CN101483404B - Intelligent motor controller - Google Patents
Intelligent motor controller Download PDFInfo
- Publication number
- CN101483404B CN101483404B CN2008100651863A CN200810065186A CN101483404B CN 101483404 B CN101483404 B CN 101483404B CN 2008100651863 A CN2008100651863 A CN 2008100651863A CN 200810065186 A CN200810065186 A CN 200810065186A CN 101483404 B CN101483404 B CN 101483404B
- Authority
- CN
- China
- Prior art keywords
- circuit
- microcontroller
- motor
- accelerator
- fail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention discloses an intelligent machine controller which is used to control an electric motor comprising power supply, a microcontroller, an accelerator, a power field effect tube and an electric relay, wherein the electric relay is coupled between the power supply and the electric motor and is used to provide power-off protection to the electric motor; the accelerator couples with the microcontroller and is used to provide external control signal to the microcontroller; the power field effect tube is coupled between the electric motor and the microcontroller, and is used to control operation of the electric motor, it also comprises a power field effect tube fail protective circuit, a microcontroller fail protective circuit, a electric relay fail protective circuit and a accelerator fail protective circuit, wherein the power field effect tube fail protective circuit, a microcontroller fail protective circuit, a electric relay fail protective circuit and a accelerator fail protective circuit couples with the microcontroller and is respectively used to provide protection to fail of the power field effect tube, the microcontroller, the electric relay and the accelerator. The present invention is provided with more secure usage and more reliable performance.
Description
Technical field
The present invention relates to a kind of controller, relate in particular to a kind of intelligent motor controller.
Background technology
Electric machine controller in the existing market for example is applied in the electric machine controller in the electric motor car, mainly is to be pulse-width modulation (Pulse Width Modulation the is called for short PWM) device of core with TL494, designs and produces motor-driven and speed control.Above-mentioned design can control effectively to motor, stable performance.
Yet the electronic devices and components of electronic product etc. all have certain designed life, and simultaneously, some device is because quality factor own and external factor also may cause damaging, and this just makes that losing efficacy may appear in electric machine controller, has brought potential safety hazard to electric motor car.Particularly as toy for children, electric motor car product safe in utilization particularly important should guarantee that driving (driving refers to that car is not subjected to artificial control, and motor gyrates) all can not appear in electric machine controller under any failure mode.
Although the measure that also exists some that electric machine controller is protected in the prior art.Yet these safeguard measures have mostly just been considered the influence of power device, its safeguard measure and imperfection, thereby can not eliminate the potential safety hazard of electric machine controller fully.
Summary of the invention
In view of this, technical problem to be solved by this invention is: a kind of intelligent motor controller is provided, can protects electric machine controller in all directions, make that the use of electric machine controller is safer, performance is more reliable.
In order to solve the problems of the technologies described above, the present invention has adopted following technical scheme:
A kind of intelligent motor controller is used for motor is controlled, and comprises power supply, microcontroller, accelerator, power field effect pipe and relay, and described relay is coupling between power supply and the motor, is used for providing power-off protection to motor; Described accelerator and the coupling of described microcontroller are used for extraneous control signal is offered described microcontroller; Described power field effect pipe is coupling between motor and the microcontroller; be used to control the operation of motor; also comprise power field effect pipe fail-safe circuit, microcontroller fail-safe circuit, relay fail-safe circuit and accelerator fail-safe circuit; described power field effect pipe fail-safe circuit, microcontroller fail-safe circuit, relay fail-safe circuit and accelerator fail-safe circuit all are coupled with microcontroller, and the inefficacy that is respectively applied for power field effect pipe, microcontroller, relay and accelerator provides protection.
Described power field effect pipe fail-safe circuit comprises the 10th triode and the 10th transistor drive circuit; described the 10th transistor base is coupled to the pulse-width modulation output of described microcontroller through described the 10th transistor drive circuit; collector coupled is to described relay; and according to the corresponding conducting of pulse-width modulation output valve of microcontroller or end, control described relay adhesive or disconnection.
Described the 10th transistor drive circuit comprises first electric capacity, second electric capacity, first resistance, second resistance, the 3rd resistance and first diode; Described first electric capacity, one end is connected to the pulse-width modulation output of described microcontroller, the other end is connected to described the 10th transistor base through described first resistance and second resistance successively, described first diode reverse is connected between described first electric capacity and the first resistance tie point and described the 10th transistor emitter, and described the 3rd resistance and second electric capacity are connected in parallel between described first resistance and the second resistance tie point and described the 10th transistor emitter.
Described microcontroller fail-safe circuit comprises reference voltage generating circuit, voltage comparator circuit and the 9th triode; one input of described voltage comparator circuit and the output of described accelerator coupling; another input links to each other with described reference voltage generating circuit; output is coupled to described the 9th transistor base; described the 9th transistor collector is coupled to described relay; described voltage comparator circuit is according to the output voltage of described accelerator and the comparative result of reference voltage; drive described the 9th triode conducting or end, control described relay adhesive or disconnection.
Described relay fail-safe circuit comprises relay fault detecting circuit, and microcontroller detects relay generation contact short at described relay fault detecting circuit, stops output motor operation control signal.
