adjusts the output of each drive channel by obtaining a feedback signal from the current detection unit; a protection circuit includes a voltage transient suppression element and a freewheeling element, which are used to suppress voltage spikes and absorb reverse electromotive force; a power management module obtains input voltage and converts it into multiple isolated power supplies to power the drive channels and the control unit; and a communication interface is used to receive external control instructions and transmit feedback data.

[0005] Furthermore, the high-side power switch includes: obtaining a motor drive signal and controlling the on and off of the motor or load according to the motor drive signal; forming a current path by connecting the high-side power switch in series with the sampling resistor, and the sampling resistor is used to generate a voltage signal proportional to the motor current; obtaining the voltage signal through the current detection unit and converting it into a digital feedback signal; judging whether to trigger overcurrent protection based on comparing the digital feedback signal with a preset threshold; if overcurrent protection is triggered, adjusting the output state of the high-side power switch through the control unit.

[0006] Furthermore, the current detection unit includes: obtaining a voltage signal across the sampling resistor; amplifying the voltage signal through a differential amplifier to obtain an amplified current signal; converting the amplified current signal into a digital signal through an analog-to-digital converter; determining the working state of the motor based on comparing the digital signal with a preset overcurrent threshold; and obtaining the digital signal through the control unit for real-time adjustment of the output power of the drive channel.

[0007] Furthermore, the protection circuit includes: connecting the voltage transient suppression element in parallel with the output end of the drive channel to obtain a transient overvoltage signal and clamp it to a safe voltage range; connecting the freewheeling element in parallel with the motor or load to form a freewheeling path; when the motor stops or runs in reverse, obtaining a reverse electromotive force and absorbing it through the freewheeling element; and judging the working efficiency of the protection circuit based on the response states of the voltage transient suppression element and the freewheeling element.

[0008] Furthermore, the power management module includes: obtaining a high-voltage power supply input from an external source; converting the high-voltage power supply into a first low-voltage power supply through a step-down converter, and the first low-voltage power supply is used to power the drive channel; converting the first low-voltage power supply into a second low-voltage power supply through a voltage stabilizer, and the second low-voltage power supply is used to power the control unit; decoupling the first low-voltage power supply and the second low-voltage power supply through a filtering network to obtain a stable output voltage; and judging the working status of the power management module based on the stability of the output voltage.

[0009] Furthermore, the communication interface includes: obtaining a command signal from an external controller through a bus interface; parsing the command signal through the control unit to obtain control parameters of each drive channel; adjusting the output state of the high-side power switch according to the control parameters; transmitting the feedback signal of the current detection unit to the external controller through the bus interface; and judging the transmission reliability of the communication interface based on the degree of matching between the feedback signal and the command signal.

[0010] Furthermore, the control unit includes: obtaining a feedback signal from the current detection unit; processing the feedback signal through a preset control algorithm to obtain an output adjustment signal for each drive channel; controlling the duty cycle of the high-side power switch according to the output adjustment signal; obtaining an external instruction through the communication interface to determine an operating mode of the drive channel; and judging the coordination efficiency of the control unit based on a match between the operating mode and the feedback signal.

[0011] Furthermore, the multiple independent drive channels include: connecting to an external motor or load through a standardized connector; forming electrical isolation with the current detection unit through the high-side power switch; independently adjusting the output power of each drive channel according to the instructions of the control unit; monitoring each drive channel for overvoltage and overcurrent through the protection circuit; and judging the operating status of the drive channel based on comparing the monitoring results with a preset threshold.

[0012] The embodiments of the present invention have the following advantages: By distributing control instructions through high-side power switches, switching control of multiple independent drive channels is achieved. Combined with current detection and microcontroller unit adjustment, a stable drive control signal is generated. A freewheeling diode and MOSFET are used to construct a freewheeling path to absorb reverse electromotive force, and a TVS diode is used for voltage clamping protection. At the same time, a stable multi-level isolated power supply is obtained through step-down conversion and filtering. Finally, the CAN bus is used to receive external instructions to achieve coordinated parallel control of multiple motors. The present invention solves key issues such as signal distribution, current monitoring, drive protection, and power management in multi-motor drive systems, improves system reliability and control accuracy, and provides an effective technical solution for multi-motor coordinated control. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the description of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 This is a schematic diagram of a module structure of a multi-channel motor drive control system provided by some embodiments of the present invention; Figure 2 1 is a schematic diagram of a circuit structure of a driving channel of a multi-channel motor driving control system provided by some embodiments of the present invention; Figure 3 is a schematic structural diagram of the first part of a communication interface and a protection circuit of a multi-channel motor drive control system provided by some embodiments of the present invention; Figure 4 is a schematic structural diagram of the second part of a communication interface and a protection circuit of a multi-channel motor drive control system provided by some embodiments of the present invention; Figure 5 is a schematic structural diagram of the first part of a power management module of a multi-channel motor drive control system provided by some embodiments of the present invention; Figure 6 is a schematic diagram of the second part of the structure of a power management module of a multi-channel motor drive control system provided by some embodiments of the present invention; Figure 7 is a schematic structural diagram of the second part of a communication interface and a protection circuit of a multi-channel motor drive control system provided by some embodiments of the present invention; Figure 8 1 is a schematic diagram of a circuit structure for connecting a drive channel and a power management module of a multi-channel motor drive control system provided by some embodiments of the present invention; Figure 9 This is a schematic diagram of the circuit structure of a microcontroller unit of a multi-channel motor drive control system provided by some embodiments of the present invention. DETAILED DESCRIPTION

