Motor control device and system

Abstract

The utility model discloses a motor control device and system, and the device comprises an FPGA, the first end of a position loop regulator, the first end of a speed loop regulator, the first end of a current loop regulator and the first end of a decoding module in the FPGA are respectively connected with an upper computer, and the second end of the position loop regulator is connected with the second end of the speed loop regulator. The third end of the speed loop regulator is connected with the second end of the current loop regulator, the third end of the current loop regulator is connected with the first end of the FOC module, the second end of the FOC module is connected with the second end of the current loop regulator, the third end of the FOC module is connected with the inverter circuit, the fourth end of the FOC module is connected with the sampling circuit, and the fifth end of the FOC module is connected with the second end of the decoding module. The third end of the decoding module is connected with the third end of the position loop regulator and the second end of the speed loop regulator, the fourth end of the decoding module, the inverter circuit and the sampling circuit are connected with the motor, and the applicability of the motor can be improved.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a motor control device and system. Background Art

[0002] In automation control systems, permanent magnet synchronous motors (PMSMs) are very important because they can accurately control their own speed and rotation position. Motors can work in different application scenarios, and the performance and requirements will be different in different application scenarios.

[0003] In order to adapt to different application requirements and working conditions, direct torque control (DTC) can be used to control the torque and flux of the motor. The DTC controller calculates the switching state of the inverter according to the current state of the motor and the given performance target to achieve the purpose of directly adjusting the torque and flux. However, DTC can only control the torque and flux of the motor, and cannot achieve multi-link control (such as position loop, speed loop, current loop), resulting in limited application scenarios of the motor. Utility Model Content

[0004] The embodiments of the present application disclose a motor control device and system for realizing precise control of a motor through multi-link control (such as a position loop, a speed loop, and a current loop), thereby improving the flexibility of motor control.

[0005] In a first aspect, an embodiment of the present application discloses a motor control device, including a field programmable gate array FPGA, a sampling circuit and an inverter circuit, wherein the FPGA includes a position loop regulator, a speed loop regulator, a current loop regulator, a decoding module and a field oriented control FOC module, wherein:

[0006] The first end of the position loop regulator, the first end of the speed loop regulator, the first end of the current loop regulator and the first end of the decoding module are respectively connected to the host computer, the second end of the position loop regulator is connected to the second end of the speed loop regulator, the third end of the speed loop regulator is connected to the second end of the current loop regulator, the third end of the current loop regulator is connected to the first end of the FOC module, the second end of the FOC module is connected to the second end of the current loop regulator, the third end of the FOC module is connected to the inverter circuit, the fourth end of the FOC module is connected to the sampling circuit, the fifth end of the FOC module is connected to the second end of the decoding module, the third end of the decoding module is respectively connected to the third end of the position loop regulator and the second end of the speed loop regulator, and the fourth end of the decoding module, the inverter circuit and the sampling circuit are respectively connected to the motor;

[0007] A sampling circuit, used for detecting the three-phase current of the motor to obtain a first analog signal, converting the first analog signal into a first digital signal, and sending the first digital signal to the FOC module;

[0008] A FOC module, used for obtaining a torque current of the motor according to the first digital signal;

[0009] A decoding module, used to collect information of the motor based on the control signal sent by the host computer, where the information of the motor includes one or more of the rotor position, speed and electrical angle of the motor;

[0010] The FOC module is also used to determine the action time of the basic voltage vector based on the voltage component output by the current loop regulator, the torque current and the information of the motor. The control signals of the position loop regulator and the speed loop regulator controlled by the host computer are different, and the voltage components output by the current loop regulator are different;

[0011] The inverter circuit is used to generate a pulse width modulation (PWM) control signal according to the action time of the basic voltage vector, and the pulse width modulation (PWM) control signal is used to control the motor.

[0012] As a possible implementation, when the control signal is a first control signal for position loop, speed loop and current loop control, the information of the motor includes the rotor position, speed and electrical angle of the motor;

[0013] A position loop regulator, used for outputting a first speed reference value according to a preset rotor position and a rotor position sent by a host computer;

[0014] A speed loop regulator, configured to output a first current reference value according to a first speed reference value and a speed;

[0015] A current loop regulator, configured to output a first voltage component according to a first current reference value and a torque current;

[0016] The FOC module is further used to determine the action time of the first basic voltage vector according to the first voltage component, the torque current and the electrical angle;

[0017] The inverter circuit is used to generate a first pulse width modulation (PWM) control signal according to the action time of the first basic voltage vector, and the first pulse width modulation (PWM) control signal is used to control the motor.

[0018] As a possible implementation manner, when the control signal is a second control signal for speed loop and current loop control, the information of the motor includes the speed and electrical angle of the motor;

[0019] The speed loop regulator is used to output a second current reference value according to the preset speed and speed sent by the host computer;

[0020] A current loop regulator, used for outputting a second voltage component according to a second current reference value and a torque current;

[0021] The FOC module is further used to determine the action time of the second basic voltage vector according to the second voltage component, the torque current and the electrical angle;

[0022] The inverter circuit is used to generate a second PWM control signal according to the action time of the second basic voltage vector, and the second PWM control signal is used to control the motor.

