阅读说明：本技术 一种高可靠性电机驱动控制装置及控制方法 (High-reliability motor drive control device and control method ) 是由 范红伟 张�浩 吴宣东 来海丰 张虎 高峤 刘建波 刘平顺 周良 逵振雨 于 2019-12-13 设计创作，主要内容包括：本发明公开了一种高可靠性电机驱动控制装置及控制方法,控制装置包括功率单元和控制单元,功率单元包括第一逆变模块、第二逆变模块、输出切换模块；第一逆变模块、第二逆变模块分别通过输出切换模块连接电机；控制单元包括三个输入处理电路、第一表决器、三个中央处理模块、第二表决器、三个输出处理电路、第三表决器。所述的控制方法,三个输入处理电路的接收同一个信号并处理,第一表决器进行表决,表决后得到的信号分别传输至三个中央处理模块进行逻辑运算,第二表决器进行表决；表决后得到的信号分别传输至三个输出处理电路处理,第三表决器进行表决得到控制单元的输出信号,产生三层故障隔离区,保证控制单元逻辑控制输出的高可靠性。(The invention discloses a high-reliability motor drive control device and a control method, wherein the control device comprises a power unit and a control unit, wherein the power unit comprises a first inversion module, a second inversion module and an output switching module; the first inversion module and the second inversion module are respectively connected with the motor through the output switching module; the control unit comprises three input processing circuits, a first voter, three central processing modules, a second voter, three output processing circuits and a third voter. The control method comprises the steps that three input processing circuits receive and process the same signal, a first voter carries out voting, the signal obtained after voting is respectively transmitted to three central processing modules to carry out logical operation, and a second voter carries out voting; the signals obtained after voting are respectively transmitted to the three output processing circuits for processing, the third voter votes to obtain the output signals of the control unit, three layers of fault isolation regions are generated, and high reliability of logic control output of the control unit is guaranteed.)

1. A high-reliability motor drive control device comprises a power unit and a control unit, and is characterized in that: the power unit comprises a first inversion module, a second inversion module and an output switching module; the power output ends of the first inversion module and the second inversion module are respectively connected with the input end of the motor through the output switching module;

the control unit comprises three input processing circuits, a first voter, three central processing modules, a second voter, three output processing circuits and a third voter;

the signal input ends of the three input processing circuits respectively receive the same signal, and the three input processing circuits respectively process the received signals and respectively transmit the processed signals to the first voter;

the first voter is used for voting the received three signals and respectively transmitting the voted signals to the three central processing modules;

the three central processing modules respectively receive the same signal output by the first voter, and respectively perform logical operation on the received signal and respectively transmit the signal obtained by the operation to the second voter;

the second voter is used for voting the received three signals and respectively transmitting the voted signals to the three output processing circuits;

the three output processing circuits respectively receive the same signal sent by the second voter, and the three input processing circuits respectively process the received signals and respectively transmit the processed signals to the third voter;

and the third meter counter is used for voting the received three signals to obtain the output signal of the control unit.

2. The high-reliability motor drive control device according to claim 1, characterized in that: and any one of the three central processing modules is in communication connection with the other two central processing modules respectively.

3. The high-reliability motor drive control device according to claim 1, characterized in that: the switching module comprises a first inversion module switch circuit, a second inversion module switch circuit and a switch interlocking circuit;

the first inversion module switch circuit receives the switching control signal output by the control unit and controls the on-off of the first inversion module and the circuit of the motor input end;

the second inversion module switch circuit receives the switching control signal output by the control unit and controls the on-off of the second inversion module and the circuit of the motor input end;

the switch interlocking circuit is used for realizing the electric interlocking between the first inversion module switch circuit and the second inversion module switch circuit.

