CN107947772B - Steering engine power-on circuit and robot - Google Patents
Steering engine power-on circuit and robot Download PDFInfo
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- CN107947772B CN107947772B CN201711486254.9A CN201711486254A CN107947772B CN 107947772 B CN107947772 B CN 107947772B CN 201711486254 A CN201711486254 A CN 201711486254A CN 107947772 B CN107947772 B CN 107947772B
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- 239000003990 capacitor Substances 0.000 claims description 45
- 230000005669 field effect Effects 0.000 claims description 31
- 238000010586 diagram Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/08—Modifications for protecting switching circuit against overcurrent or overvoltage
- H03K17/081—Modifications for protecting switching circuit against overcurrent or overvoltage without feedback from the output circuit to the control circuit
- H03K17/0812—Modifications for protecting switching circuit against overcurrent or overvoltage without feedback from the output circuit to the control circuit by measures taken in the control circuit
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K2217/00—Indexing scheme related to electronic switching or gating, i.e. not by contact-making or -breaking covered by H03K17/00
- H03K2217/0081—Power supply means, e.g. to the switch driver
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Abstract
The invention belongs to the technical field of electronic circuits, and discloses a steering engine power-on circuit and a robot, wherein the steering engine power-on circuit is connected between a direct current power supply and a steering engine, and comprises: the switching module is used for receiving the switching control signal and outputting a first switching signal according to the switching control signal; the power supply module is used for being connected with the direct-current power supply; the driving module is connected with the power module and the steering engine and is used for receiving the first switch signal and outputting a driving signal to enable the steering engine to be turned on/off; and the adjusting module is connected with the switch module, the power module and the driving module and is used for adjusting the first switch signal so as to enable the voltage value of the driving signal to smoothly rise when the steering engine is started. The invention solves the problem of overlarge current at the moment of electrifying the steering engine power-on circuit, avoids the problem that the steering engine driving voltage is pulled down due to the large current at the moment of electrifying, and reduces the risk of damaging components in the steering engine power-on circuit.
Description
Technical Field
The invention belongs to the technical field of electronic circuits, and particularly relates to a steering engine power-on circuit and a robot.
Background
The steering engine is a position (angle) servo driver and is suitable for control systems which need continuous change of angles and can be maintained. Steering engines are widely used in various joint movements of robots.
However, the current of the traditional steering engine power-on circuit is too large at the moment of power-on, and the output voltage of the steering engine power-on circuit can be pulled down due to the large current at the moment, so that the risk of damage to components in the steering engine power-on circuit is increased.
Therefore, the traditional steering engine power-on circuit has the problem of overlarge current at the power-on moment.
Disclosure of Invention
The invention aims to provide a steering engine power-on circuit, which aims to solve the problem of overlarge power-on instant current in the traditional steering engine power-on circuit.
A first aspect of the present invention provides a steering engine power-on circuit connected between a dc power source and a steering engine, comprising: the switching module is used for receiving the switching control signal and outputting a first switching signal according to the switching control signal; the power supply module is used for being connected with the direct-current power supply; the driving module is connected with the power module and the steering engine and is used for receiving the first switch signal and outputting a driving signal to enable the steering engine to be turned on/off; and the adjusting module is connected with the switch module, the power module and the driving module and is used for adjusting the first switch signal so as to enable the voltage value of the driving signal to smoothly rise when the steering engine is started.
In an alternative, the drive signal is a voltage drive signal.
In an alternative way, the switch module includes: the first resistor, the second resistor, the first capacitor and the first switch tube; the first end of the first resistor is used for receiving the switch control signal, the second end of the first resistor is connected with the control end of the first switch tube, the second resistor and the first capacitor are connected in parallel between the control end of the first switch tube and the ground, the input end of the first switch tube outputs the first switch signal, and the output end of the first switch tube is grounded.
In an optional manner, the first switching tube is an N-channel field effect tube, and a gate, a drain and a source of the N-channel field effect tube are respectively corresponding to a control end, an input end and an output end of the first switching tube.
