CN110572110A - Device and method for transmitting information by using underwater robot propulsion motor - Google Patents
Device and method for transmitting information by using underwater robot propulsion motor Download PDFInfo
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- CN110572110A CN110572110A CN201910989523.6A CN201910989523A CN110572110A CN 110572110 A CN110572110 A CN 110572110A CN 201910989523 A CN201910989523 A CN 201910989523A CN 110572110 A CN110572110 A CN 110572110A
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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Abstract
The invention discloses a device and a method for transmitting information by using an underwater robot propulsion motor, wherein the device comprises a driving module, a three-phase stator winding of a brushless direct current motor and a controller, wherein the driving module is connected with the three-phase stator winding of the brushless direct current motor; 6 IO interfaces of the controller are respectively connected with 6 grid inputs of the driving module and used for normal rotation of the motor; meanwhile, the IO interface can also send pulses within the PWM invalid time, so that the instantaneous stress condition of the motor rotor is changed, and the motor vibrates relative to the initial position. The using method comprises the following steps: by adjusting the pulse cycle frequency, the motor can be set to be in a low-frequency vibration mode and a high-frequency vibration mode, and the motor can be used in different scenes and the requirements of information quantity. Realizing a basic signal of the Morse signal according to the vibration time of the motor; realizing the time interval of the Morse signals through time delay control; the Morse signal is encoded according to the Morse encoding table, thereby achieving the effect of information transmission.
Description
Technical Field
The invention belongs to the technical field of brushless direct current motors, and particularly relates to a device and a method for transmitting information by using an underwater robot propulsion motor.
Background
Brushless dc motors have been widely used in recent years, and have the characteristics of simple control, high efficiency, good speed regulation performance, large output torque, and the like. The method has wide application in the motion function of the water surface and underwater robot equipment. The communication of the underwater robot equipment is mainly divided into two modes at present, one mode is wired communication, and a wire or an optical cable is usually adopted as a channel for information transmission; the other is wireless communication, and wireless modes such as wireless long-wave communication, underwater acoustic communication and the like are often adopted. With the continuous development of the brushless direct current motor control technology, a method and a device for vibrating by using an underwater robot propulsion motor and utilizing the underwater robot propulsion motor to carry out coding communication are provided. Becomes an alternative to traditional underwater communications or to failure and malfunction of the remaining underwater communications devices.
In order to realize the method and the device, in the running process of the motor, the vacant working interval of the propulsion motor needs to be fully utilized, and when communication is needed, the motor can be controlled by using a software program to realize vibration without external equipment, so that the vibration signal realizes the transmission of underwater information according to the Morse coding rule.
Disclosure of Invention
The invention aims to provide a method and a device for transmitting information by using a propulsion motor of an underwater robot.
In order to achieve the above object, the present invention discloses an apparatus for transmitting information by using a propulsion motor of an underwater robot, comprising a driving module, a three-phase stator winding of a brushless dc motor, and a controller, wherein: the driving module is connected with a three-phase stator winding of the brushless direct current motor and is used for driving the motor to rotate and vibrate; 6 IO interfaces of the controller are respectively connected with 6 grid inputs of the driving module, and the controller can send PWM to the grids of the 6 MOS tubes for normal rotation of the motor.
The output IO interface of the controller can send pulses within the PWM invalid time to change the instantaneous stress condition of the motor rotor for controlling the motor to vibrate and transmit information.
In a further development of the invention, the drive module comprises: a direct-current power supply VDC, a MOS tube S1, a MOS tube S2, a MOS tube S3, a MOS tube S4, a MOS tube S5, a MOS tube S6, a diode VD1, a diode VD2, a diode VD3, a diode VD4, a diode VD5 and a diode VD 6; the positive electrode of the direct-current power supply VDC is respectively connected with the drain electrode of the MOS tube S1, the drain electrode of the MOS tube S3, the drain electrode of the MOS tube S5, the cathode of the diode VD1, the cathode of the diode VD3 and the cathode of the diode VD 5; the source electrode of the MOS tube S1 and the drain electrode of the MOS tube S4 are connected with the phase A of the brushless direct current motor, and the source electrode of the MOS tube S1 is connected with the drain electrode of the MOS tube S4; the source electrode of the MOS tube S3 and the drain electrode of the MOS tube S6 are connected with the motor B, and the source electrode of the MOS tube S3 is connected with the drain electrode of the MOS tube S6; the source electrode of the MOS tube S5 and the drain electrode of the MOS tube S2 are connected with the C phase of the motor, and the source electrode of the MOS tube S5 is connected with the drain electrode of the MOS tube S2.
