High-precision driving system, device and equipment supporting three-motor control

Abstract

The invention relates to a high-precision driving system, device and equipment supporting three-motor control. The system comprises the steps of acquiring the position of a motor rotor through an interrupt acquisition mode based on a Hall sensor signal, generating a motor driving PWM signal through a six-step commutation algorithm according to the position of the motor rotor, and converting current loop control into motor torque loop control through a PID control algorithm according to a phase current feedback signal. Hall signals are collected in real time in an interruption mode, it is ensured that the position of the rotor is sensed accurately and timely, and a foundation is laid for efficient driving; six-step commutation is executed based on the rotor position, and a hardware linkage mechanism is utilized to convert single-path PWM into six-path driving signals, so that efficient and reliable control of the motor is realized; through high-precision current feedback and PID closed-loop adjustment, a current loop is converted into a torque loop according to a torque-current proportional relation, and accurate, stable and anti-interference control over the output torque of the motor is achieved.

Description

Technical Field

[0001] This application relates to the field of motor control and drive technology, and in particular to a high-precision drive system, device and equipment that supports three-motor control. Background Technology

[0002] With the rapid development of technology, the application fields of electric vehicles, industrial automation equipment, and various high-performance drive systems are constantly expanding. Among these fields, multi-motor drive systems have attracted much attention due to their ability to provide more powerful performance, higher efficiency, and more flexible control. Three-motor control drive systems, as an important form of multi-motor drive, possess unique advantages and broad application prospects. In traditional three-motor drive systems, simple parallel or series connections are typically used to connect the motors. For example, in some early electric vehicle applications, the three motors might simply be connected in parallel to the same power source, with their power aggregated and output through a mechanical transmission. This connection method is structurally simple, but it has significant shortcomings in terms of control precision and flexibility. The coordination between motors is poor, making it difficult to achieve precise power distribution and synchronous control. When vehicles are driving in complex road conditions or require precise operations (such as lane keeping and automatic parking in autonomous driving), this simple control method cannot meet the requirements for power output precision and response speed. In some high-performance drive applications, such as aerospace, high-end ship propulsion, and autonomous driving, the requirements for the control precision, reliability, and dynamic response capabilities of three-motor drive systems are extremely high.

[0003] Traditional braking systems typically suffer from the following problems: First, insufficient control precision. Traditional three-motor control methods mostly employ simple open-loop control or closed-loop control based on fixed parameters. Under complex operating conditions, when factors such as motor load characteristics and ambient temperature change, this control method cannot accurately adjust the motor's operating parameters in real time. For applications requiring precise synchronization of multiple motors, traditional control technology struggles to guarantee synchronization accuracy. Second, poor coordination. In three-motor drive systems, there is a lack of effective coordination mechanisms between the motors. Traditional control methods do not adequately consider the coupling relationships between motors; electromagnetic and mechanical coupling can affect the overall system performance, potentially leading to interference with motor control signals, resulting in malfunctions or decreased control precision. Third, slow dynamic response. In some traditional systems, the sensors used are of low precision and have slow response speeds, failing to acquire timely and accurate motor operating status information (such as speed, torque, and current). Furthermore, traditional systems often use open-loop control, preventing the control system from making rapid decisions based on real-time data, thus affecting the overall system's dynamic performance. Finally, low reliability. In traditional three-motor drive systems, the motor drive and control circuits often employ a centralized layout. If a critical component in the control or drive circuit fails, the entire system may lose its functionality. Summary of the Invention

[0004] This application provides a high-precision drive system supporting three-motor control, characterized in that it includes: The motor rotor position is obtained based on Hall sensor signals through an interrupt acquisition method; Based on the position of the motor rotor, a six-step commutation algorithm is used to generate the motor drive PWM signal; Based on the phase current feedback signal, the current loop control is converted into motor torque loop control through a PID control algorithm.

[0005] Optionally, the step of obtaining the motor rotor position based on Hall sensor signals through an interrupt acquisition method includes: Based on the level signal generated by the three-phase Hall sensor, the digital signal combination reflecting the real-time position of the motor rotor is acquired in real time by configuring the interrupt service routine of the microcontroller. By reading and analyzing the combined states of Hall signals, the precise sector position of the motor rotor within the electrical angle period can be obtained.

[0006] Optionally, the step of generating a motor drive PWM signal based on the motor rotor position using a six-step commutation algorithm includes: Based on the obtained motor rotor position, the two phase windings that need to be turned on at the current moment are determined through a preset six-step commutation logic. Based on the determined winding conduction sequence, the hardware linkage between the timer and the logic control unit is configured to convert one basic PWM waveform into six independent drive signals to control the power switching devices of the brushless DC motor.

[0007] Optionally, the step of converting current loop control into motor torque loop control based on the phase current feedback signal using a PID control algorithm includes: Based on the phase voltage signal processed by the motor driver chip, high-precision motor phase current data is obtained through a high-frequency sample-and-hold circuit. Based on the error between the set target current value and the actual current feedback value, the PID control algorithm is used to calculate and obtain the control quantity used to adjust the duty cycle of the PWM waveform. Based on the direct proportional relationship between motor torque and phase current, closed-loop precise control of motor torque output is achieved by converting the target torque value into a target current value.

[0008] Optionally, the level signal generated by the three-phase Hall sensor is acquired in real time through the interrupt service routine of the microcontroller to obtain a combination of digital signals reflecting the real-time position of the motor rotor, including: Based on the level signal output by the three-phase Hall sensor, the combination of digital signals that change in real time is obtained by configuring an edge-triggered interrupt; The instantaneous position information of the motor rotor is obtained by reading and latching the Hall signal combination in real time; Based on the mapping relationship between Hall signals and electrical angles, the basic sector position of the motor rotor within the electrical angle period is obtained by analyzing the signal combination.