[0015] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0016] Reference Figures 1 to 9 FIG. 4 shows a multi-channel motor drive control system provided by some embodiments of the present invention, which may specifically include: Multiple independent drive channels 100, each drive channel 100 includes a high-side power switch 101, a current detection unit 102 and a sampling resistor, and is used to independently drive a motor or a load; The multi-channel drive structure acquires input signals to generate control instructions and power supply voltage data for multiple motors. A high-side switch (such as the BTS723GW) independently processes the control instructions for each channel and determines the switch state of each channel. Current sensing unit 102 (such as the INA240A1DR) collects current data for each channel to obtain the real-time current value of each motor load. Control instructions are parsed through multiple interfaces (such as J2, J3, and J8) to obtain target operating parameters for each motor. If the control instruction includes a request for multi-motor synchronous operation, channel resources are allocated using modular expansion capabilities to determine the operating priority of each motor. Power allocation for each channel is determined based on the matching analysis between power supply voltage data and current values. The target operating parameters are implemented through the multi-channel independent control mechanism to obtain the actual operating status of each motor. If the actual operating status deviates from the target parameters, the control instructions are adjusted using a feedback algorithm to obtain optimized drive signals. The optimized drive signals are used to update the high-side switch states, obtaining stable operating data for the multi-channel motor drive system.

[0017] Exemplarily, a multi-channel drive structure acquires input signals to obtain control instructions and power supply voltage data for multiple motors. For example, a 12V power supply voltage and PWM control signal are received from the CAN bus. A high-side switch (such as the BTS723GW) independently processes the control instructions for each channel, determining the switching state of each channel. For example, the PWM signal is converted into the on and off states of the high-side switch at a frequency of 10kHz. Current sensing unit 102 (such as the INA240A1DR) collects current data from each channel to obtain the real-time current value of each motor load. For example, the current range is 0-5A, measured using a sampling resistor and amplifier circuit. Control instructions are parsed through multiple interfaces (such as J2, J3, and J8) to obtain target operating parameters for each motor. For example, a target motor speed of 3000 rpm is parsed from interface J2. If the control instruction includes a request for synchronous operation of multiple motors, channel resources are allocated using modular expansion capabilities to determine the operating priority of each motor. For example, motor A is set to priority 1 and motor B to priority 2 based on the urgency of the task. Based on the matching analysis between power supply voltage data and current values, the power allocation scheme for each channel is determined. For example, under a 12V power supply, 3A current is allocated to motor A and 2A to motor B. The target operating parameters are implemented through a multi-channel independent control mechanism to obtain the actual operating status of each motor. For example, the motor speed is adjusted to the target value using a PID algorithm. If the actual operating status deviates from the target parameter, the control command is adjusted through a feedback algorithm to obtain an optimized drive signal, such as adjusting the PWM duty cycle from 50% to 55%. The optimized drive signal is used to update the high-side switch state, obtaining stable operating data for the multi-channel motor drive system, such as a stable motor speed of 3000 rpm and current fluctuations of less than 0.1A.

[0018] A high-side power switch is used to distribute the control instructions in the input signal to obtain switching signals of multiple independent driving channels 100.

[0019] The control command data in the input signal is obtained by parsing the protocol format to obtain a command sequence. Based on the command sequence, the high-side power switch 101 allocation algorithm is used to determine the switching signal for each channel. Using a multi-channel drive architecture, the switching signal is distributed to each independent control unit 200 to obtain the corresponding control signal for each channel. If the control signal is valid, the high-side power switch 101 (such as the BTS723GW) performs an on / off operation to determine the channel drive status. To obtain the channel drive status, a current sense amplifier (such as the INA240A1DR) is used to collect current data to obtain the real-time current value. The current value is normalized using a sampling resistor (0.05Ω) to obtain channel current feedback data. If the current feedback data exceeds the threshold, the duty cycle of the high-side power switch 101 is adjusted to determine the new switching signal. Based on the new switching signal, the drive status of each channel is updated to obtain the optimized channel output. The optimized channel output is verified through the electrical isolation mechanism between channels to determine the final drive signal.

