CN111399416A - Double-shaft steering engine controller based on MCU processor - Google Patents
Double-shaft steering engine controller based on MCU processor Download PDFInfo
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- CN111399416A CN111399416A CN202010225799.XA CN202010225799A CN111399416A CN 111399416 A CN111399416 A CN 111399416A CN 202010225799 A CN202010225799 A CN 202010225799A CN 111399416 A CN111399416 A CN 111399416A
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- steering engine
- mcu processor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention belongs to the technical field of electric servo control, and discloses a double-shaft steering engine controller based on an MCU (microprogrammed control unit) processor, which comprises the MCU processor, an operational amplifier, a bus transceiver and two motor drivers; operational amplifier, bus transceiver and motor driver all are connected with the MCU treater, and operational amplifier still is connected with two position sensor that set up on the steering wheel. The operational amplifier is used for receiving two steering engine position feedback voltage signals sent by the two position sensors, amplifying the two steering engine position feedback voltage signals and sending the amplified signals to the MCU processor; the MCU processor generates two paths of modulation pulse width PWM signals according to the steering engine position instruction signals and the two paths of steering engine position feedback voltage signals received through the bus transceiver, and the two paths of modulation pulse width PWM signals are respectively sent to the two motor drivers to amplify the power of the modulation pulse width PWM signals, so that motor driving signals are obtained and output. The MCU processor and the H-bridge motor driver with high integration level are adopted, so that the circuit design is simplified, the engineering realization is simple, the size is small, and the cost is low.
Description
Technical Field
The invention belongs to the technical field of electric servo control, and relates to a double-shaft steering engine controller based on an MCU (microprogrammed control unit) processor.
Background
The steering engine is a position (angle) servo driver, is suitable for control systems which need to change and keep angles constantly, and is widely applied to high-grade remote control toys, such as airplanes and submarine models, and remote control robots.
The existing steering engine controller generally comprises a processor and peripheral circuits thereof, a signal conditioning circuit, an AD conversion circuit, a half-bridge driving circuit, an H-bridge inverter circuit, a power supply circuit, a bus transceiver and other circuits, peripheral clocks, reset and watchdog circuits are required to be added due to the fact that the integration level of the processor is not high enough, the precision of the AD converter in some processors is poor, and an external AD converter is required to be added. Meanwhile, the motor driving circuit is mainly constructed by adopting a half-bridge driving circuit and discrete devices such as an MOS (metal oxide semiconductor) tube, a fast recovery diode, a resistor, a capacitor and the like, so that the volume of the motor driving circuit is large.
In conclusion, the existing steering engine controller has the problems of large volume, high cost, complex engineering realization and the like, and is difficult to meet the application requirements of motion control devices such as robot joints, micro aircrafts and the like.
Disclosure of Invention
The invention aims to overcome the defects of large volume, high cost and complex engineering realization of the steering engine controller in the prior art, and provides a double-shaft steering engine controller based on an MCU processor.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a double-shaft steering engine controller based on an MCU (microprogrammed control Unit) processor comprises the MCU processor, an operational amplifier, a bus transceiver and two motor drivers; the operational amplifier, the bus transceiver and the two motor drivers are connected with the MCU processor, the operational amplifier is also connected with the two position sensors arranged on the steering engine; wherein the motor driver is an H-bridge driver; the operational amplifier is used for receiving two steering engine position feedback voltage signals sent by the two position sensors, amplifying the two steering engine position feedback voltage signals and sending the amplified signals to the MCU processor; the MCU processor is used for receiving the steering engine position command signal through the bus transceiver, generating two paths of modulation pulse width PWM signals according to the steering engine position command signal and the two paths of steering engine position feedback voltage signals, and then respectively sending the two paths of modulation pulse width PWM signals to the two motor drivers; and the motor driver is used for amplifying the power of the PWM signal to obtain a motor driving signal and outputting the motor driving signal.
The invention further improves the following steps:
the intelligent controller also comprises an L DO linear voltage regulator, wherein the L DO linear voltage regulator is connected with the MCU processor, the bus transceiver, the two motor drivers and the two position sensors and is used for supplying power to the MCU processor, the bus transceiver, the two motor drivers and the two position sensors.
When the L DO linear voltage regulator is arranged on a PCB, 1 low-frequency ESR ceramic dielectric capacitor of 10uf is arranged between an IN pin and a GND pin of the L DO linear voltage regulator, and 1 low-frequency ESR ceramic dielectric capacitor of 0.1uf is arranged between an OUT pin and a GND pin of the L DO linear voltage regulator.
