CN111404425B - Direct current motor parallel control system and current following control method - Google Patents

Direct current motor parallel control system and current following control method Download PDF

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CN111404425B
CN111404425B CN202010373525.5A CN202010373525A CN111404425B CN 111404425 B CN111404425 B CN 111404425B CN 202010373525 A CN202010373525 A CN 202010373525A CN 111404425 B CN111404425 B CN 111404425B
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current
motor
current values
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direct current
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CN111404425A (en
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李伟华
王炜
罗黎明
赵国璋
马义波
董建威
赵宇
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Suzhou Bonray Measure & Control Equipment Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/281—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices the DC motor being operated in four quadrants
    • H02P7/2815—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices the DC motor being operated in four quadrants whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value

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Abstract

The invention discloses a direct current motor parallel control system and a current following control method.A reference initial current is obtained by setting the difference between a reference rotating speed and an actual rotating speed and passing through five PI regulators; the reference initial current passes through a reference current reconstruction calculation module to obtain a required reference current value; the current value of the output end of the six-phase voltage source type inverter is subjected to a current reconstruction calculation module to obtain a calculated current value; giving the difference value of the calculated current value and the reference current value to a hysteresis comparator to generate square wave signals with equal amplitude and unequal width; the square wave signal is converted into a switching signal for driving an IGBT tube through a PWM module; and transmitting the PWM signals to a six-phase voltage source type inverter module, and controlling the five direct current motor to normally work by the six-phase voltage source type inverter module so as to realize the four-quadrant operation of the motor. The invention provides a novel motor control method by adopting reference current reconstruction, current reconstruction and hysteresis comparison technologies.

Description

Direct current motor parallel control system and current following control method
Technical Field
The invention belongs to the technical field of direct current motor control, and particularly relates to a direct current motor parallel control system and a current following control method.
Background
The energy consumption of the motor is higher than the global energy consumption at present. For motor control systems, the energy consumption of the motor depends on the motor and transmission efficiency. Therefore, the consumption reduction, the improvement of the transmission efficiency and the improvement of the performance of the motor are continuously researched and tried. A more efficient control design is therefore needed for motor systems. For modern transmission systems, control accuracy, expandability, peripheral control, system data and design safety, functional safety and reliability are all key points in the design. In addition, the motor can realize accurate control and synchronous control without influencing the control performance, and has great significance for electric vehicles, household appliance control and industrial control. This is particularly true of multi-axis motor control systems, among others.
For a multi-axis motor control system, a plurality of motors are often required to be driven. One controller is difficult to ensure the normal operation of the equipment, so that the application field of the multi-shaft motor is needed, and 2 or even a plurality of controllers are needed to be connected so as to achieve the aim of driving a plurality of motors. The mode of driving a plurality of motors by a plurality of controllers in an online mode not only has difficult programming and complicated equipment connection, but also greatly increases the cost. At present, a direct current motor, an induction motor, a switched reluctance motor, a direct current brushless motor and the like are mostly adopted in a multi-shaft motor control system. The direct current motor has the advantages of being simple to control, low in cost and the like, and is suitable for application occasions with low cost. Therefore, the invention designs a novel five-motor driving system and a current control strategy thereof aiming at the direct current motor.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a direct current motor parallel control system and a current following control method aiming at the defects in the prior art, the scheme is simple, the direct current motor parallel control system can operate in four quadrants, can be synchronously controlled, and has good current following performance and excellent dynamic performance.
The invention adopts the following technical scheme:
a direct current motor current following control method comprises the following steps:
s1, setting the difference between the reference rotating speed and the actual rotating speed, and obtaining five reference current initial values through five PI regulators;
s2, calculating the five initial values of the reference current obtained in the step S1 through the reference current to obtain six required reference current values;
s3, carrying out current reconstruction calculation on the current value of the output end of the six-phase voltage source type inverter to obtain six calculated current values;
s4, comparing the six calculated current values obtained in step S3 with the six reference current values I obtained in step S2irefThe difference value of the current hysteresis loop is controlled to generate hysteresis loop controller square wave output signals with equal amplitude and unequal width;
s5, converting the output signal of the hysteretic controller obtained in the step S4 into a switching signal PWM capable of driving 12 IGBT tubes of the six-phase voltage source type inverter through a PWM modulejAnd PWMj+1；
S6, PWM of the switching signal obtained in step S5jAnd PWMj+1And the power is input into a six-phase voltage source type inverter module, and the inverter supplies power to the motor and drives the motor to normally work, so that the four-quadrant operation or synchronous operation of the motor is realized.
