High-performance FOC three-phase motor drive circuit

Abstract

The utility model discloses a three-phase motor driving circuit of a high-performance FOC, and relates to the technical field of electronics, in particular to the three-phase motor driving circuit of the high-performance FOC, which comprises a control module and a driving module, and the driving module is connected with the control module; wherein the driving module is used for driving a three-phase motor; the driving module comprises a motor driving unit; the motor driving unit comprises a plurality of subunits, and each subunit is independently connected with a corresponding phase of the three-phase motor; each subunit comprises a high-end power tube and a low-end power tube, and the high-end power tube and the low-end power tube form a half-bridge point circuit; the control module is used for controlling on or off of each high-end power tube and each low-end power tube; the motor can be accurately controlled in various modes, and forward and reverse rotation can be very smooth and noiseless at a high speed.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to a high-performance FOC three-phase motor drive circuit. Background Art

[0002] Moving head lights are usually used on stages and squares. They are a kind of lighting products that integrate electronics, mechanics and optics. Qualified professional moving head computer lights must be stable and reliable, have excellent lighting effects, accurate positioning, good heat dissipation, and the lamp body and material structure must meet the requirements of ergonomics.

[0003] Since moving head lights are generally large in size and high in power, existing drive circuits are difficult to ensure that moving head lights can operate quickly, quietly and accurately on the XY axis. Utility Model Content

[0004] The utility model aims to avoid the shortcomings of the prior art and provide a motor driving technology capable of realizing smooth forward and reverse rotation at high speed without noise.

[0005] The purpose of the utility model is achieved through the following technical solutions:

[0006] A high-performance FOC three-phase motor drive circuit comprises: a control module and a drive module, wherein the drive module is connected to the control module; wherein the drive module is used to drive the three-phase motor; the drive module comprises a motor drive unit; the motor drive unit comprises a plurality of sub-units, each of which is individually connected to a corresponding phase of the three-phase motor; each of the sub-units comprises: a high-end power tube and a low-end power tube, wherein the high-end power tube and the low-end power tube form a half-bridge point circuit; and the control module is used to control the conduction or cutoff of each of the high-end power tube and the low-end power tube.

[0007] Specifically, the drive module also includes a front drive unit, which includes a three-phase independent half-bridge drive chip; the input end of the three-phase independent half-bridge drive chip is connected to the control module, and the output end is connected to each sub-unit of the motor drive unit.

[0008] More specifically, each subunit also includes a first diode and a second diode respectively; one end of the first diode is connected to the high-end power tube, and the other end is connected to the output end of the three-phase independent half-bridge driver chip; one end of the second diode is connected to the low-end power tube, and the other end is connected to the output end of the three-phase independent half-bridge driver chip.

[0009] More specifically, it also includes a current detection module; the motor drive unit includes a first measuring resistor and a second measuring resistor; the current detection module includes a first current detection unit and a second current detection unit, which are respectively used to measure the current of the first measuring resistor and the second measuring resistor.

[0010] More specifically, the current detection module further includes a differential amplification unit for differentially amplifying the detection results of the first current detection unit and the second current detection unit.

[0011] In another specific embodiment, the high-end power tube and the low-end power tube are respectively single N-channel enhancement MOS tubes.

[0012] In another specific embodiment, the control module includes a single chip microcomputer of model AT32F415CBT7.

[0013] Another specific embodiment also includes: a monitoring module; the monitoring module includes a magnetic rotary encoder; and the control module is connected to the magnetic rotary encoder via an SPI interface.

[0014] More specifically, it also includes a power supply module; the power supply module includes a first output unit, a second output unit and a third output unit, which are respectively used to provide a driving voltage for the three-phase independent half-bridge driving chip, provide a first working voltage for the monitoring module, and provide a second working voltage for the control module and the current detection module respectively.

[0015] More specifically, the driving voltage is 12V, the first operating voltage is 5V, and the second operating voltage is 3.3V.