[0009] Optionally, the step of converting a basic PWM waveform into six independent drive signals to control the power switching devices of the brushless DC motor by configuring hardware linkage between the timer and the logic control unit according to the determined winding conduction sequence includes: Based on the winding conduction sequence determined by the six-step commutation logic, a basic PWM waveform is generated by the main control timer; Based on the aforementioned basic PWM waveform, six timing-interlocked PWM signals are generated by triggering and logic units; Based on the switching sequence of the six PWM signals, the motor windings are alternately turned on by the drive circuit to achieve six-step commutation drive.

[0010] Optionally, the step of calculating the control quantity for adjusting the duty cycle of the PWM waveform based on the error between the set target current value and the actual collected current feedback value using a PID control algorithm includes: Based on the set target current value and the actual collected phase current feedback value, the input deviation signal of the current loop is obtained by calculating the error. Based on the error, the control quantity is calculated using a PID control algorithm, and the duty cycle of the PWM waveform is adjusted accordingly to regulate the input voltage of the motor in real time. The control quantity, let the proportional coefficient be... The integral coefficient is The differential coefficient is The current error is Then the control quantity for: ; Based on the direct proportional relationship between torque and current, closed-loop control of the torque loop is achieved by converting the target torque value into the target setpoint of the current loop. The ratio of torque to current is given by assuming the torque coefficient is... The phase current is The torque is The ratio of torque to current is: .

[0011] This application also provides a high-precision drive device supporting three-motor control, characterized in that the device comprises: The position acquisition module is used to obtain the motor rotor position based on Hall sensor signals through an interrupt acquisition method; The signal generation module is used to generate a motor drive PWM signal based on the motor rotor position using a six-step commutation algorithm. The control module is used to convert current loop control into motor torque loop control based on the phase current feedback signal and through a PID control algorithm.

[0012] Optionally, the control module further includes: The high-precision phase current acquisition module is used to acquire high-precision motor phase current data based on the phase voltage signal processed by the motor drive chip through a high-frequency sampling and holding circuit. The current loop PID control module is used to calculate the control quantity for adjusting the duty cycle of the PWM waveform based on the error between the set current target value and the actual current feedback value through the PID control algorithm. The torque loop conversion module is used to achieve closed-loop precise control of the motor torque output by converting the target torque value into the target set value of the current loop based on the direct proportional relationship between motor torque and phase current.

[0013] This application also provides an electronic device, characterized in that it is used to implement any of the high-precision drive systems supporting three-motor control, including... The microcontroller unit is used to perform motor position calculation, commutation logic judgment and closed-loop control algorithm to realize torque loop control of three motors; The signal conditioning and driving unit is used to process Hall sensor signals, amplify and convert phase current signals, and drive power switching devices; The communication interface unit provides multiple configurable CAN channels to enable data exchange between the controller and external devices. Memory is used to store processor-executable instructions and statically stored data.

[0014] The beneficial effects of this application are as follows: by acquiring the motor rotor position in real time based on Hall sensor signals and in an interrupt manner, the accuracy and timeliness of position perception are ensured, laying the foundation for efficient motor drive; by executing a six-step commutation algorithm based on the rotor position and using a hardware linkage mechanism to convert a single-channel PWM waveform into six-channel drive signals, efficient and reliable control of the brushless DC motor is achieved; and by using a PID control algorithm based on a high-precision phase current feedback signal to achieve current closed-loop regulation, and converting the current loop into a torque loop according to the torque-current ratio, the precise, stable and anti-interference control of the motor output torque is finally achieved. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings required in the description of the embodiments or the prior art are briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0016] Figure 1 A flowchart illustrating a specific embodiment of a high-precision drive system supporting three-motor control is shown. Figure 2 This invention provides a functional block diagram of a high-precision drive system supporting three-motor control according to a specific embodiment of the present application. Figure 3 A schematic diagram of the switch of a high-precision drive system supporting three-motor control according to a specific embodiment of this application is shown. Figure 4 This is a device block diagram showing a specific embodiment of a high-precision drive device supporting three-motor control according to this application. Detailed Implementation

[0017] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0018] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0019] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0020] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0021] This application proposes a high-precision drive system supporting three-motor control to address the problems of insufficient torque output accuracy, poor anti-interference capability, and low system resource utilization efficiency in multi-motor collaborative scenarios. Based on the AUTSAR architecture, the system is configured and developed by first acquiring Hall sensor signals in real time through interrupt service routines to obtain the precise position of the motor rotor. Then, based on this position, a six-step commutation algorithm is adopted, and the TRGMUX module of the MCU chip is used to associate a basic PWM generated by eMIOS with the LCU module, efficiently generating six PWM drive signals to control motor commutation. Finally, high-frequency synchronous acquisition of phase current is used as feedback, and a PID algorithm is applied to achieve precise closed-loop control of the current loop. Based on the direct proportional relationship between torque and current, the current loop control is seamlessly converted into a directly settable and manageable torque loop control. This application enables independent, high-precision control of the torque of each motor, with stable torque output and excellent anti-interference performance when facing load fluctuations. Simultaneously, this hardware architecture effectively improves the utilization rate of internal chip resources, providing a reliable solution for complex multi-motor collaborative applications.

[0022] Example 1 like Figure 1 The diagram shown is a flowchart of a high-precision drive system supporting three-motor control according to an embodiment of this application, which specifically includes the following: The S100 acquires the motor rotor position based on Hall sensor signals through an interrupt acquisition method.

[0023] Specifically, based on the inherent correspondence between the rotor position and the Hall sensor output signals during the operation of a three-phase brushless DC motor, a real-time position sensing mechanism with interrupt triggering at its core is established. By configuring the microcontroller's interrupt system to respond to the transition edges of the Hall sensor output levels, an interrupt service routine is immediately initiated the instant the motor rotor position changes. Within the interrupt service routine, the system synchronously reads and latches the level states of the three-phase Hall signals, obtaining a specific digital combination. Subsequently, based on the preset mapping relationship between the Hall signal combination and the motor's 360-degree electrical angle sectors, the unique electrical angle interval corresponding to this digital combination is analyzed. Finally, through this high-priority, low-latency hardware interrupt process, the system accurately obtains the precise sector position of the motor rotor within the current electrical cycle in real time, providing crucial position input for subsequent commutation control.

