CN106597907A - Driving control circuit and robot - Google Patents
Driving control circuit and robot Download PDFInfo
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- CN106597907A CN106597907A CN201611266570.0A CN201611266570A CN106597907A CN 106597907 A CN106597907 A CN 106597907A CN 201611266570 A CN201611266570 A CN 201611266570A CN 106597907 A CN106597907 A CN 106597907A
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- 238000005070 sampling Methods 0.000 claims abstract description 22
- 230000000087 stabilizing effect Effects 0.000 claims description 53
- 230000005611 electricity Effects 0.000 claims description 23
- 239000000203 mixture Substances 0.000 claims description 19
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- 238000001914 filtration Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000003079 width control Methods 0.000 claims description 3
- CUZMQPZYCDIHQL-VCTVXEGHSA-L calcium;(2s)-1-[(2s)-3-[(2r)-2-(cyclohexanecarbonylamino)propanoyl]sulfanyl-2-methylpropanoyl]pyrrolidine-2-carboxylate Chemical group [Ca+2].N([C@H](C)C(=O)SC[C@@H](C)C(=O)N1[C@@H](CCC1)C([O-])=O)C(=O)C1CCCCC1.N([C@H](C)C(=O)SC[C@@H](C)C(=O)N1[C@@H](CCC1)C([O-])=O)C(=O)C1CCCCC1 CUZMQPZYCDIHQL-VCTVXEGHSA-L 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 5
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- 230000036772 blood pressure Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Classifications
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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
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Abstract
The invention provides a driving control circuit and a robot. The driving control circuit is used for driving the driving motor of a steering engine to move and comprises a reverse bias module, an electronic switch module, a driving module, a control module, a current sampling module and a voltage regulator module. The reverse bias module is accessed to the power supply of the steering engine and is connected to the electronic switch module. The driving module is connected to the driving motor through the electronic switch module. The control module is connected to the driving module and is connected to the electronic switch module through the current sampling module. The voltage regulator module is accessed to the power supply and then is connected to the driving module, the control module, and the current sampling module. The invention provides the driving control circuit comprising the reverse bias module, after the power cut of the steering engine, when the driving motor of the steering engine mechanically moves due to artificial pushing to generate back electromotive force, the current generated by the back electromotive force is prevented from flowing to the motherboard of the steering engine, and the power-on of the motherboard of the steering engine is avoided.
Description
Technical field
The embodiment of the present invention belongs to servos control technical field, more particularly to a kind of drive control circuit and robot.
Background technology
As the various automation equipments such as the continuous development that can learn technology, robot, automatic guided vehicle are continuously developed out
To be applied to the daily production and life of people, it is that the life of people brings great convenience.Steering wheel is because which is easily controllable, torque
Greatly, it is widely used in the automation equipments such as robot the advantages of manufacturing technology maturation.
However, it is existing by the robot of servo driving, automatic guided vehicle etc. after steering wheel power-off, if artificially being led
Draw motion, then can cause the motor of steering wheel that direction electromotive force is produced because of mechanical movement, generate a small amount of electric current and make rudder
The mainboard of machine under abnormal condition on electricity, reduce the service life of mainboard.
The content of the invention
The embodiment of the present invention provides a kind of drive control circuit and robot, a kind of including reverse bias module by providing
Drive control circuit, can be after steering wheel power-off, the motor of steering wheel is produced because artificial promotion makes mechanical movement
During counter electromotive force, the mainboard of the current direction steering wheel of counter electromotive force generation is prevented, it is to avoid electricity on the mainboard of steering wheel.
On the one hand the embodiment of the present invention provides a kind of drive control circuit, and the motor for controlling steering wheel is moved, institute
State drive control circuit include reverse bias module, electronic switch module, drive module, control module, current sample module and
Voltage stabilizing module；
The reverse bias module is accessed the power supply of the steering wheel and is connected with the electronic switch module, the driving mould
Block is connected with the motor by the electronic switch module, and the control module is connected and passes through with the drive module
The current sample module is connected with the electronic switch module, the Voltage stabilizing module access the power supply and respectively with the drive
The connection of dynamic model block, the control module and the current sample module；
When the power supply electrifying, the reverse bias module forward conduction input current signal, in the control module
Electrically activate and output control signal, the drive module electrifying startup according to the control signal output drive signal is described
Electronic switch module receives institute according to the current signal and drive signal conducting output driving pulse, the motor
Stating driving pulse drives rotation, the control module that the work electricity of the motor is also gathered by the current sample module
Stream, to adjust control signal of the output to the drive module according to the operating current；
When the power cut-off, if the motor continues rotation, generation counter electromotive force makes the electronic switch module
Conducting, then the reverse bias module is reversely ended, control module described in the current direction that the prevention counter electromotive force is produced, and keeps away
Exempt from the control module electrifying startup.
Preferably, the reverse bias module includes reverse bias unit and the first filter unit；
The input of the reverse bias unit is the input of the reverse bias module, the reverse bias unit
Outfan connects the outfan for constituting the reverse bias module, first filtering altogether with the input of first filter unit
The outfan of unit is the earth terminal of the reverse bias module；
The input of the reverse bias module is connected to the power supply altogether with the input of the Voltage stabilizing module, described reverse
The input of the output termination electronic switch module of biasing module, the ground connection termination power ground of the reverse bias module；
When the power supply electrifying, the reverse bias unit forward conduction, the current signal of the power supply output pass through
The reverse bias unit is exported to the electronic switch module；
When the power cut-off, if the motor continues rotation, generation counter electromotive force makes the electronic switch module
Conducting, then the reverse bias unit reversely ends, electronic switch module and institute described in the electric current Jing that the counter electromotive force is produced
State the first filter unit to export to power supply ground, the electrical switch mould is passed sequentially through with the electric current for preventing the counter electromotive force from producing
Block, the reverse bias module and the Voltage stabilizing module flow into the control module, it is to avoid the control module electrifying startup.
Preferably, the reverse bias unit includes three end diodes, and first filter unit includes the first current limliting electricity
Resistance and the first filter capacitor；
Two positive poles of three end diode connect the input for constituting the reverse bias unit, three ends, two pole altogether
The negative pole of pipe is the outfan of the reverse bias unit；
It is single that one end of first current-limiting resistance connects composition first filtering altogether with the positive pole of first filter capacitor
The negative pole of the input of unit, the other end of first current-limiting resistance and first filter capacitor connects composition described first altogether
The outfan of filter unit.
Preferably, the electronic switch module includes that the first electronic switch unit, the second electronic switch unit and the 3rd are electric
Sub- switch element；
The input of first electronic switch unit, the input of second electronic switch unit and described 3rd electric
The input of sub- switch element connects the input for constituting the electronic switch module altogether, and the first of first electronic switch unit
Controlled end, bootstrapping connection end and the second controlled end are respectively the first controlled end of the electronic switch module, the first bootstrapping connection
End and the second controlled end, the first controlled end of second electronic switch unit, bootstrapping connection end and the second controlled end are respectively
3rd controlled end of the electronic switch module, the second bootstrapping connection end and the 4th controlled end, the 3rd electronic switch unit
The first controlled end, bootstrapping connection end and the second controlled end be respectively the electronic switch module the 5th controlled end, the 3rd from
Lift connection end and the 6th controlled end, the outfan of first electronic switch unit, the output of second electronic switch unit
The outfan of end and the 3rd electronic switch unit connects the outfan for constituting the electronic switch module altogether；
The outfan of the input termination switch control module of the electronic switch module, the electronic switch module
First controlled end, the second controlled end, the 3rd controlled end, the 4th controlled end, the 5th controlled end, the 6th controlled end connect respectively with it is described
First control end of drive module, the second control end, the 3rd control end, the 4th control end, the 5th control end, the 6th control end one
One correspondence connects, and the first bootstrapping connection end of the electronic switch module is connected to institute altogether with the first bootstrapping end of the drive module
State the first of motor to be connected end, the second bootstrapping connection end of the electronic switch module and the second of the drive module
Bootstrapping end is connected to the second of the motor altogether and is connected end, the 3rd of the electronic switch module boot connection end with it is described
3rd bootstrapping end of drive module is connected to the third phase connection end of the motor, the outfan of the electronic switch module altogether
Connect power supply ground and be connected with the current sample end of the current sample module and the low-voltage power supply end of the drive module respectively；
When the power supply electrifying, first electronic switch unit, second electronic switch unit and the described 3rd
Any two in electronic switch unit is input into the current signal conducting of the power supply, to drive described in output driving Pulse Width Control
Motor rotates；
When the power cut-off, if the motor continues rotation and produces counter electromotive force, first electronic cutting
The electric current for closing unit, second electronic switch unit and the 3rd electronic switch unit input counter electromotive force generation is led
It is logical, and the electric current that the counter electromotive force is produced is exported to the reverse bias module.
