Driving control method, device, equipment, medium and product of direct current motor

Abstract

The application relates to the technical field of motor control, and discloses a driving control method, device, equipment, medium and product of a direct-current motor. The current voltage of a bootstrap capacitor and the current state of the direct-current motor are detected, and the upper switch tube and the lower switch tube are controlled in a mode matched with the current state, so that the current voltage of the bootstrap capacitor is adjusted to be a preset driving voltage of the upper switch tube, and the direct-current motor is driven to operate by using the upper switch tube and the lower switch tube. The application can adjust the voltage of the bootstrap capacitor according to the actual state of the direct-current motor, is more widely applicable, and prevents damage to driving devices when the direct-current motor is started in the scene where the voltage of the bootstrap capacitor is too high or too low.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, specifically to drive control methods, devices, equipment, media, and products for DC motors. Background Technology

[0002] In recent years, due to their excellent performance in control, efficiency, starting performance, and structure, DC motors have been widely used in various application scenarios. During startup, the voltage of the bootstrap capacitor must meet the drive voltage of the drive module's upper transistor. If the DC motor is started directly when the bootstrap capacitor voltage is too low, the drive module will enter an incomplete conduction state. Prolonged startup in this state will lead to drive module failure.

[0003] In existing technologies, when starting a motor, the lower-voltage bootstrap capacitor is typically charged to ensure that its voltage meets the drive voltage of the drive module's upper transistor. However, the bootstrap capacitor voltage may not be lower than the drive voltage when a DC motor starts under different conditions. Existing technologies do not adjust the bootstrap capacitor voltage according to the actual starting conditions of the DC motor, which means they are not well-suited for maintaining startup while the DC motor is running or starting when it is not completely stopped, and may still damage the drive module. Summary of the Invention

[0004] In view of this, the present invention provides a method, apparatus, device, medium and product for driving control of a DC motor, to solve the problem that the prior art does not adjust the voltage according to the actual state of the DC motor when it starts, has a narrow scope of application and may still damage the drive module.

[0005] In a first aspect, the present invention provides a drive control method for a DC motor, applied to a drive circuit of a DC motor. The drive circuit includes an upper switching transistor, a lower switching transistor, and a bootstrap capacitor. A first terminal of the bootstrap capacitor is connected to the control terminal of the upper switching transistor, and a second terminal of the bootstrap capacitor is connected to the control terminal of the lower switching transistor. The output terminals of both the upper and lower switching transistors are connected to the DC motor. The method includes:

[0006] In response to the start command of the DC motor, the current state of the DC motor and the current voltage of the bootstrap capacitor are obtained; the current state includes the fully stopped state, the running state, and the partially stopped state.

[0007] When the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage of the upper switch in the current state, the upper and lower switches are controlled in a manner that matches the current state.

[0008] When the current voltage of the bootstrap capacitor is detected to be consistent with the preset drive voltage, the DC motor is controlled to start.

[0009] This application detects the current voltage of the bootstrap capacitor and the current state of the DC motor, and controls the upper and lower switching transistors in a manner matching the current state. This adjusts the current voltage of the bootstrap capacitor to a preset drive voltage for the upper switching transistor, thereby driving the DC motor using the upper and lower switching transistors. This application can adjust the voltage of the bootstrap capacitor according to the actual state of the DC motor, making it applicable to a wider range of scenarios and preventing damage to the driving devices when starting the DC motor under conditions where the bootstrap capacitor voltage is too high or too low.

[0010] In one optional implementation, when it is detected that the current voltage of the bootstrap capacitor is inconsistent with the preset drive voltage of the upper switching transistor in the current state, the upper and lower switching transistors are controlled in a manner matching the current state, including:

[0011] When the current voltage of the bootstrap capacitor is detected to be higher than the preset drive voltage while the DC motor is running, the upper and lower switching transistors are turned off until the current voltage of the bootstrap capacitor is reduced to the preset drive voltage.

[0012] This application addresses the problem that when the current voltage of the bootstrap capacitor is detected to be higher than the preset drive voltage of the upper switching transistor while the DC motor is running, it reduces the voltage of the bootstrap capacitor by turning off the upper and lower switching transistors. This solves the problem that the voltage of the bootstrap capacitor may be affected by external interference and cause it to drift, thus damaging the gate of the upper switching transistor.

[0013] In one optional implementation, when it is detected that the current voltage of the bootstrap capacitor is inconsistent with the preset drive voltage of the upper switching transistor in the current state, the upper and lower switching transistors are controlled in a manner matching the current state, including:

[0014] When the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage while the DC motor is not completely stopped, and the current voltage of the bootstrap capacitor continues to change within a preset time period, the lower switch is turned off.

[0015] When the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage while the DC motor is not completely stopped, and the current voltage of the bootstrap capacitor remains stable within a preset time period, the control switch is turned on until the current voltage of the bootstrap capacitor reaches the preset drive voltage.