4. The high-reliability motor drive control device according to claim 1, characterized in that: the power unit further comprises a rectifying module and a filtering module;

the input end of the rectification module is connected with an external alternating current power supply, the output end of the rectification module is connected with the input end of the filtering module, and the output end of the filtering module is electrically connected with the power supply ends of the first inversion module, the second inversion module and the control unit respectively.

5. The high reliability motor drive control device according to claim 4, characterized in that: the control unit also comprises a DC-DC power conversion module and an AC-DC power conversion module; the input end of the AC-DC power supply conversion module is connected with an external alternating current power supply, the DC-DC power supply conversion module is connected with the output end of the filtering module, and the output ends of the DC-DC power supply conversion module and the AC-DC power supply conversion module are electrically connected with the power supply end of the control unit.

6. A motor drive control method based on the device of claim 2, characterized in that: the method comprises the following steps:

step 1: the same signal is respectively transmitted to the three input processing circuits; each input processing circuit respectively processes the received signals and transmits the processed signals to the first voter; the first voter votes through a majority voting mechanism;

step 2: the first voter transmits the voted signals to the three central processing modules respectively; each central processing module respectively carries out logic operation on the received signals and respectively transmits the signals obtained by the operation to the second voter; the second voter votes through a majority voting mechanism;

and step 3: the second voter transmits the voted signals to the three output processing circuits respectively; each output processing circuit respectively processes the received signals and respectively transmits the processed signals to the third meter; the first voter votes through a majority voting mechanism to obtain an output signal of the control unit;

and 4, step 4: the first inversion module and the second inversion module both receive inverter control signals output by the control unit; when the first inversion module outputs normally, the second inversion module is in a hot standby state; when the first inversion module breaks down, the control unit outputs a switching control signal for controlling the output switching module, the first inversion module switching circuit of the output switching module is disconnected, the second inversion module switching circuit is connected, and the second inversion module outputs a power supply to control the motor to operate.

7. The motor drive control method according to claim 6, characterized in that: the method comprises the following steps: when any one central processing module fails, the three central processing modules communicate with each other and send alarm signals to an external alarm system.

Technical Field

The invention relates to the technical field of motor drive control, in particular to a high-reliability motor drive control device and a control method.

Background

With the development of power electronic technology, motor drive control devices are widely applied to the field of industrial automation. The high reliability of the motor driving control device is more and more important under severe environments such as high pollution, high danger, high operation and maintenance cost, high time consumption and the like, and especially, the reliability of the motor driving control device is more and more required by important factory enterprises, medical health, government agencies, scientific research units, military industry, nuclear power, aerospace, deep sea development, national defense safety departments and other units.

At present, under the restriction of the development of power electronic technology, the reliability and the service life of a general drive control device are low, and particularly, the reliability and the service life of a power supply module, a power module, a digital signal processor and software are influenced by factors such as temperature, load characteristics, operation cycle and the like. The reliability of the motor drive control device is improved in the industry, and a dual-device redundancy design or/and a central processing module design is generally adopted. However, the design of dual device redundancy and/or dual central processing module has certain limitations:

1) the dual central processing module redundant design structure has a large volume, and has certain limitation when being applied to devices with limited space, such as aerospace, military nuclear power, deep sea development and the like;

2) the double central processing modules are difficult to quickly and reliably judge which of the two digital signal processors outputting different transportation results is correct;

3) when the dual-device redundancy structure operates, if one of the dual-device redundancy structure operates in a wrong output mode but does not give an alarm, the control device operates in a wrong mode;

4) the dual-device redundancy design structure has the advantages that even if a high-speed communication cable is used in a hot standby state, one fault alarm is switched to the other normal operation, and the switching time affects the reliable operation of the driving motor;

therefore, such dual device redundancy or/and dual central processing module configurations cannot guarantee high reliability operation under severe conditions.

Disclosure of Invention

The invention aims to provide a high-reliability motor drive control device and a control method, the device has small volume, short switching time and wide application range, and a motor control signal output by a power unit has high stability and high reliability; the control method can effectively distinguish and isolate error signals, and improves the correctness, stability and high reliability of the control signals output by the control unit.