[0024] The S200 generates a motor drive PWM signal based on the motor rotor position using a six-step commutation algorithm.

[0025] Specifically, based on the real-time acquisition of the precise sector position of the motor rotor, a preset six-step commutation logic table is invoked to establish a mapping rule between the rotor position and the conduction state of the power switching devices. This logic table strictly defines the two-phase winding conduction combination corresponding to each electrical angle interval, ensuring that the magnetic field vector always leads the rotor magnetic field to generate maximum effective torque. To achieve efficient and synchronous control of the six switching devices, the system generates a basic PWM waveform by configuring the timer module of the microcontroller unit to set the average voltage level of the motor drive. Then, utilizing the chip's unique hardware triggering and logic unit linkage mechanism, this aforementioned basic PWM waveform is used as input and reconstructed and allocated through internal hardware logic circuits to generate six PWM drive signals that are strictly interlocked in timing and conform to the current commutation requirements in state. Finally, these six signals are applied to the six power switching devices of the three-phase full-bridge drive circuit, controlling the motor windings to alternately conduct according to the six-step commutation sequence, thereby driving the motor to rotate smoothly and efficiently continuously.

[0026] The S300, based on the phase current feedback signal, uses a PID control algorithm to convert current loop control into motor torque loop control.

[0027] Specifically, based on the phase voltage analog signal obtained from the sampling resistor of the motor drive chip and converted by the internal amplifier, a high-frequency sampling mechanism synchronized with the PWM wave is established. Hardware-triggered ADCs are used to synchronously acquire and convert the three-phase current signals to digital at specific moments, thereby obtaining high-fidelity real-time phase current data. The system compares this acquired actual current value with the preset current target value to calculate the instantaneous current error. Subsequently, a PID (Proportional-Integral-Derivative) control algorithm is applied to process this error. The proportional term is used for rapid error response, the integral term is used to eliminate steady-state error, and the derivative term is used to suppress overshoot and oscillation. By superimposing the three outputs, the optimal control quantity for adjusting the PWM waveform duty cycle is calculated. Furthermore, based on the core physical relationship in motor mechanics that torque output is linearly proportional to phase current, the system converts the externally set higher-level torque target value into the internal target setpoint of the current loop using a proportional coefficient. Ultimately, through this cascaded control architecture that uses current closed-loop control as the inner loop and torque setting as the outer loop, the system achieves precise, stable, and dynamically responsive closed-loop control of the motor output torque, namely torque loop control.

[0028] In summary, this application addresses the problems of large position sensing delay, low drive efficiency, and insufficient torque control accuracy in traditional brushless DC motor control by constructing a high-precision torque loop control system based on high real-time position sensing and hardware-level PWM generation. Firstly, it breaks away from the traditional position detection mode based on software polling or low-speed sampling, establishing a high real-time rotor position sensing mechanism centered on hardware interrupts. By configuring the microcontroller unit to respond instantly to the level transitions of the three-phase Hall sensor signals, and synchronously reading, latching, and parsing signal combinations in the interrupt service routine, the system can accurately obtain the current sector position within the electrical angle cycle the instant the motor rotor position changes. This reduces the delay and uncertainty of position sensing, providing an accurate and timely position reference for subsequent commutation control, and ensuring the synchronization and stability of the motor drive from the source. Secondly, it innovates the complex driving mode that relies on software to generate multiple PWM signals, and designs a high-efficiency conversion architecture based on hardware linkage from a single PWM to six drive signals. The system determines the six-step commutation logic by looking up a table based on the obtained precise rotor position. Then, it uses the chip's built-in timer, trigger routing and logic control unit to automatically reconstruct and allocate a basic PWM waveform into six drive signals with strict timing interlock and state that meet the commutation requirements. This hardware-level signal generation and allocation not only greatly reduces the computational burden of the microcontroller unit, but also ensures the accuracy and reliability of the driving timing of the power switching devices, fundamentally eliminating the risk of shoot-through short circuits and realizing efficient and stable motor driving. Finally, the challenges of precision and dynamic response in the transition from current control to torque control were overcome. A cascaded closed-loop control architecture with the current loop embedded in the torque loop was constructed. High-fidelity phase current feedback was obtained through high-frequency synchronous sampling technology, and a PID algorithm was applied to comprehensively adjust the current error using proportional, integral, and derivative methods. The system achieved rapid and precise closed-loop control of the motor phase current. Based on this, and leveraging the linear physical relationship between motor torque and phase current, the external torque target value was seamlessly converted into the internal setpoint of the current loop. This enabled direct and precise closed-loop control of the motor output torque, giving the system excellent anti-interference capabilities against external load disturbances, ensuring the stability of torque output and rapid dynamic response, and ultimately achieving high-precision control of motor torque. Through the above three-in-one systematic innovations, this application constitutes a brushless DC motor control system that is fast-responding, highly efficient in drive, and precise in control, providing a reliable technical solution for high-end industrial applications with stringent torque control requirements.

[0029] As an optional implementation of this application, optionally, in step S100, the motor rotor position is obtained based on the Hall sensor signal through an interrupt acquisition method, including: 101. Based on the level signal generated by the three-phase Hall sensor, the digital signal combination reflecting the real-time position of the motor rotor is acquired in real time by configuring the interrupt service routine of the microcontroller.