[0016] This application addresses the problem that when a DC motor is not completely stopped, the voltage of the bootstrap capacitor is gradually stabilized by turning off the lower switching transistor, and then the bootstrap capacitor is charged by turning on the lower switching transistor, so that the current voltage of the bootstrap capacitor reaches the preset drive voltage. This solves the problem that when a DC motor is started during a shutdown process, the voltage of the bootstrap capacitor is affected by the running motor, causing it to continuously charge and discharge, which easily leads to the bootstrap capacitor voltage not reaching the preset drive voltage of the upper switching transistor.

[0017] In one optional implementation, when it is detected that the current voltage of the bootstrap capacitor is inconsistent with the preset drive voltage of the upper switching transistor in the current state, the upper and lower switching transistors are controlled in a manner matching the current state, including:

[0018] When the current voltage of the bootstrap capacitor is detected to be lower than the preset drive voltage while the DC motor is completely stopped, the lower control switch is turned on until the current voltage of the bootstrap capacitor reaches the preset drive voltage.

[0019] This application addresses the problem that when the DC motor is completely stopped, the bootstrap capacitor is charged by controlling the lower switch to turn on until the current voltage of the bootstrap capacitor reaches the preset drive voltage. This solves the problem that the bootstrap capacitor is not fully charged and the voltage does not reach the preset drive voltage of the upper switch when the DC motor is turned on.

[0020] In one alternative implementation, controlling the start of the DC motor includes:

[0021] The upper switching transistor is controlled by a first pulse control signal, and the lower switching transistor is controlled by a second pulse control signal; wherein the first pulse control signal and the second pulse control signal are interleaved.

[0022] After the current voltage of the bootstrap capacitor is consistent with the preset drive voltage of the upper switch, this application uses interleaved first pulse control signals and second pulse control signals to control the upper and lower switches, so that the upper and lower switches are alternately turned on or off, driving the DC motor to operate normally.

[0023] In one optional embodiment, the driving circuit further includes a differential amplifier, with a first terminal of the bootstrap capacitor connected to the positive input of the differential amplifier and a second terminal of the bootstrap capacitor connected to the negative input of the differential amplifier; acquiring the current voltage of the bootstrap capacitor includes:

[0024] Obtain the output voltage signal at the output terminal of the differential amplifier;

[0025] The current voltage of the bootstrap capacitor is determined based on the output voltage signal.

[0026] This application obtains the output voltage signal from the output terminal of the differential amplifier to determine the current voltage of the bootstrap capacitor, thereby achieving real-time detection of the bootstrap capacitor voltage.

[0027] In one optional embodiment, the driving circuit further includes a first input resistor, a second input resistor, a first feedback resistor, and a second feedback resistor. The first end of the bootstrap capacitor is connected to the positive input of the differential amplifier and the first end of the first feedback resistor via the first input resistor. The second end of the bootstrap capacitor is connected to the negative input of the differential amplifier and the first end of the second feedback resistor via the second input resistor. The second end of the first feedback resistor is connected to the output terminal of the differential amplifier, and the second end of the second feedback resistor is grounded.

[0028] Based on the output voltage signal, determine the current voltage of the bootstrap capacitor, including:

[0029] The output voltage of the differential amplifier is determined based on the output voltage signal.

[0030] The current voltage of the bootstrap capacitor is calculated based on the output voltage, the resistance value of the first feedback resistor, and the resistance value of the first input resistor.

[0031] This application utilizes the output voltage of the differential amplifier, the resistance value of the first feedback resistor, and the resistance value of the first input resistor to calculate the current voltage of the bootstrap capacitor in real time, thereby realizing real-time detection of the bootstrap capacitor voltage.

[0032] Secondly, the present invention provides a drive control device for a DC motor, applied to a drive circuit of a DC motor. The drive circuit includes an upper switching transistor, a lower switching transistor, and a bootstrap capacitor. A first terminal of the bootstrap capacitor is connected to the control terminal of the upper switching transistor, and a second terminal of the bootstrap capacitor is connected to the control terminal of the lower switching transistor. The output terminals of both the upper and lower switching transistors are connected to the DC motor. The device includes:

[0033] The first processing module is used to respond to the start command of the DC motor, obtain the current state of the DC motor and the current voltage of the bootstrap capacitor; wherein, the current state includes a completely stopped state, an operating state and a partially stopped state.

[0034] The second processing module is used to control the upper and lower switching transistors in a manner that matches the current state when the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage of the upper switching transistor.

[0035] The third processing module is used to control the DC motor to start when the current voltage of the bootstrap capacitor is detected to be consistent with the preset drive voltage.

[0036] Thirdly, the present invention provides a drive control device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the drive control method for a DC motor according to the first aspect or any corresponding embodiment described above.

