Motor control device and method

Abstract

The invention discloses a motor control device and method. The motor control device comprises a first input module used for generating a target current signal; the first sampling module is coupled with the motor, and the first sampling module is used for acquiring current signals of each phase of the motor; the detection module is coupled with the motor and is used for acquiring a rotor position signal of the motor; the control module is respectively coupled with the first input module, the detection module and the first sampling module, and the control module is used for determining the sector where the rotor of the motor is currently located according to the rotor position signal of the motor, and generating a driving signal according to the target current signal, the sector where the rotor of the motor is currently located and the current signal of each phase of each motor; the driving module is coupled to the control module and the motor. The driving module is used for driving the motor according to the driving signal. The motor control device provided by the embodiment of the invention is beneficial to improving the accuracy of motor control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and in particular to a motor control device and method. BACKGROUND

[0002] The electric bicycle refers to a traffic tool which installs the motor, the controller, the storage battery, the handlebar, the brake handle, the operating part and the display instrument system on the basis of the common bicycle with the storage battery as the auxiliary energy. The power of the electric bicycle is provided by the motor installed on the electric bicycle. In use, the rotation speed of the motor is controlled through the handlebar, so as to control the speed of the electric bicycle.

[0003] In the prior art, the controller of the electric bicycle realizes the control of the motor by comparing the target current provided by the handlebar with the real-time current of the motor. The accuracy of the motor control is poor. SUMMARY

[0004] The present application provides a motor control device and method to solve the problem of poor accuracy of motor control.

[0005] According to an aspect of the present application, a motor control device is provided, comprising:

[0006] A first input module is configured to generate a target current signal.

[0007] A first sampling module is coupled with the motor and configured to acquire current signals of each phase of the motor.

[0008] A detection module is coupled with the motor and configured to acquire a rotor position signal of the motor.

[0009] A control module is coupled with the first input module, the detection module and the first sampling module, respectively. The control module is configured to determine a sector in which the rotor of the motor is currently located according to the rotor position signal of the motor, and generate a driving signal according to the target current signal, the sector in which the rotor of the motor is currently located and the current signals of each phase of the motor.

[0010] A driving module is coupled with the control module and the motor, respectively. The driving module is configured to drive the motor according to the driving signal.

[0011] Optionally, the first sampling module comprises a first sampling unit, a second sampling unit and a third sampling unit.

[0012] The first end of the first sampling unit is coupled with the first phase of the motor, and the second end of the first sampling unit is coupled with the control module; the first end of the second sampling unit is coupled with the second phase of the motor, and the second end of the second sampling unit is coupled with the control module; the first end of the third sampling unit is coupled with the third phase of the motor, and the second end of the third sampling unit is coupled with the control module.

[0013] The first sampling unit is used for acquiring the current of the first phase of the motor; the second sampling unit is used for acquiring the current of the second phase of the motor; and the third sampling unit is used for acquiring the current of the third phase of the motor.

[0014] Optionally, the driving module comprises a first driving unit, a second driving unit and a third driving unit.

[0015] The first end of the first driving unit is coupled with the control module, the second end of the first driving unit is coupled with the first phase of the motor, the first end of the second driving unit is coupled with the control module, the second end of the second driving unit is coupled with the second phase of the motor, the first end of the third driving unit is coupled with the control module, and the second end of the third driving unit is coupled with the third phase of the motor.

[0016] The first driving unit is used for driving the first phase of the motor; the second driving unit is used for driving the second phase of the motor; and the third driving unit is used for driving the third phase of the motor.

[0017] Optionally, the first driving unit comprises a first driving chip, a first driving diode, a first driving capacitor, a first driving switch tube, a second driving switch tube, a third driving switch tube and a fourth driving switch tube.

[0018] The power supply end of the first drive chip is connected to a first voltage, the high-side channel logic input end and the low-side channel logic input end of the first drive chip are coupled with the control module, the ground end of the first drive chip is grounded, the high-side floating power supply end of the first drive chip is coupled with the cathode end of the first drive diode, the anode end of the first drive diode is coupled with the first voltage, the high-side floating power supply end of the first drive chip is coupled with the first phase of the motor through the first drive capacitor, the high-side drive output end of the first drive chip is respectively coupled with the control end of the first drive switch tube and the control end of the second drive switch tube, the first end of the first drive switch tube and the first end of the second drive switch tube are coupled with a second voltage, the second end of the first drive switch tube and the second end of the second drive switch tube are coupled with the first phase of the motor, the first end of the third drive switch tube and the first end of the fourth drive switch tube are coupled with the first phase of the motor, the second end of the third drive switch tube and the second end of the fourth drive switch tube are grounded, the high-side floating power supply return end of the first drive chip is coupled with the first phase of the motor, and the low-side drive output end of the first drive chip is coupled with the control end of the third drive switch tube and the control end of the fourth drive switch tube.

[0019] And / or, the second drive unit comprises: a second drive chip, a second drive diode, a second drive capacitor, a fifth drive switch tube, a sixth drive switch tube, a seventh drive switch tube and an eighth drive switch tube.

[0020] The power supply end of the second drive chip is connected to a first voltage, the high-side channel logic input end and the low-side channel logic input end of the second drive chip are coupled with the control module, the ground end of the second drive chip is grounded, the high-side floating power supply end of the second drive chip is coupled with the cathode end of the second drive diode, the anode end of the second drive diode is coupled with the first voltage, the high-side floating power supply end of the second drive chip is coupled with the second phase of the motor through the second drive capacitor, the high-side drive output end of the second drive chip is respectively coupled with the control end of the fifth drive switch tube and the control end of the sixth drive switch tube, the first end of the fifth drive switch tube and the first end of the sixth drive switch tube are coupled with the second voltage, the second end of the fifth drive switch tube and the second end of the sixth drive switch tube are coupled with the second phase of the motor, the first end of the seventh drive switch tube and the first end of the eighth drive switch tube are coupled with the second phase of the motor, the second end of the seventh drive switch tube and the second end of the eighth drive switch tube are grounded, the high-side floating power supply return end of the second drive chip is coupled with the second phase of the motor, and the low-side drive output end of the second drive chip is coupled with the control end of the seventh drive switch tube and the control end of the eighth drive switch tube.