Preferably, first electronic switch unit includes the first NMOS tube and the second NMOS tube, second electronic cutting
Closing unit includes the 3rd NMOS tube and the 4th NMOS tube, and the 3rd electronic switch unit includes the 5th NMOS tube and the 6th N
Metal-oxide-semiconductor；
The grid of first NMOS tube and drain electrode are respectively the first controlled end of first electronic switch unit and defeated
Enter end, the drain electrode of the source electrode of first NMOS tube and second NMOS tube connects altogether and constitutes first electronic switch unit
Bootstrapping connection end, the grid and source electrode of second NMOS tube be respectively the second controlled end of first electronic switch unit and
Outfan；
The grid of the 3rd NMOS tube and drain electrode are respectively the first controlled end of second electronic switch unit and defeated
Enter end, the drain electrode of the source electrode and the 4th NMOS tube of the 3rd NMOS tube connects altogether and constitutes second electronic switch unit
Bootstrapping connection end, the grid and source electrode of the 4th NMOS tube be respectively the second controlled end of second electronic switch unit and
Outfan；
The grid of the 5th NMOS tube and drain electrode are respectively the first controlled end of the 3rd electronic switch unit and defeated
Enter end, the drain electrode of the source electrode and the 6th NMOS tube of the 5th NMOS tube connects altogether and constitutes the 3rd electronic switch unit
Bootstrapping connection end, the grid and source electrode of the 6th NMOS tube be respectively the second controlled end of the 3rd electronic switch unit and
Outfan；
The electronic switch module also includes the second filter unit, the input of second filter unit and described first
The outfan of electronic switch unit, the outfan of second electronic switch unit, the output of the 3rd electronic switch unit
The current sample end of end and the current sample module connects altogether, the output termination power ground of second filter unit；
Second filter unit includes the second current-limiting resistance and the second filter capacitor, one end of second current-limiting resistance
Connect the input for constituting second filter unit with the positive pole of second filter capacitor altogether, second current-limiting resistance it is another
The negative pole of one end and second filter capacitor connects the outfan for constituting second filter unit altogether.
Preferably, the drive module includes the first driver element, the second driver element and the 3rd driver element；
First power end of first driver element, the first power end of second driver element and the described 3rd drive
First power end of moving cell connects the first power end for constituting the drive module, the second source of first driver element altogether
The second source end of end, the second source end of second driver element and the 3rd driver element connects the composition driving altogether
The second source end of module, the low-voltage power supply end of first driver element, the low-voltage power supply end of second driver element and
The low-voltage power supply end of the 3rd driver element connects the low-voltage power supply end for constituting the drive module, first driver element altogether
The high pressure controlled end of high pressure controlled end, the high pressure controlled end of second driver element and the 3rd driver element be respectively
First high pressure controlled end of the drive module, the second high pressure controlled end and the 3rd high pressure controlled end, first driver element
The low-pressure controlled end at low-pressure controlled end, the low-pressure controlled end of second driver element and the 3rd driver element be respectively
First low-pressure controlled end of the drive module, the second low-pressure controlled end and the 3rd low-pressure controlled end, first driver element
The first control end of the first control end, the first control end of second driver element and the 3rd driver element be respectively
First control end of the drive module, the second control end and the 3rd control end, the second control end of first driver element,
Second control end of the second control end of second driver element and the 3rd driver element is respectively the drive module
The 4th control end, the 5th control end and the 6th control end, the second bootstrapping end of first driver element, described second drive
First bootstrapping end of the second bootstrapping end of unit and the second bootstrapping end respectively drive module of the 3rd driver element,
Second bootstrapping end and the 3rd bootstrapping end；
First power end of the drive module and second source end respectively with the first outfan of the Voltage stabilizing module and
3rd outfan connects, and the low-voltage power supply end of the drive module is connected with the outfan of the electronic switch module, the drive
First high pressure controlled end of dynamic model block, the second high pressure controlled end and the 3rd high pressure controlled end respectively with the control module first
High voltage control end, the second high voltage control end and the 3rd high voltage control end connect one to one, the first low pressure of the drive module
Controlled end, the second low-pressure controlled end and the 3rd low-pressure controlled end the first low voltage control end respectively with the control module, second
Low voltage control end and the 3rd low voltage control end connect one to one, the drive module first bootstrapping end, second bootstrapping end and
3rd bootstrapping end respectively with the first of the electronic switch module the bootstrapping terminals, the second bootstrapping terminals and the 3rd bootstrapping wiring
End connects one to one；
When the power supply electrifying, first driver element, second driver element and the 3rd driver element
Electrifying startup according to the control signal output drive signal, while the first driver element, second driver element and institute
State any two output control signal in the 3rd driver element and control corresponding two electronic switch units conducting, make the drive
The first of galvanic electricity machine be connected end, second be connected end and third phase connection end in corresponding biphase upper electricity, to drive the drive
Galvanic electricity machine is rotated.
Preferably, first driver element include the first driving chip, 3rd resistor, the 4th resistance, the 5th resistance,
Six resistance, the 7th resistance, the 3rd electric capacity, the 4th electric capacity, the second diode, the second diode and the 3rd diode；
The power end of first driving chip is common with the positive pole of the positive pole and second diode of the 3rd electric capacity
The first power end for constituting first driver element is connect, the negative pole of the 3rd electric capacity connects power supply ground, and described first drives core
The high pressure controlled end of piece connects the high pressure controlled end for constituting first driver element altogether with one end of the 3rd resistor, and described
Another termination power ground of three resistance, the low-pressure controlled end of first driving chip connects structure altogether with one end of the 4th resistance
Into the low-pressure controlled end of first driver element, another termination power ground of the 4th resistance, first driving chip
Low-voltage power supply end be first driver element low-voltage power supply end, the low-voltage driving end of first driving chip with it is described
The negative pole of one end of the 5th resistance and the 3rd diode is connect altogether, the other end and the 3rd diode of the 5th resistance
Positive pole connect the second control end for constituting first driver element altogether, the first high voltage supply end of first driving chip with
The positive pole of the 4th electric capacity connects the bootstrapping end for constituting first driver element, the high drive of first driving chip altogether
End is connect altogether with one end of the 6th resistance and the negative pole of the 4th diode, the other end of the 6th resistance and described the
The positive pole of four diodes connects the first control end for constituting first driver element, the second high pressure of first driving chip altogether
Feeder ear is connect altogether with one end of the 7th resistance and the negative pole of the 4th electric capacity, described in another termination of the 7th resistance
The negative pole of the second diode；
Second driver element includes the second driving chip, the 8th resistance, the 9th resistance, the tenth resistance, the 11st electric
Resistance, the 12nd resistance, the 5th electric capacity, the 6th electric capacity, the 5th diode, the 6th diode and the 7th diode；
The power end of second driving chip is common with the positive pole of the positive pole and the 5th diode of the 5th electric capacity
The first power end for constituting second driver element is connect, the negative pole of the 5th electric capacity connects power supply ground, and described second drives core
The high pressure controlled end of piece connects the high pressure controlled end for constituting second driver element altogether with one end of the 8th resistance, and described
Another termination power ground of eight resistance, the low-pressure controlled end of second driving chip connects structure altogether with one end of the 9th resistance
Into the low-pressure controlled end of second driver element, another termination power ground of the 9th resistance, second driving chip
Low-voltage power supply end be second driver element low-voltage power supply end, the low-voltage driving end of second driving chip with it is described
The negative pole of one end of the tenth resistance and the 6th diode is connect altogether, the other end and the 6th diode of the tenth resistance
Positive pole connect the second control end for constituting second driver element altogether, the first high voltage supply end of second driving chip with
The positive pole of the 6th electric capacity connects the bootstrapping end for constituting second driver element, the high drive of second driving chip altogether
End is connect altogether with one end of the 11st resistance and the negative pole of the 7th diode, the other end of the 11st resistance and institute
The positive pole for stating the 7th diode connects the first control end for constituting second driver element altogether, and the second of second driving chip
High voltage supply end is connect altogether with one end of the 12nd resistance and the negative pole of the 6th electric capacity, the 12nd resistance it is another
Terminate the negative pole of the 5th diode；
3rd driver element include the 3rd driving chip, the 13rd resistance, the 14th resistance, the 15th resistance,
16 resistance, the 17th resistance, the 7th electric capacity, the 8th electric capacity, the 8th diode, the 9th diode and the tenth diode；
The power end of the 3rd driving chip is common with the positive pole of the positive pole and the 8th diode of the 7th electric capacity
The first power end for constituting the 3rd driver element is connect, the negative pole of the 7th electric capacity connects power supply ground, and the described 3rd drives core
The high pressure controlled end of piece connects the high pressure controlled end for constituting the 3rd driver element altogether with one end of the 13rd resistance, described
Another termination power ground of the 13rd resistance, the low-pressure controlled end of the 3rd driving chip and one end of the 14th resistance
Connect the low-pressure controlled end for constituting the 3rd driver element altogether, another termination power ground of the 14th resistance, the described 3rd
The low-voltage power supply end of driving chip is the low-voltage power supply end of the 3rd driver element, the low-voltage driving of the 3rd driving chip
End is connect altogether with one end of the 15th resistance and the negative pole of the 9th diode, the other end of the 15th resistance and institute
The positive pole for stating the 9th diode connects the second control end for constituting the 3rd driver element altogether, and the first of the 3rd driving chip
High voltage supply end connects the bootstrapping end for constituting the 3rd driver element altogether with the positive pole of the 8th electric capacity, and the described 3rd drives core
The high drive end of piece is connect altogether with one end of the 16th resistance and the negative pole of the tenth diode, the 16th resistance
The other end and the positive pole of the tenth diode connect the first control end for constituting the 3rd driver element altogether, the described 3rd drives
Second high voltage supply end of dynamic chip is connect altogether with one end of the 17th resistance and the negative pole of the 8th electric capacity, and the described tenth
The negative pole of another termination the 8th diode of seven resistance.
