Double-drive brushless motor control circuit, control method, cleaning equipment and readable medium

Abstract

The invention provides a double-drive brushless motor control circuit, a control method, cleaning equipment and a readable medium, and the circuit comprises a first inverter bridge which is connected between a first end and a second end of a DC power supply and is connected with a first motor; the second inverter bridge is connected between the first end and the second end of the direct-current power supply and is connected with the second motor; the controller is connected with the first inverter bridge and the second inverter bridge, the controller is used for generating a first carrier wave and a second carrier wave and generating a first three-phase PWM signal and a second three-phase PWM signal based on an SVPWM strategy, the frequency of the first carrier wave is equal to that of the second carrier wave, and the phase of the first carrier wave is opposite to that of the second carrier wave. According to the dual-drive brushless motor control circuit, the control method, the cleaning equipment and the readable medium provided by the invention, the two motors can be independently and accurately controlled to work at the same time through a single controller, and the software control difficulty and the hardware circuit overhead of a dual-drive brushless motor control scheme are reduced.

Description

Technical Field

[0001] This invention belongs to the field of integrated circuit technology, specifically relating to a dual-drive brushless motor control circuit, control method, cleaning equipment, and readable medium. Background Technology

[0002] As vacuum cleaners evolve towards higher efficiency, lower noise, and longer lifespan, brushless DC motors have become the mainstream choice. To enhance suction power, some high-end vacuum cleaners have begun to adopt a "dual-drive" design, using two brushless motors working simultaneously. Traditional dual-motor control schemes typically equip each motor with an independent control board and current sampling circuit, leading to problems such as high system cost, large circuit board size, and complex layout.

[0003] Therefore, in order to address the above-mentioned technical problems, it is necessary to provide a dual-drive brushless motor control circuit, control method, cleaning equipment, and readable medium. Summary of the Invention

[0004] The purpose of this disclosure is to provide a dual-drive brushless motor control circuit, control method, cleaning equipment, and readable medium, which can independently and accurately control two motors to work simultaneously through a single controller, reducing the software control difficulty and hardware circuit overhead of the dual-drive brushless motor control scheme.

[0005] To achieve the above objectives, the technical solution provided by a specific embodiment of this disclosure is as follows:

[0006] A dual-drive brushless motor control circuit includes:

[0007] The first inverter bridge is connected between the first and second terminals of the DC power supply and is also connected to the first motor.

[0008] The second inverter bridge is connected between the first and second terminals of the DC power supply and is also connected to the second motor.

[0009] A controller is connected to the first inverter bridge and the second inverter bridge. The controller is used to generate a first carrier and a second carrier, and to generate a first three-phase PWM signal and a second three-phase PWM signal based on the SVPWM strategy. The frequency of the first carrier and the frequency of the second carrier are equal, and the first carrier and the second carrier are out of phase.

[0010] In one or more embodiments of this disclosure, the dual-drive brushless motor control circuit further includes a first current sampling module and a second current sampling module. The first current sampling module is connected between the first inverter bridge and the second terminal of the DC power supply and is used to sample the bus current of the first inverter bridge. The second current sampling module is connected between the second inverter bridge and the second terminal of the DC power supply and is used to sample the bus current of the second inverter bridge.

[0011] The controller includes a feedback control unit, which is connected to the first current sampling module and the second current sampling module.

[0012] In one or more embodiments of this disclosure, the first current sampling module includes a first resistor and a first operational amplifier. A first end of the first resistor is connected to the first inverter bridge, and a second end is connected to the second end of the DC power supply. A first input terminal of the first operational amplifier is connected to the first end of the first resistor, a second input terminal is connected to the second end of the first resistor, and an output terminal is connected to the feedback control unit.

[0013] The second current sampling module includes a second resistor and a second operational amplifier. The first end of the second resistor is connected to the second inverter bridge, and the second end is connected to the second end of the DC power supply. The first input end of the second operational amplifier is connected to the first end of the second resistor, the second input end is connected to the second end of the second resistor, and the output end is connected to the feedback control unit.

[0014] In one or more embodiments of this disclosure, the first inverter bridge includes a first switch, a second switch, a third switch, a fourth switch, a fifth switch, and a sixth switch. The first terminals of the first, second, and third switches are connected to the first terminal of the DC power supply. The second terminal of the first switch is connected to the first terminal of the fourth switch and the first terminal of the first motor. The second terminal of the second switch is connected to the first terminal of the fifth switch and the second terminal of the first motor. The second terminal of the third switch is connected to the first terminal of the sixth switch and the third terminal of the first motor. The second terminals of the fourth, fifth, and sixth switches are connected to the second terminal of the DC power supply. The control terminals of the first, second, third, fourth, fifth, and sixth switches are connected to the controller.

[0015] The second inverter bridge includes a seventh switch, an eighth switch, a ninth switch, a tenth switch, an eleventh switch, and a twelfth switch. The first terminals of the seventh, eighth, and ninth switches are connected to the first terminal of the DC power supply. The second terminal of the seventh switch is connected to the first terminal of the tenth switch and the first terminal of the second motor. The second terminal of the eighth switch is connected to the first terminal of the eleventh switch and the second terminal of the second motor. The second terminal of the ninth switch is connected to the first terminal of the twelfth switch and the third terminal of the second motor. The second terminals of the tenth, eleventh, and twelfth switches are connected to the second terminal of the DC power supply. The control terminals of the seventh, eighth, ninth, tenth, eleventh, and twelfth switches are connected to the controller.

[0016] In one or more embodiments of this disclosure, the first carrier wave is a symmetrical triangular wave, including periodically repeating rising and falling edges;

[0017] The second carrier wave is a symmetrical triangular wave, which includes periodically repeating falling edges and rising edges.

[0018] In one or more embodiments of this disclosure, the first three-phase PWM signal is a seven-segment PWM signal, and one modulation period of the first three-phase PWM signal includes three symmetrically arranged zero vector action times and four non-zero vector action times. The second three-phase PWM signal is a seven-segment PWM signal, and one modulation period of the second three-phase PWM signal includes three symmetrically arranged zero vector action times and four non-zero vector action times.

