CN111262480A - Steering engine controller circuit - Google Patents
Steering engine controller circuit Download PDFInfo
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- CN111262480A CN111262480A CN202010229928.2A CN202010229928A CN111262480A CN 111262480 A CN111262480 A CN 111262480A CN 202010229928 A CN202010229928 A CN 202010229928A CN 111262480 A CN111262480 A CN 111262480A
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- 238000005070 sampling Methods 0.000 claims abstract description 44
- 238000006243 chemical reaction Methods 0.000 claims abstract description 29
- 239000003990 capacitor Substances 0.000 claims description 75
- 230000002146 bilateral effect Effects 0.000 claims 1
- 230000002457 bidirectional effect Effects 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Classifications
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a steering engine controller circuit, which comprises a power supply VCC, a main control chip, a power supply conversion module, an upper computer, a communication module, a voltage acquisition module, a position feedback module, a current sampling module, a temperature acquisition module and a motor, wherein the input end of the main control chip is respectively connected with the power supply conversion module, the voltage acquisition module, the position feedback module, the current sampling module and the temperature acquisition module, the communication module is respectively connected with the main control chip and the upper computer in a bidirectional way, the current sampling module is connected with an H-bridge circuit, the H-bridge circuit is connected with the motor, and the power supply VCC is connected with the power supply conversion module. And the physical defect that a potentiometer serving as a steering engine position feedback module unit has different resistance curves is effectively overcome, so that the steering engine is accurately controlled.
Description
Technical Field
The invention relates to a steering engine controller circuit.
Background
The robot is a high-tech intensive mechatronic product which is rapidly developed in the middle of the last century, and at present, the industrial robot is widely applied. With the development of science and technology, the application range of the robot is more and more extensive, and the robot is spread in the fields of industry, national defense, space, ocean development, medical rehabilitation and the like.
With the continuous development and improvement of the robot technology, higher and higher requirements are put forward on the control precision. The position feedback of the traditional steering engine controller generally adopts contact type potentiometer position feedback, and the contact type potentiometer position feedback has the defects of low position resolution and different resistance curves of a potentiometer serving as a steering engine position feedback module unit.
Disclosure of Invention
In order to solve the technical problem, the invention provides a steering engine controller circuit.
The invention is realized by the following technical scheme.
The steering engine controller circuit provided by the invention comprises a power supply VCC, a main control chip, a power supply conversion module, an upper computer, a communication module, a voltage acquisition module, a position feedback module, a current sampling module, a temperature acquisition module and a motor, wherein the input end of the main control chip is respectively connected with the power supply conversion module, the voltage acquisition module, the position feedback module, the current sampling module and the temperature acquisition module, the communication module is respectively connected with the main control chip and the upper computer in a bidirectional way, the current sampling module is connected with an H-bridge circuit, the H-bridge circuit is connected with the motor, and the power supply VCC is connected with the power supply conversion module.
The voltage sampling module comprises a voltage sensor U1, resistors R1-R9, an operational amplifier, a diode D1 and a capacitor C1, wherein a resistor R1 is connected with a resistor R2 in series, the other end of the resistor R2 is connected with a power supply VCC, the other end of the resistor R1 is grounded, a node between a resistor R2 and the resistor R1 is connected with a pin 2 of the voltage sensor U1, and a node between the resistor R1 and the ground is respectively connected with a pin 3 and a pin 4 of the voltage sensor U1;
a pin 6 of the voltage sensor U1 is respectively connected with one end of a resistor R3 and one end of a resistor R5, the other end of the resistor R3 is grounded, the other end of the resistor R5 is respectively connected with an inverting input end 6 of the operational amplifier and one end of a resistor R7, and the other end of the resistor R7 is connected with an output end 7 of the operational amplifier;
a pin 7 of a voltage sensor U1 is connected with one end of a resistor R4 and one end of a resistor R6 respectively, the other end of a resistor R4 is grounded, the other end of a resistor R6 is connected with the non-inverting input end 5 of the operational amplifier and one end of a resistor R8 respectively, the other end of a resistor R8 is grounded, the output end 7 of the operational amplifier is connected with one end of a resistor R9, the other end of a resistor R9 is connected with the anode of a diode D1, one end of a capacitor C1 and the main control chip respectively, the cathode of the diode D1 is connected with 5V voltage, and the.