[0030] Specifically, based on the fixed positional relationship between the Hall sensor and the rotor magnetic poles in a three-phase brushless DC motor, a digital signal acquisition mechanism centered on hardware interrupts is established. By configuring the GPIO pins of the microcontroller unit as interrupt input mode and setting the trigger condition to both rising and falling edge triggering, the system ensures that the Hall sensor output level responds immediately to any transition. When the level of any phase Hall signal changes, the interrupt controller of the microcontroller unit pauses the current main program and executes a pre-registered interrupt service routine. In this routine, the system directly reads the GPIO port status register to synchronously acquire the instantaneous level values ​​of the three-phase Hall signals and combines them into a 3-bit binary number to reflect the relative position between the rotor magnetic poles and the sensor. To achieve stable signal acquisition, after the read operation, a software latching mechanism is used to save the current state to a dedicated variable, preventing data changes due to signal jitter during subsequent processing. Based on the working principle of a brushless DC motor, the 360-degree electrical angle cycle is divided into six uniform sectors, each corresponding to a unique Hall signal combination. The system uses a preset mapping table to convert the acquired binary combinations into specific sector numbers, with the mapping relationship strictly following the mechanical installation phase of the Hall sensor within the motor. Finally, by interrupting the acquisition process, the system obtains the absolute position reference of the motor rotor within the electrical cycle, providing crucial input for subsequent commutation control.

[0031] 102. By reading and parsing the combined state of the Hall signals, the precise sector position of the motor rotor within the electrical angle period can be obtained.

[0032] Specifically, based on the latched Hall signal digital combination, a precise analysis process for the motor rotor position is executed. This involves querying a Hall state-sector mapping table pre-stored in the microcontroller's non-volatile memory, mapping the 3-bit binary input to sector numbers 0 to 5. The mapping table structure strictly adheres to the electrical characteristics of the brushless DC motor, with each sector covering 60 electrical degrees. Adjacent sectors differ by only one bit in their corresponding Hall signal combinations, ensuring continuity of position changes. During the analysis process, illegal states caused by sensor installation errors or electromagnetic interference must be handled specially. These states are handled by maintaining the previous valid state or using a state machine prediction algorithm for fault tolerance. After obtaining the sector number, the system further converts it into specific electrical angle values; for example, sector 0 corresponds to 0-60 degrees, sector 1 corresponds to 60-120 degrees, and so on. To achieve smooth torque output, the system sets appropriate hysteresis intervals at the sector boundaries to prevent frequent commutation caused by signal jitter. Finally, through this position resolution method that combines hardware mapping and software fault tolerance, the system obtains accurate rotor position information with minimal computational overhead, laying the foundation for efficient motor operation.

[0033] As an optional implementation of this application, optionally, in step S200, a motor drive PWM signal is generated according to the motor rotor position using a six-step commutation algorithm, including: 201. Based on the obtained motor rotor position, the two phase windings that need to be turned on at the current moment are determined through the preset six-step commutation logic.

[0034] Specifically, based on the real-time acquired motor rotor position information, a six-step commutation logic decision-making process is executed. First, the rotor position sector number is used as an index to query the six-step commutation logic table stored in the microcontroller unit. This table defines the power transistor conduction combinations corresponding to each sector. For example, in sector 0, the upper bridge U phase and lower bridge V phase (U+V-) are conducted; in sector 1, the upper bridge U phase and lower bridge W phase (U+W-) are conducted. Each conduction combination is optimized to ensure that the generated magnetic field vector always leads the rotor magnetic field by approximately 30 electrical degrees, thereby achieving maximum torque output efficiency. After determining the required conduction combination, the system performs a commutation safety check, specifically preventing the simultaneous conduction of upper and lower power transistors on the same bridge arm. After the check passes, the target conduction state is converted into a specific power transistor control code, which serves as the input reference for the subsequent PWM generation module. The entire decision-making process is completed within the microcontroller unit's interrupt service routine, ensuring that the logic judgment is completed as soon as the rotor reaches the commutation point, maximizing the time margin for timely generation of drive signals.

[0035] 202. Based on the determined winding conduction sequence, the hardware linkage between the timer and the logic control unit is configured to convert one basic PWM waveform into six independent drive signals to control the power switching devices of the brushless DC motor.

[0036] Specifically, based on the power transistor control code output from the six-step commutation logic, a hardware generation process for multiple PWM drive signals is executed. First, a basic PWM waveform is generated through the advanced timer module of the microcontroller unit, with its duty cycle determining the average supply voltage of the motor windings. This basic PWM waveform is guided to the input port of the logic control unit (LCU) via the chip's internal trigger routing matrix (TRGMUX). The LCU, as a dedicated signal reconstruction module, contains programmable combinational logic circuits. Based on the truth table corresponding to the current commutation state, it remaps the input single-channel PWM waveform into six independent drive signals. For example, when U+V- conduction is required, the LCU copies the basic PWM to the corresponding output channels of the U-phase upper bridge and V-phase lower bridge, while the other four outputs remain off. To ensure the safety of the power transistors, the LCU integrates a dead-time insertion function, inserting a microsecond-level delay between the rising and falling edges of the complementary outputs, completely eliminating the risk of shoot-through short circuits. Finally, the generated six PWM signals are amplified by the driver chip and directly control the six power MOSFETs / IGBTs in the three-phase full-bridge circuit, achieving electronic commutation of the motor windings. By using a hardware-linked signal generation mechanism, the complex multi-channel PWM generation task is separated from the software, reducing the CPU load while ensuring the accuracy and synchronization of signal output.

[0037] As an optional embodiment of this application, optionally, in step S300, based on the phase current feedback signal, the current loop control is converted into motor torque loop control using a PID control algorithm, including: 301. Based on the phase voltage signal processed by the motor driver chip, high-precision motor phase current data is obtained through a high-frequency sampling and holding circuit.

[0038] Specifically, based on the proportional relationship between the phase current of a brushless DC motor and the voltage across the sampling resistor, a high-precision current acquisition channel is established. Using the operational amplifier within the motor driver chip as the core, the weak voltage signal generated by the sampling resistor connected in series with the three-phase bridge arms is differentially amplified. The amplified analog voltage signal is switched to a high-speed ADC module via a multiplexer, with the sampling time strictly aligned with the PWM center point to eliminate interference from switching noise. To achieve synchronous acquisition of the three-phase current, the system employs multiple ADC modules operating in parallel, triggering synchronous conversion at specific PWM counting points. The converted digital value is transferred to a memory buffer via DMA to avoid delays caused by CPU intervention, and multiple sampled values ​​within each electrical cycle are subjected to moving average filtering to improve the signal-to-noise ratio. Finally, the obtained digital current value is converted into the actual phase current value using preset calibration coefficients.

