A time-sharing driving control method and system for a dual-winding motor

Abstract

The application discloses a kind of time-sharing drive control method and system of double-winding motor, belong to motor drive technical field, method includes: each PWM period is divided into the first time period and the second time period of equal length;In the first time period, main controller executes the time-sharing drive control of main winding;In the second time period, slave controller executes the time-sharing drive control of slave winding.Adopt time-sharing drive mechanism, main winding and slave winding alternate work each occupies half PWM period, main and slave winding are all involved in output, average share work, can make full use of the output capacity of two windings, avoid the waste of the ability of standby winding, while it can avoid local overheating, thermal balance is good;At the same time, adopt time-sharing drive mechanism, main and slave winding asynchronous output, avoid current imbalance problem, without complex current loop control, reduce system cost and control algorithm is simple.

Description

Technical Field

[0001] This invention relates to the field of motor drive technology, and in particular to a time-sharing drive control method and system for a dual-winding motor. Background Technology

[0002] In high-reliability applications (such as aerospace and industrial robotics), the reliability of motor drive systems is paramount. Traditional single-redundant controllers (single controller, single power supply, single drive circuit) driving single-winding motors present a single point of failure risk; failure of the controller or drive circuit will paralyze the entire system. Using dual-redundant controllers to drive dual-winding motors is one method to improve the reliability of motor drive systems. Existing dual-redundant controller drive methods typically employ the following approaches: 1) Main and standby winding switching control method: When there is no fault, the main winding control circuit drives the main winding output. When the main winding control circuit of the dual-winding motor fails, the main winding output is cut off and the standby winding control circuit drives the standby winding output. 2) Dual-winding synchronous output control method: When there is no fault, both windings output simultaneously. When a fault occurs in the control circuit of one winding, the faulty winding is disconnected and the fault-free winding takes over all the output.

[0003] The dual-controller drive method used in the prior art usually has the following drawbacks: 1) In the main and standby winding switching control method, when there is no fault, the standby winding control circuit does not need to drive the standby winding output, and the output capacity of the two windings cannot be fully utilized. 2) In the dual-winding synchronous output control method, when both windings operate simultaneously, slight differences in winding parameters and drive circuits can lead to current imbalance between the two windings, resulting in circulating current. Therefore, a current loop needs to be introduced for current sharing control. The introduction of a current loop complicates the circuit design, increases system cost, and complicates the development of the control software. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems of the prior art and provide a time-sharing drive control method and system for a dual-winding motor.

[0005] The objective of this invention is achieved through the following technical solution: a time-sharing drive control method for a dual-winding motor, comprising the following steps: The main controller calculates the first PWM duty cycle command based on the target position command and the first real-time position signal of the motor, and generates the first PWM signal. The master controller sends the first PWM duty cycle command and the PWM synchronization signal to the slave controller in real time, and the slave controller generates the second PWM signal according to the first PWM duty cycle command. Each PWM cycle is divided into a first time period and a second time period of equal duration. During the first time period, the main controller outputs the first PWM signal to the main drive circuit, thereby driving the main winding of the motor to work. At the same time, the slave controller turns off the output of the second PWM signal, thereby turning off the slave drive circuit. During the second time period, the slave controller outputs the second PWM signal to the slave drive circuit, thereby driving the slave winding of the motor to work. At the same time, the main controller turns off the output of the first PWM signal, thereby turning off the main drive circuit.

[0006] In one example, the method further includes: A dead time is inserted between the first time period and the second time period. During the dead time, the master controller shuts off the first PWM signal output, thereby shutting down the master drive circuit; the slave controller shuts off the second PWM signal output, thereby shutting down the slave drive circuit.

[0007] In one example, the method further includes: The main controller performs commutation control on the main winding of the motor based on the first real-time position signal of the motor fed back by the main position detector.

[0008] In one example, the method further includes: The controller performs commutation control on the slave winding of the motor based on the second real-time position signal of the motor fed back from the position detector.