[0016] The beneficial effects achieved by the utility model are as follows: a high-performance FOC three-phase motor drive circuit, comprising: a control module and a drive module, the drive module is respectively connected to the control module and the current detection module; wherein the drive module is used to drive the three-phase motor; the drive module comprises a motor drive unit; the motor drive unit comprises a plurality of sub-units, each sub-unit is respectively connected to the corresponding phase of the three-phase motor; each sub-unit comprises: a high-end power tube and a low-end power tube, the high-end power tube and the low-end power tube form a half-bridge point circuit; the control module is used to control the conduction or cutoff of each high-end power tube and the low-end power tube; the motor can be accurately controlled in a variety of ways, and the forward and reverse rotation at high speed can be achieved very smoothly and without noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a schematic block diagram of a high-performance FOC three-phase motor drive circuit according to an embodiment of the present application;

[0019] Figure 2It is a schematic circuit diagram of a power module of a high-performance FOC three-phase motor drive circuit according to an embodiment of the present application;

[0020] Figure 3 It is a circuit principle schematic diagram of a control module of a high-performance FOC three-phase motor drive circuit according to an embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of the circuit principle of a monitoring module of a three-phase motor drive circuit of a high-performance FOC according to an embodiment of the present application;

[0022] Figure 5 It is a circuit principle schematic diagram of a pre-drive unit of a high-performance FOC three-phase motor drive circuit according to an embodiment of the present application;

[0023] Figure 6 It is a circuit principle schematic diagram of a motor drive unit of a high-performance FOC three-phase motor drive circuit according to an embodiment of the present application;

[0024] Figure 7 It is a circuit principle schematic diagram of a current detection module of a high-performance FOC three-phase motor drive circuit according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described through the implementation method with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0026] Example 1

[0027] One of the implementation methods of a high-performance FOC three-phase motor drive circuit of the present application is as follows: Figures 1 to 7 As shown, it includes: a power module, a control module, a drive module, a monitoring module and a current detection module. Among them, the power module is connected to the control module, the drive module, the monitoring module and the current detection module respectively, and supplies power to each module respectively. The control module is connected to the drive module, the monitoring module and the current detection module respectively, and is used to control the working state of the drive module according to the signals fed back by the monitoring module and the current detection module, and then drive the three-phase motor through the drive module.

[0028] The drive module includes a pre-drive unit and a motor drive unit; the motor drive unit includes a plurality of sub-units, each of which is individually connected to a corresponding phase of the three-phase motor; the pre-drive unit includes a three-phase independent half-bridge drive chip U3; the input end of the three-phase independent half-bridge drive chip U3 is connected to the control module, and the output end is connected to each sub-unit of the motor drive unit.

[0029] Specifically, each subunit includes: a high-end power tube and a low-end power tube, which form a half-bridge point circuit; the control module is used to control the conduction or cutoff of each high-end power tube and low-end power tube.

[0030] More specifically, the power supply module includes a first output unit, a second output unit and a third output unit, which are respectively used to provide a driving voltage for the three-phase independent half-bridge driving chip, provide a first working voltage for the monitoring module, and provide a second working voltage for the control module and the current detection module respectively.

[0031] In this embodiment, the driving voltage is 12V, the first working voltage is 5V, and the second working voltage is 3.3V; the specific circuit is as follows Figure 2 As shown, it includes: buck regulators U2 and U9 (ME3116AM6G), and regulator chip U10 (RT9013-33GB (Z00)); the buck regulators U2 and U9 withstand voltage of 4.75V-40V. Capacitors C28 and C14 play a filtering role, eliminating clutter for the subsequent power supply, and supplying power to the DC-DC buck regulator U2. The role of diode D4 (SS310) is a freewheeling diode, and the role of inductor L2 is energy storage. Resistors R19 and R23 are used to adjust the voltage feedback. According to the internal reference voltage, the output voltage VOUT=0.8*(R19+R23 / R23) can be calculated. Capacitor C11 is a feedforward capacitor, which is used to improve the transient response or phase margin of the loop. The role of capacitors C27 and C15 is filtering and energy storage, so that the output voltage 12V (i.e., driving voltage) is stabilized here for the subsequent use. Capacitors C29 and C47 play a filtering role, eliminating clutter for the subsequent power supply, and supplying power to the DC-DC step-down regulator U9. The role of diode D2 (SS310) is a freewheeling diode, and the role of inductor L1 is energy storage. Resistors R40 and R42 are used to adjust the voltage feedback. According to the internal reference voltage, the output voltage VOUT=0.8*(R40+R42 / R42) can be calculated. Capacitor C43 is a feedforward capacitor, which is used to improve the transient response or phase margin of the loop. The functions of capacitors C49, C48 and C46 are filtering and energy storage, thereby stabilizing the output voltage 5V (i.e., the first working voltage) for the subsequent stage.