The temperature acquisition module comprises a temperature sensor U3, a capacitor C2 and a resistor R10, the other end of the capacitor C2 is grounded, a pin 1 of the temperature sensor U3 is connected with a voltage of 5V, a pin 2 of the temperature sensor U3 is connected with one end of a resistor R10, the other end of the resistor R10 is connected with one end of the capacitor C2, and the other end of the capacitor C2 and a pin 3 of the temperature sensor U3 are grounded respectively.
The position feedback module comprises a position sensing chip, a sensing magnet and an RC filter, the position sensing chip and the sensing magnet generate magnetic field sensing and then transmit a position feedback signal to the RC filter, and the RC filter is connected with the main control chip.
The model of the main control chip is SH 79F.
The power conversion module comprises a power conversion chip U6 and capacitors C10-C13, wherein a pin 1 of the power conversion chip U6 is connected with one end of a capacitor C11 and outputs 5V voltage, the other end of the capacitor C11 is grounded, and a capacitor C12 is connected with a capacitor C11 in parallel;
a pin 3 of the power conversion chip U6 is connected with one end of a capacitor C10 and is connected with a power supply VCC, the other end of the capacitor C10 is grounded, and a capacitor C13 is connected with a capacitor C10 in parallel; the 2-pin of the power conversion chip U6 is grounded and the model of the power conversion chip U6 is LM7805 CT.
The current sampling module comprises a current sampling chip U4, a resistor R57, a capacitor C20, a capacitor C21 and a capacitor C23, wherein a pin 1 of the current sampling chip U4 is in short circuit with a pin 2, a pin 3 of the current sampling chip U4 is in short circuit with a pin 4, a pin 5 of the current sampling chip U4 is respectively connected with one end of the capacitor C20 and one end of the capacitor C21, the other end of the capacitor C20 is connected with a pin 8 of the current sampling chip U4, the other end of the capacitor C21 is connected with one end of the resistor R57, the other end of the resistor R57 is connected with a pin 7 of the current sampling chip U4, one end of the capacitor C23 is connected with a pin 6 of the current sampling chip U4, the other end of the capacitor C23 is connected to a node between the pin 5 of the capacitor C20 and the pin 5 of the current sampling chip U4, and the model number of the.
The communication module is a communication chip, and the communication chip model is GM 3085E.
The upper computer is a computer.
The invention has the beneficial effects that: this application adopts the position response chip as position feedback, adopts contact potentiometer position feedback to compare with the tradition, can improve position feedback's position resolution greatly to solved this physical shortcoming that the potentiometer is different as steering wheel position feedback module unit resistance curve effectively, thereby realized having splendid application and popularization prospect to the accurate control of steering wheel.
Drawings
FIG. 1 is a diagram of the overall connection of the present invention;
FIG. 2 is a circuit diagram of a voltage sampling module of the present invention;
FIG. 3 is a circuit diagram of the temperature acquisition module of the present invention;
FIG. 4 is a diagram of the position feedback module internal connections of the present invention;
FIG. 5 is a power conversion module of the present invention;
fig. 6 is a circuit diagram of a current sampling module of the present invention.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The utility model provides a steering wheel controller circuit, including the power VCC, main control chip, power transform module, the host computer, communication module, voltage acquisition module, position feedback module, current sampling module, temperature acquisition module, including a motor, an end cap, a controller, and a cover plate, the main control chip input and power transform module, voltage acquisition module, position feedback module, current sampling module, temperature acquisition module is connected respectively, communication module and main control chip, the host computer is both way junction respectively, current sampling module and H bridge circuit connection, H bridge circuit is connected with the motor, the power VCC is connected with power transform module.