In an alternative manner, the power module includes a second capacitor, a first end of the second capacitor is connected to the dc power supply, and a second end of the second capacitor is grounded.
In an optional mode, the driving module comprises a second switching tube, a control end of the second switching tube receives the first switching signal, an input end of the second switching tube is connected with the power module, and an output end of the second switching tube is connected with the steering engine.
In an optional manner, the second switching tube is a P-channel field effect tube, and a gate, a drain and a source of the P-channel field effect tube are respectively corresponding to a control end, an input end and an output end of the second switching tube.
In an alternative, the adjustment module includes: the third resistor, the fourth resistor and the third capacitor; the first end of the third resistor is connected with the switch module, the second end of the third resistor is connected with the driving module, and the fourth resistor and the third capacitor are connected in parallel between the second end of the third resistor and the power module.
In an alternative way, the capacitance value of the third capacitor is 1.8-3.0 μf.
The second aspect of the invention provides a robot, which comprises a steering engine and the steering engine power-on circuit.
According to the steering engine power-on circuit, the switching module receives the steering engine switching control signal and outputs the first switching signal, the driving module receives the first switching signal and outputs the driving signal to drive the steering engine to be turned on or turned off, and the adjusting module adjusts the first switching signal to enable the voltage value of the driving signal to smoothly rise when the steering engine is turned on, so that the power-on smoothness of the power supply is optimized. The problem that the current is too large at the moment of power-on of the steering engine power-on circuit is solved, the problem that the steering engine driving voltage is pulled down due to the large current at the moment of power-on is avoided, and the risk that a switching element in the steering engine power-on circuit is damaged is reduced.
Drawings
Fig. 1 is a schematic diagram of a circuit module of a steering engine power-on circuit.
Fig. 2 is a schematic circuit diagram of an example of the steering engine power-up circuit shown in fig. 1.
Fig. 3 is a schematic diagram showing a change of a voltage value of a driving signal of the steering engine power-on circuit with time shown in fig. 2.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, in a preferred embodiment of the present invention, a rudder engine power-on circuit is connected between a dc power source and a steering engine, and includes a switch module 11, a power module 12, an adjusting module 14 and a driving module 13.
The switch module 11 is configured to receive the switch control signal and output a first switch signal according to the switch control signal; the power module 12 is used for connecting a direct current power supply; the driving module 13 is connected with the power module 12 and the steering engine, and is used for receiving the first switching signal and outputting a driving signal to enable the steering engine to be turned on/off; the adjusting module 14 is connected with the switch module 11, the power module 12 and the driving module 13, and is used for adjusting the first switch signal so that the voltage value of the driving signal smoothly rises when the steering engine is started.
In the steering engine power-on circuit, the switching module 11 receives the steering engine switching control signal and outputs the first switching signal, the driving module 13 receives the first switching signal and outputs the driving signal to drive the steering engine to be turned on or turned off, and the adjusting module adjusts the first switching signal to enable the voltage value of the driving signal to smoothly rise when the steering engine is turned on, so that the smoothness of power-on of the power supply is optimized. The problem that the current is too large at the moment of power-on of the steering engine power-on circuit is solved, the problem that the steering engine driving voltage is pulled down due to the large current at the moment of power-on is avoided, and the risk that a switching element in the steering engine power-on circuit is damaged is reduced.
In this embodiment, the singlechip outputs a switch control signal, and the switch module 11 is connected with a switch control signal end of the singlechip and is used for receiving the switch control signal.
In this embodiment, the driving signal is a voltage driving signal. The driving signal output by the driving module 13 is steering engine voltage, and when the voltage value of the driving signal is larger than the starting voltage of the steering engine, the steering engine is started.
