Motor driving system and ultrasonic probe

Abstract

The embodiment of the utility model provides a motor driving system and an ultrasonic probe. The motor driving system is used for driving a motor to operate and comprises a control module, a system power supply module, a phase generation module and a power driving module. The system power supply module is connected with the phase generation module and the power driving module and is used for supplying power to the phase generation module and the power driving module; the phase generation module is connected with the control module and used for receiving the first control instruction output by the control module and generating a sine and cosine control signal corresponding to the first control instruction; and the power driving module is connected with the phase generation module, is used for being connected with a motor, and is used for receiving the sine and cosine control signals output by the phase generation module, converting the sine and cosine control signals into power signals and outputting the power signals to the motor to drive the motor to operate. The sine and cosine control signals obtained in the scheme are low in noise, have good anti-electromagnetic interference characteristics and can be well applied to scenes sensitive to noise.

Description

Technical Field

[0001] This utility model relates to the field of motor control technology, specifically to a motor drive system and an ultrasonic probe. Background Technology

[0002] In related technologies, most stepper motors have dedicated motor driver chips. Taking the widely used two-phase stepper motor as an example, Figure 1 This diagram illustrates a motor driver chip for a two-phase stepper motor, a controller that works in conjunction with the motor driver chip, and a schematic diagram of the two-phase stepper motor (hereinafter referred to as the motor). Figure 1 As shown, the controller 110 can input the stepping pulse signal (STEP) and the direction control signal (DIR) to the stepping and direction signal input interface in the motor driver chip 120, thereby controlling the microstepping control module 122 and the drive module 124 in the motor driver chip 120 to operate and control the operation and direction of the motor 130. The stepping and direction signal input interface may include pins corresponding to the STEP and DIR signals, respectively, and the STEP and DIR signals can be specifically input to the pins corresponding to the STEP and DIR signals in this interface. In addition, the controller 110 can also output MS1 and MS2 signals to the configuration interface of the motor driver chip 120 to realize microstepping control of the motor 130, such as controlling the acceleration, deceleration, forward rotation, or reverse rotation of the motor 130. The configuration interface may include a microstepping (MS) configuration pin, and the MS1 and MS2 signals can be specifically input to the MS configuration pin. The motor driver chip 120 can output diagnostic (DIAG) signals related to the motor 130 and motion reference (INDEX) signals related to the motor shaft movement to the controller 110 through the output interface to provide feedback on the operating status of the motor 130. The output interface may include pins corresponding to the DIAG and INDEX signals, respectively, and the DIAG and INDEX signals can be output through the pins corresponding to the DIAG and INDEX signals, respectively.

[0003] The aforementioned motor driver chips typically employ one or more full-bridge (H-bridge) circuits to allow current to flow through each phase coil of the motor in both forward and reverse directions, thereby enabling the stepper motor to rotate in both directions. However, when implementing micro-step control of a stepper motor, a constant current chopping principle is used. Due to the characteristics of constant current chopping, the resulting current ripple component (DC superimposed on AC) is relatively large. Furthermore, during the micro-stepping process, the current magnitude needs to be continuously adjusted, causing the current to change in a step-like manner. Step-like signals typically contain abundant high-order harmonics, which have high radiation efficiency, making them unsuitable for noise-sensitive applications. Utility Model Content

[0004] This invention addresses the aforementioned problems. It provides a motor drive system and an ultrasonic probe.

[0005] According to one aspect of this utility model, a motor drive system is provided for driving a motor to run. The motor drive system includes a control module, a system power supply module, a phase generation module, and a power drive module. The system power supply module is connected to the phase generation module and the power drive module and is used to supply power to the phase generation module and the power drive module. The phase generation module is connected to the control module and is used to receive a first control command output by the control module and generate sine and cosine control signals corresponding to the first control command. The sine and cosine control signals include two sine control signals with a 90° phase difference. The power drive module is connected to the phase generation module and is used to connect to the motor. It is used to receive the sine and cosine control signals output by the phase generation module, convert the sine and cosine control signals into power signals, and output the power signals to the motor to drive the motor to run.

[0006] For example, the phase generation module includes a reference voltage submodule, a first digital-to-analog converter (D / A converter), and a second D / A converter. The reference voltage submodule is connected to the control module, the first D / A converter, and the second D / A converter, respectively, and is used to receive a second control command output by the control module and provide a reference voltage corresponding to the second D / A converter to the first D / A converter and the second D / A converter. The first D / A converter is used to receive the reference voltage and a third control command output by the control module, and output a first sinusoidal control signal corresponding to the third control command. The second D / A converter is used to receive the reference voltage and a fourth control command output by the control module, and output a second sinusoidal control signal corresponding to the fourth control command. The phase of the first sinusoidal control signal is 90° different from the phase of the second sinusoidal control signal. The sine and cosine control signals include the first and second sinusoidal control signals or include the third and fourth sinusoidal control signals. The third sinusoidal control signal is obtained by adjusting the amplitude of the first sinusoidal control signal, and the fourth sinusoidal control signal is obtained by adjusting the amplitude of the second sinusoidal control signal.

[0007] For example, the reference voltage submodule includes a third digital-to-analog converter.

[0008] For example, the phase generation module further includes a first operational amplifier and a second operational amplifier. The inverting input of the first operational amplifier is connected to the output of the reference voltage submodule, and the non-inverting input of the first operational amplifier is connected to the output of the first digital-to-analog converter at a first node, and the first node is grounded. The first operational amplifier is used to receive the reference voltage output by the reference voltage submodule and the first sine control signal output by the first digital-to-analog converter and output a third sine control signal. The inverting input of the second operational amplifier is connected to the output of the reference voltage submodule, and the non-inverting input of the second operational amplifier is connected to the output of the second digital-to-analog converter at a second node, and the second node is grounded. The second operational amplifier is used to receive the reference voltage output by the reference voltage submodule and the second sine control signal output by the second digital-to-analog converter and output a fourth sine control signal.

[0009] For example, the motor drive system further includes a zero-adjustment module. The input terminal of the zero-adjustment module is connected to the control module, and the output terminal of the zero-adjustment module is connected to the power drive module. The zero-adjustment module is used to receive a fifth control command output by the control module, generate a corresponding zero-adjustment signal according to the fifth control command, and output the zero-adjustment signal to the power drive module to zero the output current of the power drive module. The deviation between the zeroed output current and the reference current is less than or equal to a preset deviation threshold, and the power signal includes the output current.

[0010] For example, the power drive module includes a third operational amplifier, a fourth operational amplifier, a first power amplifier, a second power amplifier, a first feedback resistor, and a second feedback resistor; the zero-adjustment module includes a first zero-adjustment submodule and a second zero-adjustment submodule; the motor includes a first coil and a second coil; wherein, the output terminal of the first zero-adjustment submodule, the first output terminal of the phase generation module, and the first terminal of the first feedback resistor are respectively connected to the inverting input terminal of the third operational amplifier, and the non-inverting input terminal of the third operational amplifier is grounded; the output terminal of the second zero-adjustment submodule, the second output terminal of the phase generation module, and the first terminal of the second feedback resistor are respectively connected to the inverting input terminal of the fourth operational amplifier, and the non-inverting input terminal of the fourth operational amplifier is grounded. Ground; the non-inverting input of the first power amplifier is connected to the output of the third operational amplifier at the third node and the third node is grounded, and the inverting input of the first power amplifier is grounded; the non-inverting input of the second power amplifier is connected to the output of the fourth operational amplifier at the fourth node and the fourth node is grounded, and the inverting input of the second power amplifier is grounded; the output of the first power amplifier is connected to the first end of the first coil, and the second end of the first feedback resistor is connected to the second end of the first coil at the fifth node and the fifth node is grounded; the output of the second power amplifier is connected to the first end of the second coil, and the second end of the second feedback resistor is connected to the second end of the second coil at the sixth node and the sixth node is grounded.