The voltage sampling module comprises a voltage sensor U1, resistors R1-R9, an operational amplifier, a diode D1 and a capacitor C1, wherein a resistor R1 is connected with a resistor R2 in series, the other end of the resistor R2 is connected with a power supply VCC, the other end of the resistor R1 is grounded, a node between a resistor R2 and the resistor R1 is connected with a pin 2 of the voltage sensor U1, and a node between the resistor R1 and the ground is respectively connected with a pin 3 and a pin 4 of the voltage sensor U1;
a pin 6 of the voltage sensor U1 is respectively connected with one end of a resistor R3 and one end of a resistor R5, the other end of the resistor R3 is grounded, the other end of the resistor R5 is respectively connected with an inverting input end 6 of the operational amplifier and one end of a resistor R7, and the other end of the resistor R7 is connected with an output end 7 of the operational amplifier;
a pin 7 of a voltage sensor U1 is connected with one end of a resistor R4 and one end of a resistor R6 respectively, the other end of a resistor R4 is grounded, the other end of a resistor R6 is connected with the non-inverting input end 5 of the operational amplifier and one end of a resistor R8 respectively, the other end of a resistor R8 is grounded, the output end 7 of the operational amplifier is connected with one end of a resistor R9, the other end of a resistor R9 is connected with the anode of a diode D1, one end of a capacitor C1 and the main control chip respectively, the cathode of the diode D1 is connected with 5V voltage, and the.
The temperature acquisition module comprises a temperature sensor U3, a capacitor C2 and a resistor R10, the other end of the capacitor C2 is grounded, a pin 1 of the temperature sensor U3 is connected with 5V voltage, a pin 2 of the temperature sensor U3 is connected with one end of a resistor R10, the other end of the resistor R10 is connected with one end of the capacitor C2, and the other end of the capacitor C2 and a pin 3 of the temperature sensor U3 are grounded respectively.
The position feedback module comprises a position sensing chip, a sensing magnet and an RC filter, the position sensing chip and the sensing magnet generate a magnetic field to sense and then transmit a position feedback signal to the RC filter, and the RC filter is connected with the main control chip.
The main control chip model is SH 79F.
The power conversion module comprises a power conversion chip U6 and capacitors C10-C13, wherein a pin 1 of the power conversion chip U6 is connected with one end of a capacitor C11 and outputs 5V voltage, the other end of the capacitor C11 is grounded, and a capacitor C12 is connected with a capacitor C11 in parallel;
a pin 3 of the power conversion chip U6 is connected with one end of a capacitor C10 and is connected with a power supply VCC, the other end of the capacitor C10 is grounded, and a capacitor C13 is connected with a capacitor C10 in parallel; the 2-pin of the power conversion chip U6 is grounded and the model of the power conversion chip U6 is LM7805 CT.
The current sampling module comprises a current sampling chip U4, a resistor R57, a capacitor C20, a capacitor C21 and a capacitor C23, wherein a pin 1 of the current sampling chip U4 is in short circuit with a pin 2, a pin 3 of the current sampling chip U4 is in short circuit with a pin 4, a pin 5 of the current sampling chip U4 is respectively connected with one end of the capacitor C20 and one end of the capacitor C21, the other end of the capacitor C20 is connected with a pin 8 of the current sampling chip U4, the other end of the capacitor C21 is connected with one end of the resistor R57, the other end of the resistor R57 is connected with a pin 7 of the current sampling chip U4, one end of the capacitor C23 is connected with a pin 6 of the current sampling chip U4, the other end of the capacitor C23 is connected to a node between the pin 5 of the capacitor C20 and the pin 5 of the current sampling chip U4, and the model number of.