[0021] And / or, the third driving unit comprises: a third driving chip, a third driving diode, a third driving capacitor, a ninth driving switch tube, a tenth driving switch tube, an eleventh driving switch tube and a twelfth driving switch tube;

[0022] The power supply end of the third driving chip is connected to the first voltage, the high-side channel logic input end and the low-side channel logic input end of the third driving chip are coupled with the control module, the ground end of the third driving chip is grounded, the high-side floating power supply end of the third driving chip is coupled with the cathode end of the third driving diode, the anode end of the third driving diode is coupled with the first voltage, the high-side floating power supply end of the third driving chip is coupled with the third phase of the motor through the third driving capacitor, the high-side driving output end of the third driving chip is coupled with the control end of the ninth driving switch tube and the control end of the tenth driving switch tube respectively, the first end of the ninth driving switch tube and the first end of the tenth driving switch tube are coupled with the second voltage, the second end of the ninth driving switch tube and the second end of the tenth driving switch tube are coupled with the third phase of the motor, the first end of the eleventh driving switch tube and the first end of the twelfth driving switch tube are coupled with the third phase of the motor, the second end of the eleventh driving switch tube and the second end of the twelfth driving switch tube are grounded, the high-side floating power supply return end of the third driving chip is coupled with the third phase of the motor, and the low-side driving output end of the third driving chip is coupled with the control end of the eleventh driving switch tube and the control end of the twelfth driving switch tube.

[0023] Optionally, the first input module comprises: an input controller, a function terminal, a first input resistor, a second input resistor, a third input resistor, a first input capacitor and a second input capacitor;

[0024] The first end of the input controller is connected to a power supply voltage, the second end of the input controller is coupled with the first end of the first input resistor through the function terminal, the second end of the first input resistor is coupled with the control module, the second input resistor is connected in parallel with the input controller, the first end of the first input capacitor is coupled with the second end of the input controller, the second end of the first input capacitor is grounded, the first end of the second input capacitor is coupled with the second end of the first input resistor, the second end of the second input capacitor is grounded, and the third input resistor is connected in parallel with the second input capacitor.

[0025] Optionally, the rotor position signal comprises: a Hall signal of the motor and / or a phase voltage signal of each phase of the motor, and the detection module comprises: a Hall detection unit and a phase voltage detection unit.

[0026] The Hall detection unit and the phase voltage detection unit are coupled with the control module;

[0027] The Hall detection unit is configured to acquire a Hall signal, and the phase voltage detection unit is configured to acquire a phase voltage of each phase of the motor.

[0028] Optionally, the motor control device further comprises a second input module;

[0029] A first end of the second input module is connected to a level signal, and a second end of the second input module is coupled with the control module;

[0030] The second input module is configured to generate a brake signal of the motor, the control module is further configured to generate a stop signal according to the brake signal, and the driving module is further configured to stop driving the motor according to the stop signal.

[0031] Optionally, the second input module comprises a first input diode, a fourth input resistor, a fifth input resistor, a sixth input resistor, a seventh input resistor, an eighth input resistor, a third input capacitor, and an input switch tube;

[0032] A cathode end of the first input diode is connected to a level signal, a first end of the fourth input resistor is coupled with the cathode end of the first input diode, a second end of the fourth input resistor is coupled with a control end of the input switch tube, a first end of the input switch tube is coupled with a first end of the fifth input resistor, a second end of the fifth input resistor is coupled with a first end of the sixth input resistor, a second end of the sixth input resistor is coupled with a power supply voltage, a first end of the sixth input resistor is further coupled with an anode end of the first input diode, the second end of the fifth input resistor is further coupled with a first end of the seventh input resistor, a second end of the seventh input resistor is coupled with the control module, the eighth input resistor is coupled between the control end of the input switch tube and a second end of the input switch tube, the second end of the input switch tube is grounded, and a first end of the third input capacitor is coupled with the second end of the seventh input resistor, and a second end of the third input capacitor is grounded.

[0033] Optionally, the motor control device further comprises a second sampling module and a bleeder module;

[0034] The second sampling module and the bleeder module are coupled with the control module;

[0035] The second sampling module is configured to detect an input current and an output current of the control module, and the bleeder module is configured to bleed the input current or the output current when the input current or the output current of the control module is greater than a preset current.

[0036] According to another aspect of the present application, there is also provided a motor control method, performed by the motor control device according to any one of the above embodiments, the motor control method comprising:

[0037] obtaining a target current signal, current signals of each phase of the motor and a rotor position signal of the motor;

[0038] determining a sector in which the rotor of the motor is currently located according to the rotor position signal of the motor;

[0039] generating an initial driving signal according to the target current signal and the current signals of each phase of the motor;

[0040] generating a driving signal according to the sector in which the rotor of the motor is currently located and the initial driving signal.

[0041] The embodiment of the present application generates a target current signal through a first input module, detects current signals of each phase of the motor through a first sampling module, acquires a rotor position signal of the motor through a detection module, determines a sector in which the rotor of the motor is currently located according to the rotor position signal of the motor, and generates a driving signal according to the target current signal, the current signals of each phase of the motor and the sector in which the rotor of the motor is currently located, so that the motor is controlled based on the driving signal, which is conducive to improving the accuracy of motor control.