[0011] For example, the first zeroing submodule and / or the second zeroing submodule include a digital potentiometer.

[0012] For example, the system power supply module is a power supply module with adjustable output voltage, and the motor drive system also includes a voltage acquisition module; the input terminal of the voltage acquisition module is connected to the output terminal of the power drive module, and the output terminal of the voltage acquisition module is connected to the feedback terminal of the control module. The voltage acquisition module is used to acquire the output voltage of the power drive module and output the output voltage to the feedback terminal of the control module, wherein the power signal includes the output voltage; the input terminal of the system power supply module is connected to the output terminal of the control module, the control module is used to generate a sixth control command based on the output voltage, the system power supply module is used to receive the sixth control command output by the control module, and provide power supply voltage to the phase generation module and the power drive module according to the sixth control command, wherein the power supply voltage is used to ensure that the power output by the power drive module corresponding to the power signal is within a preset power range.

[0013] For example, the power drive module includes a third operational amplifier, a fourth operational amplifier, a first power amplifier, a second power amplifier, a first feedback resistor, and a second feedback resistor; the motor includes a first coil and a second coil; the voltage acquisition module has a first input terminal and a second input terminal; wherein, the inverting input terminal of the third operational amplifier is connected to the first output terminal of the phase generation module and the first terminal of the first feedback resistor respectively; the inverting input terminal of the fourth operational amplifier is connected to the second output terminal of the phase generation module and the first terminal of the second feedback resistor respectively; the non-inverting input terminal of the first power amplifier is connected to the output terminal of the third operational amplifier at the seventh node and the seventh node is grounded, and the inverting input terminal of the first power amplifier is grounded; the non-inverting input terminal of the second power amplifier is connected to the output terminal of the fourth operational amplifier at the eighth node and the eighth node is grounded, and the inverting input terminal of the second power amplifier is grounded; the output terminal of the first power amplifier is connected to the first terminal of the first coil and the first input terminal of the voltage acquisition module respectively, and the second terminal of the first feedback resistor is connected to the second terminal of the first coil at the ninth node and the ninth node is grounded; the output terminal of the second power amplifier is connected to the first terminal of the second coil and the second input terminal of the voltage acquisition module respectively, and the second terminal of the second feedback resistor is connected to the second terminal of the second coil at the tenth node and the tenth node is grounded.

[0014] For example, the system power supply module includes a buck-boost converter, and / or the voltage acquisition module includes an analog-to-digital converter.

[0015] For example, the motor drive system further includes a voltage acquisition module; the input terminal of the voltage acquisition module is connected to the output terminal of the power drive module, and the output terminal of the voltage acquisition module is connected to the feedback terminal of the control module. The voltage acquisition module is used to acquire the output voltage of the power drive module and output the output voltage to the feedback terminal of the control module, wherein the power signal includes the output voltage; the control module is used to generate a first control command based on the output voltage, so as to control the amplitude of the sine and cosine control signals through the first control command so that the power output by the power drive module corresponding to the power signal is within a preset power range.

[0016] For example, the power drive module includes a third operational amplifier, a fourth operational amplifier, a first power amplifier, a second power amplifier, a first feedback resistor, and a second feedback resistor; the motor includes a first coil and a second coil; the voltage acquisition module has a first input terminal and a second input terminal; wherein, the inverting input terminal of the third operational amplifier is connected to the first output terminal of the phase generation module and the first terminal of the first feedback resistor respectively; the inverting input terminal of the fourth operational amplifier is connected to the second output terminal of the phase generation module and the first terminal of the second feedback resistor respectively; the non-inverting input terminal of the first power amplifier is connected to the output terminal of the third operational amplifier at the seventh node and the seventh node is grounded, and the inverting input terminal of the first power amplifier is grounded; the non-inverting input terminal of the second power amplifier is connected to the output terminal of the fourth operational amplifier at the eighth node and the eighth node is grounded, and the inverting input terminal of the second power amplifier is grounded; the output terminal of the first power amplifier is connected to the first terminal of the first coil and the first input terminal of the voltage acquisition module respectively, and the second terminal of the first feedback resistor is connected to the second terminal of the first coil at the ninth node and the ninth node is grounded; the output terminal of the second power amplifier is connected to the first terminal of the second coil and the second input terminal of the voltage acquisition module respectively, and the second terminal of the second feedback resistor is connected to the second terminal of the second coil at the tenth node and the tenth node is grounded.

[0017] For example, the voltage acquisition module includes an analog-to-digital converter.

[0018] According to a second aspect of the present invention, an ultrasonic probe is also provided, including a motor and the aforementioned motor drive system.

[0019] According to the motor drive system and ultrasonic probe of this utility model embodiment, by connecting the system power supply module to the phase generation module and the power drive module respectively, the system power supply module can supply power to the phase generation module and the power drive module. By connecting the phase generation module to the control module, the phase generation module can generate sine and cosine control signals corresponding to the first control command output by the control module. Then, by connecting the power drive module to the phase generation module and connecting the output terminal of the power drive module to the motor of the ultrasonic probe, the power drive module can receive the sine and cosine control signals output by the phase generation module, convert the sine and cosine control signals into power signals, and output them to the motor to drive the motor. The sine and cosine control signals generated by the phase generation module in this technical solution have low noise and good anti-electromagnetic interference characteristics, and can be well applied in some noise-sensitive scenarios, such as ultrasonic systems.

[0020] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0021] The above and other objects, features, and advantages of this utility model will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this utility model and form part of the specification. They are used together with the embodiments of this utility model to explain the utility model and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0022] Figure 1 The diagram shows a motor driver chip for a two-phase stepper motor in the related art, a controller that works in conjunction with the motor driver chip, and a schematic diagram of the two-phase stepper motor.

[0023] Figure 2 A schematic block diagram of a motor drive system according to an embodiment of the present invention is shown;

[0024] Figure 3 A schematic diagram of a phase generating module according to an embodiment of the present invention is shown;

[0025] Figure 4 A schematic diagram showing the connection between the zero-adjustment module and the power drive module according to an embodiment of the present invention is shown;

[0026] Figure 5 A schematic diagram showing the connection between a voltage acquisition module and a power drive module according to an embodiment of the present invention is shown; and

[0027] Figure 6 A schematic diagram of a motor drive system according to a specific embodiment of the present invention is shown. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this utility model more apparent, exemplary embodiments according to this utility model will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this utility model, and not all embodiments of this utility model. It should be understood that this utility model is not limited to the exemplary embodiments described herein. Based on the embodiments described in this utility model, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of this utility model.

[0029] To address the aforementioned technical problems, according to one aspect of this utility model, a motor drive system is provided. This motor drive system is used to drive a motor. This motor drive system can be applied to any device or system containing a motor, including but not limited to ultrasonic probes. The ultrasonic probes described herein may include, but are not limited to, linear array probes, convex array probes, phased array probes, etc. The ultrasonic probes can be used to acquire ultrasonic data. Figure 2 A schematic block diagram of a motor drive system 200 and a motor according to an embodiment of the present invention is shown. Figure 2 As shown, the motor drive system may include, but is not limited to, a control module 210, a system power supply module 220, a phase generation module 230, and a power drive module 240.

[0030] The system power supply module 220 is connected to the phase generation module 230 and the power drive module 240, and can be used to supply power to the phase generation module 230 and the power drive module 240.