[0019] In one or more embodiments of this disclosure, the first three-phase PWM signal is a five-segment PWM signal, and one modulation period of the first three-phase PWM signal includes two symmetrically arranged zero vector action times and three non-zero vector action times. The second three-phase PWM signal is a five-segment PWM signal, and one modulation period of the second three-phase PWM signal includes two symmetrically arranged zero vector action times and three non-zero vector action times.

[0020] This disclosure also provides a dual-drive brushless motor control method, based on the aforementioned dual-drive brushless motor control circuit, the dual-drive brushless motor control method comprising:

[0021] The controller generates a first carrier and a second carrier, and generates a first three-phase PWM signal and a second three-phase PWM signal based on the SVPWM strategy. The frequency of the first carrier and the frequency of the second carrier are equal, and the first carrier and the second carrier are out of phase.

[0022] The first inverter bridge controls the first motor based on the first three-phase PWM signal, and the second inverter bridge controls the second motor based on the second three-phase PWM signal.

[0023] In one or more embodiments of this disclosure, the dual-drive brushless motor control method further includes:

[0024] The first current sampling module samples the bus current of the first inverter;

[0025] The controller calculates the three-phase current of the first inverter based on the sampling results of the first current sampling module, and adjusts the duty cycle of the first three-phase PWM signal based on the three-phase current of the first inverter, the target speed of the first motor, and the current speed of the first motor to perform feedback control on the speed of the first motor.

[0026] The second current sampling module samples the bus current of the second inverter;

[0027] The controller calculates the three-phase current of the second inverter based on the sampling results of the second current sampling module, and adjusts the duty cycle of the second three-phase PWM signal based on the three-phase current of the second inverter, the target speed of the second motor, and the current speed of the second motor to perform feedback control on the speed of the second motor.

[0028] In one or more embodiments of this disclosure, the first carrier wave is a symmetrical triangular wave, including periodically repeating rising and falling edges; the second carrier wave is a symmetrical triangular wave, including periodically repeating falling and rising edges; and the dual-drive brushless motor control method further includes:

[0029] At the rising edge of the first carrier wave, the bus current of the first inverter bridge is sampled and the first sample value and the second sample value are obtained. The three-phase current of the first inverter bridge is calculated based on the first sample value and the second sample value.

[0030] At the rising edge of the second carrier wave, the bus current of the second inverter bridge is sampled and a third and fourth sample value are obtained. The three-phase current of the second inverter bridge is calculated based on the third and fourth sample values.

[0031] In one or more embodiments of this disclosure, the first carrier wave is a symmetrical triangular wave, including periodically repeating rising and falling edges; the second carrier wave is a symmetrical triangular wave, including periodically repeating falling and rising edges; and the dual-drive brushless motor control method further includes:

[0032] At the falling edge of the first carrier wave, the bus current of the first inverter bridge is sampled and the first sample value and the second sample value are obtained. The three-phase current of the first inverter bridge is calculated based on the first sample value and the second sample value.

[0033] At the falling edge of the second carrier wave, the bus current of the second inverter bridge is sampled and a third and fourth sample value are obtained. The three-phase current of the second inverter bridge is calculated based on the third and fourth sample values.

[0034] In one or more embodiments of this disclosure, the dual-drive brushless motor control method further includes:

[0035] At the rising edge of the first carrier wave, the bus current of the first inverter bridge is sampled during the two adjacent non-zero vector action times of the first three-phase PWM signal, and the first sample value and the second sample value are obtained respectively.

[0036] At the rising edge of the second carrier wave, the bus current of the second inverter bridge is sampled during the two adjacent non-zero vector action times of the second three-phase PWM signal, and the third and fourth sampled values ​​are obtained.

[0037] In one or more embodiments of this disclosure, the dual-drive brushless motor control method further includes:

[0038] At the falling edge of the first carrier wave, the bus current of the first inverter bridge is sampled during the two adjacent non-zero vector action times of the first three-phase PWM signal, and the first sample value and the second sample value are obtained respectively.

[0039] At the falling edge of the second carrier wave, the bus current of the second inverter bridge is sampled during the two adjacent non-zero vector action times of the second three-phase PWM signal, and the third and fourth sampled values ​​are obtained.

[0040] In another aspect, this disclosure provides a cleaning device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a dual-drive brushless motor control method.

[0041] In another aspect, this disclosure provides a computer-readable medium carrying computer-executable instructions, which, when executed by a processor, are used to implement a dual-drive brushless motor control method.

[0042] Compared with the prior art, the dual-drive brushless motor control circuit, control method, cleaning equipment and readable medium disclosed herein avoid timing conflicts by configuring the carrier frequencies corresponding to the two motors to be the same and opposite in phase, ensuring that there is no need for preemption interruption between the two motors, and avoiding the risk of motor runaway.

[0043] This control circuit eliminates the need for a separate control board for each motor, saving on hardware costs and software configuration complexity, and facilitating miniaturization and lightweight design of the product. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a circuit diagram of a dual-drive brushless motor control circuit in one embodiment of the present disclosure;

[0046] Figure 2 This is a waveform diagram of the first carrier and the second carrier in one embodiment of this disclosure;

[0047] Figure 3 This is a partial waveform diagram of the first carrier wave and the first three-phase PWM signal in one embodiment of the present disclosure;

[0048] Figure 4 This is a flowchart of a dual-drive brushless motor control method in one embodiment of the present disclosure;

[0049] Figure 5 This is a schematic diagram of a cleaning device according to one embodiment of the present disclosure. Detailed Implementation

[0050] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0051] As residents' quality of life improves and their cleaning needs upgrade, vacuum cleaners, as core cleaning equipment, are rapidly evolving towards technologies that emphasize high efficiency, low noise, and long lifespan. To further enhance the suction performance of vacuum cleaners to adapt to complex cleaning scenarios, some high-end products have begun to adopt a "dual-drive" design, using two brushless DC motors working in tandem to handle functions such as airflow drive and brush head rotation, thereby significantly improving cleaning efficiency.