Preferably, the current sample module include the 18th resistance, the 19th resistance, the 20th resistance, the 21st
Resistance, the 9th electric capacity and the tenth electric capacity；
One end of 18th resistance is the current sample end of the current sample module, the 18th resistance it is another
One end and one end of the 19th resistance, the positive pole of the 9th electric capacity connect altogether and constitute the first of the current sample module and adopt
Sample outfan, the other end of the 19th resistance is the power end of the current sample module, the 20th resistance it is another
One end and the negative pole of one end of the 21st resistance and the tenth electric capacity connect altogether and constitute the of the current sample module
Three sampled outputs, the positive pole of the other end and the tenth electric capacity of the 21st resistance connect the composition current sample altogether
Second sampled output of module；
The current sample end of the current sample module is connected with the outfan of the electronic switch module, and the electric current is adopted
The power end of egf block is connected with the 3rd outfan of the Voltage stabilizing module, the first sampling output of the current sample module
End, the second sampled output and the 3rd sampled output the first sampling end respectively with the control module, the second sampling end and
3rd sampling end connects one to one；
When the power supply electrifying, the motor are rotated, the current sample module drives electricity by described respectively
The first of machine be connected end, second be connected end and third phase connection end gathers the operating current of the motor, and respectively
Exported to the control mould by first sampled output, second sampled output and the 3rd sampled output
Block.
Preferably, the Voltage stabilizing module includes the first voltage regulation unit, the second voltage regulation unit and the 3rd voltage regulation unit；
The input of first voltage regulation unit is the input of the Voltage stabilizing module, the output of first voltage regulation unit
The input with second voltage regulation unit is held to connect the first outfan for constituting the Voltage stabilizing module, second voltage regulation unit altogether
Outfan connect the second outfan for constituting the Voltage stabilizing module with the input of the 3rd voltage regulation unit altogether, the described 3rd is steady
Pressure unit outfan is the 3rd outfan of the Voltage stabilizing module；
When the power supply electrifying, the Voltage stabilizing module by first voltage regulation unit, second voltage regulation unit and
The current signal of the output of the power supply is converted to the first predeterminated voltage, the second predeterminated voltage by the 3rd voltage regulation unit successively
Exported with the 3rd predeterminated voltage and by its three outfans respectively.
On the other hand the embodiment of the present invention also provides a kind of robot, and which includes steering wheel, CAN transceiver and magnetic orientation
Sensor, the steering wheel include above-mentioned drive control circuit, the CAN transceiver respectively with the Voltage stabilizing module and institute
Control module connection is stated, the magnetic position sensor is connected with the Voltage stabilizing module and the control module respectively, the control
Module is also connected with external device communication by the CAN transceiver.
The embodiment of the present invention, can be in steering wheel power-off by providing a kind of drive control circuit including reverse bias module
Afterwards, the motor of steering wheel because artificial promotion makes mechanical movement produce counter electromotive force when, prevent what counter electromotive force was produced
The mainboard of current direction steering wheel, it is to avoid electricity on the mainboard of steering wheel.
Description of the drawings
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to making needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, can be attached to obtain others according to these accompanying drawings
Figure.
Fig. 1 is the basic structure block diagram of the drive control circuit that one embodiment of the present of invention is provided；
Fig. 2 is the concrete structure block diagram of the drive control circuit that one embodiment of the present of invention is provided；
Fig. 3 is the electrical block diagram of the reverse bias module that one embodiment of the present of invention is provided；
Fig. 4 is the electrical block diagram of the electronic switch module that one embodiment of the present of invention is provided；
Fig. 5 is the electrical block diagram of the drive module that one embodiment of the present of invention is provided；
Fig. 6 is the electrical block diagram of the current sample module that one embodiment of the present of invention is provided；
Fig. 7 is the electrical block diagram of the voltage sample module that one embodiment of the present of invention is provided；
Fig. 8 is the electrical block diagram of the temperature collect module that one embodiment of the present of invention is provided；
Fig. 9 is the basic structure block diagram of the robot that one embodiment of the present of invention is provided.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is explicitly described to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is the present invention one
The embodiment divided, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
The every other embodiment obtained under the premise of going out creative work, should all belong to the scope of protection of the invention.
Term " including " and their any deformations in description and claims of this specification and above-mentioned accompanying drawing, meaning
Figure is to cover non-exclusive including.Process, method or system, product or the equipment for for example including series of steps or unit does not have
The step of listing or unit are defined in, but alternatively also include the step of not listing or unit, or alternatively also wrapped
Include other intrinsic for these processes, method, product or equipment step or unit.Additionally, term " first ", " second " and
" 3rd " etc. is for distinguishing different objects, not for description particular order.
As shown in figure 1, one embodiment of the present of invention provides a kind of drive control circuit 100, for controlling steering wheel 200
Motor 201 works or quits work, and which includes reverse bias module 10, electronic switch module 20, drive module 30, control
Module 40, current sample module 50 and Voltage stabilizing module 60.
Reverse bias module 10 is accessed the power supply 202 of steering wheel 200 and is connected with electronic switch module 20, and drive module 30 is led to
Cross electronic switch module 20 to be connected with motor 201, control module 40 is connected with drive module 30 and by current sample mould
Block 50 is connected with electronic switch module 20, Voltage stabilizing module 60 access power supply 202 and respectively with drive module 30, control module 40 and
Current sample module 50 connects.
In a particular application, motor 201 is specifically as follows three-phase dc servomotor, and power supply 202 is specifically as follows
24V DC sources, control module 40 specifically can be by universal integrated circuit, such as CPU (Central Processing
Unit, central processing unit), or by ASIC (Application Specific Integrated Circuit, it is special integrated
Circuit) realizing.
The operation principle of the drive control circuit provided by the present embodiment is：
When power supply electrifying, reverse bias module forward conduction input current signal, the output control of control module electrifying startup
Signal processed, according to control signal output drive signal, electronic switch module is according to current signal and drive for drive module electrifying startup
Dynamic signal conduction output driving pulse, motor pulsed drive rotation driven, control module also pass through current sample module
The operating current of collection motor, to adjust control signal of the output to drive module according to operating current；
When power cut-off, if motor continues rotation, generation counter electromotive force turns on electronic switch module, inversely
Biasing module reversely ends, the current direction control module for preventing counter electromotive force from producing, it is to avoid control module electrifying startup.
The present embodiment by providing a kind of drive control circuit including reverse bias module, can steering wheel power-off it
Afterwards, the motor of steering wheel because artificial promotion makes mechanical movement produce counter electromotive force when, the electricity for preventing counter electromotive force from producing
Stream traffic organising module, it is to avoid electricity in the control module (i.e. the mainboard of steering wheel) of steering wheel.
As shown in Fig. 2 in one embodiment of the invention, reverse bias module 10 includes reverse bias unit 11 and
One filter unit 12；Electronic switch module 20 includes that the first electronic switch unit 21, the second electronic switch unit 22 and the 3rd are electric
Sub- switch element 23；Drive module 30 includes the first driver element 31, the second driver element 32 and the 3rd driver element 33；Voltage stabilizing
Module 60 includes the first voltage regulation unit 61, the second voltage regulation unit 62 and the 3rd voltage regulation unit 63；Servo driving module 100 also includes
Voltage sample module 70 and temperature sampling module 80.
As shown in Fig. 2 in the present embodiment, the annexation between reverse bias module 10 and other each modules is：
Input of the input of reverse bias unit 11 for reverse bias module 10, the outfan of reverse bias unit 11
Connect the outfan for constituting reverse bias module 10, the outfan of the first filter unit 12 with the input of the first filter unit 12 altogether
For the earth terminal of reverse bias module 10.
In a particular application, reverse bias unit 11 can specifically select diode, the first filter unit specifically select
With arbitrarily conventional filter circuit construction.
The input of reverse bias module 10 is connected to power supply 202, reverse bias module altogether with the input of Voltage stabilizing module 60
The input of 10 output termination electronic switch module 20, the ground connection termination power ground of reverse bias module 10.
