CN114928299A - Heterogeneous motor control device and method - Google Patents
Heterogeneous motor control device and method Download PDFInfo
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- CN114928299A CN114928299A CN202210686788.0A CN202210686788A CN114928299A CN 114928299 A CN114928299 A CN 114928299A CN 202210686788 A CN202210686788 A CN 202210686788A CN 114928299 A CN114928299 A CN 114928299A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a heterogeneous motor control device and method. The device includes: the system comprises a first FPGA control system, a second MCU control system and a motor drive unit; the first FPGA control system comprises a main control unit, wherein the main control unit is used for outputting a pulse signal to a motor driving unit according to a rotating speed instruction signal, a three-phase current signal, a bus voltage signal and a position signal when a rotating speed control mode is enabled so as to drive a motor to work in a rotating speed control state; the motor driving unit is also used for outputting a pulse signal to the motor driving unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal when the torque control mode is enabled so as to drive the motor to work in a torque control state; the three-phase current signal, the bus voltage signal and the position signal are fed back to the second MCU control system; the second MCU control system comprises a diagnosis unit which is used for receiving and diagnosing faults according to the current signal, the bus voltage signal and the position signal. The scheme realizes the stable output of the motor torque.
Description
Technical Field
The embodiment of the invention relates to a motor control technology, in particular to a heterogeneous motor control device and method.
Background
The DSP/MCU and the CPLD/FPGA belong to two chips with different framework types, can be used as a control device of a motor, are based on the special manufacture procedure of the CPLD/FPGA, and generally have higher processing and operation speed than the DSP/MCU. Most of the existing motor control devices are realized by a chip (DSP/MCU) with a framework, are limited by the operation speed of the DSP/MCU to a certain extent, cannot meet the control application of a motor with higher rotating speed, and can influence the stable output of motor torque under certain working conditions.
Disclosure of Invention
The invention provides a heterogeneous motor control device and method, which realize current closed-loop control and PWM modulation by utilizing the characteristic of quick operation of a first FPGA control system, and finish fault diagnosis of signals by utilizing a second MCU control system, so that the complex control of a motor can be finished more quickly, the control application of the motor with higher rotating speed is met, and the torque output of the motor with more stable and smooth output can be realized.
In a first aspect, an embodiment of the present invention provides a heterogeneous motor control device, where the device includes: the system comprises a first FPGA control system, a second MCU control system and a motor drive unit;
the first FPGA control system comprises a main control unit, wherein the main control unit is used for outputting a pulse signal to the motor driving unit according to a rotating speed instruction signal, a three-phase current signal, a bus voltage signal and a position signal when a rotating speed control mode is enabled so as to drive the motor to work in a rotating speed control state;
the motor driving unit is also used for outputting a pulse signal to the motor driving unit according to a torque command signal, the three-phase current signal, the bus voltage signal and the position signal when the torque control mode is enabled so as to drive the motor to work in a torque control state;
the three-phase current signal, the bus voltage signal and the position signal are fed back to the second MCU control system;
the second MCU control system comprises a diagnosis unit, and the diagnosis unit is used for receiving and diagnosing faults according to the three-phase current signals, the bus voltage signals and the position signals.
Optionally, the first FPGA control system further includes a detection unit; the detection unit is used for detecting the temperature and the state of the motor driving unit; and sending the temperature and state of the motor drive to the diagnostic unit;
and the diagnosis unit is also used for carrying out fault diagnosis according to the temperature and the state of the motor driving unit.
Optionally, the main control unit is further configured to feed back a control state of the driving motor;
the second MCU control system also comprises a communication unit; the communication unit is used for receiving and feeding back the control state of the driving motor to an external controller; wherein the control state of the driving motor includes: the control method comprises a driving motor rotating speed control state, a driving motor torque control state, a driving motor standby state and a driving motor control fault state.
Optionally, the second MCU control system further includes an emergency processing unit; the emergency processing unit is electrically connected with the external controller and used for outputting an emergency processing signal to the motor driving unit to disconnect the motor driving unit when receiving an emergency instruction of the external controller.