[0052] However, current dual-motor control solutions in the vacuum cleaner industry still follow traditional design approaches, generally employing an independent control mode where each motor has its own complete control board and current sampling circuit. While this solution can achieve the basic driving function of dual motors, it has revealed many insurmountable technical defects in practical applications, severely restricting the technological upgrade and market competitiveness of cleaning equipment. These defects are specifically manifested in the following three aspects:

[0053] First, the system cost remains high. The independent control scheme requires two complete sets of control chips, drive circuits, power devices, and multiple current sampling resistors, which not only doubles the material cost of core components but also increases the hidden costs of circuit assembly, debugging, and subsequent maintenance. Second, the circuit board is bulky and complex in layout. Two independent hardware circuits occupy more installation space, contradicting the mainstream trend of miniaturization and lightweight design in vacuum cleaners. This particularly limits the structural design flexibility of products with extremely high space utilization requirements, such as cordless handheld vacuum cleaners, making it difficult to meet consumers' demands for portability. Third, the control logic is complex and prone to interference. The two independent control systems need to coordinate through additional communication mechanisms, increasing the complexity and development difficulty of software design and potentially causing motor control asynchrony due to communication delays.

[0054] The aforementioned technical defects make it difficult for existing dual-motor control schemes to fully leverage the performance advantages of dual-drive design, becoming a key bottleneck restricting the development of vacuum cleaners towards high performance, miniaturization, and low cost.

[0055] To address the shortcomings of the aforementioned technical issues, the present disclosure proposes the following approach: A single controller generates two independent sets of three-phase PWM signals, which serve as drive control signals for two brushless DC motors, thus overcoming the design limitations of traditional independent dual-motor control. The two independent sets of three-phase PWM signals are generated based on two carrier waves with equal frequencies and opposite phases. By configuring the control sampling times to occur either at the rising edge or the falling edge of both carrier waves, the timing conflict problem inherent in existing control schemes is overcome.

[0056] Please refer to Figure 1 The diagram shown is a circuit schematic of a dual-drive brushless motor control circuit according to an embodiment of this disclosure. The dual-drive brushless motor control circuit includes a first inverter bridge 11, a second inverter bridge 21, a first current sampling module 12, a second current sampling module 22, and a controller 30.

[0057] The first inverter bridge 11 is directly or indirectly connected between the first terminal DC+ and the second terminal DC- of the DC power supply, and is connected to the first motor 10; the second inverter bridge 21 is directly or indirectly connected between the first terminal DC+ and the second terminal DC- of the DC power supply, and is connected to the second motor 20.

[0058] The controller 30 is connected to the first inverter bridge 11 and the second inverter bridge 21. The controller 30 is used to generate a first carrier wave S1 and a second carrier wave S2, and generate a first three-phase PWM signal and a second three-phase PWM signal based on the SVPWM strategy. The frequency of the first carrier wave S1 is equal to the frequency of the second carrier wave S2, and the phase between the first carrier wave S1 and the second carrier wave S2 is opposite.

[0059] The first current sampling module 12 is connected between the first inverter bridge 11 and the second terminal DC- of the DC power supply, and is used to sample the bus current of the first inverter bridge 11. The second current sampling module 22 is connected between the second inverter bridge 21 and the second terminal DC- of the DC power supply, and is used to sample the bus current of the second inverter bridge 21.

[0060] The controller 30 includes a feedback control unit. The feedback control unit is connected to the first current sampling module 12 and the second current sampling module 22, and is used to perform feedback control on the rotational speed of the first motor 10 based on the sampling result of the first current sampling module 12, and perform feedback control on the rotational speed of the second motor 20 based on the sampling result of the second current sampling module 22.

[0061] The process of the controller 30 driving the first motor 10 based on the SVPWM strategy includes: by precisely controlling the synthesized vector of the three-phase voltage output by the first inverter bridge 11, a circular magnetic field with a constant amplitude and uniform rotation is generated inside the first motor 10.

[0062] Specifically, the controller 30 calculates the target voltage vector (corresponding to the desired torque and magnetic field) to be applied currently through a vector control algorithm (FOC, Field-Oriented Control), maps the target vector to the sector divided by the six basic space vectors of the first inverter bridge 11, and calculates the action time ratio of two adjacent non-zero vectors and the zero vector. Within one control period, the switching tubes of the first inverter bridge 11 are controlled to perform high-speed PWM switching according to this time sequence. Finally, an equivalent continuous rotating voltage vector is synthesized on the three-phase windings of the pulse sequence output by the first inverter bridge 11, driving the permanent magnet rotor of the first motor 10 to synchronously and smoothly follow this circular rotating magnetic field to operate, so as to achieve efficient control with high dynamic performance and low harmonic loss.

[0063] The process of the controller 30 driving the second motor 20 based on the SVPWM strategy is the same as the above process of driving the first motor 10, and will not be elaborated here.

[0064] The first motor 10 in one embodiment is a permanent magnet synchronous motor PMSM, and the first motor 10 is a low-speed brushless motor.

[0065] Refer Figure 1As shown, in one embodiment, the first inverter bridge 11 includes a first switch Q1, a second switch Q2, a third switch Q3, a fourth switch Q4, a fifth switch Q5, and a sixth switch Q6. The first terminals of the first switch Q1, the second switch Q2, and the third switch Q3 are connected to the first terminal DC+ of the DC power supply. The second terminal of the first switch Q1 is connected to the first terminal of the fourth switch Q4 and the first terminal of the first motor 10. The second terminal of the second switch Q2 is connected to the first terminal of the fifth switch Q5 and the second terminal of the first motor 10. The second terminal of the third switch Q3 is connected to the first terminal of the sixth switch Q6 and the third terminal of the first motor 10. The second terminals of the fourth switch Q4, the fifth switch Q5, and the sixth switch Q6 are connected to the second terminal DC- of the DC power supply. The control terminals of the first switch Q1, the second switch Q2, the third switch Q3, the fourth switch Q4, the fifth switch Q5, and the sixth switch Q6 are connected to the controller 30.

