WO2021082955A1

WO2021082955A1 - Self-balancing vehicle control system and self-balancing vehicle

Info

Publication number: WO2021082955A1
Application number: PCT/CN2020/121547
Authority: WO
Inventors: 臧传美
Original assignee: 浙江阿尔郎科技有限公司
Priority date: 2019-11-01
Filing date: 2020-10-16
Publication date: 2021-05-06
Also published as: CN112764422A

Abstract

A self-balancing vehicle control system and a self-balancing vehicle. The self-balancing vehicle control system is provided with a Bluetooth module (101), an attitude sensor module (103), a first motor drive module (104), a second motor drive module (105), a step-down module (106), and an external interface module (107) that are all configured on a main board (100), so that the problem of high discretization of the self-balancing vehicle control system is solved, thereby improving the integration of the self-balancing vehicle control system.

Description

Balance car control system and balance car

Technical field

The invention relates to the field of control, in particular to a balance car control system and a balance car.

Background technique

Balance cars, also called somatosensory cars and thinking cars, include uni-wheel balance cars and two-wheel balance cars. Its operating principle is to use the attitude sensor (such as gyroscope, acceleration sensor, etc.) inside the car body to detect the change of the car body's attitude, and use the servo control system to accurately drive the motor to make corresponding adjustments to achieve the corresponding functions.

Taking the unicycle balance car as an example, the unicycle balance car relies on the angular momentum after the rotation of the unicycle to resist the external torque, so as to realize steering or maintain self-balance. The unicycle balance car uses a gyroscope to detect changes in the body's posture, so as to achieve acceleration, deceleration or braking. For example, when a person stands on a running unicycle, the body leans forward to make the manned platform of the unicycle lean forward. The gyroscope detects the forward tilt of the manned platform and uses the servo control system to drive the motor to accelerate. The horizontal forward force generated by the forward lean is balanced with the inertial force of the acceleration of the unicycle, so that the human body will not fall, thus realizing the acceleration of the unicycle. The same applies to the braking principle of a unicycle.

Take a two-wheel balance car as an example. The two-wheel balance car mostly uses the difference in the rotational speed of the hub motors built in the two wheels to control the steering. The acceleration or braking principle of the two-wheel balance car is basically the same as that of the uni-wheel balance car, and the steering control of the two-wheel balance car is different from that of the uni-wheel balance car:

The two-wheeled balance car with joystick relies on hands or legs to control the deviation direction of the joystick. The Hall steering sensor detects the deviation direction of the joystick and converts it into a control signal. The main control chip controls the two wheels according to the control signal. The rotation speed difference of the built-in hub motor realizes the steering.

A two-wheeled balance car with dual pedals and the pedals can rotate relative to the main shaft, also known as an electric twist car, relies on a gyroscope set under each pedal to collect the posture of each pedal and generate a pair of control signals. After the chip determines the posture of each pedal based on the pair of control signals, it controls the speed difference of the built-in hub motors in the two wheels to achieve steering.

technical problem

In order to achieve the above functions, in the small internal space of the balance car, a battery and a motherboard equipped with various control devices are required. In some balance cars, in order to install attitude sensors under both pedals of the car body, additional configuration is required. board. In addition, in order to improve the user experience or ensure the safety of the balance car, various additional functional circuits or protection circuits will be set on the balance car, such as: Bluetooth communication circuit, Bluetooth speaker, turn signal, RGB color light.

The original balance car motherboard was only equipped with the circuits needed to ensure the normal operation of the balance car. With the gradual addition of new functions, there is no reserved space on the motherboard to place these new functions. The main control chip is due to processing speed or induction. The limitation of the number of pins is gradually not enough to support these functions. Therefore, more and more functions are configured on the secondary board. For example, the signals of classic Bluetooth and Bluetooth low energy are not compatible. In order to have Bluetooth communication and Bluetooth audio functions at the same time, the balance car control system needs to be equipped with Bluetooth low energy circuit for Bluetooth communication and classic Bluetooth for Bluetooth audio. Circuit; due to the space limitation of the main board, these two Bluetooth circuits are respectively set on two sub-boards; if a dual-mode Bluetooth module is used, the existing dual-mode Bluetooth solutions need to use an external processor to realize the Bluetooth protocol Therefore, in addition to setting a dual-mode Bluetooth module on the secondary board, the secondary board also needs to be equipped with an additional control chip to support the dual-mode Bluetooth function. This discretized circuit structure has not only caused the integration of the balance car control system to decrease, and the interaction between multiple control chips has become more complicated. The discretized circuit structure has also reduced the stability of the balance car, but also increased the balance. The power consumption of the vehicle control system.

Technical solutions

Based on this, the embodiments of the present invention provide a balance car control system and a balance car having the balance car control system, so as to at least solve the problem of the high degree of discretization of the balance car control system in the related art.

According to one aspect of the embodiments of the present invention, there is provided a balance car control system, including: a main board, and a Bluetooth module, an attitude sensor module, a first motor drive module, a second motor drive module, and a lower Voltage module, external interface module; among them,

The attitude sensor module is connected to the Bluetooth module, and the attitude sensor module is used to generate a detection signal according to the attitude of the balance car;

The Bluetooth module is used for receiving and sending communication signals, and receiving and processing audio signals;

The Bluetooth module is used to control the first motor drive module and the second motor drive module according to the detection signal, and the Bluetooth module is also used to control external devices connected to the external interface module;

The first motor drive module is connected to the Bluetooth module, and is used to control the rotation speed and steering of the first motor;

The second motor drive module is connected to the Bluetooth module, and is used to control the rotation speed and direction of the second motor;

The input end of the step-down module is connected to the battery, and the output end is respectively connected to the Bluetooth module, the attitude sensor module, the first motor drive module, the second motor drive module, and the external interface module, The step-down module is used to convert the output voltage of the battery into the work required by the Bluetooth module, the attitude sensor module, the first motor drive module, the second motor drive module, and the external interface module Voltage.

According to another aspect of the embodiments of the present invention, there is also provided a balance car, including the balance car control system as described in the first aspect.

Beneficial effect

Through the balance car control system and the balance car provided by the embodiments of the present invention, the Bluetooth module, the attitude sensor module, the first motor drive module, the second motor drive module, the step-down module, and the external interface module are all configured on the main board to control The function is integrated in the Bluetooth module, which solves the problem of the high degree of discretization of the balance car control system in related technologies, improves the integration of the balance car control system, and improves the data stability of the Bluetooth communication.

Description of the drawings

Figure 1 is a structural block diagram of a balance car control system according to an embodiment of the present invention;

Figure 2 is a preferred structural block diagram of a balance car control system according to an embodiment of the present invention;

Figure 3 is a schematic circuit diagram of a Bluetooth module according to a preferred embodiment of the present invention;

Figure 4 is a functional block diagram of a Bluetooth module according to a preferred embodiment of the present invention;

Figure 5 is a schematic circuit diagram of a Bluetooth antenna according to a preferred embodiment of the present invention;

Fig. 6 is a schematic circuit diagram of a power amplifier module according to a preferred embodiment of the present invention;

Fig. 7 is a schematic circuit diagram of a posture sensor module according to a preferred embodiment of the present invention;

Fig. 8 is a schematic circuit diagram of a first PWM output unit according to a preferred embodiment of the present invention;

Fig. 9 is a circuit schematic diagram of a first three-phase full bridge circuit according to a preferred embodiment of the present invention;

Fig. 10 is a schematic circuit diagram of a first current detection unit according to a preferred embodiment of the present invention;

Fig. 11 is a schematic circuit diagram of a second current detection unit according to a preferred embodiment of the present invention;

Fig. 12 is a schematic circuit diagram of a third current detection unit according to a preferred embodiment of the present invention;

Fig. 13 is a circuit diagram of a first sampling resistor unit according to a preferred embodiment of the present invention;

Fig. 14 is a schematic circuit diagram of a second PWM output unit according to a preferred embodiment of the present invention;

Fig. 15 is a circuit schematic diagram of a second three-phase full-bridge unit according to a preferred embodiment of the present invention;

Fig. 16 is a circuit diagram of a fourth current detection unit according to a preferred embodiment of the present invention;

Fig. 17 is a circuit schematic diagram of a fifth current detection unit according to a preferred embodiment of the present invention;

Fig. 18 is a circuit schematic diagram of a sixth current detection unit according to a preferred embodiment of the present invention;

Fig. 19 is a circuit diagram of a second sampling resistor unit according to a preferred embodiment of the present invention;

Fig. 20 is a circuit diagram of a power supply unit according to a preferred embodiment of the present invention;

FIG. 21 is a schematic circuit diagram of a first step-down unit according to a preferred embodiment of the present invention;

Fig. 22 is a schematic circuit diagram of a second step-down unit according to a preferred embodiment of the present invention;

Figure 23 is a circuit schematic diagram of a third step-down unit according to a preferred embodiment of the present invention;

24 is a circuit schematic diagram of a first photoelectric switch interface unit according to a preferred embodiment of the present invention;

FIG. 25 is a schematic circuit diagram of a second photoelectric switch interface unit according to a preferred embodiment of the present invention;

Fig. 26 is a schematic circuit diagram of a steering sensor interface unit according to a preferred embodiment of the present invention;

Fig. 27 is a circuit schematic diagram of a turn signal interface unit according to a preferred embodiment of the present invention;

Fig. 28 is a circuit schematic diagram of a fault light interface unit according to a preferred embodiment of the present invention;

Figure 29 is a schematic circuit diagram of a first slave communication interface unit according to a preferred embodiment of the present invention;

Figure 30 is a schematic circuit diagram of a second slave board communication interface unit according to a preferred embodiment of the present invention;

FIG. 31 is a schematic circuit diagram of a program burning device interface unit according to a preferred embodiment of the present invention;

Fig. 32 is a schematic circuit diagram of a rotational speed detection interface unit according to a preferred embodiment of the present invention;

Fig. 33 is a schematic circuit diagram of an RGB lamp interface unit according to a preferred embodiment of the present invention;

Fig. 34 is a schematic circuit diagram of a charging interface unit according to a preferred embodiment of the present invention;

Figure 35 is a schematic circuit diagram of a buzzer module according to a preferred embodiment of the present invention;

Fig. 36 is a schematic circuit diagram of a Bluetooth power-on indication module according to a preferred embodiment of the present invention;

Fig. 37 is a schematic diagram of a circuit layout according to a preferred embodiment of the present invention.

Embodiments of the present invention

In order to make the purpose, technical solutions, and advantages of this application clearer, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application.

In this embodiment, a balance car control system is provided. Fig. 1 is a structural block diagram of a balance car control system according to an embodiment of the present invention, in which the thick solid line represents the power supply line, and the thin solid line represents the communication line.

As shown in Figure 1, the balance car control system includes: a main board 100, and a Bluetooth module 101, an attitude sensor module 103, a first motor drive module 104, a second motor drive module 105, and a step-down module 106 arranged on the main board 100 , The external interface module 107; among them,

The attitude sensor module 103 is connected to the Bluetooth module 101, and the attitude sensor module 103 is used to generate a detection signal according to the attitude of the balance car;

The Bluetooth module 101 is used for receiving and sending communication signals, as well as receiving and processing audio signals;

The Bluetooth module 101 is used to control the first motor drive module 104 and the second motor drive module 105 according to the detection signal, and the Bluetooth module is also used to control external devices connected to the external interface module 107;

The first motor drive module 104 is connected to the Bluetooth module 101, and is used to control the rotation speed and direction of the first motor;

The second motor drive module 105 is connected to the Bluetooth module 101, and is used to control the rotation speed and direction of the second motor;

The input end of the step-down module 106 is connected to the battery, and the output end of the step-down module 106 is connected to the Bluetooth module 101, the attitude sensor module 103, the first motor drive module 104, the second motor drive module 105, and the external interface module 107, respectively. The voltage module 106 is used to convert the output voltage of the battery into the operating voltage required by the Bluetooth module 101, the attitude sensor module 103, the first motor drive module 104, the second motor drive module 105, and the external interface module 107.

Compared with related technologies, the balance car control system provided in this embodiment uses the Bluetooth module 101 to replace the Bluetooth data synchronization circuit and the Bluetooth audio circuit, and integrates the Bluetooth module 101 on the main board 100 of the balance car control system, which not only improves The integration of the balance car control system, and the Bluetooth module 101 integrates control functions, no need to introduce additional control chips to process the Bluetooth protocol stack and control signals, thereby reducing power consumption, shortening the data transmission path, and improving data The stability of the transmission is conducive to improving the stability of the balance car control system.

In this embodiment, the selection of the Bluetooth chip in the Bluetooth module 101 preferably adopts a single-chip microcomputer with a main frequency higher than 70MHz and an integer computing capability (DMIPS) higher than 60. In addition, the specific pin can be determined according to the pins required by the peripheral circuit. Bluetooth chip. The single-chip microcomputer with more pins can meet the demand, and has a certain expansion capability.

In some embodiments, the Bluetooth module 101 includes: a data transmission unit for receiving data such as external Bluetooth control signals, an audio transmission unit for receiving audio signals from an external Bluetooth device, and a data processing unit for calculating and processing various inputs Data and output control signals to other modules. The above-mentioned units may be units divided by hardware or units divided by functions.

The power amplifier module is used to drive the speaker to produce sound after amplifying the audio signal.

In some embodiments, the first motor drive module 104 and the second motor drive module 105 are substantially the same. Among them, the first motor drive module 104 includes: a first PWM output unit and a first three-phase full-bridge drive unit; wherein, the first PWM output unit is respectively connected to the first three-phase full-bridge drive unit, the Bluetooth module 101, and the buck The output end of the module 106 is connected; the first three-phase full-bridge drive unit is respectively connected to the output end of the battery and the first motor. The second motor drive module 105 includes: a second PWM output unit and a second three-phase full-bridge drive unit; wherein the second PWM output unit is respectively connected to the second three-phase full-bridge drive unit, the Bluetooth module 101, and the step-down module 106 The output end of the second three-phase full-bridge drive unit is connected to the output end of the battery and the second motor respectively.

In this embodiment, the selection of the chips in the first PWM output unit and the second PWM output unit can use three high-voltage drive chips integrated with a half-bridge drive to realize the forward and reverse rotation of a three-phase DC motor, for example IR2104 series chips; it is preferable to use a high-voltage driver chip that integrates three half-bridge drivers to save space on the motherboard. For example, the FD6287 series chip integrates three independent half-bridge gate driver integrated circuit chips, which are designed for high-voltage , High-speed drive MOSFET and IGBT design, can work up to +250V voltage. In addition, the FD6287 series chips have built-in VCC/VBS undervoltage (UVLO) protection function to prevent the power tube from working under too low voltage. FD6287 has built-in shoot-through prevention and dead time to prevent the driven high- and low-side MOSFETs or IGBTs from shoot-through, effectively protecting power devices. FD6287 series chips also have built-in input signal filtering to prevent input noise interference.

In some embodiments, the first motor drive module 104 further includes but is not limited to at least one of the following circuits: a first current detection unit, a second current detection unit, a third current detection unit, and a first sampling resistance unit; The motor drive module 105 also includes but is not limited to at least one of the following circuits: a fourth current detection unit, a fifth current detection unit, a sixth current detection unit, and a second sampling resistance unit.

Among them, the first sampling resistance unit and the second sampling resistance unit preferably use 0 ohm resistors to electrically connect the power ground and the common terminal of the main board, thereby effectively limiting the loop current and suppressing noise.

In some embodiments, the step-down module 106 includes: a power supply unit, a first step-down unit, a second step-down unit, and a third step-down unit; wherein the voltage input terminal of the power supply unit is connected to the battery, and the voltage output of the power supply unit Terminal is connected to the voltage input terminal of the first step-down unit, the voltage output terminal of the first step-down unit is connected to the voltage input terminal of the second step-down unit, and the voltage output terminal of the second step-down unit is connected to the voltage input terminal of the third step-down unit. Voltage input terminal connection.

In the balance car control system, there may be differences in the operating voltages required by the Bluetooth chip, various peripheral chips, and external interface modules. The operating voltages of common chips are 12V, 5V and 3.3V. In order to reduce the battery voltage level to the operating voltage required by each chip or external interface module, in this embodiment, a multi-level step-down module is used to achieve multiple voltage levels of output.

Preferably, in this embodiment, a digital step-down chip is used for step-down. Compared with a solution that uses an analog circuit to step-down, the digital step-down chip can reduce the space occupied by the components on the motherboard. Optional step-down chips include but are not limited to: LM2596 series chips, SC9003 series chips, LY3671 series chips, SY8120 series chips, AMS1117 series chips, etc.

In this embodiment, the external interface module 107 includes but is not limited to at least one of the following circuits: a first photoelectric switch interface unit, a second photoelectric switch interface unit, a steering sensor interface unit, a turn signal interface unit, a fault light interface unit, The first sub-board communication interface unit, the second sub-board communication interface unit, the program burning device interface unit, the speed detection interface unit, the RGB lamp interface unit, and the charging interface unit.

Among them, the photoelectric switch interface unit is used to connect the photoelectric switch circuit, and the photoelectric switch circuit can be set under the pedal of the balance car to detect whether the balance car is carrying people.

Wherein, the steering sensor interface unit is used to connect to the steering sensor circuit, and the steering sensor circuit is preferably a Hall sensor, which is generally arranged on a two-wheeled balance vehicle with an operating rod to detect the deviation of the operating rod, so as to realize steering control.

Among them, the turn signal interface unit is used to connect the turn signal circuit, and the turn signal of the turn signal circuit is arranged on both sides of the balance car to realize the steering reminder.

Among them, the fault light interface unit is used to connect the fault light, and the fault light is used to indicate whether the balance car has a fault.

Among them, the sub-board communication interface unit is used to connect the sub-board communication circuit to support more function expansion on the sub-board, or to communicate with other sensors (such as gyroscopes) provided on the sub-board.

Among them, the program burning device interface unit is used to connect the program burning device, and the program burning device is used to burn the program to the Bluetooth chip.

Wherein, the rotation speed detection interface unit is used to connect the rotation speed detection circuit, and the rotation speed detection circuit can be arranged inside the hub motor to detect the rotation speed and steering of the hub motor.

Among them, the RGB light interface unit is used to connect the RGB light circuit, and the RGB light circuit is used to realize the function of the color light of the balance car to increase the user experience.

Among them, the charging interface unit is used to connect the charging circuit, and the charging circuit is used to charge the battery of the balance car.

It should be noted that, in some embodiments, the number and types of the external interface modules 107 can be deleted or added according to the type of the balance car and the additional functions that need to be implemented. For example, in an electric torque car, the steering sensor interface unit is unnecessary, and the steering sensor interface unit can be deleted from the main board, thereby reducing the cost of the main board or reducing the space occupied by the main board.

In other embodiments, the main board includes all the above-mentioned external interface modules, and some of the external interface modules can be left unused in some types of balance vehicles. The advantage of this design is that different types of balance cars can share the same set of motherboards, thereby saving the design cost of the motherboard. At the same time, a variety of external interface modules are easy to realize the function expansion of various types of balance cars.

In some embodiments, the motherboard 100 is also provided with at least one of the following circuits: a buzzer module, a Bluetooth power-on indication module; wherein the buzzer module is connected to the Bluetooth module 101; the Bluetooth power-on indication module and the Bluetooth module 101 connections.

Among them, the buzzer module can be used to send a buzzer to remind the user when the balance car fails or changes its state or when the battery is insufficient.

Among them, the Bluetooth power-on indication module is used to indicate the working status of the Bluetooth.

Fig. 2 is a preferred structural block diagram of a balance car control system according to an embodiment of the present invention. Among them, the thick solid line represents the power supply line, and the thin solid line represents the communication line.

The embodiments of the present invention will be described and illustrated below in conjunction with the accompanying drawings and preferred embodiments.

In this preferred embodiment, an implementation scheme of a balance car control system is provided. It should be noted that this implementation scheme is used to describe the embodiments of the present invention, and the specific implementation of each part of the circuit is also exemplary.

Fig. 3 is a schematic circuit diagram of a Bluetooth module according to a preferred embodiment of the present invention. As shown in Fig. 3, in this preferred embodiment, the Bluetooth module 101 includes: a Bluetooth chip U6, a resistor R32, a resistor R33, a resistor R42, and a capacitor C26 , Capacitor C31, in which the Bluetooth chip U6 includes pins 1 to 64, of which, pin 1, pin 13, pin 32, pin 19, pin 48, pin 64, and the step-down module 106 The third voltage output terminal of the step-down module is connected; pin 12, pin 18, pin 31, pin 47, and pin 63 are connected to the common terminal GND; pin 7 is connected to the third voltage output of the step-down module There is a resistor R42 in series between the terminals, and a capacitor C26 in series with the common terminal GND; pin 41, pin 42, pin 43, pin 33, pin 34, pin 35, pin 36, pin 9 , Pin 24, pin 25, connected to the first motor drive module 104; pin 14, pin 22, pin 23, pin 26, pin 27, pin 8, pin 11, pin 37, Pin 38 and pin 39 are connected to the second motor drive module 105; pin 61 and pin 62 are connected to the attitude sensor module 103; pin 28, pin 10, and pin 40 are connected to the step-down module 106 ; Pin 59, connected to the buzzer module; Pin 44, Pin 50, Pin 20, Pin 21, Pin 29, Pin 30, Pin 5, Pin 6, Pin 54, Pin 58. Pin 2, pin 3, pin 4, pin 51, pin 52, pin 53, pin 57, pin 46, pin 49, and pin 45 are connected to the external interface module 107.

Figure 4 is a block diagram of the functional units of the Bluetooth module. The Bluetooth module includes a data transmission unit for receiving external Bluetooth control signals and other data, an audio transmission unit for receiving audio signals from external Bluetooth devices, and a data processing unit for calculating and processing various Kind of input data and output control signal to other modules. The above-mentioned units may be units divided by hardware or units divided by functions. The integration of the Bluetooth module can make the signal transmission stable and reduce interference.

Figure 5 is a schematic circuit diagram of a Bluetooth antenna according to a preferred embodiment of the present invention. As shown in Figure 5, the Bluetooth chip is connected to the Bluetooth antenna E through a series resistor R30 and a capacitor C22, and passes through the connection point of the capacitor C22 and the Bluetooth antenna E The capacitor C44 is grounded.

Fig. 6 is a schematic circuit diagram of a power amplifier module according to a preferred embodiment of the present invention. As shown in Fig. 6, the power amplifier module includes: power amplifier chip U4, resistor R5, resistor R6, resistor R7, resistor R8, capacitor R9, capacitor C10. Capacitor C11. The power amplifier chip U4 includes pins 1 to 8. Among them, a resistor R7 is connected in series with the second voltage output terminal of the step-down module of the step-down module 106 and the power amplifier chip U4 is connected in series with the second voltage output terminal of the step-down module 106. There is a resistor R7 in series between the terminal GND, and a resistor R1 in series with the pin of the Bluetooth chip U6; pin 2, a capacitor C11 in series with the common terminal GND; pin 3, and the second voltage of the step-down module There is a resistor R5 in series between the output terminals; a resistor R8 and a capacitor C9 are connected in series between the pin 4 and the pin 7 of the Bluetooth chip U6, and the pin 4 is used to receive audio signals; the pin 5 is connected to the speaker interface P1 Pin 2 is connected; pin 6 is connected to the second voltage output terminal of the step-down module, and a capacitor C10 is connected in series with the common terminal GND; pin 7 is connected to the common terminal GND; pin 8 is connected to the speaker interface P1 The pin 1 is connected, and the pins 5 and 8 are used to drive the speaker to produce sound.

Fig. 7 is a schematic circuit diagram of a posture sensor module according to a preferred embodiment of the present invention. As shown in Fig. 7, the posture sensor module 103 includes: posture sensor chip U5, resistor R28, resistor R29, resistor R74, resistor R75, capacitor C18, Capacitor C19, Capacitor C20, Capacitor C21, where the attitude sensor chip U5 is preferably a gyroscope, including pins 1 to 13, where pin 1, and the third voltage output terminal of the step-down module of the step-down module 106 Connected, a capacitor C21 is connected in series with the common terminal GND; a resistor R74 is connected in series with the pin 61 of the Bluetooth chip U6, and a resistor R28 is connected in series with the third voltage output terminal of the step-down module; lead Pin 3, there is a resistor R75 in series with the pin 62 of the Bluetooth chip U6, and a resistor R29 in series with the third voltage output terminal of the step-down module; pins 2 and 3 are used to detect the balance car The posture information is sent to the Bluetooth chip U6; pin 4, connected to the common terminal GND; pin 5, connected to the third voltage output terminal of the step-down module; pin 6 floating; pin 7 floating; pin 8, pin 9. Pin 10, pin 11, pin 12, and pin 13 are connected to the common terminal GND.

FIG. 8 is a circuit principle diagram of the first PWM output unit according to a preferred embodiment of the present invention. As shown in FIG. 8, the first PWM output unit of the first motor drive module 104 includes: a first PWM output chip U8, a diode DL1, Diode DL2, diode DL3, capacitor CL6, capacitor CL8, capacitor CL14, capacitor CL15, resistor RL17, resistor RL23, resistor RL24, resistor RL25, resistor RL26, resistor RL28, wherein the first PWM output chip U8 includes pin 1 to lead Pin 20, of which, pin 1, and the pin 43 of the Bluetooth chip U6 is connected in series with a resistor RL17; pin 2, and the pin 42 of the Bluetooth chip U6 is connected in series with a resistor RL24; and the pin 3 is connected with the Bluetooth chip A resistor RL26 is connected in series between pin 41 of U6; a resistor RL23 is connected in series between pin 4 and pin 36 of Bluetooth chip U6; a resistor RL25 is connected in series between pin 5 and pin 35 of Bluetooth chip U6; Pin 6, a resistor RL28 is connected in series with the pin 34 of the Bluetooth chip U6; pin 7, connected to the first voltage output terminal of the step-down module of the step-down module 106, and a capacitor CL6 is connected in series with the common terminal GND , A diode DL1 is connected in series with pin 14 of the first PWM output chip U8, a diode DL2 is connected in series with pin 17 of the first PWM output chip U8, and a diode DL2 is connected in series with pin 20 of the first PWM output chip U8 There is a diode DL3 in series; pin 8, connected to the common terminal GND; pin 9, pin 10, pin 11, pin 12, pin 13, pin 15, pin 16, pin 18, pin 19 , Connected to the first three-phase full-bridge circuit; pin 14 and pin 12 are connected in series with a capacitor CL15; pin 17, and pin 15 is connected in series with a capacitor CL14; pin 20, and pin 18 A capacitor CL8 is connected in series.

Fig. 9 is a circuit schematic diagram of a first three-phase full bridge circuit according to a preferred embodiment of the present invention. As shown in Fig. 9, the first three-phase full bridge circuit of the first motor drive module 104 includes: a power tube ML1, a power tube ML2, power tube ML3, power tube ML4, power tube ML5, power tube ML6, diode DL4, diode DL5, diode DL6, diode DL7, diode DL8, diode DL9, resistor RL8, resistor RL9, resistor RL10, resistor RL11, resistor RL12 , Resistor RL13, resistor RL14, resistor RL15, resistor RL16, resistor RL18, resistor RL19, resistor RL20, resistor RL21, resistor RL22, capacitor CL3, capacitor CL4, capacitor CL7, capacitor CL8, capacitor CL9, capacitor CL10, capacitor CL11, capacitor CL12, capacitor CL13, where the source of the power tube ML1 is connected to the voltage output terminal of the power supply unit of the battery, and a capacitor CL3 is connected in series between the voltage output terminal of the power supply unit of the battery and the common terminal GND_L, and the drain of the power tube ML1 Connected to the first phase line X1 of the first motor and the pin 18 of the first PWM output chip U8, a resistor RL8 and a diode DL4 are connected in series between the gate of the power tube ML1 and the pin 19 of the first PWM output chip U8 It is connected in anti-parallel to the resistor RL8, and a resistor RL11 and a capacitor CL7 are connected in series between the gate and the drain of the power tube ML1; the source of the power tube ML4 is connected to the first phase line X1, and the gate of the power tube ML4 is connected to the first phase line X1. A resistor RL16 is connected in series between the pin 11 of the first PWM output chip U8, and the diode DL7 is connected in anti-parallel to the resistor RL16. The gate and drain of the power tube ML4 are also connected in series with a resistor RL20 and a capacitor CL11 respectively. A resistor RL14 is also connected in series between the source and drain of the tube ML4; the source of the power tube ML2 is connected to the voltage output terminal of the power supply unit of the battery, and the drain of the power tube ML2 is connected to the second phase line X2 and X2 of the first motor. The pin 15 of the first PWM output chip U8 is connected, a resistor RL19 is connected in series between the gate of the power tube ML2 and the pin 16 of the first PWM output chip U8, and the diode DL5 is connected in anti-parallel to the resistor RL19, and the power tube ML2 A resistor RL12 and a capacitor CL9 are also connected in series between the gate and drain of the ML5; the source of the power tube ML5 is connected to the second phase line X2, and the gate of the power tube ML5 is connected to the pin 10 of the first PWM output chip U8. A resistor RL18 is connected in series with the diode DL8 in anti-parallel connection with the resistor RL18. A resistor RL21 and a capacitor CL12 are connected in series between the gate and drain of the power tube ML5, and the source and drain of the power tube ML5 are also connected in series. A resistor RL15 is connected in series; the source of the power tube ML3 is connected to the voltage output terminal of the power supply unit of the battery, and a capacitor CL4 is connected in series between the voltage output terminal of the power supply unit of the battery and the common terminal GND_L. The third phase line of a motor X3 Connected to pin 12 of the first PWM output chip U8, a resistor RL10 is connected in series between the gate of the power tube ML3 and pin 13 of the first PWM output chip U8, and the diode DL6 is connected in anti-parallel to the resistor RL10, the power tube A resistor RL13 and a capacitor CL10 are also connected in series between the gate and drain of ML3; the source of the power tube ML6 is connected to the third phase line X3, and the gate of the power tube ML6 is connected to the pin 9 of the first PWM output chip U8. A resistor RL19 is connected in series, and a diode DL9 is connected in reverse parallel to the resistor RL19. A resistor RL22 and a capacitor CL13 are connected in series between the gate and drain of the power tube ML6, and between the source and drain of the power tube ML6. A resistor RL37 is also connected in series.

The power tube can be a power switching device such as MOSFET and IGBT.

In the above-mentioned first motor drive module 104, the first PWM output chip U8 is a high-voltage drive chip, which can independently drive three half-bridge MOSFETs. Among them, VB and VS are the high-voltage side power supply; HO is the high-voltage side drive output; COM is the low-voltage side drive power supply, LO is the low-voltage side drive output; VCC is the digital circuit power supply. In each half-bridge circuit, the upper and lower bridge arms are turned on alternately. Taking the half bridge where ML1 and ML4 are located as an example, whenever the lower bridge arm is turned on, the potential of the VS pin when the upper bridge arm is turned off is that of the lower bridge arm power tube ML4. The saturated conduction voltage drop is basically close to the ground potential. At this time, VCC charges the bootstrap capacitor CL8 through the bootstrap diode DL3 to make it close to the VCC voltage. When the low-arm power tube ML4 is turned off, the voltage at the VS terminal will increase. Since the voltage across the capacitor cannot change suddenly, the level of the VB terminal is close to the sum of the voltages at the VS and VCC terminals, while the voltage between VB and VS is still close VCC voltage. When the low-side power tube ML4 is turned on, the bootstrap capacitor CL8 acts as a floating voltage source to drive the low-side power tube ML4; the bootstrap diode DL3 will be replenished in the next cycle when the low-side power tube ML4 is turned on. , This kind of bootstrap power supply is realized by using the level of VS end to swing continuously between high and low levels. Since the bootstrap circuit does not require a floating power supply, it is the cheapest. The bootstrap circuit charges a capacitor, and the voltage on the capacitor fluctuates based on the source voltage of the high-side output transistor. Among them, the bootstrap diode DL3 is an important bootstrap device. It should be able to block the high voltage on the DC mains. The current it bears is the product of the gate charge and the switching frequency. In order to reduce the charge loss, the reverse leakage current should be small For fast recovery diodes, the power supply for the high voltage part of the chip comes from the charge on the bootstrap capacitor CL8; in order to ensure that the high voltage part of the circuit has sufficient energy supply, the size of C2 should be selected appropriately.

In addition, in each half-bridge driving circuit, the resistor connected in series with the gate of the power tube is connected in reverse parallel with a diode for voltage stabilization, so as to protect the gate of the power tube from being broken down. There are resistors and capacitors in series between the gate and drain of the power tube to reduce electromagnetic interference (EMI) and slow down the pulse edge speed. A freewheeling resistor is connected between the source and drain of the power tube to avoid reverse current breakdown of the power tube after the motor stops.

FIG. 10 is a circuit schematic diagram of a first current detection unit according to a preferred embodiment of the present invention. As shown in FIG. 10, the first current detection unit of the first motor drive module 104 includes: a first differential operation chip, a diode DL10, and a diode DL11, resistor RL29, resistor RL30, resistor RL31, resistor RL32, resistor RL33, resistor RL34, resistor RL35, resistor RL36, among which, the first differential operation chip includes pins 1 to 8, among which, pin 1, and Bluetooth The pin 25 of the chip U6 is connected; pin 2, a resistor RL29 is connected in series with pin 1, and a resistor RL31 is connected in series with the common terminal GND_L; pin 3, a resistor RL35 is connected in series with the first phase line X1 , There is a resistor RL33 in series with the third voltage output terminal of the step-down module, and a diode DL10 is connected in series between pin 3 and pin 2; pin 4 is connected to the common terminal GND; pin 5 is connected to the second phase There is a resistor RL36 in series between the line X2, a resistor RL34 in series with the third voltage output terminal of the step-down module, and a diode DL11 in series between pin 5 and pin 6; between pin 6 and the common terminal GND_L A resistor RL32 is connected in series, and a resistor RL30 is connected in series with pin 7; pin 7 is connected to pin 24 of the Bluetooth chip U6; pin 8 is connected to the third voltage output terminal of the step-down module. The first current detection module detects the U-phase and V-phase currents of the three-phase motor and transmits them to the Bluetooth chip.

FIG. 11 is a schematic circuit diagram of a second current detection unit according to a preferred embodiment of the present invention. As shown in FIG. 11, the second current detection unit of the first motor drive module 104 includes: a transistor QL1, a resistor RL1, a resistor RL2, and a resistor RL5. Capacitor CL1, wherein a resistor RL1 is connected in series between the collector of the transistor QL1 and the third voltage output terminal of the buck module, and a resistor RL2 is connected in series between the collector of the transistor QL1 and the pin 33 of the Bluetooth chip U6. The transistor The emitter of QL1 is connected to the common terminal GND, and a capacitor CL1 is connected in series between the emitter of the transistor QL1 and the pin 33 of the Bluetooth chip U6, and a resistor RL5 is connected in series between the base of the transistor QL1 and the common terminal GND_L.

In the second current detection unit shown in Figure 11, if the voltage between the common terminal GND_L and the common terminal GND is zero, the PB12 outputs a high level to the Bluetooth chip; if the voltage of the common terminal GND_L rises, it reaches the transistor QL1 Turn on the voltage, the transistor is turned on, and the level of PB12 is set to low level at this time. The second current detection unit can detect whether the output current is too large, and when the current exceeds a preset range, a signal is sent to the Bluetooth chip, and the hardware cuts off the motor drive signal output by the Bluetooth chip to protect the safety of the system.

FIG. 12 is a circuit principle diagram of a third current detection unit according to a preferred embodiment of the present invention. As shown in FIG. 12, the third current detection unit of the first motor drive module 104 includes: a first differential operator, a resistor RL3, and a resistor RL4, resistor RL6, resistor RL7, capacitor CL2, wherein a resistor RL4 is connected in series between the negative input terminal of the first differential operator and the common terminal GND, and the negative input terminal of the first differential operator is connected to the negative terminal of the first differential operator A resistor RL3 is connected in series between the input terminals, a resistor RL6 is connected in series between the positive input terminal of the first differential operator and the third voltage output terminal of the buck module, and between the positive input terminal of the first differential operator and the common terminal GND_L A resistor RL7 is connected in series, a capacitor CL2 is connected in series between the positive input terminal of the first differential arithmetic unit and the common terminal GND, the ground terminal of the first differential arithmetic unit is connected to the common ground GND, and the power terminal of the first differential arithmetic unit is connected to the buck The third voltage output terminal of the module is connected, and the output terminal of the first differential arithmetic unit is connected to the pin 9 of the Bluetooth chip U6. The third current detection unit detects the total current of the motor, and when the total current exceeds a certain preset range, the output PWM duty cycle signal is adjusted through the Bluetooth chip to reduce the output current and protect the safety of the system.

FIG. 13 is a circuit schematic diagram of a first sampling resistance unit according to a preferred embodiment of the present invention. As shown in FIG. 13, the first sampling resistance unit of the first motor drive module 104 includes a resistor RL27, which is connected to the common terminal GND_L and the common terminal GND_L. Between the terminals GND, the resistor RL27 is a 4 milliohm resistor.

The second motor drive module 105 and the first motor drive module 104 have the same circuit structure.

14 is a schematic circuit diagram of the second PWM output unit according to a preferred embodiment of the present invention. As shown in FIG. 14, the second PWM output unit of the second motor drive module 105 includes: a second PWM output chip U9, diodes DR1, Diode DR2, diode DR3, capacitor CR6, capacitor CR8, capacitor CR14, capacitor CR15, resistor RR17, resistor RR23, resistor RR24, resistor RR25, resistor RR26, resistor RR27, wherein the second PWM output chip U9 includes pin 1 to lead Pin 20, among them, pin 1, connects the resistance RR17 in series with the pin 39 of the bluetooth chip U6; pin 2, connects the resistance RR24 in series with the pin 38 of the bluetooth chip U6; pin 3, connects with the bluetooth chip A resistor RR26 is connected in series between pin 37 of U6; a resistor RR23 is connected in series between pin 4 and pin 27 of Bluetooth chip U6; a resistor RR25 is connected in series between pin 5 and pin 26 of Bluetooth chip U6; Pin 6, a resistor RR27 is connected in series with the pin 23 of the Bluetooth chip U6; pin 7, connected to the second voltage output terminal of the step-down module of the step-down module 106, and a capacitor CR6 is connected in series with the common terminal GND , A diode DR1 is connected in series with pin 14 of the second PWM output chip U9, a diode DR2 is connected in series with pin 17 of the second PWM output chip U9, and a diode DR2 is connected in series with pin 20 of the second PWM output chip U9 There is a diode DR3 in series; pin 8, connected to the common terminal GND; pin 9, pin 10, pin 11, pin 12, pin 13, pin 15, pin 16, pin 18, pin 19 , Connected to the second three-phase full-bridge unit; pin 14 and pin 12 are connected in series with a capacitor CR15; pin 17, and pin 15 is connected in series with a capacitor CR14; pin 20, and pin 18 A capacitor CR8 is connected in series.

FIG. 15 is a circuit schematic diagram of a second three-phase full-bridge unit according to a preferred embodiment of the present invention. As shown in FIG. 15, the second three-phase full-bridge unit of the second motor drive module 105 includes: a power tube MR1, a power tube MR2, power tube MR3, power tube MR4, power tube MR5, power tube MR6, diode DR4, diode DR5, diode DR6, diode DR7, diode DR8, diode DR9, resistor RR8, resistor RR9, resistor RR10, resistor RR11, resistor RR12 , Resistor RR13, resistor RR14, resistor RR15, resistor RR16, resistor RR18, resistor RR19, resistor RR20, resistor RR21, resistor RR22, capacitor CR3, capacitor CR5, capacitor CR7, capacitor CR8, capacitor CR9, capacitor CR10, capacitor CR11, capacitor CR12, capacitor CR13, where the source of the power tube MR1 is connected to the voltage output terminal of the power supply unit of the battery, and a capacitor CR3 is connected in series between the voltage output terminal of the power supply unit of the battery and the common terminal GND_R, and the drain of the power tube MR1 Connected to the first phase line X1 of the second motor and the pin 18 of the second PWM output chip U9. A resistor RR8 and a diode DR4 are connected in series between the gate of the power tube MR1 and the pin 19 of the second PWM output chip U9. It is connected in anti-parallel to the resistor RR8, and a resistor RR11 and a capacitor CR7 are connected in series between the gate and drain of the power tube MR1; the source of the power tube MR4 is connected to the first phase line X1, and the gate of the power tube MR4 is connected to the first phase line X1. A resistor RR16 is connected in series between the pin 11 of the second PWM output chip U9, and the diode DR7 is connected in anti-parallel to the resistor RR16. The gate and drain of the power tube MR4 are also connected in series with a resistor RR20 and a capacitor CR11, respectively. A resistor RR14 is connected in series between the source and drain of the tube MR4; the source of the power tube MR2 is connected to the voltage output terminal of the battery's power supply unit, and the drain of the power tube MR2 is connected to the second phase line X2 of the second motor The pin 15 of the second PWM output chip U9 is connected. A resistor RR19 is connected in series between the gate of the power tube MR2 and the pin 16 of the second PWM output chip U9, and the diode DR5 is connected in anti-parallel to the resistor RR19, and the power tube MR2 A resistor RR12 and a capacitor CR9 are connected in series between the gate and drain respectively; the source of the power tube MR5 is connected to the second phase line X2, and the gate of the power tube MR5 is connected to the pin 10 of the second PWM output chip U9. A resistor RR18 is connected in series with the diode DR8 in reverse parallel connection with the resistor RR18. A resistor RR21 and a capacitor CR12 are connected in series between the gate and drain of the power tube MR5. The source and drain of the power tube MR5 are also connected in series. A resistor RR15 is connected in series; the source of the power tube MR3 is connected to the voltage output terminal of the battery power supply unit, and a capacitor CR4 is connected in series between the voltage output terminal of the battery power supply unit and the common terminal GND_R. The third phase line of the second motor X3 is connected to pin 12 of the second PWM output chip U9. A resistor RR10 is connected in series between the gate of the power tube MR3 and pin 13 of the second PWM output chip U9, and the diode DR6 is connected in anti-parallel to the resistor RR10. A resistor RR13 and a capacitor CR10 are connected in series between the gate and drain of the tube MR3; the source of the power tube MR6 is connected to the third phase line X3, and the gate of the power tube MR6 is connected to the pin of the second PWM output chip U9 A resistor RR19 is connected in series between 9 and a diode DR9 is connected in anti-parallel to the resistor RR19. A resistor RR22 and a capacitor CR13 are connected in series between the gate and drain of the power tube MR6. The source and drain of the power tube MR6 are connected in series. There is also a resistor RR37 in series between.

FIG. 16 is a circuit schematic diagram of a fourth current detection unit according to a preferred embodiment of the present invention. As shown in FIG. 16, the fourth current detection unit of the second motor drive module 105 includes: a second differential operation chip, a diode DR10, and a diode DR11, resistor RR29, resistor RR30, resistor RR31, resistor RR32, resistor RR33, resistor RR34, resistor RR35, resistor RR36. Among them, the second differential arithmetic chip includes pin 1 to pin 8. Among them, pin 1, and Bluetooth The pin 14 of the chip U6 is connected; pin 2, a resistor RR29 is connected in series with pin 1, and a resistor RR31 is connected in series with the common terminal GND_R; pin 3, a resistor RR35 is connected in series with the first phase line X1 , There is a resistor RR33 in series with the third voltage output terminal of the step-down module, and a diode DR10 is connected in series between pin 3 and pin 2; pin 4 is connected to the common terminal GND; pin 5 is connected to the second phase There is a resistor RR36 in series between the line X2 and a resistor RR34 in series with the third voltage output terminal of the step-down module. A diode DR11 is connected in series between the pin 5 and the pin 6; between the pin 6 and the common terminal GND_R A resistor RR32 is connected in series, and a resistor RR30 is connected in series with pin 7; pin 7 is connected to pin 11 of the Bluetooth chip U6; pin 8 is connected to the third voltage output terminal of the step-down module.

FIG. 17 is a circuit principle diagram of a fifth current detection unit according to a preferred embodiment of the present invention. As shown in FIG. 17, the fifth current detection unit of the second motor drive module 105 includes: a transistor QR1, a resistor RR1, a resistor RR2, and a resistor RR5. Capacitor CR1. Among them, a resistor RR1 is connected in series between the collector of the transistor QR1 and the third voltage output terminal of the buck module, and a resistor RR2 is connected in series between the collector of the transistor QR1 and the pin 22 of the Bluetooth chip U6. The emitter of QR1 is connected to the common terminal GND, and a capacitor CR1 is connected in series between the emitter of the transistor QR1 and the pin 22 of the Bluetooth chip U6, and a resistor RR5 is connected in series between the base of the transistor QR1 and the common terminal GND_R.

FIG. 18 is a circuit principle diagram of a sixth current detection unit according to a preferred embodiment of the present invention. As shown in FIG. 18, the sixth current detection unit of the second motor drive module 105 includes: a second differential arithmetic unit, a resistor RR3, and a resistor RR4, resistor RR6, resistor RR7, capacitor CR2, wherein a resistor RR4 is connected in series between the negative input terminal of the second differential operator and the common terminal GND, and the negative input terminal of the second differential operator is connected to the negative terminal of the second differential operator A resistor RR3 is connected in series between the input terminals, a resistor RR6 is connected in series between the positive input terminal of the second differential operator and the third voltage output terminal of the buck module, and between the positive input terminal of the second differential operator and the common terminal GND_R A resistor RR7 is connected in series, a capacitor CR2 is connected in series between the positive input terminal of the second differential operator and the common terminal GND, the ground terminal of the second differential operator is connected to the common ground GND, and the power terminal of the second differential operator is connected to the buck The third voltage output terminal of the module is connected, and the output terminal of the second differential arithmetic unit is connected to pin 8 of the Bluetooth chip U6.

FIG. 19 is a circuit schematic diagram of the second sampling resistance unit according to a preferred embodiment of the present invention. As shown in FIG. 19, the second sampling resistance unit of the second motor drive module 105 includes a resistor RR28, which is connected to the common terminal GND_R and the common terminal GND_R. Between the terminals GND, the resistor RR28 is a 4 milliohm resistor.

20 is a circuit schematic diagram of a power supply unit according to a preferred embodiment of the present invention. As shown in FIG. 20, the power supply unit of the step-down module 106 includes: socket P17, socket P18, capacitor C37, capacitor C38, capacitor C39, capacitor C40, Among them, the capacitor C37, the capacitor C38, the capacitor C39, and the capacitor C40 are respectively connected between the socket P17 and the socket P18, and the socket P18 is connected to the common terminal GND;

FIG. 21 is a schematic circuit diagram of a first step-down unit according to a preferred embodiment of the present invention. As shown in FIG. 21, the first step-down unit of the step-down module 106 includes: a power MOSFET chip U10, a first step-down chip U11, Resistor R66, resistor R68, resistor R71, resistor R73, resistor R60, resistor R63, resistor R57, resistor R54, resistor R53, resistor R52, resistor R55, resistor R58, resistor R59, resistor R62, resistor R56, capacitor C54, capacitor C46 , Capacitor C36, Capacitor C41, Capacitor C42, Capacitor C43, Capacitor C45, Capacitor C44, Inductor L3, Diode DZ1, Diode D6, Diode D7, Diode D4, Diode D3, Diode D5, Transistor Q9, Power Tube Q8, Switch Interface P19 ,among them,

The power MOSFET chip U10 includes pin 1, pin 2 and pin 3. Among them, pin 1 is connected in series with the voltage output terminal of the battery's power supply unit, and there is a resistor R56 in series with the collector of the transistor Q9. R57, the emitter of the transistor Q9 is connected to the common terminal GND, a resistor R63 and a capacitor R46 are respectively connected in series between the base and the emitter of the transistor Q9; a resistor R53 and a resistor are connected in series between the pin 2, and the common terminal GND in sequence A capacitor C41 is connected in series between R54 and the common terminal GND. The connection node of the resistor R53 and the resistor R54 is connected to the pin 10 of the Bluetooth chip U6, and the connection node of the resistor R53 and the resistor R54 is connected in series with the common terminal GND. Capacitor C36; Pin 3 is connected to the voltage output terminal of the battery's power supply unit, and a diode D4 is connected in series with the charging terminal BAT_Charge;

The switch interface P19 includes pin 1 and pin 2. Among them, a diode D6 and a resistor R60 are connected in series between the pin 1 and the base of the transistor Q9, and a resistor R71 and a capacitor C54 are connected in series with the common terminal GND. And the connection node of the resistor R71 and the capacitor C54 is connected to the pin 40 of the Bluetooth chip U6, a resistor R68 is connected in series with the common terminal GND, and a reverse bias diode DZ1, a diode D6 and a resistor R60 are connected in parallel to the resistor R68 A reverse-biased diode D7 and a resistor R73 are connected in series between the connection node and the common terminal GND. The connection node of the reverse-biased diode D7 and the resistor R73 is connected to the pin 28 of the Bluetooth chip U6; pin 2, A resistor R66 is connected in series with the voltage output terminal of the power supply unit of the battery;

The first step-down chip U11 includes pins 1 to 8, wherein a resistor R52 is connected in series between the pin 1 and the power tube Q8, and is connected in series with the first voltage output terminal of the step-down module of the step-down module 106 There is a reverse bias diode D3, a capacitor C42 and an inductor L3 are connected in series with the first voltage output terminal of the step-down module; pin 2, a resistor R55 is connected in series with the first voltage output terminal of the step-down module, A capacitor C43 and a resistor R58 are connected in series with the connection node of the capacitor C42 and the inductor L3 respectively; pin 3 is floating; pin 4, a resistor R59 is connected in series with the connection node of the capacitor C42 and the inductor L3, and the power tube The source of Q8 is connected; pin 5 is connected to the gate of the power tube Q8; pins 6 and 7 are floating; pin 8 is connected to the connection node of the capacitor C42 and the inductor L3; the capacitor C42 and the inductor L3 A reverse bias diode D5 is also connected in series between the connection node and the common terminal GND, and a capacitor C45, a capacitor C44, and a resistor R62 are also connected in series between the first voltage output terminal of the step-down module and the common terminal GND, respectively;

FIG. 22 is a schematic circuit diagram of a second step-down unit according to a preferred embodiment of the present invention. As shown in FIG. 22, the second step-down unit 106 of the step-down module 106 includes: a second step-down chip U12, a resistor R65, and a resistor R69, resistor R67, resistor R70, resistor R64, capacitor C50, capacitor C47, capacitor C53, capacitor C48, capacitor C49, inductor L7, where the second step-down chip U12 includes pins 1 to 6, where pins 1. A capacitor C47 and an inductor L4 are connected in series with the second voltage output terminal of the step-down module; pin 2 is connected to the common terminal GND; pin 3 is connected in series with the common terminal GND with a resistor R70, and A resistor R67 and a capacitor C48 are respectively connected in series between the second voltage output terminal of the voltage module; a resistor R65 is connected in series with the first voltage output terminal of the buck module, and a resistor R65 is connected in series with the common terminal GND. R69 and capacitor C53; Pin 5 is connected to the first voltage output terminal of the step-down module, and a capacitor C50 is connected in series with the common terminal GND; Pin 6 is connected to the connection node of capacitor C47 and inductor L4; A capacitor C49 is also connected in series between the second voltage output terminal and the common terminal of the module, and a resistor R64 is also connected in series with the second voltage output terminal of the step-down module, and the resistor R64 is a zero-ohm resistor;

FIG. 23 is a circuit schematic diagram of a third step-down unit according to a preferred embodiment of the present invention. As shown in FIG. 23, the third step-down unit of the step-down module 106 includes: a third step-down chip U13, a resistor R72, and a capacitor C55 , Capacitor C56, of which,

The third step-down chip U13 includes pins 1 to 4, wherein pin 1 is connected to the common terminal GND; pin 2 is connected to the third voltage output terminal of the step-down module; pin 3 is connected to the step-down module The second voltage output terminal of the module is connected; a capacitor C55 is connected in series between the second voltage output terminal of the step-down module and the common terminal GND, and a capacitor C56 is connected in series between the third voltage output terminal of the step-down module and the common terminal GND. A resistor R72 is connected in series between the third voltage output terminal and the fourth output terminal of the step-down module.

FIG. 24 is a schematic circuit diagram of a first photoelectric switch interface unit according to a preferred embodiment of the present invention. As shown in FIG. 24, the first photoelectric switch interface unit of the external interface module 107 includes: a first photoelectric switch interface P3, a resistor R12, Capacitor C12,

Among them, the first photoelectric switch interface P3 includes pin 1, pin 2, and pin 3. Among them, pin 1 is connected to the third voltage output terminal of the step-down module; pin 2 is connected to the common terminal GND; Pin 3 is connected to pin 58 of the Bluetooth chip U6, and a resistor R12 and a capacitor C12 are connected in series with the common terminal GND;

FIG. 25 is a schematic circuit diagram of a second photoelectric switch interface unit according to a preferred embodiment of the present invention. As shown in FIG. 25, the second photoelectric switch interface unit of the external interface module 107 includes: a second photoelectric switch interface P7, a resistor R15, Capacitor C15,

Among them, the second photoelectric switch interface P7 includes pin 1, pin 2, and pin 3. Among them, pin 1 is connected to the third voltage output terminal of the step-down module; pin 2 is connected to the common terminal GND; Pin 3 is connected to pin 54 of the Bluetooth chip U6, and a resistor R15 and a capacitor C15 are connected in series with the common terminal GND.

Fig. 26 is a schematic circuit diagram of a steering sensor interface unit according to a preferred embodiment of the present invention. As shown in Fig. 26, the steering sensor interface unit includes: steering sensor interface P10, resistor R23, capacitor C16, and capacitor C17, wherein the steering sensor interface P10 includes pin 1, pin 2, and pin 3. Among them, pin 1 is connected to the third voltage output terminal of the step-down module, and a capacitor C16 is connected in series with the common terminal GND; pin 2, and the common terminal GND connection; a resistor R23 is connected in series with the pin 15 of the Bluetooth chip U6, and a capacitor C17 is connected in series with the common terminal GND.

Figure 27 is a circuit schematic diagram of a turn signal interface unit according to a preferred embodiment of the present invention. As shown in Figure 27, the turn signal interface unit includes: a first turn signal interface P5, a second turn signal interface P8, a resistor R16, and a resistor R17 , Resistor R26, Resistor R27, Resistor R21, LED DS2, Transistor Q1, Transistor Q2, among them,

The first turn signal interface P5 includes pin 1, pin 2, and pin 3. Among them, pin 1 is connected to the collector of diode Q2 with a resistor R17 in series; pin 2 is connected to pin 1; 3. Connect with the first voltage output terminal of the step-down module;

The second turn signal interface P8 includes pin 1, pin 2, and pin 3. Among them, pin 1 is connected to the collector of diode Q1 with resistor R16 in series; pin 2 is connected to pin 1; 3. Connect to the first voltage output terminal of the step-down module; the emitter of the transistor Q1 is connected to the common terminal GND, the base of the transistor Q1 and the pin 50 of the Bluetooth chip U6 are connected in series with a resistor R26 and the emitter of the transistor Q2 Connected to the common terminal GND, the base of the transistor Q2 and the common terminal GND are connected in series with a resistor R27, a resistor R21, and a light emitting diode DS2 in sequence. The connection node of the resistor R27 and the resistor R21 is connected to the pin 44 of the Bluetooth chip U6.

Fig. 28 is a schematic circuit diagram of a fault light interface unit according to a preferred embodiment of the present invention. As shown in Fig. 28, the fault light interface unit includes: a fault light interface P9, a resistor R19, a resistor R20, a resistor R24, a resistor R25, and a transistor Q4 , Transistor Q5, where the fault light interface P9 includes pin 1, pin 2, pin 3, and pin 4. Among them, there is a resistor R20 in series between pin 1, and the collector of transistor Q5; pin 2, A resistor R19 is connected in series with the collector of the transistor Q4; pin 3 is suspended; pin 4 is connected to the first voltage output terminal of the step-down module; the emitter of the transistor Q4 is connected to the common terminal GND, and the base of the transistor Q4 A resistor R24 is connected in series with the pin 5 of the Bluetooth chip U6, the emitter of the transistor Q5 is connected to the common terminal GND, and a resistor R25 is connected in series between the base of the transistor Q5 and the pin 6 of the Bluetooth chip U6.

Figure 29 is a schematic circuit diagram of the first secondary board communication interface unit according to a preferred embodiment of the present invention. As shown in Figure 29, the first secondary board communication interface unit includes: a first secondary board communication interface P4, a resistor R10, and a resistor R11 , Resistor R13, Resistor R14, Capacitor C13, Capacitor C14, wherein the first sub-board communication interface P4 includes pins 1 to 7, wherein pin 1 is connected to the first voltage output terminal of the step-down module; lead Pin 2, there is a resistor R10 in series with the pin 29 of the Bluetooth chip U6; Pin 3, there is a resistor R11 in series with the pin 30 of the Bluetooth chip U6; Pin 4, connected to the common terminal GND; Pin 5 A resistor R13 and a capacitor C14 are connected in series with the common terminal GND. The connection node of the resistor R13 and the capacitor C14 is connected to the pin 21 of the Bluetooth chip U6; the pin 6 and the common terminal GND are sequentially connected in series with a resistor R14 The connection node of the capacitor C13, the resistor R14 and the capacitor C13 is connected to the pin 20 of the Bluetooth chip U6; the pin 7 is connected to the second voltage output terminal of the step-down module.

FIG. 30 is a schematic circuit diagram of a second slave board communication interface unit according to a preferred embodiment of the present invention. As shown in FIG. 30, the second slave board communication interface unit includes: a second slave board communication interface P20, a resistor R61, and a resistor R76 , Resistor R77, wherein the second sub-board communication interface P20 includes pins 1 to 5, among which, pin 1 is connected in series with pin 53 of the Bluetooth chip U6 with a resistor R61; pin 2 is connected to the common terminal GND connection; pin 3, there is a resistor R76 in series with the pin 62 of the Bluetooth chip U6; pin 4, there is a resistor R77 in series with the pin 61 of the Bluetooth chip U6; pin 5, with the buck module The second voltage output terminal is connected.

The first sub-board interface and the second sub-board interface can be connected to the sub-control board, and can also be connected to additional modules such as a display board.

FIG. 31 is a schematic circuit diagram of a program burning device interface unit according to a preferred embodiment of the present invention. As shown in FIG. 31, the program burning device interface unit includes: a program burning device interface P11, wherein the program burning device interface P11 It includes pin 1, pin 2, pin 3 and pin 4. Among them, pin 1 is connected to the third voltage output terminal of the step-down module; pin 2 is connected to pin 49 of the Bluetooth chip U6; Pin 3 is connected to the common terminal GND; Pin 4 is connected to pin 46 of the Bluetooth chip U6.

Fig. 32 is a circuit principle diagram of a rotation speed detection interface unit according to a preferred embodiment of the present invention. As shown in Fig. 32, the rotation speed detection interface unit includes: a first rotation speed detection interface P13, a second rotation speed detection interface P16, a diode D2, and a resistor R35 , Resistor R36, resistor R37, resistor R39, resistor R40, resistor R41, resistor R46, resistor R47, resistor R48, resistor R49, resistor R50, resistor R51, capacitor C23, capacitor C24, capacitor C25, capacitor C28, capacitor C29, capacitor C30, where

The first rotational speed detection interface P13 includes pins 1 to 5, wherein a diode D2 is connected in series between pin 1 and the second voltage output terminal of the step-down module; pin 2 is connected to the third voltage of the step-down module A resistor R35 is connected in series between the output terminals, and a resistor R39 and a capacitor C25 are connected in series with the common terminal GND. The connection node of the resistor R39 and the capacitor C25 is connected to the pin 4 of the Bluetooth chip U6; pin 3 is connected to the buck A resistor R36 is connected in series between the third voltage output terminal of the module, and a resistor R40 and a capacitor C24 are connected in series with the common terminal GND. The connection node of the resistor R40 and the capacitor C24 is connected to the pin 3 of the Bluetooth chip U6; 4. A resistor R37 is connected in series with the third voltage output terminal of the step-down module, and a resistor R41, a capacitor C23 are connected in series with the common terminal GND, the connection node of the resistor R41 and the capacitor C23 and the pin of the Bluetooth chip U6 2 connection;

The second speed detection interface P16 includes pins 1 to 5, among which, pin 1 is connected in series with the second voltage output terminal of the step-down module with a diode D2; pin 2 is connected to the third voltage of the step-down module A resistor R46 is connected in series between the output terminals, and a resistor R49 and a capacitor C30 are connected in series with the common terminal GND. The connection node of the resistor R49 and the capacitor C30 is connected to the pin 53 of the Bluetooth chip U6; pin 3 is connected to the buck A resistor R47 is connected in series between the third voltage output terminal of the module, and a resistor R50 and a capacitor C29 are connected in series with the common terminal GND. The connection node of the resistor R50 and the capacitor C29 is connected to the pin 52 of the Bluetooth chip U6; 4. There is a resistor R48 in series with the third voltage output terminal of the step-down module, and a resistor R51, a capacitor C28 in series with the common terminal GND, and the connection node of the resistor R51 and the capacitor C28 and the pin of the Bluetooth chip U6 51 connections.

Fig. 33 is a circuit schematic diagram of an RGB lamp interface unit according to a preferred embodiment of the present invention. As shown in Fig. 33, the RGB lamp interface unit includes: a first RBG lamp interface P12, a second RGB lamp interface P14, a resistor R34, and a resistor R38 , Capacitor C22, among them,

The first RGB light interface P12 includes pin 1, pin 2, and pin 3. Among them, pin 1 is connected to the second voltage output terminal of the step-down module, and a capacitor C22 is connected in series with the common terminal GND; 2. A resistor R34 is connected in series with pin 1, and a resistor R38 is connected in series with pin 57 of the Bluetooth chip U6; pin 3 is connected to the common terminal GND;

The second RGB light interface P14 includes pin 1, pin 2, and pin 3. Among them, pin 1 is connected to pin 1 of the first RGB light interface P14; pin 2 is connected to the first RGB light interface P14. Pin 2 is connected; pin 3 is connected to the common terminal GND.

Fig. 34 is a circuit schematic diagram of a charging interface unit according to a preferred embodiment of the present invention. As shown in Fig. 34, the charging interface unit includes: a charging interface P15, a resistor R43, a resistor R44, a resistor R45, a transistor Q7, and a capacitor C27. The charging interface P15 includes pin 1, pin 2, pin 3, and pin 4. Among them, pin 1, a resistor R45 is connected in series with the common terminal GND, and a resistor R43 and a resistor are connected in series with the common terminal GND. R44, connected to the charging terminal BAT_Charge; pin 2, connected to pin 1; pin 3, pin 4, connected to the common terminal GND; the connection node of the resistor R43 and the resistor R44 is connected to the base of the transistor Q7, the transistor The collector of Q7 is connected to the pin 45 of the Bluetooth chip U6, which is used to transmit the charging signal and detect whether it is charging. The emitter of the transistor Q7 is connected to the common terminal GND, and the collector of the transistor Q7 is one of the emitter of the transistor Q7. A capacitor C27 is connected in series. Transistor Q7 is used to transmit the charge detection signal to detect whether it is charging.

Fig. 35 is a circuit schematic diagram of a buzzer module according to a preferred embodiment of the present invention. As shown in Fig. 35, the buzzer module includes: a buzzer, a diode D1, a transistor Q6, a resistor R31, and a resistor R30. One end of the buzzer is connected to the first voltage output terminal of the step-down module, the other end of the buzzer is connected to the collector of the transistor Q6, and a reverse bias diode D1 and a transistor are connected in series between one end and the other end of the buzzer. The emitter of Q6 is connected to the common terminal GND, a resistor R31 is connected in series between the base of the transistor Q6 and the common terminal GND, and a resistor R30 is connected in series between the base of the transistor Q6 and the pin 59 of the Bluetooth chip U6.

FIG. 36 is a schematic circuit diagram of a Bluetooth power-on indicator module according to a preferred embodiment of the present invention. As shown in FIG. 36, the Bluetooth power-on indicator module includes: a light-emitting diode DS1 and a resistor R9, wherein the anode of the light-emitting diode DS1 is connected to the voltage drop The fourth voltage output terminal of the module is connected, and a resistor R9 is connected in series between the cathode of the light emitting diode DS1 and the pin of the Bluetooth chip U6.

In this embodiment, a balance car is also provided, which includes the aforementioned balance car control system.

The circuits and modules in the above embodiments can be integrated on the same circuit board, or can be divided into different circuit boards to be set up according to requirements, for example, the motor drive module can be set separately for the circuit board to communicate with the main board, or the attitude sensor can also be set separately A circuit board communicates with the main board.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered as the range described in this specification.

The above-mentioned embodiments only express several implementation manners of the present application, and their description is relatively specific and detailed, but they should not be understood as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can be made, and these all fall within the protection scope of this application. Therefore, the scope of protection of the patent of this application shall be subject to the appended claims.

Claims

A balance car control system, which is characterized by comprising: a main board, and a Bluetooth module, an attitude sensor module, a first motor drive module, a second motor drive module, a voltage reduction module, and an external interface module arranged on the main board; ,

The attitude sensor module is connected to the Bluetooth module, and the attitude sensor module is used to generate a detection signal according to the attitude of the balance car;

The Bluetooth module is used to receive and send communication signals, and to receive and process audio signals;

The Bluetooth module is configured to control the first motor drive module and the second motor drive module according to the detection signal;

The first motor drive module is connected to the Bluetooth module, and is used to control the rotation speed and steering of the first motor;

The second motor drive module is connected to the Bluetooth module, and is used to control the rotation speed and direction of the second motor;

The input end of the step-down module is connected to the battery, and the output end is respectively connected to the Bluetooth module, the attitude sensor module, the first motor drive module, the second motor drive module, and the external interface module, The step-down module is used to convert the output voltage of the battery into the work required by the Bluetooth module, the attitude sensor module, the first motor drive module, the second motor drive module, and the external interface module Voltage.
The balance car control system according to claim 1, wherein the Bluetooth module comprises: a data transmission unit, an antenna, an audio transmission unit and a data processing unit; wherein,

The data transmission unit is used to receive control signal data of external Bluetooth;

The audio transmission unit is used to receive an audio signal from an external Bluetooth device;

The data processing unit is used to calculate and process input data and output control signals.
The balance car control system according to claim 1, wherein:

The first motor drive module includes: a first PWM output unit and a first three-phase full-bridge drive unit; wherein, the first PWM output unit is respectively connected to the first three-phase full-bridge drive unit and the Bluetooth module , And the output terminal of the step-down module is connected; the first three-phase full-bridge drive unit is respectively connected with the output terminal of the battery and the first motor;

The second motor drive module includes: a second PWM output unit and a second three-phase full-bridge drive unit; wherein, the second PWM output unit is respectively connected to the second three-phase full-bridge drive unit and the Bluetooth module , And the output terminal of the step-down module is connected; the second three-phase full-bridge drive unit is respectively connected with the output terminal of the battery and the second motor.
The balance car control system according to claim 3, characterized in that:

The first motor drive module further includes at least one of the following: a first current detection unit, a second current detection unit, a third current detection unit, and a first sampling resistance unit;

The second motor drive module further includes at least one of the following: a fourth current detection unit, a fifth current detection unit, a sixth current detection unit, and a second sampling resistance unit.
The balance car control system according to claim 1, wherein the step-down module comprises: a power supply unit, a first step-down unit, a second step-down unit, and a third step-down unit; wherein,

The voltage input end of the power supply unit is connected to the battery, the voltage output end of the power supply unit is connected to the voltage input end of the first step-down unit, and the voltage output end of the first step-down unit is connected to the The voltage input end of the second step-down unit is connected, and the voltage output end of the second step-down unit is connected to the voltage input end of the third step-down unit.
The balance vehicle control system according to claim 1, wherein the external interface module comprises at least one of the following: a first photoelectric switch interface unit, a second photoelectric switch interface unit, a steering sensor interface unit, and a turn signal interface unit , Fault light interface unit, first sub-board communication interface unit, second sub-board communication interface unit, program burning device interface unit, speed detection interface unit, RGB light interface unit, and charging interface unit.
The balance car control system according to claim 1, wherein at least one of the following circuits is further provided on the main board: a buzzer module and a Bluetooth power-on indication module; wherein,

The buzzer module is connected to the Bluetooth module;

The Bluetooth power-on indication module is connected to the Bluetooth module.
The balance car control system according to claim 1, wherein the Bluetooth module includes: a Bluetooth chip U6, a resistor R32, a resistor R33, a resistor R42, a capacitor C26, and a capacitor C31, and the Bluetooth chip U6 includes pins 1 to 64 , Pin 1, pin 13, pin 32, pin 19, pin 48, pin 64, connected to the third voltage output terminal of the step-down module; pin 12, pin 18, pin 31, pin Pin 47 and pin 63 are connected to the common terminal GND; pin 7, a resistor R42 is connected in series with the third voltage output terminal of the step-down module, and a capacitor C26 is connected in series with the common terminal GND; pin 41, lead Pin 42, Pin 43, Pin 33, Pin 34, Pin 35, Pin 36, Pin 9, Pin 24, Pin 25 are connected to the first motor drive module; Pin 14, Pin 22 , Pin 23, pin 26, pin 27, pin 8, pin 11, pin 37, pin 38, pin 39, connected to the second motor drive module; pin 61, pin 62, and Attitude sensor module connection; pin 28, pin 10, pin 40, connected to the step-down module; pin 59, connected to the buzzer module; pin 44, pin 50, pin 20, pin 21, Pin 29, Pin 30, Pin 5, Pin 6, Pin 54, Pin 58, Pin 2, Pin 3, Pin 4, Pin 51, Pin 52, Pin 53, Pin 57. Pin 46, pin 49, and pin 45 are connected to the external interface module.
The balance car control system according to any one of claims 1 to 8, characterized in that it can be integrated on the same circuit board.
A balance car, characterized by comprising the balance car control system according to any one of claims 1 to 8.