A dual-coil driver for an axial-radial hybrid motor and its control method

Abstract

This invention discloses a dual-coil driver and its control method for an axial-radial hybrid motor, belonging to the field of motor drive and control technology. The driver includes a main controller, a rotor position sensor, a common DC bus, an axial motor drive unit, and a radial motor drive unit. The axial motor drive unit includes an axial power bridge and a first ideal diode protection circuit, while the radial motor drive unit includes a radial power bridge and a second ideal diode protection circuit. Based on the rotor position information obtained from the rotor position sensor, the main controller can selectively operate in either a single-drive mode or a synchronous drive mode. This invention fundamentally solves the safety hazard of the other coil's induced power generation backflow damaging the driver during single-coil drive by using the ideal diode protection circuit. Simultaneously, it achieves flexible independent control and precise coordinated drive of the two coils, offering advantages of high reliability, high efficiency, and high flexibility.

Description

Technical Field

[0001] This invention relates to the field of motor drive and control technology, specifically to a dual-coil driver for an axial-radial hybrid motor and its control method. Background Technology

[0002] Hybrid brushless motors, combining axial and radial flux, integrate the advantages of high torque density of axial flux motors and wide speed range of radial flux motors, demonstrating great potential in high-performance applications such as electric vehicles, aerospace, and precision servo motors. However, the unique structure of this type of motor (integrating two independent stator coils, namely axial coils and radial coils, to generate axial and radial magnetomotive forces respectively, on the same rotor structure) also brings special challenges to its drive control.

[0003] Currently, commonly used single-winding motor drivers are ill-suited to the characteristics of dual-winding motors, resulting in a limited driving mode. They cannot flexibly select to drive the axial or radial coils individually based on operating conditions, nor can they efficiently achieve coordinated composite driving of the two sets of coils, thus restricting the performance advantages of hybrid motors. More significantly, when only one set of coils is driven, the other coil, located in the rotor's rotating magnetic field, will generate a significant back electromotive force due to electromagnetic induction. If this coil circuit remains connected to the driver's power bridge, the generated reverse current will directly impact the power switching devices (such as MOSFETs), easily leading to DC bus voltage surge, control instability, or even power transistor burnout, posing a serious safety hazard. Traditional solutions, such as using mechanical relays for physical isolation, suffer from slow response, large size, and short lifespan. Using ordinary Schottky diodes for unidirectional conduction protection results in inherently high forward voltage drops, leading to significant conduction losses and reduced system efficiency.

[0004] Therefore, designing a dedicated drive that can flexibly switch drive modes and fundamentally and safely and efficiently solve the hazards of induction power generation has become a key technical bottleneck in promoting the practical application of axial-radial hybrid motors. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a dual-coil driver and its control method for an axial-radial hybrid motor. This driver not only enables independent driving of the axial and radial coils and flexible switching between synchronous driving modes, but also fundamentally solves the safety problem of damage to the driver caused by induced power generation in the other coil due to single-coil driving through a built-in ideal diode protection circuit, thereby improving the reliability, efficiency, and control flexibility of the entire drive system.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: On one hand, the present invention provides a dual-coil driver for an axial-radial hybrid motor, comprising: Rotor position sensor, used to acquire rotor position information of motor; The main controller, connected to the rotor position sensor, is used to generate axial motor control signals and radial motor control signals based on the rotor position information. Common DC bus; An axial motor drive unit has its DC input terminal connected to a common DC bus, its control input terminal connected to the axial control signal output terminal of the main controller, and its output terminal used to connect to the axial coil of the motor. The radial motor drive unit has its DC input terminal connected to a common DC bus, its control input terminal connected to the radial control signal output terminal of the main controller, and its output terminal used to connect to the radial coil of the motor. The axial motor drive unit includes an axial power bridge and a first ideal diode protection circuit. The axial power bridge is composed of multiple switching transistors. The first ideal diode protection circuit is used to realize unidirectional conduction and reverse blocking functions to block the reverse current generated by the axial coil from flowing back into the axial power bridge. The radial motor drive unit includes a radial power bridge and a second ideal diode protection circuit. The radial power bridge is composed of multiple switching transistors. The second ideal diode protection circuit is used to realize unidirectional conduction and reverse blocking functions to block the reverse current generated by the radial coil from flowing back into the radial power bridge.