[0066] The second inverter bridge 21 includes a seventh switch Q7, an eighth switch Q8, a ninth switch Q9, a tenth switch Q10, an eleventh switch Q11, and a twelfth switch Q12. The first terminals of the seventh switch Q7, the eighth switch Q8, and the ninth switch Q9 are connected to the first terminal DC+ of the DC power supply. The second terminal of the seventh switch Q7 is connected to the first terminal of the tenth switch Q10 and the first terminal of the second motor 20. The second terminal of the eighth switch Q8 is connected to the first terminal of the eleventh switch Q11 and the twelfth switch Q12. The second terminal of the ninth switch Q9 is connected to the first terminal of the twelfth switch Q12 and the third terminal of the second motor 20. The second terminals of the tenth switch Q10, the eleventh switch Q11 and the twelfth switch Q12 are connected to the second terminal DC- of the DC power supply. The control terminals of the seventh switch Q7, the eighth switch Q8, the ninth switch Q9, the tenth switch Q10, the eleventh switch Q11 and the twelfth switch Q12 are connected to the controller 30.

[0067] It is understandable that the instantaneous electromagnetic torque of a brushless DC motor... It can be simplified to: ,in, The torque constant is This refers to the q-axis current (i.e., torque current). Instead of directly measuring a single phase current, the measured three-phase current is transformed mathematically (using Clarke and Parker transforms) to obtain a component in a rotating coordinate system. By acquiring the three-phase current, the real-time torque current can be calculated. Therefore, the three-phase current is the most direct reflection of the motor's condition.

[0068] For each inverter bridge, this disclosure can calculate the three-phase current using only a sampling resistor combined with the SVPWM strategy, which greatly reduces the hardware circuit overhead.

[0069] Specifically, in one embodiment, the first current sampling module 12 includes a first resistor R1 and a first operational amplifier OP1. The first end of the first resistor R1 is connected to the first inverter bridge 11, and the second end is connected to the second end of the DC power supply DC-. The first input end of the first operational amplifier OP1 is connected to the first end of the first resistor R1, the second input end is connected to the second end of the first resistor R1, and the output end is connected to the feedback control unit.

[0070] In one embodiment, the second current sampling module 22 includes a second resistor R2 and a second operational amplifier OP2. The first end of the second resistor R2 is connected to the second inverter bridge 21, and the second end is connected to the second end of the DC power supply DC-. The first input end of the second operational amplifier OP2 is connected to the first end of the second resistor R2, the second input end is connected to the second end of the second resistor R2, and the output end is connected to the feedback control unit.

[0071] It is understandable that the signals output by the first operational amplifier OP1 and the second operational amplifier OP2 are analog voltage signals. The controller 30 is equipped with an analog-to-digital converter (ADC) internally or externally. When the ADC is triggered, it is used to convert the analog voltage signal output by the first operational amplifier OP1 into the corresponding first digital signal ADC_Value1 and the analog voltage signal output by the second operational amplifier OP2 into the corresponding second digital signal ADC_Value2.

[0072] The controller 30 is used to obtain the corresponding current value (including the first sample value I_sample1 and the second sample value I_sample2) based on the first digital signal ADC_Value1 and the resistance value of the first resistor R1, and to obtain the corresponding current value (including the third sample value and the fourth sample value) based on the second digital signal ADC_Value2 and the resistance value of the second resistor R2.

[0073] Please refer to Figure 2 As shown, in one embodiment, the first carrier S1 is a symmetrical triangular wave, including periodically repeating rising and falling edges; the second carrier S2 is a symmetrical triangular wave, including periodically repeating falling and rising edges. The phases of the first carrier S1 and the second carrier S2 are exactly opposite.

[0074] It is understandable that the period of the first carrier S1 corresponds to one modulation period of the first three-phase PWM signal, and the period of the second carrier S2 corresponds to one modulation period of the second three-phase PWM signal. More specifically, the rising edge of the first carrier S1 corresponds to the first half of the modulation period of the first three-phase PWM signal, and similarly, the rising edge of the second carrier S2 corresponds to the first half of the modulation period of the second three-phase PWM signal.

[0075] Furthermore, the controller 30 includes a first PWM generation unit and a second PWM generation unit. The first PWM generation unit includes a first timer TIM1, and is used to generate a first three-phase PWM signal (i.e., Figure 1 The three-phase six-channel PWM signals G1~G6 are shown. The second PWM generation unit includes a second timer TIM8, which is used to generate the second three-phase PWM signal (i.e., Figure 1 The three-phase six-channel PWM signals G7~G12 are shown.

[0076] The counting modes of the first timer TIM1 and the second timer TIM8 are both configured to center-aligned mode, and the first PWM generation unit and the second PWM generation unit are configured to have the same carrier frequency.

[0077] Taking the seven-segment SVPWM strategy as an example, both the first three-phase PWM signal and the second three-phase PWM signal are seven-segment PWM signals.

[0078] Specifically, one modulation cycle of the first three-phase PWM signal includes three symmetrically set zero vector action times and four non-zero vector action times.

[0079] The second and third phase PWM signals are seven-segment PWM signals. One modulation cycle of the second and third phase PWM signals includes three symmetrically set zero-vector action times and four non-zero vector action times. It should be noted that although both the first and second phase PWM signals are seven-segment PWM signals, the non-zero vector action times and zero-vector action times within each modulation cycle of the first and second phase PWM signals can be the same or different. The specific action times can depend on the speed of the first motor 10 and the speed of the second motor.

[0080] Please refer to Figure 3As shown, exemplarily, the first three-phase PWM signal includes three-phase six-channel PWM signals (G1~G6), which are used to control the six switching transistors (Q1~Q6) of the first inverter bridge 11. When signal G1 is high, the first switching transistor Q1 is turned on; conversely, when signal G1 is low, the first switching transistor Q1 is turned off. One modulation period of the first three-phase PWM signal includes: two symmetrically distributed first zero vector action times V0 and second zero vector action times V7, two symmetrically distributed first non-zero vector action times V1, and two second non-zero vector action times V2.

[0081] Similarly, the second three-phase PWM signal includes three-phase six-channel PWM signals (G7~G12), which are used to control the six switching transistors (Q7~Q12) of the second inverter bridge 21. Its principle and waveform are similar to those of the first three-phase PWM signal, and will not be described in detail here.