[0009] In one example, the method further includes: When the controller detects a fault in the slave drive circuit, it shuts down the second PWM signal output, thereby shutting down the slave drive circuit and sending a first fault isolation command to the master controller. After receiving the first fault isolation command, the main controller continuously outputs the first PWM signal to the main drive circuit throughout the entire PWM cycle, thereby driving the main winding of the motor to work throughout the entire PWM cycle.

[0010] In one example, the method further includes: When the main controller detects a fault in the main drive circuit, the main controller shuts down the first PWM signal output and sends a second fault isolation command to the slave controller. After receiving the second fault isolation command from the controller, the second PWM duty cycle is calculated based on the target position command and the second real-time position signal fed back from the position detector, and a third PWM signal is generated. The third PWM signal is continuously output to the drive circuit throughout the entire PWM cycle, thereby driving the slave winding of the motor to work throughout the entire PWM cycle.

[0011] It should be further noted that the technical features corresponding to the above examples can be combined or replaced to form new technical solutions.

[0012] The present invention also includes a time-sharing drive system for a dual-winding motor, the system comprising a master controller, a slave controller, a master drive circuit, a slave drive circuit, a dual-winding motor, and a master position detector. The master controller is connected to the master drive circuit, the slave controller is connected to the slave drive circuit, and the master drive circuit and the slave drive circuit are connected to the dual-winding motor, the dual-winding motor comprising a master winding and a slave winding. The main position detector acquires the first real-time position signal of the motor and feeds it back to the main controller; The main controller is used to calculate the first PWM duty cycle command based on the target position command and the first real-time position signal, and generate the first PWM signal; it is also used to send the first PWM duty cycle command and the PWM synchronization signal to the slave controller in real time. The controller communicates with the main controller and generates a second PWM signal according to the first PWM duty cycle instruction. Each PWM cycle is divided into a first time period and a second time period of equal duration. During the first time period, the main controller outputs the first PWM signal to the main drive circuit, thereby driving the main winding of the motor to work. At the same time, the slave controller turns off the output of the second PWM signal, thereby turning off the slave drive circuit. During the second time period, the slave controller outputs the second PWM signal to the slave drive circuit, thereby driving the slave winding of the motor to work. At the same time, the main controller turns off the output of the first PWM signal, thereby turning off the main drive circuit.

[0013] In one example, the system also includes a position detector connected to the slave controller for acquiring a second real-time position signal of the motor and feeding it back to the slave controller.

[0014] In one example, the main winding and the slave winding of the dual-winding motor are arranged one after the other in the axial direction, and the main winding and the slave winding correspond to independent stator core sections and share the rotor magnetic circuit.

[0015] It should be further noted that the technical features corresponding to the above system examples can be combined or replaced to form new technical solutions.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. In one example, a time-sharing drive mechanism is adopted, in which the master winding and the slave winding work alternately, each occupying half of the PWM cycle. Both the master and slave windings participate in the output and share the work equally. This can make full use of the output capacity of the two windings, avoid the waste of the capacity of the spare winding, and avoid local overheating, resulting in good thermal balance. At the same time, the time-sharing drive mechanism allows the master and slave windings to output asynchronously, avoiding the current imbalance problem. It eliminates the need for complex current loop control, reduces system cost, and simplifies the control algorithm.

[0017] 2. In one example, by setting the dead time, it is possible to prevent the bus current from changing abruptly due to the overlap of the master and slave winding output times, thus ensuring the safety and reliability of the time-sharing drive timing switching.

[0018] 3. In one example, the master and slave controllers perform commutation control based on the real-time position signals of the independent motor rotors. Even if one controller or position detector fails, the other controller can still control the motor operation based on the independent real-time position signals and time-sharing drive strategy, thus eliminating the risk of single point of failure.

[0019] 4. In one example, a time-sharing drive mechanism is adopted, in which the master and slave control loops (controller + drive circuit) are in an alternating active state and both participate in the drive in real time. There is no need to set a switching time threshold. The control loop without faults directly switches to the full PWM cycle output mode, which has fault isolation capability. A fault in one winding does not affect the other. At the same time, the fault switching time is less than one PWM cycle, which will not cause output interruption and can achieve seamless takeover.

