CN106597907B

CN106597907B - Drive control circuit and robot

Info

Publication number: CN106597907B
Application number: CN201611266570.0A
Authority: CN
Inventors: 熊友军; 柳冬
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2016-12-30
Filing date: 2016-12-30
Publication date: 2024-05-03
Anticipated expiration: 2036-12-30
Also published as: CN106597907A; WO2018121727A1

Abstract

The invention provides a drive control circuit and a robot, wherein the drive control circuit is used for controlling a drive motor of a steering engine to move, and comprises a reverse bias module, an electronic switch module, a drive module, a control module, a current sampling module and a voltage stabilizing module; the reverse bias module is connected with a power supply of the steering engine and is connected with the electronic switch module, the driving module is connected with the driving motor through the electronic switch module, the control module is connected with the driving module and is connected with the electronic switch module through the current sampling module, and the voltage stabilizing module is connected with the power supply and is respectively connected with the driving module, the control module and the current sampling module. The invention provides the drive control circuit comprising the reverse bias module, which can prevent the current generated by the back electromotive force from flowing to the main board of the steering engine when the driving motor of the steering engine generates the back electromotive force due to the manual pushing mechanical movement after the steering engine is powered off, so that the main board of the steering engine is prevented from being powered on.

Description

Drive control circuit and robot

Technical Field

The embodiment of the invention belongs to the technical field of steering engine control, and particularly relates to a driving control circuit and a robot.

Background

With the continuous development of the technology, various automatic devices such as robots, automatic guided vehicles and the like are continuously developed to be applied to daily production and life of people, and great convenience is brought to the life of people. The steering engine is widely applied to automation equipment such as robots due to the advantages of easy control, large torque, mature manufacturing technology and the like.

However, after the power-off of the steering engine, the existing robot driven by the steering engine, the automatic guided vehicle and the like are manually pulled, the driving motor of the steering engine can generate reverse electromotive force due to mechanical motion, and a small amount of current is generated to enable the main board of the steering engine to be electrified under abnormal conditions, so that the service life of the main board is reduced.

Disclosure of Invention

The embodiment of the invention provides a driving control circuit and a robot, and by providing the driving control circuit comprising a reverse bias module, when a driving motor of a steering engine generates back electromotive force due to manual pushing to perform mechanical movement after the steering engine is powered off, the current generated by the back electromotive force is prevented from flowing to a main board of the steering engine, and the main board of the steering engine is prevented from being electrified.

An embodiment of the invention provides a driving control circuit, which is used for controlling a 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 stabilizing module;

The reverse bias module is connected with a power supply of the steering engine and is connected with the electronic switch module, the driving module is connected with a driving motor of the steering engine through the electronic switch module, the control module is connected with the driving module and is connected with the electronic switch module through the current sampling module, and the voltage stabilizing module is connected with the power supply and is respectively connected with the driving module, the control module and the current sampling module;

When the power supply is electrified, the reverse bias module conducts an input current signal in the forward direction, the control module is electrified to start and output a control signal, the driving module is electrified to start and output a driving signal according to the control signal, the electronic switch module conducts and outputs a driving pulse according to the current signal and the driving signal, the driving motor is driven to rotate by the driving pulse, and the control module also collects working current of the driving motor through the current sampling module so as to adjust and output the control signal to the driving module according to the working current;

when the power supply is powered off, if the driving motor continues to rotate to generate back electromotive force so as to enable the electronic switch module to be conducted, the reverse bias module is reversely cut off, current generated by the back electromotive force is prevented from flowing to the control module, and the control module is prevented from being powered on and started.

Preferably, the reverse bias module comprises a reverse bias unit and a first filtering unit;

The input end of the reverse bias unit is the input end of the reverse bias module, the output end of the reverse bias unit and the input end of the first filter unit are connected together to form the output end of the reverse bias module, and the output end of the first filter unit is the grounding end of the reverse bias module;

The input end of the reverse bias module and the input end of the voltage stabilizing module are commonly connected with the power supply, the output end of the reverse bias module is connected with the input end of the electronic switch module, and the grounding end of the reverse bias module is grounded;

When the power supply is electrified, the reverse bias unit is conducted in the forward direction, and a current signal output by the power supply is output to the electronic switch module through the reverse bias unit;

When the power supply is powered off, if the driving motor continues to rotate to generate back electromotive force to enable the electronic switch module to be conducted, the reverse bias unit is reversely cut off, and current generated by the back electromotive force is output to the power supply ground through the electronic switch module and the first filtering unit, so that the current generated by the back electromotive force is prevented from flowing into the control module through the electronic switch module, the reverse bias module and the voltage stabilizing module in sequence, and the control module is prevented from being electrified and started.

Preferably, the reverse bias unit comprises a three-terminal diode, and the first filter unit comprises a first current limiting resistor and a first filter capacitor;

The two anodes of the three-terminal diode are commonly connected to form the input end of the reverse bias unit, and the negative electrode of the three-terminal diode is the output end of the reverse bias unit;

One end of the first current limiting resistor is commonly connected with the positive electrode of the first filter capacitor to form the input end of the first filter unit, and the other end of the first current limiting resistor is commonly connected with the negative electrode of the first filter capacitor to form the output end of the first filter unit.

Preferably, the electronic switch module comprises a first electronic switch unit, a second electronic switch unit and a third electronic switch unit;

The input end of the first electronic switch unit, the input end of the second electronic switch unit and the input end of the third electronic switch unit are commonly connected to form the input end of the electronic switch module, the first controlled end, the bootstrap connection end and the second controlled end of the first electronic switch unit are respectively the first controlled end, the first bootstrap connection end and the second controlled end of the electronic switch module, the first controlled end, the bootstrap connection end and the second controlled end of the second electronic switch unit are respectively the third controlled end, the second bootstrap connection end and the fourth controlled end of the electronic switch module, the first controlled end, the bootstrap connection end and the second controlled end of the third electronic switch unit are respectively the fifth controlled end, the third bootstrap connection end and the sixth controlled end of the electronic switch module, and the output end of the first electronic switch unit, the output end of the second electronic switch unit and the output end of the third electronic switch unit are commonly connected to form the output end of the electronic switch module;