In a further development of the invention, the controller comprises: an IO interface P1, an IO interface P2, an IO interface P3, an IO interface P4, an IO interface P5 and an IO interface P6 of the controller; the grid electrode of the MOS tube S1 is connected with an IO interface P1 of the controller; the grid electrode of the MOS tube S2 is connected with an IO interface P2 of the controller; the grid electrode of the MOS tube S3 is connected with an IO interface P3 of the controller; the grid electrode of the MOS tube S4 is connected with an IO interface P4 of the controller; the grid electrode of the MOS tube S5 is connected with an IO interface P5 of the controller; the gate of the MOS transistor S6 is connected to the IO interface P6 of the controller.
The invention also provides a method for transmitting information by using the underwater robot propulsion motor, which comprises the following specific steps: the method comprises the following steps: setting a pulse mode and a pulse period of an IO interface of a controller; step two: and sending pulses through an IO interface of a controller in a motor working free interval to enable a stator of the motor to vibrate near a balance position, wherein the delay time of the pulses is fixed, and the cyclic frequency F of the pulses is increased or decreased, so that the motor generates vibration and vibration intervals with different time lengths. Step three: and F parameters corresponding to each character of the Morse code table are prestored in the control codes, and when the corresponding characters need to be output, the controller reads prestored information to control the vibration of the motor.
The generated pulse cycle frequency F and the motor vibration frequency D are calculated according to the following formula: d = F/8000.
In the method, when the pulse cycle frequency F is reduced to 0-160 Khz, the vibration frequency of the motor is 0-20 hz, and the motor is in a low-frequency vibration mode and is used for transmitting signals with longer distance and smaller information quantity; when the pulse cycle frequency F is increased to 50 Mhz-80 Mhz, the vibration frequency D of the motor is 6.25 Khz-10 Khz, and the motor is in a high-frequency vibration mode and is used for transmitting signals with large information quantity at a short distance.
The command realizes the basic signal of the Morse signal according to the vibration time of the motor; realizing the time interval of Morse signals through time delay control; the Morse signal is encoded according to the Morse encoding table, thereby achieving the effect of information transmission.
Wherein the Morse code signal comprises: two basic signals and different interval times. Two basic signals include: short dot signal "·", read "drop" (Di); a long signal "-" held for a certain time, read "Da"; the interval time includes: "drip", 1 t; "Da", 3 t; 1t between the dropping and the clicking; between characters, 3 t; word space, 7 t.
Optionally, the interval time t includes: assigning t by a minimum small interval tau of the vibration mode of the motor, wherein the minimum time interval tau =0.05s when the low-frequency vibration mode is used; minimum time interval τ when using dither mode, τ =0.0001 s; optionally, the morse code table comprises: the character "A" is denoted with "· -; the character "B" is denoted by "-; the character "C" is denoted with "-; the character "D" is denoted with "-; the character "E" is represented by "·"; the character "F" is denoted by "· - ·"; the character "G" is denoted with "-; the character "H" is denoted by "· · · · · · · · · · · · · · · · · · · · · · · · · · · · ·; the character "I" is represented using "· -; the character "J" is denoted by "· -"; the character "K" is denoted with "-"; the character "L" is denoted by "· - ·"; "is used to denote the character" M "; the character "N" is denoted with "-; "is used" - "means the character" O "; the character "P" is denoted by "· - ·" - "; the character "Q" is denoted with "-"; the character "R" is denoted by "· - ·"; the character "S" is denoted by "· · · · ·"; "is used to denote the character" T "; the character "U" is denoted with "· -"; the character "V" is denoted by "·. · -"; the character "W" is denoted by "· -"; the character "X" is denoted with "-; the character "Y" is denoted with "-; the character "Z" is denoted with "-; the character "1" is denoted by "· -"; the character "2" is denoted with "· -"; the character "3" is denoted with "· · · · · · —"; the character "4" is denoted with "·. · -"; the character "5" is denoted with "· · · · · · · · · · · · · · · · · · · · · · · · · · · · · ·; the character "6" is denoted with "-"; the character "7" is denoted with "-"; the use of "-" means the character "8"; use "-" to denote the character "9"; the word "-" is used to denote the character "0".
