CN106877782A - Circuit for controlling motor, device and motor control method - Google Patents
Circuit for controlling motor, device and motor control method Download PDFInfo
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- CN106877782A CN106877782A CN201710195700.4A CN201710195700A CN106877782A CN 106877782 A CN106877782 A CN 106877782A CN 201710195700 A CN201710195700 A CN 201710195700A CN 106877782 A CN106877782 A CN 106877782A
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- motor
- circuit
- adjustment unit
- transducing signal
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Present disclose provides a kind of circuit for controlling motor.The disclosure additionally provides a kind of device with the motor controlled by the circuit for controlling motor, and a kind of motor control method.The circuit for controlling motor is used for the operating of controlled motor, including motor adjustment unit and sensing unit.Wherein, the sensing unit be used to detecting it with specific direction on barrier relative status, and when the relative status meet predetermined condition, produce transducing signal.The motor adjustment unit is used to receive the transducing signal, and the rotation of the motor is adjusted according to the transducing signal.
Description
Technical field
This disclosure relates to a kind of circuit for controlling motor, device and motor control method.
Background technology
Motor is widely used in the various devices that can be moved, such as automobile, robot.In actual applications, typically
By controlling a H bridge type rectification circuit come the rotating of controlled motor, brake, hanging etc., so as to realize that there is the motor
Advance, retrogressing, dynamic braking of device etc..Generally the environment residing for motor is carried out using sensor in motor operation course
Detection, and detection signal is fed back to the control system of motor.When needing to change motor operating state, by the control system of motor
System is processed detection signal, then corresponding actions is performed by H bridge rectification circuits again according to result, so that controlled motor
Operation.
However, for complicated electric machine control system, the control system of motor is fed back to from detection signal, again to final reality
Now to the control of motor, whole process forms a reponse system for closed loop, it is necessary to take the regular hour, can cause to electricity
It is delayed that machine is controlled.At some in emergency circumstances, for example, device of running at high speed to needing emergency brake etc., this delayed meeting
Timely reaction to device and avoid accident etc. from bringing having a strong impact on.
The content of the invention
An aspect of this disclosure provides a kind of circuit for controlling motor, is adjusted for the operating of controlled motor, including motor
Section unit and sensing unit.The sensing unit be used to detecting it with specific direction on barrier relative status, and at this
When relative status meet predetermined condition, transducing signal is produced.The motor adjustment unit is used to receive the transducing signal, and root
The rotation of the motor is adjusted according to the transducing signal.
Alternatively, relative velocity of the relative status by the distance of the sensing unit and barrier and its with barrier
To characterize.
Alternatively, the transducing signal includes reduce-speed sign.When the motor adjustment unit receives reduce-speed sign, it makes
The motor introduces reverse current so that the decelerating through motor.
Alternatively, the motor adjustment unit includes being operated in the metal-oxide-semiconductor in variable resistor area.Alternatively, the metal-oxide-semiconductor
There are four, it constitutes bridge circuit.Alternatively, the motor adjustment unit also includes H bridge type rectification circuit.
Another aspect of the disclosure additionally provides a kind of device that can be moved, including motor, and the motor is by as above
Described circuit for controlling motor control.
Another aspect of the disclosure also provides a kind of motor control method, for the operating of controlled motor.Sensing unit
The relative status of the barrier on detecting it with specific direction, and when the relative status meet predetermined condition, produce sensing letter
Number.Motor adjustment unit receives the transducing signal, and the rotation of the motor is adjusted according to the transducing signal.
Alternatively, the motor adjustment unit includes being operated in the metal-oxide-semiconductor in variable resistor area.Alternatively, the metal-oxide-semiconductor
There are four, it constitutes bridge circuit.Alternatively, the motor adjustment unit also includes H bridge type rectification circuit.
Brief description of the drawings
In order to be more fully understood from the disclosure and its advantage, referring now to the following description with reference to accompanying drawing, wherein：
Fig. 1 diagrammatically illustrates the block diagram of the circuit for controlling motor according to the embodiment of the disclosure one；
Fig. 2 diagrammatically illustrates the block diagram of the sensing unit in the circuit for controlling motor according to the embodiment of the disclosure one；
Fig. 3 diagrammatically illustrates the circuit of the motor adjustment unit in the circuit for controlling motor according to the embodiment of the disclosure one
Structure chart.