[0020] For example, the input signal is transmitted using the CAN bus protocol. The data frame ID 0x18FFA001 is parsed, and the 8-byte control instruction data is extracted and bit-by-bit broken down into a sequence of control instructions for each channel. A round-robin algorithm is used to iterate through the instruction sequence in a 10ms cycle, calculate the switch duty cycle of each channel, and generate a PWM signal as the switching signal. The multi-channel drive architecture distributes the switching signal to independent control units 200 via the SPI bus. Each unit receives the 16-bit control register configuration value for the corresponding channel. If the control register checksum is correct, the high-side power switch 101, preferably a BTS723GW, turns on according to the PWM signal and outputs a 24V / 5A drive level. The current sense amplifier INA240A1DR samples the 20mV voltage drop across the sampling resistor at a 100kHz sampling rate and converts it into a digital current value using a 16-bit ADC. A Kalman filter algorithm is used to process the raw current data, removing ±50mA noise and generating a normalized current feedback. If the current in a channel exceeds the 3.2A threshold, the PID controller adjusts the PWM duty cycle using parameters Kp = 0.8 and Ki = 0.2 to generate a corrected switching signal. This updated drive signal is transmitted via an HCPL-2630 optocoupler isolator, ensuring inter-channel insulation withstand voltage of 5000Vrms, and is ultimately output to the motor load.

[0021] Step S103 : monitoring the current of the independent driving channel 100 in real time through a current detection amplifier and a sampling resistor to obtain current feedback data of each channel.

[0022] By turning on the high-side power switch 101 of each channel in the multi-channel drive architecture, the current signal of each channel is obtained. The current signal of each channel is converted using a sampling resistor to obtain a voltage signal. The voltage signal is amplified by a current detection amplifier to obtain amplified voltage data. Analog-to-digital conversion is performed based on the amplified voltage data to obtain digitized current feedback data. If the digitized current feedback data exceeds the preset threshold, the overcurrent protection mechanism is triggered to determine the channel status. Through channel status analysis, it is determined whether the current feedback data of each channel is normal. Based on the current feedback data of the normal channel, the real-time current monitoring results are obtained. The real-time current monitoring results are used for data storage to obtain the historical current data of each channel. By comparing the historical current data with the current current feedback data, the operating trend of each channel is determined.

[0023] Exemplarily, by turning on the high-side power switch 101 (e.g., BTS723GW) in each channel of a multi-channel driver architecture, current signals are obtained for each channel. For example, the current for channel 1 is 2.5A, and the current for channel 2 is 3.0A. A sampling resistor (0.05Ω) is used to convert the current signals of each channel to voltage signals. The voltage for channel 1 is 0.125V, and the voltage for channel 2 is 0.15V. A current sense amplifier (e.g., INA240A1DR) amplifies the voltage signals to obtain amplified voltage data. The amplified voltage for channel 1 is 1.25V, and the amplified voltage for channel 2 is 1.5V. Analog-to-digital conversion is performed on the amplified voltage data to obtain digitized current feedback data. The digitized current for channel 1 is 2500, and the digitized current for channel 2 is 3000. If the digitized current feedback data exceeds a preset threshold (e.g., 4000), the overcurrent protection mechanism is triggered, and the channel status is determined. For example, protection is not triggered for channel 1, but it is triggered for channel 2. Channel status analysis determines whether the current feedback data for each channel is normal. Channel 1's current feedback data is normal, while Channel 2's is abnormal. Based on the current feedback data from the normal channels, real-time current monitoring results are obtained. Channel 1's real-time current is 2.5A. Data is stored using the real-time current monitoring results to obtain historical current data for each channel. Channel 1's historical current data is 2.5A, while Channel 2's historical current data is 3.0A. By comparing this historical current data with the current feedback data, the operating trends of each channel are determined. Channel 1's current trend is stable, while Channel 2's current trend is increasing.

[0024] The control unit 200 is composed of a plurality of micro control units. According to the current feedback data, the micro control units are used to adjust the switch signals of each channel to generate drive control signals for each motor.