The communication module is a communication chip, and the communication chip model is GM 3085E.
The upper computer is a computer.
The working principle of the system is as follows: the system 12V power supply is connected to the input end of the H-bridge circuit module, the output end of the H-bridge circuit module is connected to the hollow cup brush motor, and meanwhile, the system 12V power supply outputs 5V through the power supply conversion module to provide power for other modules of the system. The communication between the main control chip SH79F and the upper computer uses RS-485, and the main control chip SH79F can transmit the acquired voltage signal, current signal, temperature signal and position signal to the upper computer in real time. The main control chip SH79F can realize forward and reverse rotation control, speed control and position control of the steering engine according to instructions issued by an upper computer. In order to ensure the safe and reliable operation of the steering engine, the steering engine controller has the functions of over-voltage and under-voltage protection, over-current protection and over-temperature protection.
Claims (9)
1. A steering engine controller circuit which characterized in that: including the power VCC, main control chip, power conversion module, the host computer, communication module, voltage acquisition module, position feedback module, current sampling module, temperature acquisition module, including a motor, an end cap, a controller, and a cover plate, H bridge circuit, main control chip input and power conversion module, voltage acquisition module, position feedback module, current sampling module, temperature acquisition module is connected respectively, communication module and main control chip, the host computer is bilateral connection respectively, current sampling module and H bridge circuit connection, H bridge circuit is connected with the motor, the power VCC is connected with power conversion module.
2. The steering engine controller circuit of claim 1, wherein: the voltage sampling module comprises a voltage sensor U1, resistors R1-R9, an operational amplifier, a diode D1 and a capacitor C1, wherein a resistor R1 is connected with a resistor R2 in series, the other end of the resistor R2 is connected with a power supply VCC, the other end of the resistor R1 is grounded, a node between a resistor R2 and the resistor R1 is connected with a pin 2 of the voltage sensor U1, and a node between the resistor R1 and the ground is respectively connected with a pin 3 and a pin 4 of the voltage sensor U1;
a pin 6 of the voltage sensor U1 is respectively connected with one end of a resistor R3 and one end of a resistor R5, the other end of the resistor R3 is grounded, the other end of the resistor R5 is respectively connected with an inverting input end 6 of the operational amplifier and one end of a resistor R7, and the other end of the resistor R7 is connected with an output end 7 of the operational amplifier;
a pin 7 of a voltage sensor U1 is connected with one end of a resistor R4 and one end of a resistor R6 respectively, the other end of a resistor R4 is grounded, the other end of a resistor R6 is connected with the non-inverting input end 5 of the operational amplifier and one end of a resistor R8 respectively, the other end of a resistor R8 is grounded, the output end 7 of the operational amplifier is connected with one end of a resistor R9, the other end of a resistor R9 is connected with the anode of a diode D1, one end of a capacitor C1 and the main control chip respectively, the cathode of the diode D1 is connected with 5V voltage, and the.
3. The steering engine controller circuit of claim 1, wherein: the temperature acquisition module comprises a temperature sensor U3, a capacitor C2 and a resistor R10, the other end of the capacitor C2 is grounded, a pin 1 of the temperature sensor U3 is connected with a voltage of 5V, a pin 2 of the temperature sensor U3 is connected with one end of a resistor R10, the other end of the resistor R10 is connected with one end of the capacitor C2, and the other end of the capacitor C2 and a pin 3 of the temperature sensor U3 are grounded respectively.
4. The steering engine controller circuit of claim 1, wherein: the position feedback module comprises a position sensing chip, a sensing magnet and an RC filter, the position sensing chip and the sensing magnet generate magnetic field sensing and then transmit a position feedback signal to the RC filter, and the RC filter is connected with the main control chip.