Fig. 4 diagrammatically illustrates the electricity of the motor adjustment unit in the circuit for controlling motor according to another embodiment of the disclosure
Line structure figure；
Fig. 5 diagrammatically illustrates the block diagram of the device that can be moved according to the embodiment of the disclosure one；
Fig. 6 diagrammatically illustrates the flow chart of the motor control method according to the embodiment of the disclosure one.
Specific embodiment
Hereinafter, will be described with reference to the accompanying drawings embodiment of the disclosure.However, it should be understood that these descriptions are simply exemplary
, and it is not intended to limit the scope of the present disclosure.Additionally, in the following description, the description to known features and technology is eliminated, with
Avoid unnecessarily obscuring the concept of the disclosure.
Term as used herein is not intended to limit the disclosure just for the sake of description specific embodiment.Used here as
Word " ", " one (kind) " and " being somebody's turn to do " etc. should also include " multiple ", the meaning of " various ", unless context clearly refers in addition
Go out.Additionally, term " including " as used herein, "comprising" etc. indicate the presence of the feature, step, operation and/or part,
But it is not excluded that in the presence of or add one or more other features, step, operation or parts.
What all terms (including technology and scientific terminology) as used herein were generally understood with those skilled in the art
Implication, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification
Implication, without that should be explained with idealization or excessively mechanical mode.
It should be appreciated that " rotating forward ", " reversion " that is used in the embodiment of the present disclosure is only relative concept, for one
The motor of determination, when a direction for defining its rotation is " rotating forward " direction, another direction opposite with the direction is
It is the direction of " reversion "." reverse " " reverse current " that is used in the embodiment of the present disclosure simultaneously in is also relative concept, its
The direction that electric current flows through from motor is referred specifically to, the side in opposite direction flowed through with the electric current before being controlled to motor
To.If for example, before being controlled to motor, motor is in when rotating forward, and now reverse current can exactly make motor reversal
Electric current；If before being controlled to motor, when motor is in reversion, now reverse current is exactly the electricity that can rotate forward motor
Stream.
Embodiment of the disclosure is there is provided a kind of circuit for controlling motor, with the motor controlled by the circuit for controlling motor
Telecontrol equipment and motor control method.The circuit for controlling motor is used for the operating of controlled motor, including motor adjustment unit and biography
Sense unit.The sensing unit be used to detecting it with specific direction on barrier relative status, and meet in the relative status
During predetermined condition, transducing signal is produced.The motor adjustment unit is used to receive the transducing signal, and is adjusted according to the transducing signal
The rotation of motor.
Circuit for controlling motor in accordance with an embodiment of the present disclosure, sensing unit is transferred to motor regulation after producing transducing signal
Unit, by motor adjustment unit according to the operating of the direct regulation motor of the transducing signal.In this way, needed when to motor
When carrying out certain control and regulation, the transducing signal that can be received by motor adjustment unit is carried out in real time, without etc.
Treating the control system of motor carries out the feedback processing of closed loop, drastically increases the reaction speed of motor ambient condition to external world.
According to the circuit for controlling motor of some embodiments of the present disclosure, the transducing signal that sensing unit is produced includes slowing down and believes
Number.So, in the case where some need emergency deceleration, motor rapidly can react to ambient condition.For example, to height
The device of speed traveling, when reaching certain limit and with the relative velocity of barrier beyond distance permission with obstacle distance
During velocity amplitude, the timely controlled motor of transducing signal that motor adjustment unit can be exported according to sensing unit is slowed down.By this
Mode causes the rotating speed rapid decrease of motor, such that it is able to act (example to other subsequent controls of motor for electric machine control system
As shut down or invert) strive for buffering time, improve the safety in operation of motor and the device with the motor.
Fig. 1 diagrammatically illustrates the block diagram of the circuit for controlling motor according to the embodiment of the disclosure one.
As shown in figure 1, circuit for controlling motor 100 is used for the operating of controlled motor 1, including motor adjustment unit 110 and biography
Sense unit 120.Sensing unit 120 be used to detecting it with specific direction on barrier relative status, and in the relative status
When meeting predetermined condition, transducing signal is produced.Motor adjustment unit 110 is used to receive the transducing signal, and is believed according to the sensing
The rotation of number regulation motor 1.
