阅读说明：本技术 一种电机驱动器 (Motor driver ) 是由 朱永勇 杜忠卫 于 2021-08-13 设计创作，主要内容包括：本申请公开了一种电机驱动器,包括MCU处理器、MOSFET晶体管、电源管理单元以及TPS5430反馈环路,所述MCU处理器的控制输出端与所述MOSFET晶体管的输入端相连,所述MOSFET晶体管的输出端接入电机的驱动端,所述TPS5430反馈环路设置于MCU处理器与MOSFET晶体管之间,所述TPS5430反馈环路基于方波构成内部补偿控制,其中,所述MCU处理器处集成有EhterCAT总线。本申请能够提高电机对于多通信总线的兼容性,系统组件简单,成本低。(The application discloses motor driver, including MCU treater, MOSFET transistor, power management unit and TPS5430 feedback loop, the control output of MCU treater with the input of MOSFET transistor links to each other, the drive end of the output access motor of MOSFET transistor, TPS5430 feedback loop sets up between MCU treater and MOSFET transistor, TPS5430 feedback loop constitutes internal compensation control based on the square wave, wherein, MCU treater department is integrated with the EhterCAT bus. This application can improve the motor to the compatibility of many communication bus, and system components is simple, and is with low costs.)

1. A motor driver is characterized by comprising an MCU (microprogrammed control Unit), a MOSFET (metal-oxide-semiconductor field effect transistor), a power management unit and a TPS5430 feedback loop, wherein the control output end of the MCU is connected with the input end of the MOSFET, the output end of the MOSFET is connected to the driving end of a motor, the TPS5430 feedback loop is arranged between the MCU and the MOSFET, the TPS5430 feedback loop forms internal compensation control based on square waves, and an EhterCAT bus is integrated at the MCU.

2. The motor driver according to claim 1, wherein a Bus Matrix Bus is provided inside the MCU processor, and the Bus Matrix Bus exchanges internal data with the ROM PSRAM DSTAM in the MCU processor.

3. The motor driver of claim 1, wherein the EhterCAT bus is configured with communication messages based on the CIA420, and the communication messages are configured with motor control address coding segments, which include but are not limited to a motor enable code, a motor reset code, a motor stop code, a forward drive control code, a reverse drive control code, a PWM control code, a motor position setting code, and a motor speed setting code.

4. The motor driver as claimed in claim 1, wherein the MCU processor is configured with a SENT parse frame to output a Sync pulse signal via an EtherCAT bus, the Sync pulse signal including Status/Com Status and communication field, 6-bit Data segment, CRC check field, and location information transition of Data segment calculated simultaneously within the Sync pulse signal.

5. The motor driver according to claim 4, wherein the SENT analysis frame uses an INPUT interrupt function to measure the descending edge of the electric actuator of the driving motor in ns level, the SENT analysis frame simultaneously calculates the frame structure and the CRC check field to perform data check, then the SENT analysis frame is output to the motor positive and negative rotation signal through internal PID calculation, and the output PWM signal is used for controlling the duty ratio of the MOSFET transistor to control the motor positive and negative rotation and speed and control the motor running state.

Technical Field

The application relates to the technical field of motor control driving, in particular to a motor driver with multi-bus control.

Background

With the development of new energy automobiles, power semiconductor devices are applied to power management, the automobile electric drive industry is more and more widely applied, automobiles develop towards electronization, electric products such as electric door and window seats, electronic turbocharging, electronic temperature collectors, water pump, oil pump, air conditioner and the like are available, the most important core units of the products are all composed of direct current motors, the motors are installed on the automobiles and are controlled by automobile ECUs, and the products are applied to standard communication buses such as automobile ECU communication buses, LIN, CAN, SENT and the like and industrial automation control. ProfiNet, EtherCAT, Ethernet/IP real-time communication bus can't be directly compatible, because the car stability and security requirement, every spare part of car all need pass strict test, and present motor drive will mainly be applied to the test and control parts such as car motor test, motor drive.

In addition, most of the existing automobile test and measurement uses an instrumented architecture, so that the system has many components and high cost, and needs to be developed and maintained by professional technicians in higher industries.

Disclosure of Invention

The present application aims to overcome the above problems or at least partially solve or alleviate the above problems and provide a motor driver which can improve the compatibility of a motor with respect to multiple communication buses, and which is simple in system components and low in cost.

According to one aspect of the application, a motor driver is provided and comprises an MCU processor, a MOSFET transistor, a power management unit and a TPS5430 feedback loop, wherein a control output end of the MCU processor is connected with an input end of the MOSFET transistor, an output end of the MOSFET transistor is connected to a driving end of a motor, the TPS5430 feedback loop is arranged between the MCU processor and the MOSFET transistor, the TPS5430 feedback loop forms internal compensation control based on square waves, and an EhterCAT bus is integrated at the MCU processor.