[0037] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the DC motor drive control method of the first aspect or any corresponding embodiment described above.

[0038] Fifthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute the DC motor drive control method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0039] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of a DC motor drive circuit according to an embodiment of the present invention;

[0041] Figure 2 This is a schematic flowchart of a DC motor drive control method according to an embodiment of the present invention;

[0042] Figure 3 This is a schematic flowchart of another DC motor drive control method according to an embodiment of the present invention;

[0043] Figure 4 This is a structural block diagram of a DC motor drive control device according to an embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram of the hardware structure of the drive control device according to an embodiment of the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] According to an embodiment of the present invention, a drive circuit for a DC motor is provided, such as... Figure 1 As shown, the drive circuit includes an upper switching transistor U1, a lower switching transistor U2, a bootstrap capacitor C1, and a control module (not shown in the diagram). Figure 1 As shown in the diagram, the first terminal of the bootstrap capacitor C1 is connected to the control terminal of the upper switch U1, and the second terminal of the bootstrap capacitor C1 is connected to the control terminal of the lower switch U2. The output terminals of both the upper switch U1 and the lower switch U2 are connected to the motor terminal, i.e., the DC motor. It should be noted that the bootstrap capacitor C1 is used to drive the upper switch U1, and the upper switch U1 and lower switch U2 are used to drive the DC motor. The upper switch U1 and lower switch U2 can be switching devices such as MOSFETs and Insulated Gate Bipolar Transistors (IGBTs), and this application is not limited to these.

[0047] Specifically, in response to the start command of the DC motor, the control module acquires the current state of the DC motor and the current voltage of the bootstrap capacitor C1. The current state of the DC motor includes, but is not limited to, a completely stopped state, a running state, and a partially stopped state. When the control module detects that the current voltage of the bootstrap capacitor C1 is inconsistent with the preset drive voltage of the upper switch U1 under the current state of the DC motor, it controls the upper switch U1 and the lower switch U2 in a manner matching the current state. When the control module detects that the current voltage of the bootstrap capacitor C1 matches the preset drive voltage, it controls the DC motor to start.

[0048] In some embodiments, see again Figure 1 The driving circuit also includes a detection port VAD and a differential amplifier U3-B. The first terminal of the bootstrap capacitor C1 is connected to the positive input of the differential amplifier U3-B, and the second terminal of the bootstrap capacitor C1 is connected to the negative input of the differential amplifier U3-B. The differential amplifier U3-B is used to acquire the voltage signal of the bootstrap capacitor C1 and output it. The detection port VAD determines the current voltage of the bootstrap capacitor C1 by acquiring the output voltage signal of the differential amplifier U3-B and transmits the current voltage of the bootstrap capacitor C1 to the control module.

[0049] In some embodiments, see again Figure 1 The driving circuit also includes a filter capacitor C2 and a filter resistor R9. The output terminal of the differential amplifier U3-B is connected to the filter capacitor C2 and the detection port VAD after passing through the filter resistor R9. The filter capacitor C2 and the filter resistor R9 are used to filter the output voltage signal of the differential amplifier U3-B to remove interference signals in the output voltage signal.

[0050] In some embodiments, see again Figure 1 The driving circuit also includes a first input resistor R5, a second input resistor R6, a first feedback resistor R7, and a second feedback resistor R8. The first end of the bootstrap capacitor C1 is connected to the positive input of the differential amplifier U3-B and the first end of the first feedback resistor R7 via the first input resistor R5. The second end of the bootstrap capacitor C1 is connected to the negative input of the differential amplifier U3-B and the first end of the second feedback resistor R8 via the second input resistor R6. The second end of the first feedback resistor R7 is connected to the output of the differential amplifier U3-B. The second end of the second feedback resistor R8 is grounded.

[0051] It should be noted that the first input resistor R5 and the second input resistor R6 have the same resistance value, and the first feedback resistor R7 and the second feedback resistor R8 have the same resistance value.

[0052] In some embodiments, see again Figure 1 The driving circuit also includes a first control port PWM1 and a second control port PWM2, wherein the control module is used to send a first pulse control signal to the first control port PWM1 and a second pulse control signal to the second control port PWM2.

[0053] In some embodiments, see again Figure 1 The driving circuit also includes a first switch Q1. The first switch Q1 is turned on to charge the bootstrap capacitor C1 when the first pulse control signal output from the first control port PWM1 is high, and turned off to stop charging the bootstrap capacitor C1 when the first pulse control signal is low. The first switch Q1 can be a switching device such as a MOSFET, and this application is not limited to this.