The input end of the electronic switch module is connected with the output end of the reverse bias module, the first controlled end, the second controlled end, the third controlled end, the fourth controlled end, the fifth controlled end and the sixth controlled end of the electronic switch module are respectively connected with the first control end, the second control end, the third control end, the fourth control end, the fifth control end and the sixth control end of the driving module in a one-to-one correspondence manner, the first bootstrap connection end of the electronic switch module and the first bootstrap end of the driving module are connected with the first connection end of the driving motor in a common manner, the second bootstrap connection end of the electronic switch module and the second bootstrap end of the driving module are connected with the second connection end of the driving motor in a common manner, the third bootstrap connection end of the electronic switch module and the third bootstrap end of the driving module are connected with the third connection end of the driving motor in a common manner, and the output end of the electronic switch module is grounded and is respectively connected with the current sampling end of the current sampling module and the low-voltage power supply end of the driving module;

When the power supply is electrified, any two of the first electronic switch unit, the second electronic switch unit and the third electronic switch unit are connected with current signals input into the power supply so as to output driving pulses to control the driving motor to rotate;

when the power supply is powered off, if the driving motor continues to rotate to generate back electromotive force, the first electronic switch unit, the second electronic switch unit and the third electronic switch unit input the current generated by the back electromotive force to be conducted, and the current generated by the back electromotive force is output to the reverse bias module.

Preferably, the first electronic switch unit comprises a first NMOS tube and a second NMOS tube, the second electronic switch unit comprises a third NMOS tube and a fourth NMOS tube, and the third electronic switch unit comprises a fifth NMOS tube and a sixth NMOS tube;

The grid electrode and the drain electrode of the first NMOS tube are respectively a first controlled end and an input end of the first electronic switch unit, the source electrode of the first NMOS tube and the drain electrode of the second NMOS tube are commonly connected to form a bootstrap connection end of the first electronic switch unit, and the grid electrode and the source electrode of the second NMOS tube are respectively a second controlled end and an output end of the first electronic switch unit;

the grid electrode and the drain electrode of the third NMOS tube are respectively a first controlled end and an input end of the second electronic switch unit, the source electrode of the third NMOS tube and the drain electrode of the fourth NMOS tube are commonly connected to form a bootstrap connection end of the second electronic switch unit, and the grid electrode and the source electrode of the fourth NMOS tube are respectively a second controlled end and an output end of the second electronic switch unit;

The grid electrode and the drain electrode of the fifth NMOS tube are respectively a first controlled end and an input end of the third electronic switch unit, the source electrode of the fifth NMOS tube and the drain electrode of the sixth NMOS tube are commonly connected to form a bootstrap connection end of the third electronic switch unit, and the grid electrode and the source electrode of the sixth NMOS tube are respectively a second controlled end and an output end of the third electronic switch unit;

the electronic switch module further comprises a second filter unit, wherein the input end of the second filter unit is commonly connected with the output end of the first electronic switch unit, the output end of the second electronic switch unit, the output end of the third electronic switch unit and the current sampling end of the current sampling module, and the output end of the second filter unit is connected with a power supply ground;

The second filtering unit comprises a second current limiting resistor and a second filtering capacitor, one end of the second current limiting resistor is commonly connected with the positive electrode of the second filtering capacitor to form an input end of the second filtering unit, and the other end of the second current limiting resistor is commonly connected with the negative electrode of the second filtering capacitor to form an output end of the second filtering unit.

Preferably, the driving module includes a first driving unit, a second driving unit and a third driving unit;

The first power end of the first driving unit, the first power end of the second driving unit and the first power end of the third driving unit are commonly connected to form the first power end of the driving module, the second power end of the first driving unit, the second power end of the second driving unit and the second power end of the third driving unit are commonly connected to form the second power end of the driving module, the low-voltage power end of the first driving unit, the low-voltage power end of the second driving unit and the low-voltage power end of the third driving unit are commonly connected to form the low-voltage power end of the driving module, the high-voltage controlled end of the first driving unit, the high-voltage controlled end of the second driving unit and the high-voltage controlled end of the third driving unit are respectively the first high-voltage controlled end, the second high-voltage controlled end and the third high-voltage controlled end of the driving module, the low-voltage controlled end of the first driving unit, the low-voltage controlled end of the second driving unit and the low-voltage controlled end of the third driving unit are respectively a first low-voltage controlled end, a second low-voltage controlled end and a third low-voltage controlled end of the driving module, the first control end of the first driving unit, the first control end of the second driving unit and the first control end of the third driving unit are respectively a first control end, a second control end and a third control end of the driving module, the second control end of the first driving unit, the second control end of the second driving unit and the second control end of the third driving unit are respectively a fourth control end, a fifth control end and a sixth control end of the driving module, the second bootstrap end of the first driving unit, the second bootstrap end of the second driving unit and the second bootstrap end of the third driving unit are respectively a first bootstrap end, a second bootstrap end and a third bootstrap end of the driving module;

The first power end and the second power end of the driving module are respectively connected with the first output end and the third output end of the voltage stabilizing module, the low-voltage power supply end of the driving module is connected with the output end of the electronic switch module, the first high-voltage controlled end, the second high-voltage controlled end and the third high-voltage controlled end of the driving module are respectively connected with the first high-voltage control end, the second high-voltage control end and the third high-voltage control end of the control module in a one-to-one correspondence manner, the first low-voltage controlled end, the second low-voltage controlled end and the third low-voltage controlled end of the driving module are respectively connected with the first low-voltage control end, the second low-voltage control end and the third low-voltage control end of the control module in a one-to-one correspondence manner, and the first bootstrap end, the second bootstrap end and the third bootstrap end of the driving module are respectively connected with the first wiring end, the second bootstrap end and the third wiring end of the electronic switch module in a one-to-one correspondence manner;

when the power supply is electrified, the first driving unit, the second driving unit and the third driving unit are electrified and started, and drive signals are output according to the control signals, and meanwhile any two of the first driving unit, the second driving unit and the third driving unit output control signals to control the corresponding two electronic switch units to be conducted, so that two corresponding phases of the first connecting end, the second connecting end and the third connecting end of the driving motor are electrified, and the driving motor is driven to rotate.

