阅读说明：本技术 一种双绕组直流无刷电机冗余控制系统的操作方法 (Operation method of double-winding direct current brushless motor redundancy control system ) 是由 程建磊 于 2021-02-04 设计创作，主要内容包括：本发明公开一种双绕组直流无刷电机冗余控制系统的操作方法,冗余控制系统的操作方法包括如下步骤：冗余控制采用主控制系统和辅控制系统两个控制及进行12相扭矩控制,双控制单元采用私有CAN进行IPC数据交换；正常运行时采主控制系统和辅控制系统两个控制系统分别对6相对称绕组进行余度控制,两个控制单元均采用传统FOC进行空间矢量控制；当主控制系统和辅控制系统的任意一单元出现故障时,由另一控制单元接管整个控制系统。本发明的有益效果是：本系统具有较强的运算和信号处理能力,集成了丰富的通信接口功能,能够实现双绕组电机控制系统之间多种通信和故障检测功能。(The invention discloses an operation method of a double-winding direct current brushless motor redundancy control system, which comprises the following steps: the redundancy control adopts a main control system and an auxiliary control system to control and carry out 12-phase torque control, and the double control unit adopts a private CAN to carry out IPC data exchange; in normal operation, a main control system and an auxiliary control system are adopted to respectively carry out redundancy control on the 6 symmetrical windings, and two control units adopt the traditional FOC to carry out space vector control; when any one unit of the main control system and the auxiliary control system has a fault, the other control unit takes over the whole control system. The invention has the beneficial effects that: the system has stronger operation and signal processing capabilities, integrates abundant communication interface functions, and can realize various communication and fault detection functions between the double-winding motor control systems.)

1. An operation method of a double-winding direct current brushless motor redundancy control system comprises a main control system, a main control motor winding, an auxiliary control system, a main control chip, a main control driving chip, an arbiter, a main control rotor, an auxiliary control motor winding, an auxiliary control chip, an auxiliary control driving chip and an auxiliary control rotor; the method is characterized in that: the method of operation of the redundant control system comprises the steps of:

the redundancy control adopts a main control system and an auxiliary control system to control and carry out 12-phase torque control, and the double control unit adopts a private CAN to carry out IPC data exchange;

2) in normal operation, a main control system and an auxiliary control system are adopted to respectively carry out redundancy control on the 6 symmetrical windings, and two control units adopt the traditional FOC to carry out space vector control;

3) when any one unit of the main control system and the auxiliary control system has a fault, the other control unit takes over the whole control system.

2. The method of operating a dual winding brushless dc motor redundant control system of claim 1, further comprising:

the judgment method of the arbiter in the control system is as follows:

if the main control chip and the main control driving chip are normal, a latch end control signal is sent out, the first signal latch is enabled, and the second signal latch is disabled, so that the main control system is in effect, the main control motor winding works, and the direct current brushless motor runs;

if at least one of the main control chip and the main control driving chip has a fault, the first signal latch is forbidden, if the auxiliary control chip and the auxiliary control driving chip are normal, the second signal latch is enabled, the auxiliary control system is in effect, the auxiliary control motor winding works, and the direct current brushless motor runs; if at least one of the auxiliary control chip and the second signal latch has a fault, the main control motor winding and the auxiliary control motor winding do not work, and the direct current brushless motor stops running.

Technical Field

The invention relates to an operation method, in particular to an operation method of a dual-winding brushless direct current motor redundancy control system.

Background

The double-winding direct-current brushless motor has the advantages of small mass and volume and high reliability, has two working modes of half power and full power, can still continuously run when a group of windings are damaged, has more and more important excellent characteristics, is applied to the fields of a wire-controlled steering system, an automatic stereoscopic warehouse shuttle car and the like, and achieves good effects.

In a motion control system under modern complex conditions, it is an important problem to improve the reliability of the system, i.e. to ensure that the system can still synchronously switch and maintain work under fault conditions so as to reduce the working time of system stop. The redundant design of the control system is an effective solution to this problem. At present, the double-winding direct current brushless motor redundancy control system is rarely researched in China, the double-winding direct current brushless motor and the redundancy control system are combined, the system reliability can be improved to a great extent, the downtime after system failure is reduced, and the double-winding direct current brushless motor redundancy control system has important application prospects in the aspects of industry, military and the like.