Specifically, in step S2, six reference current values IirefThe method specifically comprises the following steps:
Figure BDA0002479253680000021
wherein i is 1,2,3,4,5, 6.
Specifically, in step S3, six calculated current values IiThe method specifically comprises the following steps:
Figure BDA0002479253680000031
wherein i is 1,2,3,4,5, 6; x1,X2,X3,X4,X5Five detected current values are provided.
Specifically, in step S4, the hysteretic controller outputs the square wave signal HiThe method specifically comprises the following steps:
Figure BDA0002479253680000032
wherein i is 1,2,3,4,5, 6; q is the output signal of the hysteresis controller at the last moment, and epsilon is a positive hysteresis tolerance constant.
Specifically, in step S5, the switching signal PWMjThe method specifically comprises the following steps:
Figure BDA0002479253680000033
wherein j is 1,3,5,7,9,11,
Figure BDA0002479253680000034
the bar represents the logical negation symbol.
Another technical solution of the present invention is a parallel control system for dc motors, comprising:
the rotating speed adjusting module is used for adjusting the difference value between the reference rotating speed and the actual rotating speed;
the reference current calculation module calculates six reference current values by utilizing signals output by the five rotating speed regulation modules;
the current reconstruction calculation module calculates six calculated current values by utilizing five motor winding currents detected by the current sensor; .
The current hysteresis module is used for converting the difference value of the six reference current values and the six calculated current values into a hysteresis controller square wave output signal with equal amplitude and unequal width;
the PWM module converts the square wave model output by the hysteresis comparison module into a switching signal capable of driving the IGBT power switching tube;
the six-phase voltage source inverter drives five direct current motors to normally work through six switch bridge arms.
Specifically, a difference value between the reference rotating speed and the actual rotating speed is generated into five current values through a rotating speed adjusting module, and then the five reference initial currents are generated into six reference current values through a reference current calculating module; detecting winding current values of five motors by using a current sensor, and obtaining six calculated current values through a current reconstruction calculation module; and the difference value of the six reference currents and the six calculated currents is sent to a hysteresis controller to generate six hysteresis controller square wave output signals with equal amplitude and unequal width, and the six hysteresis controller square wave output signals are further processed by a PWM module to generate switching signals capable of driving 12 IGBT power switching tubes and used for driving a six-phase voltage source inverter to supply power to the motor and controlling the motor to normally work.
Further, the six-phase voltage source type inverter comprises 12 IGBT tubes which are divided into 6 groups, TiAnd Ti+1And i is 1,3,5,7,9,11, andiis connected to the positive electrode of the power supply,Tiis connected to Ti+1On the source electrode of (1); t isi+1Is connected to the negative pole of the power supply, each group forming a complete bridge arm, TiIs connected to Ti+1The connecting point of the source electrode is the middle point of the bridge arm.
Furthermore, the middle points of any one group of bridge arms in the six-phase voltage source type inverter are connected to the common point f of the negative terminals of the five direct current motors, and the middle points of the rest five groups of bridge arms are sequentially connected to the positive terminals of the five direct current motors.
Furthermore, excitation windings of the five direct current motors are supplied with power by a direct current power supply; the motor system controller adopts an STM32 main control chip, can detect key electric signals of a motor and an inverter circuit in real time for controlling strategy execution, and simultaneously generates a pulse width modulation wave signal for controlling the inverter switch to work; the power switch of the six-phase voltage source inverter is controlled by a motor system controller to provide effective working voltage and current for the motor, so that the direct current motor set is driven to work.
Compared with the prior art, the invention has at least the following beneficial effects:
according to the current following control method of the direct current motor, the reference current and the calculated current are calculated in a current reconstruction mode, the original five-phase current is reconstructed into six-phase current, and driving signals are provided through power switches of six hysteresis comparator modules and a PWM module inverter. Such a system has excellent control accuracy and stability. The hysteresis comparator module can ensure that the calculated current quickly follows the reference current, the current response speed of the system is high, and the real-time control performance is excellent.
Furthermore, the difference between the reference rotating speed and the calculated rotating speed is subjected to rotating speed regulation PI controller to form rotating speed closed-loop control, so that the rotating speed of the system can be regulated.