[0031] For example, such as Figure 2As shown, the system power supply module 220 can be connected to the phase generation module 230 and the power drive module 240 respectively. The system power supply module 220 can be implemented using a constant output power supply device or an adjustable output power supply device. For example, if the system power supply module 220 is implemented using a constant output power supply device, it can be a linear regulated power supply, a switching power supply, or a battery, etc. As another example, if the system power supply module 220 is implemented using an adjustable output power supply device, it can be an integrated DC-DC converter, etc. In a specific embodiment of this utility model, the system power supply module 220 can be a buck-boost module. By connecting the system power supply module 220 to the phase generation module 230 and the power drive module 240 respectively, the system power supply module 220 can supply power to both the phase generation module 230 and the power drive module 240.

[0032] The phase generation module 230 is connected to the control module 210 and is used to receive the first control command output by the control module 210 and generate sine and cosine control signals corresponding to the first control command. The sine and cosine control signals include two sine control signals with a phase difference of 90°.

[0033] Exemplarily, the phase generation module 230 can be connected to the control module 210. The control module 210 can output a first control command to the phase generation module 230. After receiving the first control command, the phase generation module 230 can generate a sine and cosine control signal corresponding to the first control command. Exemplarily, the sine and cosine control signal can include two sine control signals with a 90° phase difference. Using the sine and cosine control signals generated by the phase generation module 230, the forward rotation, reverse rotation, acceleration, deceleration, and constant speed motion of the motor can be controlled. Those skilled in the art will understand the specific implementation methods of the different types of motor motion described above, and for the sake of brevity, they will not be described in detail here. In one embodiment of this utility model, the sine and cosine control signals can be represented by, for example, binary digital signals. In some embodiments of this utility model, the phase generation module 230 can be implemented using an LC oscillation circuit, a voltage-controlled oscillation circuit, a digital frequency synthesizer, etc. The control module 210 can be constructed using electronic components such as comparators, registers, and digital logic circuits, or implemented using processor chips such as microcontroller units (MCUs), microprocessors, digital signal processors (DSPs), FPGAs, programmable logic arrays (PLAs), and application-specific integrated circuits (ASICs) and their peripheral circuits. In one specific embodiment of this utility model, the control module 210 can be implemented using an FPGA or an MCU, and this utility model does not impose any limitations on this.

[0034] The power drive module 240 is connected to the phase generation module 230 and is used to connect to the motor of the ultrasonic probe. It is used to receive the sine and cosine control signals output by the phase generation module 230, convert the sine and cosine control signals into power signals, and output the power signals to the motor to drive the motor to run.

[0035] Exemplarily, the input terminal of the power drive module 240 can be connected to the output terminal of the phase generation module 230, and the output terminal of the power drive module 240 can be connected to the motor of the ultrasonic probe. The phase generation module 230 can output sine and cosine control signals to the power drive module 240. After receiving the sine and cosine control signals, the power drive module 240 can convert the sine and cosine control signals into power signals and output the power signals to the motor to drive the motor to run. The motor can include, but is not limited to, a servo motor, a stepper motor, or a switched reluctance motor. In one specific embodiment of this utility model, the motor can be a two-phase stepper motor. Exemplarily, the power drive module 240 can be implemented using IGBT and MOSFET drive modules, intelligent power drive modules (IPM), PWM control circuits, etc., and this utility model does not limit this.

[0036] According to the above technical solution, by connecting the system power supply module to the phase generation module and the power drive module respectively, the system power supply module can supply power to the phase generation module and the power drive module. By connecting the phase generation module to the control module, the phase generation module can generate sine and cosine control signals corresponding to the first control command output by the control module. Then, by connecting the power drive module to the phase generation module, and connecting the output terminal of the power drive module to the motor of the ultrasonic probe, the power drive module can receive the sine and cosine control signals output by the phase generation module, convert the sine and cosine control signals into power signals, and output them to the motor to drive the motor. The sine and cosine control signals generated by the phase generation module in this technical solution have low noise and good anti-electromagnetic interference characteristics, and can be well applied in some noise-sensitive scenarios, such as ultrasonic systems.

[0037] For example, the phase generation module includes a reference voltage submodule, a first digital-to-analog converter (D / A converter), and a second D / A converter. The reference voltage submodule is connected to the control module, the first D / A converter, and the second D / A converter, respectively, and is used to receive a second control command output by the control module and provide a reference voltage corresponding to the second D / A converter to the first D / A converter and the second D / A converter. The first D / A converter is used to receive the reference voltage and a third control command output by the control module, and output a first sinusoidal control signal corresponding to the third control command. The second D / A converter is used to receive the reference voltage and a fourth control command output by the control module, and output a second sinusoidal control signal corresponding to the fourth control command. The phase of the first sinusoidal control signal is 90° different from the phase of the second sinusoidal control signal. The sine and cosine control signals include the first and second sinusoidal control signals or include the third and fourth sinusoidal control signals. The third sinusoidal control signal is obtained by adjusting the amplitude of the first sinusoidal control signal, and the fourth sinusoidal control signal is obtained by adjusting the amplitude of the second sinusoidal control signal.

[0038] In one embodiment of this invention, the phase generation module may include at least a reference voltage submodule, a first digital-to-analog converter (DAC), and a second DAC. The reference voltage submodule can be implemented using any voltage generating device such as a voltage reference source, a DAC, a programmable voltage source, or a voltage regulator; this invention does not limit its implementation. Exemplarily, the first DAC and the second DAC can be two different DACs. For example, the first DAC may be DAC1, and the second DAC may be DAC2. Optionally, the first DAC and the second DAC can be two channels of the same DAC. For example, the first DAC may be channel 1 (CH1) of DAC1, and the second DAC may be CH2 of DAC1. The above implementations of the first and second DACs are merely exemplary, and this invention does not limit their implementation.

[0039] For example, the reference voltage submodule may include a third digital-to-analog converter. In one specific embodiment of this invention, the reference voltage submodule may be implemented using a third digital-to-analog converter (DAC). In the above technical solution, the magnitude of the reference voltage can be flexibly adjusted using a third digital-to-analog converter, thereby improving the adjustment efficiency of the output phase of the phase generation module.

[0040] The input terminal of the reference voltage submodule can be connected to the output terminal of the control module. The output terminal of the reference voltage submodule can be connected to the first digital-to-analog converter and the second digital-to-analog converter, respectively. The control module can send a second control command to the reference voltage submodule. After receiving the second control command from the control module, the reference voltage submodule can provide a reference voltage V corresponding to the second control command to the first digital-to-analog converter and the second digital-to-analog converter. REF The reference voltage can be any value, and its direction can be either positive or negative. For example, the reference voltage can be +12 volts (V) or -12V. "+" and "-" indicate a positive direction. The first digital-to-analog converter (DDC) has a first input terminal and a second input terminal. The first input terminal of the DDC is connected to the output terminal of the reference voltage submodule. The second output terminal of the DDC is connected to the output terminal of the control module. After receiving the reference voltage and the third control command output by the control module, the DDC can output a first sinusoidal control signal corresponding to the third control command. It can be understood that the third control command can be generated based on the signals jointly input to the first DDC by the reference voltage submodule and the control module. Similar to the first DDC, the second DDC also has a first input terminal and a second input terminal. The first input terminal of the second DDC is connected to the output terminal of the reference voltage submodule. The second output terminal of the second DDC is connected to the output terminal of the control module. After the second digital-to-analog converter receives the reference voltage and the fourth control command output by the control module, it can output a second sinusoidal control signal corresponding to the fourth control command. The phase of the first sinusoidal control signal differs from the phase of the second sinusoidal control signal by 90°. In one embodiment of this invention, the aforementioned sine and cosine control signals may include the first and second sinusoidal control signals. In another embodiment of this invention, the aforementioned sine and cosine control signals may include a third and a fourth sinusoidal control signal. The third sinusoidal control signal is obtained by adjusting the amplitude of the first sinusoidal control signal. For example, the amplitude of the first sinusoidal control signal can be increased or decreased to obtain the third sinusoidal control signal; this invention does not limit this. Similarly, the fourth sinusoidal control signal can be obtained by adjusting the amplitude of the second control signal.