The beneficial effect of this hair: 1. the vibration signal is generated by utilizing the working idle time of the propulsion motor, so that information transmission is realized, and the traditional underwater communication mode can be replaced, or the mode can be replaced when other underwater communication devices are in failure and fail. 2. Through the information transmission mode of Morse coded signals, the encryption and decryption are facilitated, and the confidentiality of underwater information transmission is improved. 3. When the pulse cycle frequency is reduced, the vibration frequency of the motor is lowered, and the motor can be set to be in a low-frequency vibration mode and used for transmitting signals with longer distance and less information quantity; when the pulse cycle frequency is increased, the vibration frequency of the motor becomes high, and a dither mode can be set for transmitting a signal having a large information amount at a short distance.
Drawings
Fig. 1 is a schematic circuit diagram of an apparatus for transmitting information using a propulsion motor of an underwater robot according to the present invention.
Fig. 2 is a flowchart of an indicating method of an apparatus for transmitting information using a propulsion motor of an underwater robot according to the present invention.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.
Example (b): as shown in fig. 1, a device for transmitting information by using a propulsion motor of an underwater robot comprises a driving module, a three-phase stator winding of a brushless dc motor, and a controller, wherein the driving module is connected with the three-phase stator winding of the brushless dc motor and is used for driving the motor to rotate and pronounce; 6 IO interfaces of the controller are respectively connected with 6 grid inputs of the driving module, and can send PWM to the grids of the 6 MOS tubes for normal rotation of the motor; meanwhile, the IO interface can also send pulses within the PWM invalid time, so that the instantaneous stress condition of the motor rotor is changed, and the motor vibrates relative to the initial position.
In this embodiment, the driving module includes a dc power source VDC, a MOS transistor S1, a MOS transistor S2, a MOS transistor S3, a MOS transistor S4, a MOS transistor S5, a MOS transistor S6, a diode VD1, a diode VD2, a diode VD3, a diode VD4, a diode VD5, and a diode VD 6; the positive electrode of the direct-current power supply VDC is respectively connected with the drain electrode of the MOS tube S1, the drain electrode of the MOS tube S3, the drain electrode of the MOS tube S5, the cathode of the diode VD1, the cathode of the diode VD3 and the cathode of the diode VD 5; the cathode of the direct current power supply is respectively connected with the source electrode of the MOS tube S4, the source electrode of the MOS tube S6, the source electrode of the MOS tube S2, the anode of the diode VD4, the anode of the diode VD6 and the anode of the diode VD 2; the source electrode of the MOS tube S1 and the drain electrode of the MOS tube S4 are connected with the phase A of the brushless direct current motor, and the source electrode of the MOS tube S1 is connected with the drain electrode of the MOS tube S4; the source electrode of the MOS tube S3 and the drain electrode of the MOS tube S6 are connected with the motor B, and the source electrode of the MOS tube S3 is connected with the drain electrode of the MOS tube S6; the source electrode of the MOS tube S5 and the drain electrode of the MOS tube S2 are connected with the C phase of the motor, and the source electrode of the MOS tube S5 is connected with the drain electrode of the MOS tube S2.
In this embodiment, the controller includes: an IO interface P1, an IO interface P2, an IO interface P3, an IO interface P4, an IO interface P5 and an IO interface P6 of the controller; the grid electrode of the MOS tube S1 is connected with an IO interface P1 of the controller; the grid electrode of the MOS tube S2 is connected with an IO interface P2 of the controller; the grid electrode of the MOS tube S3 is connected with an IO interface P3 of the controller; the grid electrode of the MOS tube S4 is connected with an IO interface P4 of the controller; the grid electrode of the MOS tube S5 is connected with an IO interface P5 of the controller; the gate of the MOS transistor S6 is connected with the IO interface P6 of the controller.
As shown in fig. 2, a method for transmitting information by using a propulsion motor of an underwater robot introduces specific operation steps by taking as an example that when the motor normally works, MOS transistors S1 and S6 are turned on and a low-frequency vibration mode is used to send character string information "X SOS": step A1: setting a pulse mode and a pulse period of an IO interface of a controller; step A2: in the spare working interval of the motor, a pulse is sent to each of the MOS tubes S1 and S6 through an IO interface of a controller, the delay time of the pulse is fixed, and the cyclic frequency F of the pulse is increased or decreased, so that the motor generates vibration and vibration intervals with different time lengths; step A3: and F parameters corresponding to each character of the Morse code table are prestored in the control codes, and when the corresponding characters need to be output, the controller reads prestored information to control the vibration of the motor.