Optionally, the main control unit is further configured to receive a fault state of the diagnosis unit, and adjust and output the pulse signal according to the fault state of the diagnosis unit.
In a second aspect, an embodiment of the present invention provides a heterogeneous motor control method, which is applied to the heterogeneous motor control device according to the first aspect, and the heterogeneous motor control method includes:
when the main control unit in the first FPGA control system is enabled in a rotating speed control mode, outputting a pulse signal to the motor driving unit according to a rotating speed instruction signal, a three-phase current signal, a bus voltage signal and a position signal so as to drive the motor to work in a rotating speed control state; or when the torque control mode is enabled, outputting a pulse signal to the motor driving unit according to a torque command signal, the three-phase current signal, the bus voltage signal and the position signal so as to drive the motor to work in a torque control state;
the main control unit feeds the three-phase current signal, the bus voltage signal and the position signal back to a diagnosis unit in a second MCU control system;
and the diagnosis unit receives and diagnoses faults according to the three-phase current signals, the bus voltage signals and the position signals.
Optionally, the first FPGA control system further includes a detection unit; the heterogeneous motor control method further includes:
the detection unit detects the temperature and the state of the motor driving unit; and sending the temperature and state of the motor driving unit to the diagnosis unit;
the diagnosis unit carries out fault diagnosis according to the temperature and the state of the motor driving unit.
Optionally, the method further includes:
and the main control unit receives the fault state of the diagnosis unit and adjusts and outputs the pulse signal according to the fault state of the diagnosis unit.
Optionally, the first FPGA control system further includes a communication unit; the heterogeneous motor control method further includes:
the main control unit feeds back the control state of the driving motor;
the communication unit receives and feeds back the control state of the driving motor to an external controller; wherein the control state of the driving motor includes: the control method comprises a driving motor rotating speed control state, a driving motor torque control state, a driving motor standby state and a driving motor control fault state.
Optionally, the second MCU control system further includes an emergency processing unit; the emergency processing unit is electrically connected with the external controller,
the heterogeneous motor control method further includes:
and when receiving an emergency instruction of the external controller, the emergency processing unit outputs an emergency processing signal to the motor driving unit to disconnect the motor driving unit.
According to the embodiment of the invention, when a main control unit in a first FPGA control system is enabled in a rotating speed control mode, a pulse signal is output to a motor driving unit according to a rotating speed command signal, a three-phase current signal, a bus voltage signal and a position signal so as to drive a motor to work in a rotating speed control state; the main control unit also outputs a pulse signal to the motor driving unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal when the torque control mode is enabled so as to drive the motor to work in a torque control state; meanwhile, the main control unit feeds back the three-phase current signals, the bus voltage signals and the position signals to the second MCU control system; and a diagnosis unit in the second MCU control system receives and diagnoses the fault according to the three-phase current signals, the bus voltage signals and the position signals. According to the scheme, the characteristic that the first FPGA control system is used for fast operation is utilized to realize current closed-loop control and PWM modulation, the second MCU control system is used for completing fault diagnosis of signals, so that complex control of the motor can be completed more quickly, not only is motor control application of higher rotating speed met, but also motor torque output of more stable and smooth output can be realized.
Drawings
Fig. 1 is a schematic structural diagram of a heterogeneous motor control device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another heterogeneous motor control device provided in the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control method for a heterogeneous motor according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another heterogeneous motor control method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
Fig. 1 is a schematic structural diagram of a heterogeneous motor control device according to an embodiment of the present invention, and as shown in fig. 1, the device includes: a first FPGA control system 10, a second MCU control system 20 and a motor drive unit 30; the first FPGA control system 10 includes a main control unit 11, where the main control unit 11 is configured to output a pulse signal to the motor driving unit 30 according to the rotation speed instruction signal, the three-phase current signal, the bus voltage signal, and the position signal when the rotation speed control mode is enabled, so as to drive the motor to operate in a rotation speed control state; when the torque control mode is enabled, the pulse signal is output to the motor driving unit 30 according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal to drive the motor to work in a torque control state; the three-phase current signal, the bus voltage signal and the position signal are fed back to the second MCU control system 20; the second MCU control system 20 includes a diagnosis unit 21, and the diagnosis unit 21 is configured to receive and perform fault diagnosis according to the three-phase current signals, the bus voltage signals, and the position signals.