[0025] The multi-channel drive structure acquires current feedback data from each channel to determine the real-time operating status of each motor. Based on the acquired current feedback data, the current detection unit 102 performs signal amplification and filtering to determine the processed current signal. If the processed current signal exceeds a preset threshold, the microcontroller unit calculates a deviation value to determine the adjustment requirements for each channel. Based on the calculated deviation value, the microcontroller unit generates a corresponding pulse-width modulation signal to obtain a preliminary switching signal. The high-side switches in the multi-channel drive structure acquire preliminary switching signals and determine the switching control instructions for each channel. Based on the determined switching control instructions, the high-side switches perform signal conversion to obtain the control signal for driving the motor. If the control signal for driving the motor does not match the target operating status, the microcontroller unit performs signal calibration to obtain an optimized drive signal. The optimized drive signal is then transmitted to each motor using the drive structure to determine the final motor drive status. The current detection unit 102 monitors the current feedback data of each motor in real time after operation to obtain a new round of current signals.

[0026] For example, a high-side switch (such as the BTS723GW) in a multi-channel drive structure collects current data from each motor channel. For example, if the current in channel 1 is 2.5A and the current in channel 2 is 3.1A, the raw signal is amplified (with a gain set to 20V / V) and filtered (with a cutoff frequency of 1kHz) by a current detection unit 102 (such as the INA240A1DR), and the processed current signal is output. If the current in a channel exceeds a preset threshold (such as 3.0A), a microcontroller (such as U69) uses a PID algorithm to calculate the deviation value (proportional coefficient Kp = 0.5, integral time Ti = 0.1s) and generates an adjustment request. Based on the deviation value, the microcontroller outputs a pulse-width modulation signal (duty cycle 60%, frequency 10kHz). The high-side switch receives this signal and converts it into a switching command (such as an on-time of 6ms and an off-time of 4ms). If the actual motor speed (such as 1200rpm) deviates from the target speed (1500rpm) by more than 5%, the microcontroller recalibrates the PWM parameters (increasing the duty cycle to 65%), and the optimized drive signal is output to the motor via the high-side switch. The current detection unit 102 continuously monitors the motor current (sampling period 1 ms) and updates the feedback data for use in the next control cycle.

[0027] The freewheeling path formed by the freewheeling diode and the MOSFET absorbs the reverse electromotive force in the driving control signal to obtain a stable driving output.

[0028] By detecting the motor drive signal from each independent channel in the multi-channel drive architecture, voltage waveform data of the back EMF is acquired. Based on the acquired voltage waveform data, a digital signal processor performs real-time analysis of the amplitude and frequency of the back EMF to obtain characteristic parameters of the back EMF. By comparing the characteristic parameters with preset thresholds, it is determined whether the back EMF exceeds the safe range for stable drive output. If the back EMF exceeds the safe range, the control unit 200 sends a conduction signal to the MOSFET in the corresponding channel to determine the conduction state of the freewheeling path. Based on the conduction state, the freewheeling path formed by the freewheeling diode and MOSFET absorbs the energy of the back EMF, generating a preliminarily suppressed voltage signal. The current detection unit 102 of the high-side switch (such as the INA240A1DR) acquires real-time current data in the freewheeling path to determine the stability of the current fluctuation. If the current fluctuation does not meet the stability standard, the on-time and duty cycle of the MOSFET are adjusted to obtain an optimized freewheeling control signal. Based on the optimized freewheeling control signal, an RC snubber circuit is used to filter residual voltage spikes to obtain a smooth drive output signal. The smooth drive output signal is transmitted to the motor control unit 200 via a multi-node communication protocol (such as the CAN bus) to determine the final stable drive output.

[0029] For example, when detecting the motor drive signal for each independent channel in a multi-channel drive architecture, a high-side switch (e.g., BTS723GW) is used in conjunction with a current sensing unit 102 (e.g., INA240A1DR) to acquire back EMF voltage waveform data at a sampling rate of 1kHz. A digital signal processor (e.g., TMS320F28335) performs a fast Fourier transform (FFT) on the acquired waveform to extract characteristic parameters: amplitude (e.g., ±5V) and frequency (e.g., 100Hz to 1kHz). These characteristic parameters are compared with preset thresholds (e.g., amplitude ±3V, frequency 500Hz). If the thresholds are exceeded, a control unit 200 (e.g., STM32F407) outputs a PWM signal (50% duty cycle) to turn on a MOSFET (e.g., IRF540N), creating a freewheeling path. A freewheeling diode (e.g., 1N5819) works in conjunction with the MOSFET to absorb the back EMF energy, reducing voltage fluctuations to within ±1V. The current sensing unit 102 monitors the freewheeling path current in real time. If fluctuations exceed ±10mA, a PID algorithm (proportional coefficient Kp = 0.5, integral time Ti = 0.1s) is used to dynamically adjust the MOSFET on-time and optimize the freewheeling control signal. An RC snubber circuit (e.g., a 100nF capacitor in series with a 10Ω resistor) filters residual voltage spikes, keeping the output ripple below 50mV. Finally, the stable drive signal is transmitted to the motor control unit 200 via the CAN bus (baud rate 1Mbps), completing closed-loop control.