The pulse cycle frequency F and the motor vibration frequency D are calculated according to the following formula: d = F/8000. When the pulse cycle frequency F is reduced to 0-160 Khz, the vibration frequency of the motor is 0-20 hz, and the motor is in a low-frequency vibration mode and is used for transmitting signals with longer distance and less information content; when the pulse cycle frequency F is increased to 50 Mhz-80 Mhz, the vibration frequency D of the motor is 6.25 Khz-10 Khz, and the motor is in a high-frequency vibration mode and is used for transmitting signals with large information quantity at a short distance.
Alternatively, when the pulse cycle frequency is decreased, the vibration frequency of the motor becomes lower, and the motor may be set to a low-frequency vibration mode for transmitting a signal with a smaller information amount at a longer distance; when the pulse cycle frequency is increased, the vibration frequency of the motor becomes high, and a dither mode can be set for transmitting a signal having a large information amount at a short distance.
Optionally, implementing the basic signal of the Morse signal according to the vibration time of the motor; realizing the time interval of the Morse signals through time delay control; the Morse signal is encoded according to the Morse code table.
Alternatively, "-" indicates a "click" signal, "-" indicates a "tic" signal, and the string information "X SOS" is represented as follows: 1. the first bit "-" signal of the "X" character, represented by the motor vibrating continuously for 0.15 s. 2. The spacing signal between the second bit "-" signal and the first bit "-" signal is represented by the motor continuously operating at idle for 0.05 s. 3. The second bit "·" signal of the "X" character, represented by the motor vibrating continuously for 0.05 s. 4. The spacing signal between the third bit ". cndot.The signal and the second bit". cndot.. 5. The third bit "·" signal of the "X" character, represented by the motor vibrating continuously for 0.05 s. 6. The spacing signal between the fourth bit "-" signal and the third bit "-" signal is represented by the motor continuously operating at idle for 0.05 s. 7. The fourth bit of the "X" character "-" signal, represented by the motor vibrating continuously for 0.15 s. 8. The interword interval signal between "X" and "SOS" is represented by the motor continuously idle for 0.35 s. 9. The first digit "·" of the first "S" character is represented by the motor vibrating continuously for 0.05S. 10. The spacing signal between the second bit ". cndot.The signal and the first bit". cndot.The motor sustained no operation 0.05s is represented. 11. The second bit "·" of the first "S" character, is represented by the motor vibrating continuously for 0.05S. 12. The spacing signal between the third bit ". cndot.The signal and the second bit". cndot.. 13. The third bit "·" of the first "S" character, is represented by a motor vibration duration of 0.05S. 14. The spacing signal 15 between the second "O" character and the first "S" character, the first bit "-" signal of the second "O" character, is represented by a motor continuous idle operation of 0.15S, represented by a motor continuous vibration of 0.15S. 16. The spacing signal between the second bit "-" signal and the first bit "-" signal is represented by the motor continuously operating at idle for 0.05 s. 17. The second bit "-" signal of the second "O" character is represented by the motor vibrating continuously for 0.15 s. 18. The spacing signal between the third bit "-" signal and the second bit "-" signal is represented by the motor continuously operating at idle for 0.05 s. 19. The third bit "-" signal of the second "O" character is represented by the motor vibrating continuously for 0.15 s. 20. The spacing signal between the third "S" character and the second "O" character is represented by the motor continuously idle for 0.15S. 21. The first digit "·" of the third "S" character is represented by the motor vibrating continuously for 0.05S. 22. The spacing signal between the second bit ". cndot.The signal and the first bit". cndot.The motor sustained no operation 0.05s is represented. 23. The second bit "·" of the third "S" character, is represented by the motor vibrating continuously for 0.05S. 24. The spacing signal between the third bit ". cndot.The signal and the second bit". cndot.. 25. The third bit "·" of the third "S" character, is represented by a motor vibration duration of 0.05S.
In the embodiment, a brushless direct current motor with the rated voltage of 24V and the rated rotating speed of 3000rpm is selected for carrying out the underwater vibration test. The controller adopts STM32F103C8T6 controller. The key module comprises 3 keys, namely a positive sequence plus key, a positive sequence minus key and a start stop key according to the Morse coding table sequence.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides an utilize underwater robot to promote device of motor transfer information which characterized in that, includes drive module, brushless DC motor's three-phase stator winding, controller, wherein: the driving module is connected with a three-phase stator winding of the brushless direct current motor and is used for driving the motor to rotate and vibrate; 6 IO interfaces of the controller are connected with 6 grid inputs of the driving module respectively, and can send PWM to the grids of the 6 MOS tubes for normal rotation of the motor.