[0023] As a possible implementation manner, when the control signal is a third control signal for current loop control, the information of the motor includes an electrical angle of the motor;

[0024] A current loop regulator, used for outputting a third voltage component according to a preset current and a torque current sent by a host computer;

[0025] The FOC module is further used to determine the action time of the third basic voltage vector according to the third voltage component, the torque current and the electrical angle;

[0026] The inverter circuit is used to generate a third PWM control signal according to the action time of the third basic voltage vector, and the third PWM control signal is used to control the motor.

[0027] As a possible implementation, the FOC module includes an inverse Pike transform module, a Pike transform module, a Clarke transform module and a space vector modulation module, wherein:

[0028] The first end of the inverse Pike transform module is connected to the third end of the current loop regulator, the second end of the inverse Pike transform module is respectively connected to the first end of the decoding module and the first end of the Pike transform, the third end of the inverse Pike transform module is connected to the space vector regulation module, the space vector regulation module is connected to the inverter circuit, the second end of the Pike transform module is connected to the second end of the current loop regulator, the third end of the Pike transform module is connected to the Clarke transform module, and the Clarke transform module is connected to the sampling circuit.

[0029] As a possible implementation, a Clarke transformation module is used to convert the first digital signal into a two-phase orthogonal current;

[0030] Parker transformation module, used to convert two-phase orthogonal current into torque current according to electrical angle;

[0031] An inverse Pike transformation module for converting voltage components into reference vector voltages according to electrical angles;

[0032] The space vector modulation module is used to determine the action time of the basic voltage vector according to the reference vector voltage.

[0033] As a possible implementation, in the case where the control signal is a first control signal for position loop, speed loop and current loop control, the inverse Parker transformation module is specifically used to convert the first voltage component into a first reference vector voltage according to the electrical angle;

[0034] The space vector modulation module is specifically used to determine the action time of the first basic voltage vector according to the first reference vector voltage.

[0035] As a possible implementation, when the control signal is a second control signal for speed loop and current loop control, the inverse Parker transformation module is specifically used to convert the second voltage component into a second reference vector voltage according to the electrical angle;

[0036] The space vector modulation module is specifically used to determine the action time of the second basic voltage vector according to the second reference vector voltage.

[0037] As a possible implementation, when the control signal is a third control signal for current loop control, the inverse Parker transformation module is specifically used to convert the third voltage component into a third reference vector voltage according to the electrical angle;

[0038] The space vector modulation module is specifically used to determine the action time of the third basic voltage vector according to the third reference vector voltage.

[0039] In a second aspect, an embodiment of the present application discloses a motor control system, which includes a host computer and the motor control device disclosed in the first aspect.

[0040] In an embodiment of the present application, a motor control device includes a field programmable gate array FPGA, a sampling circuit and an inverter circuit. The FPGA includes a position loop regulator, a speed loop regulator, a current loop regulator, a decoding module and a magnetic field oriented control FOC module, wherein: the first end of the position loop regulator, the first end of the speed loop regulator, the first end of the current loop regulator and the first end of the decoding module are respectively connected to the host computer, the second end of the position loop regulator is connected to the second end of the speed loop regulator, the third end of the speed loop regulator is connected to the second end of the current loop regulator, the third end of the current loop regulator is connected to the first end of the FOC module, the second end of the FOC module is connected to the second end of the current loop regulator, the third end of the FOC module is connected to the inverter circuit, the fourth end of the FOC module is connected to the sampling circuit, the fifth end of the FOC module is connected to the second end of the decoding module, and the third end of the decoding module is respectively connected to the third end of the position loop regulator and the first end of the speed loop regulator. The second end, the fourth end of the decoding module, the inverter circuit and the sampling circuit are connected to the motor respectively; the sampling circuit is used to detect the three-phase current of the motor to obtain a first analog signal, convert the first analog signal into a first digital signal, and send the first digital signal to the FOC module; the FOC module is used to obtain the torque current of the motor according to the first digital signal; the decoding module is used to collect the information of the motor based on the control signal sent by the host computer, and the information of the motor includes one or more of the rotor position, speed and electrical angle of the motor; the FOC module is used to determine the action time of the basic voltage vector based on the voltage component output by the current loop regulator, the torque current and the information of the motor, the control signals of the host computer controlling the position loop regulator and the speed loop regulator are different, and the voltage components output by the current loop regulator are different; the inverter circuit is used to generate a pulse width modulation PWM control signal according to the action time of the basic voltage vector, and the pulse width modulation PWM control signal is used to control the motor. It can be seen that FPGA includes position loop regulator, speed loop regulator, current loop regulator, decoding module and magnetic field oriented control FOC module. FPGA can provide flexible programming, high-speed processing capability and fast data processing requirements, which can make motor control more precise and stable; the connection method between the host computer and the position loop regulator, speed loop regulator, current loop regulator and decoding module can make each regulator target a specific control target, which can improve the applicability of the motor; in addition, the hierarchical connection method of the position loop regulator, speed loop regulator and current loop regulator can finely control the process, thereby achieving a smooth transition from position control to current control; the FOC module can accurately control the magnetic field and torque of the motor, which can improve the working efficiency and dynamic performance of the motor; the inverter circuit can convert the control decision of the FOC module into an actual motor drive signal, thereby achieving efficient and precise motor control. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 is a structural schematic diagram of a motor control device disclosed in an embodiment of the present application;

