CN111628693B - Multi-level redundant mutual detection motor controller and control method - Google Patents

Multi-level redundant mutual detection motor controller and control method Download PDF

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Publication number
CN111628693B
CN111628693B CN202010412661.0A CN202010412661A CN111628693B CN 111628693 B CN111628693 B CN 111628693B CN 202010412661 A CN202010412661 A CN 202010412661A CN 111628693 B CN111628693 B CN 111628693B
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motor
controller
pwm
control
unit
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CN111628693A (en
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董立军
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Tianzi Hongyang Tangshan Motor Co ltd
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Tianzi Hongyang Tangshan Motor 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0421—Multiprocessor system
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention relates to a multi-level redundant mutual detection motor controller and a control method. The invention comprises an RAM, a DSP controller, an ARM controller, a PWM comparison and setting unit, a motor drive selection unit, a drive integration unit, a motor unit and a detection unit; the RAM is connected with the DSP controller, the ARM controller and the PWM comparing and setting unit, and the DSP controller is connected with the ARM controller; the DSP controller and the ARM controller are connected with the PWM comparing and setting unit, the motor drive selection unit and the detection unit; the PWM comparison and setting unit is connected with a drive integrated unit, the drive integrated unit is connected with a motor unit, the motor drive selection unit is connected with the motor unit, and the motor unit is connected with a detection unit. The invention realizes a multi-level redundancy structure, and realizes mutual detection of dual processors, a control mode of mutual cooperation and a multi-mode control method.

Description

Multi-level redundant mutual detection motor controller and control method
Technical Field
The invention relates to the technical field of motor control, in particular to a multi-level redundancy mutual detection motor controller and a control method.
Background
With the development of power electronic technology, a motor controller becomes an important component of modern motion control, and the motor controller is widely applied to the fields of injection molding machines, textile machinery, packaging machinery, numerical control machines, aerospace and the like. The motor controller is the main power source of various moving objects, and the performance, characteristics and reliability of the motor controller determine the performance of the whole moving system, the traditional motor controller generally controls one motor by one processing chip or controls one or more motors by one processing chip and one auxiliary chip, but when controlling the motors, the traditional motor controller does not have chip-level correction and mutual detection, simultaneously has single control method, single control mode and poor reliability, is only suitable for specific motors and cannot be suitable for various motors, simultaneously a plurality of controllers cannot control a plurality of motors together, and the PWM output of control signals of the motors is only solved by the algorithm of the processor and is not compared and set further. These defects often cause that the motor controller needs to be specially used every time, so that the research and development cost is increased, meanwhile, the reliability of the motor controller is reduced, the applicability is reduced, redundancy does not exist, once a problem occurs, the whole system is in a dead halt state, and the use restriction and the research restriction are brought to research and development and products.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a multi-level redundancy mutual detection motor controller and a control method thereof, which are used for improving the stability, safety and reliability of the motor controller, ensuring that the motor controller can be applied to more occasions, being suitable for different technical requirements, meeting the requirements of research and development and products and reducing the research and development cost and time.
The technical scheme adopted by the invention for realizing the purpose is as follows: a multi-level redundant mutual detection motor controller comprises an RAM, a DSP controller, an ARM controller, a PWM comparison setting unit, a motor drive selection unit, a drive integration unit, a motor unit and a detection unit; the RAM is connected with the DSP controller, the ARM controller and the PWM comparing and setting unit, and the DSP controller is connected with the ARM controller; the DSP controller is connected with the PWM comparison and setting unit, the motor drive selection unit and the detection unit and is used for detecting the calculation of the ARM controller, operating the algorithm stored in the RAM, selecting the motor and the control mode thereof, calculating the PWM value, calling the RAM data and processing the data of the detection unit; the ARM controller is connected with the PWM comparing and setting unit, the motor driving selection unit and the detection unit and used for detecting the calculation of the DSP controller, operating the algorithm stored in the RAM, selecting the motor and the control mode thereof, calculating the value of the PWM, calling the data of the RAM and processing the data of the detection unit; the PWM comparison and setting unit is connected with a drive integrated unit, the drive integrated unit is connected with a motor unit, the motor drive selection unit is connected with the motor unit, and the motor unit is connected with a detection unit.
