CN200987069Y - Electric machine operation protective system for football robot - Google Patents
Electric machine operation protective system for football robot Download PDFInfo
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- CN200987069Y CN200987069Y CN 200620136425 CN200620136425U CN200987069Y CN 200987069 Y CN200987069 Y CN 200987069Y CN 200620136425 CN200620136425 CN 200620136425 CN 200620136425 U CN200620136425 U CN 200620136425U CN 200987069 Y CN200987069 Y CN 200987069Y
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Abstract
The utility model relates to a motor protection system of soccer robot, comprising a microprocessor for transmitting the output control signal and receiving the signal from the overcurrent protection circuit. The control signal transmitted from the microprocessor is transmitted to the gate array logic signal conversion unit, which converts the digital signal to the H-bridge control signal. The output of the gate array logic signal conversion unit is connected to a drive circuit for starting, braking, accelerating and decelerating of the motor. The power supply circuit of motor in the drive circuit is equipped with the overcurrent protection circuit, which has the output terminal connecting the microprocessor. The utility model overcomes the defects such as complexity of common circuit of eliminating common conduction and strict selection of components due to the respective delay of the components; thereby the drive circuit of the utility model has the advantages of simple structure, modular design, beneficial to industrial production and assembly. The utility model is also designed with the simple overcurrent protection circuit.
Description
Technical field
The utility model relates to a kind of robot, particularly a kind of mobile robot's of omnidirectional motor operational protection system.Be applicable to comprehensive autonomous mobile robot motor-driven protection, belong to the Soccer robot technical field.
Background technology
Along with the popularization of robot soccer competition and the development of Soccer robot technology, the performance of Soccer robot is gradually improved.In full autonomous soccer robot contest, laws of the game have frequent collision between the permission robot in strict regulation, the match to the size of robot, require robot to have very high flexibility and very strong impact resistance, therefore in play, accurately can whether Soccer robot move, bear high-strength impact when resisting, and these problems seem extremely important.For robot more flexible, existing full autonomous soccer robot begins to adopt the comprehensive mobile form of four omnidirectionals wheel to move, nowadays along with the lifting of robot translational speed, even will race in the same field with the mankind with high speed, high position precision from now on, press for accurate, firm, stable drive unit and ensure motion process.
In robot, direct current machine is in operation and often phenomenon occurs burning because of overload, has both influenced normal operation, also increases design cost, causes damage.Burn-down of electric motor is except that having certain reason with the quality of motor own, and long term overloading operation general and motor is closely related, as can not in time finding the overlond running state of motor, does not take the due care measure again, and it is just unavoidable to burn motor.As robot in antagonistic process run foul of each other also " being at loggerheads " motionless, and control centre of robot also constantly requires robot top with strength, cause motor because active and overcurrent burns, perhaps the meeting that turns to that motor does not stop in running at a high speed causes the common-mode conducting of motor, causes overcurrent to burn motor.These all can make motor load increase the weight of, and cause that the armature loop current is excessive, and burn motor or drive circuit.
In robot, overcurrent problem generally takes resistance sampling to detect the electric current that flows through in the drive motors, and by comparing detection of excessive current with the value of explaining, when overcurrent flows through, protects electrical systems such as motor by suppressing electric current.As prior art, known patent documentation " overcurrent prevention system of robot " 200510109150.7 disclosed devices, wherein take current sensor to know current information, signal conversion voltage and reference voltage relatively back adopt on a small scale digital circuit to carry out after the logic determines with a field effect transistor break-make power supply, prevented overcurrent problem, weak point is that circuit is too complicated, does not consider comprehensively that other situations of overcurrent may appear in robot.
Except that the above motor-driven that is exclusively used in Soccer robot is protected; also have the multiple motor protective circuit scheme that is used for robot, all exist use that senior expensive chip processing signals, current driving ability are weak in a large number, that the wrong or overheated protectiveness design of phenomenon such as burning of control appears in motor is very few or judge too complicated or the like deficiency.
The utility model content
Technical problem to be solved in the utility model is at deficiency right in the prior art, and a kind of common microprocessor that uses is provided, and just can overcome the motor operational protection system that motor easily burns problem.
For this reason; the utility model provides a kind of Soccer robot motor operational protection system; wherein; comprise and be used to export control signal; reception is from the microprocessor of the signal of circuit overcurrent protection; the output of described microprocessor control signal to the gate array logic signal conversion unit that is used for digital signal is converted to H bridge control signal; the output of described gate array logic signal conversion unit connects the startup that is used to realize motor; braking; the drive circuit that quickens and slow down; the electric power loop of the motor in the described drive circuit is provided with circuit overcurrent protection, and the output of described circuit overcurrent protection inserts described microprocessor.