Referring to fig. 2, the switch module 11 includes: the first resistor R1, the second resistor R2, the first capacitor C1 and the first switching tube Q1; the first end of the first resistor R1 is connected with the switch control signal end FOOT_ON and is used for receiving the switch control signal, the second end of the first resistor R1 is connected with the control end of the first switch tube Q1, the second resistor R2 and the first capacitor C1 are connected between the control end of the first switch tube Q1 and the ground in parallel, the input end of the first switch tube Q1 outputs the first switch signal, and the output end of the first switch tube Q1 is grounded.
In this embodiment, the first switching tube Q1 is an N-channel field effect tube, specifically, a gate of the N-channel field effect tube is connected to the switch control signal terminal foot_on through the first resistor R1, a source of the N-channel field effect tube is grounded, and a drain of the N-channel field effect tube outputs a first switching signal. When the switch control signal is at a high level, the N-channel field effect transistor is conducted, the drain voltage of the N-channel field effect transistor is pulled down, the first switch signal is at a low level, when the switch control signal is at a low level, the N-channel field effect transistor is turned off, at the moment, the first switch signal is at a high level, the second resistor R2 and the first capacitor C1 form an RC delay circuit, the first end of the first capacitor C1 is connected with the control end of the first switch transistor Q1, the second end of the first capacitor C1 is grounded, when the switch control signal is at a high level, the first capacitor C1 is charged first, the voltage of the second end of the first capacitor C1 is increased, and when the voltage value of the second end of the first capacitor C1 reaches the conducting voltage of the first switch transistor Q1, the first switch transistor Q1 is conducted. In other embodiments, when the first switching transistor Q1 is a P-channel field effect transistor, the P-channel field effect transistor is turned off when the switching control signal is at a high level, the first switching signal is at a high level, and when the switching control signal is at a low level, the P-channel field effect transistor is turned on, and the first switching signal is at a low level. The first switching transistor Q1 may be any other type of switching device, such as an insulated gate bipolar transistor, as long as the same function as the present invention can be achieved.
The power module 12 includes a second capacitor C2, a first end of the second capacitor C2 is connected to the dc power supply, and a second end of the second capacitor C2 is grounded.
In this embodiment, the dc power supply is 7.4V dc power, and the second capacitor C2 is used to store the dc power.
The driving module 13 comprises a second switching tube Q2, a control end of the second switching tube Q2 receives the first switching signal, an input end of the second switching tube Q2 is connected with the power module 12, and an output end of the second switching tube Q2 is connected with the steering engine.
In this embodiment, the second switching tube Q2 is a P-channel field effect tube, specifically, a gate of the P-channel field effect tube is connected to the second end of the third resistor R3, and is configured to receive the first switching signal, a drain of the P-channel field effect tube is connected to the dc power supply, and a source of the P-channel field effect tube is connected to the steering engine. When the first switch signal is at a low level, the P-channel field effect transistor is turned on, at the moment, the driving module 13 outputs a high-level driving signal VCC_FOOT to control the steering engine to be turned on, and when the first switch signal is at a high level, the P-channel field effect transistor is turned off, at the moment, the driving module 13 outputs a low-level driving signal VCC_FOOT to control the steering engine to be turned off. In other embodiments, when the second switching transistor Q2 is an N-channel field effect transistor, the N-channel field effect transistor is turned off when the first switching signal is at a low level, the driving module 13 outputs a driving signal vcc_foot at a low level to control the steering engine to be turned off, and when the first switching signal is at a high level, the N-channel field effect transistor is turned on, the driving module 13 outputs a driving signal vcc_foot at a high level to control the steering engine to be turned on. The second switching transistor Q2 may be any other type of switching device, such as an insulated gate bipolar transistor, as long as the same function as the present invention can be achieved.
The adjustment module 14 includes: a third resistor R3, a fourth resistor R4 and a third capacitor C3; the first end of the third resistor R3 is connected to the switch module 11 and is used for receiving the first switch signal, the second end of the third resistor R3 is connected to the driving module 13, specifically, the second end of the third resistor R3 is connected to the control end of the second switch tube Q2, and the fourth resistor R4 and the third capacitor C3 are connected in parallel between the second end of the third resistor R3 and the power module 12.