[0054] In some embodiments, see again Figure 1The driving circuit further includes a second switch Q2, a third switch Q3, a fourth switch Q4, and a fifth switch Q5. When the first pulse control signal output from the first control port PWM1 is high, the second switch Q2 is on, the fourth switch Q4 is off, and the upper switch U1 is on; when the first pulse control signal is low, the second switch Q2 is off, the fourth switch Q4 is on, and the upper switch U1 is off. When the second pulse control signal output from the second control port PWM2 is high, the third switch Q3 is on, the fifth switch Q5 is off, and the lower switch U2 is on; when the second pulse control signal is low, the third switch Q3 is off, the fifth switch Q5 is on, and the lower switch U2 is off. The second switch Q2, the third switch Q3, the fourth switch Q4, and the fifth switch Q5 can be switching devices such as MOSFETs, and this application is not limited to these.

[0055] It should be noted that the first pulse control signal and the second pulse control signal are interleaved pulse signals. That is, when the first pulse control signal is high, the second pulse control signal is low; and when the first pulse control signal is low, the second pulse control signal is high. In other words, the upper switch U1 and the lower switch U2 are interleaved in conduction. When the upper switch U1 is on, the lower switch U2 is off; when the upper switch U1 is off, the lower switch U2 is on.

[0056] In some embodiments, see again Figure 1 The driving circuit also includes a first gate resistor R1, a second gate resistor R2, a third gate resistor R3, and a fourth gate resistor R4. These gate resistors are used for gate current, suppressing voltage spikes and preventing excessive current or voltage from damaging the device.

[0057] The DC motor drive circuit provided in this embodiment utilizes a control module to detect the current voltage of the bootstrap capacitor C1 and the current state of the DC motor. It then controls the upper switch U1 and the lower switch U2 in a manner matching the current state, adjusting the current voltage of the bootstrap capacitor C1 to a preset drive voltage for the upper switch U1. This allows the upper switch U1 and the lower switch U2 to drive the DC motor. By adjusting the voltage of the bootstrap capacitor C1 according to the actual state of the DC motor, the circuit is applicable to a wider range of scenarios and can prevent damage to the drive components when starting the DC motor in certain special situations.

[0058] According to an embodiment of the present invention, a method for driving and controlling a DC motor is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0059] This embodiment provides a drive control method for a DC motor, which can be used for, for example... Figure 1 The DC motor drive circuit shown is as follows. Figure 2 This is a flowchart of a DC motor drive control method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0060] Step S201: In response to the start command of the DC motor, obtain the current state of the DC motor and the current voltage of the bootstrap capacitor; wherein, the current state includes a completely stopped state, an operating state, and a partially stopped state.

[0061] Specifically, see again Figure 1 By acquiring the output voltage signal from the output terminal of the differential amplifier, the current voltage of the bootstrap capacitor is determined based on the output voltage signal, thus realizing real-time detection of the bootstrap capacitor voltage.

[0062] In some embodiments, see again Figure 1 Based on the output voltage signal, the output voltage U of the differential amplifier is determined. Then, based on the output voltage U, the resistance value of the first feedback resistor R7, and the resistance value of the first input resistor R5, the current voltage of the bootstrap capacitor is calculated. The specific calculation formula is as follows:

[0063]

[0064] in, This indicates the resistance value of the first input resistor R5. This indicates the resistance value of the first feedback resistor R7.

[0065] In this embodiment, the current voltage of the bootstrap capacitor is calculated in real time using the output voltage of the differential amplifier, the resistance value of the first feedback resistor, and the resistance value of the first input resistor, thereby realizing real-time detection of the bootstrap capacitor voltage.

[0066] In step S201, the complete shutdown state of the DC motor refers to the DC motor completely stopping its rotation. In the complete shutdown state, the current voltage of the bootstrap capacitor is generally lower than the preset drive voltage of the upper switching transistor. Directly starting the DC motor can easily cause the drive circuit to enter an incomplete conduction state, and starting the DC motor in this state for a long time will lead to the failure of the drive circuit.

[0067] In step S201, the operating state of the DC motor refers to the DC motor operating normally. When the DC motor is operating, the bootstrap capacitor is more susceptible to external interference, which can cause the current voltage of the bootstrap capacitor to fluctuate. If the current voltage is higher than the preset drive voltage of the upper switching transistor, it can easily cause the gate of the upper switching transistor to be broken down and damaged, resulting in the failure of the drive circuit. If the current voltage is lower than the preset drive voltage of the upper switching transistor, it can easily cause the DC motor to suddenly stop, affecting the user experience.

[0068] In step S201, the incomplete shutdown state of the DC motor refers to the state in which the DC motor gradually decelerates due to inertia after the shutdown command is executed. In the incomplete shutdown state, the DC motor will continue to decelerate due to inertia even without a drive. During this process, since the rotating motor is equivalent to a generator, it will generate alternating current. The bootstrap capacitor is constantly charging and discharging due to the influence of the running motor. The voltage of the bootstrap capacitor not only fails to reach the preset drive voltage of the upper switching transistor, but is also in an unstable and fluctuating state. If the DC motor is started directly under these conditions, it is easy to cause the drive circuit to enter an incomplete conduction state. Starting the DC motor under these conditions for a long time will also lead to the failure of the drive circuit.