[0043] Figure 2 is a schematic structural diagram of another motor control device disclosed in an embodiment of the present application;

[0044] Figure 3 It is a structural schematic diagram of a motor control system disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0046] The present application discloses a motor control device and system for realizing three different control modes: current loop control, current loop and speed loop control, and current loop, speed loop and position loop control, which can improve the flexibility of motor control. Detailed descriptions are given below.

[0047] In order to better understand the embodiments of the present application, the related technology is described below.

[0048] With the rapid development of mechatronics, power electronics, computers and other technologies, PMSM control systems have been widely used in many fields. These applications realize high-speed, high-precision, high-stability, fast response and energy-efficient motion control. Among them, motion control refers to the control of the motion performance of the motor and its drive equipment. Motion control can include speed control, position control and torque control. Speed ​​control refers to the precise control of the motor's speed. In many applications, such as industrial robots or precision machining equipment, it is crucial to maintain a constant or adjust the speed as needed. Position control refers to controlling the motor shaft or the mechanical parts connected to it to reach a specific position. In many applications, such as in automated assembly lines, the robot arm is accurately moved to a specific position for assembly or inspection. Torque control refers to the control of the rotational torque generated by the motor. In many applications, such as CNC machine tools, 3D printers or micro-machining equipment, precise torque control can improve the accuracy and repeatability of the machining process.

[0049] PMSM plays an important role in modern industry and technology because of its ability to accurately control its own speed and rotational position. It is widely used in a variety of fields that require precision motion control, such as automated machinery, electric vehicles, aerospace, and medical equipment. Field-Oriented Control (FOC) is an advanced motor control technology used to accurately control the magnetic field and torque of PMSM. FOC achieves independent control of the direct-axis and quadrature-axis components of the motor by implementing coordinate transformation in the control system, thereby effectively improving the operating efficiency and performance of the motor, enabling the motor to have better speed and position response, while also improving energy efficiency.

[0050] Although FOC technology has greatly improved the control performance of PMSM, the current FOC control design based on digital signal processor (DSP) chips and ARM processors is limited by the characteristics of DSP and ARM processors, and performs poorly in terms of flexibility, parallel computing capabilities and loop performance. In addition, although the collaborative solution of DSP and field programmable gate array (FPGA) or ARM processor and FPGA can increase the flexibility of the control system, the cost is relatively high.

[0051] To solve the above technical problems, please refer to Figure 1 , Figure 1 Schematic diagram of the structure of a motor control device disclosed in the embodiment of the present application. Figure 1 As shown, the motor control device may include an FPGA, an inverter circuit 106 and a sampling circuit 107. The FPGA may include a position loop regulator 101, a speed loop regulator 102, a current loop regulator 103, a FOC module 104 and a decoding module 105.

[0052] The first end of the position loop regulator 101 , the first end of the speed loop regulator 102 , the first end of the current loop regulator 103 , and the first end of the decoding module 105 are respectively connected to the host computer.

[0053] The host computer can send different control signals to the position loop regulator 101, the speed loop regulator 102, the current loop regulator 103, and the decoding module 105 respectively according to the application scenario, the predetermined operation plan, or the real-time feedback information of the motor. For example, when the control signal is the first control signal for position loop, speed loop, and current loop control, the host computer can send control signals for controlling the operation of the position loop regulator 101, the speed loop regulator 102, and the current loop regulator 103 to the position loop regulator 101, the speed loop regulator 102, and the current loop regulator 103, send the preset rotor position to the position loop regulator 101, and send a control signal for collecting the rotor position, speed, and electrical angle of the motor to the decoding module 105. Again, when the control signal is the second control signal for speed loop and current loop control, the host computer can send a control signal for controlling the position loop regulator 101 not to work to the position loop regulator 101, send control signals for controlling the operation of the speed loop regulator 102 and the current loop regulator 103 to the speed loop regulator 102 and the current loop regulator 103, send the preset speed to the speed loop regulator 102, and send a control signal for collecting the speed and electrical angle of the motor to the decoding module 105. Also, when the control signal is the third control signal for current loop control, the host computer can send control signals for controlling the position loop regulator 101 and the speed loop regulator 102 not to work to the position loop regulator 101 and the speed loop regulator 102, send a control signal for controlling the operation of the current loop regulator 103 to the current loop regulator 103, send the preset current to the current loop regulator 103, and send a control signal for collecting the electrical angle of the motor to the decoding module 105.