The technical scheme adopted by the invention is as follows:

a high-reliability motor driving control device comprises a power unit and a control unit, wherein the power unit comprises a first inversion module, a second inversion module and an output switching module; the power output ends of the first inversion module and the second inversion module are respectively connected with the input end of the motor through the output switching module;

the control unit comprises three input processing circuits, a first voter, three central processing modules, a second voter, three output processing circuits and a third voter;

the signal input ends of the three input processing circuits respectively receive the same signal, and the three input processing circuits respectively process the received signals and respectively transmit the processed signals to the first voter;

the first voter is used for voting the received three signals and respectively transmitting the voted signals to the three central processing modules;

the three central processing modules respectively receive the same signal output by the first voter, and respectively perform logical operation on the received signal and respectively transmit the signal obtained by the operation to the second voter;

the second voter is used for voting the received three signals and respectively transmitting the voted signals to the three output processing circuits;

the three output processing circuits respectively receive the same signal sent by the second voter, and the three input processing circuits respectively process the received signals and respectively transmit the processed signals to the third voter;

and the third meter counter is used for voting the received three signals to obtain the output signal of the control unit.

And any one of the three central processing modules is in communication connection with the other two central processing modules respectively.

The switching module comprises a first inversion module switch circuit, a second inversion module switch circuit and a switch interlocking circuit;

the first inversion module switch circuit receives the switching control signal output by the control unit and controls the on-off of the first inversion module and the circuit of the motor input end;

the second inversion module switch circuit receives the switching control signal output by the control unit and controls the on-off of the second inversion module and the circuit of the motor input end;

the switch interlocking circuit is used for realizing the electric interlocking between the first inversion module switch circuit and the second inversion module switch circuit.

The power unit further comprises a rectifying module and a filtering module;

the input end of the rectification module is connected with an external alternating current power supply, the output end of the rectification module is connected with the input end of the filtering module, and the output end of the filtering module is electrically connected with the power supply ends of the first inversion module, the second inversion module and the control unit respectively.

The control unit also comprises a DC-DC power conversion module and an AC-DC power conversion module; the input end of the AC-DC power supply conversion module is connected with an external alternating current power supply, the DC-DC power supply conversion module is connected with the output end of the filtering module, and the output ends of the DC-DC power supply conversion module and the AC-DC power supply conversion module are electrically connected with the power supply end of the control unit.

A motor driving control method based on the device comprises the following steps:

step 1: the same signal is respectively transmitted to the three input processing circuits; each input processing circuit respectively processes the received signals and transmits the processed signals to the first voter; the first voter votes through a majority voting mechanism;

step 2: the first voter transmits the voted signals to the three central processing modules respectively; each central processing module respectively carries out logic operation on the received signals and respectively transmits the signals obtained by the operation to the second voter; the second voter votes through a majority voting mechanism;

and step 3: the second voter transmits the voted signals to the three output processing circuits respectively; each output processing circuit respectively processes the received signals and respectively transmits the processed signals to the third meter; the first voter votes through a majority voting mechanism to obtain an output signal of the control unit;

and 4, step 4: the first inversion module and the second inversion module both receive inverter control signals output by the control unit; when the first inversion module outputs normally, the second inversion module is in a hot standby state; when the first inversion module breaks down, the control unit outputs a switching control signal for controlling the output switching module, the first inversion module switching circuit of the output switching module is disconnected, the second inversion module switching circuit is connected, and the second inversion module outputs a power supply to control the motor to operate.

In the motor drive control method, any one central processing module fails, and the three central processing modules communicate with each other and send alarm signals to an external alarm system.

The high-reliability drive control device provided by the invention utilizes a majority voting mechanism of three redundant three-layer faults of the control unit to generate a three-layer fault isolation region, thereby improving the quick response capability and fault tolerance capability of the control unit and ensuring the correctness, stability and high reliability of the logic control output of the control unit.