[0041] According to the above technical solution, a reference voltage submodule, a first digital-to-analog converter, and a second digital-to-analog converter are used as the phase generation module. This allows for a rapid response to control commands output by the control module, and under the control of the control module, generates a first sinusoidal control signal and a second sinusoidal control signal corresponding to the control commands. This solution offers high flexibility and a fast response rate.

[0042] For example, the phase generation module may further include a first operational amplifier and a second operational amplifier. The inverting input of the first operational amplifier is connected to the output of the reference voltage submodule, and the non-inverting input of the first operational amplifier is connected to the output of the first digital-to-analog converter at a first node, and the first node is grounded. The first operational amplifier is used to receive the reference voltage output by the reference voltage submodule and the first sine control signal output by the first digital-to-analog converter, and output a third sine control signal. The inverting input of the second operational amplifier is connected to the output of the reference voltage submodule, and the non-inverting input of the second operational amplifier is connected to the output of the second digital-to-analog converter at a second node, and the second node is grounded. The second operational amplifier is used to receive the reference voltage output by the reference voltage submodule and the second sine control signal output by the second digital-to-analog converter, and output a fourth sine control signal.

[0043] In one embodiment of this utility model, Figure 3 A schematic diagram of a phase generating module according to an embodiment of the present invention is shown. Figure 3 As shown, the phase generation module may further include a first operational amplifier OPA1 and a second operational amplifier OPA2. The inverting input terminal of the first operational amplifier OPA1 (e.g., Figure 3 The port indicated by the "-" sign of the first operational amplifier OPA1 is connected to the output of the reference voltage submodule. The non-inverting input of the first operational amplifier OPA1 (as shown in the image) is connected to the output of the reference voltage submodule. Figure 3 The "+" port of the first operational amplifier OPA1 (shown in the diagram) is connected to the output terminal of the first digital-to-analog converter at the first node a1, and the first node a1 is grounded. The first node a1 can be directly grounded or grounded through the first grounding resistor. The resistance value of the first grounding resistor can be set empirically, and this invention does not impose any restrictions on it. The inverting input terminal of the second operational amplifier OPA2 (as shown in the diagram) is connected to the output terminal of the first digital-to-analog converter at the first node a1, and the first node a1 is grounded. The first node a1 can be directly grounded or grounded through the first grounding resistor. The resistance value of the first grounding resistor can be set empirically, and this invention does not impose any restrictions on it. Figure 3 The "-" port of the second operational amplifier OPA2 (as shown) is connected to the output of the reference voltage submodule. The non-inverting input of the second operational amplifier OPA2 (as shown) Figure 3The "+" port of the second operational amplifier OPA2 shown is connected to the output terminal of the second digital-to-analog converter at the second node a2, and the second node a2 is grounded. The second node a2 can be directly grounded or grounded through the second grounding resistor. The resistance value of the second grounding resistor can be set empirically, and this invention does not impose any restrictions on it. The resistance values ​​of the first grounding resistor and the second grounding resistor can be the same or different, and this invention does not impose any restrictions on it.

[0044] The first operational amplifier OPA1 receives the reference voltage V output from the reference voltage submodule. REF After receiving the first sinusoidal control signal C1 from the first digital-to-analog converter, a third sinusoidal control signal C3 can be output. Similar to the first operational amplifier OPA1, the second operational amplifier OPA2 receives the reference voltage V output from the reference voltage submodule. REF Following the second sinusoidal control signal C2 output by the second digital-to-analog converter, a fourth sinusoidal control signal C4 can be output. Specifically, for ease of description and understanding, the following description uses the reference voltage submodule, the first digital-to-analog converter, and the first operational amplifier OPA1 as an example. The reference voltage V output by the reference voltage submodule... REF In the embodiment with a voltage equal to +12V, the first sinusoidal control signal C1 output by the first digital-to-analog converter is biased compared to a standard sine / cosine control signal (the peak value of which is symmetrical about a line perpendicular to the time axis), meaning the peak value of the first sinusoidal control signal is not symmetrical about a line perpendicular to the time axis. When the reference voltage V... REF After the first sinusoidal control signal C1 is input to the first operational amplifier OPA1, the first operational amplifier OPA1 can control the reference voltage V. REF The corresponding voltage signal and the first sinusoidal control signal C1 are subtracted to cancel the aforementioned bias, thereby obtaining a standard sinusoidal control signal. Those skilled in the art, by reading the above descriptions of the reference voltage submodule, the first digital-to-analog converter, and the first operational amplifier OPA1, can understand the working principle of the interaction between the reference voltage submodule, the second digital-to-analog converter, and the second operational amplifier OPA2; for simplicity, these details will not be repeated here. It can be understood that if the reference voltage is positive, the amplitude of the first sinusoidal control signal C1 can be less than the amplitude of the third sinusoidal control signal C3; the amplitude of the second sinusoidal control signal C2 can be less than the amplitude of the fourth sinusoidal control signal C4. Conversely, if the reference voltage is negative, the amplitude of the first sinusoidal control signal C1 can be greater than the amplitude of the third sinusoidal control signal C3; the amplitude of the second sinusoidal control signal C2 can be greater than the amplitude of the fourth sinusoidal control signal C4.

[0045] In one embodiment of this invention, the system power supply module has a positive power output terminal and a negative power output terminal. The positive power output terminal of the system power supply module can be connected to the positive power supply terminal V of the first operational amplifier OPA1. CC1 This connection is used to provide a positive voltage to the first operational amplifier OPA1. The negative power supply output of the system power supply module can be connected to the negative power supply terminal V of the first operational amplifier OPA1. EE1 This connection is used to provide a negative voltage to the first operational amplifier OPA1. Similarly, the positive power supply output of the system power supply module can also be connected to the positive power supply terminal V of the second operational amplifier OPA2. CC2 This connection is used to provide a positive voltage to the second operational amplifier OPA2. The negative power supply output of the system power supply module can also be connected to the negative power supply terminal V of the second operational amplifier OPA2. EE2 The connection is used to provide a negative voltage to the second operational amplifier OPA2.

[0046] According to the above technical solution, the phase generation module may further include a first operational amplifier and a second operational amplifier. Through the first and second operational amplifiers, the amplitudes of the first and second sinusoidal control signals can be adjusted so that the amplitudes of the third and fourth sinusoidal control signals obtained through adjustment can meet the requirements of the current application scenario. This technical solution is flexibly applicable to different application scenarios and has strong applicability.

[0047] For example, the motor drive system may further include a zero-adjustment module, the input of which is connected to the control module and the output of which is connected to the power drive module. The zero-adjustment module is used to receive a fifth control command output by the control module, generate a corresponding zero-adjustment signal according to the fifth control command, and output the zero-adjustment signal to the power drive module to zero the output current of the power drive module. The deviation between the zeroed output current and the reference current is less than or equal to a preset deviation threshold, and the power signal includes the output current.

[0048] In one embodiment of this invention, the motor drive system may further include a zero-adjustment module. The zero-adjustment module may include, but is not limited to, a digital potentiometer, a mechanical potentiometer, or a digital-to-analog converter. The input terminal of the zero-adjustment module may be connected to the control module. After receiving a fifth control command output by the control module, the zero-adjustment module generates a corresponding zero-adjustment signal according to the fifth control command. The zero-adjustment signal may be in the form of a pulse signal or a digital signal, etc., and this invention does not limit this. The output terminal of the zero-adjustment module may be connected to the power drive module. After the zero-adjustment module generates the zero-adjustment signal corresponding to the fifth control command, it can output the zero-adjustment signal to the power drive module through its output terminal to zero the output current of the power drive module. The deviation between the zero-adjusted output current and the reference current is less than or equal to a preset deviation threshold. The value of the reference current may be equal to 0 or other arbitrary preset values, such as 1 amp (A), 2A, etc., and this invention does not limit this. The preset deviation threshold can be set based on experience, and this invention does not limit this. The power signal output by the aforementioned power drive module may include the output current.