[0020] 5. In one example, the master and slave windings of the dual-stator dual-winding motor are arranged axially back and forth to reduce magnetic circuit coupling. This minimizes the impact of the changing magnetic field generated by one winding when it is working on the other winding when it is off, thereby avoiding potential circulating currents caused by strong magnetic coupling when the windings are alternately turned on. This further solves the problem of current imbalance when the master and slave windings are synchronously output. Attached Figure Description

[0021] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. The accompanying drawings are provided to provide a further understanding of the present application and constitute a part of the present application. The same reference numerals are used in these drawings to denote the same or similar parts. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application.

[0022] Figure 1 A flowchart illustrating a method provided as an example of the present invention; Figure 2 This is a time-sharing driving timing diagram provided as an example of the present invention; Figure 3 This is a system reconfiguration flowchart for a specific winding fault, provided as an example of the present invention. Figure 4 This is a system architecture diagram provided as an example of the present invention. Detailed Implementation

[0023] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, the use of ordinal numbers (e.g., "first to third", etc.) is for distinguishing objects and is not limited to that order, and should not be construed as indicating or implying relative importance.

[0025] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0026] In one example, such as Figure 1 As shown, a time-sharing drive control method for a dual-winding motor includes the following steps: S1: The main controller calculates the first PWM duty cycle command based on the target position command and the first real-time position signal of the motor, and generates the first PWM signal.

[0027] The first PWM duty cycle determines the proportion of the power switch's on-time in the drive circuit during each PWM cycle, thus precisely controlling the motor's output torque or speed. The first PWM signal acts on the power switch in the drive circuit to control its on / off state, adjusting the power at both ends of the winding, thereby controlling the motor's output torque or speed and achieving motor drive control.

[0028] S2: The master controller sends the first PWM duty cycle instruction and the PWM synchronization signal to the slave controller in real time, and the slave controller generates the second PWM signal according to the first PWM duty cycle instruction.

[0029] In step S2, generating a unified first PWM signal only through the master controller ensures the consistency of the PWM signal and avoids potential drive control conflicts that might arise from the master and slave controllers simultaneously and independently calculating the PWM signal.

[0030] S3: Divide each PWM cycle into a first time period and a second time period of equal duration; During the first time period, the main controller outputs the first PWM signal to the main drive circuit, thereby driving the main winding of the motor to work, while the slave controller turns off the output of the second PWM signal, thereby turning off the slave drive circuit; During the second time period, the slave controller outputs the second PWM signal to the slave drive circuit, thereby driving the slave winding of the motor to work, while the main controller turns off the output of the first PWM signal, thereby turning off the main drive circuit.

[0031] In step S3, such as Figure 2As shown, a continuous PWM cycle T is divided into two equal time periods, T1 = T / 2. The master and slave windings use the same duty cycle signal t1 generated by the master controller, and timing accuracy is ensured through a synchronization signal. In the first half of the cycle (0~T1), the master winding drive circuit is active, and the backup winding drive circuit is off; in the second half of the cycle (T1~T), the master winding drive circuit is off, and the backup winding drive circuit is active. This example uses a time-sharing drive mechanism, allowing the master and slave windings to work alternately in their respective time periods, making full use of the output capacity of both windings. Compared with the master-backup winding switching control method (with the backup winding idle), it avoids wasting the capacity of the backup winding. Compared with the dual-winding synchronous output control method, it eliminates the circulating current and current sharing problems caused by the simultaneous operation of the master and slave windings, eliminates the need for complex current loop control, reduces system cost, and simplifies the control algorithm. Furthermore, the time-sharing drive mechanism allows the master and slave windings and their drive circuits to share the heat load evenly, avoiding local overheating and achieving thermal balance of the system.

[0032] In one example, the method also includes: A dead time is inserted between the first time period and the second time period. During the dead time, the master controller shuts off the first PWM signal output, thereby shutting down the master drive circuit; the slave controller shuts off the second PWM signal output, thereby shutting down the slave drive circuit.