Preferably, the first driving unit includes a first driving chip, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, a third capacitor, a fourth capacitor, a second diode, a third diode, and a fourth diode;

The power supply end of the first driving chip is commonly connected with the positive electrode of the third capacitor and the positive electrode of the second diode to form a first power supply end of the first driving unit, the negative electrode of the third capacitor is connected with the power supply ground, the high-voltage controlled end of the first driving chip is commonly connected with one end of the third resistor to form a high-voltage controlled end of the first driving unit, the other end of the third resistor is connected with the power supply ground, the low-voltage controlled end of the first driving chip is commonly connected with one end of the fourth resistor to form a low-voltage controlled end of the first driving unit, the other end of the fourth resistor is connected with the power supply ground, the low-voltage driving end of the first driving chip is commonly connected with one end of the fifth resistor and the negative electrode of the third diode to form a second control end of the first driving unit, the other end of the fourth resistor is commonly connected with the negative electrode of the fourth resistor to form a high-voltage controlled end of the fourth driving unit, and the other end of the fourth resistor is commonly connected with the negative electrode of the fourth driving unit to form a high-voltage controlled end of the fourth driving unit, and the fourth voltage control end of the fourth resistor is commonly connected with the fourth resistor to form a high-voltage controlled end of the fourth driving unit;

the second driving unit comprises a second driving chip, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a fifth capacitor, a sixth capacitor, a fifth diode, a sixth diode and a seventh diode;

The power supply end of the second driving chip is commonly connected with the positive electrode of the fifth capacitor and the positive electrode of the fifth diode to form a first power supply end of the second driving unit, the negative electrode of the fifth capacitor is connected with the power supply ground, the high-voltage controlled end of the second driving chip is commonly connected with one end of the eighth resistor to form a high-voltage controlled end of the second driving unit, the other end of the eighth resistor is connected with the power supply ground, the low-voltage controlled end of the second driving chip is commonly connected with one end of the ninth resistor to form a low-voltage controlled end of the second driving unit, the other end of the ninth resistor is connected with the power supply ground, the low-voltage driving end of the second driving chip is commonly connected with one end of the tenth resistor and the negative electrode of the sixth diode to form a second control end of the second driving unit, the other end of the eighth resistor is commonly connected with the negative electrode of the eleventh resistor to form a high-voltage controlled end of the second driving unit, the other end of the eleventh resistor is commonly connected with the negative electrode of the eleventh resistor to form a high-voltage controlled end of the eleventh resistor;

The third driving unit comprises a third driving chip, a thirteenth resistor, a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a seventeenth resistor, a seventh capacitor, an eighth diode, a ninth diode and a twelfth diode;

The power supply end of the third driving chip is commonly connected with the positive electrode of the seventh capacitor and the positive electrode of the eighth diode to form a first power supply end of the third driving unit, the negative electrode of the seventh capacitor is connected with the power supply ground, the high-voltage controlled end of the third driving chip is commonly connected with one end of the thirteenth resistor to form a high-voltage controlled end of the third driving unit, the other end of the thirteenth resistor is connected with the power supply ground, the low-voltage controlled end of the third driving chip is commonly connected with one end of the fourteenth resistor to form a low-voltage controlled end of the third driving unit, the other end of the fourteenth resistor is connected with the low-voltage power supply end of the third driving unit, the low-voltage driving end of the third driving chip is commonly connected with one end of the fifteenth resistor and the negative electrode of the ninth diode to form a high-voltage controlled end of the third driving unit, the other end of the third driving chip is commonly connected with the negative electrode of the thirteenth resistor to form a high-voltage controlled end of the seventeenth resistor, the other end of the third driving chip is commonly connected with the negative electrode of the seventeenth resistor to form a high-voltage controlled end of the seventeenth resistor, and the negative electrode of the seventeenth resistor is commonly connected with the eighth diode to form a high-voltage controlled end of the seventeenth resistor.

Preferably, the current sampling module comprises an eighteenth resistor, a nineteenth resistor, a twentieth resistor, a twenty first resistor, a ninth capacitor and a tenth capacitor;

One end of the eighteenth resistor is a current sampling end of the current sampling module, the other end of the eighteenth resistor is connected with one end of the nineteenth resistor and the positive electrode of the ninth capacitor together to form a first sampling output end of the current sampling module, the other end of the nineteenth resistor is a power end of the current sampling module, the other end of the twentieth resistor is connected with one end of the twenty first resistor and the negative electrode of the tenth capacitor together to form a third sampling output end of the current sampling module, and the other end of the twenty first resistor and the positive electrode of the tenth capacitor are connected together to form a second sampling output end of the current sampling module;

The current sampling end of the current sampling module is connected with the output end of the electronic switch module, the power end of the current sampling module is connected with the third output end of the voltage stabilizing module, and the first sampling output end, the second sampling output end and the third sampling output end of the current sampling module are respectively connected with the first sampling end, the second sampling end and the third sampling end of the control module in a one-to-one correspondence manner;

When the power supply is electrified and the driving motor rotates, the current sampling module collects working current of the driving motor through a first phase connecting end, a second phase connecting end and a third phase connecting end of the driving motor respectively and outputs the working current to the control module through a first sampling output end, a second sampling output end and a third sampling output end respectively.

Preferably, the voltage stabilizing module comprises a first voltage stabilizing unit, a second voltage stabilizing unit and a third voltage stabilizing unit;

The input end of the first voltage stabilizing unit is the input end of the voltage stabilizing module, the output end of the first voltage stabilizing unit and the input end of the second voltage stabilizing unit are connected together to form a first output end of the voltage stabilizing module, the output end of the second voltage stabilizing unit and the input end of the third voltage stabilizing unit are connected together to form a second output end of the voltage stabilizing module, and the output end of the third voltage stabilizing unit is a third output end of the voltage stabilizing module;

when the power supply is electrified, the voltage stabilizing module sequentially converts the output current signals of the power supply into a first preset voltage, a second preset voltage and a third preset voltage through the first voltage stabilizing unit, the second voltage stabilizing unit and the third voltage stabilizing unit and respectively outputs the first preset voltage, the second preset voltage and the third preset voltage through three output ends of the first voltage stabilizing unit, the second voltage stabilizing unit and the third voltage stabilizing unit.