In this embodiment, the third resistor R3 and the fourth resistor R4 form a voltage dividing circuit, the resistance values of the third resistor R3 and the fourth resistor R4 are determined to be divided by an ohm law, so as to ensure that the second switching tube is in a complete on state, wherein the resistance value of the third resistor R3 is 10kΩ, the resistance value of the fourth resistor R4 is 100deg.Ω, the third resistor R3 and the third capacitor C3 form an RC discharge circuit, the first end of the third capacitor C3 is connected with the power module 12, the second end of the third capacitor C3 is connected with the control end of the second switching tube Q2, the second end of the third capacitor C3 is connected with the input end of the first switching tube Q1 through the third resistor, the excessive small capacitance value of the third capacitor C3 can cause excessive current at the power-on moment of the steering tube power-on circuit, the use of the steering tube system is affected by the time of the excessive large capacitance value of the third capacitor C3, the capacitance value of the third capacitor C3 is 1.8 μf-3.0μf, preferably, the low-speed switching of the second capacitor C3 is prevented from being damaged by the low switching tube Q2, and the fast switching tube Q2 is prevented from being opened due to the low switching tube output voltage of the second switching tube.
Referring to fig. 3, when the switch control signal is at a high level, the driving module 13 outputs a driving signal vcc_foot at a high level, so as to drive the steering engine to be turned on, and the voltage value of the driving signal vcc_foot rises smoothly, with a rising time of about 34ms.
The working principle of the steering engine power-on circuit according to the embodiment of the invention is described below with reference to fig. 1 and 3:
when the switch control signal is at a high level, the first capacitor C1 is charged, when the voltage value of the second end of the first capacitor C1 reaches the on voltage of the first switch tube Q1 (N-channel field effect tube), the first switch tube Q1 (N-channel field effect tube) is turned on, the voltage (drain voltage) of the input end of the first switch tube (N-channel field effect tube) is pulled down, the switch module 11 outputs the first switch signal, the first switch signal is at a low level, at this time, the third capacitor C3 starts to discharge, the discharging time is related to the capacitance value of the third capacitor C3, preferably, the capacitance value of the third capacitor C3 is 2.2 μf, the voltage value of the second end of the third capacitor C3 gradually decreases along with the occurrence of the discharging process, and when the discharging process ends, the second end of the third capacitor C3 outputs a low level to the control end (gate) of the second switch tube Q2 (P-channel field effect tube) of the second switch tube Q2) of the steering engine, so that the second switch tube Q2 connected with the power module 12 and the steering engine is slowly turned on, the driving module 13 outputs a high-level driving signal ot_vcc_vcc_driving signal, and the driving signal ot_vcc_vcc_driving signal is smoothly turned on.
The invention also discloses a robot, which comprises a steering engine and the steering engine power-on circuit.
In the steering engine power-on circuit, the switching module 11 receives the steering engine switching control signal and outputs the first switching signal, the driving module 13 receives the first switching signal and outputs the driving signal to drive the steering engine to be turned on or turned off, and the adjusting module 14 adjusts the first switching signal to enable the voltage value of the driving signal to smoothly rise when the steering engine is turned on, so that the smoothness of power-on of the power supply is optimized. The invention solves the problem of overlarge current at the moment of electrifying the steering engine, avoids the problem that the steering engine driving voltage is pulled down caused by the large current at the moment of electrifying, and reduces the risk of damaging a switching element in the steering engine electrifying circuit.