In accordance with an embodiment of the present disclosure, the detection of sensing unit 120 its with specific direction on barrier relative status, and
When the relative status meet predetermined condition, transducing signal is produced, also, the transducing signal is transferred to motor adjustment unit
110.Motor adjustment unit 110 then carries out real-time regulation according to the transducing signal for receiving to the running status of motor 1.With this
Mode, the real-time regulation to motor 1 is directly controlled by transducing signal, it is not necessary to wait transducing signal to feed back to the control of motor 1
System is processed, so as to improve the real-time control effect of motor.
Under normal circumstances, sensing unit 120 is installed in the same apparatus with motor 1, therefore, sensing unit 120 detects it
With the relative status of the barrier on specific direction, substantially be exactly detection motor 1 and installation motor 1 device with it is specific
The relative status of the barrier on direction.
The specific direction of sensing unit 120 can be the direction that the device where sensing unit 120 and motor 1 advances, one
As this direction is also defined as the direction that motor 1 is rotated forward.Now, for example, when device advances, the detection of sensing unit 120 its with
The relative status of the barrier on the consistent direction of the device direction of advance, with its side of advance exactly when detecting that the device advances
The relative status of upward barrier, to ensure the security of device advance process.
The specific direction of sensing unit 120 can also be the direction of the device reversing where sensing unit 120 and motor 1,
Namely the direction of the reversion of motor 1 being generally acknowledged that.For example, in reversing automobile, sensing unit 120 detects itself and reversing automobile side
To the relative status of the barrier on consistent direction, when the reversing automobile is detected with the barrier at its vehicle body rear
Relative status, to ensure the security of reversing automobile process.
In addition, the specific direction of sensing unit 120 can also be other directions, can specifically set as needed.
With the relative status of barrier can include the barrier on detection sensing unit 120 and specific direction distance,
Relative velocity, signal transmission rate, and/or thermal emissivity rate etc..
In accordance with an embodiment of the present disclosure, the transducing signal that 110 receiving sensing unit of motor adjustment unit 120 is produced, and root
According to the rotation of the transducing signal regulation motor 1.
Motor adjustment unit 110 can be connected on the circuit at the place of motor 1, and the electric current of motor 1 is flowed through by regulation
To realize the control to motor 1.
Motor adjustment unit 110 can be analog circuit, and the real time reaction energy speed to transducing signal will be faster than including place
The complex digital circuitry of reason device etc..
Motor adjustment unit 110 can according to the transducing signal for receiving correspondingly adjust size of current by motor 1,
And/or need the sense of current of regulation etc..
Fig. 2 diagrammatically illustrates the block diagram of the sensing unit in the circuit for controlling motor according to the embodiment of the disclosure one.
As shown in Fig. 2 the sensing unit 120 in the circuit for controlling motor of the embodiment of the present disclosure can include detection
Unit 121 and the two parts of comparing subunit 122.Wherein, detection sub-unit 121 is used to detect sensing unit 120 and specific direction
On barrier relative status.Comparing subunit 122 produces transducing signal when the relative status meet predetermined condition.
Detection sub-unit 121 can also be by the specific direction transmission signal to sensing unit 120, and according to transmission signal
Time difference, signal data difference with the reflected signal for receiving etc. are detected between detection sensing unit 120 and barrier
Relative status.
For example, detection sub-unit 121 can be by the specific direction transmission signal to sensing unit 120, and according to the hair
Time difference for penetrating between signal and the reflected signal that receives, and the spread speed of the signal launched calculates sensing unit
120 with specific direction on barrier distance.
Again for example, detection sub-unit 121 can also be according to sensing unit in intervals 120 and the distance of barrier
Change detects the relative velocity of the barrier on sensing unit 120 and specific direction.
Detection sub-unit 121 can include various remote measurement sensors, such as infrared sensor, ultrasonic sensor
Deng.
Comparing subunit 122 produces sensing when detection sub-unit 121 detects that the relative status for obtaining meet predetermined condition
Signal.
Predetermined condition can be sensing unit 120 with specific direction on barrier relative status be likely to be breached it is advance
The a certain critical condition of setting.