[0042] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0044] Figure 1 is a schematic diagram of a motor control device provided by an embodiment of the present application;

[0045] Figure 2 is a schematic diagram of another motor control device provided by an embodiment of the present application;

[0046] Figure 3 is a schematic diagram of a first driving unit provided by an embodiment of the present application;

[0047] Figure 4 is a schematic diagram of a second driving unit provided by an embodiment of the present application;

[0048] Figure 5 is a schematic diagram of a third driving unit provided by an embodiment of the present application;

[0049] Figure 6 is a schematic diagram of a first input module provided by an embodiment of the present application;

[0050] Figure 7 is a schematic diagram of another first input module provided by an embodiment of the present application;

[0051] Figure 8 is a schematic diagram of another motor control device provided by an embodiment of the present application;

[0052] Figure 9 is a schematic diagram of a Hall detection unit provided by an embodiment of the present application;

[0053] Figure 10 is a schematic diagram of another motor control device provided by an embodiment of the present application;

[0054] Figure 11 is a schematic diagram of a second input module provided by an embodiment of the present application;

[0055] Figure 12 is a schematic diagram of another motor control device provided by an embodiment of the present application;

[0056] Figure 13 is a flow chart of a motor control method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the protection scope of the present application.

[0058] It is to be understood that the terminology "first", "second" and the like used in the specification and the claims of the application as well as the foregoing drawings is merely intended to distinguish between similar objects and not necessarily for describing a particular sequential order. It is to be understood that the use of such terms can be interchanged in suitable instances so that the embodiments of the application described herein can be carried out in other sequences than the one illustrated or described herein. Furthermore, the terms "comprise", "comprising", "have", "having", "include", "including", "contain", "containing", and any variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, system, product, or apparatus that comprises, has, includes, contains or contains one or more steps, elements, units, components, or objects, but does not necessarily consist of all of the one or more steps, elements, units, components, or objects, unless the context clearly indicates otherwise.

[0059] The embodiment of the application provides a motor control device. The motor control device is suitable for an electric bicycle, and is used for driving control of a motor of the electric bicycle. Figure 1 Fig. 1 is a schematic diagram of a motor control device provided by the embodiment of the application. Referring to Fig. 1, Figure 1 The motor control device comprises a first input module 110, a first sampling module 120, a detection module 130, a control module 140 and a driving module 150.

[0060] The first input module 110 is used for generating a target current signal. The first sampling module 120 is coupled with the motor 10, and is used for acquiring current signals of each phase of the motor 10. The detection module 130 is coupled with the motor 10, and is used for acquiring a rotor position signal of the motor 10. The control module 140 is coupled with the first input module 110, the detection module 130 and the first sampling module 120 respectively, and is used for determining a sector in which a rotor of the motor 10 currently locates according to the rotor position signal of the motor 10, and generating a driving signal according to the target current signal, the sector in which the rotor of the motor 10 currently locates and the current signals of each phase of the motor 10. The driving module 150 is coupled with the control module 140 and the motor 10 respectively, and is used for driving the motor 10 according to the driving signal.

[0061] Specifically, in actual application, a user can generate the target current signal through the first input module 110. Exemplarily, the first input module 110 can comprise a handlebar, and the handlebar is used for generating the target current signal by using different resistance values at different opening degrees.

[0062] The control module 140 acquires the target current signal generated by the first input module 110, the current signals of each phase of the motor 10 detected by the first sampling module 120, and the rotor position signal of the motor 10 detected by the detection module 130. The control module 140 determines the sector in which the rotor of the motor 10 is currently located according to the rotor position signal of the motor 10. The rotor position signal of the motor 10 may, for example, be a Hall signal or a phase voltage signal of each phase of the motor 10.

[0063] When the rotor position signal of the motor 10 is a Hall signal, the control module 140 filters the invalid signals in the Hall signal and matches the filtered Hall signal in a preset sector mapping table, thereby determining the sector in which the rotor of the motor 10 is currently located. The preset sector mapping table is a correspondence table of the Hall signal of the motor 10 and the rotor sector. When the rotor position signal of the motor 10 is the current signal of each phase of the motor 10, the control module 140 can calculate the sector in which the rotor of the motor 10 is currently located by the back electromotive force method. The control module 140 calculates the sector in which the rotor of the motor 10 is currently located according to the voltage waveform change of the unpowered phase when the motor 10 rotates. It should be noted that, in actual application, the control module 140 can determine the sector in which the rotor of the motor 10 is currently located by using the Hall signal alone, or by using the phase voltage signal of each phase of the motor 10 alone, or by using the Hall signal and the phase voltage signal of each phase of the motor 10 in combination, and the present embodiment does not limit this.

[0064] The control module 140 generates an initial driving signal by proportionally controlling the target current signal and the current signal of each phase of the motor 10, and adjusts the initial driving signal according to the sector in which the rotor of the motor 10 is currently located, combines the waveform of the initial driving signal with the phase sequence, and generates a driving signal. Exemplarily, the initial driving signal can be a PWM (Pulse-Width Modulation) signal, and the waveform of the PWM signal is combined with the phase sequence to generate the driving signal of the motor 10.

[0065] The driving module 150 acquires the driving signal generated by the control module 140 and controls the motor 10 based on the driving signal.

[0066] The embodiment of the present application generates a target current signal through the first input module 110, detects the current signals of each phase of the motor 10 through the first sampling module 120, acquires the rotor position signal of the motor 10 through the detection module 130, determines the sector where the rotor of the motor 10 is currently located according to the rotor position signal of the motor 10, generates a driving signal according to the target current signal, the current signals of each phase of the motor 10 and the sector where the rotor of the motor 10 is currently located, and controls the motor 10 based on the driving signal through the driving module 150, which is beneficial to improve the accuracy of motor control.

[0067] Figure 2 is a schematic diagram of another motor control device provided by the embodiment of the present application. Based on the above-mentioned embodiments, optionally, with reference to Figure 2 , the first sampling module 120 comprises a first sampling unit 121, a second sampling unit 122 and a third sampling unit 123.