Furthermore, errors of the six reference current values and the six calculated current values are sent to the hysteresis controller to form current closed-loop control, and the calculated current can quickly follow the reference current values, so that the system current can be quickly adjusted.
Furthermore, the difference value of the calculated current and the reference current is sent to a hysteresis comparator to generate square wave signals with equal amplitude and unequal width, a triangular carrier signal is not needed, real-time control can be performed, and the current response speed is high.
Furthermore, the output signal of the hysteresis controller is processed by the PWM module to generate a switching signal capable of driving the power switching tube of the inverter, so that the inverter can be driven to work and the motor can be controlled to operate.
A DC motor parallel control system connects the negative end common point f of five DC motors (DCM1, DCM2, DCM3, DCM4 and DCM5) together and connects to the middle point of any one group of bridge arms of a six-phase voltage source inverter, the middle points of the other four groups of bridge arms are connected to the positive ends (a, b, c, d and e) of the four DC motors, the five DC motors can be controlled by adopting fewer bridge arms, the four-quadrant driving of the DC motors can be realized, the synchronous driving of the motors can also be realized, and when a single DC motor operates in the four-quadrant, the inverter can generally adopt two bridge arms and four switches to complete effective work. If ten bridge arms and twenty switches are required for five dc motors. The invention can realize the four-quadrant operation capability of the five-motor by only adopting six bridge arms and twelve switches. In addition, the five motors are connected in series, so that the currents among the five motors have a common characteristic, and the working performance of the system is more stable in the synchronous driving process. Therefore, the invention can effectively reduce hardware cost and has excellent high-performance four-quadrant driving and stable synchronous operation capability.
In summary, the invention provides a novel parallel control method for five direct current motors by adopting reference current reconstruction, current reconstruction and hysteresis comparison technologies.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a block diagram of a control system of the present invention;
fig. 2 is a structural diagram of a six-phase voltage source inverter according to the present invention.
Detailed Description
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the present invention provides a parallel control system for dc motors, including:
a rotating speed adjusting module: the difference between the reference rotational speed and the actual rotational speed is adjusted.
A reference current calculation module: and calculating six reference current values by utilizing signals output by the five rotating speed adjusting modules.
A current reconstruction calculation module: six calculated current values are calculated by using five motor winding currents detected by the current sensors.
Current hysteresis module: and converting the difference value of the six reference current values and the six calculated current values into a hysteresis controller square wave output signal with equal amplitude and unequal width.
A PWM module: and converting the square wave type output by the hysteresis comparison module into a switching signal capable of driving the IGBT power switching tube.
An inverter module: six switch bridge arms of the six-phase voltage source inverter drive five direct current motors to normally work.
And the difference value between the reference rotating speed and the actual rotating speed is processed by a rotating speed adjusting module to generate five current values, and then the five reference initial currents are processed by a reference current calculating module to generate six reference current values. The method comprises the steps of detecting winding current values of five motors by using a current sensor, obtaining six calculated current values through a current reconstruction calculation module, sending difference values of six reference currents and six calculated currents to a hysteresis controller, generating six hysteresis controller square wave output signals with equal amplitude and unequal width, generating switching signals capable of driving 12 IGBT power switching tubes through a PWM module, and effectively driving a six-phase voltage source type inverter to supply power to the motors and control the motors to normally work.
Referring to fig. 2, the six-phase voltage source inverter includes 12 IGBT transistors, which are divided into 6 groups, TiAnd Ti+1And i is 1,3,5,7,9,11, andiis connected to the positive supply electrode, TiIs connected to Ti+1On the source electrode of (1); t isi+1Is connected to the negative pole of the power supply, each group forming a complete bridge arm, TiIs connected to Ti+1The connecting point of the source electrode is the middle point of the bridge arm.
Five direct current motors are connected to a six-phase voltage source inverter in parallel, and the method specifically comprises the following steps: the middle point of any one group of bridge arms in the six-phase voltage source type inverter is connected to the common point f of the negative terminals of five direct current motors (DCM1, DCM2, DCM3, DCM4 and DCM5), and the middle points of the rest five groups of bridge arms are sequentially connected to the positive terminals (a, b, c, d and e) of the five direct current motors. When a single direct current motor operates in four quadrants, the inverter generally adopts two bridge arms and four switches to complete effective work. If ten bridge arms and twenty switches are required for five dc motors. The invention can realize the four-quadrant operation capability of the five-motor by only adopting six bridge arms and twelve switches. In addition, the five motors are connected in series, so that the currents among the five motors have a common characteristic, and the working performance of the system is more stable in the synchronous driving process. Therefore, the invention can effectively reduce hardware cost and has excellent high-performance four-quadrant driving and stable synchronous operation capability.