The operation principle of the reverse bias module provided by the present embodiment is：
When the power supply electrifying, the reverse bias unit forward conduction, the current signal of the power supply output pass through
The reverse bias unit is exported to the electronic switch module；
When the power cut-off, if the motor continues rotation, generation counter electromotive force makes the electronic switch module
Conducting, then the reverse bias unit reversely ends, electronic switch module and institute described in the electric current Jing that the counter electromotive force is produced
State the first filter unit to export to power supply ground, the electrical switch mould is passed sequentially through with the electric current for preventing the counter electromotive force from producing
Block, the reverse bias module and the Voltage stabilizing module flow into the control module, it is to avoid the control module electrifying startup.
As shown in Fig. 2 in the present embodiment, the annexation between electronic switch module 20 and other each modules is：
The input of the first electronic switch unit 21, the input of the second electronic switch unit 22 and the 3rd electrical switch list
Unit 23 input connect altogether constitute electronic switch module 20 input, the first controlled end of the first electronic switch unit 21, from
Lift connection end and the second controlled end respectively the first controlled end of electronic switch module 20, the first bootstrapping connection end and second is controlled
End, the first controlled end of the second electronic switch unit 22, boot connection end and the second controlled end respectively electronic switch module 20
The 3rd controlled end, the second bootstrapping connection end and the 4th controlled end, the first controlled end of the 3rd electronic switch unit 23, bootstrapping connect
Connect end and the second controlled end be respectively the 5th controlled end of electronic switch module 20, the 3rd bootstrapping connection end and the 6th controlled end,
The outfan of the first electronic switch unit 21, the outfan of the second electronic switch unit 22 and the 3rd electronic switch unit 23 it is defeated
Go out end and connect the outfan for constituting electronic switch module 20 altogether.
In a particular application, the first electronic switch unit, the second electronic switch unit and the 3rd electronic switch unit
Electronic switching circuit is constituted with by metal-oxide-semiconductor.
The outfan of the input termination switch control module 40 of electronic switch module 20, the first of electronic switch module 20 receives
Control end, the second controlled end, the 3rd controlled end, the 4th controlled end, the 5th controlled end, the 6th controlled end are connect and drive module 30 respectively
The first control end, the second control end, the 3rd control end, the 4th control end, the 5th control end, the 6th control end correspond connect
Connect, the first bootstrapping end of the first bootstrapping connection end and drive module of electronic switch module 20 is connected to the of motor 201 altogether
One is connected end, and the second bootstrapping connection end of electronic switch module is connected to motor altogether with the second bootstrapping end of drive module 30
The second of 201 is connected end, and the 3rd bootstrapping connection end of electronic switch module 20 is connect altogether with the 3rd of drive module 30 end of booting
In the third phase connection end of motor 201, the output termination power ground of electronic switch module 20 and respectively with current sample mould
The current sample end of block 50 and the low-voltage power supply end connection of drive module 40.
The operation principle of the electronic switch module provided by the present embodiment is：
When the power supply electrifying, first electronic switch unit, second electronic switch unit and the described 3rd
Any two in electronic switch unit is input into the current signal conducting of the power supply, to drive described in output driving Pulse Width Control
Motor rotates；
When the power cut-off, if the motor continues rotation and produces counter electromotive force, first electronic cutting
The electric current for closing unit, second electronic switch unit and the 3rd electronic switch unit input counter electromotive force generation is led
It is logical, and the electric current that the counter electromotive force is produced is exported to the reverse bias module.
In a particular application, in power supply electrifying, drive module controls the first electronic switch unit, the second electrical switch list
Any two in unit or the 3rd electronic switch unit, the first of output driving pulse to motor is connected end, the second phase
Any two terminal of connection end or third phase connection end, so that motor rotation.
As shown in Fig. 2 in the present embodiment, the annexation between drive module 30 and other each modules is：
First power end of the first driver element 31, the first power end of the second driver element 32 and the 3rd driver element 33
The first power end connect altogether constitute drive module 30 the first power end, the second source end of the first driver element 31, second drive
The second source end of moving cell 32 and the second source end of the 3rd driver element 33 connect the second source for constituting drive module 30 altogether
End, the low-voltage power supply end of the first driver element 31, the low-voltage power supply end of the second driver element 32 and the 3rd driver element 33 it is low
Pressure feeder ear connects the low-voltage power supply end for constituting drive module 30 altogether, and the high pressure controlled end of the first driver element 31, second drive list
Unit 32 high pressure controlled end and the 3rd driver element 33 high pressure controlled end be respectively drive module 30 the first high pressure controlled end,
Second high pressure controlled end and the 3rd high pressure controlled end, the low-pressure controlled end of the first driver element 31, the second driver element 32 it is low
The low-pressure controlled end of pressure controlled end and the 3rd driver element 33 is respectively the first low-pressure controlled end of drive module 30, the second low pressure
Controlled end and the 3rd low-pressure controlled end, the first control end of the first driver element 31, the first control end of the second driver element 32
The first control end, the second control end and the 3rd control of drive module 30 are respectively with the first control end of the 3rd driver element 33
End, the of the second control end of the first driver element 31, the second control end of the second driver element 32 and the 3rd driver element 33
Two control ends are respectively the 4th control end, the 5th control end and the 6th control end of drive module 30, the first driver element 31
Second bootstrapping end of the second bootstrapping end, the second bootstrapping end of the second driver element 32 and the 3rd driver element 33 respectively drives mould
Block 30 first bootstrapping end, second bootstrapping end and the 3rd bootstrapping end.
In a particular application, the first driver element, the second driver element and the 3rd driver element can specifically pass through motor
Driving chip is constituting.
First power end of drive module 30 and second source end the first outfan and the 3rd respectively with Voltage stabilizing module 60
Outfan connects, and the low-voltage power supply end of drive module 30 is connected with the outfan of electronic switch module 20, and the of drive module 30
One high pressure controlled end, the second high pressure controlled end and the 3rd high pressure controlled end the first high voltage control end respectively with control module 40,
Second high voltage control end and the 3rd high voltage control end connect one to one, the first low-pressure controlled end of drive module 30, second low
Pressure controlled end and the 3rd low-pressure controlled end the first low voltage control end respectively with control module 40, the second low voltage control end and the 3rd
Low voltage control end connects one to one, drive module 30 first bootstrapping end, second bootstrapping end and the 3rd bootstrapping end respectively with electricity
Sub- switch module first bootstrapping terminals, second bootstrapping terminals and the 3rd bootstrapping terminals connect one to one；
The operation principle of the drive module provided by the present embodiment is：
When the power supply electrifying, first driver element, second driver element and the 3rd driver element
Electrifying startup according to the control signal output drive signal, while the first driver element, second driver element and institute
State any two output control signal in the 3rd driver element and control corresponding two electronic switch units conducting, make the drive
The first of galvanic electricity machine be connected end, second be connected end and third phase connection end in corresponding biphase upper electricity, to drive the drive
Galvanic electricity machine is rotated.
In a particular application, drive module is by its first driver element, the second driver element and the 3rd driver element point
Not Kong Zhi motor first be connected end, second be connected end and third phase connection end electrifying condition.
As shown in Fig. 2 in the present embodiment, the annexation between current sample module 50 and other each modules is：
The current sample end of current sample module 50 is connected with the outfan of electronic switch module 20, current sample module 50
Power end be connected with the 3rd outfan of Voltage stabilizing module 60, the first sampled output of current sample module 50, second sampling
Outfan and the 3rd sampled output the first sampling end respectively with control module 40, the second sampling end and the 3rd sampling end are one by one
Correspondence connects.
The operation principle of the current sample module provided by the present embodiment is：
When power supply electrifying, motor rotate when, current sample module respectively by motor first be connected end,
Second is connected end and third phase connection end gathers the operating current of motor, and respectively by the first sampled output, the
Two sampled outputs and the 3rd sampled output are exported to control module.
As shown in Fig. 2 in the present embodiment, the annexation between Voltage stabilizing module 60 and other each modules is：
Input of the input of the first voltage regulation unit 61 for Voltage stabilizing module 60, the outfan of the first voltage regulation unit 61 and the
The input of two voltage regulation units 62 connects the first outfan for constituting Voltage stabilizing module 60, the outfan of the second voltage regulation unit 62 and the altogether
The input of three voltage regulation units 63 connects the second outfan for constituting Voltage stabilizing module 60 altogether, and 63 outfan of the 3rd voltage regulation unit is voltage stabilizing
3rd outfan of module 60.
In a particular application, the first voltage regulation unit, the second voltage regulation unit and the 3rd voltage regulation unit can specifically pass through voltage stabilizing
Device, dc-dc or voltage stabilizing chip are realizing.In a particular application, the first voltage regulation unit can specifically select MP4560 types
Step-down controller, the second voltage regulation unit can specifically select MP2314 type voltage stabilizing chips, the 3rd voltage regulation unit specifically select
SGM2013 type low pressure difference linear voltage regulators.
The operation principle of the Voltage stabilizing module provided by the present embodiment is：
When power supply electrifying, Voltage stabilizing module passes through the first voltage regulation unit, the second voltage regulation unit and the 3rd voltage regulation unit successively
By the current signal of the output of power supply be converted to the first predeterminated voltage, the second predeterminated voltage and the 3rd predeterminated voltage and by its three
Individual outfan is exported respectively.