2. The apparatus for transmitting information using a propulsion motor of an underwater robot as claimed in claim 1, wherein the driving module includes a dc power source VDC, a MOS transistor S1, a MOS transistor S2, a MOS transistor S3, a MOS transistor S4, a MOS transistor S5, a MOS transistor S6, a diode VD1, a diode VD2, a diode VD3, a diode VD4, a diode VD5, a diode VD 6; the positive electrode of the direct-current power supply VDC is respectively connected with the drain electrode of the MOS tube S1, the drain electrode of the MOS tube S3, the drain electrode of the MOS tube S5, the cathode of the diode VD1, the cathode of the diode VD3 and the cathode of the diode VD 5; the cathode of the direct current power supply is respectively connected with the source electrode of the MOS tube S4, the source electrode of the MOS tube S6, the source electrode of the MOS tube S2, the anode of the diode VD4, the anode of the diode VD6 and the anode of the diode VD 2; the source electrode of the MOS tube S1 and the drain electrode of the MOS tube S4 are connected with the phase A of the brushless direct current motor, and the source electrode of the MOS tube S1 is connected with the drain electrode of the MOS tube S4; the source electrode of the MOS tube S3 and the drain electrode of the MOS tube S6 are connected with the phase B of the brushless direct current motor, and the source electrode of the MOS tube S3 is connected with the drain electrode of the MOS tube S6; the source electrode of the MOS tube S5 and the drain electrode of the MOS tube S2 are connected with the phase C of the brushless direct current motor, and the source electrode of the MOS tube S5 is connected with the drain electrode of the MOS tube S2.
3. The apparatus for transmitting information using the underwater robot propulsion motor as claimed in claim 2, wherein the controller includes an IO interface P1, an IO interface P2, an IO interface P3, an IO interface P4, an IO interface P5, an IO interface P6 of the controller; the grid electrode of the MOS tube S1 is connected with an IO interface P1 of the controller; the grid electrode of the MOS tube S2 is connected with an IO interface P2 of the controller; the grid electrode of the MOS tube S3 is connected with an IO interface P3 of the controller; the grid electrode of the MOS tube S4 is connected with an IO interface P4 of the controller; the grid electrode of the MOS tube S5 is connected with an IO interface P5 of the controller; the gate of the MOS transistor S6 is connected with the IO interface P6 of the controller.
4. A method for transmitting information using a propulsion motor of an underwater robot using the apparatus for transmitting information using a propulsion motor of an underwater robot according to claim 3, comprising the steps of: the method comprises the following steps: setting a pulse mode and a pulse period of an IO interface of a controller; step two: sending pulses through an IO interface of a controller in a motor working free interval to enable a rotor of the motor to vibrate near a balance position, wherein the delay time of the pulses is fixed, and the cyclic frequency F of the pulses is increased or decreased to enable the motor to generate vibration and vibration intervals with different time lengths; step three: pre-storing an F parameter corresponding to each character of a Morse code table in a control code, and reading pre-stored information by a controller to control the vibration of the motor when the corresponding character needs to be output; the pulse cycle frequency F and the motor vibration frequency D are calculated according to the following formula: d = F/8000.
5. The method of claim 4, wherein in the step, when the pulse cycle frequency is decreased, the vibration frequency of the motor becomes lower, and the motor is set to a low frequency vibration mode for transmitting a signal with a smaller information amount at a longer distance; when the pulse cycle frequency is increased, the vibration frequency of the motor becomes high, and a high-frequency vibration mode is set for transmitting a signal with a large information amount at a short distance.
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| CN201910989523.6A CN110572110B (en) | 2019-10-17 | 2019-10-17 | Device and method for transmitting information by using underwater robot propulsion motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111596773A (en) * | 2020-05-20 | 2020-08-28 | 程卫平 | Morse code single-key output method and system |
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| CN104811251A (en) * | 2014-01-27 | 2015-07-29 | 腾讯科技（深圳）有限公司 | Information transmission method, device and system |
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| CN110572110B (en) | 2021-07-09 |
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