[0069] Step S202: When it is detected that the current voltage of the bootstrap capacitor is inconsistent with the preset drive voltage of the upper switch in the current state, the upper switch and the lower switch are controlled in a manner that matches the current state.

[0070] Specifically, it is determined whether the current voltage of the bootstrap capacitor is consistent with the preset drive voltage of the upper switch. If they are inconsistent, the upper and lower switches are controlled in an appropriate manner based on the current state of the DC motor, so that the current voltage of the bootstrap capacitor is consistent with the preset drive voltage of the upper switch.

[0071] It should be noted that the preset drive voltage of the upper switch can be set according to the actual scenario, and the drive voltages of the upper and lower switches are generally the same.

[0072] Step S203: When the current voltage of the bootstrap capacitor is detected to be consistent with the preset drive voltage, the DC motor is controlled to start.

[0073] Specifically, see again Figure 1After the current voltage of the bootstrap capacitor is consistent with the preset drive voltage of the upper switch, the upper switch is controlled by the first pulse control signal output from the first control port, and the lower switch is controlled by the second pulse control signal output from the second control port. The first pulse control signal and the second pulse control signal are interleaved, so that the upper switch and the lower switch are alternately turned on or off, thereby driving the DC motor to operate normally. For the specific process and working principle, please refer to the detailed description of the relevant technology, which will not be repeated here.

[0074] The DC motor drive control method provided in this embodiment detects the current voltage of the bootstrap capacitor and the current state of the DC motor, and controls the upper and lower switching transistors in a manner matching the current state. This adjusts the current voltage of the bootstrap capacitor to a preset drive voltage for the upper switching transistor, thereby driving the DC motor using the upper and lower switching transistors. This application can adjust the voltage of the bootstrap capacitor according to the actual state of the DC motor, making it applicable to a wider range of scenarios and preventing damage to the drive devices when starting the DC motor in situations where the bootstrap capacitor voltage is too high or too low.

[0075] This embodiment provides a drive control method for a DC motor, which can be used for, for example... Figure 1 The DC motor drive circuit shown is as follows. Figure 3 This is a flowchart of a DC motor drive control method according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps:

[0076] Step S301: In response to the DC motor start command, obtain the current state of the DC motor and the current voltage of the bootstrap capacitor; wherein the current state includes a fully stopped state, an operating state, and a partially stopped state. See details for further information. Figure 2 The detailed description of step S201 in the illustrated embodiment will not be repeated here.

[0077] Step S302: When it is detected that the current voltage of the bootstrap capacitor is inconsistent with the preset drive voltage of the upper switch in the current state, the upper switch and the lower switch are controlled in a manner that matches the current state.

[0078] Specifically, step S302 includes:

[0079] Step S3021: When the current voltage of the bootstrap capacitor is detected to be higher than the preset drive voltage while the DC motor is running, the upper and lower switching transistors are turned off until the current voltage of the bootstrap capacitor is reduced to the preset drive voltage.

[0080] Specifically, when a DC motor is running, the voltage of the bootstrap capacitor may be affected by external interference, causing it to spike. When the voltage of the bootstrap capacitor exceeds the drive voltage of the upper switching transistor, the gate of the upper switching transistor is easily damaged, leading to damage to the drive circuit. This can be mitigated by detecting the current voltage of the bootstrap capacitor. If the current voltage of the bootstrap capacitor exceeds the drive voltage of the upper switching transistor, the upper and lower switching transistors can be turned off, reducing the voltage of the bootstrap capacitor and thus protecting the drive circuit.

[0081] In this embodiment of the application, when the current voltage of the bootstrap capacitor is detected to be higher than the preset drive voltage of the upper switch when the DC motor is running, the voltage of the bootstrap capacitor is reduced by turning off the upper switch and the lower switch, thereby solving the problem that the voltage of the bootstrap capacitor may be affected by external interference and cause the voltage to drift high, damaging the gate of the upper switch when the DC motor is running.

[0082] In step S3022, when the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage while the DC motor is not completely stopped, and the current voltage of the bootstrap capacitor continues to change within a preset time period, the lower switch is controlled to turn off; when the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage while the DC motor is not completely stopped, and the current voltage of the bootstrap capacitor remains stable within a preset time period, the lower switch is controlled to turn on until the current voltage of the bootstrap capacitor reaches the preset drive voltage.