[0049] According to the above technical solution, the motor drive system can also include a zero-adjustment module. By connecting the input terminal of the zero-adjustment module to the control module and the output terminal of the zero-adjustment module to the power drive module, a corresponding zero-adjustment signal can be generated using the fifth control command received by the zero-adjustment module from the control module. Simultaneously, the zero-adjustment signal is output to the power drive module to zero the output current of the power drive module. This solution can avoid situations where the deviation between the current flowing through the two-phase coils and the reference current exceeds the preset deviation due to the influence of zero drift, inconsistency, temperature, etc., of components during the process from the input of the control signal to the amplification and output of the power signal. Furthermore, it can reduce the unevenness of the amplitude of the synthesized current and the unevenness of the rotor angular displacement of the motor, ensuring that the ultrasonic probe can move relatively smoothly.

[0050] For example, the power drive module may include a third operational amplifier, a fourth operational amplifier, a first power amplifier, a second power amplifier, a first feedback resistor, and a second feedback resistor; the zero-adjustment module includes a first zero-adjustment submodule and a second zero-adjustment submodule; the motor includes a first coil and a second coil; wherein, the output terminal of the first zero-adjustment submodule, the first output terminal of the phase generation module, and the first terminal of the first feedback resistor are respectively connected to the inverting input terminal of the third operational amplifier, and the non-inverting input terminal of the third operational amplifier is grounded; the output terminal of the second zero-adjustment submodule, the second output terminal of the phase generation module, and the first terminal of the second feedback resistor are respectively connected to the inverting input terminal of the fourth operational amplifier, and the non-inverting input terminal of the fourth operational amplifier is grounded. Grounded; the non-inverting input of the first power amplifier is connected to the output of the third operational amplifier at the third node and the third node is grounded, and the inverting input of the first power amplifier is grounded; the non-inverting input of the second power amplifier is connected to the output of the fourth operational amplifier at the fourth node and the fourth node is grounded, and the inverting input of the second power amplifier is grounded; the output of the first power amplifier is connected to the first end of the first coil, and the second end of the first feedback resistor is connected to the second end of the first coil at the fifth node and the fifth node is grounded; the output of the second power amplifier is connected to the first end of the second coil, and the second end of the second feedback resistor is connected to the second end of the second coil at the sixth node and the sixth node is grounded.

[0051] In one embodiment of this utility model, Figure 4 A schematic diagram showing the connection between the zero-adjustment module and the power drive module according to an embodiment of the present invention is provided. Figure 4 As shown, the power drive module may include a third operational amplifier OPA3, a fourth operational amplifier OPA4, a first power amplifier PA1, a second power amplifier PA2, a first feedback resistor R1, and a second feedback resistor R2. The zero-adjustment module may include a first zero-adjustment submodule and a second zero-adjustment submodule. The motor may include a first coil L1 and a second coil L2. (Refer to...) Figure 4The output terminal of the first zero-adjustment submodule, the first output terminal of the phase generation module, and the first terminal of the first feedback resistor R1 are respectively connected to the inverting input terminal of the third operational amplifier OPA3. The non-inverting input terminal of the third operational amplifier OPA3 is grounded. The non-inverting input terminal of the third operational amplifier OPA3 can be directly grounded or grounded through the third grounding resistor. The resistance value of the third grounding resistor can be set empirically, and this utility model does not impose any restrictions on it. The output terminal of the second zero-adjustment submodule, the second output terminal of the phase generation module, and the first terminal of the second feedback resistor R2 are respectively connected to the inverting input terminal of the fourth operational amplifier OPA4. The non-inverting input terminal of the fourth operational amplifier OPA4 is grounded. The non-inverting input terminal of the fourth operational amplifier OPA4 can be directly grounded or grounded through the fourth grounding resistor. The resistance value of the fourth grounding resistor can be set empirically, and this utility model does not impose any restrictions on it. The non-inverting input terminal of the first power amplifier PA1 is connected to the output terminal of the third operational amplifier OPA3 at the third node a3, and the third node a3 is grounded. The inverting input terminal of the first power amplifier PA1 is grounded. The inverting input terminal of the first power amplifier PA1 can be directly grounded or grounded via a fifth grounding resistor. The value of the fifth grounding resistor can be set empirically, and this invention does not impose any restrictions on it. The non-inverting input terminal of the second power amplifier PA2 is connected to the output terminal of the fourth operational amplifier OPA4 at the fourth node a4, and the fourth node a4 is grounded. The inverting input terminal of the second power amplifier PA2 is grounded. The inverting input terminal of the second power amplifier PA2 can be directly grounded or grounded via a sixth grounding resistor. The value of the sixth grounding resistor can be set empirically, and this invention does not impose any restrictions on it. (See again...) Figure 4 The output terminal of the first power amplifier PA1 is connected to the first terminal of the first coil L1. The second terminal of the first feedback resistor R1 is connected to the second terminal of the first coil L1 at the fifth node a5, and the fifth node a5 is grounded. The fifth node a5 can be directly grounded or grounded through the seventh grounding resistor. The resistance value of the seventh grounding resistor can be set empirically, and this invention does not impose any restrictions on it. The output terminal of the second power amplifier PA2 is connected to the first terminal of the second coil L2. The second terminal of the second feedback resistor R2 is connected to the second terminal of the second coil L2 at the sixth node a6, and the sixth node a6 is grounded. The sixth node a6 can be directly grounded or grounded through the eighth grounding resistor. The resistance value of the eighth grounding resistor can be set empirically, and this invention does not impose any restrictions on it. For any one or more grounding resistors from the third to the eighth grounding resistor, their respective resistance values ​​can be the same or different, and this invention does not impose any restrictions on them.

[0052] In one embodiment of this invention, the system power supply module has a positive power output terminal and a negative power output terminal. The positive power output terminal of the system power supply module can be connected to the positive power supply terminal V of the third operational amplifier OPA3. CC3 This connection is used to provide a positive voltage to the third operational amplifier, OPA3. The negative power supply output of the system power supply module can be connected to the negative power supply terminal V of the third operational amplifier, OPA3. EE3 The connection is used to provide a negative voltage to the third operational amplifier OPA3. The connection methods of the positive and negative power supply terminals of the fourth operational amplifier OPA4, the first power amplifier PA1, and the second power amplifier PA2 are similar to those of the third operational amplifier OPA3, and will not be described again here for the sake of simplicity.

[0053] According to the above technical solution, the various components in the power drive module, the first zero-adjustment submodule, the second zero-adjustment submodule, the first coil, and the second coil are connected in the manner described above. This allows the motor drive system to generate a power signal sufficient to drive the motor, resulting in high reliability. Furthermore, the connection method used in this solution is relatively simple, saving resource consumption.

[0054] For example, the first zero-adjustment submodule and / or the second zero-adjustment submodule may include a digital potentiometer. In some embodiments of this invention, the first zero-adjustment submodule and the second zero-adjustment submodule may be implemented using a digital potentiometer. In other embodiments of this invention, one of the first zero-adjustment submodule and the second zero-adjustment submodule may be implemented using a digital potentiometer, while the other may be implemented using a mechanical potentiometer or any other module capable of zero-adjustment. This invention does not impose any limitations on this. Implementing the first zero-adjustment submodule and / or the second zero-adjustment submodule using a digital potentiometer not only enables the zero-adjustment function of the two-phase current of the motor but also avoids zero-adjustment errors caused by risks such as human error, transportation vibration, and resistance migration over time, resulting in higher stability.