[0054] The second end of the position loop regulator 101 is connected to the second end of the speed loop regulator 102, which can make the signal output by the position loop regulator 101 (such as the position error signal) be used to adjust the speed loop regulator 102, so as to control the speed of the motor.

[0055] The third end of the speed loop regulator 102 is connected to the second end of the current loop regulator 103, which can make the signal output by the speed loop regulator 102 (such as the speed error signal) be used to control the current loop regulator 103, so as to indirectly control the torque of the motor.

[0056] The third end of the current loop regulator 103 is connected to the first end of the FOC module 104. The current loop regulator 103 can adjust the current in the motor winding, and its output signal (such as the current control signal) can be output to the FOC module 104, which can be used to further accurately control the magnetic field and torque of the motor.

[0057] The above connection method allows each level to focus on different control objectives (position, speed, current) and cooperate with each other to achieve fine control of the overall performance of the motor.

[0058] The second end of the FOC module 104 is connected to the second end of the current loop regulator 103, the third end of the FOC module 104 is connected to the inverter circuit 106, the fourth end of the FOC module 104 is connected to the sampling circuit 107, the fifth end of the FOC module 104 is connected to the second end of the decoding module 105, the third end of the decoding module 105 is respectively connected to the third end of the position loop regulator 101 and the second end of the speed loop regulator 102, and the fourth end of the decoding module 105, the inverter circuit 106 and the sampling circuit 107 are respectively connected to the motor.

[0059] The sampling circuit 107 can detect the three-phase current of the motor to obtain a first analog signal, convert the first analog signal into a first digital signal, and send the first digital signal to the FOC module 104 .

[0060] The sampling circuit 107 may be a digital-to-analog converter of model AD706. The sampling circuit 107 may convert the three-phase current analog values ​​in the detected motor feedback signal into digital values, and transmit the digital values ​​to the FPGA for calculation.

[0061] The FOC module 104 may obtain the torque current of the motor according to the first digital signal.

[0062] The decoding module 105 can collect information about the motor based on the control signal sent by the host computer. The information about the motor includes one or more of the rotor position, speed and electrical angle of the motor.

[0063] The host computer can send different control signals to the decoding module 105 .

[0064] For example, when the control signal is a first control signal for position loop, speed loop and current loop control, the host computer can send a control signal for collecting the rotor position, speed and electrical angle of the motor to the decoding module 105. The decoding module 105 can collect the rotor position, speed and electrical angle of the motor based on the control signal sent by the host computer.

[0065] For another example, when the control signal is a second control signal for speed loop and current loop control, the host computer can send a control signal for collecting the speed and electrical angle of the motor to the decoding module 105. The decoding module 105 can collect the speed and electrical angle of the motor based on the control signal sent by the host computer.

[0066] For another example, when the control signal is the third control signal for current loop control, the host computer may send a control signal for collecting the electrical angle of the motor to the decoding module 105. The decoding module 105 may collect the electrical angle of the motor based on the control signal sent by the host computer.

[0067] The FOC module 104 can also determine the action time of the basic voltage vector based on the voltage component, torque current and motor information output by the current loop regulator 103. The control signals of the upper computer controlling the position loop regulator 101 and the speed loop regulator 102 are different, and the voltage components output by the current loop regulator 103 are different.

[0068] The control signals of the upper computer controlling the position loop regulator 101 and the speed loop regulator 102 are different, the first speed reference value output by the position loop regulator 101 and the first current reference value output by the speed loop regulator 102 are different, or the second current reference value output by the speed loop regulator 102 is different, which in turn affects the input of the current loop regulator 103, resulting in different voltage components output by the current loop regulator 103.

[0069] The inverter circuit 106 can generate a pulse width modulation PWM control signal according to the action time of the basic voltage vector, and the pulse width modulation PWM control signal is used to control the motor.

[0070] The inverter circuit 106 can generate corresponding current and voltage waveforms to drive the motor according to the action time of the basic voltage vector determined by the received FPGA, and send a feedback signal of the motor to the FPGA, thereby achieving high-precision control of the motor.

[0071] The inverter circuit 106 may be a three-phase inverter, or a circuit or device that generates corresponding voltage and current waveforms according to a control signal.

[0072] In some embodiments, when the control signal is a first control signal for position loop, speed loop and current loop control, the information of the motor includes the rotor position, speed and electrical angle of the motor.