[0032] The 5V (i.e., the first working voltage) output by the above-mentioned front stage is filtered by capacitors C50 and C51 and supplied to the LDO voltage regulator chip U10 for use. The voltage regulator chip U10 is used to directly convert 5V into 3.3V (i.e., the second working voltage). Capacitors C53 and C52 play a filtering role, and provide power to the control circuit and other circuits of the back stage to eliminate clutter.

[0033] like Figure 3 As shown, the control module includes an ARM32-bit M4 core microcontroller U1 (AT32F415CBT7). The microcontroller U1 will control the enable pins of the DC-DC buck regulators U2 and U9 through the GPIO port (pins 12 and 13), and can use soft start to put the power supply in low power mode. The microcontroller U1 can adjust the output voltage value between 0.3V and 40V based on the external voltage feedback and the internal reference voltage value. Specifically, the high-end power tube is turned on and off by controlling the pins 1, 2, and 3 of the three-phase independent half-bridge driver chip U3 (EG2134) through the PWM port (pins 29, 30, and 31), and the low-end power tube is turned on and off by controlling the pins 4, 5, and 6 of the three-phase independent half-bridge driver chip U3 (EG2134) through the PWM port (pins 26, 27, and 28). For example, the two pins M0_AH and M0_AL are PWM complementary output pins. If M0_AH is high, M0_AL is low. When M0_AH is high, M0GH_A of the three-phase independent half-bridge driver chip U3 is high, and the high-end power tube Q1 is turned on, and the corresponding M0GL_A is low, and the low-end power tube Q4 is turned off.

[0034] At the same time, the microcontroller U1 communicates with the current detection module (see Figure 7 ) to sample the current of phase B and phase C, thereby realizing the current loop control of the three-phase stepper motor; and communicating with the monitoring module (see Figure 4 ) is connected to the magnetic rotary encoder U6 (SC60221), which is set on the three-phase motor. The microcontroller U1 obtains the speed, angle and position feedback of the three-phase motor through the magnetic rotary encoder U6.

[0035] Specifically, the motor drive unit includes a first measuring resistor and a second measuring resistor; the current detection module includes a first current detection unit, a second current detection unit and a differential amplification unit; the first current detection unit and the second current detection unit are used to measure the current of the first measuring resistor and the second measuring resistor respectively, and the differential amplification unit is used to differentially amplify the detection results of the first current detection unit and the second current detection unit. The advantage of using differential amplification to detect current is that interference can be reduced.

[0036] More specifically, each subunit also includes a first diode and a second diode respectively; one end of the first diode is connected to the high-end power tube, and the other end is connected to the output end of the three-phase independent half-bridge driver chip U3; one end of the second diode is connected to the low-end power tube, and the other end is connected to the output end of the three-phase independent half-bridge driver chip.

[0037] In this embodiment, if Figure 6 and Figure 7 As shown, the high-end power tube and the low-end power tube use single N-channel enhancement MOS tubes respectively, and they can withstand 60V and 170A driving capacity. Among them, 13, 16, 19 output by the three-phase independent half-bridge driver chip U3 control the conduction and cutoff of the three-phase A, B, C high-end power tubes Q1, Q2 and Q3; and the role of diodes D5, D7, D6 is to make the MOS tube turn off faster and reduce losses. Then, 9, 10, 11 output by the three-phase independent half-bridge driver chip U3 control the conduction and cutoff of the three-phase A, B, C low-end power tubes Q4, Q6 and Q5; and the role of diodes D8, D10, D9 is to make the MOS tube turn off faster and reduce losses. Therefore, the forward and reverse operation of the three-phase stepper motor can be driven according to the control of the conduction or cutoff of the high-end tube or low-end tube of the three-phase A, B, C. The first measuring resistor R14 and the second measuring resistor R13 are placed at the low-end tubes of phases B and C respectively to detect the current, and can detect the voltage at both ends and perform differential amplification, so the current can be controlled and greatly improved. Therefore, the FOC drive can achieve precise control at any speed, and drive the three-phase stepper motor quickly and noiselessly.

[0038] In this embodiment, the current detection module uses a dual-channel operational amplifier chip U5 (U5A+U5B) (EG8546) with low operating current, single power supply, 6MHZ bandwidth and high-speed rail-to-rail input and output. First, a rail-to-rail input, output voltage feedback, low-power amplifier operator U4 (LMV321) is used.