[0007] Furthermore, the first ideal diode protection circuit is connected in series between the DC input terminal of the axial power bridge and the common DC bus, and the second ideal diode protection circuit is connected in series between the DC input terminal of the radial power bridge and the common DC bus.

[0008] Furthermore, both the first ideal diode protection circuit and the second ideal diode protection circuit are composed of a metal-oxide-semiconductor field-effect transistor and a drive controller that controls its on / off state. The drive controller determines the current direction based on the source-drain voltage difference of the transistor and controls the on / off state of the transistor to achieve a unidirectional conduction function with low forward voltage drop.

[0009] Furthermore, the reverse blocking function of the first ideal diode protection circuit is implemented by at least one switch in each arm of the axial power bridge through a control strategy; the reverse blocking function of the second ideal diode protection circuit is implemented by at least one switch in each arm of the radial power bridge through a control strategy.

[0010] Furthermore, the control strategy for implementing reverse blocking functionality using at least one switch in each bridge arm is as follows: In each bridge arm of the corresponding power bridge, a corresponding switch is configured for each switch requiring reverse blocking functionality. controllerThe controller is used to detect the current direction or terminal voltage of the corresponding switch transistor. When it detects that current is flowing from the motor side to the common DC bus side, it controls the switch transistor to turn off.

[0011] Furthermore, based on the rotor position information obtained from the rotor position sensor, the main controller can selectively operate in any of the following modes: Individual drive mode: Outputs pulse width modulation control signals only to one of the axial motor drive units or the radial motor drive units; Synchronous drive mode: Simultaneously outputs pulse width modulation control signals to both the axial motor drive unit and the radial motor drive unit.

[0012] Furthermore, in synchronous drive mode, the main controller allocates axial and radial drive components based on the rotor position information obtained by the rotor position sensor and the externally input general control command, and simultaneously generates two independent pulse width modulation control signals to drive the axial coil and the radial coil respectively.

[0013] Furthermore, in standalone drive mode, the output pulse width modulation control signal is a drive signal with a variable duty cycle, and the pulse width modulation control signal of the motor drive unit that is not output is set to invalid.

[0014] Furthermore, all the switching transistors of the power bridge corresponding to the motor drive unit that is not output are placed in a turn-off or high-impedance state, and the ideal diode protection circuit corresponding to the motor drive unit blocks the coil circuit connected to the motor drive unit.

[0015] On the other hand, the present invention also provides a control method for the above-mentioned dual-coil driver, comprising the following steps: S1. System initialization, obtain the rotor position information of the motor; S2. Receive external input including at least the general control command for the target operating mode; S3. Determine the target operating mode: If it is a single drive mode, the following steps are performed: the main controller only calculates and outputs a valid pulse width modulation signal for the target motor drive unit, while ensuring that the switching transistors of the power bridge corresponding to the non-target motor drive unit are in the off state, and putting the corresponding ideal diode protection circuit into the blocking preparation state. If it is a synchronous drive mode, the following steps are performed: The main controller allocates axial and radial drive components according to the overall control command, and simultaneously generates two independent pulse width modulation control signals to drive the axial coil and the radial coil respectively.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention achieves independent and coordinated control of the two sets of coils in an axial-radial hybrid motor by operating the main controller in either a standalone drive mode or a synchronous drive mode. In standalone drive mode, only the axial coil or only the radial coil can be driven according to the operating conditions, such as requiring only axial force for dynamic compensation or only radial force to provide the main torque, avoiding unnecessary energy loss. In synchronous drive mode, the two sets of coils can work together, fully leveraging the combined advantages of the high torque density of the axial flux motor and the wide speed range of the radial flux motor. Compared with existing single-winding drivers, this invention significantly improves the flexibility and adaptability of motor control, allowing the performance advantages of the hybrid motor to be fully realized.

[0017] 2. This invention addresses the unique induction generation problem of hybrid motors by creatively introducing an ideal diode protection circuit into the two motor drive units. When only one set of coils is actively energized for driving, the reverse induced current generated by the other undriven coil due to cutting the rotating magnetic field is reliably blocked by its corresponding ideal diode protection circuit.