The first FPGA control system 10 can operate in two different control modes, namely a rotation speed control mode and a torque control mode; specifically, when the first FPGA control system 10 is enabled in the rotation speed control mode, it outputs a pulse signal to the motor driving unit 30 according to the rotation speed command signal, the three-phase current signal, the bus voltage signal, and the position signal to drive the motor to operate in the rotation speed control state; the rotating speed command signal can be converted into a reference value of a three-phase current signal; the three-phase current signal is a current signal which is acquired in real time and output by the driving motor; the bus voltage signal is a bus voltage signal for driving the motor to work; the position signal is actually acquired position information of the rotor of the driving motor, so that current closed-loop control is formed according to the reference value of the three-phase current signal and the three-phase current signal, and meanwhile, according to the bus voltage signal and the position signal, a pulse signal is output through PWM modulation to drive the motor driving unit 30 to work, so that the motor is kept in a preset rotating speed range to work.
When the first FPGA control system 10 is enabled in the torque control mode, outputting a pulse signal to the motor driving unit 30 according to the torque command signal, the three-phase current signal, the bus voltage signal, and the position signal to drive the motor to operate in the torque control state; the torque command signal can be converted into a reference value of a three-phase current signal; therefore, current closed-loop control is formed according to the reference value of the three-phase current signal and the three-phase current signal, and meanwhile, a pulse signal is output through PWM modulation according to the bus voltage signal and the position signal so as to drive the motor driving unit 30 to work, so that the motor is kept in a preset torque range to work. The scheme utilizes the characteristic of fast operation of the first FPGA control system, realizes current closed-loop control and PWM modulation under different modes in the first FPGA control system 10, and completes complex control of the motor more quickly, thereby not only meeting the control application of the motor with higher rotating speed, but also realizing outputting motor torque output with more stable and smooth screw. Meanwhile, the second MCU control system 20 can receive and perform fault diagnosis according to the three-phase current signals, the bus voltage signals and the position signals, specifically, the second MCU control system 20 can determine whether the three-phase current signals are greater than a preset current value, whether the bus voltage signals are greater than a preset voltage value and whether the position signals are greater than a preset value to determine whether the bus voltage is an overvoltage or undervoltage fault, a current overcurrent fault or a position abnormal fault; this also completes the fault diagnosis of the signal with the second MCU control system 20.
Optionally, fig. 2 is a schematic structural diagram of another heterogeneous motor control device provided in an embodiment of the present invention, and as shown in fig. 2, the first FPGA control system 10 further includes a detection unit 12; a detection unit 12 for detecting the temperature and state of the motor drive unit 30; and transmits the temperature and state of the motor driving unit 30 to the diagnosis unit 21; the diagnosis unit 21 is also used for performing fault diagnosis according to the temperature and the state of the motor drive unit 30. Optionally, the main control unit 12 is further configured to receive a fault state of the diagnosis unit 21, and adjust the output pulse signal according to the fault state of the diagnosis unit 21.
Wherein, the motor driving unit 30 is an IGBT driving tube; the detection unit 12 can detect the temperature and the open-close state of each IGBT driving tube; the diagnosis unit 21 judges that each IGBT driving tube has a fault when detecting the temperature abnormality or the opening and closing state abnormality of each IGBT driving tube; meanwhile, the main control unit 12 receives and adjusts the output pulse signal according to the fault state of the diagnosis unit 21, and ensures that each IGBT driving tube is driven normally, thereby ensuring that the whole motor control system enters a safe state. It can be understood that, when the diagnosis unit 21 determines the bus voltage overvoltage or undervoltage fault, the current overcurrent fault, and the position abnormal fault according to the three-phase current signal, the bus voltage signal, and the position signal, the main control unit 12 receives and adjusts the output pulse signal according to the fault state output by the diagnosis unit 21, so as to ensure that the driving of each IGBT driving tube is normal, thereby ensuring that the entire motor control system enters a safe state.
