Master-slave dual-motor synchronous control device for automobile air-conditioning window

Abstract

The application discloses a master-slave dual-motor synchronous control device for an automobile alternating current window, which comprises an ECU controller, a slave control board, a first direct current brush motor, a PWM feedback sampling circuit, a current sampling circuit, a microcontroller, and a signal shaping circuit. The slave control board is connected with the master control board through a multi-core flat cable, is electrically connected with the master control board and is driven by the master control board. The microcontroller is connected with the PWM feedback sampling circuit and the current sampling circuit respectively, is used for obtaining the running synchronous state of the two direct current brush motors according to the PWM feedback pulse information, and is used for obtaining the load state of the two direct current brush motors according to the running current information, so as to generate a synchronous control signal for adjusting the running of the first direct current brush motor and the second direct current brush motor. The signal shaping circuit comprises a photocoupler isolator and a Schmitt trigger which are connected in sequence. The input end of the photocoupler isolator is connected with a PWM original signal fed back by the motor. The output end of the Schmitt trigger is connected with the PWM feedback sampling circuit, so as to output a shaped PWM feedback signal.

Description

Technical Field

[0001] This invention relates to the field of dual-motor synchronous control technology, and in particular to a master-slave dual-motor synchronous control device and control board for automotive AC windows. Background Technology

[0002] Currently, automotive window control systems typically employ a single-motor control structure, while some dual-actuator structures use a single PCB centralized control method.

[0003] In the existing technology, when two DC brushed motors need to run synchronously, if there is a speed difference between the two motors, it will cause a significant deviation in the operation of the car's AC window, thereby affecting the stability of the AC window operation.

[0004] Furthermore, due to the limited internal space of the automotive window actuator, adopting a single PCB integrated dual-motor control structure would result in an excessively large PCB area, making it difficult to install inside the actuator.

[0005] On the other hand, the automotive AC window motor operates under a strong alternating magnetic field and high current, which can easily cause EMI and EMC interference to the signal acquisition circuit, thereby affecting the accuracy of PWM feedback acquisition and system stability.

[0006] Therefore, a master-slave dual-motor synchronous control device and control board for automotive communication windows is still needed to solve the above problems. Summary of the Invention

[0007] This invention provides a master-slave dual-motor synchronous control device and control board for automotive windows that solves the above-mentioned problems.

[0008] The objective of this invention is achieved through the following technical solution: A master-slave dual-motor synchronous control device for automotive window switches, comprising: ECU controller; The main control board is communicatively connected to the ECU controller. The main control board includes a microcontroller, a PWM feedback sampling circuit, a current sampling circuit, and a signal shaping circuit. The control board is connected to the main control board via a multi-core ribbon cable. The first DC brushed motor is electrically connected to the main control board and driven by the main control board. The second DC brushed motor is electrically connected to and driven by the slave control board; The main control board and the slave control board are respectively housed in two independent AC window actuators; The multi-core cable includes at least a current sampling signal line and a PWM feedback signal line. The operating current signal and PWM feedback signal of the second DC brushed motor are obtained from the control board and sent to the main control board through the multi-core cable. The PWM feedback sampling circuit is connected to the PWM feedback signals of the first brushed DC motor and the second brushed DC motor respectively, and is used to obtain the PWM feedback pulse information of the two brushed DC motors. The current sampling circuit is connected to the first brushed DC motor and the second brushed DC motor respectively, and is used to obtain the operating current information of the two brushed DC motors. The microcontroller is connected to the PWM feedback sampling circuit and the current sampling circuit respectively, and is used to obtain the operating synchronization state of the two DC brushed motors according to the PWM feedback pulse information, and to obtain the load state of the two DC brushed motors according to the operating current information, so as to generate a synchronization control signal for adjusting the operation of the first DC brushed motor and the second DC brushed motor. The signal shaping circuit includes an optocoupler and a Schmitt trigger connected in sequence. The input terminal of the optocoupler is connected to the original PWM signal fed back from the motor, and the output terminal of the Schmitt trigger is connected to the PWM feedback sampling circuit to output the shaped PWM feedback signal.

[0009] Preferably, the multi-core ribbon cable is a 4-pin ribbon cable, and the four signal lines of the 4-pin ribbon cable are the current feedback signal line ISEN, the PWM feedback signal line PWMOUT, the first pulse direction control signal line IN1, and the second pulse direction control signal line IN2.