[0030] A TVS diode is used to perform voltage clamping on the drive output to obtain a protected motor drive signal.

[0031] The output signal of the BTS723GW high-side power switch 101 in the motor drive control system is obtained to determine the drive output voltage waveform. The BTS723GW output voltage waveform is clamped using a TVS diode to obtain a protected motor drive signal. The INA240A1DR current sense amplifier is used to sample the protected motor drive signal and obtain feedback current data. Based on this feedback current data and the multi-channel isolated drive architecture, the motor load status of each channel (such as J2, J3, and J8) is determined. If the load status exceeds a preset threshold, an abnormal signal is transmitted via the CAN bus communication protocol to determine the protection trigger condition. Based on the protection trigger condition, the on-time of the BTS723GW high-side power switch 101 is adjusted to obtain an optimized drive signal. The optimized drive signal is converted to a stable motor supply voltage using a multi-stage isolated power supply module. A filtering network topology is used to suppress noise from the stable motor supply voltage to obtain a smooth drive output signal. The closed-loop control accuracy of the multi-channel motor drive control system is determined based on the smooth drive output signal and feedback current data.

[0032] For example, a PWM signal is collected from the output of the BTS723GW high-side power switch 101. The voltage waveform is measured using an oscilloscope, revealing a typical peak value of 24V ±5%. An SMBJ24CA TVS diode is connected in parallel at the output, with a clamping voltage set to 28V. When the transient voltage exceeds 28V, the TVS conducts and limits the voltage to a safe level. An INA240A1DR current sense amplifier detects the current behind the TVS at a 100kHz sampling rate, amplifies it with an internal gain of 20V / V, and outputs a 0-3.3V analog signal. A sliding window algorithm is used to calculate the average current for each channel (J2 / J3 / J8). If the J2 channel exceeds the 5A threshold for five consecutive cycles, a 0x18FFA001 frame is transmitted via the CAN bus, with the data segment containing the fault channel code. Based on the received fault frame, the BTS723GW's PWM duty cycle is linearly reduced from 80% to 50%, with a 10ms adjustment time. A DC-DC isolation module converts the 24V input into three outputs: ±12V / 5V, with ripple controlled within 50mVpp. A π-type LC filter (L = 10μH, C = 100μF) is deployed at the power supply output to attenuate high-frequency noise by 40dB. A PID algorithm compares the J3 channel current setpoint of 2.8A with the actual current of 2.75A, outputting a PWM correction of ΔD = 0.5% to maintain an error within ±1%.

[0033] The input power supply voltage is converted into the low-voltage signal required by the logic circuit through the step-down conversion module to obtain a multi-level isolated power supply.

[0034] A 24V power signal is input to the DC-DC step-down module LMR16006, which initially steps it down to an intermediate voltage. The intermediate voltage is processed by the LDO voltage regulator TPS5430, generating stable low-voltage signals of 3.3V and 5V. Based on a multi-channel isolated drive design, the 3.3V and 5V signals are distributed to independent power domains, creating a multi-level isolated power supply. The BTS723GW switching element controls the on / off of each power domain to determine the distribution status of the isolated power supply. If the isolated power distribution status is normal, power status data is transmitted via the CAN bus protocol to obtain communication feedback. Based on this communication feedback, the filter network topology parameters are adjusted to optimize the power signal quality. A multi-level dynamic protection mechanism monitors the power signal for overvoltage and overcurrent conditions and determines the protection trigger conditions. If the protection trigger conditions are met, the control unit 200 adjusts the operating mode of the DC-DC step-down module to achieve stable power output. By recording the operating data of each power domain, the dynamic management strategy of the multi-level isolated power supply is updated to determine the system power configuration.

[0035] For example, a 24V power signal is input to the LMR16006 DC-DC step-down module, with a switching frequency set to 1MHz. The voltage is then reduced to 12V through duty cycle adjustment, resulting in an intermediate voltage. A TPS5430 LDO voltage regulator module is used, along with a feedback resistor network, to stabilize the output voltage at 3.3V and 5V, with ripple controlled within ±1%. Based on a multi-channel isolated drive design, the ADuM1410 magnetically coupled isolator is used to distribute the 3.3V and 5V signals to independent power domains, achieving an isolation withstand voltage of 2.5kV, resulting in a multi-level isolated power supply. Each power domain is controlled on and off using a BTS723GW switching element, with a current monitoring threshold set to 2A. If the current exceeds the threshold, an abnormal distribution state is detected. If the isolated power distribution state is normal, power status data is transmitted via the CAN bus protocol at a rate of 1Mbps. The data frame ID 0x18FF0000 is parsed to obtain communication feedback. Based on the noise indicators in communication feedback, the LC filter network parameters are adjusted, with an inductor value of 10μH and a capacitor value of 22μF, to achieve optimized power signal quality. A multi-level dynamic protection mechanism samples voltage and current signals in real time. If the voltage exceeds 5.5V or the current exceeds 3A, the protection trigger condition is determined to be met. If the protection trigger condition is met, the control unit 200 adjusts the PWM duty cycle of the LMR16006 to 40%, returning the output voltage to a stable range. Operating data for each power domain, including temperature, efficiency, and load fluctuations, is recorded. A PID algorithm is used to update the dynamic management strategy, determining that the system power configuration prioritizes the stability of the 3.3V logic power supply.