[0082] In one embodiment, the controller 30 is configured to sample the bus current of the first inverter bridge 11 during two adjacent non-zero vector action times within the first half of the modulation period of the first three-phase PWM signal, respectively, to obtain a first sample value and a second sample value, and to calculate the three-phase current of the first inverter bridge 11 based on the first sample value and the second sample value.

[0083] In one embodiment, the controller 30 is further configured to sample the bus current of the second inverter bridge 21 during two adjacent non-zero vector action times within the first half of the modulation period of the second three-phase PWM signal, respectively, to obtain a third sample value and a third sample value, and to calculate the three-phase current of the second inverter bridge 21 based on the third sample value and the third sample value.

[0084] Combination Figure 2 As shown, although the sampling process is exactly the same for the first motor 10 and the second motor 20, since the first carrier S1 and the second carrier S2 have the same frequency and opposite phase, the timing of triggering sampling for the controller 30 is both at the rising edge of the carrier. Therefore, there will be no problem of mutual timing interference, and the first motor 10 and the second motor 20 will not preempt each other's interrupt requirements.

[0085] Similarly, in another alternative embodiment, the sampling trigger times can both be located at the falling edge of the first carrier S1 and the falling edge of the second carrier S2, that is, sampling is performed during the two adjacent non-zero vector action times in the second half of the modulation period of the first three-phase PWM signal, and sampling is performed during the two adjacent non-zero vector action times in the second half of the modulation period of the second three-phase PWM signal.

[0086] In another alternative embodiment, both the first three-phase PWM signal and the second three-phase PWM signal are five-segment PWM signals. That is, one modulation period of the first three-phase PWM signal includes two symmetrically set zero vector action times and three non-zero vector action times, and one modulation period of the second three-phase PWM signal includes two symmetrically set zero vector action times and three non-zero vector action times.

[0087] When both the first three-phase PWM signal and the second three-phase PWM signal are five-segment PWM signals, the controller 30 can be configured to: sample the bus current of the first inverter bridge 11 during two adjacent non-zero vector action times in the first half of the modulation period of the first three-phase PWM signal to obtain the first sample value and the second sample value; and sample the bus current of the second inverter bridge 21 during two adjacent non-zero vector action times in the first half of the modulation period of the second three-phase PWM signal to obtain the third sample value and the fourth sample value.

[0088] Alternatively, the controller 30 can be configured to: sample the bus current of the first inverter bridge 11 during two adjacent non-zero vector action times in the latter half of the modulation period of the first three-phase PWM signal to obtain a first sample value and a second sample value; and sample the bus current of the second inverter bridge 21 during two adjacent non-zero vector action times in the latter half of the modulation period of the second three-phase PWM signal to obtain a third sample value and a fourth sample value.

[0089] It is understandable that seven-segment PWM signals and five-segment PWM signals are well known in the prior art, and therefore will not be described in detail here.

[0090] In summary, the dual-drive brushless motor control circuit provided in this disclosure eliminates the need for a separate control board for each motor, saving on hardware circuit costs and software configuration complexity, and facilitating product miniaturization and lightweight design.

[0091] Please refer to Figure 4 The diagram shown is a flowchart of a dual-drive brushless motor control method according to an embodiment of this disclosure. The dual-drive brushless motor control method specifically includes the following steps:

[0092] S10, the controller 30 generates a first carrier S1 and a second carrier S2, and generates a first three-phase PWM signal and a second three-phase PWM signal based on the SVPWM strategy. The frequency of the first carrier S1 and the frequency of the second carrier S2 are equal, and the first carrier S1 and the second carrier S2 are out of phase.

[0093] S20, the first inverter bridge 11 controls the first motor 10 based on the first three-phase PWM signal, and the second inverter bridge 21 controls the second motor 20 based on the second three-phase PWM signal.

[0094] Furthermore, the dual-drive brushless motor control method also includes:

[0095] S31, the first current sampling module 12 samples the bus current of the first inverter;

[0096] S32, the controller 30 calculates the three-phase current of the first inverter based on the sampling result of the first current sampling module 12, and adjusts the duty cycle of the first three-phase PWM signal based on the three-phase current of the first inverter, the target speed of the first motor 10 and the current speed of the first motor 10, so as to perform feedback control on the speed of the first motor 10.

[0097] S33, the second current sampling module 22 samples the bus current of the second inverter;

[0098] S34, the controller 30 calculates the three-phase current of the second inverter based on the sampling result of the second current sampling module 22, and adjusts the duty cycle of the second three-phase PWM signal based on the three-phase current of the second inverter, the target speed of the second motor 20 and the current speed of the second motor 20 to perform feedback control on the speed of the second motor 20.

[0099] As mentioned above, the first carrier S1 is a symmetrical triangular wave, including periodically repeating rising and falling edges, and the second carrier S2 is a symmetrical triangular wave, including periodically repeating falling and rising edges.

[0100] In one embodiment, step S31 specifically includes:

[0101] At the rising edge of the first carrier S1, the bus current of the first inverter bridge 11 is sampled and the first sample value and the second sample value are obtained. The three-phase current of the first inverter bridge 11 is calculated based on the first sample value and the second sample value.

[0102] At the rising edge of the second carrier S2, the bus current of the second inverter bridge 21 is sampled and the third and fourth sample values ​​are obtained. The three-phase current of the second inverter bridge 21 is calculated based on the third and fourth sample values.

[0103] Since the first carrier S1 and the second carrier S2 have the same frequency and opposite phase, when the first carrier S1 is at its rising edge, the second carrier S2 is at its falling edge. By uniformly setting the sampling time at the rising edge of the first carrier S1 and the second carrier S2, or uniformly setting the sampling time at the falling edge of the first carrier S1 and the second carrier S2, timing conflicts are avoided, which greatly simplifies the control logic for the controller.

[0104] Furthermore, step S31 specifically includes:

[0105] At the rising edge of the first carrier S1, the bus current of the first inverter bridge 11 is sampled during the two adjacent non-zero vector action times of the first three-phase PWM signal, and the first sample value and the second sample value are obtained. The three-phase current of the first inverter bridge 11 is calculated based on the first sample value and the second sample value.