The embodiment of the invention also provides a robot, which comprises a steering engine, a CAN bus transceiver and a magnetic positioning sensor, wherein the steering engine comprises the driving control circuit, the CAN bus transceiver is respectively connected with the voltage stabilizing module and the control module, the magnetic positioning sensor is respectively connected with the voltage stabilizing module and the control module, and the control module is also in communication connection with external equipment through the CAN bus transceiver.

The embodiment of the invention provides the drive control circuit comprising the reverse bias module, which can prevent the current generated by the back electromotive force from flowing to the main board of the steering engine when the driving motor of the steering engine generates the back electromotive force due to the manual pushing mechanical movement after the steering engine is powered off, so that the main board of the steering engine is prevented from being electrified.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a basic structural block diagram of a drive control circuit provided by an embodiment of the present invention;

FIG. 2 is a block diagram showing a specific configuration of a drive control circuit according to an embodiment of the present invention;

FIG. 3 is a schematic circuit diagram of a reverse bias module according to an embodiment of the present invention;

Fig. 4 is a schematic circuit diagram of an electronic switch module according to an embodiment of the present invention;

FIG. 5 is a schematic circuit diagram of a driving module according to an embodiment of the present invention;

FIG. 6 is a schematic circuit diagram of a current sampling module according to an embodiment of the present invention;

FIG. 7 is a schematic circuit diagram of a voltage sampling module according to an embodiment of the present invention;

fig. 8 is a schematic circuit diagram of a temperature acquisition module according to an embodiment of the present invention;

fig. 9 is a basic structural block diagram of a robot provided in one embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution of an embodiment of the present invention will be clearly described below with reference to the accompanying drawings in the embodiment of the present invention, and it is apparent that the described embodiment is a part of the embodiment of the present invention, but not all the embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

The term "comprising" in the description of the invention and the claims and in the above figures and any variants thereof is intended to cover a non-exclusive inclusion. For example, a process, method, or system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include additional steps or elements not listed or inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third," etc. are used for distinguishing between different objects and not for describing a particular sequential order.

As shown in fig. 1, an embodiment of the present invention provides a driving control circuit 100 for controlling a driving motor 201 of a steering engine 200 to operate or stop operating, which includes a reverse bias module 10, an electronic switch module 20, a driving module 30, a control module 40, a current sampling module 50 and a voltage stabilizing module 60.

The reverse bias module 10 is connected to a power supply 202 of the steering engine 200 and is connected with the electronic switch module 20, the driving module 30 is connected with the driving motor 201 through the electronic switch module 20, the control module 40 is connected with the driving module 30 and is connected with the electronic switch module 20 through the current sampling module 50, and the voltage stabilizing module 60 is connected to the power supply 202 and is respectively connected with the driving module 30, the control module 40 and the current sampling module 50.

In a specific Application, the driving motor 201 may be a three-phase dc servo motor, the power source 202 may be a 24V dc power source, and the control module 40 may be implemented by a general-purpose integrated Circuit, such as a CPU (Central Processing Unit ), or an ASIC (Application SPECIFIC INTEGRATED Circuit).

The driving control circuit provided in this embodiment has the following working principle:

when the power supply is electrified, the reverse bias module conducts the input current signal in the forward direction, the control module is electrified to start outputting the control signal, the driving module is electrified to start outputting the driving signal according to the control signal, the electronic switch module conducts the output driving pulse according to the current signal and the driving signal, the driving motor is driven to rotate by the driving pulse, and the control module also collects the working current of the driving motor through the current sampling module so as to adjust the control signal output to the driving module according to the working current;

According to the driving control circuit comprising the reverse bias module, when the driving motor of the steering engine generates back electromotive force due to manual pushing and mechanical movement after the steering engine is powered off, the current generated by the back electromotive force is prevented from flowing to the control module, and the control module (namely the main board of the steering engine) of the steering engine is prevented from being powered on.

As shown in fig. 2, in one embodiment of the present invention, the reverse bias module 10 includes a reverse bias unit 11 and a first filter unit 12; the electronic switching module 20 includes a first electronic switching unit 21, a second electronic switching unit 22, and a third electronic switching unit 23; the driving module 30 includes a first driving unit 31, a second driving unit 32, and a third driving unit 33; the voltage stabilizing module 60 includes a first voltage stabilizing unit 61, a second voltage stabilizing unit 62, and a third voltage stabilizing unit 63; the drive control circuit 100 also includes a voltage sampling module 70 and a temperature sampling module 80.

As shown in fig. 2, in the present embodiment, the connection relationship between the reverse bias module 10 and other modules is:

The input end of the reverse bias unit 11 is the input end of the reverse bias module 10, the output end of the reverse bias unit 11 and the input end of the first filter unit 12 are commonly connected to form the output end of the reverse bias module 10, and the output end of the first filter unit 12 is the grounding end of the reverse bias module 10.

In a specific application, the reverse bias unit 11 may specifically be a diode, and the first filter unit may specifically be any commonly used filter circuit structure.

The input end of the reverse bias module 10 and the input end of the voltage stabilizing module 60 are commonly connected with the power supply 202, the output end of the reverse bias module 10 is connected with the input end of the electronic switch module 20, and the grounding end of the reverse bias module 10 is grounded.

The working principle of the reverse bias module provided in this embodiment is as follows:

As shown in fig. 2, in the present embodiment, the connection relationship between the electronic switch module 20 and other modules is:

The input end of the first electronic switch unit 21, the input end of the second electronic switch unit 22 and the input end of the third electronic switch unit 23 are commonly connected to form an input end of the electronic switch module 20, the first controlled end, the bootstrap connection end and the second controlled end of the first electronic switch unit 21 are respectively a first controlled end, a first bootstrap connection end and a second controlled end of the electronic switch module 20, the first controlled end, the bootstrap connection end and the second controlled end of the second electronic switch unit 22 are respectively a third controlled end, a second bootstrap connection end and a fourth controlled end of the electronic switch module 20, the first controlled end, the bootstrap connection end and the second controlled end of the third electronic switch unit 23 are respectively a fifth controlled end, a third bootstrap connection end and a sixth controlled end of the electronic switch module 20, and the output end of the first electronic switch unit 21, the output end of the second electronic switch unit 22 and the output end of the third electronic switch unit 23 are commonly connected to form an output end of the electronic switch module 20.