[0039] 302. Based on the error between the set target current value and the actual current feedback value, the PID control algorithm is used to calculate and obtain the control quantity used to adjust the duty cycle of the PWM waveform.

[0040] Specifically, the PID control algorithm is calculated based on the acquired phase current feedback value and the system-set target current value. First, the instantaneous error between the target current value and the actual acquired phase current feedback value is calculated. Then, three regulation components are calculated: the proportional term provides rapid response capability, its magnitude being directly proportional to the current error; the integral term eliminates steady-state error by accumulating historical errors; and the derivative term provides anticipatory adjustment based on the error change trend. These three components are superimposed within the microcontroller unit to generate the final control quantity. The calculated control quantity, after output limiting, is written as the new duty cycle setpoint into the timer comparator register. The entire PID calculation process is executed at a fixed cycle to ensure the dynamic response performance of the control system. Through this continuous adjustment mechanism based on error feedback, the system can quickly track current commands and maintain stable current output during load disturbances.

[0041] The instantaneous error is assumed to be based on the target current value. The phase current feedback value is Then instantaneous error for: .

[0042] The control quantity, let the proportional coefficient be... The integral coefficient is The differential coefficient is The current error is Then the control quantity for: .

[0043] 303, based on the direct proportional relationship between motor torque and phase current, achieves closed-loop precise control of motor torque output by converting the target torque value into the target current value.

[0044] Specifically, based on the linear relationship between electromagnetic torque and phase current in electrical machinery, a command conversion architecture from torque loop to current loop is established. First, the externally input torque command is divided by the motor torque constant to obtain the corresponding current command. This converted current command serves as the target input for the PID controller, forming a closed-loop control with the actual phase current feedback value. In the magnetic field weakening region, the system also needs to compensate the motor torque constant in real time based on the speed information to maintain the linearity of torque control. Finally, through this cascaded control strategy with the torque loop as the outer loop and the current loop as the inner loop, the system achieves a precise mapping from torque command to actual output, transforming the complex torque control problem into a more easily implemented current control problem. Simultaneously, the inner current loop effectively suppresses the influence of back EMF changes, power supply voltage fluctuations, and other disturbances on the output torque, ensuring stable and reliable torque output under various operating conditions.

[0045] The ratio of torque to current is given by the torque coefficient. The phase current is The torque is The ratio of torque to current is: .

[0046] Example 2 As an application example of this method, such as Figure 2 As shown, the specific content is as follows: This embodiment uses NXP's S32K344 chip as the main controller. Functional configuration is primarily achieved through the AUTOSAR tool. Hall sensor signals are acquired via interrupts to determine the motor's position. A six-step commutation algorithm is used to control the drive motor. The motor drive algorithm incorporates the AUTOSAR development process, acquiring the three-phase current of the motor at high frequency. This current is used as feedback signals for motor rotation control, and the current loop is converted into torque loop control based on the direct proportional relationship between motor phase current and motor torque. The system also retains three CAN transceivers, each supporting configurable baud rates and compatible with CAN 2.0 and CANFD protocols.

[0047] The detailed functions of the high-precision drive system module controlled by three motors are as follows: 1) CAN Communication: This embodiment uses three CAN transceivers. Each CAN communication channel supports standard frame and extended frame communication formats (CAN communication ID can be configured in the range of 0x0-0x1FFFFFFF). At the same time, each CAN is compatible with CAN2.0 and CANFD communication protocols. The communication data can achieve a maximum transmission and reception standard of 64 bytes. The CAN communication baud rate (5KHz-5MHz) can also be customized to adapt to various communication needs.

[0048] 2) Brushless DC Motor Control: The motor pre-drive chip in this embodiment uses Infineon's TLE9180 chip. This chip has multiple safety protection mechanisms, including over-temperature, over-current, and short-circuit detection mechanisms. The motor rotation position is determined by acquiring three-phase Hall signals. The Hall signals are acquired through interruption, which ensures the accuracy of acquisition when the signal changes. The motor adopts a highly efficient six-step commutation control algorithm. By acquiring the motor phase current at appropriate positions, the phase current is used as the feedback signal for the motor closed loop, thereby realizing precise control of the torque output of the torque loop. The torque force can be customized to make the motor rotate stably with this torque, which gives the motor a good anti-interference capability.

[0049] This embodiment configures the underlying functions based on the AUTSAR development tool and makes targeted modifications to the generated underlying code, achieving compatibility with CAN2.0 and CANFD (CAN Flexible Data-rate) protocols. The system can support communication of standard frames (11-bit identifier) ​​and extended frames (29-bit identifier), meeting the communication needs of traditional devices. At the same time, by introducing the CANFD protocol, the system can support higher data transmission rates and larger data loads, adapting to modern high-performance communication scenarios. In motor control, the S32K344 chip's unique trgmux module is used to associate a PWM wave generated by the emios module with the LCU module, and the LCU module generates 6 PWM waves. That is, a single PWM wave is used to indirectly control the switching of 6 high- and low-side MOSFETs in a motor, which greatly improves the convenience of motor control and increases the utilization rate of emios module resources. By adopting a six-step commutation control method, only the PWM duty cycle of the output emios is controlled, and the rotation of a motor can be controlled based on Hall signals. The distinctive feature of this embodiment is that the system, while adopting the AUTSAR development approach, adds a CAN channel-compatible form to the communication and uses a self-developed six-step commutation algorithm based on AUTSAR. Detailed explanations of these two points are as follows.