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 (7)
1. Steering wheel power-on circuit connects between DC power supply and steering wheel, its characterized in that includes:
the switching module is used for receiving the switching control signal and outputting a first switching signal according to the switching control signal;
the power supply module is used for being connected with the direct-current power supply;
the driving module is connected with the power module and the steering engine and is used for receiving the first switch signal and outputting a driving signal to enable the steering engine to be turned on/off; and
the adjusting module is connected with the switch module, the power module and the driving module and used for adjusting the first switch signal so as to enable the voltage value of the driving signal to smoothly rise when the steering engine is started;
the switch module includes: the first resistor, the second resistor, the first capacitor and the first switch tube;
the first end of the first resistor is used for receiving the switch control signal, the second end of the first resistor is connected with the control end of the first switch tube, the second resistor and the first capacitor are connected in parallel between the control end of the first switch tube and the ground, the input end of the first switch tube outputs the first switch signal, and the output end of the first switch tube is grounded;
the driving module comprises a second switching tube, the control end of the second switching tube receives the first switching signal, the input end of the second switching tube is connected with the power supply module, and the output end of the second switching tube is connected with the steering engine;
the adjustment module includes: the third resistor, the fourth resistor and the third capacitor;
the first end of the third resistor is connected with the switch module, the second end of the third resistor is connected with the control end of the second switch tube, and the fourth resistor and the third capacitor are connected in parallel between the second end of the third resistor and the power module.
2. The steering engine power-up circuit of claim 1, wherein the drive signal is a voltage drive signal.
3. The steering engine power-up circuit of claim 1, wherein the first switching tube is an N-channel field effect tube, and a gate, a drain and a source of the N-channel field effect tube are respectively corresponding to a control end, an input end and an output end of the first switching tube.
4. The steering engine power-up circuit of claim 1, wherein the power module includes a second capacitor, a first end of the second capacitor being connected to the dc power source, a second end of the second capacitor being grounded.
5. The steering engine power-up circuit of claim 1, wherein the second switching tube is a P-channel field effect tube, and a gate, a drain and a source of the P-channel field effect tube are respectively corresponding to a control end, an input end and an output end of the second switching tube.
6. The steering engine power-up circuit of claim 1, wherein the capacitance of the third capacitor is 1.8-3.0 μf.
7. A robot comprising a steering engine and a steering engine power-on circuit according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711486254.9A CN107947772B (en) | 2017-12-29 | 2017-12-29 | Steering engine power-on circuit and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711486254.9A CN107947772B (en) | 2017-12-29 | 2017-12-29 | Steering engine power-on circuit and robot |
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| Publication Number | Publication Date |
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| CN107947772A CN107947772A (en) | 2018-04-20 |
| CN107947772B true CN107947772B (en) | 2023-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711486254.9A Active CN107947772B (en) | 2017-12-29 | 2017-12-29 | Steering engine power-on circuit and robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111026215A (en) * | 2019-12-04 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Power-on control circuit and power-on control system of steering engine |
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| CN201066762Y (en) * | 2007-06-19 | 2008-05-28 | 深圳新飞通光电子技术有限公司 | Laser driving circuit |
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| CN106020004A (en) * | 2016-07-25 | 2016-10-12 | 珠海格力节能环保制冷技术研究中心有限公司 | Power supply on-off time sequence control circuit and control method |
| CN206321967U (en) * | 2016-10-28 | 2017-07-11 | 深圳市优必选科技有限公司 | Steering engine control system and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8853980B2 (en) * | 2011-08-17 | 2014-10-07 | Niko Semiconductor Co., Ltd. | Soft-switching control circuit for DC motor |
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2017
- 2017-12-29 CN CN201711486254.9A patent/CN107947772B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201066762Y (en) * | 2007-06-19 | 2008-05-28 | 深圳新飞通光电子技术有限公司 | Laser driving circuit |
| CN201509176U (en) * | 2009-08-28 | 2010-06-16 | 比亚迪股份有限公司 | Brushless motor control system and brushless motor |
| CN101710810A (en) * | 2009-12-03 | 2010-05-19 | 深圳和而泰智能控制股份有限公司 | Electric motor starting circuit and electric motor starting method |
| CN202840493U (en) * | 2012-07-24 | 2013-03-27 | 珠海格力电器股份有限公司 | Motor, controller and overheat protection circuit of power driving module of motor |
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