In a specific application, the first electronic switching unit, the second electronic switching unit and the third electronic switching unit can all form an electronic switching circuit through MOS tubes.

The input end of the electronic switch module 20 is connected with the output end of the reverse bias module 10, the first controlled end, the second controlled end, the third controlled end, the fourth controlled end, the fifth controlled end and the sixth controlled end of the electronic switch module 20 are respectively connected with the first control end, the second control end, the third control end, the fourth control end, the fifth control end and the sixth control end of the driving module 30 in a one-to-one correspondence manner, the first bootstrap connection end of the electronic switch module 20 and the first bootstrap end of the driving module are commonly connected with the first phase connection end of the driving motor 201, the second bootstrap connection end of the electronic switch module and the second bootstrap end of the driving module 30 are commonly connected with the second phase connection end of the driving motor 201, the third bootstrap connection end of the electronic switch module 20 and the third bootstrap end of the driving module 30 are commonly connected with the third phase connection end of the driving motor 201, and the output end of the electronic switch module 20 is grounded and is respectively connected with the current sampling end of the current sampling module 50 and the low-voltage power supply end of the driving module 30.

The working principle of the electronic switch module provided by the embodiment is as follows:

In a specific application, when the power supply is powered on, the driving module controls any two of the first electronic switch unit, the second electronic switch unit or the third electronic switch unit, and outputs driving pulses to any two terminals of the first phase connection end, the second phase connection end or the third phase connection end of the driving motor so as to enable the driving motor to rotate.

As shown in fig. 2, in the present embodiment, the connection relationship between the driving module 30 and other modules is:

The first power supply end of the first driving unit 31, the first power supply end of the second driving unit 32 and the first power supply end of the third driving unit 33 are commonly connected to form a first power supply end of the driving module 30, the second power supply end of the first driving unit 31, the second power supply end of the second driving unit 32 and the second power supply end of the third driving unit 33 are commonly connected to form a second power supply end of the driving module 30, the low voltage power supply end of the first driving unit 31, the low voltage power supply end of the second driving unit 32 and the low voltage power supply end of the third driving unit 33 are commonly connected to form a low voltage power supply end of the driving module 30, the high voltage controlled end of the first driving unit 31, the high voltage controlled end of the second driving unit 32 and the high voltage controlled end of the third driving unit 33 are respectively a first high voltage controlled end, a second high voltage controlled end and a third high voltage controlled end of the driving module 30, the low-voltage controlled end of the first driving unit 31, the low-voltage controlled end of the second driving unit 32 and the low-voltage controlled end of the third driving unit 33 are respectively a first low-voltage controlled end, a second low-voltage controlled end and a third low-voltage controlled end of the driving module 30, the first control end of the first driving unit 31, the first control end of the second driving unit 32 and the first control end of the third driving unit 33 are respectively a first control end, a second control end and a third control end of the driving module 30, the second control end of the first driving unit 31, the second control end of the second driving unit 32 and the second control end of the third driving unit 33 are respectively a fourth control end, a fifth control end and a sixth control end of the driving module 30, the second bootstrap end of the first driving unit 31, the second bootstrap end of the second driving unit 32 and the second bootstrap end of the third driving unit 33 are respectively a first bootstrap end, a second bootstrap end of the driving module 30, A second bootstrap terminal and a third bootstrap terminal.

In a specific application, the first drive unit, the second drive unit and the third drive unit may in particular be constituted by a motor drive chip.

The first power end and the second power end of the driving module 30 are respectively connected with the first output end and the third output end of the voltage stabilizing module 60, the low-voltage power supply end of the driving module 30 is connected with the output end of the electronic switch module 20, the first high-voltage controlled end, the second high-voltage controlled end and the third high-voltage controlled end of the driving module 30 are respectively connected with the first high-voltage controlled end, the second high-voltage controlled end and the third high-voltage controlled end of the control module 40 in a one-to-one correspondence manner, the first low-voltage controlled end, the second low-voltage controlled end and the third low-voltage controlled end of the driving module 30 are respectively connected with the first low-voltage controlled end, the second low-voltage controlled end and the third low-voltage controlled end of the control module 40 in a one-to-one correspondence manner, and the first bootstrap end, the second bootstrap end and the third bootstrap end of the driving module 30 are respectively connected with the first bootstrap terminal, the second bootstrap terminal and the third terminal of the electronic switch module in a one-to-one correspondence manner;

the driving module provided in this embodiment has the following working principle:

In a specific application, the driving module controls the power-on condition of the first phase connection end, the second phase connection end and the third phase connection end of the driving motor through the first driving unit, the second driving unit and the third driving unit respectively.

As shown in fig. 2, in the present embodiment, the connection relationship between the current sampling module 50 and other modules is:

The current sampling end of the current sampling module 50 is connected with the output end of the electronic switch module 20, the power end of the current sampling module 50 is connected with the third output end of the voltage stabilizing module 60, and the first sampling output end, the second sampling output end and the third sampling output end of the current sampling module 50 are respectively connected with the first sampling end, the second sampling end and the third sampling end of the control module 40 in a one-to-one correspondence manner.

The working principle of the current sampling module provided by the embodiment is as follows:

As shown in fig. 2, in the present embodiment, the connection relationship between the voltage stabilizing module 60 and other modules is as follows:

the input end of the first voltage stabilizing unit 61 is the input end of the voltage stabilizing module 60, the output end of the first voltage stabilizing unit 61 and the input end of the second voltage stabilizing unit 62 are connected together to form a first output end of the voltage stabilizing module 60, the output end of the second voltage stabilizing unit 62 and the input end of the third voltage stabilizing unit 63 are connected together to form a second output end of the voltage stabilizing module 60, and the output end of the third voltage stabilizing unit 63 is a third output end of the voltage stabilizing module 60.

In a specific application, the first voltage stabilizing unit, the second voltage stabilizing unit and the third voltage stabilizing unit may be realized by a voltage stabilizer, a DC-DC converter or a voltage stabilizing chip. In a specific application, the first voltage stabilizing unit can specifically select an MP4560 type buck converter, the second voltage stabilizing unit can specifically select an MP2314 type voltage stabilizing chip, and the third voltage stabilizing unit can specifically select an SGM2013 type low dropout linear voltage regulator.