[0050] (1) CAN Communication: The innovation of CAN communication in this embodiment is mainly reflected in the underlying software. First, the CAN2.0 communication-related parameters are defined using the Autosar development tool, such as baud rate, receive ID, and frame format (standard frame and extended frame). These parameters will be used to generate the initial CAN2.0 communication code, which includes CAN driver layer code, communication matrix configuration code, and interface code for interaction with the application layer. Then, based on the Autosar interface, the characteristics of the CANFD protocol are analyzed, including the switching mechanism between the high-speed data phase and the low-speed arbitration phase, as well as the ability to support variable-length data payloads. The code parts that need to be modified are determined, mainly including the CAN controller initialization code, data sending and receiving code, and baud rate switching logic. Then, by modifying the internal program, the initialization configuration for CANFD support is added to the generated CAN2.0 initialization code. This includes setting the CAN controller's mode register to support CANFD mode, configuring the baud rate register for the data phase, etc.; defining baud rate macros in the code to configure the baud rate for CAN2.0 and the CANFD data phase, and then modifying the baud rate setting code to dynamically configure the CAN controller's baud rate register according to the macro's value; defining a receive ID macro to configure the receive ID and frame format (standard frame or extended frame), implemented by modifying the receive configuration code to dynamically configure the CAN controller's receive filter and frame control register according to the macro's value; finally, modifying the data transmission code to dynamically adjust the data transmission logic according to the current communication mode (CAN2.0 or CANFD). In CANFD mode, it is necessary to handle baud rate switching and variable-length data payload transmission during the data phase. Then, modify the data receive code to correctly parse CANFD data frames and perform data filtering and reception according to the macro-defined receive ID and frame format.

[0051] (2) Three-motor control algorithm: The S32K344 chip was initialized using the AUTOSAR configuration tool. The eMIOS module was configured to output one PWM waveform for motor control. The TRGMUX module was configured to connect the PWM waveform from the eMIOS module to the LCU module. The LCU module is responsible for generating six PWM waveforms, which control the switching of six MOSFETs of one motor. The schematic diagram of the hardware circuit controlling the switching of the six MOSFETs of the motor is shown below. Figure 3 As shown.

[0052] An interrupt system is configured for real-time acquisition of Hall sensor signals. These signals detect the motor rotor position, providing position information for the six-step commutation algorithm. A high-frequency PWM-triggered ADC is configured to achieve a 0.1ms acquisition frequency for acquiring the three-phase current of the motor. The PWM wave triggering the ADC is synchronized with the PWM wave driving the motor, allowing direct adjustment of the phase current acquisition position to ensure stable acquisition at the midpoint of the phase current waveform, thus guaranteeing phase current stability. Phase current acquisition is crucial for current loop control; real-time monitoring of the phase current allows for precise control of the motor's current output.

[0053] The six-step commutation based on AUTOSAR is described below: Hall sensor signals are acquired in real time using interrupt service routines (ISRs). The signals output by the Hall sensors reflect the real-time position information of the motor rotor. The interrupt mechanism ensures high real-time performance and high accuracy in Hall signal acquisition. Based on the combined states of the Hall signals, a six-step commutation logic is designed. Six-step commutation control is a common brushless DC motor control method. By precisely controlling the commutation timing, it achieves smooth and efficient motor operation. The six-step commutation switching logic is shown in Table 1. Table 1: Six-step commutation switching logic table for a high-precision drive system supporting three-motor control When the electrical angle is between 0° and 60°, the state of the three-phase Hall sensor is U=0, V=1, W=1. The corresponding conducting phase in this range is U+-->V-. That is, current flows from the positive terminal of the power supply into the U-phase winding, passes through the inside of the motor, flows out from the V-phase winding, and returns to the negative terminal of the power supply. The W-phase is not conducting in this range. The stator magnetic field generated in this state will drive the rotor to rotate.

[0054] When the electrical angle is between 60° and 120°, the state of the three-phase Hall sensor is U=0, V=0, W=1. The corresponding conducting phase in this interval is U+ --> W-. That is, current flows from the positive terminal of the power supply into the U-phase winding, passes through the inside of the motor, flows out from the W-phase winding, and returns to the negative terminal of the power supply. The V-phase is not conducting in this interval. The stator magnetic field generated in this state will drive the rotor into the next interval.

[0055] When the electrical angle is between 120° and 180°, the state of the three-phase Hall sensor is U=1, V=0, W=1. The corresponding conducting phase in this range is V+ --> W-. That is, current flows from the positive terminal of the power supply into the V-phase winding, passes through the inside of the motor, flows out from the W-phase winding, and returns to the negative terminal of the power supply. The U-phase is not conducting in this range. The stator magnetic field generated in this state will continue to drive the rotor to rotate.

[0056] When the electrical angle is between 180° and 240°, the state of the three-phase Hall sensors is U=1, V=0, W=0. The corresponding conducting phase in this interval is V+ --> U-. That is, current flows from the positive terminal of the power supply into the V-phase winding, passes through the inside of the motor, flows out from the U-phase winding, and returns to the negative terminal of the power supply. The W-phase is not conducting in this interval. The stator magnetic field generated in this state will drive the rotor into the next interval.

[0057] When the electrical angle is between 240° and 300°, the state of the three-phase Hall sensors is U=1, V=1, W=0. The corresponding conducting phase in this range is W+ --> U-. That is, current flows from the positive terminal of the power supply into the W-phase winding, passes through the inside of the motor, flows out from the U-phase winding, and returns to the negative terminal of the power supply. The V-phase is not conducting in this range. The stator magnetic field generated in this state will continue to drive the rotor to rotate.

[0058] When the electrical angle is between 300° and 360°, the state of the three-phase Hall sensors is U=0, V=1, W=0. The corresponding conducting phase in this range is W+ --> V-. That is, current flows from the positive terminal of the power supply into the W-phase winding, passes through the inside of the motor, flows out from the V-phase winding, and returns to the negative terminal of the power supply. The U-phase is not conducting in this range. The stator magnetic field generated in this state will drive the rotor to complete one complete electrical cycle.