For the above technical solution, the applicant has further optimization measures.

Optionally, a Bus Matrix Bus is arranged inside the MCU processor, and the Bus Matrix Bus exchanges internal data with the ROM and PSRAM DSTAM in the MCU processor.

Optionally, a communication message based on the CIA420 is configured in the EhterCAT bus, and a motor control address coding section is configured in the communication message, where the motor control address coding section includes, but is not limited to, a motor enable code, a motor reset code, a motor stop code, a forward drive control code, a reverse drive control code, a PWM control code, a motor position setting code, and a motor speed setting code.

Optionally, the MCU processor is configured with a send parse frame to output a Sync synchronization pulse signal via an EtherCAT bus, where the Sync synchronization pulse signal includes Status/Com Status and communication field, 6-bit Data segment, CRC check field, and location information conversion of Data segment simultaneously calculated in the Sync synchronization pulse signal.

Furthermore, the SENT analysis frame carries out ns-level measurement on the falling edge of the electric actuator of the driving motor by using an INPUT interruption function, the SENT analysis frame simultaneously calculates a frame structure and a CRC check field to carry out data check, then the frame structure and the CRC check field are output to a motor forward and backward rotation signal through internal PID calculation, and a PWM signal is output to control the duty ratio of the MOSFET transistor so as to control the forward and backward rotation and the speed of the motor and control the running state of the motor.

The application discloses motor driver, it is with standard instrument, motor drive, the motor current test is integrated to dedicated motor driver in, and with industry ethernet real-time bus etherCAT bus direct application to car motor drive, and CAN analyze car bus CAN signal, SENT signal and hall signal, the final realization provides high accuracy motor current simultaneously and measures, motor position ring, speed ring, the electric current ring, what realize is PID closed-loop control, so make motor response time improve test reliability more fast, reduce test time, the test cost is low.

The above and other objects, advantages and features of the present application will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.

Drawings

Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:

fig. 1 is a functional block diagram of a motor driver according to one embodiment of the present application.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

According to one aspect of the application, a motor driver is provided and comprises an MCU processor, a MOSFET transistor, a power management unit and a TPS5430 feedback loop, wherein a control output end of the MCU processor is connected with an input end of the MOSFET transistor, an output end of the MOSFET transistor is connected to a driving end of a motor, the TPS5430 feedback loop is arranged between the MCU processor and the MOSFET transistor, the TPS5430 feedback loop forms internal compensation control based on square waves, and an EhterCAT bus is integrated at the MCU processor.

Optionally, a Bus Matrix Bus is arranged inside the MCU processor, and the Bus Matrix Bus exchanges internal data with the ROM and PSRAM DSTAM in the MCU processor.

Optionally, a communication message based on the CIA420 is configured in the EhterCAT bus, and a motor control address coding section is configured in the communication message, where the motor control address coding section includes, but is not limited to, a motor enable code, a motor reset code, a motor stop code, a forward drive control code, a reverse drive control code, a PWM control code, a motor position setting code, and a motor speed setting code.

Optionally, the MCU processor is configured with a send parse frame to output a Sync synchronization pulse signal via an EtherCAT bus, where the Sync synchronization pulse signal includes Status/Com Status and communication field, 6-bit Data segment, CRC check field, and location information conversion of Data segment simultaneously calculated in the Sync synchronization pulse signal.

Furthermore, the SENT analysis frame carries out ns-level measurement on the falling edge of the electric actuator of the driving motor by using an INPUT interruption function, the SENT analysis frame simultaneously calculates a frame structure and a CRC check field to carry out data check, then the frame structure and the CRC check field are output to a motor forward and backward rotation signal through internal PID calculation, and a PWM signal is output to control the duty ratio of the MOSFET transistor so as to control the forward and backward rotation and the speed of the motor and control the running state of the motor.

The motor driver mainly aims at the driving part of an electronic actuator of an automobile, the core component of the motor driver is controlled by an imported MCU chip, a motor is driven by a semiconductor MOSFET transistor, and a power management chip provides power for a power management unit of a logic control part. The high-precision current transformer is integrated in the power management unit to measure the driving current of the electronic actuator, the PCB design and the aluminum alloy heat dissipation shell, the size of the aluminum alloy heat dissipation shell is 100 x 50, the industrial automation guide rail installation can be met, the protection grade is IP20, and the working environment temperature is-50-80 ℃.

In addition, the substrate with the above listed technical features further comprises:

a high performance voltage error amplifier that provides tight voltage regulation accuracy under transient conditions;

the undervoltage locking circuit can prevent starting before the input voltage reaches 5.5V;

the slow start circuit is used for limiting surge current; and

a voltage feed forward circuit to improve transient response.