[0039] It can be obtained that: VOUT of this circuit = (3.3-VOUT) * R25 / R18 + 0, so the output voltage is 1.65V. The role of 1.65V is to be used as a bias voltage for the next stage. Because the sampling range of ADC is 0-3.3V, but the motor current is a sine wave, the bias voltage is changed to half of 3.3, and the entire phase waveform can be displayed. Then, the voltage at the end of the first measuring resistor R14 of the B phase is differentially amplified and input to U5A for calculation.

[0040] It can be obtained that the current detection of phase B in this circuit is:

[0041] V(M0_SO1)=(V(M0_SP1)-V(M0_SN1))*R31 / R30,

[0042] So V(M0_SO1)=20*(V(M0_SP1)-V(M0_SN1)),

[0043] The single-chip microcomputer U1 then samples V(M0_SO1) through the ADC to obtain the current of phase B.

[0044] Similarly, the voltage at the second measuring resistor R13 of phase C is differentially amplified and input to U5B for calculation to obtain the current detection of phase C:

[0045] V(M1_SO2)=(V(M0_SP2)-V(M0_SN2))*R34 / R33,

[0046] So V(M1_SO2)=20*(V(M0_SP2)-V(M0_SN2)),

[0047] Then, the single-chip microcomputer U1 (AT32F415CBT7) samples V(M1_SO2) through ADC to obtain the current of phase C.

[0048] Finally, according to Kirchhoff's current theorem: Ia+Ib+Ic=0, the third phase current can be obtained. This allows real-time current control.

[0049] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A high-performance FOC three-phase motor drive circuit, characterized in that: include: A control module and a driving module, wherein the driving module is connected to the control module; Wherein, the driving module is used to drive a three-phase motor; The driving module comprises a motor driving unit; the motor driving unit comprises a plurality of sub-units, each of which is individually connected to a corresponding phase of the three-phase motor; Each of the sub-units comprises: a high-end power tube and a low-end power tube, and the high-end power tube and the low-end power tube form a half-bridge point circuit; The control module is used to control the conduction or cutoff of each of the high-end power tubes and the low-end power tubes.

2. A high performance FOC three-phase motor drive circuit according to claim 1, characterized in that: The driving module further includes a front driving unit, and the front driving unit includes a three-phase independent half-bridge driving chip; The input end of the three-phase independent half-bridge driving chip is connected to the control module, and the output end is connected to each sub-unit of the motor driving unit.

3. The high-performance FOC three-phase motor drive circuit according to claim 2, characterized in that: Each of the subunits further comprises a first diode and a second diode respectively; One end of the first diode is connected to the high-end power tube, and the other end is connected to the output end of the three-phase independent half-bridge driver chip; One end of the second diode is connected to the low-end power tube, and the other end is connected to the output end of the three-phase independent half-bridge drive chip.

4. A high-performance FOC three-phase motor drive circuit according to claim 3, characterized in that: Also includes a current detection module; The motor drive unit includes a first measuring resistor and a second measuring resistor; The current detection module comprises a first current detection unit and a second current detection unit, which are used to measure the current of the first measuring resistor and the second measuring resistor respectively.

5. The high-performance FOC three-phase motor drive circuit according to claim 4, characterized in that: The current detection module further includes a differential amplification unit for differentially amplifying the detection results of the first current detection unit and the second current detection unit.

6. The high-performance FOC three-phase motor drive circuit according to claim 1, characterized in that: The high-end power tube and the low-end power tube are single N-channel enhancement type MOS tubes.

7. The high-performance FOC three-phase motor drive circuit according to claim 1, characterized in that: The control module includes a single chip microcomputer of model AT32F415CBT7.

8. The high-performance FOC three-phase motor drive circuit according to claim 5, characterized in that: Also includes: Monitoring module; The monitoring module includes a magnetic rotary encoder; the control module is connected to the magnetic rotary encoder via an SPI interface.

9. The high-performance FOC three-phase motor drive circuit according to claim 8, characterized in that: It also includes a power supply module; the power supply module includes a first output unit, a second output unit and a third output unit, which are respectively used to provide a driving voltage for the three-phase independent half-bridge drive chip, provide a first working voltage for the monitoring module, and provide a second working voltage for the control module and current detection.

10. The high-performance FOC three-phase motor drive circuit according to claim 9, characterized in that: The driving voltage is 12V, the first operating voltage is 5V, and the second operating voltage is 3.3V.

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