[0106] At the rising edge of the second carrier S2, the bus current of the second inverter bridge 21 is sampled during the two adjacent non-zero vector action times of the second three-phase PWM signal, and the third and fourth sample values ​​are obtained. The three-phase current of the second inverter bridge 21 is calculated based on the third and fourth sample values.

[0107] It is understandable that the duration of non-zero vectors and zero vectors can be calculated separately based on the SVPWM strategy and vector control algorithm. This disclosure ensures that the sampling trigger time is located at the center of the duration of each non-zero vector by dynamically configuring the comparison register value in the timer of the controller 30. At this time, the current enters a stable state, and the obtained sample value is the most accurate.

[0108] Combination Figure 1 and Figure 3 An illustrative explanation of the three-phase current calculation method is provided below:

[0109] At the first sampling time Trig1 (the first sampling time Trig1 is located within the action time of the non-zero vector V1 in the first half of the modulation cycle of the first three-phase PWM signal), the first switch Q1, the sixth switch Q6 and the fifth switch Q5 are turned on, and the second switch Q2, the third switch Q3 and the fourth switch Q4 are turned off. At this time, the first sample value I_sample1 = -Ic = Ia + Ib obtained by the first current sampling module 12, where Ia is the A-phase current, Ib is the B-phase current and Ic is the C-phase current, then Ic = -I_sample1;

[0110] At the second sampling time Trig2 (the second sampling time Trig2 is located within the action time of the non-zero vector V2 in the first half of the modulation cycle of the first three-phase PWM signal), the first switch Q1, the third switch Q3 and the fifth switch Q5 are turned on, and the second switch Q2, the fourth switch Q4 and the sixth switch Q6 are turned off. At this time, the second sample value I_sample2 obtained by the first current sampling module 12 is -Ib = Ia + Ic, then Ib = -I_sample2;

[0111] According to Kirchhoff's current law, Ia + Ib + Ic = 0, then Ia = -Ib - Ic = I_sample2 + I_sample1.

[0112] Based on this, this disclosure calculates the three-phase current of the first inverter 11 based on the two sampling results of a single sampling resistor.

[0113] Similarly, at the third sampling time Trig3 (the first sampling time Trig3 is within the action time of the non-zero vector V1 in the first half of the modulation cycle corresponding to the second three-phase PWM signal), the seventh switch Q7, the eleventh switch Q11, and the twelfth switch Q12 are turned on, while the eighth switch Q8, the ninth switch Q9, and the tenth switch Q10 are turned off; at the third sampling time Trig3 (the third sampling time Trig3 is within the action time of the non-zero vector V2 in the first half of the modulation cycle corresponding to the second three-phase PWM signal), the seventh switch Q7, the ninth switch Q9, and the eleventh switch Q11 are turned on, while the eighth switch Q8, the tenth switch Q10, and the twelfth switch Q12 are turned off. Based on the two sampling results of a single sampling resistor, the three-phase current of the second inverter 21 can also be calculated.

[0114] In another alternative embodiment, the dual-drive brushless motor control method further includes:

[0115] At the falling edge of the first carrier S1, the bus current of the first inverter bridge 11 is sampled and the first sample value and the second sample value are obtained. The three-phase current of the first inverter bridge 11 is calculated based on the first sample value and the second sample value.

[0116] At the falling edge of the second carrier S2, the bus current of the second inverter bridge 21 is sampled and the third and fourth sample values ​​are obtained. The three-phase current of the second inverter bridge 21 is calculated based on the third and fourth sample values.

[0117] More specifically, at the falling edge of the first carrier S1, the bus current of the first inverter bridge 11 is sampled during the two adjacent non-zero vector action times of the first three-phase PWM signal, and the first sample value and the second sample value are obtained. The three-phase current of the first inverter bridge 11 is calculated based on the first sample value and the second sample value.

[0118] At the falling edge of the second carrier S2, the bus current of the second inverter bridge 21 is sampled during the two adjacent non-zero vector action times of the second three-phase PWM signal, and the third and fourth sample values ​​are obtained. The three-phase current of the second inverter bridge 21 is calculated based on the third and fourth sample values.

[0119] It is understandable that when the sampling time is at the falling edge or the rising edge, the corresponding three-phase current calculation method is similar, and will not be repeated here.

[0120] Specifically, after power-on, the controller 30 initializes its internal peripherals, including: configuring the first PWM generation unit and the second PWM generation unit to have the same carrier frequency and configuring the phases of the carriers to be opposite, configuring the counting mode to center alignment mode, and configuring the analog-to-digital converter to sample under a specific trigger event;

[0121] After the user starts the vacuum cleaner, the controller 30 receives the speed command: the target speed of the first motor 10 is N1, and the target speed of the second motor 20 is N2;

[0122] At the rising edge of each first carrier S1 cycle, the bus current of the first inverter 11 is sampled to obtain two current signals. At the rising edge of each second carrier S2 cycle, the bus current of the second inverter 21 is sampled to obtain two current signals. The two sets of current reconstruction calculation processes are processed in a unified manner in the Period overflow interrupt to obtain the three-phase current of the first inverter and the three-phase current of the second inverter respectively.

[0123] It is understandable that a Period overflow interrupt is an interrupt automatically triggered by hardware when the timer's count value reaches its set period value, PeriodValue. Since the sampling times of the first inverter 11 and the second inverter 21 are staggered in timing, there will be no situation where the controller preempts each other's interrupt requests, thus avoiding the risk of motor runaway.

[0124] For the first motor 10: obtain the difference between the current speed of the first motor 10 and the target speed N1 of the first motor 10, and output the q-axis current command Iq1_ref through the speed loop PID;

[0125] The current q-axis current Iq1 is obtained based on the three-phase current of the first inverter bridge 11;

[0126] The q-axis current command Iq1_ref is compared with the current q-axis current Iq1. Through current loop PID calculation, a new voltage vector is output and the PWM duty cycle of the first inverter bridge 11 is updated.