[0083] Specifically, when a DC motor is not completely stopped, it will continue to decelerate due to inertia even without a driving force. At this time, the motor acts as a generator, producing alternating current. If the DC motor is started at this time, the bootstrap capacitor voltage will be constantly charging and discharging due to the influence of the running motor, resulting in an unstable state. The bootstrap capacitor voltage will not reach the preset drive voltage of the upper switch. By turning off the lower switch until the bootstrap capacitor voltage stabilizes, the lower switch will be turned on again to charge the bootstrap capacitor until the preset drive voltage of the upper switch is reached. Then, interleaved pulse control signals will be used to control the upper and lower switches to turn on, thereby driving the DC motor to work.

[0084] In this embodiment, when the DC motor is not completely stopped, the voltage of the bootstrap capacitor is gradually stabilized by turning off the lower switch, and then the bootstrap capacitor is charged by turning on the lower switch, so that the current voltage of the bootstrap capacitor reaches the preset drive voltage. This solves the problem that when the DC motor is started during the shutdown process, the voltage of the bootstrap capacitor is affected by the running motor and is constantly charging and discharging, which easily leads to the bootstrap capacitor voltage not reaching the preset drive voltage of the upper switch.

[0085] Step S3023: When the current voltage of the bootstrap capacitor is detected to be lower than the preset drive voltage while the DC motor is completely stopped, the lower switch is turned on until the current voltage of the bootstrap capacitor reaches the preset drive voltage.

[0086] Specifically, the DC motor is in a completely stopped state before it is turned on, and the bootstrap capacitor is charged through the lower switch. When the voltage of the bootstrap capacitor is lower than the preset drive voltage of the upper switch, the lower switch is controlled to continue charging the bootstrap capacitor until the preset drive voltage of the upper switch is reached. Then, the upper and lower switches are turned on alternately by interleaved pulse width modulation (PWM) wave signals, thereby driving the DC motor to work.

[0087] In this embodiment, when the DC motor is completely stopped, the bootstrap capacitor is charged by controlling the lower switch to turn on until the current voltage of the bootstrap capacitor reaches the preset drive voltage. This solves the problem that the bootstrap capacitor is not fully charged when the DC motor is turned on, and the voltage of the bootstrap capacitor does not reach the preset drive voltage of the upper switch.

[0088] Step S303: When the current voltage of the bootstrap capacitor is detected to be consistent with the preset drive voltage, the DC motor is controlled to start. See details for further information. Figure 2 The detailed description of step S201 in the illustrated embodiment will not be repeated here.

[0089] The DC motor drive control method provided in this embodiment determines whether the DC motor can be started by detecting the voltage of the bootstrap capacitor. This solves the problems of insufficient charging of the bootstrap capacitor and insufficient voltage to reach the drive voltage of the upper switching transistor when the DC motor is started; the problem of voltage drift in the bootstrap capacitor due to external interference during DC motor operation, potentially damaging the gate of the upper switching transistor; and the problem of insufficient voltage reaching the drive voltage of the upper switching transistor when the DC motor is started before it has completely stopped, due to the continuous charging and discharging of the bootstrap capacitor caused by the running motor. This protects the DC motor drive circuit and makes its long-term operation more reliable.

[0090] The drive control scheme for the DC motor of the present invention will be described in detail below with reference to a specific application example.

[0091] See you again Figure 1 When the DC motor is turned on, the bootstrap capacitor is charged through the lower switch. When the voltage of the bootstrap capacitor is lower than the driving voltage of the upper switch, the lower switch is controlled to continue charging the bootstrap capacitor until the driving voltage of the upper switch is reached. Then, the upper and lower switches are controlled to turn on through interleaved PWM wave signals, thereby driving the DC motor to work.

[0092] When a DC motor is running, the voltage of the bootstrap capacitor may be affected by external interference, causing it to spike. When the voltage of the bootstrap capacitor exceeds the drive voltage of the upper switching transistor, the gate of the upper switching transistor may break down and be damaged, leading to damage to the drive module. The drive circuit can be protected by detecting the voltage of the bootstrap capacitor. When the voltage of the bootstrap capacitor exceeds the drive voltage of the upper switching transistor, both the upper and lower switching transistors can be turned off, causing the voltage of the bootstrap capacitor to drop.

[0093] When a DC motor stops, it continues to decelerate due to inertia after being de-driven. The motor acts as a generator, supplying alternating current. When the DC motor is started at this time, the bootstrap capacitor voltage is constantly charging and discharging due to the running motor, and the bootstrap capacitor voltage does not reach the drive voltage of the upper switching transistor. At this point, the lower switching transistor is turned off until the bootstrap capacitor voltage stabilizes, then it is turned on again to charge the capacitor until the drive voltage of the upper switching transistor is reached. Finally, alternating PWM signals control the switching on of the upper and lower transistors, thereby driving the DC motor.