[0018] This circuit consists of a metal-oxide-semiconductor field-effect transistor (MOSFET) and its drive controller. It determines the current direction by real-time detection of the source-drain voltage difference across the MOSFET: when current flows from the common DC bus to the motor (normal driving state), the drive controller turns on the MOSFET, utilizing its extremely low on-resistance to achieve a forward voltage drop far lower than that of a traditional diode; when it detects current attempting to flow back from the motor side to the drive DC bus (power generation state), the drive controller immediately turns off the MOSFET, creating a high-resistance state and reliably blocking the reverse current. This design fundamentally solves the problems of slow response, short lifespan, and large size of mechanical relays in traditional solutions, as well as the large forward voltage drop and high losses of ordinary Schottky diodes, achieving highly reliable and efficient reverse current protection.

[0019] 3. This invention provides two technical solutions for implementing reverse blocking functionality: First, an independent modular ideal diode protection circuit is connected in series between the DC input terminal of the power bridge and the common DC bus. This design is clear, highly reliable, and suitable for applications with extremely high reliability requirements. Second, the reverse blocking function is integrated into each bridge arm switch of the power bridge through a control strategy. Each switch requiring reverse blocking functionality is equipped with an independent controller, achieving distributed protection by detecting current direction or terminal voltage. The latter eliminates the need for additional power devices, reducing system cost and miniaturization design complexity. The coverage of these two solutions allows this invention to achieve an optimized balance between reliability and cost according to different application requirements, broadening the product's application scope.

[0020] 4. In standalone drive mode, this invention not only relies on the ideal diode protection circuit for reverse blocking, but also uses the main controller to place all switches of the power bridge corresponding to the undriven motor drive unit in a turn-off or high-impedance state, and invalidates their pulse width modulation (PWM) control signals. This multi-level failure protection mechanism, combining hardware protection and software control, ensures that the reverse current path is blocked multiple times under abnormal operating conditions, further enhancing the robustness and reliability of the system. Even if the ideal diode protection circuit malfunctions, the turn-off state of the switches can still provide a certain degree of protection, forming a fail-safe design.

[0021] 5. In synchronous drive mode, the main controller, based on rotor position information obtained from the rotor position sensor and externally input total control commands (including total torque commands, total thrust commands, total speed commands, or total position commands, etc.), allocates axial and radial drive components and simultaneously generates two independent pulse width modulation (PWM) control signals to drive the axial and radial coils respectively. This collaborative drive method ensures precise spatial and temporal coordination of the magnetic fields generated by the two sets of coils, achieving high-precision closed-loop control of the motor's total torque or total thrust, and fully leveraging the composite motion control advantages of hybrid motors. Attached Figure Description

[0022] Figure 1 The control method of the dual-coil driver of the present invention Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] In the description of this invention, it should be noted that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] The present invention provides a dual-coil driver for an axial-radial hybrid motor, comprising a rotor position sensor, a main controller, a common DC bus, an axial motor drive unit, and a radial motor drive unit.

[0026] The rotor position sensor of this invention is used to acquire the rotor position information of a motor in real time, providing a phase reference for the precise control of the axial and radial coils. In specific implementations, the sensor can take the form of a rotary transformer, photoelectric encoder, or magnetic encoder, and is installed at the end of the motor. Its output signal is processed by a conditioning circuit and then transmitted to the main controller.

[0027] The main controller of this invention serves as the brain of the system, receiving external commands (including total torque commands, total thrust commands, total speed commands, or total position commands, etc.) and generating two independent control signals—an axial motor control signal and a radial motor control signal—through a built-in existing algorithm. In specific implementations, this main controller is typically a microcontroller unit (MCU), a digital signal processor (DSP), or a dedicated control chip containing such a core, preferably an STM32G431.

[0028] The common DC bus of this invention is a power distribution network that provides a unified DC power supply for the entire drive system. It typically includes two lines: a positive line (+VDC) and a negative line (GND, i.e., ground). The common DC bus supplies power to both the axial and radial motor drive units. That is, the DC input terminals of both motor drive units are connected in parallel to this common bus. This common DC bus ensures that the two motor drive units operate on the same voltage platform, facilitating energy management and control.

[0029] The axial motor drive unit of this invention receives the axial control signal output by the main controller and is responsible for driving the axial coil of the motor. Specifically, the control input terminal of the axial motor drive unit is connected to the axial control signal output terminal of the main controller, and its output terminal is used to connect to the axial coil of the motor. This unit includes an axial power bridge and a first ideal diode protection circuit. The axial power bridge is composed of multiple switching transistors; in a specific implementation, a three-phase full-bridge inverter circuit structure is adopted. The first ideal diode protection circuit is used to implement unidirectional conduction and reverse blocking functions to prevent the reverse current generated by the axial coil from flowing back into the axial power bridge.