In a particular application, when the voltage swing of power supply output is the unidirectional current of 24V, the first voltage regulation unit is used for will
The blood pressure lowering of 24V unidirectional currents be 12V unidirectional currents after export, the second voltage regulation unit for by the blood pressure lowering of 12V unidirectional currents be 5V unidirectional currents after it is defeated
Go out, the 3rd voltage regulation unit for by the blood pressure lowering of 5V unidirectional currents be 3.3V unidirectional currents after export.
As shown in Fig. 2 in the present embodiment, the annexation between voltage sample module 70 and other each modules is：
The first voltage sampling end of voltage sample module 70, second voltage sampling end, sampled output and earth terminal difference
Connect one to one with power supply 202, the 3rd outfan of Voltage stabilizing module 60, the voltage sample end of control module 40 and power supply.
The operation principle of the voltage sample module provided by the present embodiment is：
In power supply electrifying, control module control voltage sampling module sampling power supply voltage signal and Voltage stabilizing module the 3rd
Whether the voltage signal of outfan output is normal with the voltage for detecting whole servo driving circuit.
As shown in Fig. 2 in the present embodiment, the annexation between temperature collect module 80 and other each modules is：
The power end of temperature collect module 80, sampled signal output and ground respectively with connect the 3rd of Voltage stabilizing module 30
Connect one to one outfan, the temperature acquisition end of control module 40 and power supply.
The operation principle of the temperature collect module provided by the present embodiment is：
Temperature collect module is positioned close to the position of motor, controls collection motor for controlled module
Temperature, if the temperature of the motor for being collected is more than preset temperature threshold value, control module controls the motor and stops
Spin-ended turn, or reduce the rotary speed of motor.
As shown in figure 3, in one embodiment of the invention, reverse bias unit 11 includes three end diode D1, first
Filter unit 12 includes the first current-limiting resistance R1 and the first filter capacitor C1.
In reverse bias module 10, the annexation of each electronic devices and components is：
Two positive poles of three end diode D1 meet the input 24V, three end diode D1 for constituting reverse bias unit 11 altogether
Negative pole for reverse bias unit 11 outfan 24V_MOS；
One end of first current-limiting resistance R1 is connect with the positive pole of the first filter capacitor C1 altogether and constitutes the defeated of the first filter unit 12
Enter and hold 24V_MOS, the negative pole of the C1 of the other end and the first filter capacitor of the first current-limiting resistance R1 connects composition the first filtering list altogether
The outfan of unit 12.
As shown in figure 4, in one embodiment of the invention, the first electronic switch unit 21 include the first NMOS tube Q1 and
Second NMOS tube Q2, the second electronic switch unit 22 include the 3rd NMOS tube Q3 and the 4th NMOS tube Q4, the 3rd electrical switch list
Unit 23 includes the 5th NMOS tube Q5 and the 6th N metal-oxide-semiconductor Q6.
In electronic switch module 20, the annexation of each electronic devices and components is：
The grid of the first NMOS tube Q1 and drain electrode be respectively the first controlled end PWM_AT of the first electronic switch unit 21 and
Input 24V_MOS, the drain electrode of the source electrode of the first NMOS tube Q1 and the second NMOS tube Q2 connect the first electronic switch unit of composition altogether
21 bootstrapping connection end PHASE_A, the grid and source electrode of the second NMOS tube Q2 are respectively the second of the first electronic switch unit 21
Controlled end PWM_AB and outfan I_PHASE_A；
The grid of the 3rd NMOS tube Q3 and drain electrode be respectively the first controlled end PWM_BT of the second electronic switch unit 21 and
Input 24V_MOS, the drain electrode of the source electrode and the 4th NMOS tube Q4 of the 3rd NMOS tube Q3 connect the second electronic switch unit of composition altogether
22 bootstrapping connection end PHASE_B, the grid and source electrode of the 4th NMOS tube Q4 are respectively the second of the second electronic switch unit 22
Controlled end PWM_BB and outfan I_PHASE_A；
The grid of the 5th NMOS tube Q5 and drain electrode be respectively the first controlled end PWM_CT of the 3rd electronic switch unit 23 and
Input 24V_MOS, the drain electrode of the source electrode and the 6th NMOS tube Q6 of the 5th NMOS tube Q5 connect the 3rd electronic switch unit of composition altogether
23 bootstrapping connection end PHASE_C, the grid and source electrode of the 6th NMOS tube Q6 are respectively the second of the 3rd electronic switch unit and receive
Control end PWM_CB and outfan I_PHASE_A.
In the present embodiment, electronic switch module 20 also includes the second filter unit 24, the input of the second filter unit 24
The outfan of end and the first electronic switch unit 21, the outfan of the second electronic switch unit 22, the 3rd electronic switch unit 23
Outfan and the current sample end of current sample module 50 connect altogether, the output termination power ground of the second filter unit 24.
In the present embodiment, the particular circuit configurations of the second filter unit 24 are：
Second filter unit 24 includes the second current-limiting resistance R2 and the second filter capacitor C2, one end of the second current-limiting resistance R2
Meet the input I_PHASE_A, the second current-limiting resistance R2 for constituting the second filter unit 24 with the positive pole of the second filter capacitor C2 altogether
The other end and the second filter capacitor C2 negative pole connect altogether constitute the second filter unit 24 outfan.
As shown in figure 5, in one embodiment of the invention, the first driver element 31 include the first driving chip U1,
Three resistance R3, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the 7th resistance R7, the 3rd electric capacity C3, the 4th electric capacity C4,
Two diode D2, the second diode D3 and the 3rd diode D4.
In the present embodiment, first drives core U1 specifically to select DGD1503 type motor drive ics.
In the present embodiment, the annexation in the first driver element 31 between each device is：
The positive pole of power end VCC and the 3rd electric capacity C3 and the positive pole of the second diode D2 of the first driving chip U1 connects structure altogether
Into the first power end 3.3V of the first driver element 31, the negative pole of the 3rd electric capacity C3 connects power supply ground, the height of the first driving chip U1
Pressure controlled end HIN meets the high pressure controlled end MCU_AT for constituting the first driver element 31 altogether with one end of 3rd resistor R3, and the 3rd is electric
Another termination power ground of resistance R3, one end of the low-pressure controlled end LIN and the 4th resistance R4 of the first driving chip U1 connects composition altogether
Another termination power ground of the low-pressure controlled end MCU_AB of the first driver element 31, the 4th resistance R4, the first driving chip U1's
Low-voltage power supply end COM is the low-voltage power supply end I_PHASE_A of the first driver element 31, the low-voltage driving end of the first driving chip U1
LO is connect altogether with one end of the 5th resistance R5 and the negative pole of the 3rd diode D3, the other end and the 3rd diode D3 of the 5th resistance R5
Positive pole connect altogether constitute the first driver element 31 the second control end PWM_AB, the first high voltage supply end of the first driving chip U1
The positive pole of VS and the 4th electric capacity C4 connects the bootstrapping end PHASE_A for constituting the first driver element 31, the height of the first driving chip U1 altogether
Pressure drive end HO is connect altogether with one end of the 6th resistance R6 and the negative pole of the 4th diode D4, the other end and the 4th of the 6th resistance R6
The positive pole of diode D4 connects the first control end PWM_AT for constituting the first driver element 31 altogether, and the second of the first driving chip U1 is high
Pressure feeder ear VB is connect altogether with one end of the 7th resistance R7 and the negative pole of the 4th electric capacity C4, another termination the two or two of the 7th resistance R7
The negative pole of pole pipe D2.
Second driver element 32 include the second driving chip U2, the 8th resistance R8, the 9th resistance R9, the tenth resistance R10,
11 resistance R11, the 12nd resistance R12, the 5th electric capacity C5, the 6th electric capacity C6, the 5th diode D5, the 6th diode D6 and
Seven diode D7.
In the present embodiment, second drives core U1 specifically to select DGD1503 type motor drive ics.