[0068] The first end of the first sampling unit 121 is coupled with the first phase A of the motor 10, and the second end of the first sampling unit 121 is coupled with the control module 140; the first end of the second sampling unit 122 is coupled with the second phase B of the motor 10, and the second end of the second sampling unit 122 is coupled with the control module 140; the first end of the third sampling unit 123 is coupled with the third phase C of the motor 10, and the second end of the third sampling unit 123 is coupled with the control module 140; the first sampling unit 121 is used for acquiring the current of the first phase A of the motor 10; the second sampling unit 122 is used for acquiring the current of the second phase B of the motor 10; and the third sampling unit 123 is used for acquiring the current of the third phase C of the motor 10.

[0069] Exemplarily, the first sampling unit 121, the second sampling unit 122 and the third sampling unit 123 can be composed of at least two sampling resistances connected in series when actually applied.

[0070] Based on the above-mentioned embodiments, optionally, with reference to Figure 2 , the driving module 150 comprises a first driving unit 151, a second driving unit 152 and a third driving unit 153.

[0071] The first end of the first driving unit 151 is coupled with the control module 140, the second end of the first driving unit 151 is coupled with the first phase A of the motor 10, the first end of the second driving unit 152 is coupled with the control module 140, the second end of the second driving unit 152 is coupled with the second phase B of the motor 10, the first end of the third driving unit 153 is coupled with the control module 140, the second end of the third driving unit 153 is coupled with the third phase C of the motor 10; the first driving unit 151 is used for driving the first phase A of the motor 10; the second driving unit 152 is used for driving the second phase B of the motor 10; the third driving unit 153 is used for driving the third phase C of the motor 10.

[0072] Optionally, in actual application, the first sampling unit 121 can be connected to the first phase A of the motor 10 together with the first driving unit 151, that is, the second end of the first sampling unit 121 can be connected with the second end of the first driving unit 151, the second sampling unit 122 can be connected to the second phase B of the motor 10 together with the second driving unit 152, that is, the second end of the second sampling unit 122 can be connected with the second end of the second driving unit 152, and the third sampling unit 123 can be connected to the third phase C of the motor 10 together with the third driving unit 152, that is, the second end of the third sampling unit 123 can be connected with the second end of the third driving unit 153.

[0073] Figure 3 It is a schematic diagram of a first driving unit provided by an embodiment of the application. On the basis of the above-mentioned embodiments, optionally, referring to Figure 3 , the first driving unit 151 comprises: a first driving chip U1, a first driving diode D1, a first driving capacitor C1, a first driving switch tube M1, a second driving switch tube M2, a third driving switch tube M3 and a fourth driving switch tube M4.

[0074] The power supply end VCC of the first driving chip U1 is connected to the first voltage V1, the high side channel logic input end HIN and the low side channel logic input end LIN of the first driving chip U1 are coupled with the control module 140, the ground end COM of the first driving chip U1 is grounded, the high side floating power supply end VB of the first driving chip U1 is coupled with the cathode end of the first driving diode D1, the anode end of the first driving diode D1 is coupled with the first voltage V1, the high side floating power supply end VB of the first driving chip U1 is coupled with the first phase A of the motor 10 through the first driving capacitor C1, the high side driving output end HO of the first driving chip U1 is coupled with the control end of the first driving switch tube M1 and the control end of the second driving switch tube M2 respectively, the first end of the first driving switch tube M1 and the first end of the second driving switch tube M2 are coupled with the second voltage V2, the second end of the first driving switch tube M1 and the second end of the second driving switch tube M2 are coupled with the first phase A of the motor 10, the first end of the third driving switch tube M3 and the first end of the fourth driving switch tube M4 are coupled with the first phase A of the motor 10, the second end of the third driving switch tube M3 and the second end of the fourth driving switch tube M4 are grounded, the high side floating power supply return end VS of the first driving chip U1 is coupled with the first phase A of the motor 10, and the low side driving output end LO of the first driving chip U1 is coupled with the control end of the third driving switch tube M3 and the control end of the fourth driving switch tube M4.

[0075] Figure 4 is a schematic diagram of a second driving unit provided by an embodiment of the present application. On the basis of the above-mentioned embodiments, optionally, with reference to Figure 4 , the second driving unit 152 comprises a second driving chip U2, a second driving diode D2, a second driving capacitor C2, a fifth driving switch tube M5, a sixth driving switch tube M6, a seventh driving switch tube M7 and an eighth driving switch tube M8.

[0076] The power supply end VCC of the second driving chip U2 is connected to the first voltage V1, the high side channel logic input end HIN and the low side channel logic input end LIN of the second driving chip U2 are coupled with the control module 140, the ground end COM of the second driving chip U2 is grounded, the high side floating power supply end VB of the second driving chip U2 is coupled with the cathode end of the second driving diode D2, the anode end of the second driving diode D2 is coupled with the first voltage V1, the high side floating power supply end VB of the second driving chip U2 is coupled with the second phase B of the motor 10 through the second driving capacitor C2, the high side driving output end HO of the second driving chip U2 is coupled with the control end of the fifth driving switch tube M5 and the control end of the sixth driving switch tube M6 respectively, the first end of the fifth driving switch tube M5 and the first end of the sixth driving switch tube M6 are coupled with the second voltage V2, the second end of the fifth driving switch tube M5 and the second end of the sixth driving switch tube M6 are coupled with the second phase B of the motor 10, the first end of the seventh driving switch tube M7 and the first end of the eighth driving switch tube M8 are coupled with the second phase B of the motor 10, the second end of the seventh driving switch tube M7 and the second end of the eighth driving switch tube M8 are grounded, the high side floating power supply return end VS of the second driving chip U2 is coupled with the second phase B of the motor, and the low side driving output end LO of the second driving chip U2 is coupled with the control end of the seventh driving switch tube M7 and the control end of the eighth driving switch tube M8.

[0077] Figure 5 is a schematic diagram of a third driving unit provided by an embodiment of the present application. On the basis of the above-mentioned embodiments, optionally, with reference to Figure 5 , the third driving unit 153 comprises: a third driving chip U3, a third driving diode D3, a third driving capacitor C3, a ninth driving switch tube M9, a tenth driving switch tube M10, an eleventh driving switch tube M11 and a twelfth driving switch tube M12.