Furthermore, the control mechanism of the control device structurally adopts a DC-DC power supply conversion module and an AC-DC power supply conversion module for power supply in different ways, a double-inverter series output switching module for parallel redundant output, and a control unit software and hardware redundancy design, so that compared with a double-device redundancy structure, the control device has the advantages of greatly reducing the volume, remarkably improving the reliability, and being widely applied to the fields of aerospace, deep sea development, military nuclear power and the like.

Furthermore, the control device utilizes the redundancy of the three-path digital processor of the control unit and realizes high-speed communication with each other, thereby improving the real-time monitoring, fault early warning, diagnosis, analysis and processing capabilities of the state operation of the internal module circuit and the external connection module circuit of the drive control device; meanwhile, by matching with the structural design of a hardware circuit, the online maintainability of faults is improved, and the stability and high reliability of the operation of a driving control device and a system are ensured.

According to the drive control method, the correctness and the accuracy of the output result are ensured through three-layer voting, faults of each layer of the voter are isolated, the quick response capability and the fault tolerance capability of the control unit are improved, and the correctness, the stability and the high reliability of the output of the control unit are ensured.

Drawings

FIG. 1 is a schematic circuit diagram of the present invention;

FIG. 2 is a schematic diagram of a control unit of the present embodiment;

FIG. 3 is a flow chart of the method of the present invention.

Detailed Description

As shown in fig. 1, the present invention includes a power unit and a control unit, wherein the power unit includes a rectification module, a filtering module, a first inversion module, a second inversion module, and an output switching module; the power output ends of the first inversion module and the second inversion module are respectively connected with the input end of the motor through the output switching module; the input end of the rectification module is connected with an external alternating current power supply, the output end of the rectification module is connected with the input end of the filtering module, and the output end of the filtering module is electrically connected with the power supply ends of the first inversion module and the second inversion module respectively.

The control unit comprises a DC-DC power supply conversion module, an AC-DC power supply conversion module, three input processing circuits, a first voter, three central processing modules, a second voter, three output processing circuits and a third voter;

the input end of the AC-DC power supply conversion module is connected with an external alternating current power supply, the DC-DC power supply conversion module is connected with the output end of the filtering module, and the output ends of the DC-DC power supply conversion module and the AC-DC power supply conversion module are electrically connected with the power supply end of the control unit.

The DC-DC power conversion module and the AC-DC power conversion module are used as power supplies of the control unit, and the power unit is powered by a direct-current bus end (namely, the output end of the filtering module) and the input end (namely, an external alternating-current power supply) of the power unit; the dual-power module redundancy structure is adopted, a high-stability and high-reliability power supply is provided for the whole control unit (including an external control circuit), and the high stability and the high reliability of power supply of the control unit are ensured.

The signal input ends of the three input processing circuits respectively receive the same signal, and the three input processing circuits respectively process the received signals and respectively transmit the processed signals to the first voter;

the first voter is used for voting the received three signals and respectively transmitting the voted signals to the three central processing modules;

the three central processing modules respectively receive the same signal output by the first voter, and respectively perform logical operation on the received signal and respectively transmit the signal obtained by the operation to the second voter;

the second voter is used for voting the received three signals and respectively transmitting the voted signals to the three output processing circuits;

the three output processing circuits respectively receive the same signal sent by the second voter, and the three input processing circuits respectively process the received signals and respectively transmit the processed signals to the third voter;

and the third meter counter is used for voting the received three signals to obtain the output signal of the control unit.

And any one of the three central processing modules is in communication connection with the other two central processing modules respectively.

In this embodiment, the three central processing modules all adopt a digital signal processor DSP.