One homopolar winding end of each of the five direct current motors is connected to the middle points of six bridge arms of the inverter, and the other homopolar winding end is connected together and connected to the middle point of the sixth bridge arm of the inverter; excitation windings of the five direct current motors are supplied with power by a direct current power supply; the motor system controller is formed by matching an STM32 main control chip with a basic peripheral circuit, can detect key electric signals of a motor and an inverter circuit in real time for controlling strategy execution, and simultaneously generates a pulse width modulation wave signal by utilizing a complex control algorithm for controlling the inverter switch to work; the power switch of the inverter is controlled by the motor system controller to provide effective working voltage and current for the motor, so that the driving of the direct current motor set is realized.
The invention relates to a direct current motor current following control method, which comprises the following steps:
s1, obtaining five reference current initial values I through the difference between the given reference rotating speed and the actual rotating speed through five PI regulatorsmi，i＝1,2,3,4,5；
S2, obtaining five initial values I of the reference current obtained in the step S1miSix required reference current values are obtained through a reference current calculation module;
six reference current values IirefThe method specifically comprises the following steps:
Figure BDA0002479253680000081
wherein i is 1,2,3,4,5, 6;
s3, obtaining six calculated current values by passing the current values of the output end of the six-phase voltage source type inverter through a current reconstruction calculation module;
six calculated current values IiThe method specifically comprises the following steps:
Figure BDA0002479253680000091
wherein i is 1,2,3,4,5, 6; x1,X2,X3,X4,X5Five detected current values respectively;
s4, calculating six current values IiAnd six reference current values IirefDifference of (e)i＝Iiref-IiInputting the signal into a current hysteresis controller module to generate a hysteresis controller square wave output signal H with equal amplitude and unequal widthiThe method specifically comprises the following steps:
Figure BDA0002479253680000092
wherein i is 1,2,3,4,5, 6; q is the output signal of the hysteresis controller at the last moment, and epsilon is a positive hysteresis tolerance constant.
S5, outputting the signal H of the hysteresis controller obtained in the step S4iThrough the PWM module, the switching signal PWM which is converted into the switching signal capable of driving 12 IGBT tubes of the six-phase voltage source type inverterjAnd PWMj+1The method specifically comprises the following steps:
Figure BDA0002479253680000093
wherein j is 1,3,5,7,9,11, and the control logic signs of the upper tube and the lower tube of the six-phase voltage source inverter bridge arm are complementary, then
Figure BDA0002479253680000094
The bar represents the logical negation symbol.
S6, PWM switching signaljAnd PWMj+1And the power is input into a six-phase voltage source type inverter module, and the inverter supplies power to the motor and drives the motor to normally work, so that the four-quadrant operation or synchronous operation of the motor is realized.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The direct current motor parallel control system and the current following control method can be completely applied to the field of multi-axis motor driving application. The control method adopts a PI regulator to regulate the rotating speed, adopts a current reconstruction method to obtain reference current and a calculated current value, adopts a hysteresis control technology to generate square wave signals with equal amplitude and unequal width, replaces an original triangular carrier module with a hysteresis comparison module, has simple hardware circuit, can carry out real-time control, has high current response speed and does not need carrier. The six-phase voltage source inverter is adopted to control the parallel five-DC motors, and fewer bridge arms are adopted to control the four-quadrant operation or synchronous operation of the motors.
In summary, the invention provides a novel and stable motor control method by adopting the technologies of rotating speed regulation, current reconstruction, current following regulation and hysteresis control, thereby improving the control precision, rapidity and stability of the system and reducing the energy loss of the system.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.