[0033] In this example, to prevent sudden changes in bus current caused by overlapping output times of the master and slave windings, in Figure 2 The master-slave winding switching interval shown is inserted with an adjustable dead time. During the dead time, the drive circuits of both the master and slave windings are in the off state. It should be noted that, because the dead time is extremely short (only a small proportion of the PWM cycle), its impact on the overall output capability of the motor is very limited. Therefore, the dead time interval is introduced mainly to ensure system safety and reliability, avoid the risks caused by overlapping switching, while the output capability of the master and slave windings can still be fully utilized.

[0034] In one example, the method also includes: The main controller performs commutation control on the main winding of the motor based on the first real-time position signal of the motor fed back by the main position detector. The controller performs commutation control on the slave winding of the motor based on the second real-time position signal of the motor fed back from the position detector.

[0035] In this example, the master and slave controllers perform commutation operations on the master and slave windings of the motor based on the real-time position signals fed back by the master and slave position detectors, switching the direction or phase of the current applied to the motor windings, thereby generating a continuous and stable rotational torque. At this time, if either commutation circuit (controller + position detector) fails, the other commutation circuit can still control the motor to perform commutation actions, thus constructing a dual-redundant control channel and ensuring the reliability of the system.

[0036] In one example, such as Figure 3 As shown, the method further includes a main controller refactoring step: When the controller detects a fault in the slave drive circuit, it shuts down the second PWM signal output, thereby shutting down the slave drive circuit, and sends a first fault isolation command to the master controller through the high-speed synchronous data interface. After receiving the first fault isolation command, the main controller switches to full PWM cycle output mode: continuously outputting the first PWM signal to the main drive circuit throughout the full PWM cycle, thereby driving the main winding of the motor to work throughout the full PWM cycle. At this time, the main controller performs commutation control on the main winding of the motor based on the first real-time position signal of the motor fed back by the main position detector, driving the main winding output.

[0037] In one example, such as Figure 3 As shown, the method further includes a controller reconfiguration step: When the main controller detects a fault in the main drive circuit, the main controller shuts down the first PWM signal output and sends a second fault isolation command to the slave controller through the high-speed synchronization interface; After receiving the second fault isolation command from the controller, the controller switches to an autonomous full-cycle output mode: using the target position command obtained from the bus communication and the second real-time position signal fed back from the position detector, it calculates the second PWM duty cycle, generates a third PWM signal, and continuously outputs the third PWM signal to the slave drive circuit throughout the entire PWM cycle, thereby driving the slave winding of the motor to work throughout the entire PWM cycle. Of course, at this time, the slave controller performs commutation control on the slave winding of the motor based on the second real-time position signal fed back from the position detector, driving the slave winding to output.

[0038] In the master-slave controller reconfiguration example above, when either controller detects a fault, it immediately shuts down its own output and sends a fault isolation command to the other controller via the synchronization interface. The controller receiving the command can switch to full-cycle output mode (i.e., drive the corresponding winding independently for the entire PWM cycle) in the next PWM cycle. Since fault detection and switching command transmission are completed almost in real time, and the switching action only involves adjusting the drive timing (from time-sharing drive to full-cycle drive), without waiting for an additional switching time threshold, the entire fault switching process can be completed within one PWM cycle, achieving fast and seamless takeover.

[0039] Combining the above examples, we obtain a preferred example of the present invention, in which the time-sharing drive control method includes: S10: The main controller calculates the first PWM duty cycle command based on the target position command and the first real-time position signal of the motor, and generates the first PWM signal; S20: The master controller sends the first PWM duty cycle instruction and the PWM synchronization signal to the slave controller in real time, and the slave controller generates the second PWM signal according to the first PWM duty cycle instruction; S30: Divide each PWM cycle into a first time period and a second time period of equal duration; During the first time period, the main controller outputs the first PWM signal to the main drive circuit, and then performs time-sharing control of the main winding according to the first PWM signal, and performs commutation control of the main winding of the motor using the first real-time position signal; During the second time period, the slave controller performs time-sharing control of the slave winding according to the first PWM signal, and performs commutation control of the slave winding of the motor using the second real-time position signal; A dead time is inserted between the first time period and the second time period. During the dead time, the drive circuits of both the master and slave windings are in the off state. When the slave controller detects a fault in the slave drive circuit, it shuts down its own output and sends a first fault isolation command to the master controller, which then switches to full PWM cycle output mode. When the master controller detects a fault in the master drive circuit, it shuts down its own output and sends a second fault isolation command to the slave controller, which then switches to autonomous full cycle output mode.