The control unit comprises an input processing circuit and a first voter of a three-way parallel redundant structure, the same signal passes through the input processing circuit of the three-way parallel redundant structure, the input processing circuit of the three-way parallel redundant structure inputs the processed signal to the first voter, the first voter outputs specific signal data through a majority voting mechanism of 2OO3, and the specific signal data are transmitted to the three central processing modules in three ways;

the central processing module receives the signals processed by the input processing circuit and voted by the first voter, analyzes and logically operates the signals, and outputs instruction, alarm and state signals.

The main control unit mainly comprises a digital processor DSP with a three-way parallel redundancy structure and a second voter; the DSP with the three-way parallel redundancy structure receives the same signal output by the first voter, respectively outputs one way of result to the second voter after analysis and logic operation, and the second voter outputs specific signal data through a majority voting mechanism of 2OO3 and transmits the specific signal data to the output processing circuit in three ways.

And the output processing circuit of the three-way parallel redundancy structure respectively inputs the processed signals to the third voter, and the third voter outputs signal data through a majority voting mechanism of 2OO 3.

The DSP with the three-way parallel redundancy structure interactively transmits state information through a high-speed communication cable.

The high-reliability drive control device provided by the invention utilizes a majority voting mechanism of a three-way redundancy three-layer fault 2OO3 of the control unit to generate a three-layer fault isolation region, thereby improving the quick response capability and fault tolerance capability of the control unit and ensuring the correctness, stability and high reliability of logic control output of the control unit.

Furthermore, the control mechanism of the control device structurally adopts a DC-DC power supply conversion module and an AC-DC power supply conversion module for power supply in different ways, a double-inverter series output switching module for parallel redundant output, and a control unit software and hardware redundancy design, so that compared with a double-device redundancy structure, the control device has the advantages of greatly reducing the volume, remarkably improving the reliability, and being widely applied to the fields of aerospace, deep sea development, military nuclear power and the like.

Furthermore, the control device utilizes the redundancy of the three-path digital processor of the control unit and realizes high-speed communication with each other, thereby improving the real-time monitoring, fault early warning, diagnosis, analysis and processing capabilities of the state operation of the internal module circuit and the external connection module circuit of the drive control device; meanwhile, by matching with the structural design of a hardware circuit, the online maintainability of faults is improved, and the stability and high reliability of the operation of a driving control device and a system are ensured.

In this embodiment, specifically, the switching module includes a first inverter module switch circuit, a second inverter module switch circuit, and a switch interlock circuit;

the first inversion module switch circuit receives a drive control signal of the control unit and controls the on-off of the first inversion module and the circuit of the input end of the motor;

the second inversion module switch circuit is used for receiving the drive control signal of the control unit to control the on-off of the circuits of the second inversion module and the input end of the motor;

the switch interlocking circuit is used for realizing the electric interlocking between the first inversion module switch circuit and the second inversion module switch circuit.

The first inversion module switch circuit and the second inversion module switch circuit are interlocked in an electrical structure through the switch interlocking circuit, and received switching control signals are interlocked logically, so that the first inversion module and the second inversion module are ensured to be switched successfully, and the high stability and the high reliability of power unit output are ensured.

The motor drive control method comprises the following steps:

step 1: the same signal is respectively transmitted to the three input processing circuits; each input processing circuit respectively processes the received signals and transmits the processed signals to the first voter; the first voter votes through a majority voting mechanism;

step 2: the first voter transmits the voted signals to the three central processing modules respectively; each central processing module respectively carries out logic operation on the received signals and respectively transmits the signals obtained by the operation to the second voter; the second voter votes through a majority voting mechanism;

and step 3: the second voter transmits the voted signals to the three output processing circuits respectively; each output processing circuit respectively processes the received signals and respectively transmits the processed signals to the third meter; the third voter votes through a majority voting mechanism to obtain an output signal of the control unit;

and 4, step 4: the first inversion module and the second inversion module both receive inverter control signals output by the control unit; when the first inversion module outputs normally, the second inversion module is in a hot standby state; when the first inversion module breaks down, the control unit outputs a switching control signal for controlling the output switching module, the first inversion module switching circuit of the output switching module is disconnected, the second inversion module switching circuit is connected, and the second inversion module outputs a power supply to control the motor to operate.