The motor driver of this embodiment uses the ENA pin and the shutdown supply current can typically be reduced to 18 mua. Other characteristics include active high enable, over-current limit, over-voltage protection, and thermal shutdown. To reduce design complexity and the number of external components, the TPS5430 feedback loop is internally compensated; the power management unit adopts an SOP8 chip, the volume conversion efficiency is high, the voltage input range is 5.5V-36V, the voltage output is 5V, the current output is 3A, the wide voltage input requirements of 12V and 24V of industrial automation in the automobile industry can be met, and the problem of different voltage difference conversion is avoided. The motor driver of the embodiment has a bottom ripple input characteristic, can well reduce faults and communication interruption of an MUC processor caused by power supply problems, can meet 5-30V wide voltage input, uses 3 pieces of 4.7uF to filter an input power supply VIN, outputs the VIN after filtering to a TPS5430 feedback loop, and selects a 220 muF output capacitor through an output filter capacitor in the application, wherein the RMS ripple current generated in the circuit is 143mA at the moment, and the maximum equivalent series resistance ESR is required to be 40M omega.

The output voltage setting for the motor driver of the present embodiment. The output voltage is determined by the resistance of a VSENSE pin, and the power supply part simultaneously leads out a power supply to an output terminal to supply power to an ECU (electronic control unit) of a motor logic control unit of an external electronic actuator and the power supply of a Hall of the feedback circuit and a magnetic pole angle measuring sensor.

The controller of the invention integrates an industrial field Bus Ethernet technology EhterCAT Bus, the communication speed is 100M bandwidth, 250us synchronous cycle period is realized, multi-control synchronous operation can be expanded, internal data exchange is carried out in the MCU processor through an internal Bus Matrix Bus, ROM and PSRAM DSTAM, and a field Bus memory management unit (FMMU) exchanges data into the PHY; a CIA 402-like communication message structure is defined in a motor control address coding section of the EtherCAT bus, and the motor control address coding section comprises a motor enabling code, a motor resetting code, a motor stopping code, a forward driving control code, a reverse driving control code, a PWM control code, a motor position given code and a motor speed given code. Therefore, the motor enabling, the motor resetting, the motor stopping, the forward electric driving, the reverse electric driving, the PWM control, the motor position setting, the motor speed setting and even the motor maximum torque and the motor maximum current setting can be realized.

The operation mode of the motor can be set through the input control end based on the control of the EhtercAT bus, wherein the mode I is a motor power Jog mode, the mode II is based on external PWM control, an external contour position mode and an external speed mode can be operated, and the mode III is an internal position mode and a speed mode of the controller. Meanwhile, the motor driver of the embodiment defines an SDO dictionary mode of an EtherCAT bus, realizes that non-cyclic data is written into KPKIKD and PID important data and is transmitted to a control system of a motor, and outputs a general feedback motor status word of a pin, wherein the motor status word can comprise ready, running and error and can also reflect the current motor position, motor speed, motor current and PID control parameters.

When the Hall feedback motor is used for different motors, such as a Hall feedback motor, the embodiment can realize measurement of the Hall number, the Hall phase angle, the Hall voltage maximum value and the Hall voltage minimum value, and meets the requirements of the measurement and control industry; in the measurement of the integrated stepping core magnetic pole position motor, the analysis is realized by combining an SENT analysis frame, the analysis pulse width reaches the precision of 13.89ns, the SENT analysis frame outputs Sync synchronous pulses, Status/Com states and communication fields, 6-bit Data fields, CRC check fields and Pause pulse measurement through an EtherCAT bus, and the position information conversion of the Data is calculated in an MCU processor; the PWM output of the design reaches 20KHZ, and the duty ratio is adjusted to 0.01; in addition to the above measurements, the present design supports both CAN and LIN bus communication.

The operating voltage range of the IC carrier board of the motor driver of this embodiment is 5.5 to 24V, which can provide continuous 12A (30A peak value) current. It is suitable for 2.5 to 5V logic levels, supports ultrasonic (up to 20kHz) PWM, and has current-induced feedback (an analog voltage proportional to the motor current). And the motor driver has more stable work and outstanding performance due to the characteristics of built-in reverse voltage, overvoltage, undervoltage, overtemperature and overcurrent protection.

In summary, the motor driver of the application integrates standard instruments, motor driving and motor current testing into a special motor driver, directly applies an industrial Ethernet real-time bus EtherCAT bus to automobile motor driving, CAN analyze automobile bus CAN signals, SENT signals and Hall signals, and finally realizes high-precision motor current measurement, a motor position ring, a speed ring and a current ring, and realizes PID closed-loop control, so that the motor response time is faster, the testing reliability is improved, the testing time is reduced, and the testing cost is low.

The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.