5. The steering engine controller circuit of claim 1, wherein: the model of the main control chip is SH 79F.
6. The steering engine controller circuit of claim 1, wherein: the power conversion module comprises a power conversion chip U6 and capacitors C10-C13, wherein a pin 1 of the power conversion chip U6 is connected with one end of a capacitor C11 and outputs 5V voltage, the other end of the capacitor C11 is grounded, and a capacitor C12 is connected with a capacitor C11 in parallel;
a pin 3 of the power conversion chip U6 is connected with one end of a capacitor C10 and is connected with a power supply VCC, the other end of the capacitor C10 is grounded, and a capacitor C13 is connected with a capacitor C10 in parallel; the 2-pin of the power conversion chip U6 is grounded and the model of the power conversion chip U6 is LM7805 CT.
7. The steering engine controller circuit of claim 1, wherein: the current sampling module comprises a current sampling chip U4, a resistor R57, a capacitor C20, a capacitor C21 and a capacitor C23, wherein a pin 1 of the current sampling chip U4 is in short circuit with a pin 2, a pin 3 of the current sampling chip U4 is in short circuit with a pin 4, a pin 5 of the current sampling chip U4 is respectively connected with one end of the capacitor C20 and one end of the capacitor C21, the other end of the capacitor C20 is connected with a pin 8 of the current sampling chip U4, the other end of the capacitor C21 is connected with one end of the resistor R57, the other end of the resistor R57 is connected with a pin 7 of the current sampling chip U4, one end of the capacitor C23 is connected with a pin 6 of the current sampling chip U4, the other end of the capacitor C23 is connected to a node between the pin 5 of the capacitor C20 and the pin 5 of the current sampling chip U4, and the model number of the.
8. The steering engine controller circuit of claim 1, wherein: the communication module is a communication chip, and the communication chip model is GM 3085E.
9. The steering engine controller circuit of claim 1, wherein: the upper computer is a computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010229928.2A CN111262480A (en) | 2020-03-27 | 2020-03-27 | Steering engine controller circuit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010229928.2A CN111262480A (en) | 2020-03-27 | 2020-03-27 | Steering engine controller circuit |
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| CN111262480A true CN111262480A (en) | 2020-06-09 |
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| CN202010229928.2A Pending CN111262480A (en) | 2020-03-27 | 2020-03-27 | Steering engine controller circuit |
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| CN107005129A (en) * | 2016-07-28 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of magnetic compiles steering wheel |
| CN107053172A (en) * | 2016-12-27 | 2017-08-18 | 深圳市优必选科技有限公司 | Steering wheel main board control circuit and robot |
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| CN110635723A (en) * | 2019-10-11 | 2019-12-31 | 北京航天飞腾装备技术有限责任公司 | Permanent magnet synchronous motor servo system based on magnetic encoder |
| CN110855193A (en) * | 2019-11-26 | 2020-02-28 | 北京工业大学 | Small robot joint steering engine transmission error input end data acquisition control circuit |
-
2020
- 2020-03-27 CN CN202010229928.2A patent/CN111262480A/en active Pending
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| CN107005129A (en) * | 2016-07-28 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of magnetic compiles steering wheel |
| CN107053172A (en) * | 2016-12-27 | 2017-08-18 | 深圳市优必选科技有限公司 | Steering wheel main board control circuit and robot |
| CN108111066A (en) * | 2017-12-19 | 2018-06-01 | 芜湖懒人智能科技有限公司 | A kind of Miniature digital serial ports helm control circuit |
| CN110635723A (en) * | 2019-10-11 | 2019-12-31 | 北京航天飞腾装备技术有限责任公司 | Permanent magnet synchronous motor servo system based on magnetic encoder |
| CN110855193A (en) * | 2019-11-26 | 2020-02-28 | 北京工业大学 | Small robot joint steering engine transmission error input end data acquisition control circuit |
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| TEXAS INSTRUMENTS: "《LM61 2.7-V，SOT-23 or TO-92 Temperature Sensor》", 30 November 2016, pages: 1 - 27 * |
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