[0010] Preferably, both the main control board and the slave control board are provided with an H-bridge drive circuit, which is composed of a combination of NMOS and PMOS transistors; wherein, the lower arm of the H-bridge drive circuit uses a low threshold MOS transistor to achieve full conduction under a 3.3V drive voltage.

[0011] Preferably, both the main control board and the slave control board are provided with a current sampling amplification circuit. The current sampling amplification circuit includes an operational amplifier. The input terminal of the operational amplifier is electrically connected to the lower bridge arm of the H-bridge drive circuit, and the output terminal of the operational amplifier is electrically connected to the ADC port of the microcontroller.

[0012] Preferably, the operational amplifier has a gain of 9.2.

[0013] Preferably, both the main control board and the slave control board use a full copper-plated PCB structure to improve heat dissipation performance.

[0014] Preferably, the PCBs of the main control board and the slave control board are configured to isolate the motor power ground and the signal ground to reduce EMI and EMC interference of the alternating magnetic field of the motor on the signal circuit.

[0015] Preferably, the microcontroller determines the load difference between the two AC window actuators based on the operating current information of the first DC brushed motor and the second DC brushed motor, and adjusts the drive duty cycle of at least one DC brushed motor according to the load difference to reduce the operating deviation between the two AC window actuators. When the rate of change of the operating current of any DC brushed motor exceeds a preset threshold, it is determined that the corresponding AC window actuator has reached the operating limit state.

[0016] Preferably, the microcontroller constructs a synchronous control loop based on the PWM feedback pulse information of the two brushed DC motors, and constructs a load balancing control loop based on the operating current information of the two brushed DC motors. The synchronous control loop and the load balancing control loop work together to drive and control the two brushed DC motors.

[0017] Compared with the prior art, the beneficial effects of the present invention include at least the following: This invention adopts a master-slave dual-motor control architecture that combines a master control board and a slave control board. The master control board communicates with the ECU controller and is connected to the slave control board through a multi-core ribbon cable. The master control board uniformly completes the synchronous control of the two AC window actuators. Compared with the scheme of independent control of dual controllers or bus communication coordination control, it can effectively reduce the system hardware cost and control complexity, and improve the system response speed and synchronous control stability.

[0018] By setting up a current sampling circuit to monitor the operating current of two DC brushed motors in real time, the microcontroller judges the load difference between the two AC window actuators based on the operating current information and dynamically adjusts the drive duty cycle of at least one DC brushed motor. This effectively compensates for the load imbalance caused by factors such as mechanical friction, assembly errors, and track resistance differences, thereby improving the stability and consistency of AC window operation. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the master-slave motor synchronous control device according to an embodiment of the present invention; Figure 2 This is a block diagram of the internal structure of the main control board according to an embodiment of the present invention; Figure 3 This is a PWM feedback signal shaping circuit diagram according to an embodiment of the present invention; Figure 4 This is a circuit diagram of the H-knock drive and current sampling circuit according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the dual closed-loop synchronous control principle of an embodiment of the present invention; 1. ECU controller; 2. Main control board; 3. Multi-core ribbon cable; 4. Slave control board; 5. First DC brushed motor; 6. Second DC brushed motor; 21. PWM feedback sampling circuit; 22. Current sampling circuit; 23. Signal shaping circuit; 231. Optocoupler isolator; 232. Schmitt trigger; 24. Microcontroller; 25. H-bridge drive circuit; 26. Current sampling amplification circuit; 261. Operational amplifier. Detailed Implementation

[0020] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided to make the invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore repeated descriptions of them will be omitted.

[0021] The terms used to express position and direction in this invention are illustrated with the accompanying drawings, but changes can be made as needed, and all such changes are included within the scope of protection of this invention.