Claims (6)

1. A direct current motor current following control method is characterized by comprising the following steps:
s1, setting the difference between the reference rotating speed and the actual rotating speed, and obtaining five reference current initial values through five PI regulators;
s2, calculating the five initial reference current values obtained in the step S1 through reference currents to obtain six required reference current values, namely six reference current values IirefThe method specifically comprises the following steps:
Figure FDA0003539177170000011
wherein i is 1,2,3,4,5, 6;
s3, carrying out current reconstruction calculation on the current value of the output end of the six-phase voltage source type inverter to obtain six calculated current values IiThe method specifically comprises the following steps:
Figure FDA0003539177170000012
wherein i is 1,2,3,4,5, 6; x1,X2,X3,X4,X5Five detected current values respectively;
s4, comparing the six calculated current values obtained in step S3 with the six reference current values I obtained in step S2irefThe difference value of the voltage difference is controlled by a current hysteresis loop to generate a hysteresis loop controller square wave output signal with equal amplitude and unequal width, and the hysteresis loop controller square wave output signal HiThe method specifically comprises the following steps:
Figure FDA0003539177170000013
wherein i is 1,2,3,4,5, 6; q is the output signal of the hysteresis controller at the last moment, epsilon is a positive hysteresis tolerance constant, eiCalculating the current value I for sixiAnd six reference current values IirefA difference of (d);
s5, converting the output signal of the hysteretic controller obtained in the step S4 into a switching signal PWM capable of driving 12 IGBT tubes of the six-phase voltage source type inverter through a PWM modulejAnd PWMj+1On-off signal PWMjThe method specifically comprises the following steps:
Figure FDA0003539177170000021
wherein j is 1,3,5,7,9,11,
Figure FDA0003539177170000022
the bar represents the logical negation symbol;
s6, PWM of the switching signal obtained in step S5jAnd PWMj+1And the power is input into a six-phase voltage source type inverter module, and the inverter supplies power to the motor and drives the motor to normally work, so that the four-quadrant operation or synchronous operation of the motor is realized.
2. A parallel control system for DC motors, comprising:
the rotating speed adjusting module is used for adjusting the difference value between the reference rotating speed and the actual rotating speed;
the reference current calculation module calculates six reference current values by utilizing signals output by the five rotating speed regulation modules; six reference current values IirefThe method specifically comprises the following steps:
Figure FDA0003539177170000023
wherein i is 1,2,3,4,5, 6;
the current reconstruction calculation module calculates six calculated current values by utilizing five motor winding currents detected by the current sensor; six calculated current values IiThe method specifically comprises the following steps:
Figure FDA0003539177170000031
wherein i is 1,2,3,4,5, 6; x1,X2,X3,X4,X5Five detected current values respectively;
the current hysteresis module is used for converting the difference value of the six reference current values and the six calculated current values into a hysteresis controller square wave output signal with equal amplitude and unequal width;
the PWM module converts the square wave model output by the hysteresis comparison module into a switching signal capable of driving the IGBT power switching tube;
the six-phase voltage source inverter drives five direct current motors to normally work through six switch bridge arms.
3. The direct current motor parallel control system according to claim 2, wherein the difference between the reference rotation speed and the actual rotation speed generates five current values through the rotation speed adjusting module, and then the five reference initial currents generate six reference current values through the reference current calculating module; detecting winding current values of five motors by using a current sensor, and obtaining six calculated current values through a current reconstruction calculation module; and the difference value of the six reference currents and the six calculated currents is sent to a hysteresis controller to generate six hysteresis controller square wave output signals with equal amplitude and unequal width, and the six hysteresis controller square wave output signals are further processed by a PWM module to generate switching signals capable of driving 12 IGBT power switching tubes and used for driving a six-phase voltage source inverter to supply power to the motor and controlling the motor to normally work.
4. The parallel control system of direct current motors of claim 2, wherein the six-phase voltage source inverter comprises 12 IGBT tubes divided into 6 groups, TiAnd Ti+1And i is 1,3,5,7,9,11, andiis connected to the positive supply electrode, TiIs connected to Ti+1On the source electrode of (1); t isi+1Is connected to the negative pole of the power supply, each group forming a complete bridge arm, TiIs connected to Ti+1The connecting point of the source electrode is the middle point of the bridge arm.
5. The parallel control system for the direct current motors of claim 4, wherein the middle points of any one group of the bridge arms in the six-phase voltage source type inverter are connected to the common point f of the negative terminals of the five direct current motors, and the middle points of the rest five groups of the bridge arms are sequentially connected to the positive terminals of the five direct current motors.
6. The parallel control system of the direct current motors as claimed in claim 5, wherein excitation windings of five direct current motors are supplied with power by a direct current power supply; the motor system controller adopts an STM32 main control chip, can detect key electric signals of a motor and an inverter circuit in real time for controlling strategy execution, and simultaneously generates a pulse width modulation wave signal for controlling the inverter switch to work; the power switch of the six-phase voltage source inverter is controlled by a motor system controller to provide effective working voltage and current for the motor, so that the direct current motor set is driven to work.
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