For example, predetermined condition is the relative status institute of the barrier on sensing unit set in advance 120 and specific direction
During the secure threshold of permission, when the relative status have breached controllable safety more than the secure threshold, the i.e. relative status
Scope, then it is considered that the relative status meet predetermined condition, now comparing subunit 122 is accomplished by producing transducing signal, with
The operating of controlled motor.
Accordingly, when the relative status are within secure threshold scope set in advance, i.e., the relative status are still in can
Within the safe range of control, then it is considered that the relative status are unsatisfactory for predetermined condition, now comparing subunit 122 does not produce biography
Sense signal.
Comparing subunit 122 can be by the way that detection sub-unit 121 to be detected the relative status and peace set in advance that obtain
Full threshold value is compared, to judge whether the relative status meet predetermined condition.When the relative status meet predetermined condition,
Comparing subunit 122 produces transducing signal.And when the relative status are unsatisfactory for predetermined condition, comparing subunit 122 is not produced
Transducing signal.
Comparing subunit 122 can be comparator.Detected in the input input detection sub-unit 121 of comparator
To the relative status for characterizing the barrier on sensing unit 120 and its specific direction signal, in another input of comparator
End input characterizes the signal of secure threshold set in advance.Comparator can be compared to judge this to above-mentioned two signal
Whether relative status meet predetermined condition, and are exported according to comparative result or do not export transducing signal.
According to the circuit for controlling motor of the embodiment of the disclosure one, the wherein barrier on sensing unit 120 and specific direction
Relative status, can be characterized with the distance of barrier and its with the relative velocity of barrier by sensing unit 120.
The distance of the barrier on sensing unit 120 and its specific direction and its can pass through with the relative velocity of barrier
The detection of detection sub-unit 121 is obtained.Specifically, detection sub-unit 121 launches letter by the specific direction of sensing unit 120
Number, and according to the time difference between the transmission signal and the reflected signal for receiving, and the spread speed of the signal launched is come
Calculate the distance of the barrier on sensing unit 120 and specific direction.Also, detection sub-unit 121 can also be according to a timing
Between in interval the distance change of sensing unit 120 and barrier detect barrier on sensing unit 120 and specific direction
Relative velocity.
Secure threshold set in advance can also be sensing unit set in advance 120 and obstacle in comparing subunit 122
The distance of thing and its secure threshold that is allowed with the relative velocity of barrier are characterized.
The relative status of the barrier on sensing unit 120 and specific direction, can be by sensing unit 120 and barrier
Distance and its characterize with the relative velocity of barrier.Specifically, characterize the signal of the relative status can be, for example, by passing
The relative velocity and distance of the barrier on sense unit 120 and specific direction carry out the signal value that certain computing draws, for example will
The relative velocity and distance carry out ratio computing.
According to the circuit for controlling motor of the embodiment of the disclosure one, the transducing signal that sensing unit 120 is produced includes slowing down and believes
Number.And when the motor adjustment unit 110 receives the reduce-speed sign, it makes motor 1 introduce reverse current so that motor 1 subtracts
Speed.
Specifically, the conducting motor of reduce-speed sign controlled motor adjustment unit 110 that for example sensing unit 120 is produced is reversely electric
The path of stream, so that one part of current can flow through motor 1 with direction, gives motor 1 one driving forces of reversion, makes motor 1
Can slow down quickly.
Herein, reverse current refers to the electric current opposite with the sense of current needed for motor 1 currently operation.If for example, electricity
Machine is currently to rotate forward, then reverse current is exactly the electric current for instigating motor reversal；If motor is currently reversion, reverse current is exactly
The electric current for instigating motor to rotate forward.
According to the circuit for controlling motor of the embodiment of the disclosure one, motor adjustment unit 110 includes that variable resistor can be operated in
The metal-oxide-semiconductor in area.
Motor adjustment unit 110 includes being operated in the metal-oxide-semiconductor in variable resistor area, the output of corresponding sensing unit 120
Transducing signal can be the voltage signal for making motor adjustment unit 110 be operated in variable resistor area.