Described accelerator fail-safe circuit comprises the accelerator output voltage detecting circuit, and microcontroller detects the accelerator output voltage at described accelerator output voltage detecting circuit and exceeds normal range (NR), stops output motor operation control signal.
Described intelligent motor controller, also comprise the electric motor starting adjustment module, described electric motor starting adjustment module control motor starts acceleration in the preceding time period of start-up time with first and starts, start acceleration in the back time period of start-up time with second and start, described first starts acceleration starts acceleration greater than second.
Described intelligent motor controller, also comprise current sampling circuit, described current sampling circuit and microcontroller coupling, described current sampling circuit is used to judge whether motor is operated in stall pattern, first stream mode or the second mistake stream mode excessively, described microcontroller detects machine operation at described current sampling circuit and crosses one of stream mode at described stall pattern, the first mistake stream mode or second, stops output motor operation control signal.
The condition of described stall pattern is: the motor load electric current is constant current, and the pulse-width modulation output duty cycle of microcontroller in continuous 5 seconds is between 35% to 75%; Described first condition of crossing stream mode is: the motor load electric current is constant current, and the pulse-width modulation output duty cycle of microcontroller is below 20%; Described second condition of crossing stream mode is: the motor load electric current is greater than 100A.
Described intelligent motor controller; also comprise the power field effect pipe temperature protection circuit; described power field effect pipe temperature protection circuit and microcontroller and power field effect pipe coupling; when microcontroller detects the power field effect pipe excess temperature at described power field effect pipe temperature protection circuit, stop output motor operation control signal.
Described intelligent motor controller also comprises the voltage detecting circuit that is arranged between power supply and the microcontroller, when microcontroller detects line under-voltage at described voltage detecting circuit, stops output motor operation control signal.
Described intelligent motor controller also comprises the counter-rotating and the driving testing circuit that are arranged between motor and the microcontroller, when microcontroller detects the motor counter-rotating at described counter-rotating and driving testing circuit, stops output motor operation control signal.
Described intelligent motor controller also comprises the charging testing circuit, when microcontroller detects the motor charging at described charging testing circuit, stops output motor operation control signal.
Described intelligent motor controller also comprises the brake testing circuit, when microcontroller detects brake at described brake testing circuit, stops output motor operation control signal.
Described intelligent motor controller also comprises sleep control module, is used to control described controller and is under the open state, when not having operation in Preset Time, enters sleep state.
Described intelligent motor controller also comprises maximal rate selection circuit, is used to set the maximum output of motor.
Described intelligent motor controller; also comprise condition indication circuit; described condition indication circuit has 8 kinds of indicating status, respectively operate as normal, under-voltage protection, stall state, fail safe state, temperature protection, accelerator protection, brake, over-current state is indicated.
Described intelligent motor controller, the outer naked wire of controller is the Low ESR circuit, controller is inner to be that glue seals.
Compared with prior art; the present invention has not only considered the fail safe of power device, has also considered the fail safe of microcontroller, relay and accelerator simultaneously comprehensively, has eliminated the potential safety hazard of electric machine controller substantially; it is safer to make that electric machine controller uses, and performance is more reliable.
Further, the present invention adopts the electric motor starting adjustment module to come electric motor starting is regulated, make motor start with first quick and back slow speed, thereby make electric motor starting smoothly quick, has reduced electric machine controller the probability that lost efficacy takes place.
The present invention has also realized the protection of stall and overcurrent by the detection of current sampling circuit, further protected motor and controller, makes that use is safer.
Description of drawings
Fig. 1 is the theory diagram of the specific embodiment of the invention;
Fig. 2 is the circuit theory diagrams of the specific embodiment of the invention;
Fig. 3 is that the fail safe in the specific embodiment of the invention concerns schematic diagram;
Fig. 4 is the fail-safe circuit figure of the pulse way of output of the microcontroller in the specific embodiment of the invention;
Fig. 5 is the circuit start adjustment module fundamental diagram in the specific embodiment of the invention;
Fig. 6 is the stall in the specific embodiment of the invention and crosses the schematic diagram of stream mode control;
Fig. 7 is accelerator voltage and the output relation figure of output duty cycle under different gears;
Fig. 8 is the microcontroller output waveform figure under a kind of state in the specific embodiment of the invention is indicated.
Embodiment
The contrast accompanying drawing is described in further detail the present invention in conjunction with embodiment below.
Referring to Fig. 1, Fig. 2 and Fig. 3, the circuit controller of the specific embodiment of the invention, the fail safe design of its runaway is mainly carried out from four aspects, and the design common ground of these four aspects all is when inefficacy occurring with controller, to cut off motor power and protect.
1, power device fail safe
The power device fail safe promptly to the fail safe of power field effect pipe, refers to that mainly the short circuit between the power field effect pipe D-S utmost point damages.As can be seen from Figure 2, power field effect pipe Q7 among the figure, Q8 series electric motor negative pole, the voltage at control motor two ends changes the speed of service of motor.When the short circuit of the D-S of the power field effect pipe utmost point, be equal to the negative pole of the negative pole of motor M O1 directly being received power supply, as long as relay K 1 is connected, just power supply is to the positive pole of motor for power supply, motor will turn round with maximal rate this moment, thereby driving occur.For anti-appearance of planting situation here, must there be device can discern the D-S short circuit of power field effect pipe, relay K 1 disconnects, reaches the purpose of cutting off motor power then.