[0059] By precisely calculating the commutation timing, the system ensures that the motor achieves optimal torque output at each commutation stage, thus enabling smooth motor operation. A hardware trigger module is used to acquire the phase currents of the motor's three phases in real time. The acquisition of phase currents is achieved through a TLE9180 pre-driver chip, which amplifies the phase currents and converts them into voltage signals for acquisition and processing by the control system.

[0060] A current loop control algorithm is implemented to ensure the accuracy and stability of the motor's current output by real-time monitoring of the phase current and feedback adjustment based on the set target current value. The current loop control algorithm employs a PID (Proportional-Integral-Derivative) control algorithm. It calculates the current error (the difference between the target current and the actual current) and adjusts the current error based on the proportional, integral, and derivative parameters, thereby achieving precise control of the motor current. The current loop control process is as follows: Based on the set target current value and the real-time monitored actual current value, the current error is calculated, and the control quantity is calculated according to the PID control algorithm. The formula for calculating the control quantity is: .

[0061] in, To control the quantity, This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients. This is for current error.

[0062] Based on the calculated control input, the duty cycle of the PWM waveform output by the emios module is adjusted to control the motor's input current. For example, by increasing the duty cycle of the PWM waveform, the motor's input current is increased, making the actual current closer to the target current.

[0063] Establish the proportional relationship between motor torque and phase current. Through experimental analysis, determine the linear relationship between motor torque and phase current. Torque With phase current The relationship can be represented as: .

[0064] in, is the torque coefficient, a characteristic parameter of the motor.

[0065] Based on the proportional relationship between phase current and torque, current loop control is transformed into torque loop control. The current control quantity is calculated based on the set torque target value, and the target current value of the current loop is adjusted to indirectly control the torque output of the motor. Feedback regulation is performed to ensure the accuracy and stability of the motor's torque output.

[0066] This embodiment combines the eMIOS module of the S32K344 chip with the LCU module to generate six PWM waveforms by linking one PWM waveform to the LCU module via the TRGMUX module. This efficient use of hardware resources simplifies circuit design and improves system reliability and integration. A hardware trigger module is used to acquire the three-phase current of the motor in real time, ensuring high accuracy and real-time performance. This hardware triggering mechanism avoids the delay and jitter issues of software timer acquisition, improving the accuracy and stability of the current loop control. By establishing the proportional relationship between motor torque and phase current, current loop control is converted into torque loop control. This conversion allows the system to directly control the motor's torque output. The system's high-precision control algorithm and efficient use of hardware resources enable a fast response capability.

[0067] Furthermore, this embodiment implements torque loop control for each motor separately, ensuring that the torque output of each motor can be adjusted independently. Through independent torque control, complex multi-motor cooperative control strategies, such as load balancing and torque distribution, can be implemented. Multi-motor cooperative control algorithms can be designed specifically to coordinate the torque output of the three motors according to the overall requirements of the system.

[0068] Example 3 Based on the same principle as the aforementioned method, a high-precision drive device supporting three-motor control is also proposed, see [link to relevant documentation]. Figure 3A high-precision drive device 100 supporting three-motor control according to an embodiment of this disclosure includes: The position acquisition module 110 is used to acquire the motor rotor position based on the Hall sensor signal through an interrupt acquisition method; The signal generation module 120 is used to generate a motor drive PWM signal based on the motor rotor position using a six-step commutation algorithm. The control module 130 is used to convert the current loop control into the motor torque loop control based on the phase current feedback signal and through a PID control algorithm.

[0069] As an optional implementation of this application, the control module 130 may further include: The high-precision phase current acquisition module 131 is used to acquire high-precision motor phase current data based on the phase voltage signal processed by the motor drive chip through a high-frequency sampling and holding circuit. The current loop PID control module 132 is used to calculate the control quantity for adjusting the duty cycle of the PWM waveform based on the error between the set current target value and the actual current feedback value through the PID control algorithm. The torque loop conversion module 133 is used to achieve closed-loop precise control of the motor torque output by converting the target torque value into the target set value of the current loop based on the direct proportional relationship between the motor torque and the phase current.

[0070] Obviously, those skilled in the art should understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the control methods described above. The modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Therefore, this application is not limited to any specific hardware and software combination.

[0071] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the control methods described above. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.

[0072] Example 4 Furthermore, this application proposes an electronic device characterized by comprising, for implementing any of the aforementioned high-precision drive systems supporting three-motor control, including: The microcontroller unit is used to perform motor position calculation, commutation logic judgment and closed-loop control algorithm to realize torque loop control of three motors; The signal conditioning and driving unit is used to process Hall sensor signals, amplify and convert phase current signals, and drive power switching devices; The communication interface unit provides multiple configurable CAN channels to enable data exchange between the controller and external devices. Memory is used to store processor-executable instructions and statically stored data.

[0073] The electronic device of this disclosure includes a microcontroller unit, a signal conditioning and driving unit, a communication interface unit, and a memory for storing executable instructions of the microcontroller unit. The microcontroller unit is configured to implement, when executing the executable instructions, any of the high-precision drive systems supporting three-motor control described above.

[0074] It should be noted that there can be one or more microcontrollers. Furthermore, the electronic device in this embodiment may also include input devices and output devices. The microcontrollers, memory, signal conditioning and driving unit, communication interface unit, input devices, and output devices can be connected via a bus or other means, without specific limitations herein.

[0075] The memory, as a computer-readable storage medium for a high-precision motor drive system, can be used to store software programs, computer-executable programs, and various modules, such as the program or module corresponding to the high-precision drive system supporting three-motor control in this embodiment of the present disclosure. The microcontroller unit executes various functional applications and data processing of the electronic device by running the software programs or modules stored in the memory, including rotor position calculation based on Hall signals, six-step commutation logic judgment, execution of the PID closed-loop control algorithm, and external data exchange control implemented through the communication interface unit.