[0078] The power supply end VCC of the third driving chip U3 is connected to the first voltage V1, the high side channel logic input end HIN and the low side channel logic input end LIN of the third driving chip U3 are coupled with the control module 140, the ground end COM of the third driving chip U3 is grounded, the high side floating power supply end VB of the third driving chip U3 is coupled with the cathode end of the third driving diode D3, the anode end of the third driving diode D3 is coupled with the first voltage V1, the high side floating power supply end VB of the third driving chip U3 is coupled with the third phase C of the motor 10 through the third driving capacitor C3, the high side driving output end HO of the third driving chip U3 is coupled with the control end of the ninth driving switch tube M9 and the control end of the tenth driving switch tube M10 respectively, the first end of the ninth driving switch tube M9 and the first end of the tenth driving switch tube M10 are coupled with the second voltage V2, the second end of the ninth driving switch tube M9 and the second end of the tenth driving switch tube M10 are coupled with the third phase C of the motor 10, the first end of the eleventh driving switch tube M11 and the first end of the twelfth driving switch tube M12 are coupled with the third phase C of the motor 10, the second end of the eleventh driving switch tube M11 and the second end of the twelfth driving switch tube M12 are grounded, and the high side floating power supply return end VS of the third driving chip U3 is coupled with the third phase C of the motor 10. The low side driving output end LO of the third driving chip U3 is coupled with the control end of the eleventh driving switch tube M11 and the control end of the twelfth driving switch tube M12.

[0079] Figure 6 is a schematic diagram of a first input module provided by an embodiment of the present application. On the basis of the above-mentioned embodiments, optionally, with reference to Figure 6 , the first input module 110 comprises an input controller X1, a function terminal J1, a first input resistor R1, a second input resistor R2, a third input resistor R3, a first input capacitor C4 and a second input capacitor C5.

[0080] The first end of the input controller X1 is connected to a power supply voltage VCC, the second end of the input controller X1 is coupled with the first end of the first input resistor R1 through the function terminal J1, the second end of the first input resistor R1 is coupled with the control module 140, the second input resistor R2 is connected in parallel with the input controller X1, the first end of the first input capacitor C4 is coupled with the second end of the input controller X1, the second end of the first input capacitor C4 is grounded, the first end of the second input capacitor C5 is coupled with the second end of the first input resistor R1, the second end of the second input capacitor C5 is grounded, and the third input resistor R3 is connected in parallel with the second input capacitor C5. The input controller X1 may, for example, be a jog wheel.

[0081] In actual application, the first input module 110 can further be provided with a pulse speed measurement circuit, a fault indication circuit, a forward / reverse rotation indication circuit and an enable indication circuit. Figure 7is a schematic diagram of another first input module provided by an embodiment of the present application. Refer to Figure 7 The pulse speed detection circuit can be composed of a first pulse speed detection resistor R4 and a second pulse speed detection resistor R5 connected in series between the control module 140 and the function terminal J1.

[0082] Continuing to refer to Figure 7 The fault indication circuit includes a first fault indication resistor R6, a second fault indication resistor R7, and a fault indication diode D4. The first end of the first fault indication resistor R6 is connected to the power supply voltage VCC, the second end of the first fault indication resistor R6 is connected to the first end of the second fault indication resistor R7, the second end of the second fault indication resistor R7 is connected to the control module 140, the anode end of the fault indication diode D4 is connected to the second end of the first fault indication resistor R6, and the cathode end of the fault indication diode D4 is connected to the function terminal J1.

[0083] Continuing to refer to Figure 7 The forward-reverse indication circuit includes a first forward-reverse indication resistor R8, a second forward-reverse indication resistor R9, and a forward-reverse indication diode D5. The first end of the first forward-reverse indication resistor R8 is connected to the power supply voltage VCC, the second end of the first forward-reverse indication resistor R8 is connected to the first end of the second forward-reverse indication resistor R9, the second end of the second forward-reverse indication resistor R9 is connected to the control module 140, the anode end of the forward-reverse indication diode D5 is connected to the second end of the first forward-reverse indication resistor R8, and the cathode end of the forward-reverse indication diode D5 is connected to the function terminal J1.

[0084] Continuing to refer to Figure 7 The enable indication circuit includes a first enable indication resistor R10, a second enable indication resistor R11, and an enable indication diode D6. The first end of the first enable indication resistor R10 is connected to the power supply voltage VCC, the second end of the first enable indication resistor R10 is connected to the first end of the second enable indication resistor R11, the second end of the second enable indication resistor R11 is connected to the control module 140, the anode end of the enable indication diode D6 is connected to the second end of the first enable indication resistor R10, and the cathode end of the enable indication diode D6 is connected to the function terminal J1.

[0085] Figure 8 is a schematic diagram of another motor control device provided by an embodiment of the present application. On the basis of the above-mentioned embodiments, optionally, the rotor position signal includes a Hall signal of the motor and / or a phase voltage signal of each phase of the motor. Refer to Figure 8 The detection module 130 includes a Hall detection unit 131 and a phase voltage detection unit 132.

[0086] The Hall detection unit 131 and the phase voltage detection unit 132 are coupled with the control module 140; the Hall detection unit 131 is used to acquire a Hall signal; and the phase voltage detection unit 132 is used to acquire a phase voltage of each phase of the motor 10.

[0087] Specifically, the control module 140 filters invalid signals in the Hall signal detected by the Hall detection unit 131, and matches the filtered Hall signal in a preset sector mapping table, so as to determine a sector where the rotor of the motor 10 is currently located. The preset sector mapping table is a corresponding table of the Hall signal of the motor 10 and the rotor sector.

[0088] The control module 140 can also calculate the sector where the rotor of the motor 10 is currently located by using the back electromotive force method. The phase voltage detection unit 132 detects the phase voltage of each phase of the motor 10, and the control module 140 calculates the sector where the rotor of the motor 10 is currently located according to the voltage waveform change of the unpowered phase when the motor 10 rotates.