Metal-oxide-semiconductor in motor adjustment unit 110 works in variable resistor area.So, when metal-oxide-semiconductor is not received by sensing letter
Number when, the circuit where metal-oxide-semiconductor be disconnect.And work as after metal-oxide-semiconductor receives transducing signal, the circuit where connecting the metal-oxide-semiconductor,
And metal-oxide-semiconductor is in itself in circuit equivalent to the transformable resistance of resistance.In this way, when the electricity where metal-oxide-semiconductor
After road is switched on, can flow through the size of current of the metal-oxide-semiconductor by control to control to flow through motor through the circuit where the metal-oxide-semiconductor
1 size of current.
Fig. 3 diagrammatically illustrates the circuit of the motor adjustment unit in the circuit for controlling motor according to the embodiment of the disclosure one
Structure chart.
Motor adjustment unit 110 can be the motor adjustment unit 310 shown in Fig. 3.
As shown in figure 3, the electricity of circuit for controlling motor in accordance with an embodiment of the present disclosure can include in connecing adjustment unit 310
Four metal-oxide-semiconductors, also, four metal-oxide-semiconductors constitute bridge circuit.The transducing signal difference that wherein four metal-oxide-semiconductors are controlled
It is connected to the grid (not shown) of this four metal-oxide-semiconductors.
In this four metal-oxide-semiconductors, after metal-oxide-semiconductor T1 and T4 is connected with motor 1, the electric current for rotating forward motor can be introduced to motor 1；
After metal-oxide-semiconductor T2 and T3 is connected with motor 1, can be introduced to motor 1 makes the electric current of motor reversal.
Needing to make motor 1 when slowing down in the case of rotating forward, be also turned on T2 and T3, so as to in motor 1 introduce with
Motor rotates forward reverse electric current, the driving force to motor 1 to invert, so that the rotating forward rotating speed rapid decrease of motor 1.
Correspondingly, needing to make motor 1 when slowing down in the case of reversion, be also turned on T1 and T4, so as to in motor 1
Introduce and the reverse electric current of motor reversal, the driving force to motor 1 to rotate forward, so that the reverse rapid decrease of motor 1.
In other words, when being adjusted to the formal dress of motor or reversion, motor adjustment unit 310 as shown in Figure 3 it is right
Two metal-oxide-semiconductors on linea angulata are to be capable of achieving function.
In accordance with an embodiment of the present disclosure, motor adjustment unit 310 includes four metal-oxide-semiconductors, such that it is able to pass through same electricity
Machine adjustment unit 310 is realized to motor in the various regulations for rotating forward and/or invert.
Four metal-oxide-semiconductors in motor adjustment unit 310 in Fig. 3 can respectively receive four sensing letters of sensing unit
Number, or metal-oxide-semiconductor T1 and T4 receive the transducing signal of same sensing unit, metal-oxide-semiconductor T2 and T3 receive unified sensing
The transducing signal of unit.
Wherein, the sensing unit of control metal-oxide-semiconductor T1 and T4 detects its relative shape with the barrier in motor forward direction
State, when the relative status meet predetermined condition, for example, the relative status are beyond the relative shape between sensing unit and barrier
The secure threshold of state, just producing can control metal-oxide-semiconductor T1 and T4 to work in the voltage sensing signal in variable resistor area, so as to control
Metal-oxide-semiconductor T1 and T4 are also turned on circuit, and portion of electrical current is oppositely introduced into motor, rotate forward motor and slow down.
Similar, the sensing unit of control metal-oxide-semiconductor T2 and T3 detects that it is relative with the barrier on motor reversal direction
State, when the relative status meet predetermined condition, generation can control metal-oxide-semiconductor T2 and T3 to work in the voltage in variable resistor area
Transducing signal.
Fig. 4 diagrammatically illustrates the electricity of the motor adjustment unit in the circuit for controlling motor according to another embodiment of the disclosure
Line structure figure.
Motor adjustment unit 110 can be the motor adjustment unit 410 shown in Fig. 4.
As shown in figure 4, the motor adjustment unit 410 in circuit for controlling motor according to another embodiment of the disclosure includes four
Bridge circuit and a H bridge rectification circuit that individual metal-oxide-semiconductor is constituted.