In the present embodiment, the annexation in the second driver element 32 between each device is：
The positive pole of the positive pole and the 5th diode D5 of the power end VCC and the 5th electric capacity C5 of the second driving chip U2 connects structure altogether
Into the first power end 3.3V of the second driver element 32, the negative pole of the 5th electric capacity C5 connects power supply ground, the height of the second driving chip U2
One end of pressure controlled end HIN and the 8th resistance R8 meets the high pressure controlled end MCU_BT for constituting the second driver element 32 altogether, and the 8th is electric
Another termination power ground of resistance R8, one end of the low-pressure controlled end LIN and the 9th resistance R9 of the second driving chip U2 connects composition altogether
Another termination power ground of the low-pressure controlled end MCU_BB of the second driver element 32, the 9th resistance R9, the second driving chip U2's
Low-voltage power supply end COM is the low-voltage power supply end I_PHASE_B of the second driver element 32, the low-voltage driving end of the second driving chip U2
LO is connect altogether with one end of the tenth resistance R10 and the negative pole of the 6th diode D6, the other end and the 6th diode of the tenth resistance R10
The positive pole of D6 connects the second control end PWM_BB for constituting the second driver element 32, first high voltage supply of the second driving chip U2 altogether
The positive pole of end VS and the 6th electric capacity C6 meets the bootstrapping end PHASE_B for constituting the second driver element 32 altogether, the second driving chip U2's
High drive end HO is connect altogether with one end of the 11st resistance R11 and the negative pole of the 7th diode D7, and the 11st resistance R11's is another
The positive pole of end and the 7th diode D7 meets the first control end PWM_BT for constituting the second driver element 32, the second driving chip U2 altogether
The second high voltage supply end VB connect with one end of the 12nd resistance R12 and the negative pole of the 6th electric capacity C6 altogether, the 12nd resistance R12's
The negative pole of the 5th diode D5 of another termination.
3rd driver element 33 includes the 3rd driving chip U3, the 13rd resistance R13, the 14th resistance R14, the 15th electric
Resistance R15, the 16th resistance R16, the 17th resistance R17, the 7th electric capacity C7, the 8th electric capacity C8, the 8th diode D8, the 9th 2 pole
Pipe D9 and the tenth diode D10.
In the present embodiment, the 3rd drives core U1 specifically to select DGD1503 type motor drive ics.
In the present embodiment, the annexation in the 3rd driver element 33 between each device is：
The positive pole of the positive pole and the 8th diode D8 of the power end VCC and the 7th electric capacity C7 of the 3rd driving chip U3 connects structure altogether
Into the first power end 3.3V of the 3rd driver element 33, the negative pole of the 7th electric capacity C7 connects power supply ground, the height of the 3rd driving chip U3
Pressure controlled end HIN and the 13rd resistance R13 one end connect altogether composition the 3rd driver element 33 high pressure controlled end MCU_CT, the tenth
Another termination power ground of three resistance R13, one end of the low-pressure controlled end LIN and the 14th resistance R14 of the 3rd driving chip U3
The low-pressure controlled end MCU_CB for constituting the 3rd driver element 33, another termination power ground of the 14th resistance R14, the 3rd drive are connect altogether
The low-voltage power supply end COM of dynamic chip U3 is the low-voltage power supply end I_PHASE_C of the 3rd driver element 33, the 3rd driving chip U3's
Low-voltage driving end LO is connect altogether with one end of the 15th resistance R15 and the negative pole of the 9th diode D9, and the 15th resistance R15's is another
The positive pole of end and the 9th diode D9 meets the second control end PWM_CB for constituting the 3rd driver element 33, the 3rd driving chip U3 altogether
The first high voltage supply end VS and the positive pole of the 8th electric capacity C8 meet the bootstrapping end PHASE_C for constituting the 3rd driver element 33 altogether, the
The high drive end HO of three driving chip U3 is connect altogether with one end of the 16th resistance R16 and the negative pole of the tenth diode D10, and the tenth
The positive pole of the other end and the tenth diode D10 of six resistance R16 connects the first control end PWM_ for constituting the 3rd driver element 33 altogether
One end of the second high voltage supply end VB and the 17th resistance R17 of CT, the 3rd driving chip U3 and the negative pole of the 8th electric capacity C8 are altogether
Connect, the negative pole of the 8th diode D8 of another termination of the 17th resistance R17.
As shown in fig. 6, in one embodiment of the invention, current sample module 50 include the 18th resistance R18, the tenth
Nine resistance R19, the 20th resistance R20, the 21st resistance R21, the 9th electric capacity C9 and the tenth electric capacity C10.
In the present embodiment, the annexation in current sample module between each electronic devices and components is：
Current sample end I_PHASE_A of the one end of 18th resistance R18 for current sample module 50, the 18th resistance
One end of the other end of R18 and the 19th resistance R19, the positive pole of the 9th electric capacity C9 connect altogether and constitute the first of current sample module 50
Power end 3.3V, two ten resistance R20 of the other end of sampled output PA1, the 19th resistance R19 for current sample module 50
The other end and one end of the 21st resistance R21 and the negative pole of the tenth electric capacity C10 connect altogether and constitute the of current sample module 50
The positive pole of the other end and the tenth electric capacity C10 of three sampled output PA3, the 21st resistance R21 connects composition current sample mould altogether
Second sampled output PA2 of block 50.
As shown in fig. 7, in one embodiment of the invention, voltage acquisition module 70 include the 22nd resistance R22,
23 resistance R23, the 11st electric capacity C11, the 11st diode (specially Schottky diode) D11.
In the present embodiment, the annexation in voltage acquisition module 70 between each electronic devices and components is：
First voltage sampling end 24V of the one end of 22nd resistance R22 for voltage acquisition module 70, the 22nd resistance
The positive pole of one end, the positive pole of the 11st electric capacity C11 and the 11st diode D11 of the other end of R22 and the 23rd resistance R23
The sampled output Vdet for constituting voltage acquisition module 70, the other end and the 11st electric capacity C11 of the 23rd resistance R23 are connect altogether
Negative pole connect the earth terminal for constituting voltage sample module 70 altogether, the negative pole of the 11st diode D11 constitutes voltage sample module 70
Second voltage sampling end 3.3V.
As shown in figure 8, in one embodiment of the invention, temperature collect module 80 include the 24th resistance R24,
25 resistance R25 (specially critesistor) and the 12nd electric capacity C12.
In the present embodiment, the annexation in current sample module between each electronic devices and components is：
Power end 3.3V of the one end of 24th resistance R24 for temperature collect module 80, the 24th resistance R24's is another
One end connects the sampling for constituting temperature collect module 80 altogether with one end of the 25th resistance R25 and the positive pole of the 12nd electric capacity C12
The negative pole of the other end and the 12nd electric capacity C12 of signal output part NTC, the 25th resistance R25 is temperature collect module 80
Earth terminal.
In one embodiment of the invention, the equal common implementing of all embodiments corresponding to accompanying drawing 3～8, institute in accompanying drawing
There is mark identical port to connect altogether.In the present embodiment, control module 40 specifically selects STM32F302RBT6 type microcontrollers
Device；First voltage regulation unit specifically selects MP4560 type step-down controllers, the second voltage regulation unit specifically to select MP2314 type voltage stabilizing cores
Piece, the 3rd voltage regulation unit specifically select SGM2013 type low pressure difference linear voltage regulators.Due in a particular application,
STM32F302RBT6 type microcontrollers, MP4560 type step-down controllers, MP2314 types voltage stabilizing chip and SGM2013 type low voltage differences
The function of each pin of linear voltage regulator be, it is known that therefore, in the present embodiment no longer to these chip applications drive control electricity
Physical circuit attachment structure when in road 100 is described in detail.
As shown in figure 9, one embodiment of the present of invention also provides a kind of robot 00, which includes steering wheel 200, CAN
Transceiver 300 and magnetic position sensor 400, steering wheel 200 include the drive control circuit 100 in above-described embodiment, and CAN is received
Send out device 300 be connected with Voltage stabilizing module 60 and control module 40 respectively, magnetic position sensor 400 respectively with Voltage stabilizing module 60 and control
Module 40 connects, and control module 40 is also connected with external device communication by CAN transceiver 300.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of drive control circuit, moves for controlling steering wheel, it is characterised in that the drive control circuit includes reverse inclined
Die block, electronic switch module, drive module, control module, current sample module and Voltage stabilizing module；
The reverse bias module is accessed the power supply of the steering wheel and is connected with the electronic switch module, and the drive module is led to
Cross the electronic switch module to be connected with the motor, the control module is connected with the drive module and passes through described
Current sample module is connected with the electronic switch module, the Voltage stabilizing module access the power supply and respectively with the driving mould
The connection of block, the control module and the current sample module；
When the power supply electrifying, the reverse bias module forward conduction input current signal, in the control module, electricity is opened
Dynamic and output control signal, the drive module electrifying startup according to the control signal output drive signal, the electronics
Switch module receives the drive according to the current signal and drive signal conducting output driving pulse, the motor
Moving pulse drives rotation, the control module that the operating current of the motor is also gathered by the current sample module,
To adjust control signal of the output to the drive module according to the operating current；
When the power cut-off, if the motor continues rotation, generation counter electromotive force leads the electronic switch module
Logical, then the reverse bias module is reversely ended, and prevents control module described in the current direction of the counter electromotive force generation, it is to avoid
The control module electrifying startup.