[0055] For example, the system power supply module is a power supply module with adjustable output voltage, and the motor drive system also includes a voltage acquisition module; the input terminal of the voltage acquisition module is connected to the output terminal of the power drive module, and the output terminal of the voltage acquisition module is connected to the feedback terminal of the control module. The voltage acquisition module is used to acquire the output voltage of the power drive module and output the output voltage to the feedback terminal of the control module, wherein the power signal includes the output voltage; the input terminal of the system power supply module is connected to the output terminal of the control module, the control module is used to generate a sixth control command based on the output voltage, the system power supply module is used to receive the sixth control command output by the control module, and provide power supply voltage to the phase generation module and the power drive module according to the sixth control command, wherein the power supply voltage is used to ensure that the power output by the power drive module corresponding to the power signal is within a preset power range.

[0056] In one embodiment of this invention, the system power supply module can be an adjustable output voltage power supply module, such as a DC-DC converter. The motor drive system may also include a voltage acquisition module. The voltage acquisition module can be implemented using any device with voltage acquisition function, such as an analog-to-digital converter (ADC), operational amplifier, voltage divider, or voltage follower; this invention does not limit this. The input terminal of the voltage acquisition module can be connected to the output terminal of the power drive module. The output terminal of the voltage acquisition module can be connected to the feedback terminal of the control module. The voltage acquisition module can be used to acquire the output voltage of the power drive module and output the output voltage to the feedback terminal of the control module. The power signal output by the power drive module may include the output voltage. The input terminal of the system power supply module can be connected to the output terminal of the control module. After receiving the output voltage fed back by the voltage acquisition module, the control module can generate a sixth control command based on the output voltage. The control module can also output the sixth control command to the system power supply module. After receiving the sixth control command output by the control module, the system power supply module can provide power voltage to the phase generation module and the power drive module according to the sixth control command. Based on the power supply voltage provided by the system power supply module, the power output by the power drive module corresponding to the power signal can be kept within a preset power range. In a specific embodiment of this invention, the resistance of the load (e.g., the coil of the motor in this invention) is known. The control module can calculate the power consumed by the coil based on the output voltage and the resistance of the load. If the power consumed by the load is large, the control module can generate a corresponding sixth control command based on the calculated power. This sixth control command can be used to increase the power supply voltage output by the system power supply module so that the power output by the power drive module corresponding to the power signal is within the preset power range. It can be understood that there is a corresponding relationship between the power output by the power drive module corresponding to the power signal and the power consumed by the load. If the power consumed by the load is large, the power output by the power drive module corresponding to the power signal needs to be increased. The size of the preset power range can be set according to the power consumed by the load, and this invention does not limit this.

[0057] According to the above technical solution, the system power supply module can be an adjustable output voltage power supply module, and the motor drive system also includes a voltage acquisition module. By connecting the input terminal of the voltage acquisition module to the output terminal of the power drive module, and connecting the output terminal of the voltage acquisition module to the feedback terminal of the control module, the voltage acquisition module can acquire the output voltage of the power drive module and output the output voltage to the feedback terminal of the control module. The control module can generate a sixth control command based on the output voltage. After receiving the sixth control command output by the control module, the system power supply module can provide power voltage to the phase generation module and the power drive module according to the sixth control command. This solution can adjust the power supply voltage of the phase generation module and the power drive module in real time so that the power output by the power drive module corresponding to the power signal is within a preset power range. This can improve the efficiency of the motor drive system, reduce the occurrence of heat generation in the motor drive system, and thus improve the stability of the motor drive system.

[0058] For example, the power drive module may include a third operational amplifier, a fourth operational amplifier, a first power amplifier, a second power amplifier, a first feedback resistor, and a second feedback resistor; the motor includes a first coil and a second coil; the voltage acquisition module has a first input terminal and a second input terminal; wherein, the inverting input terminal of the third operational amplifier is connected to the first output terminal of the phase generation module and the first terminal of the first feedback resistor respectively; the inverting input terminal of the fourth operational amplifier is connected to the second output terminal of the phase generation module and the first terminal of the second feedback resistor respectively; the non-inverting input terminal of the first power amplifier is connected to the output terminal of the third operational amplifier at the seventh node and the seventh node is grounded, and the inverting input terminal of the first power amplifier is grounded; the non-inverting input terminal of the second power amplifier is connected to the output terminal of the fourth operational amplifier at the eighth node and the eighth node is grounded, and the inverting input terminal of the second power amplifier is grounded; the output terminal of the first power amplifier is connected to the first terminal of the first coil and the first input terminal of the voltage acquisition module respectively, and the second terminal of the first feedback resistor is connected to the second terminal of the first coil at the ninth node and the ninth node is grounded; the output terminal of the second power amplifier is connected to the first terminal of the second coil and the second input terminal of the voltage acquisition module respectively, and the second terminal of the second feedback resistor is connected to the second terminal of the second coil at the tenth node and the tenth node is grounded.

[0059] Figure 5 A schematic diagram showing the connection between a voltage acquisition module and a power drive module according to an embodiment of the present invention is provided. In the preceding embodiments, the components included in the power drive module and the connections between them have been described in detail; for brevity, they will not be repeated here. The output terminal of the first power amplifier PA1 is connected to the first terminal of the first coil L1 and the first input terminal of the voltage acquisition module, respectively. Figure 5As shown, the second end of the first feedback resistor R1 is connected to the second end of the first coil L1 at the ninth node a9, and the ninth node a9 is grounded. The output terminal of the second power amplifier PA2 is connected to the first end of the second coil L2 and the second input terminal of the voltage acquisition module, respectively. The second end of the second feedback resistor R2 is connected to the second end of the second coil L2 at the tenth node a9. 10 Connect at point and the tenth node a 10 Grounded. Similar to the nodes in the previous embodiments, the ninth node a9 and / or the tenth node a 10 It can be grounded directly or through its respective grounding resistor; this invention does not impose any restrictions on this.

[0060] According to the above technical solution, the various components in the power drive module, the voltage acquisition module, the first coil, and the second coil are connected in the manner described above. This allows the motor drive system to generate a power signal sufficient to drive the motor, resulting in high reliability. Simultaneously, the voltage acquisition module can be used to acquire the output voltage of the power output module, allowing adjustment of the power supply voltage provided by the system power supply module based on the acquired output voltage. This solution has a relatively simple connection method and saves resource consumption.

[0061] For example, the system power supply module may include a buck-boost converter, and / or the voltage acquisition module may include an analog-to-digital converter.

[0062] In one embodiment of this utility model, the system power supply module may include a buck-boost converter. Exemplarily, the system power supply module may include a first power supply module and a second power supply module. The first power supply module is used to output a positive power supply voltage V. CC The second power supply module is used to output a negative power supply voltage V. EE In another embodiment of this utility model, the voltage acquisition module may include an analog-to-digital converter. In the above technical solution, the system power supply module may include a buck-boost converter, and / or the voltage acquisition module may include an analog-to-digital converter. This solution is technically mature and has high reliability.

[0063] For example, the motor drive system may further include a voltage acquisition module; the input terminal of the voltage acquisition module is connected to the output terminal of the power drive module, and the output terminal of the voltage acquisition module is connected to the feedback terminal of the control module. The voltage acquisition module is used to acquire the output voltage of the power drive module and output the output voltage to the feedback terminal of the control module, wherein the power signal includes the output voltage; the control module is used to generate a first control command based on the output voltage, so as to control the amplitude of the sine and cosine control signals through the first control command so that the power output by the power drive module corresponding to the power signal is within a preset power range.