[0040] The present invention also includes a time-sharing drive system for a dual-winding motor, such as... Figure 4As shown, the system includes a master controller, a slave controller, a master drive circuit, a slave drive circuit, a dual-winding motor, and a master position detector. The master controller is connected to the master drive circuit, the slave controller is connected to the slave drive circuit, and the master drive circuit and slave drive circuit are connected to the dual-winding motor, which includes a master winding and a slave winding. Furthermore, the master and slave controllers achieve data synchronization through a high-speed synchronization interface. This synchronization interface data includes PWM duty cycle data, PWM synchronization signals, and operating status information. The master position detector can be a position sensor, connected to the master controller, used to acquire the motor's first real-time position signal and feed it back to the master controller. Specifically, the main controller is responsible for running the core control algorithm. It obtains the target position command through bus communication, calculates the first PWM duty cycle command based on the target position command and the first real-time position signal fed back by the main position detector, and generates the first PWM signal. The main controller also sends the first PWM duty cycle command and the PWM synchronization signal to the slave controller in real time, and the slave controller generates the second PWM signal based on the first PWM duty cycle command.

[0041] During the first time period, the main controller performs time-sharing control of the main winding: outputting the first PWM signal to the main drive circuit, thereby driving the main winding of the motor to work; the main controller also uses the first real-time position signal to perform commutation control of the main winding of the motor; at the same time, the slave controller turns off the output of the second PWM signal, thereby turning off the slave drive circuit; during the second time period, the slave controller performs time-sharing drive control of the slave winding: outputting the second PWM signal to the slave drive circuit, thereby driving the slave winding of the motor to work; at the same time, the main controller turns off the output of the first PWM signal, thereby turning off the main drive circuit.

[0042] In one example, the system also includes a position detector connected to the slave controller, which can be a position sensor, used to acquire a second real-time position signal of the motor and feed it back to the slave controller. At this time, the slave controller performs commutation control on the slave winding of the motor based on the second real-time position signal of the motor fed back by the position detector.

[0043] In one example, the master winding and slave winding of the dual-winding motor are arranged one after the other in the axial direction to reduce magnetic circuit coupling; the master and slave windings correspond to independent stator core segments and share the rotor magnetic circuit; each winding is controlled by an independent drive circuit, and the drive circuits are electrically isolated from each other.

[0044] The time-sharing drive system for a dual-winding motor provided by this invention achieves rapid and seamless takeover with a fault switching time of less than one PWM cycle by having the master and slave drive circuits work alternately within a single PWM cycle. This also avoids the risks of circulating current and current imbalance during synchronous output of the dual windings. The system allows the two sets of windings and drive circuits to share the load equally, achieving excellent thermal balance. Furthermore, the dual design based on physical isolation and independent drive algorithms ensures system reliability and improves the overall output performance of the system.

[0045] The above detailed embodiments are a description of the present invention. It should not be considered that the specific embodiments of the present invention are limited to these descriptions. For those skilled in the art, several simple deductions and substitutions can be made without departing from the concept of the present invention, and all of these should be considered to fall within the protection scope of the present invention.