[0030] This invention provides a radial motor drive unit that receives radial control signals from a main controller and drives the radial coils of a motor. Specifically, the control input of the radial motor drive unit is connected to the radial control signal output of the main controller, and its output is connected to the radial coils of the motor. The unit includes a radial power bridge and a second ideal diode protection circuit. The radial power bridge consists of multiple switching transistors; in a specific implementation, a three-phase full-bridge inverter circuit structure is used. The second ideal diode protection circuit implements unidirectional conduction and reverse blocking functions to prevent the reverse current generated by the radial coil from flowing back into the radial power bridge.

[0031] This invention's dual-coil driver adopts a modular architecture design. The axial motor drive unit and the radial motor drive unit are structurally symmetrical, each containing an independent power bridge and ideal diode protection circuit. They are powered in parallel through a common DC bus and independently controlled by a main controller. The two motor drive units are electrically independent but coordinated in control, with a clear structure that facilitates flexible configuration and expansion for motors of different power levels, exhibiting good applicability.

[0032] In practice, the first ideal diode protection circuit and the second ideal diode have the same structure and can be implemented in the following two ways.

[0033] Method 1: The ideal diode protection circuit is connected in series as an independent module between the DC input terminal of the corresponding power bridge and the common DC bus.

[0034] Specifically, the module consists of a metal-oxide-semiconductor field-effect transistor (MOSFET) and a drive controller that controls its switching on and off. The drive controller monitors the source-drain voltage difference across the MOSFET in real time to determine the current direction: when the current flows from the common DC bus to the motor (normal driving state), the drive controller turns on the MOSFET, utilizing its extremely low on-resistance to achieve a forward voltage drop far lower than that of a traditional diode; when it detects that the current is attempting to flow back from the motor side to the common DC bus (power generation state), the drive controller immediately turns off the MOSFET, forming a high-resistance state, reliably blocking the reverse current and protecting the power bridge from reverse current surges.

[0035] Method 2: The ideal diode protection function does not use a separate module, but is integrated into at least one switching transistor in each arm of the corresponding power bridge through a control strategy. Axial and radial power bridges are inverter circuits composed of multiple power switching devices (referred to as switching transistors). Each power bridge contains multiple arms, and each arm consists of two switching transistors (upper and lower transistors) connected in series. The switching transistors can be metal-oxide-semiconductor field-effect transistors (MOSFETs), insulated-gate bipolar transistors (IGBTs), or other types of fully controllable power semiconductor devices.

[0036] In this implementation, each switch requiring reverse blocking functionality is configured with a corresponding controller, which independently monitors the current direction or terminal voltage of its corresponding switch. When current is detected flowing from the motor side to the common DC bus side (i.e., reverse generation state), the controller immediately shuts off the switch, blocking the reverse current path. Multiple controllers operate independently and collaboratively on each bridge arm to achieve the same reverse blocking function as the independent module solution. This solution requires no additional power devices, which helps reduce system cost and enable miniaturized design.

[0037] The two implementation methods mentioned above can be selected according to different application requirements.

[0038] In practice, the main controller can selectively operate in any of the following modes based on the rotor position information obtained by the rotor position sensor: Individual drive mode: Outputs pulse width modulation (PWM) control signals only to one of the axial motor drive units or the radial motor drive units; Synchronous drive mode: Simultaneously outputs pulse width modulation (PWM) control signals to both the axial motor drive unit and the radial motor drive unit.

[0039] In standalone drive mode, the present invention performs differentiated processing on two pulse width modulation (PWM) control signals through the main controller to achieve precise driving of the target coil and safe isolation of the non-target coil.

[0040] In practical implementation, when operating in standalone drive mode, the main controller generates and outputs effective pulse width modulation (PWM) control signals only for the target motor drive unit (e.g., axial or radial motor drive unit). This control signal has a variable duty cycle, which is calculated in real-time using existing closed-loop control algorithms based on external commands (such as total torque and total speed commands) and real-time feedback information such as rotor position and phase current. The variable duty cycle drive signal acts on the switching transistors of the corresponding power bridge of the target motor drive unit, causing them to turn on and off according to the required voltage vector law, thereby generating the desired drive current in the target coil and achieving precise control of the motor.