[0073] The position loop regulator 101 can output a first speed reference value according to the preset rotor position and the rotor position sent by the host computer. The speed loop regulator 102 can output a first current reference value according to the first speed reference value and the speed. The current loop regulator 103 can output a first voltage component according to the first current reference value and the torque current. The FOC module 104 can also determine the action time of the first basic voltage vector according to the first voltage component, the torque current and the electrical angle. The inverter circuit 106 can generate a first pulse width modulation PWM control signal according to the action time of the first basic voltage vector, and the first pulse width modulation PWM control signal is used to control the motor.

[0074] Controlling the motor by the above method can enable the motor to achieve more precise position control, speed control and current control, thereby making the motor suitable for applications requiring precise position, speed and current control.

[0075] In some embodiments, when the control signal is the second control signal for speed loop and current loop control, the information of the motor includes the speed and electrical angle of the motor.

[0076] The speed loop regulator 102 can output a second current reference value according to the preset speed and speed sent by the host computer. The current loop regulator 103 can output a second voltage component according to the second current reference value and the torque current. The FOC module 104 can also determine the action time of the second basic voltage vector according to the second voltage component, the torque current and the electrical angle. The inverter circuit 106 can generate a second PWM control signal according to the action time of the second basic voltage vector, and the second PWM control signal is used to control the motor.

[0077] Controlling the motor by the above method can enable the motor to achieve more precise speed control and current control, thereby making the motor suitable for applications requiring precise speed and current control.

[0078] In some embodiments, when the control signal is a third control signal for current loop control, the information of the motor includes an electrical angle of the motor.

[0079] The current loop regulator 103 can output a third voltage component according to the preset current and torque current sent by the host computer. The FOC module 104 can also determine the action time of the third basic voltage vector according to the third voltage component, the torque current and the electrical angle. The inverter circuit 106 can generate a third PWM control signal according to the action time of the third basic voltage vector, and the third PWM control signal is used to control the motor.

[0080] Controlling the motor by the above method can enable the motor to achieve more precise current control, thereby making the motor suitable for applications requiring current control.

[0081] In some embodiments, the decoding module 105 can identify the frequency of the encoder pulse signal, and can calculate the speed of the motor using a frequency measurement method when the motor is working at high speed, and calculate the speed of the motor using a period method when the motor is working at low speed.

[0082] The decoding module 105 can capture all rising and falling edges of the two pulse signals a and b fed back by the motor encoder, complete a count in 1 / 4 of the original square wave period, and increase the counting frequency to four times, thereby achieving the purpose of quadrupling the encoder pulse frequency.

[0083] In some embodiments, the model of FPGA may be AXPGL50H.

[0084] FPGA can be controlled by Verilog language or other hardware description languages. Due to the programmability of FPGA, it does not need to rely on the participation of digital chip DSP, and can maximize system performance while ensuring control accuracy and control performance. At the same time, FPGA can allow hardware logic to be reconfigured according to different control signals, which can improve the flexibility of the system.

[0085] exist Figure 1The motor control device described includes a field programmable gate array (FPGA), a sampling circuit and an inverter circuit. The FPGA includes a position loop regulator, a speed loop regulator, a current loop regulator, a decoding module and a magnetic field oriented control (FOC) module, wherein: the first end of the position loop regulator, the first end of the speed loop regulator, the first end of the current loop regulator and the first end of the decoding module are respectively connected to a host computer, the second end of the position loop regulator is connected to the second end of the speed loop regulator, the third end of the speed loop regulator is connected to the second end of the current loop regulator, the third end of the current loop regulator is connected to the first end of the FOC module, the second end of the FOC module is connected to the second end of the current loop regulator, the third end of the FOC module is connected to the inverter circuit, the fourth end of the FOC module is connected to the sampling circuit, the fifth end of the FOC module is connected to the second end of the decoding module, and the third end of the decoding module is respectively connected to the third end of the position loop regulator and the second end of the speed loop regulator. The fourth end of the decoding module, the inverter circuit and the sampling circuit are connected to the motor respectively; the sampling circuit is used to detect the three-phase current of the motor to obtain a first analog signal, convert the first analog signal into a first digital signal, and send the first digital signal to the FOC module; the FOC module is used to obtain the torque current of the motor according to the first digital signal; the decoding module is used to collect the information of the motor based on the control signal sent by the host computer, and the information of the motor includes one or more of the rotor position, speed and electrical angle of the motor; the FOC module is used to determine the action time of the basic voltage vector based on the voltage component output by the current loop regulator, the torque current and the information of the motor, the control signals of the host computer controlling the position loop regulator and the speed loop regulator are different, and the voltage components output by the current loop regulator are different; the inverter circuit is used to generate a pulse width modulation PWM control signal according to the action time of the basic voltage vector, and the pulse width modulation PWM control signal is used to control the motor. It can be seen that FPGA includes position loop regulator, speed loop regulator, current loop regulator, decoding module and magnetic field oriented control FOC module. FPGA can provide flexible programming, high-speed processing capability and fast data processing requirements, which can make motor control more precise and stable; the connection method between the host computer and the position loop regulator, speed loop regulator, current loop regulator and decoding module can make each regulator target a specific control target, which can improve the applicability of the motor; in addition, the hierarchical connection method of the position loop regulator, speed loop regulator and current loop regulator can finely control the process, thereby achieving a smooth transition from position control to current control; the FOC module can accurately control the magnetic field and torque of the motor, which can improve the working efficiency and dynamic performance of the motor; the inverter circuit can convert the control decision of the FOC module into an actual motor drive signal, thereby achieving efficient and precise motor control.