[0089] It should be noted that, in actual application, the control module 140 can determine the sector where the rotor of the motor 10 is currently located by using the Hall signal alone, or by using the phase voltage signal of each phase of the motor 10 alone, or by using the Hall signal and the phase voltage signal of each phase of the motor 10 in combination, and the present embodiment does not limit this.

[0090] Figure 9 is a schematic diagram of a Hall detection unit provided by an embodiment of the present application. On the basis of the above embodiments, optionally, referring to Figure 9 , the Hall detection unit 131 comprises a first terminal J2, a first detection resistor R12, a second detection resistor R13, a third detection resistor R14, a fourth detection resistor R15, a fifth detection resistor R16, a sixth detection resistor R17, a first detection capacitor C6, a second detection capacitor C7, a third detection capacitor C8, a fourth detection capacitor C9, and a detection diode D7.

[0091] The first terminal J2 is grounded at a first end, and a second end of the first terminal J2 is coupled to a first end of a first detection resistor R12, a second end of the first detection resistor R12 is coupled to a first end of a first detection capacitor C6, a second end of the first detection capacitor C6 is grounded, a third end of the first terminal J2 is coupled to a first end of a second detection resistor R13, a second end of the second detection resistor R13 is coupled to a first end of a second detection capacitor C7, a second end of the second detection capacitor C7 is grounded, the third end of the first terminal J2 is coupled to a first end of a third detection resistor R14, a second end of the third detection resistor R14 is coupled to a first end of a third detection capacitor C8, a second end of the third detection capacitor C8 is grounded, a first end of a fourth detection resistor R15 is coupled to a power supply voltage VCC, a second end of the fourth detection resistor R15 is coupled to the first end of the third detection resistor R14, a first end of a fifth detection resistor R16 is coupled to the first end of the fourth detection resistor R15, a second end of the fifth detection resistor R16 is coupled to the first end of the second detection resistor R13, a first end of a sixth detection resistor R17 is coupled to the first end of the fourth detection resistor R15, a second end of the sixth detection resistor R17 is coupled to the first end of the first detection resistor R12, an anode end of a detection diode D7 is coupled to the first end of the fourth detection resistor R15, a cathode end of the detection diode D7 is grounded through a fourth detection capacitor C9, the first end of the first detection capacitor C6, the first end of the second detection capacitor C7, and the first end of the third detection capacitor C8 are all coupled to the control module 140. The Hall detection unit 131 is connected with the motor 10 through the first terminal J2 to obtain the Hall signal of the motor 10.

[0092] Figure 10 is a schematic diagram of still another motor control device provided by an embodiment of the present application. On the basis of each of the above embodiments, optionally, referring to Figure 10 , the motor control device further comprises a second input module 160.

[0093] The first end of the second input module 160 is connected with a level signal, and the second end of the second input module 160 is coupled to the control module 140; the second input module 160 is used for generating a brake signal of the motor 10; the control module 140 is further used for generating a stop signal according to the brake signal; and the driving module 150 is further used for stopping driving the motor 10 according to the stop signal.

[0094] Specifically, in actual application, the brake signal can be generated by external triggering. The second input module 160 generates the brake signal upon receiving the level signal. Exemplarily, the brake signal can be a voltage. The control module 140 acquires the brake signal and generates the stop signal according to the brake signal. The drive module 150 stops driving the motor 10 according to the stop signal. It should be noted that, in actual application, the stop signal has a high priority compared with the drive signal, that is, the control module 140 generates the stop signal preferentially upon acquiring the brake signal, and the control module 140 generates the drive signal according to the target current signal, the current sector in which the rotor of the motor 10 is currently located and the current signal of each phase of the motor 10 when the control module 140 has no brake signal input.

[0095] Figure 11 is a schematic diagram of a second input module provided by an embodiment of the present application. On the basis of the above embodiments, optionally, with reference to Figure 11 , the second input module 160 comprises: a first input diode D8, a fourth input resistor R18, a fifth input resistor R19, a sixth input resistor R20, a seventh input resistor R21, an eighth input resistor R22, a third input capacitor C10 and an input switch tube M13.

[0096] The cathode terminal of the first input diode D8 is connected to the level signal V3, the first terminal of the fourth input resistor R18 is coupled to the cathode terminal of the first input diode D8, the second terminal of the fourth input resistor R18 is coupled to the control terminal of the input switch tube M13, the first terminal of the input switch tube M13 is coupled to the first terminal of the fifth input resistor R19, the second terminal of the fifth input resistor R19 is coupled to the first terminal of the sixth input resistor R20, the second terminal of the sixth input resistor R20 is coupled to the power supply voltage VCC, the first terminal of the sixth input resistor R20 is further coupled to the anode terminal of the first input diode D8, the second terminal of the fifth input resistor R19 is further coupled to the first terminal of the seventh input resistor R21, the second terminal of the seventh input resistor R21 is coupled to the control module 140, the eighth input resistor R22 is coupled between the control terminal of the input switch tube M13 and the second terminal of the input switch tube M13, the second terminal of the input switch tube M13 is grounded, the first terminal of the third input capacitor C10 is coupled to the second terminal of the seventh input resistor R21, and the second terminal of the third input capacitor C10 is grounded.

[0097] Figure 12 is a schematic diagram of a motor control device provided by another embodiment of the present application. On the basis of the above embodiments, optionally, with reference to Figure 12 , the motor control device further comprises: a second sampling module 170 and a bleeder module 180.

[0098] The second sampling module 170 and the bleed module 180 are coupled with the control module 140; the second sampling module is used for detecting the input current and the output current of the control module 140; the bleed module 180 is used for bleeding the input current or the output current when the input current or the output current of the control module 140 is greater than a preset current.