[0022] Reference Figure 1-5 This invention provides a master-slave dual-motor synchronous control device for automotive windows, comprising: ECU controller 1; The main control board 2 is communicatively connected to the ECU controller 1. The main control board 2 includes a microcontroller 24, a PWM feedback sampling circuit 21, a current sampling circuit 22, and a signal shaping circuit 23. The control board 4 is connected to the main control board 2 via a multi-core ribbon cable 3; The first DC brushed motor 5 is electrically connected to the main control board 2 and is driven by the main control board 2; The second DC brushed motor 6 is electrically connected to and driven by the slave control board 4; The main control board 2 and the slave control board 4 are respectively housed in two independent AC window actuators; The multi-core cable 3 includes at least a current sampling signal line and a PWM feedback signal line. The operating current signal and PWM feedback signal of the second DC brushed motor 6 are obtained from the control board 4 and sent to the main control board 2 through the multi-core cable 3. The PWM feedback sampling circuit 21 is connected to the PWM feedback signals of the first DC brushed motor 5 and the second DC brushed motor 6 respectively, and is used to obtain the PWM feedback pulse information of the two DC brushed motors. The current sampling circuit 22 is connected to the first DC brushed motor 5 and the second DC brushed motor 6 respectively, and is used to obtain the operating current information of the two DC brushed motors. The microcontroller 24 is connected to the PWM feedback sampling circuit 21 and the current sampling circuit 22 respectively, and is used to obtain the operating synchronization state of the two DC brushed motors according to the PWM feedback pulse information, and to obtain the load state of the two DC brushed motors according to the operating current information, so as to generate a synchronization control signal for adjusting the operation of the first DC brushed motor 5 and the second DC brushed motor 6. The signal shaping circuit 23 includes an optocoupler 231 and a Schmitt trigger 232 connected in sequence. The input of the optocoupler 231 is connected to the original PWM signal fed back from the motor, and the output of the Schmitt trigger 232 is connected to the PWM feedback sampling circuit 21 to output the shaped PWM feedback signal. The main control board 2, as the control center of the dual-motor synchronous control system, is communicatively connected to the ECU controller 1 and is used to receive control commands such as opening, closing, and stopping the AC window. The slave control board 4, as the execution control unit, is connected to the main control board 2 via a 4-pin ribbon cable and is used to drive the second DC brushed motor 6 and send the feedback information of the second DC brushed motor 6 to the main control board 2 in real time. Specifically, the 4-pin ribbon cable includes a current feedback signal line ISEN, a PWM feedback signal line PWMOUT, a first pulse direction control signal line IN1, and a second pulse direction control signal line IN2. IN1 and IN2 are used to receive the motor running direction and drive control signals sent by the main control board 2; PWMOUT is used to send the PWM feedback signal generated by the second DC brushed motor 6 back to the main control board 2; ISEN is used to send the current sampling signal corresponding to the second DC brushed motor 6 to the main control board 2.

[0023] When the ECU controller 1 issues the AC window operation command, the main control board 2 controls the first DC brushed motor 5 to run, and at the same time sends drive control signals to the slave control board 4 through IN1 and IN2 to control the second DC brushed motor 6 to run synchronously.

[0024] During operation, both the first DC brushed motor 5 and the second DC brushed motor 6 output PWM feedback signals. These PWM feedback signals can be generated by a motor Hall effect detection unit, an encoded feedback unit, or a pulse output unit corresponding to the motor's rotational state, and are used to characterize the motor's speed and displacement.

[0025] Because automotive motors generate strong electromagnetic interference during operation, the PWM feedback signal may exhibit glitches, distortion, or jitter. Therefore, this embodiment includes a signal shaping circuit 23 composed of an optocoupler 231 and a Schmitt trigger 232 before the PWM feedback sampling circuit 21. The original PWM feedback signal is first electrically isolated by the optocoupler 231 to suppress interference from the power circuit to the signal circuit; then, it undergoes waveform shaping by the Schmitt trigger 232 to convert the distorted signal into a standard pulse signal with clear edges, which is then input into the PWM feedback sampling circuit 21 for counting processing, thereby improving the accuracy of the feedback signal acquisition.

[0026] The PWM feedback sampling circuit 21 in the main control board 2 collects the PWM feedback pulse information of the first DC brushed motor 5 and the second DC brushed motor 6, and sends the collected pulse quantity, pulse frequency, or pulse change trend to the microcontroller 24. The microcontroller 24 establishes a synchronous control loop based on the PWM feedback information of the two motors and calculates the synchronization deviation between the two AC window actuators.

[0027] For example, when the number of PWM feedback pulses corresponding to the first DC brushed motor 5 is greater than the number of PWM feedback pulses corresponding to the second DC brushed motor 6, it indicates that the first AC window actuator runs faster than the second AC window actuator. At this time, the microcontroller 24 can reduce the drive duty cycle of the first DC brushed motor 5 or increase the drive duty cycle of the second DC brushed motor 6 to reduce the running deviation between the two actuators; otherwise, it will perform the adjustment in the opposite direction.