Claims

1. A time-sharing drive control method for a dual-winding motor, characterized in that, Includes the following steps: The main controller calculates the first PWM duty cycle command based on the target position command and the first real-time position signal of the motor, and generates the first PWM signal. The master controller sends the first PWM duty cycle command and the PWM synchronization signal to the slave controller in real time, and the slave controller generates the second PWM signal according to the first PWM duty cycle command. Each PWM cycle is divided into a first time period and a second time period of equal duration. During the first time period, the main controller outputs the first PWM signal to the main drive circuit, thereby driving the main winding of the motor to work. At the same time, the slave controller turns off the output of the second PWM signal, thereby turning off the slave drive circuit. During the second time period, the slave controller outputs the second PWM signal to the slave drive circuit, thereby driving the slave winding of the motor to work. At the same time, the main controller turns off the output of the first PWM signal, thereby turning off the main drive circuit.

2. The time-sharing drive control method for a dual-winding motor according to claim 1, characterized in that, The method further includes: A dead time is inserted between the first time period and the second time period. During the dead time, the master controller shuts off the first PWM signal output, thereby shutting down the master drive circuit; the slave controller shuts off the second PWM signal output, thereby shutting down the slave drive circuit.

3. The time-sharing drive control method for a dual-winding motor according to claim 1, characterized in that, The method further includes: The main controller performs commutation control on the main winding of the motor based on the first real-time position signal of the motor fed back by the main position detector.

4. The time-sharing drive control method for a dual-winding motor according to claim 1, characterized in that, The method further includes: The controller performs commutation control on the slave winding of the motor based on the second real-time position signal of the motor fed back from the position detector.

5. The time-sharing drive control method for a dual-winding motor according to claim 1, characterized in that, The method further includes: When the controller detects a fault in the slave drive circuit, it shuts down the second PWM signal output, thereby shutting down the slave drive circuit and sending a first fault isolation command to the master controller. After receiving the first fault isolation command, the main controller continuously outputs the first PWM signal to the main drive circuit throughout the entire PWM cycle, thereby driving the main winding of the motor to work throughout the entire PWM cycle.

6. The time-sharing drive control method for a dual-winding motor according to claim 1, characterized in that, The method further includes: When the main controller detects a fault in the main drive circuit, the main controller shuts down the first PWM signal output and sends a second fault isolation command to the slave controller. After receiving the second fault isolation command from the controller, the second PWM duty cycle is calculated based on the target position command and the second real-time position signal fed back from the position detector, and a third PWM signal is generated. The third PWM signal is continuously output to the drive circuit throughout the entire PWM cycle, thereby driving the slave winding of the motor to work throughout the entire PWM cycle.

7. A time-sharing drive system for a dual-winding motor, characterized in that, The system includes a main controller, a slave controller, a main drive circuit, a slave drive circuit, a dual-winding motor, and a main position detector. The main controller is connected to the main drive circuit, the slave controller is connected to the slave drive circuit, and the main drive circuit and the slave drive circuit are connected to the dual-winding motor, which includes a main winding and a slave winding. The main position detector acquires the first real-time position signal of the motor and feeds it back to the main controller; The main controller is used to calculate the first PWM duty cycle command based on the target position command and the first real-time position signal, and generate the first PWM signal; it is also used to send the first PWM duty cycle command and the PWM synchronization signal to the slave controller in real time. The controller communicates with the main controller and generates a second PWM signal according to the first PWM duty cycle instruction. Each PWM cycle is divided into a first time period and a second time period of equal duration. During the first time period, the main controller outputs the first PWM signal to the main drive circuit, thereby driving the main winding of the motor to work. At the same time, the slave controller turns off the output of the second PWM signal, thereby turning off the slave drive circuit. During the second time period, the slave controller outputs the second PWM signal to the slave drive circuit, thereby driving the slave winding of the motor to work. At the same time, the main controller turns off the output of the first PWM signal, thereby turning off the main drive circuit.

8. The time-sharing drive system for a dual-winding motor according to claim 7, characterized in that, The system also includes a position detector connected to the slave controller for acquiring a second real-time position signal of the motor and feeding it back to the slave controller.

9. The time-sharing drive system for a dual-winding motor according to claim 7, characterized in that, The main winding and the slave winding of the dual-winding motor are arranged axially front to back, with the main winding and the slave winding corresponding to independent stator core sections and sharing the rotor magnetic circuit.

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