The operating principle of the voltage stabilizing module provided by the embodiment is as follows:

When the power supply is electrified, the voltage stabilizing module sequentially converts output current signals of the power supply into a first preset voltage, a second preset voltage and a third preset voltage through the first voltage stabilizing unit, the second voltage stabilizing unit and the third voltage stabilizing unit and respectively outputs the first preset voltage, the second preset voltage and the third preset voltage through three output ends of the first voltage stabilizing unit, the second voltage stabilizing unit and the third voltage stabilizing unit.

In a specific application, when the voltage of the power supply output is 24V direct current, the first voltage stabilizing unit is used for reducing the voltage of the 24V direct current to 12V direct current and then outputting the 12V direct current, the second voltage stabilizing unit is used for reducing the voltage of the 12V direct current to 5V direct current and then outputting the 5V direct current, and the third voltage stabilizing unit is used for reducing the voltage of the 5V direct current to 3.3V direct current and then outputting the 3V direct current.

As shown in fig. 2, in the present embodiment, the connection relationship between the voltage sampling module 70 and other modules is:

The first voltage sampling end, the second voltage sampling end, the sampling output end and the ground end of the voltage sampling module 70 are respectively connected with the power supply 202, the third output end of the voltage stabilizing module 60, the voltage sampling end of the control module 40 and the power ground in a one-to-one correspondence manner.

The working principle of the voltage sampling module provided by the embodiment is as follows:

When the power supply is electrified, the control module controls the voltage sampling module to sample the power supply voltage signal and the voltage signal output by the third output end of the voltage stabilizing module so as to detect whether the voltage of the whole steering engine driving circuit is normal or not.

As shown in fig. 2, in the present embodiment, the connection relationship between the temperature acquisition module 80 and other modules is:

The power supply end, the sampling signal output end and the grounding end of the temperature acquisition module 80 are respectively connected with the third output end of the voltage stabilizing module 30, the temperature acquisition end of the control module 40 and the power ground in a one-to-one correspondence manner.

The working principle of the temperature acquisition module provided by the embodiment is as follows:

the temperature acquisition module is arranged at a position close to the driving motor and used for controlling the temperature of the driving motor to be acquired by the control module, and if the acquired temperature of the driving motor is greater than a preset temperature threshold value, the control module controls the driving motor to stop rotating or reduces the rotating speed of the driving motor.

As shown in fig. 3, in one embodiment of the present invention, the reverse bias unit 11 includes a three-terminal diode D1, and the first filter unit 12 includes a first current limiting resistor R1 and a first filter capacitor C1.

The connection relationship between the electronic components in the reverse bias module 10 is:

two anodes of the three-terminal diode D1 are commonly connected to form an input end 24V of the reverse bias unit 11, and a cathode of the three-terminal diode D1 is an output end 24V_MOS of the reverse bias unit 11;

One end of the first current limiting resistor R1 is commonly connected with the positive electrode of the first filter capacitor C1 to form an input end 24V_MOS of the first filter unit 12, and the other end of the first current limiting resistor R1 is commonly connected with the negative electrode of the first filter capacitor C1 to form an output end of the first filter unit 12.

As shown in fig. 4, in one embodiment of the present invention, the first electronic switching unit 21 includes a first NMOS transistor Q1 and a second NMOS transistor Q2, the second electronic switching unit 22 includes a third NMOS transistor Q3 and a fourth NMOS transistor Q4, and the third electronic switching unit 23 includes a fifth NMOS transistor Q5 and a sixth NMOS transistor Q6.

The connection relationship of each electronic component in the electronic switch module 20 is:

The grid electrode and the drain electrode of the first NMOS tube Q1 are respectively a first controlled end PWM_AT and an input end 24V_MOS of the first electronic switch unit 21, the source electrode of the first NMOS tube Q1 and the drain electrode of the second NMOS tube Q2 are commonly connected to form a bootstrap connection end PHASE_A of the first electronic switch unit 21, and the grid electrode and the source electrode of the second NMOS tube Q2 are respectively a second controlled end PWM_AB and an output end I_PHASE_A of the first electronic switch unit 21;

The grid electrode and the drain electrode of the third NMOS tube Q3 are respectively a first controlled end PWM_BT and an input end 24V_MOS of the second electronic switch unit 21, the source electrode of the third NMOS tube Q3 and the drain electrode of the fourth NMOS tube Q4 are commonly connected to form a bootstrap connection end PHASE_B of the second electronic switch unit 22, and the grid electrode and the source electrode of the fourth NMOS tube Q4 are respectively a second controlled end PWM_BB and an output end I_PHASE_A of the second electronic switch unit 22;

The grid electrode and the drain electrode of the fifth NMOS tube Q5 are respectively a first controlled end PWM_CT and an input end 24V_MOS of the third electronic switch unit 23, the source electrode of the fifth NMOS tube Q5 and the drain electrode of the sixth NMOS tube Q6 are commonly connected to form a bootstrap connection end PHASE_C of the third electronic switch unit 23, and the grid electrode and the source electrode of the sixth NMOS tube Q6 are respectively a second controlled end PWM_CB and an output end I_PHASE_A of the third electronic switch unit.

In this embodiment, the electronic switch module 20 further includes a second filter unit 24, where an input end of the second filter unit 24 is commonly connected to an output end of the first electronic switch unit 21, an output end of the second electronic switch unit 22, an output end of the third electronic switch unit 23, and a current sampling end of the current sampling module 50, and an output end of the second filter unit 24 is connected to a power supply ground.

In this embodiment, the specific circuit structure of the second filtering unit 24 is as follows:

The second filter unit 24 includes a second current limiting resistor R2 and a second filter capacitor C2, where one end of the second current limiting resistor R2 is commonly connected with the positive electrode of the second filter capacitor C2 to form an input end i_phase_a of the second filter unit 24, and the other end of the second current limiting resistor R2 is commonly connected with the negative electrode of the second filter capacitor C2 to form an output end of the second filter unit 24.

As shown in fig. 5, in one embodiment of the present invention, the first driving unit 31 includes a first driving chip U1, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, a third capacitor C3, a fourth capacitor C4, a second diode D2, a third diode D3, and a fourth diode D4.