[0028] Meanwhile, this embodiment also utilizes the current sampling circuit 22 to construct a load balancing control loop. The main control board 2 and the slave control board 4 respectively acquire the operating current signals of the corresponding motors, and after amplification by the current sampling amplifier circuit 26, input them to the microcontroller 24. The microcontroller 24 analyzes the load conditions borne by the two AC window actuators based on the operating current information of the two motors.

[0029] For example, when the load on one of the AC window actuators increases due to factors such as increased guide rail friction, glass assembly misalignment, or local jamming, the operating current of its corresponding motor will be significantly higher than that of the other motor. After detecting this load difference, the microcontroller 24 can compensate and adjust the duty cycle of the dual motor drive, enabling the actuator with the larger load to obtain a greater driving force output, thereby reducing the synchronization error caused by the load difference.

[0030] In this embodiment, the PWM feedback information is mainly used to reflect the synchronous operation status of the two AC window actuators, and the current feedback information is mainly used to reflect the load status of the two AC window actuators. The two form the synchronous operation control loop and the load balancing control loop, respectively. The synchronous operation control loop is used to correct the position deviation, and the load balancing control loop is used to correct the load deviation. The two control loops work together to control the dual-motor drive process, thereby achieving high-precision synchronous operation of the two AC window actuators.

[0031] In one embodiment, the multi-core ribbon cable 3 is a 4-pin ribbon cable, and the four signal lines of the 4-pin ribbon cable are the current feedback signal line ISEN, the PWM feedback signal line PWMOUT, the first pulse direction control signal line IN1, and the second pulse direction control signal line IN2.

[0032] In one embodiment, both the main control board 2 and the slave control board 4 are equipped with an H-bridge drive circuit 25, which is composed of a combination of NMOS and PMOS transistors. The lower arm of the H-bridge drive circuit 25 uses a low-threshold MOS transistor to achieve full conduction under a 3.3V drive voltage. In this embodiment, the PWM feedback information mainly reflects the synchronous operation status of the two AC window actuators, and the current feedback information mainly reflects the load status of the two AC window actuators. These two information form a synchronous operation control loop and a load balancing control loop, respectively. The synchronous operation control loop corrects position deviations, and the load balancing control loop corrects load deviations. The two control loops work together in the dual-motor drive control process to achieve high-precision synchronous operation of the dual AC window actuators. When the microcontroller 24 detects that the rate of change of the operating current of any DC brushed motor exceeds a preset threshold, it determines that the corresponding AC window actuator has reached the mechanical limit position. At this time, the microcontroller 24 stops the corresponding motor drive and feeds back the AC window position status to the ECU controller 1. By using the rate of change of current for limit judgment, AC window positioning detection can be achieved without the need for additional mechanical limit switches, thereby reducing system costs and improving system reliability.

[0033] In this embodiment, both the main control board 2 and the slave control board 4 adopt a fully copper-plated PCB structure, and the power ground and signal ground are separated and isolated. The fully copper-plated structure can improve the heat dissipation capacity of power devices and reduce the operating temperature rise of MOSFETs; the ground isolation structure can reduce EMI and EMC interference generated by the alternating magnetic field of the motor, improve the detection accuracy of PWM feedback signals and current sampling signals, thereby further improving the system's operational stability and synchronous control accuracy.

[0034] In one embodiment, both the main control board 2 and the slave control board 4 are provided with a current sampling amplification circuit 26. The current sampling amplification circuit 26 includes an operational amplifier 261. The input terminal of the operational amplifier 261 is electrically connected to the lower bridge arm of the H-bridge drive circuit 25, and the output terminal of the operational amplifier 261 is electrically connected to the ADC port of the microcontroller 24.

[0035] In one embodiment, the operational amplifier 261 has a gain of 9.2.

[0036] In one embodiment, both the main control board 2 and the slave control board 4 use a full copper-plated PCB structure to improve heat dissipation performance.

[0037] In one embodiment, the PCBs of the main control board 2 and the slave control board 4 are configured to isolate the motor power ground and the signal ground to reduce EMI and EMC interference of the alternating magnetic field of the motor on the signal circuit.

[0038] In one embodiment, the microcontroller 24 determines the load difference between the two AC window actuators based on the operating current information of the first DC brushed motor 5 and the second DC brushed motor 6, and adjusts the drive duty cycle of at least one DC brushed motor according to the load difference to reduce the operating deviation between the two AC window actuators. When the rate of change of the operating current of any DC brushed motor exceeds a preset threshold, it is determined that the corresponding AC window actuator has reached the operating limit state.