Disclosure of Invention

The technical problem underlying the present invention is to provide a method of operating a redundant control system for a dual-winding dc brushless motor, solving one or more of the above mentioned prior art problems.

In order to solve the technical problems, the invention adopts a technical scheme that: an operation method of a double-winding direct current brushless motor redundancy control system comprises a main control system, a main control motor winding, an auxiliary control system, a main control chip, a main control driving chip, an arbiter, a main control rotor, an auxiliary control motor winding, an auxiliary control chip, an auxiliary control driving chip and an auxiliary control rotor; the innovation points are as follows: the method of operation of a redundant control system includes the steps of:

1) the redundancy control adopts a main control system and an auxiliary control system to control and carry out 12-phase torque control, and the double control unit adopts a private CAN to carry out IPC data exchange;

2) in normal operation, a main control system and an auxiliary control system are adopted to respectively carry out redundancy control on the 6 symmetrical windings, and two control units adopt the traditional FOC to carry out space vector control;

3) when any one unit of the main control system and the auxiliary control system has a fault, the other control unit takes over the whole control system.

In some embodiments, the arbiter in the control system determines the method as follows:

1) if the main control chip and the main control driving chip are normal, a latch end control signal is sent out, the first signal latch is enabled, and the second signal latch is disabled, so that the main control system is in effect, the main control motor winding works, and the direct current brushless motor runs;

2) if at least one of the main control chip and the main control driving chip has a fault, the first signal latch is forbidden, if the auxiliary control chip and the auxiliary control driving chip are normal, the second signal latch is enabled, the auxiliary control system is in effect, the auxiliary control motor winding works, and the direct current brushless motor runs; if at least one of the auxiliary control chip and the second signal latch has a fault, the main control motor winding and the auxiliary control motor winding do not work, and the direct current brushless motor stops running.

The invention has the beneficial effects that: the system has stronger operation and signal processing capabilities, integrates abundant communication interface functions, and can realize various communication and fault detection functions between the double-winding motor control systems; when the main control system fails, synchronous switching from the main control system to the auxiliary control system can be realized in a failure state, and normal operation of the system is ensured; thirdly, the system can improve the reliability of the system to a great extent and reduce the downtime of the system after the system is in failure.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

fig. 1 is a system configuration block diagram of an operation method of a dual-winding dc brushless motor redundancy control system according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. 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.

As shown in fig. 1, an embodiment of the present invention includes:

an operation method of a double-winding direct current brushless motor redundancy control system comprises a main control system, a main control motor winding, an auxiliary control system, a main control chip, a main control driving chip, an arbiter, a main control rotor, an auxiliary control motor winding, an auxiliary control chip, an auxiliary control driving chip and an auxiliary control rotor; the innovation points are as follows: the method of operation of a redundant control system includes the steps of:

1) the redundancy control adopts a main control system and an auxiliary control system to control and carry out 12-phase torque control, and the double control unit adopts a private CAN to carry out IPC data exchange;

2) in normal operation, a main control system and an auxiliary control system are adopted to respectively carry out redundancy control on the 6 symmetrical windings, and two control units adopt the traditional FOC to carry out space vector control;

3) when any one unit of the main control system and the auxiliary control system has a fault, the other control unit takes over the whole control system.

In some embodiments, the arbiter in the control system determines the method as follows:

1) if the main control chip and the main control driving chip are normal, a latch end control signal is sent out, the first signal latch is enabled, and the second signal latch is disabled, so that the main control system is in effect, the main control motor winding works, and the direct current brushless motor runs;

3) if at least one of the main control chip and the main control driving chip has a fault, the first signal latch is forbidden, if the auxiliary control chip and the auxiliary control driving chip are normal, the second signal latch is enabled, the auxiliary control system is in effect, the auxiliary control motor winding works, and the direct current brushless motor runs; if at least one of the auxiliary control chip and the second signal latch has a fault, the main control motor winding and the auxiliary control motor winding do not work, and the direct current brushless motor stops running.

The system has stronger operation and signal processing capabilities, integrates abundant communication interface functions, and can realize various communication and fault detection functions between the double-winding motor control systems; when the main control system fails, synchronous switching from the main control system to the auxiliary control system can be realized in a failure state, and normal operation of the system is ensured; thirdly, the system can improve the reliability of the system to a great extent and reduce the downtime of the system after the system is in failure.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.