[0094] This embodiment also provides a DC motor drive control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0095] This embodiment provides a drive control device for a DC motor, applied to a DC motor drive circuit. The drive circuit includes an upper switching transistor, a lower switching transistor, and a bootstrap capacitor. The first terminal of the bootstrap capacitor is connected to the control terminal of the upper switching transistor, and the second terminal of the bootstrap capacitor is connected to the control terminal of the lower switching transistor. The output terminals of both the upper and lower switching transistors are connected to the DC motor. Figure 4 As shown, it includes:

[0096] The first processing module 401 is used to respond to the start command of the DC motor and obtain the current state of the DC motor and the current voltage of the bootstrap capacitor; wherein the current state includes a completely stopped state, an operating state and a partially stopped state.

[0097] The second processing module 402 is used to control the upper and lower switching transistors in a manner that matches the current state when the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage of the upper switching transistor.

[0098] The third processing module 403 is used to control the DC motor to start when the current voltage of the bootstrap capacitor is detected to be consistent with the preset drive voltage.

[0099] In some optional embodiments, the driving circuit further includes a differential amplifier, with a first terminal of the bootstrap capacitor connected to the positive input of the differential amplifier and a second terminal of the bootstrap capacitor connected to the negative input of the differential amplifier; the first processing module 401 is further configured to:

[0100] Obtain the output voltage signal at the output terminal of the differential amplifier;

[0101] The current voltage of the bootstrap capacitor is determined based on the output voltage signal.

[0102] In some optional embodiments, the driving circuit further includes a first input resistor, a second input resistor, a first feedback resistor, and a second feedback resistor. The first terminal of the bootstrap capacitor is connected via the first input resistor to the positive input of the differential amplifier and the first terminal of the first feedback resistor, respectively. The second terminal of the bootstrap capacitor is connected via the second input resistor to the negative input of the differential amplifier and the first terminal of the second feedback resistor, respectively. The second terminal of the first feedback resistor is connected to the output terminal of the differential amplifier, and the second terminal of the second feedback resistor is grounded. The first processing module 401 is further configured to:

[0103] The output voltage of the differential amplifier is determined based on the output voltage signal.

[0104] The current voltage of the bootstrap capacitor is calculated based on the output voltage, the resistance value of the first feedback resistor, and the resistance value of the first input resistor.

[0105] In some optional implementations, the second processing module 402 is further configured to:

[0106] When the current voltage of the bootstrap capacitor is detected to be higher than the preset drive voltage while the DC motor is running, the upper and lower switching transistors are turned off until the current voltage of the bootstrap capacitor is reduced to the preset drive voltage.

[0107] In some optional implementations, the second processing module 402 is further configured to:

[0108] When the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage while the DC motor is not completely stopped, and the current voltage of the bootstrap capacitor continues to change within a preset time period, the lower switch is turned off.

[0109] When the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage while the DC motor is not completely stopped, and the current voltage of the bootstrap capacitor remains stable within a preset time period, the control switch is turned on until the current voltage of the bootstrap capacitor reaches the preset drive voltage.

[0110] In some optional implementations, the second processing module 402 is further configured to:

[0111] When the current voltage of the bootstrap capacitor is detected to be lower than the preset drive voltage while the DC motor is completely stopped, the lower control switch is turned on until the current voltage of the bootstrap capacitor reaches the preset drive voltage.

[0112] In some optional implementations, the third processing module 403 is further configured to:

[0113] The upper switching transistor is controlled by a first pulse control signal, and the lower switching transistor is controlled by a second pulse control signal; wherein the first pulse control signal and the second pulse control signal are interleaved.

[0114] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0115] In this embodiment, the DC motor drive control device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0116] This invention also provides a drive control device having the above-described features. Figure 4 The DC motor drive control device shown.

[0117] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a drive control device provided in an optional embodiment of the present invention, such as... Figure 5 As shown, the drive control device includes one or more processors 10, a memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the drive control device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple control devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 5 Take a processor 10 as an example.

[0118] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0119] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0120] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the drive control device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the drive control device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0121] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0122] The drive control device also includes a communication interface 30 for communicating with other devices or communication networks.