2. drive control circuit as claimed in claim 1, it is characterised in that the reverse bias module includes reverse bias list
Unit and the first filter unit；
The input of the reverse bias unit is the input of the reverse bias module, the output of the reverse bias unit
The input with first filter unit is held to connect the outfan for constituting the reverse bias module, first filter unit altogether
Outfan be the reverse bias module earth terminal；
The input of the reverse bias module is connected to the power supply, the reverse bias altogether with the input of the Voltage stabilizing module
The input of the output termination electronic switch module of module, the ground connection termination power ground of the reverse bias module；
When the power supply electrifying, the reverse bias unit forward conduction, the current signal of the power supply output is by described
Reverse bias unit is exported to the electronic switch module；
When the power cut-off, if the motor continues rotation, generation counter electromotive force leads the electronic switch module
Logical, then the reverse bias unit reversely ends, electronic switch module described in the electric current Jing that the counter electromotive force is produced and described
First filter unit is exported to power supply ground, passes sequentially through the electrical switch mould with the electric current for preventing the counter electromotive force from producing
Block, the reverse bias module and the Voltage stabilizing module flow into the control module, it is to avoid the control module electrifying startup.
3. drive control circuit as claimed in claim 2, it is characterised in that the reverse bias unit includes three ends, two pole
Pipe, first filter unit include the first current-limiting resistance and the first filter capacitor；
Two positive poles of three end diode connect the input for constituting the reverse bias unit altogether, three end diode
Negative pole is the outfan of the reverse bias unit；
One end of first current-limiting resistance is connect with the positive pole of first filter capacitor altogether and constitutes first filter unit
The negative pole of input, the other end of first current-limiting resistance and first filter capacitor connects composition first filtering altogether
The outfan of unit.
4. drive control circuit as claimed in claim 1, it is characterised in that the electronic switch module includes the first electronic cutting
Close unit, the second electronic switch unit and the 3rd electronic switch unit；
The input of first electronic switch unit, the input of second electronic switch unit and the 3rd electronic cutting
The input for closing unit connects the input for constituting the electronic switch module altogether, and the first of first electronic switch unit is controlled
End, bootstrapping connection end and the second controlled end be respectively the electronic switch module the first controlled end, first bootstrapping connection end and
Second controlled end, the first controlled end of second electronic switch unit, bootstrapping connection end and the second controlled end are respectively described
3rd controlled end of electronic switch module, the second bootstrapping connection end and the 4th controlled end, the of the 3rd electronic switch unit
One controlled end, bootstrapping connection end and the second controlled end are respectively the 5th controlled end of the electronic switch module, the 3rd bootstrapping and connect
Connect end and the 6th controlled end, the outfan of first electronic switch unit, the outfan of second electronic switch unit and
The outfan of the 3rd electronic switch unit connects the outfan for constituting the electronic switch module altogether；
The outfan of the input termination switch control module of the electronic switch module, the first of the electronic switch module
Controlled end, the second controlled end, the 3rd controlled end, the 4th controlled end, the 5th controlled end, the 6th controlled end are connect and the driving respectively
First control end of module, the second control end, the 3rd control end, the 4th control end, the 5th control end, the 6th control end one a pair
Should connect, the first bootstrapping connection end of the electronic switch module is connected to the drive altogether with the first bootstrapping end of the drive module
The first of galvanic electricity machine is connected end, the second bootstrapping connection end of the electronic switch module and the second bootstrapping of the drive module
End is connected to the second of the motor altogether and is connected end, and the 3rd of the electronic switch module boots connection end and the driving
3rd bootstrapping end of module is connected to the third phase connection end of the motor, the output termination electricity of the electronic switch module altogether
Source ground is simultaneously connected with the current sample end of the current sample module and the low-voltage power supply end of the drive module respectively；
When the power supply electrifying, first electronic switch unit, second electronic switch unit and the 3rd electronics
Any two in switch element is input into the current signal conducting of the power supply, with motor described in output driving Pulse Width Control
Rotation；
When the power cut-off, if the motor continues rotation and produces counter electromotive force, the first electrical switch list
First, described second electronic switch unit and the 3rd electronic switch unit are input into the current lead-through that the counter electromotive force is produced,
And the electric current that the counter electromotive force is produced is exported to the reverse bias module.
5. drive control circuit as claimed in claim 4, it is characterised in that first electronic switch unit includes first
NMOS tube and the second NMOS tube, second electronic switch unit include the 3rd NMOS tube and the 4th NMOS tube, and the described 3rd is electric
Sub- switch element includes the 5th NMOS tube and the 6th NMOS tube；
The grid of first NMOS tube and drain electrode are respectively first controlled end and input of first electronic switch unit,
The drain electrode of the source electrode of first NMOS tube and second NMOS tube connects the bootstrapping for constituting first electronic switch unit altogether
Connection end, the grid and source electrode of second NMOS tube are respectively the second controlled end and the output of first electronic switch unit
End；
The grid of the 3rd NMOS tube and drain electrode are respectively first controlled end and input of second electronic switch unit,
The drain electrode of the source electrode and the 4th NMOS tube of the 3rd NMOS tube connects the bootstrapping for constituting second electronic switch unit altogether
Connection end, the grid and source electrode of the 4th NMOS tube are respectively the second controlled end and the output of second electronic switch unit
End；
The grid of the 5th NMOS tube and drain electrode are respectively first controlled end and input of the 3rd electronic switch unit,
The drain electrode of the source electrode and the 6th NMOS tube of the 5th NMOS tube connects the bootstrapping for constituting the 3rd electronic switch unit altogether
Connection end, the grid and source electrode of the 6th NMOS tube are respectively the second controlled end and the output of the 3rd electronic switch unit
End；
The electronic switch module also includes the second filter unit, the input of second filter unit and first electronics
The outfan of switch element, the outfan of second electronic switch unit, the outfan of the 3rd electronic switch unit and
The current sample end of the current sample module connects altogether, the output termination power ground of second filter unit；
Second filter unit includes the second current-limiting resistance and the second filter capacitor, one end of second current-limiting resistance and institute
The positive pole for stating the second filter capacitor connects the input for constituting second filter unit, the other end of second current-limiting resistance altogether
Connect the outfan for constituting second filter unit with the negative pole of second filter capacitor altogether.
6. drive control circuit as claimed in claim 1, it is characterised in that the drive module include the first driver element,
Second driver element and the 3rd driver element；
First power end of first driver element, the first power end of second driver element and the described 3rd drive single
First power end of unit connects the first power end for constituting the drive module altogether, the second source end of first driver element,
The second source end of the second source end of second driver element and the 3rd driver element connects the composition driving mould altogether
The second source end of block, the low-voltage power supply end of first driver element, the low-voltage power supply end of second driver element and institute
The low-voltage power supply end for stating the 3rd driver element connects the low-voltage power supply end for constituting the drive module altogether, first driver element
The high pressure controlled end of high pressure controlled end, the high pressure controlled end of second driver element and the 3rd driver element is respectively institute
The first high pressure controlled end, the second high pressure controlled end and the 3rd high pressure controlled end of drive module are stated, first driver element
The low-pressure controlled end at low-pressure controlled end, the low-pressure controlled end of second driver element and the 3rd driver element is respectively institute
The first low-pressure controlled end, the second low-pressure controlled end and the 3rd low-pressure controlled end of drive module are stated, first driver element
First control end of the first control end, the first control end of second driver element and the 3rd driver element is respectively institute
State the first control end, the second control end and the 3rd control end of drive module, the second control end of first driver element, institute
The second control end for stating second control end and the 3rd driver element of the second driver element is respectively the drive module
4th control end, the 5th control end and the 6th control end, the second bootstrapping end of first driver element, described second drive list
Second bootstrapping end of unit and the second bootstrapping end of the 3rd driver element be respectively the first bootstrapping end of the drive module, the
Two bootstrapping ends and the 3rd bootstrapping end；
First power end of the drive module and second source end the first outfan and the 3rd respectively with the Voltage stabilizing module
Outfan connects, and the low-voltage power supply end of the drive module is connected with the outfan of the electronic switch module, the driving mould
First high pressure controlled end of block, the second high pressure controlled end and the 3rd high pressure controlled end the first high pressure respectively with the control module
Control end, the second high voltage control end and the 3rd high voltage control end connect one to one, the first low-pressure controlled of the drive module
End, the second low-pressure controlled end and the 3rd low-pressure controlled end the first low voltage control end respectively with the control module, the second low pressure
Control end and the 3rd low voltage control end connect one to one, the first bootstrapping end of the drive module, the second bootstrapping end and the 3rd
Bootstrapping end respectively with the first of the electronic switch module the bootstrapping terminals, the second bootstrapping terminals and the 3rd bootstrapping terminals one
One correspondence connects；
When the power supply electrifying, electricity on first driver element, second driver element and the 3rd driver element
Start and according to the control signal output drive signal, while the first driver element, second driver element and described the
Any two output control signal in three driver elements controls corresponding two electronic switch units conducting, makes the driving electricity
The first of machine be connected end, second be connected end and third phase connection end in corresponding biphase upper electricity, with drive it is described drive electricity
Machine is rotated.