[0064] The connection method between the voltage acquisition module and the power drive module, the function of the voltage acquisition module, and the technical effects achieved by using the voltage acquisition module have been described in detail in the above embodiments. For the sake of brevity, they will not be repeated here. It can be understood that in this embodiment, the system power supply module can be a power supply module with adjustable output voltage or a power supply module with fixed output voltage. This utility model does not limit this. The control module can generate a first control command based on the output voltage to control the amplitude of the sine and cosine control signals through the first control command. In one embodiment of this utility model, the first control command can be used to control the magnitude of the reference voltage output by the reference voltage submodule. By adjusting the magnitude of the reference voltage, the amplitude of the sine and cosine control signals can be adjusted, thereby making the power output by the power drive module corresponding to the power signal within a preset power range. The correspondence between the magnitude of the reference voltage and the amplitude of the sine and cosine control signals has been described in detail in the previous embodiments. For the sake of brevity, it will not be repeated here.

[0065] According to the above technical solution, by sending the output voltage of the power drive module acquired by the voltage acquisition module to the feedback terminal of the control module, the control module can generate a corresponding first control command. This first control command controls the amplitude of the sine and cosine control signals to ensure that the power output by the power drive module corresponding to the power signal is within a preset power range. This solution can be used to adjust the magnitude of the power output by the power drive module corresponding to the power signal, ensuring that the power remains within the preset power range, thereby preventing the motor's power consumption from failing to meet usage requirements.

[0066] For example, the power drive module includes a third operational amplifier, a fourth operational amplifier, a first power amplifier, a second power amplifier, a first feedback resistor, and a second feedback resistor; the motor includes a first coil and a second coil; the voltage acquisition module has a first input terminal and a second input terminal; wherein, the inverting input terminal of the third operational amplifier is connected to the first output terminal of the phase generation module and the first terminal of the first feedback resistor respectively; the inverting input terminal of the fourth operational amplifier is connected to the second output terminal of the phase generation module and the first terminal of the second feedback resistor respectively; the non-inverting input terminal of the first power amplifier is connected to the output terminal of the third operational amplifier at the seventh node and the seventh node is grounded, and the inverting input terminal of the first power amplifier is grounded; the non-inverting input terminal of the second power amplifier is connected to the output terminal of the fourth operational amplifier at the eighth node and the eighth node is grounded, and the inverting input terminal of the second power amplifier is grounded; the output terminal of the first power amplifier is connected to the first terminal of the first coil and the first input terminal of the voltage acquisition module respectively, and the second terminal of the first feedback resistor is connected to the second terminal of the first coil at the ninth node and the ninth node is grounded; the output terminal of the second power amplifier is connected to the first terminal of the second coil and the second input terminal of the voltage acquisition module respectively, and the second terminal of the second feedback resistor is connected to the second terminal of the second coil at the tenth node and the tenth node is grounded.

[0067] The above embodiments have described in detail the various components in the voltage acquisition module and the power drive module, the connection method of the first coil and the second coil, and the technical effects. For the sake of brevity, they will not be repeated here.

[0068] For example, the voltage acquisition module may include an analog-to-digital converter. The implementation method and technical effects of using an analog-to-digital converter to realize the function of the voltage acquisition module have been described in detail in the above embodiments, and for the sake of brevity, they will not be repeated here.

[0069] Figure 6 A schematic diagram of a motor drive system according to a specific embodiment of the present invention is shown. Figure 6 As shown, the motor drive system includes a control module S1, a phase generation module S2, a system power supply module S3, a power drive module S4, a zero-adjustment module S5, and a voltage acquisition module S6. Those skilled in the art can understand this by reading the above embodiments regarding the connection methods between the components included in each module. Figure 6 The connection relationships between the modules in the motor drive system shown are not described in detail here for the sake of simplicity.

[0070] exist Figure 6In the illustrated embodiment, the reference voltage submodule is implemented using DAC1, the zeroing module is implemented using a digital potentiometer, the first digital-to-analog converter and the second digital-to-analog converter are two channels in DAC2, and the voltage acquisition module is implemented using an analog-to-digital converter. After receiving the seventh control command output by the control module S1, DAC1 can output the +12V reference voltage to CH1 and CH2 of DAC2 respectively. After CH1 and CH2 of DAC2 receive the eighth control command output by the control module and the reference voltage output by DAC1, they can generate biased sine and cosine control signals. It can be understood that the sine and cosine control signals can be used as the first and second sine control signals in the previous embodiment, respectively. In addition, DAC1 can also output the +12V reference voltage to the inverting inputs of the first operational amplifier OPA1 and the second operational amplifier OP2. The biased sine and cosine control signals can be subtracted from the signals at the inverting inputs of the two operational amplifiers to cancel the bias, thereby outputting standard sine and cosine control signals. The inputs to the inverting terminals of the primary operational amplifiers (third operational amplifier OPA3 and fourth operational amplifier OPA4) of the power drive module S4 can include standard sine and cosine control signals, sampling signals from feedback resistors (R1 and R2), and zero-adjustment signals output from the zero-adjustment module S5. These input signals can be summed within the primary operational amplifiers, and the calculation result is output to the secondary power amplifiers (first power amplifier PA1 and second power amplifier PA2) to obtain a power signal. Furthermore, the voltage acquisition module S6 can acquire the output voltage of the power drive module S4 to adjust the magnitude of the power supply voltage provided by the system power supply module S3 and / or the reference voltage provided by DAC1, ensuring that the power output by the power drive module corresponding to the power signal is within a preset power range. It is understood that the implementation methods of the above modules and the corresponding parameter values ​​are merely exemplary and do not limit the invention.

[0071] According to a second aspect of the present invention, an ultrasonic probe is also provided. The ultrasonic probe may include a motor and the aforementioned motor drive system.

[0072] Those skilled in the art can understand the specific implementation scheme and beneficial effects of the ultrasonic probe by reading the above description of the motor drive system, and for the sake of brevity, it will not be described in detail here.

[0073] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of the invention. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

[0074] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0075] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this utility model described herein can be implemented in sequences other than those illustrated or described herein.

[0076] This utility model has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the utility model to the described embodiments. Furthermore, those skilled in the art will understand that this utility model is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this utility model, all of which fall within the scope of protection claimed by this utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A motor drive system for driving a motor, characterized in that, The motor drive system includes a control module, a system power supply module, a phase generation module, and a power drive module; The system power supply module is connected to the phase generation module and the power drive module, and is used to supply power to the phase generation module and the power drive module; The phase generation module is connected to the control module and is used to receive the first control command output by the control module and generate sine and cosine control signals corresponding to the first control command. The sine and cosine control signals include two sine control signals with a phase difference of 90°. The power drive module is connected to the phase generation module and is used to connect to the motor. It is used to receive the sine and cosine control signals output by the phase generation module, convert the sine and cosine control signals into power signals, and output the power signals to the motor to drive the motor to run.

2. The motor drive system as described in claim 1, characterized in that, The phase generation module includes a reference voltage submodule, a first digital-to-analog converter, and a second digital-to-analog converter; The reference voltage submodule is connected to the control module, the first digital-to-analog converter, and the second digital-to-analog converter, respectively, and is used to receive the second control command output by the control module and provide the first digital-to-analog converter and the second digital-to-analog converter with a reference voltage corresponding to the second control command. The first digital-to-analog converter is used to receive the reference voltage and the third control command output by the control module, and output a first sinusoidal control signal corresponding to the third control command; The second digital-to-analog converter is used to receive the reference voltage and the fourth control command output by the control module, and output a second sinusoidal control signal corresponding to the fourth control command; Wherein, the phase of the first sinusoidal control signal differs from the phase of the second sinusoidal control signal by 90°, and the sine and cosine control signals include the first sinusoidal control signal and the second sinusoidal control signal or include the third sinusoidal control signal and the fourth sinusoidal control signal. The third sinusoidal control signal is obtained by adjusting the amplitude of the first sinusoidal control signal, and the fourth sinusoidal control signal is obtained by adjusting the amplitude of the second sinusoidal control signal.

3. The motor drive system as described in claim 2, characterized in that, The reference voltage submodule includes a third digital-to-analog converter.