[0039] In one embodiment, the microcontroller 24 constructs a synchronous control loop based on the PWM feedback pulse information of the two brushed DC motors and a load balancing control loop based on the operating current information of the two brushed DC motors. The synchronous control loop and the load balancing control loop work together to drive and control the two brushed DC motors.

[0040] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the invention without departing from the principles and spirit of the invention, and all such changes should fall within the protection scope of the claims of the present invention.

Claims

1. A master-slave dual-motor synchronous control device for automotive windows, characterized in that, include: ECU controller; The main control board is communicatively connected to the ECU controller. The main control board includes a microcontroller, a PWM feedback sampling circuit, a current sampling circuit, and a signal shaping circuit. The control board is connected to the main control board via a multi-core ribbon cable. The first DC brushed motor is electrically connected to the main control board and driven by the main control board. The second DC brushed motor is electrically connected to and driven by the slave control board; The main control board and the slave control board are respectively housed in two independent AC window actuators; The multi-core cable includes at least a current sampling signal line and a PWM feedback signal line. The operating current signal and PWM feedback signal of the second DC brushed motor are obtained from the control board and sent to the main control board through the multi-core cable. The PWM feedback sampling circuit is connected to the PWM feedback signals of the first brushed DC motor and the second brushed DC motor respectively, and is used to obtain the PWM feedback pulse information of the two brushed DC motors. The current sampling circuit is connected to the first brushed DC motor and the second brushed DC motor respectively, and is used to obtain the operating current information of the two brushed DC motors. The microcontroller is connected to the PWM feedback sampling circuit and the current sampling circuit respectively, and is used to obtain the operating synchronization state of the two DC brushed motors according to the PWM feedback pulse information, and to obtain the load state of the two DC brushed motors according to the operating current information, so as to generate a synchronization control signal for adjusting the operation of the first DC brushed motor and the second DC brushed motor. The signal shaping circuit includes an optocoupler and a Schmitt trigger connected in sequence. The input terminal of the optocoupler is connected to the original PWM signal fed back from the motor, and the output terminal of the Schmitt trigger is connected to the PWM feedback sampling circuit to output the shaped PWM feedback signal.

2. The apparatus according to claim 1, characterized in that, The multi-core ribbon cable is a 4-pin ribbon cable, and the four signal lines of the 4-pin ribbon cable are the current feedback signal line ISEN, the PWM feedback signal line PWMOUT, the first pulse direction control signal line IN1, and the second pulse direction control signal line IN2.

3. The apparatus according to claim 1, characterized in that, Both the main control board and the slave control board are equipped with an H-bridge drive circuit, which is composed of a combination of NMOS and PMOS transistors. The lower arm of the H-bridge drive circuit uses a low-threshold MOS transistor to achieve full conduction at a drive voltage of 3.3V.

4. The apparatus according to claim 3, characterized in that, Both the main control board and the slave control board are equipped with a current sampling amplification circuit. The current sampling amplification circuit includes an operational amplifier. The input terminal of the operational amplifier is electrically connected to the lower bridge arm of the H-bridge drive circuit, and the output terminal of the operational amplifier is electrically connected to the ADC port of the microcontroller.

5. The apparatus according to claim 4, characterized in that, The operational amplifier has a gain of 9.

2.

6. The apparatus according to claim 1, characterized in that, Both the main control board and the slave control board use a full copper-plated PCB structure to improve heat dissipation performance.

7. The apparatus according to claim 6, characterized in that, The PCBs of the main control board and the slave control board are configured to isolate the motor power ground and the signal ground to reduce EMI and EMC interference from the alternating magnetic field of the motor on the signal circuit.

8. The apparatus according to claim 1, characterized in that, The microcontroller determines the load difference between the two AC window actuators based on the operating current information of the first DC brushed motor and the second DC brushed motor, and adjusts the drive duty cycle of at least one DC brushed motor according to the load difference to reduce the operating deviation between the two AC window actuators. When the rate of change of the operating current of any DC brushed motor exceeds a preset threshold, it is determined that the corresponding AC window actuator has reached the operating limit state.

9. The apparatus according to claim 1, characterized in that, The microcontroller constructs a synchronous control loop based on the PWM feedback pulse information of the two brushed DC motors, and constructs a load balancing control loop based on the operating current information of the two brushed DC motors. The synchronous control loop and the load balancing control loop work together to drive and control the two brushed DC motors.

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