All digital output pins of the MCU processor are configured in a push-pull mode.
When the motor driver is used for PCB layout and wiring, 1 low-frequency ESR ceramic dielectric capacitor of 0.1uf is arranged between a VCC pin and a GND pin and between a VM pin and the GND pin of the motor driver.
The MCU processor adopts a C8051F121 type MCU processor.
The motor driver adopts a DRV8838 type motor driver.
The operational amplifier adopts an OPA2340 type operational amplifier.
The L DO linear voltage regulator adopts L M1117 type L DO linear voltage regulator.
The bus transceiver adopts a MAX3490 RS422 bus transceiver.
Compared with the prior art, the invention has the following beneficial effects:
the position sensor is used for detecting the position of the steering engine in real time, steering engine position feedback voltage signals are generated and sequentially sent to the operational amplifier and the MCU processor, the MCU processor generates two paths of modulation pulse width PWM signals according to a steering engine position instruction signal and the two paths of steering engine position feedback voltage signals, the two paths of modulation pulse width PWM signals are respectively sent to the two motor drivers, the motor drivers amplify the power of the modulation pulse width PWM signals, motor driving signals are obtained and output, the control over the rotating speed and the steering of the motor is achieved, and further the steering engine position closed-loop control is achieved. By adopting the MCU processor with high integration level and the H-bridge motor driver, only the operational amplifier needs to be addedAmplifier, bus transceiver and linear L DO circuit just can realize the follow-up control to biax steering wheel position, DO not need extra clock, reset, watchdog circuit and outside AD converter, simplified circuit design, have advantages such as small, with low costs, realization are easy, whole steering wheel controller overall dimension only is for small, with low costs, realize easily
The cost of components is only 150 yuan, the weight is only 20g, and the application requirements of motion control devices such as robot joints, micro aircrafts and the like can be met.
Further, the steering engine controller further comprises an L DO linear voltage regulator, power supply voltage is converted into power supply voltage of the processor, the motor driver, the position sensor and the bus transceiver, the whole steering engine controller adopts the same power supply voltage, and design complexity is reduced.
Further, 1 low-frequency ESR ceramic dielectric capacitor of 10uf is arranged between the IN pin and the GND pin of the L DO linear voltage regulator, and 1 low-frequency ESR ceramic dielectric capacitor of 0.1uf is arranged between the OUT pin and the GND pin of the L DO linear voltage regulator, so that the stability of the voltage converted by the L DO linear voltage regulator is ensured.
Furthermore, all digital output pins of the MCU processor are configured in a push-pull mode, so that the MCU processor can be conveniently matched with the interface level of the motor driver.
Further, 1 low-frequency ESR ceramic dielectric capacitor of 0.1uf is arranged between a VCC pin and a GND pin and between a VM pin and the GND pin of the motor driver, and voltage spikes on a power supply are effectively inhibited.
Drawings
FIG. 1 is a schematic block diagram of a double-shaft steering engine controller based on an MCU processor.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, the double-shaft steering engine controller based on the MCU processor comprises the MCU processor, two motor drivers, an operational amplifier, a bus transceiver and an L DO linear voltage regulator, wherein the two motor drivers, the operational amplifier, the bus transceiver and the L DO linear voltage regulator are all connected with the MCU processor, the bus transceiver and the two motor drivers are all connected with the L DO linear voltage regulator, and the operational amplifier is also connected with two position sensors arranged on the steering engine.
L DO linear voltage regulator is used for converting +5V power supply voltage into +3.3V voltage, supplies power for MCU processor, two motor drivers, position sensor and bus transceiver, and operational amplifier directly supplies power through +5V power supply voltage.
The operational amplifier is used for receiving the two steering engine position feedback voltage signals sent by the two position sensors, amplifying the two steering engine position feedback voltage signals and sending the amplified signals to the MCU processor.
The MCU processor receives the amplified two steering engine position feedback voltage signals, receives a steering engine position instruction signal through the bus transceiver, calculates a control quantity according to the deviation of the steering engine position instruction signal and the amplified two steering engine position feedback voltage signals to generate two paths of modulation pulse width PWM signals, and respectively sends the two paths of modulation pulse width PWM signals to the two motor drivers.
The motor driver amplifies the power of the PWM signal to output a motor driving signal to a connected motor, so that the control of the rotating speed and the rotating direction of the motor is realized.