The PWM comparing and setting unit comprises a PWM receiving module, a central processing unit and a PWM output module; the PWM receiving module is connected with the DSP controller, the ARM controller and the central processing unit and is used for receiving PWM numerical values calculated by the DSP controller and the ARM controller; the central processing unit is connected with the PWM output module and is used for comparing and setting the calculated PWM values of the DSP controller and the ARM controller and the data stored in the calling RAM; and the PWM output module is used for outputting the set PWM numerical value.
The motor drive selection unit comprises a plurality of selector switches, one ends of the selector switches are connected with the bus, the other ends of the selector switches are connected with the drive modules corresponding to the motors, and the control part is connected with the DSP controller and the ARM controller and used for selecting different drive modules when the number, the types and the wiring modes of the motors are different so as to select the corresponding motors.
The drive integrated unit comprises a plurality of drive modules, and one drive module corresponds to one motor or one motor winding.
The detection unit is used for detecting the state of a selection switch in the motor drive selection unit, detecting the output waveform of the motor, the pulsating voltage of the motor and the current of the motor, and sending the detection result to the DSP controller and the ARM controller.
The invention also provides a control method of the multi-level redundant mutual detection motor controller, which comprises the following steps:
when the controller starts to work, initializing, self-checking and determining the number and wiring of the motors;
determining whether the motor is a single motor or a plurality of motors;
if the single motor is adopted, the winding wiring of the single motor is judged, if the single motor is adopted, the single-motor single-winding mode is selected, and if the double-winding wiring is adopted, the single-motor double-winding mode is selected; if the motor is a multi-motor, judging the winding connection of the multi-motor, if the motor is a single winding connection, selecting a multi-motor single winding mode, and if the motor is a double winding connection, selecting a multi-motor double winding mode;
according to the mode selection result, the DSP controller and the ARM controller control a selection switch in the motor drive selection unit to be closed, and a drive module corresponding to the control mode is selected to control the motion of the motor.
The single motor single winding mode performs the steps of:
selecting one of the DSP controller or the ARM controller as a control chip, and the other one of the DSP controller or the ARM controller as a detection chip of the control chip;
selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM;
the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm;
the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output value is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output;
and transmitting the adjusted PWM value to a driving integrated unit to control the motor to work.
The single motor dual winding mode performs the following steps:
selecting one of the DSP controller and the ARM controller as a control chip for controlling a main coil winding, and the other one of the DSP controller and the ARM controller as a control chip for controlling a standby coil winding;
selecting whether the main coil control or the standby coil control is adopted;
if the control is the main coil control, starting a control chip for controlling the main coil winding, taking the control chip for preparing the coil winding as a detection chip, and detecting the calculated value of the control chip for the main coil winding; if the control is the control of the spare coil, starting a control chip of the spare coil winding, taking the control chip for controlling the main coil winding as a detection chip, and detecting the calculated value of the control chip of the spare coil winding;
selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM;
the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm;
the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output value is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output;
and transmitting the adjusted PWM value to a driving integrated unit to control the motor to work.
The multi-motor single winding mode performs the following steps:
selecting one of a DSP controller and/or an ARM controller as a control chip of one motor or a plurality of motors;
judging whether one controller only controls one motor;
if so, the DSP controller and the ARM controller mutually detect the data of the other party; if not, one of the DSP controller and the ARM controller is used as a control chip of the plurality of motors, and the other is used as a detection chip of the control chip;
selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM;
the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm;
the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output;
and transmitting the adjusted PWM value to a driving integrated unit to control the motor to work.