[0127] For the second motor 20: obtain the difference between the current speed of the second motor 20 and the target speed N2 of the second motor 20, and output the q-axis current command Iq2_ref through the speed loop PID;

[0128] The current q-axis current Iq2 is obtained based on the three-phase current of the second inverter bridge 21;

[0129] The q-axis current command Iq2_ref is compared with the current q-axis current Iq2. A new voltage vector is output through current loop PID calculation, and the PWM duty cycle of the second inverter bridge 21 is updated. It can be understood that the feedback control process of the first motor 10 and the second motor 20 is exactly the same, but their data processing processes are independent.

[0130] This process is repeated continuously to achieve real-time, independent, and precise control of the two motors.

[0131] In summary, the dual-drive brushless motor control method provided in this disclosure avoids timing conflicts by configuring the carrier frequencies of the two motors to be the same and opposite in phase, ensuring that there is no need for preemption interruption between the two motors and avoiding the risk of motor runaway.

[0132] As can be seen from the above technical solutions, this disclosure has the following beneficial effects:

[0133] Please refer to Figure 5 As shown, this disclosure also provides a cleaning device 500, which includes at least one processor 501, a memory 502 (e.g., non-volatile memory), a main memory 503, and a communication interface 504, and the at least one processor 501, memory 502, main memory 503, and communication interface 504 are connected together via an internal bus 505. The at least one processor 501 is used to invoke at least one program instruction stored or encoded in the memory 502 to cause the at least one processor 501 to perform various operations and functions of the dual-drive brushless motor control method described in the various embodiments of this specification.

[0134] In the embodiments of this specification, the cleaning equipment 500 may include, but is not limited to, a vacuum cleaner, a robotic vacuum cleaner, a floor scrubber, a sweeper, a cleaning machine, an air purifier, a floor scrubber, etc.

[0135] This disclosure also provides a computer-readable medium carrying computer-executable instructions, which, when executed by a processor, can be used to implement various operations and functions of the dual-drive brushless motor control method described in the various embodiments of this specification.

[0136] The computer-readable medium in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0137] In this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0138] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0139] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, systems, and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0140] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0141] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A dual drive brushless motor control circuit, characterized by, The application relates to a double-drive brushless motor control circuit. The double-drive brushless motor control circuit comprises a first inverter bridge connected between the first end and the second end of a direct-current power supply and connected with a first motor, a second inverter bridge connected between the first end and the second end of the direct-current power supply and connected with a second motor, and a controller connected with the first inverter bridge and the second inverter bridge, wherein the controller is used for generating a first carrier wave and a second carrier wave and generating a first three-phase PWM signal and a second three-phase PWM signal based on an SVPWM strategy, the frequency of the first carrier wave is equal to the frequency of the second carrier wave, and the phase of the first carrier wave is opposite to the phase of the second carrier wave. The double-drive brushless motor control circuit further comprises a first current sampling module and a second current sampling module, the first current sampling module is connected between the first inverter bridge and the second end of the direct-current power supply and is used for sampling the bus current of the first inverter bridge, and the second current sampling module is connected between the second inverter bridge and the second end of the direct-current power supply and is used for sampling the bus current of the second inverter bridge. The controller comprises a feedback control unit connected with the first current sampling module and the second current sampling module.

2. The dual drive brushless motor control circuit of claim 1, wherein, The first current sampling module comprises a first resistor and a first operational amplifier, the first end of the first resistor is connected with the first inverter bridge, the second end of the first resistor is connected with the second end of the direct-current power supply, the first input end of the first operational amplifier is connected with the first end of the first resistor, the second input end of the first operational amplifier is connected with the second end of the first resistor, and the output end of the first operational amplifier is connected with the feedback control unit; and / or The second current sampling module comprises a second resistor and a second operational amplifier, the first end of the second resistor is connected with the second inverter bridge, the second end of the second resistor is connected with the second end of the direct-current power supply, the first input end of the second operational amplifier is connected with the first end of the second resistor, the second input end of the second operational amplifier is connected with the second end of the second resistor, and the output end of the second operational amplifier is connected with the feedback control unit.

3. The dual drive brushless motor control circuit of claim 2, wherein, The first inverter bridge comprises a first switch tube, a second switch tube, a third switch tube, a fourth switch tube, a fifth switch tube and a sixth switch tube, the first end of the first switch tube, the first end of the second switch tube and the first end of the third switch tube are connected with the first end of the direct-current power supply, the second end of the first switch tube is connected with the first end of the fourth switch tube and the first end of the first motor, the second end of the second switch tube is connected with the first end of the fifth switch tube and the second end of the first motor, the second end of the third switch tube is connected with the first end of the sixth switch tube and the third end of the first motor, the second end of the fourth switch tube, the second end of the fifth switch tube and the second end of the sixth switch tube are connected with the second end of the direct-current power supply, and the control end of the first switch tube, the control end of the second switch tube, the control end of the third switch tube, the control end of the fourth switch tube, the control end of the fifth switch tube and the control end of the sixth switch tube are connected with the controller; and / or The second inverter bridge comprises a seventh switch tube, an eighth switch tube, a ninth switch tube, a tenth switch tube, an eleventh switch tube and a twelfth switch tube, the first end of the seventh switch tube, the first end of the eighth switch tube and the first end of the ninth switch tube are connected with the first end of the direct-current power supply, the second end of the seventh switch tube is connected with the first end of the tenth switch tube and the first end of the second motor, the second end of the eighth switch tube is connected with the first end of the eleventh switch tube and the second end of the second motor, the second end of the ninth switch tube is connected with the first end of the twelfth switch tube and the third end of the second motor, the second end of the tenth switch tube, the second end of the eleventh switch tube and the second end of the twelfth switch tube are connected with the second end of the direct-current power supply, and the control end of the seventh switch tube, the control end of the eighth switch tube, the control end of the ninth switch tube, the control end of the tenth switch tube, the control end of the eleventh switch tube and the control end of the twelfth switch tube are connected with the controller.