Optionally, referring to fig. 2, the main control unit 11 is further configured to feed back a control state of the driving motor; the second MCU control system further includes a communication unit 22; a communication unit 22 for receiving and feeding back the control state of the driving motor to an external controller; wherein, the control state of the driving motor includes: the control method comprises a driving motor rotating speed control state, a driving motor torque control state, a driving motor standby state and a driving motor control fault state.
When the main control unit 11 is enabled in the rotation speed control mode, outputting a pulse signal to the motor driving unit 30 according to the rotation speed command signal, the three-phase current signal, the bus voltage signal and the position signal, and at this time, driving the motor in a rotation speed control state; when the main control unit 11 is enabled in the torque control mode, outputting a pulse signal to the motor driving unit 30 according to the rotating speed command signal, the three-phase current signal, the bus voltage signal and the position signal, and at this time, driving the motor to be in a torque control state; if the main control unit 11 does not receive the rotation speed control mode enable signal and the main control unit 11 does not receive the torque control mode enable signal, the main control unit 11 is in a standby state, and the driving motor is in the standby state at this time; if the main control unit 11 cannot output a pulse signal according to the rotating speed command signal, the three-phase current signal, the bus voltage signal and the position signal in the rotating speed control mode or the torque control mode, the main control unit 11 is in a control fault state, and the driving motor is in a control fault state at the moment; the main control unit 11 can feed back each control state of the driving motor in real time, and the communication unit 22 simultaneously receives and feeds back the control state of the driving motor to the external controller, so as to implement real-time monitoring of the control state of the driving motor of the main control unit 11 by the external controller.
Optionally, referring to fig. 2, the second MCU control system 20 further includes an emergency processing unit 23; the emergency processing unit 23 is electrically connected to the external controller, and when receiving an emergency command from the external controller, the emergency processing unit 23 outputs an emergency processing signal to the motor driving unit 30 to disconnect the motor driving unit, so as to further ensure safety protection of the entire motor control device through the emergency processing unit 23 in the first MCU control system 20.
Based on the same inventive concept, an embodiment of the present invention further provides a heterogeneous motor control method, which is applied to the heterogeneous motor control device in the foregoing embodiment, and fig. 3 is a flowchart of the heterogeneous motor control method provided in the embodiment of the present invention, as shown in fig. 3 and 4, the method includes:
s110, when a main control unit in the first FPGA control system is enabled in a rotating speed control mode, outputting a pulse signal to a motor driving unit according to a rotating speed instruction signal, a three-phase current signal, a bus voltage signal and a position signal so as to drive a motor to work in a rotating speed control state; or when the torque control mode is enabled, outputting a pulse signal to the motor driving unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal so as to drive the motor to work in a torque control state.
And S120, the main control unit feeds the three-phase current signals, the bus voltage signals and the position signals back to a diagnosis unit in the second MCU control system.
And S130, the diagnosis unit receives and diagnoses the fault according to the three-phase current signals, the bus voltage signals and the position signals.
According to the scheme, based on two control systems with different architectures of the first FPGA control system and the second MCU control system, current closed-loop control and PWM modulation are achieved by means of the characteristic that the first FPGA control system is used for fast operation, and signal fault diagnosis is achieved by means of the second MCU control system, so that complex control of a motor can be achieved more quickly, not only is the motor control application of higher rotating speed met, but also more stable and smooth motor torque output can be achieved.