The utility model has overcome elimination common-mode turning circuit complex forms commonly used, owing to utilized the components and parts characteristics of delaying time separately, to the very strict defective of selecting for use of components and parts, drive circuit of the present utility model is very simple, modularized design is beneficial to industrial production and assembling; The utility model has also designed easy circuit overcurrent protection.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of drawings
Fig. 1 is the utility model system logic block diagram;
Fig. 2 is one road circuit for controlling motor block diagram.
Embodiment
Fig. 1 is the utility model system logic block diagram.Take into full account the possible overcurrent situations of various motors in the utility model; as shown in Figure 1; a kind of Soccer robot motor operational protection system of the present utility model; comprise and be used to export control signal; reception is from the microprocessor 1 of the signal of circuit overcurrent protection; microprocessor 1 output control signal to the gate array logic signal conversion unit 2 that is used for digital signal is converted to H bridge control signal; the output of gate array logic signal conversion unit 2 connects the startup that is used to realize motor; braking; the drive circuit 3 that quickens and slow down; the electric power loop of the motor in the drive circuit 3 is provided with circuit overcurrent protection 4, and the output of circuit overcurrent protection 4 inserts microprocessor 1.
Whole driving system structure has taked microprocessor 1 to provide control signal; gate array logic (being called for short GAL) signal conversion unit 2 is realized the conversion of signal; drive circuit 3 is realized startup, braking, acceleration and the deceleration of motor; circuit overcurrent protection 4 is finished the protective circuit of cutting off the electricity supply to current detecting and when the overcurrent; and when cutting off the electricity supply, pass through signalisation microprocessor 1 power cutoff, for the processor decision-making provides information.When the disappearance of circuit overcurrent, circuit overcurrent protection 4 can energized continue the drive motors work automatically.
The GAL chip is a programmable logic device, it is the part that connects single-chip microcomputer and H bridge drive circuit, mainly constitute with door and not gate etc. by a series of, in this circuit design, consider the simplification of circuit, hardware system should be tried one's best towards the design of " monolithic " direction, because system device is many more, the phase mutual interference is also strong more between the device, and power consumption also increases, and has also reduced the stability of system inevitably.For having reduced the interference between the device, improve the reliability and stability of circuit, the design has write this part circuit among a slice GAL, and inner schematic diagram is seen the interior part of the empty frame among Fig. 2.
Fig. 2 is one road circuit for controlling motor block diagram, wherein microprocessor is a single-chip microcomputer, G1 is a not gate, G2, G3 be and door, and P1, P2, P3, P4 are that IGBT drives isolating chip, and that use in the circuit is TLP250, T1, T3 are P channel mosfet pipe, T2, T4 are N-channel MOS FET pipe, and Z1, Z2 are resettable fuse, and R1 is a potentiometer.
Microprocessor just provides direction of motor rotation and PWM ripple signal, finishes interlock function to the H bridge by G1, G2, the G3 of GAL chip internal circuit, that is to say to make T1, T2 conducting simultaneously perhaps T3, T4 conducting simultaneously.Circuit analysis is as follows:
(1) when direction signal is 0, be added on the grid T3 of P channel mosfet pipe behind one tunnel process driving isolating chip of P3, owing to be low level, T3 manages conducting, and another road direction signal is reversed 1 through G1, be added on the grid of P channel mosfet pipe T1 through behind the driving isolating chip of P1, owing to be high level, the T1 pipe ends, and direction signal is decided to be 0 through G2 and door lock, on the grid that is added to N-channel MOS FET pipe T4 behind the driving isolating chip of P4, owing to be low level, the T4 pipe ends, and direction signal becomes 1 through the G1 not gate, together pass through G3 and become the PWM ripple behind the door with the PWM ripple, on the grid that is added to N-channel MOS FET pipe T2 behind the driving isolating chip of P2, owing to be the PWM ripple that does not stop changing, the T2 pipe is in the variation that conducting ends, can see, T1 ends, and two situations of conducting simultaneously also can not occur so the T2 conducting ends, and the conducting of T3 pipe, the T4 pipe ends, and has avoided the appearance of common-mode conducting situation.The result: 24V power supply → T3 pipe → motor → T2 pipe → resettable fuse → ground constitutes a complete channels, makes motor just change.