4. The dual drive brushless motor control circuit of claim 1, wherein, ​ The second inverter bridge comprises a seventh switch tube, an eighth switch tube, a ninth switch tube, a tenth switch tube, an eleventh switch tube and a twelfth switch tube, the first end of the seventh switch tube, the first end of the eighth switch tube and the first end of the ninth switch tube are connected with the first end of the direct current power supply, the second end of the seventh switch tube is connected with the first end of the tenth switch tube and the first end of the second motor, the second end of the eighth switch tube is connected with the first end of the eleventh switch tube and the second end of the second motor, the second end of the ninth switch tube is connected with the first end of the twelfth switch tube and the third end of the second motor, the second end of the tenth switch tube, the second end of the eleventh switch tube and the second end of the twelfth switch tube are connected with the second end of the direct current power supply, the control end of the seventh switch tube, the control end of the eighth switch tube, the control end of the ninth switch tube, the control end of the tenth switch tube, the control end of the eleventh switch tube and the control end of the twelfth switch tube are connected with the controller.

5. The dual drive brushless motor control circuit of claim 1, wherein, The first carrier is a symmetrical triangular wave, comprising periodically repeated rising edges and falling edges; The second carrier is a symmetrical triangular wave, comprising periodically repeated falling edges and rising edges.

6. The dual drive brushless motor control circuit of claim 1, wherein, The first three-phase PWM signal is a seven-segment PWM signal, one modulation period of the first three-phase PWM signal comprises three zero vector action times and four non-zero vector action times arranged symmetrically, the second three-phase PWM signal is a seven-segment PWM signal, one modulation period of the second three-phase PWM signal comprises three zero vector action times and four non-zero vector action times arranged symmetrically.

7. The dual drive brushless motor control circuit of claim 1, wherein, The first three-phase PWM signal is a five-segment PWM signal, one modulation period of the first three-phase PWM signal comprises two zero vector action times and three non-zero vector action times arranged symmetrically, the second three-phase PWM signal is a five-segment PWM signal, one modulation period of the second three-phase PWM signal comprises two zero vector action times and three non-zero vector action times arranged symmetrically.

8. A dual drive brushless motor control method based on the dual drive brushless motor control circuit according to any one of claims 1-7, characterized in that, The double-drive brushless motor control method comprises: The controller generates a first carrier and a second carrier, and generates a first three-phase PWM signal and a second three-phase PWM signal based on an SVPWM strategy, the frequency of the first carrier is equal to the frequency of the second carrier, and the phase of the first carrier is opposite to the phase of the second carrier; The first inverter bridge controls the first motor based on the first three-phase PWM signal, and the second inverter bridge controls the second motor based on the second three-phase PWM signal.

9. The dual drive brushless motor control method of claim 8, wherein, The double-drive brushless motor control method further comprises: The first current sampling module samples the bus current of the first inverter; The controller calculates the three-phase current of the first inverter based on the sampling result of the first current sampling module, and adjusts the duty cycle of the first three-phase PWM signal based on the three-phase current of the first inverter, the target speed of the first motor and the current speed of the first motor, so as to perform feedback control on the speed of the first motor; The second current sampling module samples the bus current of the second inverter; The controller calculates the three-phase current of the second inverter based on the sampling result of the second current sampling module, and adjusts the duty cycle of the second three-phase PWM signal based on the three-phase current of the second inverter, the target speed of the second motor and the current speed of the second motor, so as to perform feedback control on the speed of the second motor.

10. The dual drive brushless motor control method of claim 9, wherein, The first carrier is a symmetrical triangle wave including periodically repeated rising edges and falling edges, and the second carrier is a symmetrical triangle wave including periodically repeated falling edges and rising edges, and the double-drive brushless motor control method further comprises: At the rising edge of the first carrier, the bus current of the first inverter bridge is sampled to obtain a first sampling value and a second sampling value, and the three-phase current of the first inverter bridge is calculated based on the first sampling value and the second sampling value; At the rising edge of the second carrier, the bus current of the second inverter bridge is sampled to obtain a third sampling value and a fourth sampling value, and the three-phase current of the second inverter bridge is calculated based on the third sampling value and the fourth sampling value.

11. The dual drive brushless motor control method of claim 9, wherein, The first carrier is a symmetrical triangle wave including periodically repeated rising edges and falling edges, and the second carrier is a symmetrical triangle wave including periodically repeated falling edges and rising edges, and the double-drive brushless motor control method further comprises: At the falling edge of the first carrier, the bus current of the first inverter bridge is sampled to obtain a first sampling value and a second sampling value, and the three-phase current of the first inverter bridge is calculated based on the first sampling value and the second sampling value; At the falling edge of the second carrier, the bus current of the second inverter bridge is sampled to obtain a third sampling value and a fourth sampling value, and the three-phase current of the second inverter bridge is calculated based on the third sampling value and the fourth sampling value.

12. The dual drive brushless motor control method of claim 10, wherein, The double-drive brushless motor control method further comprises: At the rising edge of the first carrier, the bus current of the first inverter bridge is sampled to obtain a first sampling value and a second sampling value, and the three-phase current of the first inverter bridge is calculated based on the first sampling value and the second sampling value; At the rising edge of the second carrier, the bus current of the second inverter bridge is sampled to obtain a third sampling value and a fourth sampling value, and the three-phase current of the second inverter bridge is calculated based on the third sampling value and the fourth sampling value.

13. The dual drive brushless motor control method of claim 11, wherein, The double-drive brushless motor control method further comprises: At the falling edge of the first carrier, the bus current of the first inverter bridge is sampled to obtain a first sampling value and a second sampling value, and the three-phase current of the first inverter bridge is calculated based on the first sampling value and the second sampling value; At the falling edge of the second carrier, the bus current of the second inverter bridge is sampled to obtain a third sampling value and a fourth sampling value, and the three-phase current of the second inverter bridge is calculated based on the third sampling value and the fourth sampling value.

14. A cleaning apparatus comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the double-drive brushless motor control method of claims 8-13.

15. A computer readable medium characterized by The computer readable medium carries computer execution instructions, and the computer execution instructions are executed by the processor to implement the double-drive brushless motor control method of claims 8-13.

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