The multi-motor dual winding mode performs the steps of:
selecting one of a DSP controller and/or an ARM controller as a control chip of one motor or a plurality of motors;
judging whether one controller only controls one motor;
if so, the DSP controller and the ARM controller respectively control a main winding and a standby winding of a motor and are used as detection chips to detect the data of the opposite side, or the DSP controller and the ARM controller respectively control the main winding of the motor, the other controller controls the standby winding of the opposite side, and the two chips mutually detect the data of the opposite side; if not, one of the DSP controller and the ARM controller is used as a control chip for controlling main coil windings of the plurality of motors, and the other is used as a control chip for controlling standby coil windings of the plurality of motors;
selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM;
the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm;
the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output value is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output;
and transmitting the adjusted PWM value to a driving integrated unit to control the motor to work.
The invention has the following advantages and beneficial effects:
1. the invention realizes a multi-level redundant structure, realizes mutual detection of double processors and a control mode of mutual cooperation, integrates a multi-mode control method and increases a PWM (pulse width modulation) comparison and setting function. The multi-stage redundant motor controller and the control method ensure the normal work of the motor controller in various modes, improve the working performance of the motor controller, increase the reliability and stability of the motor controller and improve the applicability of the motor controller.
2. The invention adopts a dual-processor mode to carry out mutual detection and control the motion of the motor, thereby ensuring the stability of the motor. The structure and the performance of the dual processors are different, so that the motion performance of the motor is ensured.
3. The invention realizes multi-level redundancy design, realizes that each processor can resolve data, controls the motion of the motor, improves the selection performance, ensures the safety of the system, increases the storage circuit, ensures the retention of information and the accuracy of control.
4. The invention adopts the PWM comparison and setting unit, ensures the accuracy and reliability of the PWM value output by the processor, improves the control precision, prevents direct connection, and simultaneously increases the reliability and the safety.
5. The motor drive selection unit is added to realize the drive selection of different types of motors and different numbers of working motors, and different control modes of different motors are ensured to drive the module.
6. The invention integrates the control methods of various modes, ensures that a corresponding control method exists for each application mode, improves the applicability and the universality of the controller, is beneficial to the accurate control of the motor and improves the working efficiency.
7. The invention adopts the detection unit to accurately detect the state of the motor and the state of the motor drive selection unit, provides a basis for the dual-processor, ensures the rapidity of a system circuit, improves the processing speed and enhances the reliability of the controller.
8. The invention realizes the redundancy of the processor, realizes the redundancy control of the motor, realizes the redundancy of the control method, ensures the performance of the controller by multi-level redundancy, and improves the reliability of the controller.
Drawings
FIG. 1 is a schematic diagram of a motor controller according to the present invention;
FIG. 2 is a schematic structural diagram of a PWM comparison setting unit according to the present invention;
FIG. 3 is a schematic structural diagram of a motor driving selection unit according to the present invention;
FIG. 4 is a schematic structural diagram of a driving integrated unit according to the present invention;
FIG. 5 is a schematic view of the motor unit structure of the present invention;
FIG. 6 is a flowchart illustrating the overall steps of the control method according to the present invention;
FIG. 7 is a flowchart of a control method of the control pattern 1 of FIG. 6;
FIG. 8 is a flowchart of a control method of control mode 2 of FIG. 6;
FIG. 9 is a flowchart of a control method of control mode 3 of FIG. 6;
fig. 10 is a flowchart of a control method of the control mode 4 in fig. 6.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in the schematic diagram of the motor controller in fig. 1, the motor controller includes a RAM, a DSP controller, an ARM controller, a PWM comparing and setting unit, a motor driving selection unit, a driving integration unit, a motor unit, and a detection unit.