[0041] At the same time, the main controller sets the pulse width modulation (PWM) control signal of the motor drive unit that is not output to an invalid state, including three states: constant high level, constant low level, or high impedance.

[0042] In standalone drive mode, this invention provides dual protection for the un-output motor drive unit through the coordinated operation of the main controller and the ideal diode protection circuit. On one hand, all switches in the power bridge corresponding to the motor drive unit are placed in a turn-off or high-impedance state, actively cutting off possible current paths at the device level. On the other hand, the ideal diode protection circuit corresponding to the motor drive unit independently performs reverse blocking, detecting and blocking reverse current attempting to flow from the motor side to the DC bus side in real time. Through this dual protection of "switch turn-off" and "ideal diode blocking," it is ensured that any reverse current generated by the undriven coil in the induced generation state is reliably intercepted and cannot flow back to the corresponding power bridge.

[0043] In synchronous drive mode, the present invention achieves precise coordinated control of axial and radial coils through a main controller.

[0044] In practice, the main controller first acquires rotor position information, which serves as a common phase reference for the synchronous control of the two sets of coils. Simultaneously, the main controller receives externally input general control commands (such as total torque commands, total thrust commands, or total speed commands), which characterize the overall output requirements of the motor.

[0045] Based on the rotor position information and the overall control command, the control algorithm built into the main controller (such as vector control or direct torque control) decomposes the overall control command into axial drive components and radial drive components, calculating the voltage vectors required for the axial and radial coils respectively. Subsequently, based on the two voltage vectors, two independent pulse-width modulation (PWM) control signals are generated synchronously: one for driving the axial coil and the other for driving the radial coil. The duty cycle of the two PWM signals is determined by the amplitude of the corresponding voltage vector, while the phase is determined by the angle of the voltage vector and the rotor position, ensuring that the magnetic fields generated by the two coils are precisely matched in space, achieving vector synthesis of axial and radial forces.

[0046] The two sets of coils work together based on the same rotor position reference, avoiding magnetic field misalignment caused by inconsistent position information; the independent calculation and allocation of axial and radial drive components can flexibly adjust the output ratio of the two sets of coils according to the overall control command; the synchronous generation of two PWM signals ensures precise matching of the drive timing of the two sets of coils, thereby achieving high-precision closed-loop control of the total torque or total thrust of the motor and giving full play to the comprehensive performance advantages of the hybrid motor.

[0047] like Figure 1 As shown, the present invention also provides a control method for the above-mentioned dual-coil driver, comprising the following steps: S1. System initialization, obtain the rotor position information of the motor; S2. Receive external input including at least the general control command for the target operating mode; S3. Determine the target operating mode: If it is a single drive mode, the following steps are performed: the main controller only calculates and outputs a valid pulse width modulation signal for the target motor drive unit, while ensuring that the switching transistors of the power bridge corresponding to the non-target motor drive unit are in the off state, and putting the corresponding ideal diode protection circuit into the blocking preparation state. If it is a synchronous drive mode, the following steps are performed: The main controller allocates axial and radial drive components according to the overall control command, and simultaneously generates two independent pulse width modulation control signals to drive the axial coil and the radial coil respectively.

[0048] In practice, the above control methods also include: S6. Within each control cycle, feedback signals from the rotor position sensor and the motor current sensor are acquired. Based on the deviation between the feedback signals and the target command, the duty cycle and / or phase of the pulse width modulation control signal are adjusted in real time to achieve closed-loop control of the motor torque or speed. The target command refers to the current cycle control target value determined within each control cycle based on the externally input total control command (such as total torque command, total thrust command, or target speed command).

[0049] Finally, it should be noted that the above embodiments are merely preferred embodiments of the present invention used to illustrate the technical solutions of the present invention, and are not intended to limit the invention, nor are they intended to limit the patent scope of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. That is to say, any changes or refinements made to the main design concept and spirit of the present invention that are not of substantial significance, but whose technical problems are still consistent with the present invention, should be included within the protection scope of the present invention. In addition, the direct or indirect application of the technical solutions of the present invention to other related technical fields are similarly included within the patent protection scope of the present invention.