[0086] See also Figure 2 , Figure 2 is a schematic diagram of the structure of another motor control device disclosed in the embodiment of the present application. Figure 2 As shown, the FOC module 104 includes an inverse Pike transform module 201 , a Pike transform module 202 , a space vector modulation module 203 and a Clarke transform module 204 .

[0087] The Clarke transformation module 204 may convert the first digital signal into two-phase quadrature currents.

[0088] It should be understood that the first digital signal is obtained by the sampling circuit from the three-phase current signal of the motor. The sampling circuit can periodically sample the three-phase current of the motor and convert the analog signal of the three-phase current into a digital signal, that is, the current value of each sampling point is quantized into digital data, and the converted signal is a current reading in digital form, representing the current state of each phase of the motor at a specific time point.

[0089] The Clarke transformation module 204 can transform the three-phase current into two-phase orthogonal current on two orthogonal axes (α axis and β axis) by Clarke transformation. Alternatively, the Clarke transformation module 204 can transform the three-phase voltage into two-phase orthogonal voltage on two orthogonal axes (α axis and β axis).

[0090] The Parker transformation module 202 may convert the two-phase orthogonal current into the torque current according to the electrical angle.

[0091] The Park transformation module 202 can transform the two-phase orthogonal current (α-axis and β-axis) obtained after Clarke transformation into a torque current in a DC reference coordinate system (d-axis and q-axis) that rotates synchronously with the motor rotor magnetic field.

[0092] The inverse Pike transform module 201 may convert the voltage component into a reference vector voltage according to the electrical angle.

[0093] The inverse Parker transformation module 201 can convert the voltage components on (d-axis and q-axis) into reference vector voltages on (α-axis and β-axis) according to the electrical angle of the motor (ie, the angular position of the motor rotor relative to the stator) to drive the motor.

[0094] The space vector modulation module 203 can determine the action time of the basic voltage vector according to the reference vector voltage through space vector pulse width modulation (SVPWM).

[0095] In some embodiments, the space vector modulation module 203 may determine the first action time of the basic voltage vector in the first sector according to a first formula, where the first formula is:

[0096]

[0097] Among them, T 1represents the first action time of the basic voltage vector in the first sector, T s represents the sampling period, U dc Indicates the bus voltage of the motor, U α represents the direct axis voltage component, U β Represents the quadrature-axis voltage component.

[0098] The second action time of the basic voltage vector in the first sector can be determined according to the second formula, which is:

[0099]

[0100] Among them, T 2 represents the second action time of the basic voltage vector in the first sector, T s represents the sampling period, U dc Indicates the bus voltage of the motor, U 1 =U β .

[0101] In some embodiments, the space vector modulation module 203 may determine the first action time of the basic voltage vector in the second sector according to a third formula, where the third formula is:

[0102]

[0103] Among them, T 3 Represents the first action time of the basic voltage vector in the second sector.

[0104] The second action time of the basic voltage vector in the second sector can be determined according to the fourth formula, which is:

[0105]

[0106] Among them, T 4 represents the second action time of the basic voltage vector in the second sector,

[0107] In some embodiments, the space vector modulation module 203 may determine the first action time of the basic voltage vector in the third sector according to the fifth formula, where the fifth formula is:

[0108]

[0109] Among them, T 5 Represents the first action time of the basic voltage vector in the third sector.

[0110] The second action time of the basic voltage vector in the third sector can be determined according to the sixth formula, which is:

[0111]

[0112] Among them, T 6 Represents the second action time of the basic voltage vector in the third sector.

[0113] In some embodiments, the space vector modulation module 203 may determine the first action time of the basic voltage vector in the fourth sector according to the seventh formula, where the seventh formula is:

[0114]

[0115] Among them, T 7 Represents the first action time of the basic voltage vector in the second sector.

[0116] The second action time of the basic voltage vector in the fourth sector can be determined according to the eighth formula, which is:

[0117]

[0118] Among them, T 8 Represents the second action time of the basic voltage vector in the fourth sector.

[0119] In some embodiments, the space vector modulation module 203 may determine the first action time of the basic voltage vector in the fifth sector according to the ninth formula, where the ninth formula is:

[0120]

[0121] Among them, T 9 Represents the first action time of the basic voltage vector in the fifth sector.