[0099] Specifically, the preset current is a preset maximum value of the input current and the output current of the control module 140. The second sampling module 170 detects the input current and the output current of the control module 140, and the control module 140 compares the input current or the output current detected by the second sampling module 170 with the preset current, and controls the bleed module 180 to bleed the input current or the output current when the input current or the output current is greater than the preset current.

[0100] The embodiment of the application further provides a motor control method, which is executed by the motor control device provided by any of the above embodiments. Figure 13 is a flowchart of a motor control method provided by the embodiment of the application. Referring to Figure 13 , the motor control method comprises:

[0101] S110, obtaining a target current signal, a current signal of each phase of the motor, and a rotor position signal of the motor.

[0102] Specifically, the target current signal can be obtained based on the first input module, the current signal of each phase of the motor can be obtained based on the first sampling module, and the rotor position signal of the motor can be obtained based on the detection module.

[0103] S120, determining a sector in which the rotor of the motor currently locates according to the rotor position signal of the motor.

[0104] Specifically, the rotor position signal of the motor can be a Hall signal or a phase voltage signal of each phase of the motor.

[0105] When the rotor position signal of the motor is the Hall signal, the control module filters invalid signals in the Hall signal, and matches the filtered Hall signal in a preset sector mapping table, so as to determine the sector in which the rotor of the motor currently locates. The preset sector mapping table is a corresponding table of the motor Hall signal and the rotor sector. When the rotor position signal of the motor is the current signal of each phase of the motor, the control module can calculate the sector in which the rotor of the motor currently locates by the back electromotive force method. The control module calculates the sector in which the rotor of the motor currently locates according to the voltage waveform change of the unenergized phase when the motor rotates.

[0106] In actual application, the control module can determine the sector in which the rotor of the motor currently locates by using the Hall signal alone, can determine the sector in which the rotor of the motor currently locates by using the phase voltage signal of each phase of the motor alone, or can determine the sector in which the rotor of the motor currently locates by combining the Hall signal and the phase voltage signal of each phase of the motor.

[0107] S130, generating an initial driving signal according to the target current signal and the current signal of each phase of the motor.

[0108] Specifically, the target current signal and the current signal of each phase of the motor are proportionally controlled to generate the initial driving signal. Exemplarily, the initial driving signal can be a PWM (Pulse-Width Modulation) signal.

[0109] S140, generating a driving signal according to the sector in which the rotor of the motor currently locates and the initial driving signal.

[0110] Specifically, the sector in which the rotor of the motor currently locates is adjusted to the initial driving signal, i.e., the waveform of the initial driving signal is combined with the phase sequence to generate the driving signal.

[0111] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0112] The above detailed description does not constitute a limitation on the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An electric motor control device characterized by comprising: The application relates to a motor control system and a motor control method. The motor control system comprises: a first input module for generating a target current signal; a first sampling module coupled with the motor, the first sampling module being used for acquiring current signals of each phase of the motor; a detection module coupled with the motor, the detection module being used for acquiring a rotor position signal of the motor; a control module coupled with the first input module, the detection module and the first sampling module, the control module being used for determining a sector where the rotor of the motor is currently located according to the rotor position signal of the motor, and generating a driving signal according to the target current signal, the sector where the rotor of the motor is currently located and the current signals of each phase of the motor; 2. The motor control device according to claim 1, characterized by a driving module coupled with the control module and the motor, the driving module being used for driving the motor according to the driving signal. The first sampling module comprises a first sampling unit, a second sampling unit and a third sampling unit. The first end of the first sampling unit is coupled with the first phase of the motor, and the second end of the first sampling unit is coupled with the control module; the first end of the second sampling unit is coupled with the second phase of the motor, and the second end of the second sampling unit is coupled with the control module; the first end of the third sampling unit is coupled with the third phase of the motor, and the second end of the third sampling unit is coupled with the control module.

3. The motor control device according to claim 1, characterized by The first sampling unit is used for acquiring the current of the first phase of the motor; the second sampling unit is used for acquiring the current of the second phase of the motor; and the third sampling unit is used for acquiring the current of the third phase of the motor. The driving module comprises a first driving unit, a second driving unit and a third driving unit. The first end of the first driving unit is coupled with the control module, the second end of the first driving unit is coupled with the first phase of the motor, the first end of the second driving unit is coupled with the control module, the second end of the second driving unit is coupled with the second phase of the motor, the first end of the third driving unit is coupled with the control module, and the second end of the third driving unit is coupled with the third phase of the motor.