In the embodiment, the MCU processor adopts a C8051F121 type MCU processor, the motor driver adopts a DRV8838 type motor driver, the operational amplifier adopts an OPA2340 type operational amplifier, the L DO linear voltage regulator adopts a L M1117 type L DO linear voltage regulator, and the bus transceiver adopts an RS422 bus transceiver, specifically an MAX3490 type RS422 bus transceiver.
The method comprises the steps that a reset pin/RST of an MCU processor is connected with sleep mode input pins nS L EEP of two motor drivers, the motor drivers do not output and a steering engine does not malfunction during power-on reset of the MCU processor, IO pins P2.0 and P2.1 of the MCU processor are respectively connected with enable input pins EN of the two motor drivers, and further working states of the motor drivers can be set through software, debugging and problem troubleshooting are facilitated.
In this embodiment, the system clock frequency of the MCU processor is set to be 4 times the internal oscillator frequency of 24.5MHz, i.e., 98 MHz. And a power supply monitor is arranged in the MCU processor and used for monitoring power supply generation power-on and power-off reset. And enabling the voltage reference circuit inside the MCU processor to generate a 2.4V reference voltage to provide a reference voltage for the AD converter. The voltage reference of the MCU processor internal ADC0 is taken from DAC0, the ADC0 internal amplifier gain is set to 1, and all digital output pins of the MCU processor are configured in push-pull mode.
The MCU processor realizes one path of RS422 bus communication function and two paths of modulation pulse width PWM signal output functions, a P0.0 output port and a P0.1 output port of the MCU processor can be configured into UART1 function pins by arranging a cross switch register XBR1 in the MCU processor, the P1.0 output port and the P1.1 output port of the MCU processor are configured into PCA function pins, a PCA module in the MCU processor is configured into an 8-bit pulse width modulation PWM output module, the frequency of an output modulation pulse width PWM signal is set to be 50KHz, a capture/comparison register PCA0CP L n of the PCA module is used for changing the duty ratio of the PWM signal, the MCU processor realizes the acquisition functions of two paths of position feedback voltage signals DF1 and DF2, an input range of 1 and DF2 (input range of 0.5-2.35V) are respectively connected with a 3 pin and a 5 pin of an operational amplifier, and the two paths of output signals of the operational amplifier are connected into a voltage following mode to improve the input pin of the input impedance operational amplifier of the MCU feedback voltage signal, the operational amplifier, and the input pin of the steering engine is connected with a 0.0.0.0.7. the AIN analog quantity processing pin of the steering engine.
A voltage reference control register REF0CN inside the MCU processor is configured to enable an internal voltage reference buffer, the output of a DAC0 is used as the voltage reference of an ADC0, data are written into a DAC 0L data register and a DAC0H data register, the output voltage of the DAC 0L data register and the DAC0H data register is made to be +2.4V, and the voltage reference is provided for the ADC 0. an ADC0CF register inside the MCU processor is configured, the gain of an amplifier inside the ADC0 is set to be 1, so that the voltage range of a steering engine position feedback voltage signal entering the ADC0 is 0.5V-2.35V, the steering engine position feedback voltage signal can be directly processed by the MCU processor, a MONEN pin of the MCU processor is connected with a +3.3V power supply, an internal power supply monitor is enabled, the MCU processor is kept in a reset state during power-on until the power supply voltage exceeds a VRST threshold voltage, and the power supply monitor is enabled to return to the reset state when the power supply voltage drops below the VRST MCU voltage due to power-off.
L DO linear voltage regulator can output +3.3V voltage fixedly and can provide 800mA load current, when L DO linear voltage regulator PCB layout wiring is carried OUT, 1 low-frequency ESR ceramic dielectric capacitor of 10uf and 1.1 uf is required to be respectively arranged between an IN pin and a GND pin and between an OUT pin and the GND pin of the L DO linear voltage regulator and is used for maintaining voltage stability.
The DRV8838 type motor driver is a low-voltage H-bridge motor driver, a logic power supply VCC supplies power within a range of 1.8-7V, a motor power supply VM supplies power within a range of 0-11V, 1.8A driving current can be output, the chopping frequency of a modulation pulse width PWM signal can reach 250KHz, the working temperature is-40 ℃ to +85 ℃, an nS L EEP pin of the motor driver is used for controlling the working mode of the driver, an nS L EEP pin is grounded, the motor driver enters a sleep mode, an internal circuit is in a power-down state, the output state of the motor driver is controlled by a PH input pin and an EN input pin, the PH input pin is used for controlling the direction of the H-bridge current, and the EN input pin is used for enabling or turning off the output of the H-bridge.