Motor adjustment unit 410 is first with including four switches by the bridge circuit that four metal-oxide-semiconductors (T1, T2, T3, T4) constitute
The H bridge rectification circuit lotus roots of part (Q1, Q2, Q3, Q4) are connected together.
Specifically, the ends of metal-oxide-semiconductor T1 two are connected on the switch element Q1 two ends of H bridge rectification circuit bridge arms, and the ends of metal-oxide-semiconductor T2 two are connected on
The metal-oxide-semiconductor Q2 two ends of H bridge rectification circuit bridge arms, the ends of metal-oxide-semiconductor T3 two are connected on the switch element Q3 two ends of H bridge rectification circuit bridge arms,
The ends of metal-oxide-semiconductor T4 two are connected on the switch element Q4 two ends of H bridge rectification circuit bridge arms.
In Fig. 4, this four metal-oxide-semiconductors are respectively connecting to the transducing signal that four metal-oxide-semiconductors T1, T2, T3, T4 are controlled
Grid (not shown).The control system that four switch elements Q1, Q2, Q3, Q4 of H bridge rectification circuits are controlled is not shown
Go out, and the control system can receive transducing signal, it is possible to and the transducing signal to receiving is controlled after carrying out certain treatment
The action of H bridge rectification circuits processed.
Metal-oxide-semiconductor T1, T2, T3, T4 work in variable resistor area.That is, when metal-oxide-semiconductor T1, T2, T3, T4 are not received by sensing
During signal, the circuit of metal-oxide-semiconductor T1, T2, T3, T4 connection is to disconnect；And any one in working as metal-oxide-semiconductor T1, T2, T3 or T4 connects
After receiving transducing signal, the circuit where connecting the metal-oxide-semiconductor, and metal-oxide-semiconductor T1, T2, T3 or T4 are in itself in circuit equivalent to one
The individual transformable resistance of resistance.
In motor adjustment unit 410, when switch element Q1 and the Q4 conducting in H bridge rectification circuits, switch element Q2 and Q3
Disconnect, also, metal-oxide-semiconductor T1, T2, T3 and T4 disconnect, and now motor is rotated forward.
While motor is rotated forward, the sensing unit (not shown in Fig. 4) of control metal-oxide-semiconductor T2 and T3 detects it with motor just
Turn the relative status of the barrier on direction, when the relative status meet predetermined condition, such as when beyond secure threshold, produce biography
Sense signal.
Metal-oxide-semiconductor T2 and T3 receive the transducing signal, connect and rotate forward the reverse current loop of electric current, also, metal-oxide-semiconductor with motor
T2 and T3 are operated in variable resistor area, such that it is able to control the electric current by metal-oxide-semiconductor T2 and T3, realize rotating forward electric current to motor
Shunting action, so as to promote the timely reduction of speed of the rotating forward of motor.
The transducing signal that sensing unit is produced can also be transferred to H bridge rectifications while controlling metal-oxide-semiconductor T2 and T3 to work
The control system (not shown) of circuit, is processed transducing signal by the control system of H bridge rectification circuits, and according to place
Reason result disconnects switch element Q1 and Q4 in H bridge rectification circuits, so that the current loop that middle power machine is rotated forward.
So, when the control system of H bridge rectification circuits is more complicated, such as intelligent driving system, H bridge rectified currents
The control system on road is before control disconnects switch element Q1 and Q4, and preservation for the field data to be carried out that may still need etc. is a series of
Treatment is acted.In this gap, because sensing unit has controlled metal-oxide-semiconductor T2 and T3 to be shunted to rotating forward electric current, motor
Rotating speed is rotated forward to enhance motor and the security of the device of the motor is installed with rapid decrease.
Under certain situation, when the positive rotary speed of motor is too high, even if disconnecting the switch element Q1 and Q4 in H bridge rectification circuits,
When the inertia motion of motor causes that motor moves forward, what the metal-oxide-semiconductor T2 and T3 and motor controlled by sensing unit were formed
Current loop, to motor with counter-rotational power so that the quick reduction of speed of motor is even inverted, with ensure with barrier it
Between safe distance.
When motor reduction so that the relative status of the barrier in sensing unit and motor forward direction are unsatisfactory for predetermined bar
Part, such as when within secure threshold, sensing unit no longer produces transducing signal, so that metal-oxide-semiconductor T2 and T3 disconnecting circuit.