Claims

1. A dual-coil driver for an axial-radial hybrid motor, characterized in that, include: Rotor position sensor, used to acquire rotor position information of motor; The main controller, connected to the rotor position sensor, is used to generate axial motor control signals and radial motor control signals based on the rotor position information. Common DC bus; An axial motor drive unit has its DC input terminal connected to a common DC bus, its control input terminal connected to the axial control signal output terminal of the main controller, and its output terminal used to connect to the axial coil of the motor. The radial motor drive unit has its DC input terminal connected to a common DC bus, its control input terminal connected to the radial control signal output terminal of the main controller, and its output terminal used to connect to the radial coil of the motor. The axial motor drive unit includes an axial power bridge and a first ideal diode protection circuit. The axial power bridge is composed of multiple switching transistors. The first ideal diode protection circuit is used to realize unidirectional conduction and reverse blocking functions to block the reverse current generated by the axial coil from flowing back into the axial power bridge. The radial motor drive unit includes a radial power bridge and a second ideal diode protection circuit. The radial power bridge is composed of multiple switching transistors. The second ideal diode protection circuit is used to realize unidirectional conduction and reverse blocking functions to block the reverse current generated by the radial coil from flowing back into the radial power bridge.

2. The dual-coil driver according to claim 1, characterized in that, The first ideal diode protection circuit is connected in series between the DC input terminal of the axial power bridge and the common DC bus, and the second ideal diode protection circuit is connected in series between the DC input terminal of the radial power bridge and the common DC bus.

3. The dual-coil driver according to claim 2, characterized in that, Both the first ideal diode protection circuit and the second ideal diode protection circuit consist of a metal-oxide-semiconductor field-effect transistor and a drive controller that controls its on / off state. The drive controller determines the current direction based on the source-drain voltage difference of the transistor and controls the on / off state of the transistor to achieve a unidirectional conduction function with low forward voltage drop.

4. The dual-coil driver according to claim 1, characterized in that, The reverse blocking function of the first ideal diode protection circuit is achieved by at least one switch in each arm of the axial power bridge through a control strategy; the reverse blocking function of the second ideal diode protection circuit is achieved by at least one switch in each arm of the radial power bridge through a control strategy.

5. The dual-coil driver according to claim 4, characterized in that, The control strategy for implementing reverse blocking functionality using at least one switch in each bridge arm is as follows: In each bridge arm of the corresponding power bridge, a corresponding switch is configured for each switch requiring reverse blocking functionality. controller The controller is used to detect the current direction or terminal voltage of the corresponding switch transistor. When it detects that current is flowing from the motor side to the common DC bus side, it controls the switch transistor to turn off.

6. The dual-coil driver according to claim 4, characterized in that, Based on the rotor position information obtained from the rotor position sensor, the main controller can selectively operate in any of the following modes: Individual drive mode: Outputs pulse width modulation control signals only to one of the axial motor drive units or the radial motor drive units; Synchronous drive mode: Simultaneously outputs pulse width modulation control signals to both the axial motor drive unit and the radial motor drive unit.

7. The dual-coil driver according to claim 6, characterized in that, In synchronous drive mode, the main controller allocates axial and radial drive components based on the rotor position information obtained by the rotor position sensor and the externally input general control command, and simultaneously generates two independent pulse width modulation control signals to drive the axial coil and the radial coil respectively.

8. The dual-coil driver according to claim 6, characterized in that, In standalone drive mode, the output pulse width modulation control signal is a drive signal with a variable duty cycle, and the pulse width modulation control signal of the motor drive unit that is not output is set to invalid.

9. The dual-coil driver according to claim 8, characterized in that, All the switching transistors of the power bridge corresponding to the motor drive unit that is not output are placed in the off or high-impedance state, and the ideal diode protection circuit corresponding to the motor drive unit blocks the coil circuit connected to the motor drive unit.

10. A control method based on the dual-coil driver according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1. System initialization, obtain the rotor position information of the motor; S2. Receive external input including at least the general control command for the target operating mode; S3. Determine the target operating mode: If it is a single drive mode, the following steps are performed: the main controller only calculates and outputs a valid pulse width modulation signal for the target motor drive unit, while ensuring that the switching transistors of the power bridge corresponding to the non-target motor drive unit are in the off state, and putting the corresponding ideal diode protection circuit into the blocking preparation state. If it is a synchronous drive mode, the following steps are performed: The main controller allocates axial and radial drive components according to the overall control command, and simultaneously generates two independent pulse width modulation control signals to drive the axial coil and the radial coil respectively.

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