The invention discloses a double-shaft steering engine controller based on an MCU (microprogrammed control Unit) processor, which can realize follow-up control on the position of a double-channel steering engine by adopting the MCU processor with high integration level and a micro motor driver and only adding an operational amplifier, a bus transceiver and a linear L DO (data only interconnect) circuit, and the shape and the size of the double-shaft steering engine controller are the same
The cost of components is 150 yuan, the weight is 20g, the working voltage of a double-shaft steering engine controller based on an MCU processor is 5V, the RS422 bus communication rate is 921.6Kbps, the peak value of the motor driving current is 1.5A, the voltage range of two-way steering engine position signal acquisition is 0-2.4V, the acquisition precision is 12 bits, and the device has the advantages of small volume, low cost, easy realization and the like, is a universal low-voltage double-shaft steering engine control driving circuit, and can meet the requirements of common micro-power steering engine controllers.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. A double-shaft steering engine controller based on an MCU (microprogrammed control Unit) processor is characterized by comprising the MCU processor, an operational amplifier, a bus transceiver and two motor drivers; the operational amplifier, the bus transceiver and the two motor drivers are connected with the MCU processor, the operational amplifier is also connected with the two position sensors arranged on the steering engine; wherein the motor driver is an H-bridge driver;
the operational amplifier is used for receiving two steering engine position feedback voltage signals sent by the two position sensors, amplifying the two steering engine position feedback voltage signals and sending the amplified signals to the MCU processor; the MCU processor is used for receiving the steering engine position command signal through the bus transceiver, generating two paths of modulation pulse width PWM signals according to the steering engine position command signal and the two paths of steering engine position feedback voltage signals, and then respectively sending the two paths of modulation pulse width PWM signals to the two motor drivers; and the motor driver is used for amplifying the power of the PWM signal to obtain a motor driving signal and outputting the motor driving signal.
2. The dual-axis steering engine controller based on the MCU processor of claim 1, further comprising an L DO linear voltage regulator, wherein the L DO linear voltage regulator is connected with the MCU processor, the bus transceiver, the two motor drivers and the two position sensors, and is used for supplying power to the MCU processor, the bus transceiver, the two motor drivers and the two position sensors.
3. The double-shaft steering engine controller based on the MCU processor of claim 2, wherein when the L DO linear voltage regulator is wired on a PCB, 1 low-frequency ESR ceramic capacitor of 10uf is arranged between an IN pin and a GND pin of the L DO linear voltage regulator, and 1 low-frequency ESR ceramic capacitor of 0.1uf is arranged between an OUT pin and a GND pin of the L DO linear voltage regulator.
4. The dual-axis steering engine controller based on the MCU processor of claim 1, wherein all digital output pins of the MCU processor are configured in a push-pull manner.
5. The double-shaft steering engine controller based on the MCU processor of claim 1, wherein when the motor driver is wired on a PCB, 1 low-frequency ESR ceramic dielectric capacitor of 0.1uf is respectively arranged between a VCC pin and a GND pin and between a VM pin and the GND pin of the motor driver.
6. The double-shaft steering engine controller based on the MCU processor of claim 1, wherein the MCU processor is a C8051F121 type MCU processor.
7. The dual-axis steering engine controller based on the MCU processor of claim 1, wherein the motor driver is a DRV8838 type motor driver.
8. The dual-axis steering engine controller based on the MCU processor of claim 1, wherein the operational amplifier is an OPA2340 type operational amplifier.
9. The two-axis steering engine controller based on the MCU processor of claim 1, wherein the L DO linear voltage regulator is a L M1117 model L DO linear voltage regulator.
10. The dual-axis steering engine controller based on the MCU processor of claim 1, wherein the bus transceiver is a MAX3490 type RS422 bus transceiver.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010225799.XA CN111399416A (en) | 2020-03-26 | 2020-03-26 | Double-shaft steering engine controller based on MCU processor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010225799.XA CN111399416A (en) | 2020-03-26 | 2020-03-26 | Double-shaft steering engine controller based on MCU processor |
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| CN202010225799.XA Pending CN111399416A (en) | 2020-03-26 | 2020-03-26 | Double-shaft steering engine controller based on MCU processor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113885391A (en) * | 2021-10-18 | 2022-01-04 | 西安微电子技术研究所 | Dual-redundancy steering engine switching instruction interface circuit and instruction switching method |
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