In this embodiment, the first driving core U1 is specifically a DGD1503 motor driving chip.

In the present embodiment, the connection relationship between the devices in the first driving unit 31 is:

The power end VCC of the first driving chip U1 is commonly connected with the positive pole of the third capacitor C3 and the positive pole of the second diode D2 to form a first power end 3.3V of the first driving unit 31, the negative pole of the third capacitor C3 is connected with the power ground, the high-voltage controlled end HIN of the first driving chip U1 is commonly connected with one end of the third resistor R3 to form a high-voltage controlled end MCU_AT of the first driving unit 31, the other end of the third resistor R3 is connected with the power ground, the low-voltage controlled end LIN of the first driving chip U1 is commonly connected with one end of the fourth resistor R4 to form a low-voltage controlled end MCU_AB of the first driving unit 31, the other end of the fourth resistor R4 is connected with the other end of the fourth resistor R4 to form a power ground, the low-voltage power supply end COM of the first driving chip U1 is a low-voltage power supply end I_PHASE_A of the first driving unit 31, the low-voltage driving end LO of the first driving chip U1 is commonly connected with one end of the fifth resistor R5 and the negative pole of the third diode D3, the other end of the fifth resistor R5 is commonly connected with the negative pole of the first diode D3 to form a high-voltage controlled end of the fourth resistor B6, the other end of the fourth resistor R4 is commonly connected with the positive end of the fourth resistor R1 to form a second end of the fourth resistor R7, the second end of the fourth resistor R4 is commonly connected with the other end of the fourth resistor R1 is commonly connected with the negative end of the fourth resistor C6 to form a second end of the fourth end 7, the second end of the fourth resistor C1 is connected with the fourth end 7 is connected with the negative end of the fourth end 7 is connected with the negative end V3.

The second driving unit 32 includes a second driving chip U2, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, a fifth capacitor C5, a sixth capacitor C6, a fifth diode D5, a sixth diode D6, and a seventh diode D7.

In this embodiment, the second driving core U1 is specifically a DGD1503 motor driving chip.

In the present embodiment, the connection relationship between the devices in the second driving unit 32 is:

The power end VCC of the second driving chip U2 is commonly connected with the positive electrode of the fifth capacitor C5 and the positive electrode of the fifth diode D5 to form a first power end 3.3V of the second driving unit 32, the negative electrode of the fifth capacitor C5 is grounded, the high-voltage controlled end HIN of the second driving chip U2 is commonly connected with one end of the eighth resistor R8 to form a high-voltage controlled end MCU_BT of the second driving unit 32, the other end of the eighth resistor R8 is grounded, the low-voltage controlled end LIN of the second driving chip U2 is commonly connected with one end of the ninth resistor R9 to form a low-voltage controlled end MCU_BB of the second driving unit 32, the other end of the ninth resistor R9 is grounded, the low-voltage power supply end COM of the second driving chip U2 is a low-voltage power supply end I_PHASE_B of the second driving unit 32, the low-voltage driving end LO of the second driving chip U2 is commonly connected with one end of the tenth resistor R10 and the negative electrode of the sixth diode D6, the other end of the tenth resistor R10 and the positive electrode of the sixth diode D6 are commonly connected to form a second control end pwm_bb of the second driving unit 32, the first high voltage power supply end VS of the second driving chip U2 and the positive electrode of the sixth capacitor C6 are commonly connected to form a bootstrap end phase_b of the second driving unit 32, the high voltage driving end HO of the second driving chip U2 and one end of the eleventh resistor R11 and the negative electrode of the seventh diode D7 are commonly connected, the other end of the eleventh resistor R11 and the positive electrode of the seventh diode D7 are commonly connected to form a first control end pwm_bt of the second driving unit 32, the second high voltage power supply end VB of the second driving chip U2 and one end of the twelfth resistor R12 and the negative electrode of the sixth capacitor C6 are commonly connected, and the other end of the twelfth resistor R12 is connected to the negative electrode of the fifth diode D5.

The third driving unit 33 includes a third driving chip U3, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a seventeenth resistor R17, a seventh capacitor C7, an eighth capacitor C8, an eighth diode D8, a ninth diode D9, and a tenth diode D10.

In this embodiment, the third driving core U1 is specifically a DGD1503 motor driving chip.

In the present embodiment, the connection relationship between the devices in the third driving unit 33 is:

The power end VCC of the third driving chip U3 is commonly connected with the positive electrode of the seventh capacitor C7 and the positive electrode of the eighth diode D8 to form a first power end 3.3V of the third driving unit 33, the negative electrode of the seventh capacitor C7 is grounded, the high-voltage controlled end HIN of the third driving chip U3 is commonly connected with one end of the thirteenth resistor R13 to form a high-voltage controlled end MCU_CT of the third driving unit 33, the other end of the thirteenth resistor R13 is grounded, the low-voltage controlled end LIN of the third driving chip U3 is commonly connected with one end of the fourteenth resistor R14 to form a low-voltage controlled end MCU_CB of the third driving unit 33, the other end of the fourteenth resistor R14 is grounded, the low-voltage power supply end COM of the third driving chip U3 is a low-voltage power supply end I_PHASE_C of the third driving unit 33, the low-voltage driving end LO of the third driving chip U3 is commonly connected with one end of the fifteenth resistor R15 and the negative electrode of the ninth diode D9, the other end of the fifteenth resistor R15 and the positive electrode of the ninth diode D9 are commonly connected to form a second control end pwm_cb of the third driving unit 33, the first high voltage power supply end VS of the third driving chip U3 and the positive electrode of the eighth capacitor C8 are commonly connected to form a bootstrap end phase_c of the third driving unit 33, the high voltage driving end HO of the third driving chip U3 and one end of the sixteenth resistor R16 and the negative electrode of the twelfth diode D10 are commonly connected, the other end of the sixteenth resistor R16 and the positive electrode of the twelfth diode D10 are commonly connected to form a first control end pwm_ct of the third driving unit 33, the second high voltage power supply end VB of the third driving chip U3 and one end of the seventeenth resistor R17 and the negative electrode of the eighth capacitor C8 are commonly connected, and the other end of the seventeenth resistor R17 is connected to the negative electrode of the eighth diode D8.