4. The motor drive system as described in claim 2, characterized in that, The phase generation module also includes a first operational amplifier and a second operational amplifier. The inverting input terminal of the first operational amplifier is connected to the output terminal of the reference voltage submodule, and the non-inverting input terminal of the first operational amplifier is connected to the output terminal of the first digital-to-analog converter at a first node and the first node is grounded. The first operational amplifier is used to receive the reference voltage output by the reference voltage submodule and the first sine control signal output by the first digital-to-analog converter and output the third sine control signal. The inverting input of the second operational amplifier is connected to the output of the reference voltage submodule, and the non-inverting input of the second operational amplifier is connected to the output of the second digital-to-analog converter at the second node, and the second node is grounded. The second operational amplifier is used to receive the reference voltage output by the reference voltage submodule and the second sine control signal output by the second digital-to-analog converter, and output the fourth sine control signal.

5. The motor drive system according to any one of claims 1-4, characterized in that, The motor drive system also includes a zero-adjustment module. The input terminal of the zero-adjustment module is connected to the control module and the output terminal of the zero-adjustment module is connected to the power drive module. The zero-adjustment module is used to receive the fifth control command output by the control module, generate a corresponding zero-adjustment signal according to the fifth control command, and output the zero-adjustment signal to the power drive module to zero the output current of the power drive module. Wherein, the deviation between the zeroed output current and the reference current is less than or equal to a preset deviation threshold, and the power signal includes the output current.

6. The motor drive system as described in claim 5, characterized in that, The power drive module includes a third operational amplifier, a fourth operational amplifier, a first power amplifier, a second power amplifier, a first feedback resistor, and a second feedback resistor; the zero-adjustment module includes a first zero-adjustment submodule and a second zero-adjustment submodule; the motor includes a first coil and a second coil; wherein, The output terminal of the first zero-adjustment submodule, the first output terminal of the phase generation module, and the first terminal of the first feedback resistor are respectively connected to the inverting input terminal of the third operational amplifier, and the non-inverting input terminal of the third operational amplifier is grounded. The output terminal of the second zero-adjustment submodule, the second output terminal of the phase generation module, and the first terminal of the second feedback resistor are respectively connected to the inverting input terminal of the fourth operational amplifier, and the non-inverting input terminal of the fourth operational amplifier is grounded. The non-inverting input terminal of the first power amplifier is connected to the output terminal of the third operational amplifier at a third node and the third node is grounded; the inverting input terminal of the first power amplifier is grounded. The non-inverting input of the second power amplifier is connected to the output of the fourth operational amplifier at the fourth node and the fourth node is grounded; the inverting input of the second power amplifier is grounded. The output terminal of the first power amplifier is connected to the first terminal of the first coil, and the second terminal of the first feedback resistor is connected to the second terminal of the first coil at the fifth node, and the fifth node is grounded. The output terminal of the second power amplifier is connected to the first terminal of the second coil, and the second terminal of the second feedback resistor is connected to the second terminal of the second coil at the sixth node, and the sixth node is grounded.

7. The motor drive system as described in claim 6, characterized in that, The first zero-adjustment submodule and / or the second zero-adjustment submodule include a digital potentiometer.

8. The motor drive system according to any one of claims 1-4, characterized in that, The system power supply module is an adjustable output voltage power supply module, and the motor drive system also includes a voltage acquisition module; The input terminal of the voltage acquisition module is connected to the output terminal of the power drive module, and the output terminal of the voltage acquisition module is connected to the feedback terminal of the control module. The voltage acquisition module is used to acquire the output voltage of the power drive module and output the output voltage to the feedback terminal of the control module. The power signal includes the output voltage. The input terminal of the system power supply module is connected to the output terminal of the control module. The control module is used to generate a sixth control command based on the output voltage. The system power supply module is used to receive the sixth control command output by the control module and provide power supply voltage to the phase generation module and the power drive module according to the sixth control command. The power supply voltage is used to ensure that the power output by the power drive module corresponding to the power signal is within a preset power range.

9. The motor drive system as described in claim 8, characterized in that, The power drive module includes a third operational amplifier, a fourth operational amplifier, a first power amplifier, a second power amplifier, a first feedback resistor, and a second feedback resistor; the motor includes a first coil and a second coil; the voltage acquisition module has a first input terminal and a second input terminal; wherein... The inverting input terminal of the third operational amplifier is connected to the first output terminal of the phase generation module and the first terminal of the first feedback resistor, respectively. The inverting input terminal of the fourth operational amplifier is connected to the second output terminal of the phase generation module and the first terminal of the second feedback resistor, respectively. The non-inverting input of the first power amplifier is connected to the output of the third operational amplifier at the seventh node, and the seventh node is grounded; the inverting input of the first power amplifier is grounded. The non-inverting input of the second power amplifier is connected to the output of the fourth operational amplifier at the eighth node, and the eighth node is grounded; the inverting input of the second power amplifier is grounded. The output terminal of the first power amplifier is connected to the first terminal of the first coil and the first input terminal of the voltage acquisition module, respectively. The second terminal of the first feedback resistor is connected to the second terminal of the first coil at the ninth node, and the ninth node is grounded. The output terminal of the second power amplifier is connected to the first terminal of the second coil and the second input terminal of the voltage acquisition module, respectively. The second terminal of the second feedback resistor is connected to the second terminal of the second coil at the tenth node, and the tenth node is grounded.

10. The motor drive system as described in claim 8, characterized in that, The system power supply module includes a buck-boost converter, and / or the voltage acquisition module includes an analog-to-digital converter.

11. The motor drive system according to any one of claims 1-4, characterized in that, The motor drive system also includes a voltage acquisition module; The input terminal of the voltage acquisition module is connected to the output terminal of the power drive module, and the output terminal of the voltage acquisition module is connected to the feedback terminal of the control module. The voltage acquisition module is used to acquire the output voltage of the power drive module and output the output voltage to the feedback terminal of the control module. The power signal includes the output voltage. The control module is used to generate the first control command based on the output voltage, so as to control the amplitude of the sine and cosine control signals through the first control command so that the power output by the power drive module corresponding to the power signal is within a preset power range.

12. The motor drive system as described in claim 11, characterized in that, The power drive module includes a third operational amplifier, a fourth operational amplifier, a first power amplifier, a second power amplifier, a first feedback resistor, and a second feedback resistor; the motor includes a first coil and a second coil; the voltage acquisition module has a first input terminal and a second input terminal; wherein... The inverting input terminal of the third operational amplifier is connected to the first output terminal of the phase generation module and the first terminal of the first feedback resistor, respectively. The inverting input terminal of the fourth operational amplifier is connected to the second output terminal of the phase generation module and the first terminal of the second feedback resistor, respectively. The non-inverting input of the first power amplifier is connected to the output of the third operational amplifier at the seventh node, and the seventh node is grounded; the inverting input of the first power amplifier is grounded. The non-inverting input of the second power amplifier is connected to the output of the fourth operational amplifier at the eighth node, and the eighth node is grounded; the inverting input of the second power amplifier is grounded. The output terminal of the first power amplifier is connected to the first terminal of the first coil and the first input terminal of the voltage acquisition module, respectively. The second terminal of the first feedback resistor is connected to the second terminal of the first coil at the ninth node, and the ninth node is grounded. The output terminal of the second power amplifier is connected to the first terminal of the second coil and the second input terminal of the voltage acquisition module, respectively. The second terminal of the second feedback resistor is connected to the second terminal of the second coil at the tenth node, and the tenth node is grounded.

13. The motor drive system as described in claim 12, characterized in that, The voltage acquisition module includes an analog-to-digital converter.

14. An ultrasonic probe, characterized in that, Includes an electric motor and an electric motor drive system as described in any one of claims 1 to 13.

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