Motor controller and engineering machine

Abstract

This invention provides a motor controller and engineering machinery. The motor controller includes: a driver connected to a motor; and an MPU (Multi-Core Processor), the MPU including a multi-core processor. Each core of the multi-core processor communicates with each other via a communication link for data exchange. The multi-core processor is connected to the driver and is used to detect motor operating status information and control the motor based on the operating status information. This invention adopts a single-chip MPU multi-core processor design, which can realize the motor controller function with a single MPU, meeting the requirements of small size and compact design of the controller, reducing equipment cost, and conforming to the ISO 13849 functional safety PLD / CAT2 class architecture.

Description

Technical Field

[0001] This utility model relates to the field of power electronics technology, specifically to a motor controller and engineering machinery. Background Technology

[0002] Motor drive controllers conforming to the functional safety PLd / CAT2 (Performance Level d / Category 2) architecture of ISO 13849 (International Organization for Standardization, mechanical safety - functional safety of safety-related components in control systems) typically employ a dual MPU (Motor Power Unit) design architecture. One MPU is used to implement closed-loop control of the motor drive, while the other MPU monitors the motor's safety status to ensure that the motor is in a safe condition.

[0003] The above-mentioned dual-MPU solution has a high cost and large size, which occupies a lot of space on the controller board layout and is not suitable for the current development trend of compact motor drive controllers. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a motor controller.

[0005] This utility model also proposes an engineering machinery.

[0006] The technical solution adopted in this utility model is as follows:

[0007] This utility model proposes a motor controller, comprising: a driver connected to a motor; and an MPU, the MPU including a multi-core processor, wherein each core of the multi-core processor communicates with each other via a communication link for data interaction, the multi-core processor being connected to the driver, and the multi-core processor being used to detect motor operating status information and control the motor based on the operating status information.

[0008] The motor controller described above in this utility model also has the following additional technical features:

[0009] Specifically, the MPU further includes an input terminal for receiving input signals.

[0010] Specifically, the driver includes: a motor driver for driving a motor; a magnetic brake coil driver for controlling the motor speed; and a main contactor coil driver for controlling the on / off state of the motor.

[0011] Furthermore, the MPU includes: a first core processor, which is connected to the motor driver, the magnetic brake coil driver, and the main contactor coil driver respectively. The first core processor is used to monitor the status information of the motor, the magnetic brake coil, and the main contactor coil, and to control the motor driver, the magnetic brake coil driver, and the main contactor coil driver according to the status information to realize closed-loop control of the motor drive; and a second core processor, which communicates with the first core processor through a communication link. The second core processor is used to monitor the operating status of the first core processor, as well as the operating status of the magnetic brake coil driver and the main contactor coil driver, and to generate dangerous status information according to the monitored operating status, and transmit the dangerous status information to an external safety status control module.

[0012] Furthermore, the motor controller also includes a watchdog timer with power monitoring, which is connected to the MPU and used to monitor the MPU power supply status information and the CPU's watchdog feeding status information. If the power supply is abnormal or the watchdog feeding time exceeds a threshold, a danger status information is generated and transmitted to an external safety status control module.

[0013] Furthermore, the external safety status control module is connected to the motor driver, the magnetic brake coil driver, and the main contactor coil driver, and the external safety status control module is used to control the motor controller, the magnetic brake coil driver, and the main contactor coil driver.

[0014] This utility model also proposes an engineering machinery, including the motor controller described above.

[0015] The beneficial effects of this utility model are:

[0016] This utility model adopts a single-chip MPU multi-core processor design, which can realize the motor controller function with a single MPU, meet the requirements of small size and compact design of controller, reduce equipment cost, and comply with ISO 13849 functional safety PLD / CAT2 class architecture. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a motor controller according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of a motor controller according to another embodiment of the present invention. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Figure 1 This is a schematic diagram of the structure of a motor controller according to an embodiment of the present invention, as shown below. Figure 1 As shown, the motor controller includes: driver 1 and MPU.

[0021] Driver 1 is connected to motor 2. The MPU includes a multi-core processor ( Figure 1 (Taking a dual-core processor as an example), each core in a multi-core processor communicates with each other through a communication link to exchange data. The multi-core processor is connected to driver 1 and is used to detect the motor's operating status information and control the motor 2 based on the operating status information.

[0022] Specifically, such as Figure 1 As shown, the multi-core processor includes a dual-core processor, Core1 and Core2, which is connected to driver 1. One core processor is responsible for motor control, and the other is responsible for detecting the motor's operating status. If a dangerous state is detected, it sends a control signal to control driver 1 to stop the motor from running. The MPU can control the driver by sending PWM (Pulse Width Modulation) signals. The two core processors compare sampled information through a communication link, and two other core processors can also monitor each other's operating status through a communication link. Therefore, this single-chip MPU multi-core processor design can realize the motor controller function with a single MPU, meeting the requirements of small size and compact design of the controller, reducing equipment cost, and complying with the ISO 13849 functional safety PLD / CAT2 class architecture.

[0023] In one embodiment of this utility model, such as Figure 2 As shown, the MPU also includes an input terminal INPUT, which is used to receive input signals.

[0024] Specifically, the input signal can be a user command or a control signal from other external components. The MPU can control the driver 1 according to the input signal to achieve motor control.

[0025] In one embodiment of this utility model, such as Figure 2As shown, the driver 1 includes: a motor driver 11, a magnetic brake coil driver 12, and a main contactor coil driver 13.