Microcontroller (Micro Controller Unit is called for short MCU) energized enters automatic detection, and whether the 17PIN voltage that mainly detects MCU is higher than 0.5V.Represent that power device is normal if be higher than 0.5V.If be lower than the D-S utmost point damage that 0.5V represents power field effect pipe.After MCU judged that power device damages, the twisting accelerator made MCU 15PIN export 0 level, thus the protection of ingoing power component failure.
The concrete fail safe course of work is: (1 expression high level, 0 expression low level)+5-R12-D7-Q7, the Q8 D utmost point-Q5, Q6 negative pole-R15-R47-judges that whether MCU 17PIN twists accelerator-MCU 15PIN greater than 0.5V-greater than 0.5V-and be output as 1-R31-Q10 conducting-positive termination power-motor of relay adhesive-motor and rotate (MCU16PIN PWM output) according to PWM.
+ 5-R12-D7-Q7, the Q8D utmost point-Q5, Q6 negative pole-R15-R47-judge that whether MCU17PIN twists accelerator-MCU 15PIN greater than 0.5V-less than 0.5V-and be output as 0-R31-Q10 and can not connect power supply-motor by-not adhesive of relay-motor anode and do not have supply power voltage and do not rotate (MCU 16PIN PWM no-output).
Can see by said process; whether the fail safe of power device mainly produces inefficacy by the detection power device exactly; control the conducting of the 10th triode Q10 by MCU then or end, and then the adhesive of control relay relay whether, with the operation of control motor M O1.
2, microcontroller fail safe (each I/O PIN is output as 1)
For a certain reason or carry out destructive testing and cause MCU to damage, this moment, each PIN of MCU was output as 1, and at this moment motor can not rotate.This kind situation occurs under all normal situation of MCU external circuit, the 15PIN of MCU and 16PIN are output as 1, and this moment, motor was to rotate with the fastest speed.In order to prevent the appearance of this phenomenon, under the situation of MCU damage or MCU 17PIN abnormal state, can revise the control mode of the 10th triode Q10, adopt MCU pulse output (referring to that MCU15PIN produces the pulse signal about a 10K) by prevent the inefficacy action of MCU every straight network.As shown in Figure 4, change the 10th triode Q10 into form network, thereby be pulse output the MCU output modifications by first electric capacity, second electric capacity, first resistance, second resistance, the 3rd resistance and first diode.Wherein, first electric capacity, one end is connected to the PWM output of MCU, the other end is connected to the 10th triode Q10 base stage through first resistance and second resistance successively, first diode reverse is connected between first electric capacity and the first resistance tie point and the 10th triode Q10 emitter, promptly the negative electrode of first diode is connected in the tie point of first electric capacity and first resistance, and anode is connected in the emitter of the 10th triode Q10; The 3rd resistance and second electric capacity are connected in parallel between first resistance and the second resistance tie point and the 10th triode Q10 emitter; Wherein, second electric capacity adopts electrochemical capacitor, and its positive pole is connected the tie point of first resistance and second resistance, and negative pole is connected the emitter of the 10th triode Q10.
Simultaneously, the connecting and disconnecting that can also utilize the voltage of accelerator handle twisting to come control relay K1 reach the purpose of automatic cut-off motor power supply.Accelerator adopts hall accelerator, and accelerator is three-wire system or four-wire system accelerator usually.Three-wire system is+and 5V, ADJ, GND are three-way, and four-wire system then is to have increased the electric weight index line on the basis of three-wire system.The characteristic of hall accelerator is: power supply 5V voltage, the ADJ pin can be according to accelerator handle twisting change output voltage.Which kind of state tube controller is not in, as long as the accelerator handle is got back to zero position, does not just twist the position of accelerator, and relay K 1 must keep disconnecting, and does not power to motor, thereby guarantees that driving can not appear in controller.Below this course of work is described:
Under the accelerator handle normal condition: the voltage that does not twist is 0.7-0.9V, judges the twisting of accelerator handle and does not twist and can judge according to this point voltage.The present invention utilizes operational amplifier U5 to form a voltage comparator circuit and goes to control the conducting of the 9th triode Q9 with relay K 1 disconnects and the purpose of adhesive by reaching.Operational amplifier U5 is low consumed power operational amplifier LMV321.The reference voltage of LMV321 is 1.2V by resistance R 22 and R24 dividing potential drop.With reference to Fig. 2, when the voltage of ADJ network was higher than 1.2V, the 4PIN of U5 output 1 went to drive the 9th triode Q9 conducting, relay K 1 adhesive conducting, motor M O1 energized by diode D9 and resistance R 17.Otherwise when the accelerator handle did not twist, the voltage of ADJ network was about 0.8V, and the 4PIN of U5 output 0, the 9 triode Q9 ends, and relay K 1 disconnects, and motor does not have power supply.
This shows that the fail safe of microcontroller drives the 9th triode Q9 conducting by the accelerator voltage control circuit exactly or ends, with control relay K1 adhesive or disconnection, thus the operation of control motor.
3, relay fail safe
In view of the electric property and the mechanical property of relay, relay is ceaselessly disconnected and adhesive, particularly conducting and adhesive under the situation of big electric current, relay contact may occur the striking sparks situation of short circuit.Fail safe by Fig. 3 concern schematic diagram and aforesaid power device and microcontroller fail safe principle; can understand; power device and microcontroller fail safe all are the power supplies of controlling motor by the disconnection of relay K 1 and adhesive; thus; when relay breaks down (normally opened contact short circuit); if emergent power device or microcontroller lost efficacy again, just can not protect driving.For preventing the appearance of this type of phenomenon, the present invention has increased the relay fail-safe circuit.When controller is in holding state, MCU 3PIN can detect and have or not the high level input.If MCU 3PIN should be a low level at holding state (relay is not adhesive at this moment, and principle is seen the description that MCU damages), the expression relay is normal.Otherwise be high level, the expression relay is undesired.If twist accelerator under abnormal like this situation, this moment, motor did not rotate, with the purpose (MCU16PIN does not have PWM output) that reaches protection.Its course of work is:
The controller holding state-+5-R12-D7-Q5, Q6, MO1-Z4-R16 and R48 dividing potential drop-R46-MCU 3PIN-judge that whether MCU 3PIN is high level-if low level-twisting accelerator handle-MCU 15PIN output 1-Q10 conducting-relay adhesive-motor power supply-MCU 16PIN PWM output-motor normal rotation.
Otherwise: if the controller holding state-+5-R12-D7-Q5, Q6, MO1-Z4-R16 and R48 dividing potential drop-R46-MCU 3PIN-judge whether MCU 3PIN is that high level-high level-twisting accelerator handle-MCU 16PIN PWM no-output-motor does not rotate.
This shows; above-mentioned relay fail safe detects the relay short trouble by relay fault detecting circuit exactly and outputs to MCU 3PIN; stopping output motor operation control signal by microcontroller, be MCU 16PIN PWM no-output, thereby motor does not rotate yet.
4, accelerator fail safe
For toys and small-sized electric car series products, the common and controller core device of accelerator is as existing certain space length between the microcontroller.Two ends are to adopt the mode of connecting line to connect.Like this, just there is the possibility that open loop was lost efficacy between the circuit.Under the normal condition, the accelerator output voltage range is between the 0.8-4.2V.ADJ PIN voltage can be higher than 4.5V when the accelerator ground wire is opened a way.And open circuit voltage is not with accelerator twisting change voltage, and the aforesaid fail safe relevant with accelerator this moment is just ineffective, and just there is driving in PWM output.Be anti-generation of planting situation here, the present invention has increased the accelerator fail safe, and its course of work is:
When switch SW 1 energized, microcontroller work detects MCU 20PIN voltage whether between 0.7-1V.If expression accelerator input circuit is normal.If not in scope, then be divided into two kinds of situations.A kind of is that this pin voltage is then thought accelerator line open loop fault greater than 4.5V, and microcontroller stops output motor operation control signal, and motor does not rotate.Another kind then is: MCU20PIN voltage between 1-4.5V, system's then think to start shooting accelerator non-return-to-zero protection.So-called start accelerator non-return-to-zero protection: be meant and open the SW1 mains switch; MCU detects the accelerator handle not in zero position; refer to that also accelerator voltage is between 1-4.2V; at this moment controller should not start; must will speed up device and twist zero position, twist again again accelerator then controller export the speed of service that corresponding PWM removes to control motor by new accelerator voltage.
Above-mentioned fail safe mainly is the processing after breaking down, and in order to improve performance better, the present invention is smoothly quick when also adopting soft Starting Technology to make electric motor starting, thereby reduces the probability that electric machine controller breaks down.So-called soft start mainly is meant upward employing time-division processing mode of toggle speed processing, as shown in Figure 5, among the figure, abscissa is for quickening the time of control, and ordinate is the speed of motor, straight line is traditional toggle speed control, and broken line is toggle speed control of the present invention.As can be seen from the figure, traditional Starting mode is when pairing PWM duty ratio of the time of 100MS is 15%.At this moment, motor turns round with 15% voltage, and the present invention then is the PWM operation with 30%, starts more quick relatively.Among the figure, speed from 0 to used time of maximal rate be 800MS, from the principle, also can when 100MS, arrive toggle speed of the present invention if change total time, yet will have the too fast problem of unexpected startup like this.The speed that changes startup with such regulative mode will exist excessive velocities to cause the people to sit to recede onboard and influence bicyclist's safety.And the present invention adopts the electric motor starting adjustment module to regulate electric motor starting preceding time period when starting under the constant situation of total acceleration to start acceleration with first and start, starting acceleration in the back time period of start-up time with second starts, described first starts acceleration starts acceleration greater than second, has so just guaranteed the steady of startup.Improved the user simultaneously and ceaselessly will speed up device from zero reaction speed to maximal regulated.Because motor is more slowly with 0% to 30% voltage starting, the startup situation when going up a slope particularly.If the time course that 30% PWM is started shortens, then reduce and start acceleration, such adjusting allows the user think that acceleration is not can accept too soon, when getting back the twisting accelerator car reaction very sensitive, thereby guarantee to start steadily quick.
The present invention also samples to electric current by current sampling circuit; by microcontroller current of electric is carried out closed-loop control; control procedure comprises stall pattern, first stream mode and second processing of stream mode excessively excessively, thereby protects motor and controller effectively, uses safer.The closed-loop control process of electric current is as follows:
Referring to Fig. 6, whole current closed-loop control loop is: battery pack BATT-relay K 1-motor M O1-power field effect pipe Q7, Q8-CT+ network/MCU7PIN current sampling input-copper-manganese resistance R X1-battery cathode.The CT+ network is that Current Control input, MCU16PIN are that PWM output control, MCU20PIN are the accelerator voltage input.Below motor constant current, stall, overcurrent are described:
Among Fig. 6, utilize MCU16PIN PWM output, the input of MCU20PIN accelerator voltage electric current normal mode, constant current mode (constant current mode control is that electric current output is not with load variations) control and treatment mode to be described with the MCU7PIN current sampling.
The electric current normal mode, as CT+ left-hand component among the figure, PWM, motor load electric current and accelerator input voltage are the linear growth relations.The PWM of accelerator voltage rising just increases, and current of electric increases.This is to be the motor equivalence pure resistance explanation.When the CT+ electric current reaches the set point of MCU, then enter the constant current mode of operation.After carrying out constant current mode, load increases that current constant is constant basically.In order to reach this requirement when load increases, must revise the PWM duty ratio of output.Corresponding PWM duty ratio should reduce to reach the constant purpose of output current.
Under constant current mode, utilize the PWM duty recently to detect the stall and the overcurrent of motor, reach the purpose of protecting controller and motor.Among the figure, electric current is under constant current mode, if the duty ratio of MCU PWM output is between 35%-75%, and continuous 5 seconds are all in this scope, think that then motor is in the stall pattern, promptly the condition of motor rotation blockage is: the controller output current must be in constant current state, PWM output duty cycle must be between 35-75%, satisfy 5 seconds of above condition continuously.The principle of Chu Liing is in order to distinguish the electric current of climbing, with the misoperation of immediate current generation like this.Certainly when using the motor of different capacity specification, the PWM value of stall need be revised according to rating of machine, reaches the purpose of protection motor.
The stream mode of crossing of controller is divided into two kinds, and first condition of crossing stream mode is: under the constant current mode, the PWM duty ratio is below 20%.Second crosses stream mode relates to peak current detection, peak current detection is in order to prevent a kind of detection mode of controller output line short circuit, peak current is very big during the output line short circuit, it is the second mistake stream mode that peak current arrival 100A is set, copper-manganese resistance R X1 is gone up the voltage that produces, by resistance R 21, capacitor C 21 integrations are sent into MCU7PIN and are handled.Microcontroller stops output motor operation control signal determining machine operation at one of stall pattern, the first mistake stream mode or second mistake stream mode.
The present invention also provides under-voltage detection protection by voltage detecting circuit; under-voltage protection is to put in order to protect storage battery to cross; improve storage battery a kind of guard method in useful life, according to the flash-over characteristic of battery as can be known: because the relation of depth of discharge, the capacity that battery discharged is different.When using, often need heavy-current discharge as vehicle-mounted supporting battery.Battery just is easy to take place under-voltage like this.In order to overcome this class fault, can not allow the battery degree of depth cross again and put, this just needs well protection control.Its protection philosophy is:
Cell voltage is connected to MCU8PIN through resistance R 18, R36 dividing potential drop, and microcontroller detects this point voltage.As when starting shooting, MCU detects voltage and is lower than rated value, microcontroller output pwm signal not then, and the MCU1PIN output status signal, indication is in low pressure.As when starting shooting, MCU detects voltage and is higher than rated value, hangs down into specified set point after the motor operation, and then PWM output is closed in the MCU time-delay after 20 seconds, enters guard mode, effectively protects battery to cross and puts.When controller in use, detect cell voltage and be lower than 75% specified drop-out value, controller enters sleep state, closes all outputs, quiescent dissipation is less than 1MA.
The present invention also provides reversal protection by counter-rotating and driving testing circuit, and counter-rotating detects the motor reversal voltage with the driving testing circuit, prevents to start when car from retreating on the gradient.Reach personal safety and the purpose of protecting controller.
It is shared with runaway voltage detecting pin that the counter-rotating of motor detects.Just the inner setting electrical voltage point is different.At holding state, the voltage of MCU17PIN is specified.Energy returns when the motor backward rotation, and Schottky diode Q5, Q6 have then become the clamp diode of motor counter-rotating.Its reverse voltage is MCU17PIN rated voltage-0.3V, because this point voltage scope is narrow, should note when selecting voltage ratio for use.Adopt 10 analog-to-digital conversion that this voltage is caught accurately in the microcontroller, realize well twisting accelerator when motor retreats, to finish the purpose that controller does not start at this moment.
The present invention provides the overheat protector function by the power device temperature protection circuit.The overheat protector function is when preventing the long-term work of controller band heavy duty, and power device Yin Wendu is too high and influence controller performance.Therefore, by overheat protector is provided, help the useful life of product.
Temperature sensor is installed on the radiator of power field effect pipe, when radiator temperature was too high, because of adopting the transducer of negative temperature coefficient, the voltage of MCU9PIN can reduce with the boosted voltage of temperature.When voltage was reduced to the inner setting magnitude of voltage, microcontroller can cut out PWM output automatically.In time the excess temperature of power device is protected.
The present invention selects circuit by maximal rate, can allow user's electronic setting controller maximum export.When the user controlled controller as vehicular speeds, electronic settings speed was very convenient.Carrying out three grades of maximal raties able to programme by MCU10,19PIN combination sets.Relation between three grades of maximal rate settings, accelerator voltage, the PWM duty ratio is as shown in Figure 7:
Fig. 7 has shown accelerator voltage and the output relation of output duty cycle under different gears.
Wherein MCU has carried out following processing to each voltage section of accelerator:
The accelerator output voltage is accelerator line fault district below 0.7V;
Accelerator output voltage 0.7-1V is illustrated in the district of making zero, and does not twist accelerator;
Accelerator output voltage 1-4V is the normal range of operation district;
The accelerator output voltage is accelerator ground wire open circuit district more than 4.4V.
Gear logic level combination explanation:
I:MCU10PIN is that 1 MCU19PIN is 1;
Then accelerator voltage 4V the maximum duty cycle of corresponding output be 60%;
II:MCU10PIN is that 1 MCU19PIN is 0;
MCU10PIN is that 0 MCU19PIN is 1;
Then accelerator voltage 4V the maximum duty cycle of corresponding output be 80%;
III:MCU10PIN is that 0 MCU19PIN is 0.
Then accelerator voltage 4V the maximum duty cycle of corresponding output be 100%.
The present invention provides charging not start protection by the charging testing circuit, and electric machine controller can leave the not start-up control interface that charges in addition.When this interface disconnected, MCU18PIN was a high level, and controller is in off position, and complete machine enters sleep pattern.When this interface was low level, complete machine was in standby mode.
By sleep control module, can control controller and when not having operation, enter sleep pattern automatically.This operating function is mainly finished by microcontroller, and controller did not have any operation in continuous 5 minutes at open state, then finished shutdown automatically, made controller enter sleep state.This design can be played purpose of energy saving.Also be custom-designed when using, because most child behind the car of having ridden, has the custom of forgetting powered-down usually for perambulator.Will make battery be in long-term power consumption state like this.
The present invention provides the brake protection by the brake testing circuit, and when detecting brake, PWM closes output, and the brake detection signal is imported from MCU2PIN, adopts the high level brake.Whether the high level brake helps the detected electrons brake system complete.Utilize the brake lever of normally closed switch to handle, during disconnection, microcontroller is then thought brake.Controller then cuts out PWM output during the mechanical switch fault of brake lever like this.
The present invention also has condition indication circuit, specifically indicates following 8 kinds of states:
Operate as normal---Chang Liang
Under-voltage protection---LED flicker 1 time
Rotation-clogging protection---LED flicker 3 times
Runaway---LED flicker 4 times
Temperature (radiator)---LED flicker 5 times
Accelerator handle protection---LED flicker 6 times
Brake and line open circuit---the long flicker of LED
Overcurrent protection---the LED lamp does not work
Now the condition indication circuit principle is described:
Among Fig. 2, triode Q3, Q4 form electronic switching circuit, are under sleep and charged state on the one hand, for energy-conservation purpose, close working power, by standby power work.Then be to use on the other hand as the switch of state indication.Aforementionedly illustrate, be with an electric weight index line in the four-wire system accelerator, utilize this root electric weight index line to control the blink states of LED on the accelerator.MCU1PIN exports the corresponding state of indicating with different pulse trains.Accelerator electric weight index line energising then three LED is lighted, and cutting off the power supply then, LED extinguishes.Different pulse train numbers just can be indicated different states from MCU 1PIN output, intelligence very directly perceived.For example during rotation-clogging protection, accelerator LED flicker three times, the MCU1PIN output waveform is as shown in Figure 8.
Controller of the present invention has also adopted waterproofing design, is the Low ESR circuit by the wire design that exposes with controller, the inner simultaneously A that adopts, and B glue seals entirely admittedly, realizes superior water resistance.
Controller of the present invention, defencive function are perfect comprehensively, dependable performance, with low cost, be very suitable for the scale volume production.The entire controller outside is easy to connect, intelligent simultaneously.
Above content be in conjunction with concrete preferred implementation to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (16)
1. an intelligent motor controller is used for motor is controlled, and comprises power supply, microcontroller, accelerator, power field effect pipe and relay, and described relay is coupling between power supply and the motor, is used for providing power-off protection to motor; Described accelerator and the coupling of described microcontroller are used for extraneous control signal is offered described microcontroller; Described power field effect pipe is coupling between motor and the microcontroller, be used to control the operation of motor, it is characterized in that, also comprise the power field effect pipe fail-safe circuit, the microcontroller fail-safe circuit, relay fail-safe circuit and accelerator fail-safe circuit, described power field effect pipe fail-safe circuit, the microcontroller fail-safe circuit, relay fail-safe circuit and accelerator fail-safe circuit all are coupled with microcontroller, be respectively applied for power field effect pipe, microcontroller, the inefficacy of relay and accelerator provides protection, also comprise current sampling circuit, described current sampling circuit and microcontroller coupling, described current sampling circuit is used to judge whether motor is operated in the stall pattern, first crosses stream mode or second crosses stream mode, described microcontroller detects machine operation in described stall pattern at described current sampling circuit, first crosses stream mode or second crosses one of stream mode, stop output motor operation control signal, the condition of described stall pattern is: the motor load electric current is constant current, and the pulse-width modulation output duty cycle of microcontroller in continuous 5 seconds is between 35% to 75%; Described first condition of crossing stream mode is: the motor load electric current is constant current, and the pulse-width modulation output duty cycle of microcontroller is below 20%; Described second condition of crossing stream mode is: the motor load electric current is greater than 100A.
2. intelligent motor controller as claimed in claim 1; it is characterized in that; described power field effect pipe fail-safe circuit comprises the 10th triode and the 10th transistor drive circuit; described the 10th transistor base is coupled to the pulse-width modulation output of described microcontroller through described the 10th transistor drive circuit; collector coupled is to described relay; and according to the corresponding conducting of pulse-width modulation output valve of microcontroller or end, control described relay adhesive or disconnection.
3. intelligent motor controller as claimed in claim 2 is characterized in that, described the 10th transistor drive circuit comprises first electric capacity, second electric capacity, first resistance, second resistance, the 3rd resistance and first diode; Described first electric capacity, one end is connected to the pulse-width modulation output of described microcontroller, the other end is connected to described the 10th transistor base through described first resistance and second resistance successively, described first diode reverse is connected between described first electric capacity and the first resistance tie point and described the 10th transistor emitter, and described the 3rd resistance and second electric capacity are connected in parallel between described first resistance and the second resistance tie point and described the 10th transistor emitter.
4. intelligent motor controller as claimed in claim 1; it is characterized in that; described microcontroller fail-safe circuit comprises reference voltage generating circuit; voltage comparator circuit and the 9th triode; one input of described voltage comparator circuit and the output of described accelerator coupling; another input links to each other with described reference voltage generating circuit; output is coupled to described the 9th transistor base; described the 9th transistor collector is coupled to described relay; described voltage comparator circuit is according to the output voltage of described accelerator and the comparative result of reference voltage; drive described the 9th triode conducting or end, control described relay adhesive or disconnection.
5. intelligent motor controller as claimed in claim 1; it is characterized in that; described relay fail-safe circuit comprises relay fault detecting circuit, and microcontroller detects relay generation contact short at described relay fault detecting circuit, stops output motor operation control signal.
6. intelligent motor controller as claimed in claim 1; it is characterized in that; described accelerator fail-safe circuit comprises the accelerator output voltage detecting circuit; microcontroller detects the accelerator output voltage at described accelerator output voltage detecting circuit and exceeds normal range (NR), stops output motor operation control signal.
7. as each described intelligent motor controller of claim 1 to 6, it is characterized in that, also comprise the electric motor starting adjustment module, described electric motor starting adjustment module control motor starts acceleration in the preceding time period of start-up time with first and starts, start acceleration in the back time period of start-up time with second and start, described first starts acceleration starts acceleration greater than second.
8. as each described intelligent motor controller of claim 1 to 6; it is characterized in that; also comprise the power field effect pipe temperature protection circuit; described power field effect pipe temperature protection circuit and microcontroller and power field effect pipe coupling; when microcontroller detects the power field effect pipe excess temperature at described power field effect pipe temperature protection circuit, stop output motor operation control signal.
9. as each described intelligent motor controller of claim 1 to 6, it is characterized in that, also comprise the voltage detecting circuit that is arranged between power supply and the microcontroller, when microcontroller detects line under-voltage at described voltage detecting circuit, stop output motor operation control signal.
10. as each described intelligent motor controller of claim 1 to 6, it is characterized in that, also comprise the counter-rotating and the driving testing circuit that are arranged between motor and the microcontroller, when microcontroller detects the motor counter-rotating at described counter-rotating and driving testing circuit, stop output motor operation control signal.
11., it is characterized in that as each described intelligent motor controller of claim 1 to 6, also comprise the charging testing circuit, when microcontroller detects the motor charging at described charging testing circuit, stop output motor operation control signal.
12., it is characterized in that as each described intelligent motor controller of claim 1 to 6, also comprise the brake testing circuit, when microcontroller detects brake at described brake testing circuit, stop output motor operation control signal.
13., it is characterized in that as each described intelligent motor controller of claim 1 to 6, also comprise sleep control module, be used to control described controller and be under the open state, when in Preset Time, not having operation, enter sleep state.
14., it is characterized in that as each described intelligent motor controller of claim 1 to 6, also comprise maximal rate selection circuit, be used to set the maximum output of motor.
15. as each described intelligent motor controller of claim 1 to 6; it is characterized in that; also comprise condition indication circuit; described condition indication circuit has 8 kinds of indicating status, respectively operate as normal, under-voltage protection, stall state, fail safe state, temperature protection, accelerator protection, brake, over-current state is indicated.