Similar, in motor adjustment unit 410, when switch element Q2 and the Q3 conducting in H bridge rectification circuits, switch element
Q1 and Q4 disconnects, also, metal-oxide-semiconductor T1, T2, T3 and T4 disconnect, now motor reversal.
When motor reversal, sensing unit detect it with motor reversal direction on barrier relative status, and at this
When relative status meet predetermined condition, transducing signal is produced, to control metal-oxide-semiconductor T1 and T4 to disconnect or be operated in variable resistor area,
So as to the speed reversal of regulation motor.
Fig. 5 diagrammatically illustrates the block diagram of the device that can be moved according to the embodiment of the disclosure one.
As shown in figure 5, the device 500 that can be moved according to the embodiment of the disclosure one includes motor 1, and motor 1 by
Circuit for controlling motor 100 is controlled.Wherein, circuit for controlling motor 100 includes motor adjustment unit 110 and sensing unit 120.Sensing
Unit 120 be used to detecting it with specific direction on barrier relative status, and when the relative status meet predetermined condition,
Produce transducing signal.Motor adjustment unit 110 is used to receive the transducing signal, and according to the transducing signal regulation motor 1
Rotate, so that the motion state of control device 500.In this way, improve real-time control energy of the device 500 to ambient condition
Power.
Device 500 can be automobile, or robot etc., and can have the sophisticated functions such as automatic Pilot.
The detection of sensing unit 120 its with specific direction on barrier relative status, is exactly substantially in detection means
500 with specific direction on barrier relative status.
The specific direction of sensing unit 120 can be set as yes the direction of the advance of device 500, or dress as needed
The direction of 500 reversings is put, or other directions for setting as needed.
With distance, relative velocity, the letter that barrier relative status can include the barrier on device 500 and specific direction
Number transmission rate, and/or thermal emissivity rate etc..
In accordance with an embodiment of the present disclosure, the relative status with barrier can be by sensing unit 120 and barrier
Distance and its characterize with the relative velocity of barrier.
In accordance with an embodiment of the present disclosure, the transducing signal that sensing unit 120 is produced includes reduce-speed sign.And when the electricity
When machine adjustment unit receives the reduce-speed sign, it makes motor 1 introduce reverse current so that motor 1 slows down, so that control device 500
Deceleration so that the relative status of device 500 and barrier are in safely controllable scope.
According to the embodiment of the present disclosure, motor adjustment unit 110 includes being operated in the metal-oxide-semiconductor in variable resistor area, specifically,
The circuit structure of motor adjustment unit 110 can be with reference to the motor adjustment unit 310 described by Fig. 3, or refer to Fig. 4
Described motor adjustment unit 410.
Fig. 6 diagrammatically illustrates the flow of the motor control method according to the embodiment of the disclosure one
As shown in fig. 6, the motor control method according to the embodiment of the disclosure one is used for the operating of controlled motor, including operation
S601 and operation S602.
In operation 601, the detection of sensing unit 120 its with specific direction on barrier relative status, it is and relative at this
When state meets predetermined condition, transducing signal is produced.
In operation 602, motor adjustment unit 110 receives the transducing signal, and turning according to the transducing signal regulation motor 1
It is dynamic.
In accordance with an embodiment of the present disclosure, the real-time regulation to motor 1 is directly controlled by transducing signal, it is not necessary to wait sensing
The control system that signal feeds back to motor 1 is processed, so as to improve the real-time control effect of motor.So, needed at some
Will in emergency circumstances, motor rapidly can react to ambient condition.For example, to the device run at high speed, when with obstacle
When thing distance reaches certain limit and exceeds the maximum that the distance is allowed with the relative velocity of barrier, can be single by sensing
The transducing signal of unit's output is slowed down by the timely controlled motor of motor adjustment unit 110.Make the speed of motor in this way
Rapid decrease, such that it is able to strive for the time of buffering for other subsequent controls action (such as shut down or invert) to motor,
Improve the safety in operation of motor and the device with the motor.
In accordance with an embodiment of the present disclosure, motor adjustment unit 110 includes that variable resistor area can be operated in S602 is operated
Metal-oxide-semiconductor.