4. The motor control device according to claim 3, characterized by The first driving unit is used for driving the first phase of the motor; the second driving unit is used for driving the second phase of the motor; and the third driving unit is used for driving the third phase of the motor. The first driving unit comprises a first driving chip, a first driving diode, a first driving capacitor, a first driving switch tube, a second driving switch tube, a third driving switch tube and a fourth driving switch tube. The power supply end of the first drive chip is connected to a first voltage, the high-side channel logic input end and the low-side channel logic input end of the first drive chip are coupled with the control module, the ground end of the first drive chip is grounded, the high-side floating power supply end of the first drive chip is coupled with the cathode end of the first drive diode, the anode end of the first drive diode is coupled with the first voltage, the high-side floating power supply end of the first drive chip is coupled with the first phase of the motor through the first drive capacitor, the high-side drive output end of the first drive chip is respectively coupled with the control end of the first drive switch tube and the control end of the second drive switch tube, the first end of the first drive switch tube and the first end of the second drive switch tube are coupled with a second voltage, the second end of the first drive switch tube and the second end of the second drive switch tube are coupled with the first phase of the motor, the first end of the third drive switch tube and the first end of the fourth drive switch tube are coupled with the first phase of the motor, the second end of the third drive switch tube and the second end of the fourth drive switch tube are grounded, the high-side floating power supply return end of the first drive chip is coupled with the first phase of the motor, and the low-side drive output end of the first drive chip is coupled with the control end of the third drive switch tube and the control end of the fourth drive switch tube. And / or, the second drive unit comprises: a second drive chip, a second drive diode, a second drive capacitor, a fifth drive switch tube, a sixth drive switch tube, a seventh drive switch tube and an eighth drive switch tube. The power supply end of the second drive chip is connected to a first voltage, the high-side channel logic input end and the low-side channel logic input end of the second drive chip are coupled with the control module, the ground end of the second drive chip is grounded, the high-side floating power supply end of the second drive chip is coupled with the cathode end of the second drive diode, the anode end of the second drive diode is coupled with the first voltage, the high-side floating power supply end of the second drive chip is coupled with the second phase of the motor through the second drive capacitor, the high-side drive output end of the second drive chip is respectively coupled with the control end of the fifth drive switch tube and the control end of the sixth drive switch tube, the first end of the fifth drive switch tube and the first end of the sixth drive switch tube are coupled with the second voltage, the second end of the fifth drive switch tube and the second end of the sixth drive switch tube are coupled with the second phase of the motor, the first end of the seventh drive switch tube and the first end of the eighth drive switch tube are coupled with the second phase of the motor, the second end of the seventh drive switch tube and the second end of the eighth drive switch tube are grounded, the high-side floating power supply return end of the second drive chip is coupled with the second phase of the motor, and the low-side drive output end of the second drive chip is coupled with the control end of the seventh drive switch tube and the control end of the eighth drive switch tube. And / or, the third drive unit comprises: a third drive chip, a third drive diode, a third drive capacitor, a ninth drive switch tube, a tenth drive switch tube, an eleventh drive switch tube and a twelfth drive switch tube. The power supply end of the third driving chip is connected to the first voltage, the high side channel logic input end and the low side channel logic input end of the third driving chip are coupled with the control module, the ground end of the third driving chip is grounded, the high side floating power supply end of the third driving chip is coupled with the cathode end of the third driving diode, the anode end of the third driving diode is coupled with the first voltage, the high side floating power supply end of the third driving chip is coupled with the third phase of the motor through the third driving capacitor, the high side driving output end of the third driving chip is coupled with the control end of the ninth driving switch tube and the control end of the tenth driving switch tube respectively, the first end of the ninth driving switch tube and the first end of the tenth driving switch tube are coupled with the second voltage, the second end of the ninth driving switch tube and the second end of the tenth driving switch tube are coupled with the third phase of the motor, the first end of the eleventh driving switch tube and the first end of the twelfth driving switch tube are coupled with the third phase of the motor, the second end of the eleventh driving switch tube and the second end of the twelfth driving switch tube are grounded, the high side floating power supply return end of the third driving chip is coupled with the third phase of the motor, and the low side driving output end of the third driving chip is coupled with the control end of the eleventh driving switch tube and the control end of the twelfth driving switch tube.

5. The motor control device according to any one of claims 1 to 4, characterized by The first input module comprises an input controller, a function terminal, a first input resistor, a second input resistor, a third input resistor, a first input capacitor and a second input capacitor; The first end of the input controller is connected to a power supply voltage, the second end of the input controller is coupled with the first end of the first input resistor through the function terminal, the second end of the first input resistor is coupled with the control module, the second input resistor is connected in parallel with the input controller, the first end of the first input capacitor is coupled with the second end of the input controller, the second end of the first input capacitor is grounded, the first end of the second input capacitor is coupled with the second end of the first input resistor, the second end of the second input capacitor is grounded, and the third input resistor is connected in parallel with the second input capacitor.

6. The motor control device according to any one of claims 1 to 4, characterized by The rotor position signal comprises a Hall signal of the motor and / or a phase voltage signal of each phase of the motor, and the detection module comprises a Hall detection unit and a phase voltage detection unit. The Hall detection unit and the phase voltage detection unit are coupled with the control module. The Hall detection unit is configured to acquire a Hall signal, and the phase voltage detection unit is configured to acquire a phase voltage of each phase of the motor.

7. The motor control device of claim 1, wherein Further comprising: a second input module; The first end of the second input module is connected to a level signal, and the second end of the second input module is coupled with the control module; The second input module is configured to generate a brake signal of the motor, the control module is further configured to generate a stop signal according to the brake signal, and the driving module is further configured to stop driving the motor according to the stop signal.

8. The motor control device of claim 7, wherein The second input module comprises a first input diode, a fourth input resistor, a fifth input resistor, a sixth input resistor, a seventh input resistor, an eighth input resistor, a third input capacitor and an input switch tube; The cathode end of the first input diode is connected to a level signal, the first end of the fourth input resistor is coupled to the cathode end of the first input diode, the second end of the fourth input resistor is coupled to the control end of the input switch tube, the first end of the input switch tube is coupled to the first end of the fifth input resistor, the second end of the fifth input resistor is coupled to the first end of the sixth input resistor, the second end of the sixth input resistor is coupled to a power supply voltage, the first end of the sixth input resistor is also coupled to the anode end of the first input diode, the second end of the fifth input resistor is also coupled to the first end of the seventh input resistor, the second end of the seventh input resistor is coupled to the control module, the eighth input resistor is coupled between the control end of the input switch tube and the second end of the input switch tube, the second end of the input switch tube is grounded, the first end of the third input capacitor is coupled to the second end of the seventh input resistor, and the second end of the third input capacitor is grounded.

9. The motor control device of claim 1, wherein Further comprising: a second sampling module and a bleeding module; The second sampling module and the bleeding module are coupled to the control module; The second sampling module is used to detect the input current and the output current of the control module, and the bleeding module is used to bleed the input current or the output current when the input current or the output current of the control module is greater than a preset current.

10. A method of controlling an electric machine, characterized by The motor control method is executed by the motor control device as claimed in any one of claims 1-9, and the motor control method comprises: acquiring a target current signal, current signals of each phase of the motor and a rotor position signal of the motor; determining a sector in which the rotor of the motor currently locates according to the rotor position signal of the motor; generating an initial driving signal according to the target current signal and the current signals of each phase of the motor; generating a driving signal according to the sector in which the rotor of the motor currently locates and the initial driving signal.

Images