As shown in fig. 6, in one embodiment of the present invention, the current sampling module 50 includes an eighteenth resistor R18, a nineteenth resistor R19, a twentieth resistor R20, a twenty-first resistor R21, a ninth capacitor C9, and a tenth capacitor C10.

In this embodiment, the connection relationship between each electronic component in the current sampling module is:

One end of the eighteenth resistor R18 is a current sampling end i_phase_a of the current sampling module 50, the other end of the eighteenth resistor R18 is commonly connected with one end of the nineteenth resistor R19 and the positive electrode of the ninth capacitor C9 to form a first sampling output end PA1 of the current sampling module 50, the other end of the nineteenth resistor R19 is a power end 3.3V of the current sampling module 50, the other end of the twentieth resistor R20 is commonly connected with one end of the twenty first resistor R21 and the negative electrode of the tenth capacitor C10 to form a third sampling output end PA3 of the current sampling module 50, and the other end of the twenty first resistor R21 and the positive electrode of the tenth capacitor C10 are commonly connected to form a second sampling output end PA2 of the current sampling module 50.

As shown in fig. 7, in one embodiment of the present invention, the voltage acquisition module 70 includes a twenty-second resistor R22, a twenty-third resistor R23, an eleventh capacitor C11, and an eleventh diode (specifically, a schottky diode) D11.

In this embodiment, the connection relationship between each electronic component in the voltage acquisition module 70 is:

One end of the twenty-second resistor R22 is a first voltage sampling end 24V of the voltage acquisition module 70, the other end of the twenty-second resistor R22 is commonly connected with one end of the twenty-third resistor R23, the positive electrode of the eleventh capacitor C11 and the positive electrode of the eleventh diode D11 to form a sampling output end Vdet of the voltage acquisition module 70, the other end of the twenty-third resistor R23 is commonly connected with the negative electrode of the eleventh capacitor C11 to form a grounding end of the voltage sampling module 70, and the negative electrode of the eleventh diode D11 forms a second voltage sampling end 3.3V of the voltage sampling module 70.

As shown in fig. 8, in one embodiment of the present invention, the temperature acquisition module 80 includes a twenty-fourth resistor R24, a twenty-fifth resistor R25 (specifically, a thermistor), and a twelfth capacitor C12.

One end of the twenty-fourth resistor R24 is 3.3V of the power end of the temperature acquisition module 80, the other end of the twenty-fourth resistor R24 is commonly connected with one end of the twenty-fifth resistor R25 and the positive electrode of the twelfth capacitor C12 to form a sampling signal output end NTC of the temperature acquisition module 80, and the other end of the twenty-fifth resistor R25 and the negative electrode of the twelfth capacitor C12 are both grounded ends of the temperature acquisition module 80.

In one embodiment of the present invention, all of the embodiments corresponding to fig. 3-8 are implemented together, and all of the ports labeled the same in the figures are commonly connected. In this embodiment, the control module 40 specifically selects an STM32F302RBT6 type microcontroller; the first voltage stabilizing unit is specifically selected from an MP4560 type buck converter, the second voltage stabilizing unit is specifically selected from an MP2314 type voltage stabilizing chip, and the third voltage stabilizing unit is specifically selected from an SGM2013 type low dropout linear voltage regulator. Since the functions of the pins of the STM32F302RBT6 type microcontroller, the MP4560 type buck converter, the MP2314 type voltage stabilizing chip, and the SGM2013 type low dropout linear voltage regulator are known in specific applications, the specific circuit connection structure of these chips when applied in the drive control circuit 100 is not described in detail in this embodiment.

As shown in fig. 9, an embodiment of the present invention further provides a robot 00, which includes a steering engine 200, a CAN bus transceiver 300, and a magnetic positioning sensor 400, wherein the steering engine 200 includes the driving control circuit 100 in the above embodiment, the CAN bus transceiver 300 is respectively connected to the voltage stabilizing module 60 and the control module 40, the magnetic positioning sensor 400 is respectively connected to the voltage stabilizing module 60 and the control module 40, and the control module 40 is also in communication connection with an external device through the CAN bus transceiver 300.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims

1. The driving control circuit is used for controlling the steering engine to move and is characterized by comprising a reverse bias module, an electronic switch module, a driving module, a control module, a current sampling module and a voltage stabilizing module;

2. The drive control circuit of claim 1, wherein the reverse bias module comprises a reverse bias unit and a first filter unit;

3. The drive control circuit of claim 2, wherein the reverse bias unit comprises a three-terminal diode, and the first filter unit comprises a first current limiting resistor and a first filter capacitor;

4. The drive control circuit of claim 1, wherein the electronic switch module comprises a first electronic switch unit, a second electronic switch unit, and a third electronic switch unit;

5. The drive control circuit of claim 4, wherein the first electronic switching unit comprises a first NMOS transistor and a second NMOS transistor, the second electronic switching unit comprises a third NMOS transistor and a fourth NMOS transistor, and the third electronic switching unit comprises a fifth NMOS transistor and a sixth NMOS transistor;

6. The drive control circuit of claim 1, wherein the drive module comprises a first drive unit, a second drive unit, and a third drive unit;

7. The drive control circuit of claim 6, wherein the first drive unit comprises a first drive chip, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, a third capacitor, a fourth capacitor, a second diode, a third diode, and a fourth diode;

8. The drive control circuit of claim 1, wherein the current sampling module comprises an eighteenth resistor, a nineteenth resistor, a twentieth resistor, a twenty first resistor, a ninth capacitor, and a tenth capacitor;

9. The drive control circuit according to claim 1, wherein the voltage stabilizing module includes a first voltage stabilizing unit, a second voltage stabilizing unit, and a third voltage stabilizing unit;

10. A robot, characterized in that the robot comprises a steering engine, a CAN bus transceiver and a magnetic positioning sensor, wherein the steering engine comprises the driving control circuit according to any one of claims 1-9, the CAN bus transceiver is respectively connected with the voltage stabilizing module and the control module, the magnetic positioning sensor is respectively connected with the voltage stabilizing module and the control module, and the control module is also in communication connection with external equipment through the CAN bus transceiver.