(2) when direction signal is 1, be added on the grid T3 of P channel mosfet pipe behind one tunnel process driving isolating chip of P3, owing to be high level, the T3 pipe ends, and another road direction signal is reversed 0 through G1, be added on the grid of P channel mosfet pipe T1 through behind the driving isolating chip of P1, owing to be low level, T1 manages conducting, and direction signal and PWM ripple pass through G2 and are the PWM ripple behind the door, on the grid that is added to N-channel MOS FET pipe T4 behind the driving isolating chip of P4, do not stop the PWM ripple that changes, the T4 pipe is in the variation that conducting ends, direction signal becomes 0 through the G1 not gate, it is 0 that G3 is blocked with door, on the grid that is added to N-channel MOS FET pipe T2 behind the driving isolating chip of P2, owing to be low level, the T2 pipe ends, see that totally T1 is conducting, so T2 ends, two situations of conducting simultaneously can not appear, and the T3 pipe ends, and the conducting of T4 pipe has also been avoided the appearance of common-mode conducting situation by changing.The result: 2 4V power supply → T1 pipe → motor → T4 pipe → resettable fuse → ground constitutes a complete channels, makes motor reverse.
Drive isolating chip and can adopt UC3726, UC3727, TLP250 or the like.Because motor-drive circuit voltage is high voltage, big current conditions, and control unit is the light current circuit, thus the photoelectricity quarantine measures must be taked between them, to improve system's interference protection measure, the MOSFET chip for driving TLP250 that can adopt band photoelectricity to isolate.Optocoupler TLP250 is a kind of power-type optocoupler that can directly drive small-power MOSFET and IGBT, is produced by Toshiba Corp, comprises a GaAlAs light emitting diode and an integrated light detector, is the encapsulation of 8 pin biserials, and its maximum drive ability reaches 1.5A.Select for use the TLP250 optocoupler both to guarantee the reliable isolation of power driving circuit and PWM pulse-width modulation circuit, possessed the ability of direct driven MOS FET again, make drive circuit simple especially.Mainly possesses following feature: input threshold current IF=5mA (max); Source current ICC=11mA (max); Supply voltage (VCC)=10～35V; Output current IO=± 0.5A (min); TpLH/t pHL=0.5 μ s switching time (max).
Field effect transistor can adopt IRF4905 and IRF3205.The selection of field effect transistor is very big to the influence of drive circuit, and selection should be followed following principle: because drive circuit is power output, require the power tube power output bigger; The time of turning on and off of switching tube should be as far as possible little; The supply voltage that robot uses is not high, so the saturation voltage drop of switching tube should be low as far as possible.
In reality realized, we can select P raceway groove IRF4905 and N raceway groove IRF3205 for use.This is a pair of, and that pipe is had power is bigger, can be big by electric current, and conducting resistance is little, and advantages such as saturation pressure reduction are well suited for the application of this drive circuit.
When motor frequently commutates, cause the common-mode conducting, can cause the drive circuit overcurrent problem, thereby burn out motor.For avoiding above-mentioned situation, the utility model adopts: when motor need commutate, signal and commutation front signal after microprocessor relatively commutates, judge whether the common-mode conducting can take place, the common-mode conducting is exactly as up and down two field effect transistor T1 and T2 conducting simultaneously of the same side among Fig. 2, make electric current without motor, but directly pass through field effect transistor T1 and field effect transistor T2 ground connection by power supply, because the field effect transistor conducting resistance is very little, cause branch current excessive, burn power supply or field effect transistor, so can not allow two the field effect transistor conductings in the same side in any case.Motor is T1 pipe and the conducting of T4 pipe when just changeing, T2 pipe and T3 pipe end, and when counter-rotating is just in time opposite, T1 pipe and T4 pipe end, T2 pipe and the conducting of T3 pipe, when switching, this two states is easy to take place two the field effect transistor conductings in the same side situation, microprocessor judges before sending signal, if common-mode conducting phenomenon might occur, then at first close four field effect transistor simultaneously by the GAL signaling conversion circuit, the 50US that delays time crosses flow problem by turning to the back signal to send can to eliminate the common-mode conducting then.Take software to judge the mode that hardware is carried out fully, simplified circuit greatly,
When the drive circuit stall, also can cause overcurrent problem and burn out motor.For this reason; as shown in Figure 2; very simple and practical circuit overcurrent protection 4 of this patent design; have only a potentiometer 5 and resettable fuse 6; a resettable fuse 6 in parallel and potentiometer 5 between AB; potentiometer 5 centre taps are given microprocessor 1, at resettable fuse 6 of power supply place series connection.Operation principle is to surpass rated current when electric current between AB, resettable fuse 6 can be cut off the electricity supply in automatic disconnection, guarantee circuit safety, potentiometer 5 is sent high level notice microprocessor 1 motor power and is cut off, resettable fuse 6 recovers automatically after one section time-delay, if electric current is still very big, resettable fuse 6 disconnects once more, simulated the principle of not stopping to detect electric current of complicated circuit fully, and circuit is very simple and practical.