Optionally, based on the above scheme, further optimization is performed, and fig. 4 is a flowchart of another heterogeneous motor control method provided in an embodiment of the present invention; as shown in fig. 2 and 4, the method includes:
s210, when a main control unit in the first FPGA control system is enabled in a rotating speed control mode, outputting a pulse signal to a motor driving unit according to a rotating speed instruction signal, a three-phase current signal, a bus voltage signal and a position signal so as to drive a motor to work in a rotating speed control state; or when the torque control mode is enabled, outputting a pulse signal to the motor driving unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal so as to drive the motor to work in a torque control state.
And S220, the main control unit feeds the three-phase current signals, the bus voltage signals and the position signals back to a diagnosis unit in the second MCU control system.
S230, detecting the temperature and the state of the motor driving unit by the detection unit; and transmits the temperature and state of the motor driving unit to the diagnosis unit.
S240, the diagnosis unit receives and carries out fault diagnosis according to the three-phase current signals, the bus voltage signals and the position signals; and receiving and carrying out fault diagnosis according to the temperature and the state of the motor driving unit detected by the detection unit.
And S250, the main control unit receives the fault state of the diagnosis unit and adjusts and outputs a pulse signal according to the fault state of the diagnosis unit.
When the diagnosis unit 21 detects that the temperature or the open-close state of each IGBT driving tube is abnormal, the IGBT driving tube is judged to be in fault; or when the diagnosis unit 21 determines the bus voltage overvoltage or undervoltage fault, the current overcurrent fault, and the position abnormal fault according to the three-phase current signal, the bus voltage signal, and the position signal, the main control unit 12 receives and adjusts the output pulse signal according to the fault state of the diagnosis unit 21, so as to ensure that the driving of each IGBT driving tube is normal, thereby ensuring that the entire motor control system enters a safe state.
And S260, feeding back the control state of the driving motor by the main control unit.
S270, the communication unit receives and feeds back the control state of the driving motor to an external controller; wherein, the control state of the driving motor includes: the control method comprises a driving motor rotating speed control state, a driving motor torque control state, a driving motor standby state and a driving motor control fault state.
Referring to fig. 2, the second MCU control system 20 further includes an emergency processing unit 23; the emergency processing unit 23 is electrically connected to the external controller, and when receiving an emergency command from the external controller, the emergency processing unit 23 outputs an emergency processing signal to the motor driving unit 30 to disconnect the motor driving unit, so as to further ensure that the entire motor control system enters a safe state through the emergency processing unit 23 in the first MCU control system.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. A heterogeneous motor control apparatus, comprising: the system comprises a first FPGA control system, a second MCU control system and a motor drive unit;
the first FPGA control system comprises a main control unit, wherein the main control unit is used for outputting a pulse signal to the motor driving unit according to a rotating speed instruction signal, a three-phase current signal, a bus voltage signal and a position signal when a rotating speed control mode is enabled so as to drive the motor to work in a rotating speed control state;
the motor driving unit is also used for outputting a pulse signal to the motor driving unit according to a torque command signal, the three-phase current signal, the bus voltage signal and the position signal when a torque control mode is enabled so as to drive the motor to work in a torque control state;
the three-phase current signal, the bus voltage signal and the position signal are fed back to the second MCU control system;
the second MCU control system comprises a diagnosis unit, and the diagnosis unit is used for receiving and diagnosing faults according to the three-phase current signals, the bus voltage signals and the position signals.
2. The heterogeneous motor control device of claim 1, wherein the first FPGA control system further comprises a detection unit; the detection unit is used for detecting the temperature and the state of the motor driving unit; and sending the temperature and state of the motor drive to the diagnostic unit;
and the diagnosis unit is also used for carrying out fault diagnosis according to the temperature and the state of the motor driving unit.
3. The heterogeneous motor control device according to claim 1, wherein the main control unit is further configured to feed back a control state of the driving motor;
the second MCU control system also comprises a communication unit; the communication unit is used for receiving and feeding back the control state of the driving motor to an external controller; wherein the control state of the driving motor includes: the control method comprises a driving motor rotating speed control state, a driving motor torque control state, a driving motor standby state and a driving motor control fault state.
