CN201186684Y - Intelligent electric steering engine based on RS485 bus communication - Google Patents

Intelligent electric steering engine based on RS485 bus communication Download PDF

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Publication number
CN201186684Y
CN201186684Y CNU2008200800134U CN200820080013U CN201186684Y CN 201186684 Y CN201186684 Y CN 201186684Y CN U2008200800134 U CNU2008200800134 U CN U2008200800134U CN 200820080013 U CN200820080013 U CN 200820080013U CN 201186684 Y CN201186684 Y CN 201186684Y
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CN
China
Prior art keywords
signal
computer
control
potentiometer
output shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNU2008200800134U
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Chinese (zh)
Inventor
蒋传彪
余跃庆
许东来
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing University of Technology
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Beijing University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by Beijing University of Technology filed Critical Beijing University of Technology
Priority to CNU2008200800134U priority Critical patent/CN201186684Y/en
Application granted granted Critical
Publication of CN201186684Y publication Critical patent/CN201186684Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to an intelligent electric steering engine based on RS485 bus communication, belonging to the control technical field of toy aircraft and anthropomorphic robot, which comprises a RS485 level conversion module, a micro control chip, a signal demodulation circuit, a motor driven integrated circuit, a direct current motor and a potentiometer that are sequentially connected. The output shaft of the direct current motor is connected with a speed reduction gear set, and the output shaft of the speed reduction gear set is coaxially connected with the potentiometer. The micro control chip is connected with an upper computer via the RS485 level conversion module, and a RS485 bus and used for receiving the control command of the upper computer, generating a PWM signal and transmitting to the signal demodulation circuit. The potentiometer is connected with the micro control chip, and the micro control chip is used for collecting the position signal of the potentiometer and transmitting the signal to the upper computer. The intelligent electric steering engine provided in the utility model has the advantages of small volume, high reliability, low power consumption and high intelligence; is suitable for composition distributed control systems; and can remarkably reduce the control pressure of an upper controller and reduce the terminal number of the upper controller.

Description

A kind of intelligent electric steering engine based on the RS485 bus communication
Technical field
The utility model relates to a kind of intelligent electric steering engine based on the RS485 bus communication, is mainly used in model aircraft and anthropomorphic robot control system, belongs to the control technology field of model aircraft and anthropomorphic robot.
Background technology
In model aircraft and anthropomorphic robot control system, be main power resources with the steering wheel of PWM ripple signal control, it is used widely because volume is little, output torque is big, integrated level is high.(patent No. is the structure of steering wheel: detailed narration is arranged 200620058243.1) in patent.
In order to make the compact conformation of steering wheel, the structure of traditional steering wheel has generally comprised train of reduction gears 6, potential device 1, DC machine 5 and control module 4.The control module 4 of tradition steering wheel shows that as Fig. 1 the control module of traditional steering wheel mainly includes as can be seen from Figure: signal demodulation integrated circuit 2, motor-driven integrated circuit 3, potential device 1 and DC machine 5.
The principle of work of tradition steering wheel is: pwm signal carries out demodulation by receiving cable entering signal demodulator circuit, obtains a dc offset voltage.The voltage ratio of this dc offset voltage and potential device obtains voltage difference and output.The motor-driven integrated circuit is sent in this output, with the drive motor rotating.When motor speed one timing, drive the potential device rotation by the cascade reducing gear, be zero up to voltage difference, motor stops operating.The control signal of steering wheel is a pwm signal, utilizes the position of the variation change steering wheel of dutycycle.
Mainly there is following some shortcomings part in this steering wheel:
1. the mode complexity takies a lot of resources of upper control machine, and the burden of upper computer is big;
2. the centralized control system of suitable composition is unsuitable for and forms distributed control system;
● along with the increase that control is counted, the control presssure of upper computer also sharply increases, and the line of drawing from upper computer also sharply increases;
● easy generation is disturbed mutually between the control line, and steering wheel is prone to jitter phenomenon;
3. can not can not form big closed loop control system to upper computer feedback position signal;
4. be not real digital electronic steering wheel, the position of steering wheel output shaft is recently regulated by PWM ripple duty.
The utility model content
The purpose of this utility model is to have overcome existing steering wheel above shortcomings, provide a kind of based on RS485 bus intercommunication, can feed back the position of output shaft in real time, can produce the electric steering gear of PWM ripple.The utlity model has compact conformation, integrated level height, intelligent advantages of higher.
To achieve these goals, the utility model has been taked following technical scheme.This steering wheel includes bonded assembly signal demodulating circuit, motor-driven integrated circuit and DC machine successively, and the output shaft of DC machine links to each other with train of reduction gears, and the output shaft of train of reduction gears is connected with potential device is coaxial.Also include microcontroller chip and RS485 signal conversion module.Wherein:
The microcontroller chip links to each other with upper computer by RS485 signal conversion module, RS485 bus, receives the control command of upper computer, produces pwm signal and sends into signal demodulating circuit.
Potential device links to each other with the microcontroller chip, and the microcontroller chip is gathered the position signal of potential device, and sends this signal to upper computer.
Principle of work of the present utility model is as follows: when upper control machine sends the target location to steering wheel, the microcontroller chip receives the target location by the RS485 bus, produces cooresponding pwm signal then and sends into signal demodulating circuit.The microcontroller chip is gathered the feedback signal of potential device, and sends it to upper computer, thereby can feed back to upper control machine to the current location of output shaft in real time.
The utlity model has following advantage: 1) can form distributed control system, shared same signal wire (SW) between the some point, the control line of receiving upper control machine significantly reduces, and does not count with control and increases; 2) have little process chip, can produce the PWM waveform, the dutycycle of automatically regulating PWM is put from this, can significantly reduce the control presssure of upper computer; 3) because the utility model carries out the real time bidirectional communication by RS485 bus and upper control machine, so can realize the distributed control of steering wheel; 4) little process chip inside has AD converter, can transfer the current position of output shaft to digital signal, sends upper control machine to by the RS485 bus, can form closed loop control.
Description of drawings
Fig. 1 tradition steering wheel control module block scheme
The block diagram of Fig. 2 steering wheel control module of the present utility model
Among the figure: 1, potential device, 2, signal demodulating circuit, 3, the motor-driven integrated circuit, 4, control module, 5, motor, 6, train of reduction gears, 7, the RS485 signal conversion module, 8, the microcontroller chip, 9, the steering wheel control module.
The specific embodiment
Describe present embodiment in detail below in conjunction with accompanying drawing:
The present embodiment middle shell is made up of three parts: loam cake, shell main body, lower cover; Internal placement steering wheel control module 9, train of reduction gears 6, DC machine 5 and potential device 1.
Steering wheel control module 9 in the present embodiment comprises RS485 signal conversion module 7, microcontroller singlechip chip 8, signal demodulation integrated circuit 2 and motor-driven integrated circuit 3.
The steering wheel control module is converted to the RS485 bus signals to the signal of microcontroller chip 8 outputs by RS485 signal conversion module 7, receive the target position signal of upper control machine, the current location that produces the PWM waveform and gather potential device 9 by microcontroller chip 8 by the RS485 bus, and current location is fed back to upper control machine.
The microcontroller chip 26 of present embodiment is selected the PIC18F micro controller system for use, and this micro controller system inside has A/D converter, can carry out 8 tunnel 10 A/D conversion, carries out the sampling of potential device with this A/D converter exactly in the present embodiment.
For the feedback of the current location that realizes the steering wheel output shaft, adopt the potential device 1 and the output shaft of train of reduction gears 6 to be synchronized with the movement in the present embodiment, the A/D converter that carries with the microcontroller chip internal carries out A/D and samples.
As shown in Figure 2, the microcontroller chip 8 in the present embodiment can produce the PWM ripple, after signal demodulating circuit 2, motor-driven integrated circuit 3 DC machine 5 is controlled.Carry asynchronous communication interface in the microcontroller chip, after RS485 signal conversion module (SN75176) is converted to 485 buses, insert in the RS485 bus network, carry out intercommunication with upper control machine.
In the present embodiment steering wheel control module 9, train of reduction gears 6, DC machine 5, potential device 1 are become one, make structure very compact.Microcontroller chip 8 is introduced, produced the PWM ripple, thereby can alleviate the control presssure of upper control machine greatly.
For the real-time feedback of the position of realizing output shaft, introduce microcontroller chip 8, this microcontroller chip 8 built-in A/D converters can carry out real-time sampling to the position of potential device 1.

Claims (1)

1, a kind of intelligent electric steering engine based on the RS485 bus communication, include bonded assembly signal demodulating circuit (2), motor-driven integrated circuit (3) and DC machine (5) successively, the output shaft of DC machine (5) links to each other with train of reduction gears (6), the output shaft of train of reduction gears (6) and coaxial connection of potential device (1); It is characterized in that: also include microcontroller chip (8) and RS485 signal conversion module (7); Wherein:
Microcontroller chip (8) links to each other with upper computer by RS485 signal conversion module (7), RS485 bus, receives the control command of upper computer, produces pwm signal and sends into signal demodulating circuit (2);
Potential device (1) links to each other with microcontroller chip (8), and the microcontroller chip is gathered the position signal of potential device (1), and sends this signal to upper computer.
CNU2008200800134U 2008-04-18 2008-04-18 Intelligent electric steering engine based on RS485 bus communication Expired - Fee Related CN201186684Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2008200800134U CN201186684Y (en) 2008-04-18 2008-04-18 Intelligent electric steering engine based on RS485 bus communication

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2008200800134U CN201186684Y (en) 2008-04-18 2008-04-18 Intelligent electric steering engine based on RS485 bus communication

Publications (1)

Publication Number Publication Date
CN201186684Y true CN201186684Y (en) 2009-01-28

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Application Number Title Priority Date Filing Date
CNU2008200800134U Expired - Fee Related CN201186684Y (en) 2008-04-18 2008-04-18 Intelligent electric steering engine based on RS485 bus communication

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102053570A (en) * 2010-10-29 2011-05-11 中国兵器工业集团第二一四研究所苏州研发中心 Single-chip digital controller for electric steering engine and unipolar and dipolar modulation control method
CN106292369A (en) * 2016-09-09 2017-01-04 南京玛锶腾智能科技有限公司 The dcs of steering wheel and method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102053570A (en) * 2010-10-29 2011-05-11 中国兵器工业集团第二一四研究所苏州研发中心 Single-chip digital controller for electric steering engine and unipolar and dipolar modulation control method
CN106292369A (en) * 2016-09-09 2017-01-04 南京玛锶腾智能科技有限公司 The dcs of steering wheel and method
CN106292369B (en) * 2016-09-09 2019-02-15 江苏新辰海智能科技有限公司 The dcs and method of steering engine

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Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090128

Termination date: 20100418