It should be noted last that, above embodiment is only unrestricted in order to the explanation the technical solution of the utility model, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not break away from the spirit and scope of technical solutions of the utility model.
Claims (5)
1. Soccer robot motor operational protection system; it is characterized in that; comprise and be used to export control signal; reception is from the microprocessor of the signal of circuit overcurrent protection; the output of described microprocessor control signal to the gate array logic signal conversion unit that is used for digital signal is converted to H bridge control signal; the output of described gate array logic signal conversion unit connects the startup that is used to realize motor; braking; the drive circuit that quickens and slow down; the electric power loop of the motor in the described drive circuit is provided with circuit overcurrent protection, and the output of described circuit overcurrent protection inserts described microprocessor.
2. Soccer robot motor operational protection system according to claim 1; it is characterized in that; described drive circuit is a H type full-bridge type drive circuit; comprise that four IGBT drive isolating chip; the input signal that described IGBT drives isolating chip is the control signal of described GAL signal conversion unit output; described four IGBT drive four inputs that isolating chip connects the H bridge of being set up by four field effect transistor respectively; described and homonymy is two field effect transistor conductings simultaneously up and down, and the output of described H bridge connects the both ends of power of described drive motors.
3. Soccer robot motor operational protection system according to claim 1 is characterized in that, it is UC3726, UC3727 or TLP250 that described IBGT drives isolating chip.
4. Soccer robot motor operational protection system according to claim 1 is characterized in that, the homonymy of described H bridge two field effect transistor up and down is made as IRF4905 and IRF3205 respectively.
5. Soccer robot motor operational protection system according to claim 1; it is characterized in that; described circuit overcurrent protection is that a potentiometer and a resettable fuse are connected in parallel on the electric power loop of described motor, and the centre tap of described potentiometer is given described microprocessor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620136425 CN200987069Y (en) | 2006-12-20 | 2006-12-20 | Electric machine operation protective system for football robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620136425 CN200987069Y (en) | 2006-12-20 | 2006-12-20 | Electric machine operation protective system for football robot |
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| CN200987069Y true CN200987069Y (en) | 2007-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200620136425 Expired - Fee Related CN200987069Y (en) | 2006-12-20 | 2006-12-20 | Electric machine operation protective system for football robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102930604A (en) * | 2011-08-09 | 2013-02-13 | 广州市俐康电子科技有限公司 | Ticket outlet device circuit and H bridge driving circuit thereof |
| CN104506095A (en) * | 2014-12-01 | 2015-04-08 | 中国科学院长春光学精密机械与物理研究所 | High-speed voice coil motor driving system based on N-channel MOSFETs |
| CN105522991A (en) * | 2015-12-29 | 2016-04-27 | 苏州尊鼎汽车座椅有限公司 | Overload protection system for automobile seat |
| CN114520496A (en) * | 2021-12-22 | 2022-05-20 | 中国航天空气动力技术研究院 | Propeller thermal protection control device and control method |
-
2006
- 2006-12-20 CN CN 200620136425 patent/CN200987069Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102930604A (en) * | 2011-08-09 | 2013-02-13 | 广州市俐康电子科技有限公司 | Ticket outlet device circuit and H bridge driving circuit thereof |
| CN102930604B (en) * | 2011-08-09 | 2015-09-02 | 广州市俐康电子科技有限公司 | A kind of ticket-issuing device circuit and H-bridge drive circuit thereof |
| CN104506095A (en) * | 2014-12-01 | 2015-04-08 | 中国科学院长春光学精密机械与物理研究所 | High-speed voice coil motor driving system based on N-channel MOSFETs |
| CN105522991A (en) * | 2015-12-29 | 2016-04-27 | 苏州尊鼎汽车座椅有限公司 | Overload protection system for automobile seat |
| CN114520496A (en) * | 2021-12-22 | 2022-05-20 | 中国航天空气动力技术研究院 | Propeller thermal protection control device and control method |
| CN114520496B (en) * | 2021-12-22 | 2024-03-12 | 中国航天空气动力技术研究院 | Propeller thermal protection control device and control method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |