CN106200498A - A kind of SCM Based steering engine driving device - Google Patents
A kind of SCM Based steering engine driving device Download PDFInfo
- Publication number
- CN106200498A CN106200498A CN201610764488.4A CN201610764488A CN106200498A CN 106200498 A CN106200498 A CN 106200498A CN 201610764488 A CN201610764488 A CN 201610764488A CN 106200498 A CN106200498 A CN 106200498A
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- module
- pwm
- main control
- port
- steering wheel
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2637—Vehicle, car, auto, wheelchair
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention belongs to device drives technical field, relate to a kind of SCM Based steering engine driving device, the power port connection that in power module+5 are corresponding with main control module, serial port module and PWM output module respectively with+3.3 ports, TXD1 port and RXD2 port in main control module are connected with RXD1 and the TXD1 port in serial port module, PWM output module is the module directly driving outside steering wheel, the ten eight-path PWM ports being provided with are connected with main control module respectively, change the corner numerical value to steering wheel to realize the control to steering wheel action by the dutycycle changing PWM；Main control module is with STC15W4K60S4 single-chip microcomputer as control core；Serial port module is the bringing-out mouth of the USART4 of the STC15W4K60S4 microprocessor in main control module, USART4 is universal synchronous/asynchronous serial reception/transmitter i.e. P0.2 and P0.3 port, it is possible to realize to the download program of STC15W4K60S4 and and computer terminal host computer between data communication；Overall driving means has enough driving forces, and stable performance, with low cost, control accurately.
Description
Technical field:
The invention belongs to device drives technical field, relate to a kind of SCM Based steering engine driving device, use domestic 8
Position single-chip microcomputer STC15W4K60S4 is as control core, it is achieved driving force is strong, stable performance and effect with low cost.
Background technology:
Steering wheel is a kind of big deck machinery on boats and ships the earliest, is used for controlling ship turning, and in terms of space flight, steering wheel is also
Being widely used, the pitching of missile attitude conversion, driftage, rolling movement etc. have all cooperated by steering wheel.Steering wheel is also named
Servomotor, owing to it can pass through its corner of program continuous control, thus is also widely used for remote control Aeronautics and Astronautics mould
The occasion such as type, intelligent machine, to realize control action, to change and turn to and the function such as all kinds of joint motions of robot.Steering wheel master
If being made up of with position detector etc. shell, circuit board, coreless motor, gear, its operation principle is to be sent by receiver
Signal, to steering wheel, judges rotation direction via the IC on circuit board, then drives coreless motor to start to rotate, through reduction gearing
Power is reached swing arm, is sent back to signal by position detector, it may be judged whether have arrived at location simultaneously；It is as the control turned to
Mechanism, has that volume is little, moment is big, outside Machine Design is simple, stability high, either in hardware designs or soft
Part design aspect, steering wheel design is all the composition that intelligent robot and aerospace model etc. control that part is important.
The action of steering wheel is that the specific PWM exported by control chip is controlled, and the generation of PWM is then by advance
Download what the program being written in microcontroller controlled.When external system applies more steering wheel, use special driving
Dynamic plate completes the driving of each steering wheel, it is possible to be effectively improved work efficiency, simplied system structure.Steering wheel of the prior art drives
Mostly there is both sides defect in dynamic plate: on the one hand price is expensive, particularly can drive the driving plate of the above steering wheel in twenty or thirty road,
Its price is all difficult to accept for common researcher and amateur；On the other hand, prior art seldom has disclosure
The control chip model of actuator driving plate, such as disclosed in Chinese patent ZL 201610158159.5, a kind of multi-joint is small-sized
Robot electric-control system, a kind of flight based on hard and soft integration printed board disclosed in Chinese patent ZL 201510918141.6
Controller etc., the control chip model of driving steering wheel the most not explicitly disclosed, and retrieve existing patented technology, it is difficult to retrieve
It is related to the related content of actuator driving plate so that Many researchers cannot to the parameter of the aspects such as control chip performance and cost
Carry out accurate evaluation and further investigation.Therefore the application designs a kind of actuator driving plate based on STC15W4K60S4, it is possible to
Multichannel steering wheel is driven to complete various action.
Summary of the invention:
It is an object of the invention to the shortcoming overcoming prior art to exist, design is a kind of based on STC15W4K60S4 single-chip microcomputer
Steering engine driving device, drive the quantity of steering wheel more than 18-22 road, it is possible to meet the primary demand of most users.
The steering engine driving device agent structure that the present invention relates to includes that power module, main control module, serial port module and PWM are defeated
Go out the electricity that module ,+5 in power module and+3.3 ports are corresponding with main control module, serial port module and PWM output module respectively
Source port connects to provide working power；TXD1 port in main control module and RXD2 port and the RXD1 in serial port module and
TXD1 port connects, to realize data communication facility；PWM output module is the module directly driving outside steering wheel, ten be provided with
Eight-path PWM port respectively with the P2.4-P2.7 of main control module, P7.4-P7.7, P4.5, P4.6, P0.0, P0.1, P0.4, P5.2,
P6.6-P6.4, P4.0 connect, and change the corner numerical value to steering wheel to realize steering wheel action by the dutycycle changing PWM
Control；Power module is made up of two groups of decompression converting circuits, is supplied respectively to institute respectively obtaining the out-put supply of+5V and+3.3V
The functional module connected；Main control module is with STC15W4K60S4 single-chip microcomputer as control core；Serial port module is in main control module
The bringing-out mouth of the USART4 of STC15W4K60S4 microprocessor, USART4 is that universal synchronous/asynchronous serial receives/sends
Device i.e. P0.2 and P0.3 port, it is possible to realize to the download program of STC15W4K60S4 and and computer terminal host computer between
Data communication；The running of described steering engine driving device: after being connected with external power source by steering engine driving device, by power supply mould
Block supplies all modules after external power source is converted into the running voltage that each module needs；Main control module is advanced horizontal reset after powering on
Operate the pwm signal required for recovery to default conditions, the program being previously written that then brings into operation generation to transmit to PWM
Output module, pwm signal by PWM output port output to steering wheel, is made by PWM output module by the dutycycle of regulation PWM
Obtain steering wheel and produce different corners to control steering wheel work；Main control module is by entering between serial port module and computer terminal host computer
Row serial communication, computer terminal host computer can read current every dynamic parameter in real time, or enter the pwm signal parameter of output
Row change in real time, and amended parameter is preserved to the main control module of steering engine driving device, when main control module and computer
Between end host computer after communicating interrupt, steering engine driving device can be according to the state modulator having been saved in main control module outside
Steering wheel completes corresponding actions.
Further, described power module is made up of two groups of decompression converting circuits, and one group of decompression converting circuit is by+7.2V
Being depressured to the change-over circuit of+5V, another group decompression converting circuit is the change-over circuit that+5V is depressured to+3.3V, to respectively obtain
The out-put supply of+5V and+3.3V, often organizes between the positive source of decompression converting circuit and the earth and is connected with decoupling capacitor, reduces
Load brings the ripple of power supply.
Further, the singlechip chip that described main control module uses model to be STC15W4K60S4 is control core；Institute
Stating PWM totally ten eight tunnel of PWM output module output, for realizing the control to 18 road steering wheels respectively, the PWM on every road is by electricity
Source, the earth and PWM output port composition, the PWM output port on every road can be by controlling accounting for of output PWM after being connected with steering wheel
Empty than the control realized steering wheel work.
Compared with prior art, the control chip used in main control module is 8-bit microprocessor to the present invention
STC15W4K60S4, powerful, cost is relatively low, and the PORT COM of microprocessor and download port can multiplexings, it is simple to carry out
Follow-up firmware upgrade；Power module is powered and is used suitching type scheme, it is possible to the steering wheel of compatible different operating voltage；The serial ports of design
Module is designed to be connected with special host computer, and then realizes carrying out operating control to steering wheel at visual page；Overall driving
Device has enough driving forces, and stable performance, with low cost, control accurately.
Accompanying drawing illustrates:
Fig. 1 is the construction module schematic diagram of the steering engine driving device that the present invention relates to.
Fig. 2 is the composition structural principle schematic diagram of the power module related in the present invention.
Fig. 3 is the structural principle schematic diagram of the main control module related in the present invention.
Fig. 4 is the structural principle schematic diagram of the serial port module related in the present invention.
Fig. 5 is the structural principle schematic diagram of the PWM output module related in the present invention.
Detailed description of the invention:
Below by embodiment and combine accompanying drawing and be described further the present invention, but the present invention is not limited in following reality
Execute mode.
Embodiment:
The steering engine driving device agent structure that the present embodiment relates to includes power module 1, main control module 2, serial port module 3
With PWM output module 4 (as shown in Figure 1) ,+5 in power module 1 and+3.3 ports respectively with main control module 2, serial port module 3
Connect with power port corresponding in PWM output module 4 to provide working power；TXD1 port in main control module 2 and RXD2
Port is connected with RXD1 and the TXD1 port in serial port module 3, to realize data communication facility；PWM output module 4 is for directly to drive
The module of dynamic outside steering wheel, the ten eight-path PWM ports (PWM1-PWM18) being provided with respectively with the P2.4-P2.7 of main control module 2,
P7.4-P7.7, P4.5, P4.6, P0.0, P0.1, P0.4, P5.2, P6.6-P6.4, P4.0 connect, by changing the duty of PWM
Than changing the corner numerical value to steering wheel to realize the control to steering wheel action；Power module 1 is made up of two groups of decompression converting circuits,
It is supplied respectively to connected functional module respectively obtaining the out-put supply of+5V and+3.3V；Main control module 2 with
STC15W4K60S4 single-chip microcomputer is control core；Serial port module 3 is the STC15W4K60S4 microprocessor in main control module 2
The bringing-out mouth of USART4, USART4 is universal synchronous/asynchronous serial reception/transmitter 4 i.e. P0.2 and P0.3 port, energy
Enough realize the download program to STC15W4K60S4 and and computer terminal host computer between data communication；Described steering wheel drives
The running of dynamic device: after steering engine driving device is connected with external power source, power module 1 external power source is converted into respectively
All modules are supplied after the running voltage that module needs；After main control module 2 powers on, advanced person's horizontal reset operates to recover to giving tacit consent to shape
Pwm signal transmission required for state, the program being previously written that then brings into operation generation exports to PWM output module 4, PWM
Pwm signal by PWM output port output to steering wheel, is made steering wheel produce by the dutycycle of regulation PWM different by module 4
Corner is to control steering wheel work；Main control module 2, by carrying out serial communication between serial port module 3 and computer terminal host computer, is counted
Calculation machine end host computer can read current every dynamic parameter in real time, or changes the pwm signal parameter of output in real time, and
Amended parameter is preserved to the main control module 2 of steering engine driving device, between main control module 2 and computer terminal host computer
After communicating interrupt, steering engine driving device can complete phase according to the outside steering wheel of the state modulator having been saved in main control module 2
Answer action.
Power module 1 described in the present embodiment includes two groups of decompression converting circuits (as shown in Figure 2), one group of decompression converting circuit
Being the change-over circuit that+7.2V is depressured to+5V, another group decompression converting circuit is the change-over circuit that+5V is depressured to+3.3V,
Respectively obtain the out-put supply of+5V and+3.3V, often organize between the positive source of decompression converting circuit and the earth and be connected with decoupling electricity
Hold, reduce load and bring the ripple of power supply.
The singlechip chip that main control module 2 described in the present embodiment uses model to be STC15W4K60S4 is control core
(as shown in Figure 3), STC15W4K60S4 series monolithic be STC produce single clock/machine cycle (1T), Width funtion, at a high speed,
Low-power consumption, superpower jamproof 8051 single-chip microcomputers, have STC the 9th generation encryption function, and encryption is superpower, completely compatible in instruction
Fast 8-12 times of speed on the basis of tradition 8051, has been internally integrated high precision clock and highly reliable reset circuit, it is possible to thoroughly save
Fall outside expensive crystal oscillator and external reset circuit, be built-in with 4K byte Large Copacity SRAM, the four high-speed asynchronous serials in tunnel are led to simultaneously
News port (UART1/UART2/UART3/UART4), road high-speed synchronous COM port SPI and a comparator.
PWM totally ten eight tunnels (as shown in Figure 5) of PWM output module 4 output described in the present embodiment, right for realizing respectively
The control of 18 road steering wheels, the PWM on every road is made up of power supply, the earth and PWM output port, the PWM output port on every road and rudder
Machine can realize the control to steering wheel work by the dutycycle controlling output PWM after being connected.
Claims (3)
1. a SCM Based steering engine driving device, it is characterised in that agent structure includes power module, main control module, string
Mouth die block and PWM output module ,+5 in power module and+3.3 ports export with main control module, serial port module and PWM respectively
Power port corresponding in module connects to provide working power；TXD1 port in main control module and RXD2 port and serial ports mould
RXD1 and TXD1 port in block connects, to realize data communication facility；PWM output module is the mould directly driving outside steering wheel
Block, the ten eight-path PWM ports being provided with respectively with the P2.4-P2.7 of main control module, P7.4-P7.7, P4.5, P4.6, P0.0,
P0.1, P0.4, P5.2, P6.6-P6.4, P4.0 connect, and change the corner numerical value to steering wheel with reality by the dutycycle changing PWM
The now control to steering wheel action；Power module is made up of two groups of decompression converting circuits, to respectively obtain the output of+5V and+3.3V
Power supply is supplied respectively to connected functional module；Main control module is with STC15W4K60S4 single-chip microcomputer as control core；Serial port module
For the bringing-out mouth of the USART4 of the STC15W4K60S4 microprocessor in main control module, USART4 is universal synchronous/different
Step serial received/transmitter i.e. P0.2 and P0.3 port, it is possible to realize to the download program of STC15W4K60S4 and with calculating
Data communication between machine end host computer；The running of described steering engine driving device: by steering engine driving device and external power source
After connection, power module supply all modules after external power source being converted into the running voltage that each module needs；Main control module
After powering on, advanced horizontal reset operation is to recover to default conditions, required for the program being previously written that then brings into operation generation
Pwm signal transmission is to PWM output module, and pwm signal is exported to steering wheel by PWM output module by PWM output port, by adjusting
The dutycycle of joint PWM makes steering wheel produce different corners to control steering wheel work；Main control module passes through serial port module and calculating
Carrying out serial communication between machine end host computer, computer terminal host computer can read current every dynamic parameter in real time, or to defeated
The pwm signal parameter gone out is changed in real time, and amended parameter is preserved to the main control module of steering engine driving device, when
Between main control module and computer terminal host computer after communicating interrupt, steering engine driving device can be according to having been saved in main control module
In the outside steering wheel of state modulator complete corresponding actions.
SCM Based steering engine driving device the most according to claim 1, it is characterised in that described power module includes
Two groups of decompression converting circuits, one group of decompression converting circuit is the change-over circuit that+7.2V is depressured to+5V, another group blood pressure lowering conversion
Circuit is the change-over circuit that+5V is depressured to+3.3V, to respectively obtain the out-put supply of+5V and+3.3V, and often group blood pressure lowering conversion
Between the positive source of circuit and the earth and be connected with decoupling capacitor, reduce load and bring the ripple of power supply.
SCM Based steering engine driving device the most according to claim 1, it is characterised in that described main control module uses
Model be the singlechip chip of STC15W4K60S4 be control core；PWM totally ten eight tunnel of described PWM output module output, uses
In realizing the control to 18 road steering wheels respectively, the PWM on every road is made up of power supply, the earth and PWM output port, the PWM on every road
Output port can realize the control to steering wheel work by the dutycycle controlling output PWM after being connected with steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610764488.4A CN106200498A (en) | 2016-08-30 | 2016-08-30 | A kind of SCM Based steering engine driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610764488.4A CN106200498A (en) | 2016-08-30 | 2016-08-30 | A kind of SCM Based steering engine driving device |
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| Publication Number | Publication Date |
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| CN106200498A true CN106200498A (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610764488.4A Pending CN106200498A (en) | 2016-08-30 | 2016-08-30 | A kind of SCM Based steering engine driving device |
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| CN (1) | CN106200498A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110973008A (en) * | 2019-10-23 | 2020-04-10 | 广东省生物资源应用研究所 | Wading bird model |
| CN111865155A (en) * | 2019-04-29 | 2020-10-30 | 深圳市优必选科技有限公司 | Modular servo steering engine device and system |
| CN111874213A (en) * | 2020-06-28 | 2020-11-03 | 重庆乐吧便捷科技有限公司 | Steering engine driving module |
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2016
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111865155A (en) * | 2019-04-29 | 2020-10-30 | 深圳市优必选科技有限公司 | Modular servo steering engine device and system |
| CN110973008A (en) * | 2019-10-23 | 2020-04-10 | 广东省生物资源应用研究所 | Wading bird model |
| CN111874213A (en) * | 2020-06-28 | 2020-11-03 | 重庆乐吧便捷科技有限公司 | Steering engine driving module |
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Application publication date: 20161207 |