Motor adjustment unit 110 includes being operated in the metal-oxide-semiconductor in variable resistor area, the output of corresponding sensing unit 120
Transducing signal can be the voltage signal for making motor adjustment unit 110 be operated in variable resistor area.
Metal-oxide-semiconductor in motor adjustment unit 110 works in variable resistor area.So, when metal-oxide-semiconductor is not received by sensing letter
Number when, the circuit where metal-oxide-semiconductor be disconnect.And work as after metal-oxide-semiconductor receives transducing signal, the circuit where connecting the metal-oxide-semiconductor,
And metal-oxide-semiconductor is in itself in circuit equivalent to the transformable resistance of resistance.In this way, when the electricity where metal-oxide-semiconductor
After road is switched on, can flow through the size of current of the metal-oxide-semiconductor by control to control to flow through motor through the circuit where the metal-oxide-semiconductor
1 size of current, with the state change speed of regulation motor 1.
According to the embodiment of the present disclosure, motor adjustment unit 110 includes being operated in the MOS in variable resistor area in operation S602
Pipe, specifically, the circuit structure of motor adjustment unit 110 can be the motor adjustment unit 310 with reference to described by Fig. 3, also may be used
Being with reference to the motor adjustment unit 410 described by Fig. 4.
Although the certain exemplary embodiments with reference to the disclosure have shown and described the disclosure, art technology
Personnel it should be understood that in the case of the spirit and scope of the present disclosure limited without departing substantially from appended claims and its equivalent,
The various changes in form and details can be carried out to the disclosure.Therefore, the scope of the present disclosure should not necessarily be limited by above-described embodiment,
But not only should be determined by appended claims, also it is defined by the equivalent of appended claims.
Claims (10)
1. a kind of circuit for controlling motor, for the operating of controlled motor, including motor adjustment unit and sensing unit, wherein,
The sensing unit be used to detecting it with specific direction on barrier relative status, and meet pre- in the relative status
During fixed condition, transducing signal is produced；
The motor adjustment unit is used to receive the transducing signal, and the rotation of the motor is adjusted according to the transducing signal.
2. circuit for controlling motor as claimed in claim 1, wherein,
The relative status are characterized by the sensing unit with the distance of barrier and its with the relative velocity of barrier.
3. circuit for controlling motor as claimed in claim 1, wherein, the transducing signal includes reduce-speed sign, when the motor
When adjustment unit receives reduce-speed sign, it makes the motor introduce reverse current so that the decelerating through motor.
4. circuit for controlling motor as claimed in claim 3, wherein, the motor adjustment unit includes that variable resistor can be operated in
The metal-oxide-semiconductor in area.
5. circuit for controlling motor as claimed in claim 4, wherein, the metal-oxide-semiconductor has four, and it constitutes bridge circuit.
6. circuit for controlling motor as claimed in claim 5, wherein, the motor adjustment unit also includes H bridge type rectification circuit.
7. a kind of device that can be moved, including motor, motor control of the motor as described in claim 1~6 any one
Circuit control processed.
8. a kind of motor control method, for the operating of controlled motor, including：
Sensing unit detect it with specific direction on barrier relative status, and meet predetermined condition in the relative status
When, produce transducing signal；
Motor adjustment unit receives the transducing signal, and the rotation of the motor is adjusted according to the transducing signal.
9. motor control method as claimed in claim 8, wherein, the motor adjustment unit includes that variable resistor can be operated in
The metal-oxide-semiconductor in area.
10. motor control method as claimed in claim 9, wherein,
The metal-oxide-semiconductor has four, and it constitutes bridge circuit；And/or
The motor adjustment unit also includes H bridge type rectification circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710195700.4A CN106877782A (en) | 2017-03-28 | 2017-03-28 | Circuit for controlling motor, device and motor control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710195700.4A CN106877782A (en) | 2017-03-28 | 2017-03-28 | Circuit for controlling motor, device and motor control method |
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| CN106877782A true CN106877782A (en) | 2017-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113350113A (en) * | 2020-11-27 | 2021-09-07 | 厦门爱玛康科技有限公司 | Massage chair structure and control method thereof |
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| JP2005041463A (en) * | 2003-01-24 | 2005-02-17 | Honda Motor Co Ltd | Vehicular travel safety device |
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