[0076] The input device can be used to receive input digital or command signals, such as torque target setpoints and control parameter configuration commands. The output device can include status indicator lights, displays, and other display devices to show the motor's operating status, fault codes, and system parameters in real time. The signal conditioning and drive unit uses hardware circuitry to preprocess sensor signals and drive power, while the communication interface unit uses a multi-channel CAN controller to achieve high-speed data communication with external devices.

[0077] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A high-precision drive system supporting three-motor control, characterized in that, include: The motor rotor position is obtained based on Hall sensor signals through an interrupt acquisition method; Based on the position of the motor rotor, a six-step commutation algorithm is used to generate the motor drive PWM signal; Based on the phase current feedback signal, the current loop control is converted into motor torque loop control through a PID control algorithm.

2. The high-precision drive system supporting three-motor control as described in claim 1, characterized in that, The method of acquiring the motor rotor position based on Hall sensor signals through an interrupt acquisition method includes: Based on the level signal generated by the three-phase Hall sensor, the digital signal combination reflecting the real-time position of the motor rotor is acquired in real time by configuring the interrupt service routine of the microcontroller. By reading and analyzing the combined states of Hall signals, the precise sector position of the motor rotor within the electrical angle period can be obtained.

3. The high-precision drive system supporting three-motor control as described in claim 1, characterized in that, The step of generating a motor drive PWM signal based on the motor rotor position using a six-step commutation algorithm includes: Based on the obtained motor rotor position, the two phase windings that need to be turned on at the current moment are determined through a preset six-step commutation logic. Based on the determined winding conduction sequence, the hardware linkage between the timer and the logic control unit is configured to convert one basic PWM waveform into six independent drive signals to control the power switching devices of the brushless DC motor.

4. The high-precision drive system supporting three-motor control as described in claim 1, characterized in that, The step of converting current loop control into motor torque loop control based on phase current feedback signal and using a PID control algorithm includes: Based on the phase voltage signal processed by the motor driver chip, high-precision motor phase current data is obtained through a high-frequency sample-and-hold circuit. Based on the error between the set target current value and the actual current feedback value, the PID control algorithm is used to calculate and obtain the control quantity used to adjust the duty cycle of the PWM waveform. Based on the direct proportional relationship between motor torque and phase current, closed-loop precise control of motor torque output is achieved by converting the target torque value into a target current value.

5. The high-precision drive system supporting three-motor control as described in claim 2, characterized in that, The level signal generated by the three-phase Hall sensor is acquired in real time through the interrupt service routine configured in the microcontroller to obtain a combination of digital signals reflecting the real-time position of the motor rotor, including: Based on the level signal output by the three-phase Hall sensor, the combination of digital signals that change in real time is obtained by configuring an edge-triggered interrupt; The instantaneous position information of the motor rotor is obtained by reading and latching the Hall signal combination in real time; Based on the mapping relationship between Hall signals and electrical angles, the basic sector position of the motor rotor within the electrical angle period is obtained by analyzing the signal combination.

6. The high-precision drive system supporting three-motor control as described in claim 3, characterized in that, The method of converting a basic PWM waveform into six independent drive signals to control the power switching devices of a brushless DC motor by configuring hardware linkage between a timer and a logic control unit according to a determined winding conduction sequence includes: Based on the winding conduction sequence determined by the six-step commutation logic, a basic PWM waveform is generated by the main control timer; Based on the basic PWM waveform, six timing-interlocked PWM signals are generated by triggering and logic units; Based on the switching sequence of the six PWM signals, the motor windings are alternately turned on by the drive circuit to achieve six-step commutation drive.

7. The high-precision drive system supporting three-motor control as described in claim 4, characterized in that, The step involves calculating the error between the set target current value and the actual current feedback value using a PID control algorithm to obtain the control quantity for adjusting the duty cycle of the PWM waveform, including: Based on the set target current value and the actual collected phase current feedback value, the input deviation signal of the current loop is obtained by calculating the error. Based on the error, the control quantity is calculated using a PID control algorithm, and the duty cycle of the PWM waveform is adjusted accordingly to regulate the input voltage of the motor in real time. The control quantity, let the proportional coefficient be... The integral coefficient is The differential coefficient is The current error is Then the control quantity for: ； Based on the direct proportional relationship between torque and current, closed-loop control of the torque loop is achieved by converting the target torque value into the target setpoint of the current loop. The ratio of torque to current is given by assuming the torque coefficient is... The phase current is The torque is The ratio of torque to current is: 。 8. A high-precision drive device supporting three-motor control, characterized in that, The device includes: The position acquisition module is used to obtain the motor rotor position based on Hall sensor signals through an interrupt acquisition method; The signal generation module is used to generate a motor drive PWM signal based on the motor rotor position using a six-step commutation algorithm. The control module is used to convert current loop control into motor torque loop control based on the phase current feedback signal and through a PID control algorithm.

9. The high-precision drive device supporting three-motor control according to claim 8, characterized in that, The control module further includes: The high-precision phase current acquisition module is used to acquire high-precision motor phase current data based on the phase voltage signal processed by the motor drive chip through a high-frequency sampling and holding circuit. The current loop PID control module is used to calculate the control quantity for adjusting the duty cycle of the PWM waveform based on the error between the set target current value and the actual current feedback value through the PID control algorithm. The torque loop conversion module is used to achieve closed-loop precise control of the motor torque output by converting the target torque value into the target set value of the current loop based on the direct proportional relationship between motor torque and phase current.

10. An electronic device, characterized in that, For implementing the high-precision drive system supporting three-motor control as described in any one of claims 1 to 7, including The microcontroller unit is used to perform motor position calculation, commutation logic judgment and closed-loop control algorithm to realize torque loop control of three motors; The signal conditioning and driving unit is used to process Hall sensor signals, amplify and convert phase current signals, and drive power switching devices; The communication interface unit provides multiple configurable CAN channels to enable data exchange between the controller and external devices. Memory is used to store processor-executable instructions and statically stored data.

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