Preferably, when any one central processing module fails, the three central processing modules communicate with each other and send an alarm signal to an external alarm system.

The three digital processors of the control unit are redundant and communicate with each other at high speed, so that the real-time monitoring, fault early warning, diagnosis, analysis and processing capabilities of the state operation of the internal module circuit and the external connection module circuit of the drive control device are improved; meanwhile, by matching with the structural design of a hardware circuit, the online maintainability of faults is improved, and the stability and high reliability of the operation of a driving control device and a system are ensured.

An example of a three-tier voting process for analog and digital signals, respectively, is given below, as shown in fig. 2.

The same sampling digital quantity signal of the internal or external device of the drive control device is respectively input into the input processing circuits I-1, I-2 and I-3, the input processing circuits I-1, I-2 and I-3 respectively input the operation output results 1, 1 and 0 into the first voter, the first voter outputs the preprocessed signal data 1 through a majority voting mechanism, and after the preprocessed signal data 1 is received by the digital processor DSP-1, the digital processor DSP-2 and the digital processor DSP-3 with the three-way parallel redundancy structure, the results 1, 1 and 1 are respectively transmitted to the second voter through analysis and logic operation. The second voter votes according to the output result of the three-way digital processor based on a majority voting mechanism of 2OO3, and votes the output pre-output signal data 1.

Because the operation of the data processing circuits I-1, I-2 and I-3 outputs results 1, 1 and 0, the operation process of the data processing circuit I-3 is wrong, but through the isolation of the first voter, the digital processor DSP-1, the digital processor DSP-2 and the digital processor DSP-3 all receive correct preprocessed signal data 1.

The pre-output signal data 1 is input into the output processing circuits O-1, O-2 and O-3, the three-way output processing circuits respectively input the operation output results 1, 0 and 0 into a third voter, and the third voter outputs the control signal data 0 for voting to the power unit based on the majority voting mechanism of 2OO3, even if the operation of the output processing circuit O-1 is wrong, the control unit can still control the normal operation of the whole drive control device.

The same sampling analog quantity signal of the internal or external device of the drive control device is respectively input into the input processing circuits I-1, I-2 and I-3, the input processing circuits I-1, I-2 and I-3 respectively input the operation output result into the first voter, and the first voter votes based on the majority voting mechanism of 2OO3 and outputs signal data.

The digital processors DSP-1, DSP-2 and DSP-3 of the three-path parallel redundancy structure receive the signal data output by the first voter, then the signal data are analyzed and logically operated, the results are output to the second voter respectively, the second voter votes according to the output results of the three-path digital processors DSP-1, DSP-2 and DSP-3 based on a majority voting mechanism of 2OO3, the output signal data after voting are input to the output processing circuits O-1, O-2 and O-3, the three-path output processing circuits respectively input the operation output results to the third voter, and the third voter outputs analog quantity signal data to the power unit through the majority voting mechanism to control the normal operation of the whole drive control device.

When the output results of the input processing circuits I-1, I-2 and I-3, the digital processors DSP-1, DSP-2 and DSP-3 and the output processing circuits O-1, O-2 and O-3 of the control unit are voted based on a majority voting mechanism of 2OO3, the average value of two paths with small analog quantity signal deviation is output, one path is prevented from being in fault, large deviation analog quantity data is output, and the correctness and the accuracy of the output result are ensured.

The drive control method ensures the correctness of the output result, simultaneously isolates the faults of each layer of the three-layer voting module, improves the quick response capability and the fault-tolerant capability of the control unit, and ensures the correctness, the stability and the high reliability of the output of the digital processor of the control unit.