7. drive control circuit as claimed in claim 6, it is characterised in that first driver element includes the first driving core
Piece, 3rd resistor, the 4th resistance, the 5th resistance, the 6th resistance, the 7th resistance, the 3rd electric capacity, the 4th electric capacity, the second diode,
Second diode and the 3rd diode；
The power end of first driving chip connects structure altogether with the positive pole of the positive pole and second diode of the 3rd electric capacity
Into the first power end of first driver element, the negative pole of the 3rd electric capacity connects power supply ground, first driving chip
High pressure controlled end connects the high pressure controlled end for constituting first driver element altogether with one end of the 3rd resistor, and the described 3rd is electric
Another termination power ground of resistance, the low-pressure controlled end of first driving chip meets composition institute altogether with one end of the 4th resistance
State the low-pressure controlled end of the first driver element, another termination power ground of the 4th resistance, first driving chip it is low
Press the low-voltage power supply end that feeder ear is first driver element, the low-voltage driving end of first driving chip and the described 5th
The negative pole of one end of resistance and the 3rd diode is connect altogether, and the other end and the 3rd diode of the 5th resistance are just
Extremely connect the second control end for constituting first driver element altogether, the first high voltage supply end of first driving chip with it is described
The positive pole of the 4th electric capacity connects the bootstrapping end for constituting first driver element altogether, the high drive end of first driving chip with
One end of 6th resistance and the negative pole of the 4th diode are connect altogether, the other end and the described 4th 2 of the 6th resistance
The positive pole of pole pipe connects the first control end for constituting first driver element, the second high voltage supply of first driving chip altogether
End is connect altogether with one end of the 7th resistance and the negative pole of the 4th electric capacity, another termination described second of the 7th resistance
The negative pole of diode；
Second driver element include the second driving chip, the 8th resistance, the 9th resistance, the tenth resistance, the 11st resistance,
12 resistance, the 5th electric capacity, the 6th electric capacity, the 5th diode, the 6th diode and the 7th diode；
The power end of second driving chip connects structure altogether with the positive pole of the positive pole and the 5th diode of the 5th electric capacity
Into the first power end of second driver element, the negative pole of the 5th electric capacity connects power supply ground, second driving chip
High pressure controlled end connects the high pressure controlled end for constituting second driver element altogether with one end of the 8th resistance, and the described 8th is electric
Another termination power ground of resistance, the low-pressure controlled end of second driving chip meets composition institute altogether with one end of the 9th resistance
State the low-pressure controlled end of the second driver element, another termination power ground of the 9th resistance, second driving chip it is low
Press the low-voltage power supply end that feeder ear is second driver element, the low-voltage driving end of second driving chip and the described tenth
The negative pole of one end of resistance and the 6th diode is connect altogether, and the other end and the 6th diode of the tenth resistance are just
Extremely connect the second control end for constituting second driver element altogether, the first high voltage supply end of second driving chip with it is described
The positive pole of the 6th electric capacity connects the bootstrapping end for constituting second driver element altogether, the high drive end of second driving chip with
One end of 11st resistance and the negative pole of the 7th diode are connect altogether, the other end of the 11st resistance and described
The positive pole of seven diodes connects the first control end for constituting second driver element, the second high pressure of second driving chip altogether
Feeder ear is connect altogether with one end of the 12nd resistance and the negative pole of the 6th electric capacity, another termination of the 12nd resistance
The negative pole of the 5th diode；
3rd driver element include the 3rd driving chip, the 13rd resistance, the 14th resistance, the 15th resistance, the 16th
Resistance, the 17th resistance, the 7th electric capacity, the 8th electric capacity, the 8th diode, the 9th diode and the tenth diode；
The power end of the 3rd driving chip connects structure altogether with the positive pole of the positive pole and the 8th diode of the 7th electric capacity
Into the first power end of the 3rd driver element, the negative pole of the 7th electric capacity connects power supply ground, the 3rd driving chip
High pressure controlled end connects the high pressure controlled end for constituting the 3rd driver element altogether with one end of the 13rd resistance, and the described tenth
Another termination power ground of three resistance, low-pressure controlled end and one end of the 14th resistance of the 3rd driving chip connect altogether
Constitute the low-pressure controlled end of the 3rd driver element, another termination power ground of the 14th resistance, the 3rd driving
The low-voltage power supply end of chip is the low-voltage power supply end of the 3rd driver element, the low-voltage driving end of the 3rd driving chip with
One end of 15th resistance and the negative pole of the 9th diode are connect altogether, the other end of the 15th resistance and described
The positive pole of nine diodes connects the second control end for constituting the 3rd driver element, the first high pressure of the 3rd driving chip altogether
Feeder ear connects the bootstrapping end for constituting the 3rd driver element altogether with the positive pole of the 8th electric capacity, the 3rd driving chip
High drive end is connect altogether with one end of the 16th resistance and the negative pole of the tenth diode, the 16th resistance it is another
The positive pole of one end and the tenth diode connects the first control end for constituting the 3rd driver element altogether, and the described 3rd drives core
Second high voltage supply end of piece is connect altogether with one end of the 17th resistance and the negative pole of the 8th electric capacity, and the described 17th is electric
The negative pole of another termination the 8th diode of resistance.
8. drive control circuit as claimed in claim 1, it is characterised in that the current sample module includes that the 18th is electric
Resistance, the 19th resistance, the 20th resistance, the 21st resistance, the 9th electric capacity and the tenth electric capacity；
One end of 18th resistance is the current sample end of the current sample module, the other end of the 18th resistance
The first sampling that the positive pole of one end, the 9th electric capacity with the 19th resistance connects the composition current sample module altogether is defeated
Go out end, the other end of the 19th resistance is the power end of the current sample module, the other end of the 20th resistance
The 3rd of the composition current sample module is connect altogether with one end of the 21st resistance and the negative pole of the tenth electric capacity to adopt
Sample outfan, the positive pole of the other end and the tenth electric capacity of the 21st resistance connect the composition current sample module altogether
The second sampled output；
The current sample end of the current sample module is connected with the outfan of the electronic switch module, the current sample mould
The power end of block is connected with the 3rd outfan of the Voltage stabilizing module, the first sampled output of the current sample module,
Two sampled outputs and the 3rd sampled output the first sampling end respectively with the control module, the second sampling end and the 3rd are adopted
Sample end connects one to one；
When the power supply electrifying, the motor are rotated, the current sample module is respectively by the motor
First be connected end, second be connected end and third phase connection end gathers the operating current of the motor, and pass through respectively
First sampled output, second sampled output and the 3rd sampled output are exported to the control module.
9. drive control circuit as claimed in claim 1, it is characterised in that the Voltage stabilizing module include the first voltage regulation unit,
Second voltage regulation unit and the 3rd voltage regulation unit；
The input of first voltage regulation unit is the input of the Voltage stabilizing module, the outfan of first voltage regulation unit with
The input of second voltage regulation unit connects the first outfan for constituting the Voltage stabilizing module altogether, second voltage regulation unit it is defeated
Go out end and connect the second outfan for constituting the Voltage stabilizing module, the 3rd voltage stabilizing list with the input of the 3rd voltage regulation unit altogether
First outfan is the 3rd outfan of the Voltage stabilizing module；
When the power supply electrifying, the Voltage stabilizing module is by first voltage regulation unit, second voltage regulation unit and described
The current signal of the output of the power supply is converted to the first predeterminated voltage, the second predeterminated voltage and by the 3rd voltage regulation unit successively
Three predeterminated voltages are simultaneously exported respectively by its three outfans.
10. a kind of robot, it is characterised in that the robot includes steering wheel, CAN transceiver and magnetic position sensor,
The steering wheel includes the drive control circuit as described in any one of claim 1～9, the CAN transceiver respectively with institute
State Voltage stabilizing module and the control module connection, the magnetic position sensor respectively with the Voltage stabilizing module and the control module
Connection, the control module are also connected with external device communication by the CAN transceiver.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611266570.0A CN106597907B (en) | 2016-12-30 | 2016-12-30 | Drive control circuit and robot |
| PCT/CN2017/119787 WO2018121727A1 (en) | 2016-12-30 | 2017-12-29 | Drive control circuit and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611266570.0A CN106597907B (en) | 2016-12-30 | 2016-12-30 | Drive control circuit and robot |
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| Publication Number | Publication Date |
|---|---|
| CN106597907A true CN106597907A (en) | 2017-04-26 |
| CN106597907B CN106597907B (en) | 2024-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611266570.0A Active CN106597907B (en) | 2016-12-30 | 2016-12-30 | Drive control circuit and robot |
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| Country | Link |
|---|---|
| CN (1) | CN106597907B (en) |
| WO (1) | WO2018121727A1 (en) |
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| CN107863912A (en) * | 2017-11-27 | 2018-03-30 | 深圳市优必选科技有限公司 | A kind of steering wheel and its motor-drive circuit |
| WO2018121727A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市优必选科技有限公司 | Drive control circuit and robot |
| CN109991890A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | A kind of circuit and robot for preventing steering gear system from discharging |
| CN114465454A (en) * | 2022-04-12 | 2022-05-10 | 安徽威灵汽车部件有限公司 | Bootstrap driving circuit, motor controller, compressor and vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018121727A1 (en) | 2018-07-05 |
| CN106597907B (en) | 2024-05-03 |
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