16., it is characterized in that the outer naked wire of controller is the Low ESR circuit as each described intelligent motor controller of claim 1 to 6, controller is inner to be that glue seals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100651863A CN101483404B (en) | 2008-01-11 | 2008-01-11 | Intelligent motor controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100651863A CN101483404B (en) | 2008-01-11 | 2008-01-11 | Intelligent motor controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101483404A CN101483404A (en) | 2009-07-15 |
| CN101483404B true CN101483404B (en) | 2010-12-29 |
Family
ID=40880375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100651863A Expired - Fee Related CN101483404B (en) | 2008-01-11 | 2008-01-11 | Intelligent motor controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101483404B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102006050B (en) * | 2010-11-15 | 2012-08-22 | 深圳市高标电子科技有限公司 | Device and method for galloping protection control of electric bicycle |
| CN102570947A (en) * | 2011-12-05 | 2012-07-11 | 江苏浩峰汽车附件有限公司 | Switch control speed regulating circuit of direct current motor with braking function |
| CN102570706A (en) * | 2011-12-30 | 2012-07-11 | 上海舜拓电机有限公司 | Switch control device of electric linear push rod |
| CN105034849A (en) * | 2015-02-11 | 2015-11-11 | 东莞市奇立电源有限公司 | Memory type wireless driving motor electric car control method and system |
| CN106078932B (en) * | 2016-06-23 | 2019-04-02 | 常州格力博有限公司 | A kind of control device, control method and its chain saw |
| CN107993891B (en) * | 2017-12-31 | 2024-01-16 | 昌辉汽车电气系统（安徽）有限公司 | Protection circuit and method for relay contact in motor control system |
| CN110071664B (en) * | 2019-04-17 | 2020-09-22 | 辽宁石油化工大学 | Braking device and method for direct current motor with constant current and controllable falling speed |
| CN110347079B (en) * | 2019-07-04 | 2024-08-06 | 珠海云洲智能科技股份有限公司 | Unmanned ship control circuit with failure protection function and unmanned ship |
| CN113422347B (en) * | 2020-03-17 | 2023-03-14 | 比亚迪股份有限公司 | Motor control system and vehicle |
| CN113555851B (en) * | 2020-04-26 | 2023-12-08 | 浙江阜康机械有限公司 | High-precision overcurrent protector of electric winch |
| CN113517678A (en) * | 2021-04-23 | 2021-10-19 | 中山亿联智能科技有限公司 | Motor driving device and motor protection circuit |
| CN114290297B (en) * | 2021-12-29 | 2024-06-25 | 浙江明磊锂能源科技股份有限公司 | Electric tool, control method and device thereof and readable storage medium |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201174682Y (en) * | 2008-01-11 | 2008-12-31 | 深圳市迈科盛电源技术有限公司 | Intelligent motor controller |
-
2008
- 2008-01-11 CN CN2008100651863A patent/CN101483404B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201174682Y (en) * | 2008-01-11 | 2008-12-31 | 深圳市迈科盛电源技术有限公司 | Intelligent motor controller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101483404A (en) | 2009-07-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101483404B (en) | Intelligent motor controller | |
| CN102709882B (en) | Short circuit protection circuit of direct current power supply provided with precharging function | |
| CN101908771A (en) | Circuit for realizing fast and slow charging in linear circuits and charging control method | |
| CN108270053A (en) | A kind of device for preventing power lithium-ion battery packet thermal runaway | |
| CN110932357A (en) | Energy storage device | |
| CN201174682Y (en) | Intelligent motor controller | |
| CN205051931U (en) | LED driving power supply | |
| CN205051933U (en) | LED driving power supply | |
| CN102931034A (en) | Leakage circuit breaker | |
| CN100413775C (en) | Slewing normally disengaged brake circuit of tower crane having emergent braking function in power turn-off situation | |
| CN201388074Y (en) | Brushless controller capable of automatically charging | |
| CN104218648A (en) | Charging and discharging protection circuit and charging and discharging system | |
| CN108832685B (en) | Charging device for wind power pitch system and detection method thereof | |
| CN202749309U (en) | Residual current circuit breaker | |
| CN102904208A (en) | Leakage breaker | |
| CN202749803U (en) | Short-circuit protection circuit for direct-current power supply having function of pre-charging | |
| CN202268715U (en) | Charging device possessing overcharge detection protection function | |
| CN210670645U (en) | Control system for solar street lamp | |
| CN201635925U (en) | Wind-solar hybrid control system | |
| CN205004825U (en) | Storage battery is started to two remainings | |
| CN201298752Y (en) | Power supply switch module of electric power theft-proof alarm | |
| CN209267201U (en) | High-voltage control circuit and energy storage battery system for energy storage battery system | |
| CN202917947U (en) | Electric leakage circuit breaker | |
| CN201975827U (en) | Charging protection circuit for storage battery | |
| CN110636673A (en) | Control system for solar street lamp |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170421 Address after: 526238 Zhaoqing high tech Zone Linjiang Industrial Park (north of the Road East, north of Industrial Street) Patentee after: Guangdong Marshell Electric Technology Co., Ltd. Address before: 518110 Baoan District City, Shenzhen Guanlan Town, the village with the library of the rich industrial zone, the building of the village of 9, the town of Guangdong Patentee before: Shenzhen Marxon Power Supply Co. Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101229 Termination date: 20200111 |