4. The heterogeneous motor control device of claim 3, wherein the second MCU control system further comprises an emergency processing unit; the emergency processing unit is electrically connected with the external controller and used for outputting an emergency processing signal to the motor driving unit to disconnect the motor driving unit when receiving an emergency instruction of the external controller.
5. The heterogeneous motor control device according to claim 2, wherein the main control unit is further configured to receive a fault state of the diagnosis unit and adjust and output the pulse signal according to the fault state of the diagnosis unit.
6. A heterogeneous motor control method applied to the heterogeneous motor control apparatus according to any one of claims 1 to 5, the heterogeneous motor control method comprising:
when the main control unit in the first FPGA control system is enabled in a rotating speed control mode, outputting a pulse signal to the motor driving unit according to a rotating speed instruction signal, a three-phase current signal, a bus voltage signal and a position signal so as to drive the motor to work in a rotating speed control state; or when the torque control mode is enabled, outputting a pulse signal to the motor driving unit according to the torque command signal, the three-phase current signal, the bus voltage signal and the position signal so as to drive the motor to work in a torque control state;
the main control unit feeds the three-phase current signal, the bus voltage signal and the position signal back to a diagnosis unit in a second MCU control system;
and the diagnosis unit receives and diagnoses faults according to the three-phase current signals, the bus voltage signals and the position signals.
7. The heterogeneous motor control method of claim 6, wherein the first FPGA control system further comprises a detection unit; the heterogeneous motor control method further includes:
the detection unit detects the temperature and the state of the motor driving unit; and sending the temperature and state of the motor driving unit to the diagnosis unit;
the diagnosis unit carries out fault diagnosis according to the temperature and the state of the motor driving unit.
8. The heterogeneous motor control method of claim 7, further comprising:
and the main control unit receives the fault state of the diagnosis unit and adjusts and outputs the pulse signal according to the fault state of the diagnosis unit.
9. The heterogeneous motor control method of claim 6, wherein the first FPGA control system further comprises a communication unit; the heterogeneous motor control method further comprises:
the main control unit feeds back the control state of the driving motor;
the communication unit receives and feeds back the control state of the driving motor to an external controller; wherein the control state of the driving motor includes: the control method comprises a driving motor rotating speed control state, a driving motor torque control state, a driving motor standby state and a driving motor control fault state.
10. The heterogeneous motor control method of claim 9, wherein the second MCU control system further comprises an emergency processing unit; the emergency processing unit is electrically connected with the external controller,
the heterogeneous motor control method further includes:
and when receiving an emergency instruction of the external controller, the emergency processing unit outputs an emergency processing signal to the motor driving unit to disconnect the motor driving unit.
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| CN202210686788.0A CN114928299A (en) | 2022-06-16 | 2022-06-16 | Heterogeneous motor control device and method |
| PCT/CN2023/099057 WO2023241442A1 (en) | 2022-06-16 | 2023-06-08 | Heterogeneous motor control device and method |
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| WO2023241442A1 (en) * | 2022-06-16 | 2023-12-21 | 中国第一汽车股份有限公司 | Heterogeneous motor control device and method |
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| GB2535457B (en) * | 2015-02-13 | 2017-06-14 | Thales Holdings Uk Plc | Digital motor control unit |
| JP7016249B2 (en) * | 2017-12-04 | 2022-02-04 | 日立Astemo株式会社 | Motor drive system |
| JP6655059B2 (en) * | 2017-12-25 | 2020-02-26 | 株式会社Ｓｕｂａｒｕ | Vehicle control device |
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| CN110266218A (en) * | 2019-06-24 | 2019-09-20 | 南京理工大学 | High-performance ultrahigh speed control system for permanent-magnet synchronous motor based on ARM and FPGA |
| CN114928299A (en) * | 2022-06-16 | 2022-08-19 | 中国第一汽车股份有限公司 | Heterogeneous motor control device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023241442A1 (en) * | 2022-06-16 | 2023-12-21 | 中国第一汽车股份有限公司 | Heterogeneous motor control device and method |
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| WO2023241442A1 (en) | 2023-12-21 |
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