[0123] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0124] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0125] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A drive control method for a DC motor, characterized in that, A drive circuit for a DC motor, the drive circuit including an upper switching transistor, a lower switching transistor, and a bootstrap capacitor, wherein the first terminal of the bootstrap capacitor is connected to the control terminal of the upper switching transistor, the second terminal of the bootstrap capacitor is connected to the DC motor, and the output terminals of both the upper and lower switching transistors are connected to the DC motor; the method includes: In response to a start command from a DC motor, the current state of the DC motor and the current voltage of the bootstrap capacitor are obtained; wherein the current state includes a completely stopped state, an operating state, and a partially stopped state. When it is detected that the current voltage of the bootstrap capacitor is inconsistent with the preset drive voltage of the upper switch in the current state, the upper switch and the lower switch are controlled in a manner that matches the current state. When the current voltage of the bootstrap capacitor is detected to be consistent with the preset drive voltage, the DC motor is controlled to start. When it is detected that the current voltage of the bootstrap capacitor is inconsistent with the preset drive voltage of the upper switch in the current state, the upper switch and the lower switch are controlled in a manner that matches the current state, including: When the current voltage of the bootstrap capacitor is detected to be higher than the preset drive voltage while the DC motor is running, the upper switch and the lower switch are controlled to turn off until the current voltage of the bootstrap capacitor is reduced to the preset drive voltage. When the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage while the DC motor is not completely stopped, and the current voltage of the bootstrap capacitor continues to change within a preset time period, the lower switch is controlled to turn off; when the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage while the DC motor is not completely stopped, and the current voltage of the bootstrap capacitor remains stable within a preset time period, the lower switch is controlled to turn on until the current voltage of the bootstrap capacitor reaches the preset drive voltage. When the current voltage of the bootstrap capacitor is detected to be lower than the preset drive voltage while the DC motor is completely stopped, the lower switch is controlled to turn on until the current voltage of the bootstrap capacitor reaches the preset drive voltage.

2. The method according to claim 1, characterized in that, The control of starting the DC motor includes: The upper switching transistor is controlled by a first pulse control signal, and the lower switching transistor is controlled by a second pulse control signal; wherein the first pulse control signal and the second pulse control signal are interleaved.

3. The method according to claim 1, characterized in that, The driving circuit also includes a differential amplifier, with the first end of the bootstrap capacitor connected to the positive input of the differential amplifier and the second end of the bootstrap capacitor connected to the negative input of the differential amplifier. Obtain the current voltage of the bootstrap capacitor, including: Obtain the output voltage signal at the output terminal of the differential amplifier; Based on the output voltage signal, the current voltage of the bootstrap capacitor is determined.

4. The method according to claim 3, characterized in that, The driving circuit further includes a first input resistor, a second input resistor, a first feedback resistor, and a second feedback resistor. The first end of the bootstrap capacitor is connected to the positive input of the differential amplifier and the first end of the first feedback resistor via the first input resistor. The second end of the bootstrap capacitor is connected to the negative input of the differential amplifier and the first end of the second feedback resistor via the second input resistor. The second end of the first feedback resistor is connected to the output terminal of the differential amplifier. The second end of the second feedback resistor is grounded. Determining the current voltage of the bootstrap capacitor based on the output voltage signal includes: The output voltage of the differential amplifier is determined based on the output voltage signal. The current voltage of the bootstrap capacitor is calculated based on the output voltage, the resistance value of the first feedback resistor, and the resistance value of the first input resistor.

5. A drive control device for a DC motor, characterized in that, A drive circuit for a DC motor, the drive circuit including an upper switching transistor, a lower switching transistor, and a bootstrap capacitor, wherein the first terminal of the bootstrap capacitor is connected to the control terminal of the upper switching transistor, the second terminal of the bootstrap capacitor is connected to the DC motor, and the output terminals of both the upper and lower switching transistors are connected to the DC motor; the device includes: The first processing module is used to respond to the start command of the DC motor, obtain the current state of the DC motor and the current voltage of the bootstrap capacitor; wherein, the current state includes a completely stopped state, an operating state and a partially stopped state. The second processing module is used to control the upper switch and the lower switch in a manner that matches the current state when the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage of the upper switch. The third processing module is used to control the DC motor to start when the current voltage of the bootstrap capacitor is detected to be consistent with the preset driving voltage. The second processing module is also used for: When the current voltage of the bootstrap capacitor is detected to be higher than the preset drive voltage while the DC motor is running, the upper switch and the lower switch are controlled to turn off until the current voltage of the bootstrap capacitor is reduced to the preset drive voltage. When the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage while the DC motor is not completely stopped, and the current voltage of the bootstrap capacitor continues to change within a preset time period, the lower switch is controlled to turn off; when the current voltage of the bootstrap capacitor is detected to be inconsistent with the preset drive voltage while the DC motor is not completely stopped, and the current voltage of the bootstrap capacitor remains stable within a preset time period, the lower switch is controlled to turn on until the current voltage of the bootstrap capacitor reaches the preset drive voltage. When the current voltage of the bootstrap capacitor is detected to be lower than the preset drive voltage while the DC motor is completely stopped, the lower switch is controlled to turn on until the current voltage of the bootstrap capacitor reaches the preset drive voltage.

6. A drive control device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the drive control method for the DC motor according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to execute the drive control method for the DC motor according to any one of claims 1 to 4.

8. A computer program product, characterized in that, It includes computer instructions for causing a computer to execute the drive control method for the DC motor according to any one of claims 1 to 4.

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