CN105207542A - Double-winding direct-current brushless motor redundancy control system and control method thereof - Google Patents

Abstract

The invention relates to a redundant control system of a double-winding DC brushless motor, which includes a main part control system, the input end of the main part control system is connected with the output end of the first rotor position detection circuit, and the output end of the main part control system is connected with the first motor The windings are connected, the master control system outputs a synchronization signal to the backup control system, and the master control system sends the state information of the first main control chip and the state information of the first drive chip to the arbitrator; the input terminal of the backup control system It is connected to the output terminal of the second rotor position detection circuit, and the output terminal of the backup control system is connected to the second motor winding, and the backup control system outputs the state information of the second main control chip and the state information of the second drive chip to the arbitrator . The invention also discloses a control method of the redundant control system of the double-winding DC brushless motor. When the primary control system fails, it can realize the synchronous switching from the primary control system to the backup control system to ensure the normal operation of the system.

Description

A dual-winding brushless DC motor redundant control system and control method thereof

technical field

The invention relates to the technical field of servo control systems, in particular to a dual-winding DC brushless motor redundant control system and a control method thereof.

Background technique

The double-winding brushless DC motor has the advantages of small mass and high reliability, and has two working modes of half power and full power. When a group of windings is damaged, the motor can still continue to run. Its excellent characteristics are becoming more and more The more attention has been paid to it, and it has been used in steering-by-wire systems, automated three-dimensional warehouse shuttle vehicles and other fields, and has achieved good results.

In the motion control system under modern complex conditions, it is a very important issue to improve the reliability of the system, that is, to ensure that the system can still switch synchronously and maintain work in the event of a failure to reduce the working time of the system stoppage. The redundant design of the control system is an effective method to solve this problem. At present, there is little research on the redundant control system of double-winding brushless DC motors in China. Combining double-winding motors with redundant control systems can greatly improve system reliability and reduce downtime after system failures. It has important application prospects in military and other aspects.

Contents of the invention

The primary purpose of the present invention is to provide a dual-winding brushless DC motor control system that realizes multiple communication and fault detection functions, and can realize the synchronous switching of the master/slave system under fault conditions to ensure the normal operation of the system. Winding DC brushless motor redundant control system.

In order to achieve the above object, the present invention adopts the following technical solutions: a dual-winding brushless DC motor redundant control system, including a master control system, a backup control system and an arbitrator, the input terminal of the master control system is connected to the second The output terminal of a rotor position detection circuit is connected, and the output terminal of the master control system is connected with the first motor winding. The master control system outputs a synchronous signal to the backup control system, and the master control system sends the state of the first main control chip inside it. information, the state information of the first drive chip to the arbitrator; the input end of the backup control system is connected with the output end of the second rotor position detection circuit, the output end of the backup control system is connected with the second motor winding, and the backup control system outputs The status information of the second main control chip and the status information of the second driving chip are sent to the arbitrator.

The master control system consists of a first main control chip, a first signal latch, a first drive chip, a first three-phase bridge drive circuit, a first phase current detection circuit, a first PWM output detection circuit and a first The rotor position detection circuit is composed of the first main control chip using an ARM microcontroller STM32F103, the PWM1-6 pins of the first main control chip output PWM signals to the first signal latch, and the IO_0 pins of the first main control chip output The status information of the first main control chip is sent to the MCU1 terminal of the arbitrator, the IO_1 pin of the first main control chip outputs the status information of the first driver chip to the Driver1 terminal of the arbitrator, and the serial port USART_TX of the first main control chip sends a synchronization signal to The serial port USART_RX of the second main control chip, the output end of the first signal latch is connected with the input end of the first driving chip, the first driving chip is divided into two outputs, and one is connected with the input end of the first three-phase bridge driving circuit The other is connected to the first input terminal of the first main control chip through the first PWM output detection circuit. The first three-phase bridge drive circuit is divided into two outputs, one is connected to the first motor winding, and the other is connected through the first The phase current detection circuit is connected to the second input terminal of the first main control chip, and the third input terminal of the first main control chip is connected to the output terminal of the first rotor position detection circuit for detecting the position of the motor rotor.

The backup control system consists of a second main control chip, a second signal latch, a second drive chip, a second three-phase bridge drive circuit, a second phase current detection circuit, a second PWM output detection circuit and a second rotor Composed of a position detection circuit, the second main control chip uses an ARM microcontroller STM32F103, the PWM1-6 pins of the second main control chip output PWM signals to the second signal latch, and the IO_0 pins of the second main control chip output the first The status information of the second main control chip is sent to the MCU2 terminal of the arbiter, the IO_1 pin of the second main control chip outputs the status information of the second driver chip to the Driver2 terminal of the arbitrator, and the output terminal of the second signal latch is connected with the second driver The input terminal of the chip is connected, and the second drive chip is divided into two outputs, one is connected with the input terminal of the second three-phase bridge drive circuit, and the other is connected with the first input terminal of the second main control chip through the second PWM output detection circuit. The second three-phase bridge drive circuit is divided into two outputs, one is connected to the second motor winding, and the other is connected to the second input terminal of the second main control chip through the second phase current detection circuit, and the second main control chip The third input terminal of the motor is connected with the output terminal of the second rotor position detection circuit for detecting the rotor position of the motor.

The arbiter is composed of a first AND gate, a second AND gate and a NOT gate, and the input terminal of the first AND gate receives the state information of the first main control chip and the state information of the first driving chip sent by the first main control chip , the first input terminal of the second AND gate receives the state information of the second main control chip and the state information of the second driving chip sent by the second main control chip, the first AND gate is divided into two outputs, and one output is used to control the second The control signal Latch1 for switching on and off of a signal latch is connected to the input terminal of the other AND gate, the output terminal of the NOT gate is connected to the second input terminal of the second AND gate, and the output terminal of the second AND gate is used to control The control signal Latch2 for turning on and off the second signal latch.

The first signal latch adopts a chip 74LS273, and its pin 1 is a latch enable end, which is active at a high level and is connected to the Latch1 end of the arbiter; its pin 3, pin 4, pin 7, pin 8. Pin 13 and pin 14 are input terminals, respectively connected to the output pins PE9, PE8, PE11, PE10, PE13 and PE12 of the first main control chip; the pins 2. Pin 5, pin 6, pin 9, pin 12, and pin 15 are output terminals, respectively connected to input pin 5, pin 4, pin 2, pin 3, and pin 1 of the first driver chip. Pin 12 and pin 11 are connected; its pin 10 is grounded; its pin 11 is a clock trigger input pin, which is connected with the output pin PE14 of the first main control chip; its pin 16, pin 17, pin 18 , Pin 19 is suspended, and pin 20 is connected to +5V.

The first driver chip adopts HIP4086 chip, its pin 20 is connected with voltage +12V, and pin 6 is grounded; its pin 16, pin 1 and pin 13 are high-side bootstrap power supply pins; its pin 18 , pin 23 and pin 15 are high-side source connection pins; its pin 16 is connected to the voltage +12V through the bootstrap diode D19, then connected to the pin 18 through the bootstrap capacitor C27, and finally grounded through the diode D17; Pin 1 is connected to the voltage +12V through the bootstrap diode D20, then connected to the pin 23 through the bootstrap capacitor C28, and finally grounded through the diode D16; pin 13 is connected to the voltage +12V through the bootstrap diode D18, and then through the bootstrap Capacitor C26 is connected to pin 15, and finally grounded through diode D15; pin 5, pin 2 and pin 12 are high-side logic level input pins, and pin 4, pin 3 and pin 11 are low-side logic level input pins. Flat input pins, these six pins are connected to the output terminal of the first signal latch; pin 7 is the dead time setting pin, connected to the voltage +12V through the resistor R20, and pin 8 is undervoltage Setting pin, floating; pin 9 is refresh pulse setting pin, grounded through capacitor C25, pin 10 is disabled input pin, connected to +3.3V through resistor R18; pin 17, pin 24, lead Pin 14 is the high-side output pin, which is connected to the gate of the high-end power MOS transistor of the corresponding phase of the first three-phase bridge drive circuit. The input pin PB15 of the main control chip is connected between the resistor R24 and the resistor R25; the pin 21, the pin 22 and the pin 19 are low-end output pins, and the corresponding low-end pins of the first three-phase bridge drive circuit The gate of the terminal power MOS tube is connected.

The first phase current detection circuit includes a U-phase current detection circuit and a V-phase current detection circuit. The U-phase current detection circuit adopts the first chip ACS709, and its pins 1, 2, 3, 4, 5, 6 are connected to the first chip ACS709. The U-phase output terminal AHS of a three-phase bridge drive circuit is connected; its pins 7, 8, 9, 10, 11, and 12 are grounded through the diode D1, and the plug J1 is led out at the same time; its pin 15 is grounded; its pin 16 It is a voltage reference output pin, connected with pin 15 of the first main control chip, and this pin is grounded through capacitor C6; its pin 17 is a filter pin, grounded through capacitor C5; its pin 18 is a signal output pin The pin is connected with the pin 16 of the first main control chip; its pin 19 is an overcurrent detection pin; its pin 21 is an overcurrent input pin; its pin 20 is connected with the voltage +3.3V, and its pin 22 is an overcurrent detection enable pin, which is grounded; its pins 13, 14, 23, and 24 are suspended; the first main control chip reads the current information of the first motor winding through pins 15 and 16; the V phase The current detection circuit adopts the second chip ACS709, and its pins 1, 2, 3, 4, 5, 6 are connected to the V-phase output terminal BHS of the first three-phase bridge drive circuit; its pins 7, 8, 9, 10 , 11, 12 are grounded through the diode D2, and the plug J4 is drawn out at the same time; its pin 15 is grounded; its pin 16 is a voltage reference output pin, which is connected to the pin 18 of the first main control chip, and the pin is connected through the capacitor C12 is grounded; its pin 17 is a filter pin, which is grounded through a capacitor C11; its pin 18 is a signal output pin, which is connected to the pin 17 of the first main control chip; its pin 19 is an overcurrent detection pin; Its pin 21 is an over-current input pin; its pin 20 is connected to the voltage +3.3V, its pin 22 is an over-current detection enabling pin, and grounded; its pins 13, 14, 23, and 24 are suspended; A main control chip reads the winding current information of the first motor through the pin 15 and the pin 16 .

The first rotor position detection circuit includes a connector J7 for connecting to the Hall sensor terminal, the Hall sensor is installed on the rotor of the DC brushless motor, the pin 1 of the connector J7 is connected to the voltage +5V, and the pin 2 Ground; pins 3, 4, and 5 are respectively connected to Hall signal lines HALL_U, HALL_V, and HALL_W; pin 3 is connected to voltage +3.3V through resistor R20, and connected to pin 2 of chip 74LCX541 through resistor R21; pin 4 Connect to the voltage +3.3V through the resistor R22, connect to the pin 3 of the chip 74LCX541 through the resistor R23; connect the pin 5 to the voltage +3.3V through the resistor R28, connect to the pin 4 of the chip 74LCX541 through the resistor R19; Pin 1 is grounded, pin 20 is connected to voltage +3.3V, pin 19 is grounded, pin 10 is grounded, and capacitor C29 is connected in parallel between pin 20 and pin 19; pin 2, pin 3, and pin 4 are respectively The capacitors C30, C32, and C31 are grounded; pins 18, 17, and 16 are respectively connected to pins 63, 64, and 65 of the first main control chip, and the first main control chip is connected through pin 63 , Pin 64, and pin 65 read the position information of the brushless DC motor rotor.

The first three-phase bridge drive circuit includes an inductor L6, an inductor L7, an inductor L8, an inductor L9, an inductor L10, and an inductor L11, and one end of the inductor L7 is connected to the pin 17 of the HIP4086 chip, and the pin 17 of the HIP4086 chip outputs The driving signal is connected to the gate of the U-phase high-side MOSFET Q1 of the DC brushless motor after passing through the inductance L7, and then through the parallel circuit composed of the diode D7 and the resistor R7; one end of the inductance L9 is connected to the pin 21 of the HIP4086 chip , the pin 21 of the HIP4086 chip outputs the driving signal, passes through the inductor L9, and then passes through the parallel circuit composed of the diode D9 and the resistor R9, and then connects with the gate of the U-phase low-side MOSFET Q2 of the DC brushless motor; the drain of the MOSFET Q1 The pole is connected to the battery signal line BATT+, and the U-phase output terminal AHS of the first three-phase bridge drive circuit is drawn between the source of the MOSFET Q1 and the drain of the MOSFET Q2, and the U-phase output AHS is connected to the first drive chip The 18 pins of the MOSFET tube Q2 are connected to each other, and the source of the MOSFET Q2 is grounded; one end of the inductor L11 is connected to the pin 24 of the HIP4086 chip, and the pin 24 of the HIP4086 chip outputs a driving signal, which passes through the inductor L11, and then through the diode D11 and the resistor R11. After the parallel circuit, it is connected to the gate of the U-phase high-side MOSFET tube Q3 of the brushless DC motor; one end of the inductor L10 is connected to the pin 22 of the HIP4086 chip, and the pin 22 of the HIP4086 chip outputs the drive signal, and then passes through the inductor L10. After the parallel circuit composed of the diode D10 and the resistor R10, it is connected to the gate of the U-phase low-side MOSFET Q4 of the brushless DC motor; the drain of the MOSFET Q3 is connected to the battery signal line BATT+, and the source of the MOSFET Q3 is connected to the MOSFET The V-phase output terminal BHS of the first three-phase bridge drive circuit is drawn between the drains of the tube Q4, and the V-phase output terminal BHS is connected to pin 23 of the first drive chip, and the source of the MOSFET tube Q4 is grounded; the inductance One end of L6 is connected to the pin 14 of the HIP4086 chip, and the pin 14 of the HIP4086 chip outputs the drive signal, passes through the inductance L6, and then passes through the parallel circuit composed of the diode D6 and the resistor R6, and connects with the U-phase high-side MOSFET tube Q5 of the DC brushless motor connected to the gate; one end of the inductance L8 is connected to the pin 19 of the HIP4086 chip, and the pin 19 of the HIP4086 chip outputs the drive signal, and after passing through the inductance L8 and the parallel circuit composed of the diode D8 and the resistor R8, it is connected with the brushless DC The gate of the motor U-phase low-side MOSFET Q6 is connected; the drain of the MOSFET Q5 is connected to the battery signal line BATT+, and the first three-phase bridge drive circuit is drawn between the source of the MOSFET Q5 and the drain of the MOSFET Q6 The W-phase output terminal CHS of the W-phase output terminal CHS is connected to pin 15 of the first driver chip, and the source of the MOSFET Q6 is grounded.

Another object of the present invention is to provide a control method for a dual-winding brushless DC motor redundant control system, the method comprising the steps in the following sequence:

(1) After the control system is initialized, confirm that the main control system is normal. The first main control chip outputs 6 channels of motor control PWM signals. At the same time, through the serial port USART_TX, the rotor speed, rotor position, Send working status information such as current to the second main control chip

(2) The second main control chip reads the serial port USART_RX data in the form of an interrupt, synchronously tracks the speed, position and current running status of the brushless DC motor, and obtains the PWM wave to be sent by calculation;

(3) When the primary control system fails, the second signal latch is enabled, and the backup control system works to ensure continuous and synchronous system switching when the primary control system fails.

The judgment method of the arbitrator in the control system is as follows:

(1) If both the first main control chip and the first driver chip are normal, send out the control signal of the latch terminal to enable the first signal latch and disable the second signal latch at the same time. The control system works, the winding of the first motor works, and the brushless DC motor runs;

(2) If at least one of the first main control chip and the first driver chip fails, the first signal latch is disabled. If the second main control chip and the second driver chip are normal at this time, the second signal is enabled. latch, at this time the backup control system works, the second motor winding works, and the DC brushless motor runs; if at least one of the second main control chip and the second signal latch fails, the first motor winding, the second None of the motor windings work, and the BLDC motor stops.

It can be seen from the above technical solution that the advantages of the present invention are as follows: First, the system has strong computing and signal processing capabilities, integrates rich communication interface functions, and can realize multiple communications and fault detection between double-winding motor control systems Second, when the master control system fails, it can realize the synchronous switching from the master control system to the backup control system in the fault state to ensure the normal operation of the system; third, this system can greatly improve the system Reliability, reducing downtime after system failure.

Description of drawings

Fig. 1 is a system structure block diagram of the present invention;

Figures 2, 3, 4, 5, 6, 7, 8, and 9 are the first main control chip, the second main control chip, the arbiter, the first signal latch, the first driver chip, and the first phase control chip in the present invention. Circuit schematic diagrams of the current detection circuit, the first rotor position detection circuit, and the first three-phase bridge drive circuit;

Fig. 10 is a method flowchart of the present invention;

Fig. 11 is a flow chart of the judging method of the arbitrator in the present invention.

Detailed ways

As shown in Figure 1, a dual-winding brushless DC motor redundant control system includes a master control system 10, a backup control system 30 and an arbiter 20, the input end of the master control system 10 is connected to the first rotor position The output terminal of the detection circuit 17 is connected, and the output terminal of the master-part control system 10 is connected with the first motor winding 15. The master-part control system 10 outputs a synchronization signal to the backup control system 30, and the master-part control system 10 sends the first master control system in it. The state information of the chip 11 and the state information of the first driver chip 13 are sent to the arbiter 20; the input end of the backup control system 30 is connected to the output end of the second rotor position detection circuit 37, and the output end of the backup control system 30 is connected to the second rotor position detection circuit 37. The two motor windings 35 are connected, and the backup control system 30 outputs the status information of the second main control chip 21 and the status information of the second driving chip 33 to the arbiter 20 . The backup control system 30 and the master control system 10 have the same circuit composition structure. The drive chip and the three-phase bridge drive circuit provide current for the three-phase winding for directly driving the winding; the phase current detection circuit is used for collecting the phase current of the winding; the signal latch is used for controlling the PWM channel On-off, the arbiter 20 is used to perform logic operations on the four inputs MCU1, Driver1, MCU2, and Driver2, and then send control signals through the output terminals Latch1, Latch2 to control the first signal latch 12 and the second signal latch 32 on and off; the rotor position detection circuit is used to collect the position information of the rotor.

As shown in Figures 1 and 2, the master control system 10 consists of a first main control chip 11, a first signal latch 12, a first driver chip 13, a first three-phase bridge driver circuit 14, a first phase The current detection circuit 16, the first PWM output detection circuit and the first rotor position detection circuit 17 are composed of the first main control chip 11, the first signal latch 12, the first driving chip 13 and the first three-phase bridge driving circuit Composed of 14, the first main control chip 11 adopts ARM microcontroller STM32F103, the PWM1-6 pins of the first main control chip 11 output PWM signals to the first signal latch 12, and the IO_0 pins of the first main control chip 11 Output the state information of the first main control chip 11 to the MCU1 end of the arbiter 20, the IO_1 pin of the first main control chip 11 outputs the state information of the first driver chip 13 to the Driver1 end of the arbiter 20, the first main control chip 11 The serial port USART_TX of the second main control chip 21 sends a synchronous signal to the serial port USART_RX of the second main control chip 21, the output end of the first signal latch 12 is connected with the input end of the first driver chip 13, and the first driver chip 13 is divided into two outputs, one with The input end of the first three-phase bridge drive circuit 14 is connected, and the other is connected with the first input end of the first main control chip 11 through the first PWM output detection circuit, and the first three-phase bridge drive circuit 14 is divided into two outputs. , one way is connected with the first motor winding 15, and the other way is connected with the second input terminal of the first main control chip 11 through the first phase current detection circuit 16, and the third input terminal of the first main control chip 11 is used for detecting the motor The output terminal of the first rotor position detection circuit 17 of the rotor position is connected. The first PWM output detection circuit uses voltage dividing resistors for detection.

As shown in Figures 1 and 3, the backup control system 30 consists of a second main control chip 21, a second signal latch 32, a second driver chip 33, a second three-phase bridge driver circuit 34, a second phase current The detection circuit 36, the second PWM output detection circuit and the second rotor position detection circuit 37 are composed of the second main control chip 21 using an ARM microcontroller STM32F103, and the PWM1-6 pins of the second main control chip 21 output PWM signals to The second signal latch 32, the IO_0 pin of the second main control chip 21 outputs the state information of the second main control chip 21 to the MCU2 terminal of the arbiter 20, and the IO_1 pin of the second main control chip 21 outputs the second driving chip 33 state information to the Driver2 terminal of the arbiter 20, the output terminal of the second signal latch 32 is connected to the input terminal of the second driver chip 33, and the second driver chip 33 is divided into two outputs, one of which is connected to the second three-phase bridge The input terminal of the drive circuit 34 is connected, and the other is connected with the first input terminal of the second main control chip 21 through the second PWM output detection circuit. The winding 35 is connected, and the other path is connected to the second input end of the second main control chip 21 through the second phase current detection circuit 36, and the third input end of the second main control chip 21 is connected to the second rotor for detecting the rotor position of the motor. The output terminals of the position detection circuit 37 are connected. The second PWM output detection circuit uses voltage dividing resistors for detection.

As shown in FIG. 4 , the arbiter 20 is composed of a first AND gate 21, a second AND gate 22 and a NOT gate 23. The input terminal of the first AND gate 21 receives the first master control chip 11 sent by the first master control chip 11. The status information of the chip 11, the status information of the first driver chip 13, the first input terminal of the second AND gate 22 receives the status information of the second master chip 21 sent by the second master chip 21, the status information of the second driver chip 33 State information, the first AND gate 21 is divided into two outputs, one output is used to control the control signal Latch1 of the first signal latch 12 on and off, the other is connected to the input terminal of the NOT gate 23, and the output terminal of the NOT gate 23 is connected to the input terminal of the NOT gate 23. The second input end of the second AND gate 22 is connected, and the output end of the second AND gate 22 outputs a control signal Latch2 for controlling the second signal latch 32 to be turned on or off.

As shown in Figure 5, described first signal latch 12 adopts chip 74LS273, and its pin 1 is the latch enable end, and high level is effective, connects the Latch1 end of arbitrator 20; Its pin 3, pin 4. Pin 7, pin 8, pin 13, and pin 14 are input terminals, respectively connected to output pins PE9, pin PE8, pin PE11, pin PE10, and pin PE13 of the first main control chip 11 , pin PE12 connection; Its pin 2, pin 5, pin 6, pin 9, pin 12, pin 15 are output terminals, respectively with input pin 5, pin 4 of the first driver chip 13 , pin 2, pin 3, pin 12, and pin 11 are connected; its pin 10 is grounded; its pin 11 is a clock trigger input pin, which is connected with the output pin PE14 of the first main control chip 11; its Pin 16, pin 17, pin 18, and pin 19 are floating, and pin 20 is connected to +5V. The circuit structure of the second signal latch 32 is the same as that of the first signal latch 12 .

As shown in Figure 6, the first driver chip 13 is a HIP4086 chip, its pin 20 is connected to the voltage +12V, and its pin 6 is grounded; its pin 16, pin 1 and pin 13 are high-side bootstrap power supplies pin; its pin 18, pin 23 and pin 15 are high-side source connection pins; its pin 16 is connected to the voltage +12V through the bootstrap diode D19, and then connected to the pin 18 through the bootstrap capacitor C27 , and finally grounded through diode D17; pin 1 is connected to voltage +12V through bootstrap diode D20, then connected to pin 23 through bootstrap capacitor C28, and finally grounded through diode D16; pin 13 is connected to voltage + through bootstrap diode D18 Connected to 12V, then connected to pin 15 through bootstrap capacitor C26, and finally grounded through diode D15; pin 5, pin 2 and pin 12 are high-end logic level input pins, pin 4, pin 3 and pin Pin 11 is a low-end logic level input pin, and these six pins are connected to the output terminal of the first signal latch 12; pin 7 is a dead-time setting pin, which is connected to the voltage +12V through a resistor R20 Connected, pin 8 is the undervoltage setting pin, suspended; pin 9 is the refresh pulse setting pin, grounded through the capacitor C25, pin 10 is the disabled input pin, connected to +3.3V through the resistor R18; Pin 17, pin 24, and pin 14 are high-side output pins, which are connected to the gate of the high-end power MOS transistor of the corresponding phase of the first three-phase bridge drive circuit 14, and pin 24 is connected in series with the voltage dividing resistor R24, After the voltage dividing resistor R25 is grounded, the input pin PB15 of the first main control chip 11 is connected between the resistor R24 and the resistor R25; The gates of the low-side power MOS transistors of the corresponding phases of the phase bridge drive circuit 14 are connected to each other. The circuit structure of the second driving chip 33 is the same as that of the first driving chip 13 .

As shown in Figure 7, the first phase current detection circuit 16 includes a U-phase current detection circuit and a V-phase current detection circuit, and the U-phase current detection circuit adopts the first chip ACS709, and its pins 1, 2, 3, 4, 5, 6 are connected to the U-phase output terminal AHS of the first three-phase bridge drive circuit 14; its pins 7, 8, 9, 10, 11, 12 are grounded through the diode D1, and the plug J1 is led out at the same time; Pin 15 is grounded; its pin 16 is a voltage reference output pin, connected to pin 15 of the first main control chip 11, and this pin is grounded through capacitor C6; its pin 17 is a filter pin, grounded through capacitor C5 ; Its pin 18 is a signal output pin, which is connected with the pin 16 of the first main control chip 11; its pin 19 is an overcurrent detection pin; its pin 21 is an overcurrent input pin; its pin 20 It is connected to the voltage +3.3V, and its pin 22 is an overcurrent detection enable pin, which is grounded; its pins 13, 14, 23, and 24 are suspended; the first main control chip 11 reads through pins 15 and 16 The current information of the first motor winding 15; the V-phase current detection circuit adopts the second chip ACS709, and its pins 1, 2, 3, 4, 5, 6 are connected to the V-phase output terminal of the first three-phase bridge drive circuit 14 BHS is connected; its pins 7, 8, 9, 10, 11, 12 are grounded through diode D2, and at the same time lead to the plug J4; its pin 15 is grounded; its pin 16 is a voltage reference output pin, which is connected to the first main control The pin 18 of the chip 11 is connected, and this pin is grounded through the capacitor C12 simultaneously; Its pin 17 is a filter pin, grounded through the capacitor C11; Pin 17 is connected; its pin 19 is an overcurrent detection pin; its pin 21 is an overcurrent input pin; its pin 20 is connected to the voltage +3.3V, and its pin 22 is an overcurrent detection enabling pin. Grounded; its pins 13, 14, 23, 24 are suspended; the first main control chip 11 reads the current information of the first motor winding 15 through the pins 15 and 16. The circuit configuration of the second phase current detection circuit 36 is the same as that of the first phase current detection circuit 16 .

As shown in FIG. 8 , the first rotor position detection circuit 17 includes a connector J7 for connecting to a Hall sensor terminal. The Hall sensor is installed on the rotor of a brushless DC motor. Pin 1 of the connector J7 is connected to +5V is connected, pin 2 is grounded; pins 3, 4, and 5 are respectively connected to the Hall signal lines HALL_U, HALL_V, HALL_W; pin 3 is connected to the voltage +3.3V through the resistor R20, and connected to the lead of the chip 74LCX541 through the resistor R21. Pin 2 is connected; pin 4 is connected to the voltage +3.3V through the resistor R22, and connected to the pin 3 of the chip 74LCX541 through the resistor R23; pin 5 is connected to the voltage +3.3V through the resistor R28, and connected to the lead of the chip 74LCX541 through the resistor R19. Pin 4 is connected; pin 1 of chip 74LCX541 is connected to ground, pin 20 is connected to voltage +3.3V, pin 19 is grounded, pin 10 is grounded, and capacitor C29 is connected in parallel between pin 20 and pin 19; pin 2, lead Pin 3 and pin 4 are respectively grounded through capacitors C30, C32 and C31; pin 18, pin 17 and pin 16 are respectively connected to pin 63, pin 64 and pin 65 of the first main control chip 11; A main control chip 11 reads the position information of the brushless DC motor rotor through pins 63 , 64 , and 65 . The circuit configuration of the second rotor position detection circuit 37 is the same as that of the first rotor position detection circuit 17 .

As shown in Figure 9, the first three-phase bridge drive circuit 14 includes an inductor L6, an inductor L7, an inductor L8, an inductor L9, an inductor L10, and an inductor L11, one end of the inductor L7 is connected to the pin 17 of the HIP4086 chip, The pin 17 of the HIP4086 chip outputs the drive signal, passes through the inductor L7, and then through the parallel circuit composed of the diode D7 and the resistor R7, and then connects with the gate of the U-phase high-side MOSFET Q1 of the DC brushless motor; one end of the inductor L9 Connect to pin 21 of the HIP4086 chip, the pin 21 of the HIP4086 chip outputs the driving signal, passes through the inductor L9, and then passes through the parallel circuit composed of the diode D9 and the resistor R9, and connects with the gate of the U-phase low-side MOSFET Q2 of the DC brushless motor connected; the drain of the MOSFET Q1 is connected to the battery signal line BATT+, the U-phase output terminal AHS of the first three-phase bridge drive circuit 14 is drawn between the source of the MOSFET Q1 and the drain of the MOSFET Q2, and the U-phase The output terminal AHS is connected to pin 18 of the first driver chip 13, and the source of the MOSFET Q2 is grounded; one end of the inductance L11 is connected to the pin 24 of the HIP4086 chip, and the pin 24 of the HIP4086 chip outputs the driving signal, and through the inductance L11, After a parallel circuit composed of diode D11 and resistor R11, it is connected to the gate of the U-phase high-side MOSFET Q3 of the brushless DC motor; one end of the inductor L10 is connected to pin 22 of the HIP4086 chip, and pin 22 of the HIP4086 chip The output drive signal is connected to the gate of the U-phase low-side MOSFET Q4 of the brushless DC motor through the inductor L10, and then through the parallel circuit composed of the diode D10 and the resistor R10; the drain of the MOSFET Q3 is connected to the battery signal line BATT+ , the V-phase output terminal BHS of the first three-phase bridge drive circuit 14 is drawn between the source of the MOSFET Q3 and the drain of the MOSFET Q4, and the V-phase output BHS is connected to pin 23 of the first drive chip 13, The source of the MOSFET tube Q4 is grounded; one end of the inductance L6 is connected to the pin 14 of the HIP4086 chip, and the pin 14 of the HIP4086 chip outputs the drive signal, and after the inductance L6, the parallel circuit formed by the diode D6 and the resistor R6, and The gate of the U-phase high-side MOSFET Q5 of the DC brushless motor is connected; one end of the inductance L8 is connected to the pin 19 of the HIP4086 chip, and the pin 19 of the HIP4086 chip outputs the driving signal through the inductance L8, and then through the diode D8 and the resistor After the parallel circuit composed of R8, it is connected to the gate of the U-phase low-side MOSFET Q6 of the brushless DC motor; the drain of the MOSFET Q5 is connected to the battery signal line BATT+, and the source of the MOSFET Q5 is connected to the drain of the MOSFET Q6 The W-phase output terminal CHS of the first three-phase bridge drive circuit 14 is drawn between them, the W-phase output terminal CHS is connected to the 15 pin of the first drive chip 13, and the MOSFET tube Q The source of 6 is grounded. The circuit structure of the second three-phase bridge driving circuit 34 is the same as that of the first three-phase bridge driving circuit 14 .

As shown in Figure 10, this method includes: (1) After the control system is initialized, confirm that the main control system 10 is normal, the first main control chip 11 outputs 6 motor control PWM signals, and at the same time, periodically send The current working status information of the brushless DC motor, such as the rotor speed, rotor position, and current, is sent to the second main control chip 21 (2) The second main control chip 21 reads the serial port USART_RX data in the form of an interrupt, and synchronously tracks the brushless DC motor. Rotate speed, position and current running state, calculate and get the PWM wave that needs to be sent out; (3) When the master control system 10 fails, the second signal latch 32 is enabled, and the backup control system 30 works to ensure that the master control system 10 fails. Continuous and synchronous system switching when the control system 10 fails.

As shown in Figure 11, the judging method of the arbitrator 20 in the control system is as follows: (1) If the first main control chip 11 and the first driving chip 13 are normal, then send a control signal of the latch terminal of the latch to enable the first A signal latch 12, while prohibiting the second signal latch 32, at this time the master control system 10 works, the first motor winding 15 works, and the DC brushless motor runs; (2) if the first main control chip 11 1. At least one of the first driver chips 13 fails, then the first signal latch 12 is prohibited, and if the second main control chip 21 and the second driver chip 33 are all normal at this time, then the second signal latch 32 is enabled, Now the backup control system 30 works, the second motor winding 35 works, and the DC brushless motor runs; if at least one of the second main control chip 21 and the second signal latch 32 fails, the first motor winding 15, the second The windings 35 of the two motors are not working, and the brushless DC motor stops running.

The present invention will be further described below in conjunction with FIGS. 1 to 11 .

The master control system 10 adopts a space vector control method, the first main control chip 11 collects and processes the rotor position signal of the first rotor position detection circuit 17 and the phase current signal of the first motor winding 15, and other Necessary analog/digital signals, after operation and processing, send out 6 channels of PWM waves. The first drive chip 13 converts the received PWM wave into a logic switch signal of the first three-phase bridge drive circuit 14, controls the on-off of the coil of the first motor winding 15, and drives the brushless DC motor to run. The first signal latch 12 is connected to the PWM signal output terminal of the first main control chip 11 and the PWM signal input terminal of the first driving chip 13, and is used to control the on-off of the PWM channel. Under normal circumstances, the first main control chip 11 outputs the state information (high/low level) of the first main control chip 11 through the pin IO_0, sends it to the MUC1 terminal of the arbiter 20, and collects the information of the first driving chip 13 After comparing the PWM output signal with the calculated expected PWM value, it is judged whether the first driver chip 13 is abnormal, and the state information (high/low level) of the first driver chip 13 is output through the pin IO_1. The structure of the backup control system 30 is the same as that of the primary control system 10 .

The arbiter 20 is a logic circuit, the input is the state information (high/low level) of the first main control chip 11, the first driver chip 13, the second main control chip 21, and the second driver chip 33, and the output is Latch terminal control signals (high/low level) of the first signal latch 12 and the second signal latch 32 .

The first main control chip 11 sends its status information (high/low level) to the MCU1 and MCU2 terminals of the arbiter 20, and at the same time collects the PWM output signal of the first drive chip 13 through the first PWM output detection circuit , and compare it with the expected PWM signal value obtained from the calculation, determine whether the output of the second driver chip 33 is normal by judging whether the error between the two is within the normal range, and send the status information of the second driver chip 33 to the Driver1 terminal of the arbiter 20 , Driver2 end. After the arbiter 20 performs logic operations on the four inputs MCU1, Driver1, MCU2, and Driver2, it sends control signals (high/low level) through the output terminals Latch1 and Latch2 to control the first signal latch 12 and the second signal latch. 32.

The first main control chip 11 reads the rotor position signal through pins PC6, pin PC7, and pin PC8, reads the phase current signal through pins PC0, pin PC1, pin PC2, and pin PC3, and calculates and processes Then send out 6 channels of PWM signals through pins PE8, PE9, PE10, PE11, PE12 and PE13 to drive the corresponding motor windings, so that the brushless DC motor runs. The first main control chip 11 outputs a high level through the pin PB13 under normal conditions, and sends it to the MUC1 terminal of the arbiter 20. When the first main control chip 11 is abnormal, because the pin PB13 is grounded through the resistor R26, it becomes low level. The first main control chip 11 collects the PWM output signal of the first driver chip 13 through the pin PB15, compares and processes with the calculated expected PWM value, and judges whether the first driver chip 13 is abnormal, and if abnormal, outputs a low signal through the pin PB14 The level is sent to the Driver1 terminal of the arbiter 20 . The first main control chip 11 of the primary control system 10 sends motor status information through the pin PA9, including speed, position, current, etc., and sends it to the pin PA10 of the second main control chip 21 of the backup control system 30 through the serial port.

In summary, the present invention has strong computing and signal processing capabilities, integrates rich communication interface functions, and can realize multiple communication and fault detection functions between the dual-winding motor control systems; When the fault occurs, the synchronous switching from the master control system 10 to the backup control system 30 can be realized to ensure the normal operation of the system; this system can greatly improve system reliability and reduce downtime after system failure.

Claims (11)

1. A dual-winding brushless DC motor redundant control system is characterized in that: it comprises a main part control system, a backup control system and an arbitrator, the input of the main part control system and the output of the first rotor position detection circuit The output terminal of the master control system is connected with the first motor winding, the master control system outputs a synchronization signal to the backup control system, and the master control system sends the status information of the first master control chip and the status information of the first drive chip. The status information is sent to the arbitrator; the input end of the backup control system is connected to the output end of the second rotor position detection circuit, the output end of the backup control system is connected to the second motor winding, and the backup control system outputs the second main control chip in it The state information of the state information and the state information of the second driver chip are sent to the arbitrator. 2. The dual-winding brushless DC motor redundant control system according to claim 1, characterized in that: the master control system consists of a first main control chip, a first signal latch, a first driver chip, a second A three-phase bridge drive circuit, a first phase current detection circuit, a first PWM output detection circuit and a first rotor position detection circuit, the first main control chip adopts ARM microcontroller STM32F103, the first main control chip Pins PWM1~6 output PWM signals to the first signal latch, IO_0 pins of the first main control chip output the state information of the first main control chip to the MCU1 terminal of the arbiter, and IO_1 pins of the first main control chip output the first The status information of the driver chip is sent to the Driver1 terminal of the arbitrator, the serial port USART_TX of the first main control chip sends a synchronization signal to the serial port USART_RX of the second main control chip, the output terminal of the first signal latch is connected to the input terminal of the first driver chip connected, the first drive chip is divided into two outputs, one is connected to the input end of the first three-phase bridge drive circuit, and the other is connected to the first input end of the first main control chip through the first PWM output detection circuit, and the first The three-phase bridge drive circuit is divided into two outputs, one of which is connected to the first motor winding, and the other is connected to the second input terminal of the first main control chip through the first phase current detection circuit, and the third input of the first main control chip The terminal is connected with the output terminal of the first rotor position detection circuit for detecting the rotor position of the motor. 3. The dual-winding brushless DC motor redundant control system according to claim 1, characterized in that: the backup control system consists of a second main control chip, a second signal latch, a second driver chip, a second The three-phase bridge drive circuit, the second phase current detection circuit, the second PWM output detection circuit and the second rotor position detection circuit are composed, the second main control chip adopts ARM microcontroller STM32F103, and the PWM1 of the second main control chip ~ Pin 6 outputs the PWM signal to the second signal latch, the IO_0 pin of the second main control chip outputs the state information of the second main control chip to the MCU2 terminal of the arbiter, and the IO_1 pin of the second main control chip outputs the second drive The state information of the chip is sent to the Driver2 terminal of the arbitrator, the output terminal of the second signal latch is connected to the input terminal of the second driver chip, and the second driver chip is divided into two outputs, one of which is connected to the second three-phase bridge driver circuit. The input terminal is connected, the other is connected with the first input terminal of the second main control chip through the second PWM output detection circuit, the second three-phase bridge drive circuit is divided into two outputs, one is connected with the second motor winding, and the other is through The second phase current detection circuit is connected to the second input end of the second main control chip, and the third input end of the second main control chip is connected to the output end of the second rotor position detection circuit for detecting the rotor position of the motor. 4. The dual-winding brushless DC motor redundant control system according to claim 1, characterized in that: the arbiter is composed of a first AND gate, a second AND gate and a NOT gate, and the input terminal of the first AND gate Receive the state information of the first main control chip and the state information of the first driving chip sent by the first main control chip, and the first input terminal of the second AND gate receives the state information of the second main control chip sent by the second main control chip , The state information of the second driver chip, the first AND gate is divided into two outputs, one output is used to control the control signal Latch1 of the first signal latch on and off, the other is connected to the input terminal of the NOT gate, and the output of the NOT gate The terminal is connected to the second input terminal of the second AND gate, and the output terminal of the second AND gate outputs a control signal Latch2 for controlling the on-off of the second signal latch. 5. The dual-winding brushless DC motor redundant control system according to claim 1, characterized in that: the first signal latch adopts a chip 74LS273, and its pin 1 is a latch enabling terminal, and the high level Effective, connected to the Latch1 end of the arbiter; its pin 3, pin 4, pin 7, pin 8, pin 13, and pin 14 are input terminals, respectively connected to the output pins PE9, Pin PE8, pin PE11, pin PE10, pin PE13, and pin PE12 are connected; its pin 2, pin 5, pin 6, pin 9, pin 12, and pin 15 are output terminals, respectively Connect with pin 5, pin 4, pin 2, pin 3, pin 12, pin 11 of the first driver chip; Its pin 10 is grounded; Its pin 11 is a clock trigger input pin, and the first The output pin PE14 of a main control chip is connected; its pin 16, pin 17, pin 18, and pin 19 are suspended, and pin 20 is connected to +5V. 6. The dual-winding brushless DC motor redundant control system according to claim 1, characterized in that: the first driver chip is a HIP4086 chip, the pin 20 of which is connected to the voltage +12V, and the pin 6 is grounded; Pin 16, pin 1, and pin 13 are high-side bootstrap power supply pins; pin 18, pin 23, and pin 15 are high-side source connection pins; pin 16 is connected through bootstrap diode D19 It is connected to the voltage +12V, then connected to pin 18 through the bootstrap capacitor C27, and finally grounded through the diode D17; pin 1 is connected to the voltage +12V through the bootstrap diode D20, and then connected to the pin 23 through the bootstrap capacitor C28. Finally, it is grounded through diode D16; pin 13 is connected to voltage +12V through bootstrap diode D18, then connected to pin 15 through bootstrap capacitor C26, and finally grounded through diode D15; pin 5, pin 2 and pin 12 are High-end logic level input pins, pin 4, pin 3 and pin 11 are low-end logic level input pins, these six pins are all connected with the output end of the first signal latch; pin 7 It is the dead time setting pin, which is connected to the voltage +12V through the resistor R20, and the pin 8 is the undervoltage setting pin, which is suspended; the pin 9 is the refresh pulse setting pin, which is grounded through the capacitor C25, and the pin 10 To disable the input pin, connect it to +3.3V through resistor R18; pin 17, pin 24, and pin 14 are high-side output pins, which are high-side power MOS transistors of the corresponding phases of the first three-phase bridge drive circuit connected to the grid, pin 24 is connected in series with voltage dividing resistor R24 and voltage dividing resistor R25 at the same time, and then grounded, and the input pin PB15 of the first main control chip is connected between resistor R24 and resistor R25; pin 21, pin 22 and The pin 19 is a low-end output pin, which is connected with the gate of the low-end power MOS transistor of the corresponding phase of the first three-phase bridge drive circuit. 7. The dual-winding brushless DC motor redundant control system according to claim 1, characterized in that: the first phase current detection circuit includes a U-phase current detection circuit and a V-phase current detection circuit, and the U-phase current The detection circuit adopts the first chip ACS709, and its pins 1, 2, 3, 4, 5, 6 are connected to the U-phase output terminal AHS of the first three-phase bridge drive circuit; its pins 7, 8, 9, 10, 11 and 12 are connected to the ground through the diode D1, and lead out the connector J1 at the same time; its pin 15 is grounded; its pin 16 is a voltage reference output pin, which is connected to the pin 15 of the first main control chip, and at the same time, the pin is connected to the capacitor C6 Grounding; its pin 17 is a filter pin, grounded through a capacitor C5; its pin 18 is a signal output pin, connected to the pin 16 of the first main control chip; its pin 19 is an overcurrent detection pin; its Pin 21 is an over-current input pin; its pin 20 is connected to the voltage +3.3V, its pin 22 is an over-current detection enabling pin, and grounded; its pins 13, 14, 23, and 24 are suspended; the first The main control chip reads the current information of the first motor winding through pins 15 and 16; the V-phase current detection circuit adopts the second chip ACS709, and its pins 1, 2, 3, 4, 5, 6 are connected to the first The V-phase output terminal BHS of the three-phase bridge drive circuit is connected; its pins 7, 8, 9, 10, 11, and 12 are grounded through the diode D2, and the plug J4 is led out at the same time; its pin 15 is grounded; its pin 16 is The voltage reference output pin is connected to the pin 18 of the first main control chip, and the pin is grounded through the capacitor C12; its pin 17 is a filter pin, and it is grounded through the capacitor C11; its pin 18 is a signal output pin , is connected with pin 17 of the first main control chip; its pin 19 is an overcurrent detection pin; its pin 21 is an overcurrent input pin; its pin 20 is connected with the voltage +3.3V, and its pin 22 It is an enabling pin for overcurrent detection and is grounded; its pins 13, 14, 23, and 24 are suspended; the first main control chip reads the current information of the first motor winding through pins 15 and 16. 8. The dual-winding brushless DC motor redundant control system according to claim 1, characterized in that: the first rotor position detection circuit includes a connector J7 for connecting with Hall sensor terminals, and the Hall sensor is installed On the rotor of the brushless DC motor, pin 1 of the connector J7 is connected to the voltage +5V, and pin 2 is grounded; pins 3, 4, and 5 are respectively connected to the Hall signal lines HALL_U, HALL_V, and HALL_W; Resistor R20 is connected to voltage +3.3V, connected to pin 2 of chip 74LCX541 via resistor R21; pin 4 is connected to voltage +3.3V via resistor R22, connected to pin 3 of chip 74LCX541 via resistor R23; pin 5 via Resistor R28 is connected to voltage +3.3V, connected to pin 4 of chip 74LCX541 through resistor R19; pin 1 of chip 74LCX541 is connected to ground, pin 20 is connected to voltage +3.3V, pin 19 is grounded, pin 10 is grounded, lead Capacitor C29 is connected in parallel between pin 20 and pin 19; pin 2, pin 3, and pin 4 are grounded through capacitors C30, C32, and C31 respectively; pin 18, pin 17, and pin 16 are respectively connected to the first master control The pins 63, 64, and 65 of the chip are connected, and the first main control chip reads the position information of the brushless DC motor rotor through the pins 63, 64, and 65. 9. The dual-winding brushless DC motor redundant control system according to claim 6, characterized in that: the first three-phase bridge drive circuit includes inductors L6, inductors L7, inductors L8, inductors L9, inductors L10 and Inductor L11, one end of the inductance L7 is connected to the pin 17 of the HIP4086 chip, and the pin 17 of the HIP4086 chip outputs the driving signal, passes through the inductance L7, and then passes through the parallel circuit composed of the diode D7 and the resistor R7, and then connects with the brushless DC motor U The gate of the high-side MOSFET Q1 is connected; one end of the inductor L9 is connected to the pin 21 of the HIP4086 chip, and the pin 21 of the HIP4086 chip outputs the driving signal, and then passes through the parallel circuit composed of the diode D9 and the resistor R9 through the inductor L9 Finally, it is connected to the gate of the U-phase low-side MOSFET Q2 of the brushless DC motor; the drain of the MOSFET Q1 is connected to the battery signal line BATT+, and the first The U-phase output terminal AHS of the three-phase bridge drive circuit, the U-phase output terminal AHS is connected to the 18-pin of the first driver chip, and the source of the MOSFET tube Q2 is grounded; one end of the inductor L11 is connected to the pin 24 of the HIP4086 chip , the pin 24 of the HIP4086 chip outputs the driving signal, passes through the inductance L11, and then through the parallel circuit composed of the diode D11 and the resistance R11, and then connects with the gate of the U-phase high-side MOSFET tube Q3 of the brushless DC motor; the inductance L10 One end is connected to the pin 22 of the HIP4086 chip, and the pin 22 of the HIP4086 chip outputs the driving signal. After passing through the inductor L10, and then through the parallel circuit composed of the diode D10 and the resistor R10, it is connected to the gate of the U-phase low-side MOSFET Q4 of the DC brushless motor. The drain of the MOSFET Q3 is connected to the battery signal line BATT+, and the V-phase output terminal BHS of the first three-phase bridge drive circuit is drawn between the source of the MOSFET Q3 and the drain of the MOSFET Q4. The V-phase The output terminal BHS is connected to the pin 23 of the first driver chip, and the source of the MOSFET Q4 is grounded; one end of the inductor L6 is connected to the pin 14 of the HIP4086 chip, and the pin 14 of the HIP4086 chip outputs the driving signal, and then passes through the inductor L6, and then After the parallel circuit composed of diode D6 and resistor R6, it is connected to the gate of the U-phase high-side MOSFET Q5 of the brushless DC motor; one end of the inductor L8 is connected to pin 19 of the HIP4086 chip, and pin 19 of the HIP4086 chip outputs The drive signal is connected to the gate of the U-phase low-side MOSFET Q6 of the DC brushless motor after passing through the inductance L8 and the parallel circuit composed of the diode D8 and the resistor R8; the drain of the MOSFET Q5 is connected to the battery signal line BATT+, The W-phase output terminal CHS of the first three-phase bridge drive circuit is drawn between the source of the MOSFET Q5 and the drain of the MOSFET Q6, and the W-phase output CHS is connected to the first drive chip. Pin 15 is connected, and the source of MOSFET Q6 is grounded. 10. A control method for a dual-winding brushless DC motor redundant control system, the method comprising steps in the following order: (1) After the control system is initialized, confirm that the main control system is normal. The first main control chip outputs 6 channels of motor control PWM signals. At the same time, through the serial port USART_TX, the rotor speed, rotor position, Send working status information such as current to the second main control chip (2) The second main control chip reads the serial port USART_RX data in the form of an interrupt, synchronously tracks the speed, position and current running status of the brushless DC motor, and obtains the PWM wave to be sent by calculation; (3) When the primary control system fails, the second signal latch is enabled, and the backup control system works to ensure continuous and synchronous system switching when the primary control system fails. 11. The control method according to claim 10, characterized in that: the judgment method of the arbitrator in the control system is as follows: (1) If both the first main control chip and the first driver chip are normal, send out the control signal of the latch terminal to enable the first signal latch and disable the second signal latch at the same time. The control system works, the winding of the first motor works, and the brushless DC motor runs; (2) If at least one of the first main control chip and the first driver chip fails, the first signal latch is disabled. If the second main control chip and the second driver chip are normal at this time, the second signal is enabled. latch, at this time the backup control system works, the second motor winding works, and the DC brushless motor runs; if at least one of the second main control chip and the second signal latch fails, the first motor winding, the second None of the motor windings work, and the BLDC motor stops.