[0036] A filter capacitor is used to suppress noise of the multi-stage isolated power supply to obtain a stable power supply signal.

[0037] The input voltage signal is acquired and converted into a multi-stage isolated power signal via a power module. A filter capacitor is used to perform preliminary noise suppression on the multi-stage isolated power signal to obtain a primary stable power signal. Based on the primary stable power signal, it is determined whether it contains high-frequency noise components. If so, a ferrite bead filter is used to attenuate the high-frequency noise to obtain a low-noise power signal. The low-noise power signal is acquired and distributed to the drive power domain and the logic power domain via a multi-channel isolated drive circuit to obtain an independent power domain signal. A multi-stage dynamic protection mechanism is used to perform overvoltage detection on the independent power domain signal to determine whether there is a voltage anomaly. If so, the parameters of the protection circuit 300 are adjusted to obtain a protected power signal. The protected power signal is subjected to secondary noise suppression via a filtering network topology to obtain a highly stable power signal. The highly stable power signal is transmitted to the control unit 200 using the CAN bus protocol. Signal integrity is determined to obtain a transmission stable signal. The transmission stable signal is acquired and fine-tuned using the 3.3V voltage regulator circuit in the logic power domain to obtain the target stable power signal. According to the target stable power supply signal, determine whether the voltage requirements of the driving power supply 24V and the logic power supply 3.3V are met. If so, output the final stable power supply signal.

[0038] Exemplarily, an input voltage signal is obtained and converted into a multi-level isolated power signal through a power module. For example, a 24V input voltage is converted into 12V and 5V isolated power signals through a DC-DC converter. A filter capacitor is used to perform preliminary noise suppression on the multi-level isolated power signal. For example, a 100μF electrolytic capacitor is connected in parallel to the 12V power output to filter out low-frequency noise and obtain a primary stable power signal. Based on the primary stable power signal, a spectrum analysis is performed to determine whether it contains high-frequency noise components. If noise with a frequency higher than 1MHz is detected, a magnetic bead filter is used to attenuate the high-frequency noise, for example, using a 600Ω@100MHz magnetic bead to obtain a low-noise power signal. The low-noise power signal is obtained and distributed to the drive power domain and the logic power domain through a multi-channel isolated drive circuit. For example, the BTS723GW chip is used to distribute the 12V signal to the drive power domain and the 5V signal to the logic power domain to obtain an independent power domain signal. A multi-level dynamic protection mechanism is used to detect overvoltages in independent power domain signals. For example, an overvoltage threshold is set to 13V. If the voltage exceeds the threshold, the protection circuit 300 parameters are adjusted, such as by reducing the PWM duty cycle, to obtain a protected power signal. A filtering network topology is used to perform secondary noise suppression on the protected power signal, such as an LC filter network with an inductance of 10μH and a capacitance of 0.1μF, to obtain a highly stable power signal. The highly stable power signal is transmitted to the control unit 200 using the CAN bus protocol, for example, at a baud rate of 500kbps. Signal integrity is verified through a CRC check to obtain a stable transmission signal. The stable transmission signal is then fine-tuned using the logic power domain's 3.3V voltage regulator circuit, for example, by using an LDO regulator to reduce the 5V signal to 3.3V, to obtain a target stable power signal. Based on the target stable power signal, the voltage requirements of the 24V driver power supply and the 3.3V logic power supply are determined. For example, a voltage comparator is used to check whether the 24V and 3.3V signals are within a ±5% error range. If so, the final stable power signal is output.

[0039] External control instructions are received via the CAN bus interface and combined with the processing of the microcontroller unit to obtain multi-channel coordinated control signals.

[0040] External control commands are received via the CAN bus interface, command data packets are parsed, and multi-channel control target parameters are obtained. Based on the parsed multi-channel control target parameters, the microcontroller executes a command distribution algorithm to determine the control requirements for each channel. If the control requirements include coordinated multi-motor operation, the microcontroller's coordinated control logic calculates the timing signals for each channel to generate a coordinated control sequence. Based on the coordinated control sequence, the drive signal for each channel's corresponding high-side switch (such as the BTS723GW) is obtained to generate switch control commands. Real-time current data is collected via each channel's current detection unit 102 (such as the INA240A1DR) to determine the load status of each channel. If the load status exceeds a preset threshold, the microcontroller's overcurrent protection algorithm is used to adjust the drive signal for the corresponding channel and determine a new control command. Based on the adjusted control command, the drive status of the high-side switch is updated to obtain the actual output signal for each channel. The operating status data of each channel is transmitted back via the CAN bus interface, generating a feedback data packet and a system operation report. Based on the system operation report, the microcontroller's logging algorithm is used to store the operating data and maintain a track record of the control process.

[0041] Exemplarily, an external control command is received via a CAN bus interface, the command data packet is parsed, and multi-channel control target parameters are extracted. For example, the target speed in the parsed command is 1500 rpm and the torque is 10 Nm. Based on the parsed multi-channel control target parameters, a microcontroller unit executes a command distribution algorithm to distribute the target parameters to channels such as J2, J3, and J8, thereby determining the control requirements for each channel. If the control requirements include coordinated multi-motor operation, the microcontroller's coordinated control logic calculates the timing signals for each channel, for example, setting the start time of channel J2 to 0 ms and the start time of channel J3 to 50 ms, to generate a coordinated control sequence. Based on the coordinated control sequence, the drive signal for each channel's corresponding high-side switch (e.g., BTS723GW) is obtained to generate switch control commands, for example, setting the PWM duty cycle of channel J2 to 60% and that of channel J3 to 75%. Real-time current data is collected by each channel's current detection unit 102 (e.g., INA240A1DR), for example, 2 A for channel J2 and 3 A for channel J3, to determine the load status of each channel. If the load state exceeds a preset threshold, for example, the current in channel J2 exceeds 2.5A, the microcontroller's overcurrent protection algorithm adjusts the drive signal for the corresponding channel, reducing the PWM duty cycle of channel J2 to 50% and determining a new control instruction. Based on the adjusted control instruction, the drive state of the high-side switch is updated to obtain the actual output signal of each channel, for example, the actual speed of channel J2 is 1400rpm and the actual speed of channel J3 is 1550rpm. The operating status data of each channel is transmitted back via the CAN bus interface, generating a feedback data packet, for example, including the speeds of channel J2 at 1400rpm and channel J3 at 1550rpm, to obtain a system operation report. Based on the system operation report, the microcontroller's logging algorithm is used to store the operating data, for example, recording the speeds of channel J2 at 1400rpm and channel J3 at 1550rpm in a storage unit, to determine a tracking record of the control process.

[0042] According to the multi-channel coordinated control signal, multiple motors are driven to perform corresponding actions to obtain multi-motor parallel control results.

[0043] A multi-channel coordinated control signal is obtained and the control instructions for each channel are determined by analyzing the signal content. Based on the analyzed control instructions, the instructions are assigned to the corresponding independent drive channel 100 to obtain the drive task for each channel. The output voltage and current are adjusted through the high-side power switch 101 of each channel to obtain the motor drive signal. A current detection amplifier and sampling resistor are used to collect real-time current data from each channel to obtain a current feedback value. If the current feedback value exceeds the set threshold, the on-time of the high-side power switch 101 is adjusted to determine a corrected drive signal. Based on the corrected drive signal, the speed and torque of the multiple motors are controlled to obtain the operating status of each motor. Through a multi-node communication protocol, the operating status data of each motor is collected to obtain multi-motor coordinated operation information. If the multi-motor coordinated operation information does not match the coordinated control signal, the drive tasks are reallocated and the updated control instructions are determined. Based on the updated control instructions, the multiple motors are driven to perform the corresponding actions to obtain the multi-motor parallel control result.

[0044] For example, a multi-channel coordinated control signal containing target speed and torque is received via the CAN bus. The frame ID and data segment in the signal are parsed to extract the PWM duty cycle command for each channel. The parsed command is assigned to the corresponding driver circuit according to the channel number, with each channel assigned an independent PWM generation task. For example, channel 1 is set to a 50% duty cycle, and channel 2 is set to a 75% duty cycle. A MOSFET is used as the high-side power switch 101, and the gate voltage is adjusted to achieve an output current of 2A to generate the motor drive signal. An INA240A1DR current sense amplifier is used to acquire the voltage difference across the sampling resistor. The ADC converts the voltage to a real-time current value. If the current exceeds the 2.5A threshold, the PWM duty cycle is dynamically adjusted to 45% to reduce the current. The motor is driven based on the corrected PWM signal. The Hall effect sensor provides speed data. If the actual speed of channel 1 does not reach 800 rpm, the control parameters are recalculated using a PID algorithm. The status registers of each node are polled via the RS-485 bus to summarize motor operating data. If the torque fluctuation of channel 2 exceeds ±5%, the PWM duty cycle commands of each channel are reassigned. The final output is the synchronous operation data of multiple motors, for example, the speed of channel 1 is stabilized at 800 rpm, and the torque of channel 2 is maintained at 10 N·m.

[0045] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0046] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0047] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0048] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0049] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0050] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0051] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0052] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "includes," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the above elements.

[0053] The above is a detailed introduction to a multi-channel motor drive control system provided. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A multi-channel motor drive control system, characterized in that: include: Multiple independent drive channels, each of which includes a high-side power switch, a current detection unit, and a sampling resistor, for independently driving a motor or load; A control unit, configured to adjust the output of each driving channel by obtaining a feedback signal from the current detection unit; Protection circuit, including voltage transient suppression element and freewheeling element, used to suppress voltage spikes and absorb reverse electromotive force; A power management module, which obtains input voltage and converts it into multiple isolated power supplies to power the drive channel and the control unit; Communication interface, used to receive external control instructions and transmit feedback data.

2. The multi-channel motor drive control system according to claim 1, characterized in that: The high-side power switch comprises: Obtaining a motor drive signal, and controlling the on and off of the motor or load according to the motor drive signal; A current path is formed by connecting the high-side power switch in series with the sampling resistor, and the sampling resistor is used to generate a voltage signal proportional to the motor current; Acquire the voltage signal through the current detection unit and convert it into a digital feedback signal; Determining whether to trigger overcurrent protection based on the comparison of the digital feedback signal with a preset threshold; If the overcurrent protection is triggered, the output state of the high-side power switch is adjusted by the control unit.

3. The multi-channel motor drive control system according to claim 1, characterized in that: The current detection unit includes: Acquiring a voltage signal across the sampling resistor; amplifying the voltage signal through a differential amplifier to obtain an amplified current signal; Converting the amplified current signal into a digital signal through an analog-to-digital converter; Determining the operating state of the motor based on the comparison of the digital signal with a preset overcurrent threshold; The digital signal is obtained by the control unit and is used to adjust the output power of the driving channel in real time.

4. The multi-channel motor drive control system according to claim 1, wherein: The protection circuit comprises: The voltage transient suppression element is connected in parallel to the output end of the driving channel to obtain the transient overvoltage signal and clamp it to a safe voltage range; The freewheeling element is connected in parallel with the motor or the load to form a freewheeling path; When the motor stops or runs in reverse, a reverse electromotive force is obtained and absorbed by the freewheeling element; The working efficiency of the protection circuit is judged according to the response states of the voltage transient suppression element and the freewheeling element.

5. The multi-channel motor drive control system according to claim 1, wherein: The power management module includes: Obtain high voltage power from external input; Converting the high-voltage power supply into a first low-voltage power supply through a step-down converter, wherein the first low-voltage power supply is used to power the driving channel; Converting the first low-voltage power supply into a second low-voltage power supply through a voltage stabilizer, wherein the second low-voltage power supply is used to power the control unit; Decoupling the first low-voltage power supply and the second low-voltage power supply through a filter network to obtain a stable output voltage; The working state of the power management module is determined according to the stability of the output voltage.

6. The multi-channel motor drive control system according to claim 1, characterized in that: The communication interface includes: Obtaining command signals from an external controller through a bus interface; The control unit analyzes the command signal to obtain control parameters of each driving channel; adjusting the output state of the high-side power switch according to the control parameter; transmitting the feedback signal of the current detection unit to an external controller via the bus interface; The transmission reliability of the communication interface is determined according to the matching degree between the feedback signal and the command signal.

7. The multi-channel motor drive control system according to claim 1, wherein: The control unit comprises: obtaining a feedback signal from the current detection unit; The feedback signal is processed by a preset control algorithm to obtain an output adjustment signal for each drive channel; controlling a duty cycle of the high-side power switch according to the output regulation signal; Obtaining external instructions through the communication interface to determine the operating mode of the drive channel; The coordination effectiveness of the control unit is determined based on the matching between the operating mode and the feedback signal.

8. The multi-channel motor drive control system according to claim 1, wherein: The multiple independent drive channels include: Connect to external motors or loads through standardized connectors; Forming electrical isolation with the current detection unit through the high-side power switch; independently adjusting the output power of each drive channel according to the instructions of the control unit; Perform overvoltage and overcurrent monitoring on each drive channel through the protection circuit; The operating state of the driving channel is determined based on the comparison between the monitoring result and a preset threshold value.

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