[0026] Among them, the motor driver 11 is used to drive the motor 2; the magnetic brake coil driver 12 is used to control the motor speed; and the main contactor coil driver 13 is used to control the on / off state of the motor 2.

[0027] Furthermore, in one embodiment of this utility model, such as Figure 2 As shown, the MPU includes: a first-core processor Core1 and a second-core processor Core2.

[0028] The first core processor Core1 is connected to the motor driver 11, the magnetic brake coil driver 12, and the main contactor coil driver 13. Core1 monitors the status information of the motor, the magnetic brake coil, and the main contactor coil, and controls the motor driver 11, the magnetic brake coil driver 12, and the main contactor coil driver 13 according to the status information to achieve closed-loop control of the motor drive. The second core processor Core2 communicates with the first core processor Core1 through a communication link. Core2 monitors the operating status of the first core processor Core1, as well as the operating status of the motor driver 11, the magnetic brake coil driver 12, and the main contactor coil driver 13. Based on the monitored operating status, it generates dangerous status information and transmits the dangerous status information to the external safety status control module 3.

[0029] Specifically, CORE1 collects motor status information such as current, speed, and position information to achieve closed-loop control of the motor drive. CORE2 monitors the operating status of CORE1, the motor driver 11, the magnetic brake coil driver 12, and the main contactor coil driver 13. Based on the monitored operating status, it determines whether to generate a dangerous status information. If it determines that there is a safety risk to the motor, it generates a dangerous status information and sends the dangerous status information to the external safety status control module 3.

[0030] According to one embodiment of the present invention, such as Figure 2 As shown, the motor controller also includes a watchdog timer 4 with power monitoring. The watchdog timer 4 with power monitoring is connected to the MPU and is used to monitor the power supply status information of the MPU and the watchdog feeding status information of the CPU. If the power supply is abnormal or the watchdog feeding time exceeds the threshold, a dangerous status information is generated and transmitted to the external safety status control module.

[0031] Specifically, the watchdog 4 with power monitoring is responsible for monitoring the power supply status of the MPU and the watchdog feeding status of the CPU. If the power supply is abnormal or the watchdog feeding time is too long, a dangerous status information is generated and the dangerous status information is sent to the external safety status control module 3.

[0032] In embodiments of this utility model, such as Figure 2 As shown, the external safety state control module 3 is connected to the motor driver 11, the magnetic brake coil driver 12, and the main contactor coil driver 13. The external safety state control module 3 is used to control the motor driver 11, the magnetic brake coil driver 12, and the main contactor coil driver 13.

[0033] Specifically, after receiving the danger status information, the external safety status control module 3 initiates safety control, shuts off the outputs of the motor driver 11, the magnetic brake coil driver 12, and the main contactor coil driver 13, to ensure that the motor is in a safe state.

[0034] In summary, the motor controller according to this utility model embodiment adopts a single-chip MPU multi-core processor design. The motor controller functions can be implemented using a single MPU, satisfying the requirements of a small and compact design while reducing equipment costs. It also complies with the ISO 13849 functional safety PLD / CAT2 class architecture. The motor controller also interacts with an external safety status control module, further enhancing motor safety.

[0035] In addition, this utility model also proposes an engineering machine, including the aforementioned motor controller.

[0036] The engineering machinery according to this utility model embodiment adopts a single-chip MPU multi-core processor design. The motor controller function can be implemented using a single MPU, satisfying the requirements of a small and compact controller design, while reducing equipment costs and conforming to the ISO13849 functional safety PLD / CAT2 class architecture. The motor controller also interacts with an external safety status control module to further enhance motor safety.

[0037] In the description of this utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0040] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An electric motor controller characterized by, include: A driver, which is connected to a motor; The MPU includes a multi-core processor, and each core of the multi-core processor communicates with each other through a communication link to exchange data. The multi-core processor is connected to the driver and is used to detect motor operating status information and control the motor according to the operating status information.

2. The motor controller of claim 1, wherein, The MPU also includes an input terminal for receiving input signals.

3. The motor controller of claim 1, wherein, The driver includes: A motor driver, the motor driver being used to drive a motor; A magnetic brake coil driver and a main contactor coil driver are provided, wherein the magnetic brake coil driver is used to control the motor speed and the main contactor coil driver is used to control the on / off state of the motor.

4. The motor controller of claim 3, wherein, The MPU includes: The first core processor is connected to the motor driver, the magnetic brake coil driver, and the main contactor coil driver respectively. The first core processor is used to monitor the status information of the motor, the magnetic brake coil, and the main contactor coil, and to control the motor driver, the magnetic brake coil driver, and the main contactor coil driver according to the status information, so as to realize the closed-loop control of the motor drive. The second core processor communicates with the first core processor via a communication link. The second core processor is used to monitor the operating status of the first core processor, as well as the operating status of the motor driver, magnetic brake coil driver, and main contactor coil driver. Based on the monitored operating status, it generates hazard status information and transmits the hazard status information to an external safety status control module.

5. The motor controller of claim 1, wherein, Also includes: A watchdog with power monitoring is connected to the MPU and is used to monitor the power supply status information of the MPU and the watchdog feeding status information of the CPU. If the power supply is abnormal or the watchdog feeding time exceeds the threshold, a dangerous status information is generated and transmitted to an external safety status control module.

6. An electric machine controller according to claim 4 or 5, characterised in that, The external safety status control module is connected to the motor driver, the magnetic brake coil driver, and the main contactor coil driver. The external safety status control module is used to control the motor driver, the magnetic brake coil driver, and the main contactor coil driver.

7. A working machine, characterized in that Includes the motor controller according to any one of claims 1-6.

Images