[0122] The second action time of the basic voltage vector in the fifth sector can be determined according to the tenth formula, which is:

[0123]

[0124] Among them, T 10 Represents the second action time of the basic voltage vector in the fourth sector.

[0125] In some embodiments, the space vector modulation module 203 may determine the first action time of the basic voltage vector in the sixth sector according to the eleventh formula, where the eleventh formula is:

[0126]

[0127] Among them, T 11 Represents the first action time of the basic voltage vector in the sixth sector.

[0128] The second action time of the basic voltage vector in the sixth sector can be determined according to the twelfth formula, which is:

[0129]

[0130] Among them, T 12 Represents the second action time of the basic voltage vector in the sixth sector.

[0131] The above formula is based on the basic voltage vector action time formula, with U dc The action time formula is normalized as a reference, making full use of the two-phase voltage vector (U α and U β ) can calculate the voltage vector action time, avoiding the spatial angle and trigonometric function operations in the formula, simplifying the algorithm program and saving hardware resources.

[0132] In some embodiments, when the control signal is a first control signal for position loop, speed loop and current loop control, the inverse Pike transformation module 201 can convert the first voltage component into a first reference vector voltage according to the electrical angle. The space vector modulation module 203 can determine the action time of the first basic voltage vector according to the first reference vector voltage.

[0133] In some embodiments, when the control signal is a second control signal for speed loop and current loop control, the inverse Pike transformation module 201 can convert the second voltage component into a second reference vector voltage according to the electrical angle. The space vector modulation module 203 can determine the action time of the second basic voltage vector according to the second reference vector voltage.

[0134] In some embodiments, when the control signal is a third control signal for current loop control, the inverse Pike transformation module 201 can convert the third voltage component into a third reference vector voltage according to the electrical angle. The space vector modulation module 203 can determine the action time of the third basic voltage vector according to the third reference vector voltage.

[0135] The inverter circuit 106 can generate a PWM control signal according to the action time of the basic voltage vector. The action time of the basic voltage vector is different, and the generated PWM control signal is also different. According to the different action times of different basic voltage vectors, the inverter circuit 106 can generate a PWM control signal for current loop control, a PWM control signal for speed loop and current loop control, and a PWM control signal for position loop, speed loop and current loop.

[0136] When receiving different control signals, the motor control device can control the motor to achieve different control modes, including current loop control mode, current loop and speed loop control mode, and current loop, speed loop and position loop control mode, which can improve the flexibility of motor control and make the motor suitable for different application scenarios.

[0137] See also Figure 3 , Figure 3 Schematic diagram of a motor control system disclosed in the embodiment of the present application. Figure 3 As shown, the motor control system includes a host computer and the above-mentioned motor control device, and the motor control device may include a field programmable gate array (FPGA), a sampling circuit 107 and an inverter circuit 106. The FPGA may include a position loop regulator 101, a speed loop regulator 102, a current loop regulator 103, and a field oriented control FOC module 104.

[0138] The host computer may include a debugging interface, and the host computer may draw a corresponding waveform according to the feedback data of the motor and display it on the debugging interface, and may calculate the speed and other parameters of the motor according to the drawn waveform, thereby optimizing the performance of the control system. The feedback data may include the data fed back by the encoder of the motor and the data fed back by the sampling module.

[0139] In some embodiments, when it is necessary to control multiple motors to work together, the motor control system may include multiple motor control devices described above to control multiple motors respectively, thereby realizing the coordinated control of multiple motors. The advantages of FPGA parallel computing are fully utilized to realize a fast and efficient multi-channel motor control mode. The participation of multiple DSPs is avoided, which causes waste of resources and space.

[0140] The motor control system can be applied in the field of electrical servo transmission, such as printing equipment. The motor control system can provide high-precision speed control and position control, which can make the printing equipment have the advantages of high degree of automation, high registration accuracy, and large printing range. It can also be applied in the field of transportation, such as electric vehicles. The motor control system can provide stable speed control for the motor of electric vehicles. It can also be applied in automation equipment. The motor control system can provide high-precision torque control, speed control, and position control for automation equipment.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A motor control device, characterized in that: It includes a field programmable gate array FPGA, a sampling circuit and an inverter circuit. The FPGA includes a position loop regulator, a speed loop regulator, a current loop regulator, a decoding module and a magnetic field oriented control FOC module, wherein: The first end of the position loop regulator, the first end of the speed loop regulator, the first end of the current loop regulator and the first end of the decoding module are respectively connected to the host computer, the second end of the position loop regulator is connected to the second end of the speed loop regulator, the third end of the speed loop regulator is connected to the second end of the current loop regulator, the third end of the current loop regulator is connected to the first end of the FOC module, the second end of the FOC module is connected to the second end of the current loop regulator, the third end of the FOC module is connected to the inverter circuit, the fourth end of the FOC module is connected to the sampling circuit, the fifth end of the FOC module is connected to the second end of the decoding module, the third end of the decoding module is respectively connected to the third end of the position loop regulator and the second end of the speed loop regulator, the fourth end of the decoding module, the inverter circuit and the sampling circuit are respectively connected to the motor; The sampling circuit is used to detect the three-phase current of the motor to obtain a first analog signal, convert the first analog signal into a first digital signal, and send the first digital signal to the FOC module; The FOC module is used to obtain the torque current of the motor according to the first digital signal; The decoding module is used to collect information of the motor based on the control signal sent by the host computer, and the information of the motor includes one or more of the rotor position, speed and electrical angle of the motor; The FOC module is further used to determine the action time of the basic voltage vector based on the voltage component output by the current loop regulator, the torque current and the information of the motor, the control signals of the upper computer controlling the position loop regulator and the speed loop regulator are different, and the voltage components output by the current loop regulator are different; The inverter circuit is used to generate a pulse width modulation (PWM) control signal according to the action time of the basic voltage vector, and the pulse width modulation (PWM) control signal is used to control the motor.