As shown in a schematic diagram of a motor controller in fig. 1, in the motor controller, an RAM is connected with a DSP controller and an ARM controller, and the RAM is connected with a PWM comparison and setting unit; the DSP controller and the ARM controller are connected to form a dual processor, when one control chip or motor fails, the other control chip can be used for standby, and the reliability of the controller is guaranteed. Meanwhile, the DSP controller and the ARM controller are connected with the PWM comparison and setting unit, the motor drive selection unit and the detection unit; the PWM comparison and setting unit is connected with the drive integrated unit; the drive integrated unit is connected with the motor unit; the motor unit is connected with the detection unit and the motor drive selection unit; the motor drive selection unit is connected with the detection unit.
The ARM controller is a chip with control capability and is used for detecting the numerical value and the algorithm calculated by the ARM controller, running the algorithm of the ARM controller, selecting a motor control mode and a control method, selecting a motor, calculating the numerical value of PWM (pulse width modulation), calling RAM (random access memory) data and processing the data of a detection unit.
The RAM is mainly a storage chip and is used for storing the calculation data, the comparison data and the theoretical data of the DSP controller, the RAM controller and the PWM comparison and setting unit, and simultaneously storing the control mode and the control method of the motor, so that the data of the motor controller can be effectively stored and called. The DSP controller is mainly a chip with floating point operation, and is used for detecting the calculation value and the algorithm of the ARM controller, running the algorithm, selecting the control mode of the motor and selecting the motor, calculating the PWM value, calling the RAM data and processing the data of the detection unit; the ARM controller is mainly used for detecting calculation of the DSP controller, running an algorithm, selecting a motor control mode and selecting a motor, calculating a PWM value, calling RAM data and processing data of a detection unit.
The PWM comparing and setting unit is mainly used for comparing and setting the calculated PWM values of the DSP controller and the ARM controller and the data stored in the calling RAM, and the accuracy of the PWM values is guaranteed. As shown in the schematic diagram of the PWM comparing and setting unit in fig. 2, the PWM comparing and setting unit mainly includes a PWM receiving module, a central processor module and a PWM output module, the PWM receiving module is connected to the DSP controller and the ARM controller, and is also connected to the central processor, and the central processor is connected to the PWM output module. The PWM comparing and setting unit is mainly used for receiving PWM numerical values calculated by the DSP controller and the ARM controller according to the algorithm and the control mode and calling data stored in the RAM through the central processing unit for comparison and setting, ensuring the accuracy of the PWM numerical values and outputting PWM switches.
The motor drive selection unit is mainly used for selecting different drive modules when the number and the types of the motors are different and the wiring modes of the motors are different, so that the purposes of selecting the motors and driving are achieved. As shown in the schematic diagram of the motor driving selection unit in fig. 3, the selection unit mainly includes selection switches K1, K2, and the like. And control parts of selection switches such as K1 and K2 are respectively connected with the DSP controller and the ARM controller, one end 1 of each selection switch is connected with the bus, and the other end 2 of each selection switch is connected with a corresponding drive module of the motor. The number of the selection switches is related to the number of the motors or the winding redundancy of a single motor, and when the number and the types of the motors and the wiring modes of the motors are different, different driving modules are selected to achieve the purpose of selecting motor technical driving; the selective switch-on of different types of motors or different numbers of the same type of motors is ensured. The control to the motor and the reliability and accuracy of the system are ensured.
The drive integrated unit is mainly a drive circuit integrated with the motor, and guarantees the power given to the actual control of the motor. As shown in fig. 4, the driving integrated unit mainly includes a driving module 1, a driving module 2, and the like, and the number of the driving modules is related to the number of motors or the winding redundancy of the motors. The unit mainly integrates a driving module of the motor, and guarantees the given of the power for the actual control of the motor; the normal movement of the motor is ensured.
The detection unit mainly detects data such as output waveform of the motor, pulsating voltage of the motor, current of the motor and the like, and provides initial data values for control. The detection unit mainly detects the state of the selection switch in the motor drive selection unit, detects data such as the output waveform of the motor, the pulsating voltage of the motor, the current of the motor and the like, and provides a data initial value for control. The reliability of the motor controller is ensured, and the control basis of the controller is provided. The method provides a basis for the dual processors, ensures the rapidity of a system circuit, improves the processing speed and enhances the reliability of the controller.
The motor unit mainly comprises a wiring port of the motor, so that the system is suitable for different motors. The motor unit mainly comprises interfaces of motors such as a motor 1 and a motor 2 in a schematic diagram of the motor unit shown in fig. 5, the motors of the motor unit are correspondingly connected with the driving modules one by one and are connected with the detection module at the same time, and the motor unit is mainly used for connecting the controller and the motors. The controller is effectively and accurately connected with the motor, and the accuracy of the controller is improved.
The multi-stage redundancy refers to the redundancy of a control chip between the DSP controller and the ARM controller, the redundancy of a control mode, the redundancy of a control method, the redundancy of a PWM comparison setting unit, the redundancy of main and standby coils of a motor, the redundancy of a plurality of motors and the like. The mutual inspection refers to the mutual inspection between the DSP controller and the ARM controller, and the mutual inspection between the PWM comparison setting unit and the DSP controller and the ARM controller.
The DSP controller and the ARM controller respectively integrate control modes according to own architectures and languages, and the modes are mainly four modes, wherein the mode 1 is a single-motor single-winding mode: mode 2 is a single motor double winding mode; the mode 3 is a multi-motor single-winding mode; mode 4 is a multiple motor dual winding mode.
The control mode selection process is shown in fig. 6, the first step is to initialize and self-check when the controller starts to work, determine the number and the wiring of the motors, and the second step is to judge whether the motor is a single motor or multiple motors; judging the winding wiring of the single motor if the single motor is adopted, selecting a mode 1 if the single motor is adopted, and selecting a mode 2 if the double motor is adopted; and if the motor is a multi-motor, judging the winding connection of the multi-motor, if the motor is a single winding connection, selecting a mode 3, and if the motor is a double winding connection, selecting a mode 4. And fourthly, according to the mode selection result, the dual processor controls the selection switches k1, k2 and the like to be closed, the driving module corresponding to the control mode is selected, the mode selection is finished, and the motion of the motor is controlled according to the control method.
The DSP controller and the ARM controller respectively integrate control methods of each mode according to own architectures and languages.
The control method flow shown in the mode 1 in fig. 7 is described. Mainly comprises the following steps: (1) selecting one of a DSP controller or an ARM controller as a main control chip, for example, selecting the DSP as the main control chip to control the movement of a single motor; (2) selecting an ARM controller as a detection chip of a control chip; (3) selecting a mode for controlling the motor, such as square wave or FOC, according to the motor and the detection unit, and calling a control algorithm from the RAM; (4) the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm; (5) the PWM comparing and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is larger than 1 percent, the numerical value is abnormal, PWM numerical value setting compensation is carried out, and when the difference is smaller than or equal to 1 percent, the small numerical value of the ARM controller and the DSP controller is taken as the main output; (6) and transmitting the compared and set PWM value to a driving unit to control the motor to work. And (5) returning to the step (3), and ending the mode 1 control.
The control method flow shown in the mode 2 of fig. 8 is described. Mainly comprises the following steps: (1) selecting a DSP controller or an ARM controller as a control chip for controlling the main coil winding, for example, selecting the DSP controller as the control chip for the main coil winding; (2) selecting an ARM controller as a control chip of the standby coil winding; (3) selecting whether the main coil control or the standby coil control is adopted; (4) if the control is the main coil control, a DSP controller of a main coil control chip is started, and at the moment, an ARM controller of a standby coil control chip is used as a detection chip to detect a calculation value of the DSP controller although the ARM controller does not control the standby coil; if the control is the standby coil control, starting an ARM controller of a standby coil control chip, and at the moment, a DSP controller of a main coil control chip is used as a detection chip to detect a calculated value of the ARM controller although the DSP controller does not control the standby coil; (5) the same as the steps (3), (4) and (5) in the control mode 1; (6) and transmitting the compared and set PWM numerical value to a driving unit to control the motor to work. And (5) returning to the step (5), and ending the mode 2 control.
The control method flow shown in the mode 3 of fig. 9 is described. Mainly comprises the following steps: (1) assuming 2 motors, (the number of the motors can be 3, 4, etc.), selecting a DSP controller or an ARM controller as a control chip of one motor or 2 motors; (2) judging whether the DSP controller and the ARM controller control only one motor or not; (3) if each chip controls one motor (for example, the DSP controller controls one motor, and the ARM controller controls one motor), the DSP controller and the ARM controller mutually detect the data of the other side; (4) the same as the steps (3), (4) and (5) in the control mode 1; (5) and transmitting the compared and set PWM value to a driving unit to control the motor to work. And (5) returning to the step (4), and ending the mode 3 control.
The control method flow shown in the mode 4 of fig. 10 is described. Mainly comprises the following steps: (1) assuming 2 motors (the number of the motors can be 3, 4, etc.), selecting a DSP controller or an ARM controller as a control chip of one motor or 2 motors; (2) judging whether the DSP controller and the ARM controller only control one motor or not; (3) if each chip controls one motor (for example, the DSP controller controls one motor, and the ARM controller controls one motor), the DSP controller and the ARM controller respectively control a main winding and a standby winding of the motor and simultaneously serve as detection chips to detect the data of the opposite side, or the DSP controller and the ARM controller respectively control the main winding of the motor and the standby winding of the opposite side, and meanwhile, the two chips also mutually detect the data of the opposite side; if not, each chip controls one motor, for example, the DSP controller controls the main winding and the standby winding of 2 motors, and the ARM controller is used as a DSP controller detection chip to detect the calculated value of the DSP controller; (4) the same as the steps (3), (4) and (5) in the control mode 1; (5) and transmitting the compared and set PWM value to a driving unit to control the motor to work. And (5) returning to the step (4), and ending the mode 4 control.

Claims (10)

1. A multi-level redundant mutual detection motor controller is characterized by comprising an RAM, a DSP controller, an ARM controller, a PWM comparison and setting unit, a motor drive selection unit, a drive integration unit, a motor unit and a detection unit; the RAM is connected with the DSP controller, the ARM controller and the PWM comparing and setting unit, and the DSP controller is connected with the ARM controller; the DSP controller is connected with the PWM comparison and setting unit, the motor drive selection unit and the detection unit and is used for detecting the calculation of the ARM controller, operating the algorithm stored in the RAM, selecting the motor and the control mode thereof, calculating the PWM value, calling the RAM data and processing the data of the detection unit; the ARM controller is connected with the PWM comparison and setting unit, the motor drive selection unit and the detection unit and used for detecting the calculation of the DSP controller, operating the algorithm stored in the RAM, selecting the motor and the control mode thereof, calculating the value of the PWM, calling the RAM data and processing the data of the detection unit; the PWM comparison and setting unit is connected with a drive integration unit, the drive integration unit is connected with a motor unit, the motor drive selection unit is connected with the motor unit, and the motor unit is connected with a detection unit;
the DSP controller and the ARM controller are used for selecting a motor and a control mode thereof, and specifically comprise the following steps: determining whether the motor is a single motor or a plurality of motors; if the single motor is adopted, the winding wiring of the single motor is judged, if the single motor is adopted, the single-motor single-winding mode is selected, and if the double-winding wiring is adopted, the single-motor double-winding mode is selected; if the motor is a multi-motor, judging the winding connection of the multi-motor, if the motor is a single winding connection, selecting a multi-motor single winding mode, and if the motor is a double winding connection, selecting a multi-motor double winding mode; according to the mode selection result, controlling a selection switch in a motor drive selection unit to be closed, and selecting a drive module corresponding to the control mode to control the motion of the motor;
the single motor single winding mode performs the steps of: selecting one of the DSP controller or the ARM controller as a control chip, and the other one of the DSP controller or the ARM controller as a detection chip of the control chip; selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM; the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm; the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output value is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output; the adjusted PWM value is transmitted to a driving integrated unit to control the motor to work;
the single motor dual winding mode performs the following steps: selecting one of the DSP controller and the ARM controller as a control chip for controlling a main coil winding, and the other one of the DSP controller and the ARM controller as a control chip for controlling a standby coil winding; selecting whether the main coil control or the standby coil control is adopted; if the control is the main coil control, starting a control chip for controlling the main coil winding, taking the control chip for preparing the coil winding as a detection chip, and detecting the calculated value of the control chip for the main coil winding; if the control is the control of the spare coil, starting a control chip of the spare coil winding, taking the control chip for controlling the main coil winding as a detection chip, and detecting the calculated value of the control chip of the spare coil winding; selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM; the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm; the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output value is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output; the adjusted PWM value is transmitted to a driving integrated unit to control the motor to work;
the multi-motor single winding mode performs the following steps: selecting one of a DSP controller and/or an ARM controller as a control chip of one motor or a plurality of motors; judging whether one controller only controls one motor; if so, the DSP controller and the ARM controller mutually detect the data of the other party; if not, one of the DSP controller and the ARM controller is used as a control chip of the plurality of motors, and the other is used as a detection chip of the control chip; selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM; the DSP controller and the ARM controller calculate the PWM numerical value according to the feedback data of the detection unit and a control algorithm; the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output value is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output; the adjusted PWM value is transmitted to a driving integrated unit to control the motor to work;
the multi-motor dual winding mode performs the steps of: selecting one of a DSP controller and/or an ARM controller as a control chip of one motor or a plurality of motors; judging whether one controller only controls one motor; if so, the DSP controller and the ARM controller respectively control a main winding and a standby winding of a motor and are used as detection chips to detect the data of the opposite side, or the DSP controller and the ARM controller respectively control the main winding of the motor, the other controller controls the standby winding of the opposite side, and the two chips mutually detect the data of the opposite side; if not, one of the DSP controller and the ARM controller is used as a control chip for controlling main coil windings of the plurality of motors, and the other is used as a control chip for controlling standby coil windings of the plurality of motors; selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM; the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm; the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output value is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output; and transmitting the adjusted PWM value to a driving integrated unit to control the motor to work.
2. The multi-level redundant mutual-inspection motor controller according to claim 1, wherein the PWM comparison setting unit comprises a PWM receiving module, a central processing unit and a PWM output module; the PWM receiving module is connected with the DSP controller, the ARM controller and the central processing unit and is used for receiving PWM numerical values calculated by the DSP controller and the ARM controller; the central processing unit is connected with the PWM output module and is used for comparing and setting the calculated PWM values of the DSP controller and the ARM controller and the data stored in the calling RAM; and the PWM output module is used for outputting the set PWM numerical value.
3. The multi-level redundant mutual inspection motor controller according to claim 1, wherein the motor driving selection unit comprises a plurality of selection switches, one end of each selection switch is connected with the bus, the other end of each selection switch is connected with a corresponding driving module of the motor, and the control part is connected with the DSP controller and the ARM controller and is used for selecting different driving modules to select the corresponding motors when the number, the types and the wiring modes of the motors are different.
4. The multi-level redundant mutual-inspection motor controller according to claim 1, wherein the driving integrated unit comprises a plurality of driving modules, and one driving module corresponds to one motor or one motor winding.
5. The controller according to claim 1, wherein the detecting unit is configured to detect a state of a selection switch in the motor driving selection unit, detect an output waveform of the motor, a pulsating voltage of the motor, and a current of the motor, and send a detection result to the DSP controller and the ARM controller.
6. A control method of a multi-level redundant mutual detection motor controller according to claim 1, comprising the steps of:
when the multi-level redundant mutual detection motor controller starts to work, initializing and self-detecting, and determining the number and wiring of the motors;
determining whether the motor is a single motor or a plurality of motors;
if the single motor is adopted, the winding wiring of the single motor is judged, if the single motor is adopted, the single-motor single-winding mode is selected, and if the double-winding wiring is adopted, the single-motor double-winding mode is selected; if the motor is a multi-motor, judging the winding connection of the multi-motor, if the motor is a single winding connection, selecting a multi-motor single winding mode, and if the motor is a double winding connection, selecting a multi-motor double winding mode;
according to the mode selection result, the DSP controller and the ARM controller control a selection switch in the motor drive selection unit to be closed, and a drive module corresponding to the control mode is selected to control the motion of the motor.
7. The method of claim 6, wherein the single motor and single winding mode performs the steps of:
selecting one of the DSP controller or the ARM controller as a control chip, and the other one of the DSP controller or the ARM controller as a detection chip of the control chip;
selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM;
the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm;
the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output value is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output;
and transmitting the adjusted PWM value to a driving integrated unit to control the motor to work.
8. The method as claimed in claim 6, wherein the single motor double winding mode performs the steps of:
selecting one of the DSP controller and the ARM controller as a control chip for controlling a main coil winding, and the other one of the DSP controller and the ARM controller as a control chip for controlling a standby coil winding;
selecting whether the main coil control or the standby coil control is adopted;
if the control is the main coil control, starting a control chip for controlling the main coil winding, taking the control chip for preparing the coil winding as a detection chip, and detecting the calculated value of the control chip for the main coil winding; if the control is the control of the spare coil, starting a control chip of the spare coil winding, taking the control chip for controlling the main coil winding as a detection chip, and detecting the calculated value of the control chip of the spare coil winding;
selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM;
the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm;
the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output;
and transmitting the adjusted PWM value to a driving integrated unit to control the motor to work.
9. The method of claim 6, wherein the multi-motor single winding mode performs the steps of:
selecting one of a DSP controller and/or an ARM controller as a control chip of one motor or a plurality of motors;
judging whether one controller only controls one motor;
if so, the DSP controller and the ARM controller mutually detect the data of the other party; if not, one of the DSP controller and the ARM controller is used as a control chip of the plurality of motors, and the other is used as a detection chip of the control chip;
according to the mode that the motor unit and the detection unit select to control the motor, a control algorithm is called from the RAM;
the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm;
the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output value is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output;
and transmitting the adjusted PWM value to a driving integrated unit to control the motor to work.
10. The method as claimed in claim 6, wherein the multi-motor dual winding mode performs the steps of:
selecting one of a DSP controller and/or an ARM controller as a control chip of one motor or a plurality of motors;
judging whether one controller only controls one motor;
if so, the DSP controller and the ARM controller respectively control a main winding and a standby winding of a motor and are used as detection chips to detect the data of the opposite side, or the DSP controller and the ARM controller respectively control the main winding of the motor, the other controller controls the standby winding of the opposite side, and the two chips mutually detect the data of the opposite side; if not, one of the DSP controller and the ARM controller is used as a control chip for controlling main coil windings of the plurality of motors, and the other is used as a control chip for controlling standby coil windings of the plurality of motors;
selecting a mode for controlling the motor according to the motor unit and the detection unit, and calling a control algorithm from the RAM;
the DSP controller and the ARM controller calculate PWM values according to the feedback data of the detection unit and a control algorithm;
the PWM comparison and setting unit receives the PWM numerical value, simultaneously calls a corresponding PWM theoretical numerical value from the RAM, judges that the PWM numerical value is abnormal when the difference between the numerical value of the ARM controller and the DSP controller and the theoretical numerical value is more than 1%, and carries out PWM numerical value setting compensation; when the output value is less than or equal to 1%, the decimal values of the ARM controller and the DSP controller are used as output;
and transmitting the adjusted PWM value to a driving integrated unit to control the motor to work.
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