2. The device according to claim 1, characterized in that In the case where the control signal is a first control signal for position loop, speed loop and current loop control, the information of the motor includes the rotor position, speed and electrical angle of the motor; The position loop regulator is used to output a first speed reference value according to the preset rotor position sent by the host computer and the rotor position; The speed loop regulator is used to output a first current reference value according to the first speed reference value and the speed; The current loop regulator is used to output a first voltage component according to the first current reference value and the torque current; The FOC module is further used to determine the action time of the first basic voltage vector according to the first voltage component, the torque current and the electrical angle; The inverter circuit is used to generate a first pulse width modulation (PWM) control signal according to the action time of the first basic voltage vector, and the first pulse width modulation (PWM) control signal is used to control the motor.

3. The device according to claim 2, characterized in that In the case where the control signal is a second control signal for speed loop and current loop control, the information of the motor includes the speed and electrical angle of the motor; The speed loop regulator is used to output a second current reference value according to the preset speed sent by the host computer and the speed; The current loop regulator is used to output a second voltage component according to the second current reference value and the torque current; The FOC module is further used to determine the action time of the second basic voltage vector according to the second voltage component, the torque current and the electrical angle; The inverter circuit is used to generate a second PWM control signal according to the action time of the second basic voltage vector, and the second PWM control signal is used to control the motor.

4. The device according to claim 3, characterized in that In the case where the control signal is a third control signal for current loop control, the information of the motor includes an electrical angle of the motor; The current loop regulator is used to output a third voltage component according to the preset current sent by the host computer and the torque current; The FOC module is further used to determine the action time of the third basic voltage vector according to the third voltage component, the torque current and the electrical angle; The inverter circuit is used to generate a third PWM control signal according to the action time of the third basic voltage vector, and the third PWM control signal is used to control the motor.

5. The device according to claim 4, characterized in that The FOC module includes an inverse Pike transform module, a Pike transform module, a Clarke transform module and a space vector modulation module, wherein: The first end of the inverse Pike transform module is connected to the third end of the current loop regulator, the second end of the inverse Pike transform module is respectively connected to the first end of the decoding module and the first end of the Pike transform, the third end of the inverse Pike transform module is connected to the space vector modulation module, the space vector modulation module is connected to the inverter circuit, the second end of the Pike transform module is connected to the second end of the current loop regulator, the third end of the Pike transform module is connected to the Clarke transform module, and the Clarke transform module is connected to the sampling circuit.

6. The device according to claim 5, characterized in that The Clarke transformation module is used to convert the first digital signal into a two-phase orthogonal current; The Parker conversion module is used to convert the two-phase orthogonal current into the torque current according to the electrical angle; The inverse Pike transformation module is used to convert the voltage component into a reference vector voltage according to the electrical angle; The space vector modulation module is used to determine the action time of the basic voltage vector according to the reference vector voltage.

7. The device according to claim 6, characterized in that In the case where the control signal is a first control signal for position loop, speed loop and current loop control, the inverse Parker transformation module is specifically used to convert the first voltage component into a first reference vector voltage according to the electrical angle; The space vector modulation module is specifically configured to determine an action time of the first basic voltage vector according to the first reference vector voltage.

8. The device according to claim 6, characterized in that In the case where the control signal is a second control signal for speed loop and current loop control, the inverse Parker transformation module is specifically used to convert the second voltage component into a second reference vector voltage according to the electrical angle; The space vector modulation module is specifically configured to determine the action time of the second basic voltage vector according to the second reference vector voltage.

9. The device according to claim 6, characterized in that In the case where the control signal is a third control signal for current loop control, the inverse Parker transformation module is specifically used to convert the third voltage component into a third reference vector voltage according to the electrical angle; The space vector modulation module is specifically configured to determine the action time of the third basic voltage vector according to the third reference vector voltage.

10. A motor control system, characterized in that: The system comprises a host computer and a motor control device as described in any one of claims 1 to 9.

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