CN202557793U - Device with large-torque steering engine drive circuit for airship - Google Patents
Device with large-torque steering engine drive circuit for airship Download PDFInfo
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- CN202557793U CN202557793U CN2011202224988U CN201120222498U CN202557793U CN 202557793 U CN202557793 U CN 202557793U CN 2011202224988 U CN2011202224988 U CN 2011202224988U CN 201120222498 U CN201120222498 U CN 201120222498U CN 202557793 U CN202557793 U CN 202557793U
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Abstract
The utility model discloses a device having a large-torque steering engine drive circuit for an airship. The device comprises a signal input unit connected with a main control chip and applied for receiving information about an expected position of a steering engine and sending the expected position information to the main control chip; a position feedback unit respectively connected with the steering engine and the main control chip and applied for detecting the real position of the steering engine and sending the real position information to the main control chip; the main control chip connected with a motor control unit and applied for comparing the expected position information and the real position information and sending a control signal to the motor control unit according to the comparison result; and the motor control unit connected with the steering engine and controlling the steering engine to move towards the expected position according to the control signal sent from the main control chip. The digital steering engine control device provided in the utility model fully prevents the accuracy and the electromagnetic compatibility of the digital steering engine control from being affected by the electromagnetic noise, etc. Meanwhile, the digital steering engine control device provides a plurality of input interfaces so as to match applications with different distance requirements.
Description
Technical field
The utility model relates to the servo control technique field, relates in particular to a kind of device with dirigible with high pulling torque steering wheel driving circuit.
Background technology
Steering wheel is a kind of position (angle) servo-control unit, is applicable to the control system that needs angle constantly to change and can keep.Steering wheel can be as basic output executing mechanism in MEMS and model plane, and it is simply controlled and output makes digital control system such as micro controller system, DSP be very easy to interface with it.
Steering wheel mainly is divided into two types at present: simulation steering wheel and digital steering wheel.Its two kinds of steering wheels are by motor, and gear and shell constitute, but maximum difference is control circuit.The simulation steering wheel is not because possess microprocessor, so in the more digital steering wheels of situation such as extraordinary circumstances processing, control dead area and steering wheel reaction defective to some extent.And receive the restriction of volume, weight; Steering wheel generally is installed in the narrow and small aircraft wing in space or the cabin body is inner; Numerous air environments is worked simultaneously together, advances people's steering wheel through cable to some extent, disturbs the aanalogvoltage control signal of steering wheel; Increase the steering wheel malfuncton probability, when serious even jeopardize aircraft security.
The utility model content
The utility model technical matters to be solved is to the present situation of prior art a kind of device with dirigible with high pulling torque steering wheel driving circuit to be provided; This device interface is simple, precise control, electromagnetic compatibility are good, can be in different situations, different applications.
For achieving the above object, the technical scheme of the utility model provides a kind of device with dirigible with high pulling torque steering wheel driving circuit, and said device comprises signal input unit, master control chip, motor control unit and position feedback unit;
Said signal input unit is connected with said master control chip, is used to receive steering wheel desired location information, and said desired location information is sent to said master control chip;
Said position feedback unit is connected with the master control chip with said steering wheel respectively, is used to detect the actual position of said steering wheel, and said actual position information is sent to said master control chip;
Said master control chip is connected with said motor control unit, is used for said desired location information and said actual position information are compared, and transmits control signal to said motor control unit according to comparative result;
Said motor control unit is connected with said steering wheel, is used for the control signal according to said master control chip transmission, controls said steering wheel and moves to desired location.
Wherein, said signal input unit comprises PWM input interface, coder input interface, serial ports input interface, first phase inverter, second phase inverter, RS232 serial port chip and incoming signal chooser unit;
The input end of said first phase inverter is connected with said PWM input interface, and mouth is connected with the input end of said incoming signal chooser unit;
The input end of said second phase inverter is connected with said coder input interface, and mouth is connected with the input end of said incoming signal chooser unit;
The input end of said RS232 serial port chip is connected with said serial ports input interface, and mouth is connected with the input end of said incoming signal chooser unit;
The mouth of said incoming signal chooser unit is connected with said master control chip, is used for selecting at the output signal of said first phase inverter, second phase inverter and RS232 serial port chip that riches all the way delivers to said master control chip.
Wherein, said master control chip comprises position comparison module and PID module;
Said position comparison module is connected with said signal input unit, position feedback unit and PID module respectively, is used for said desired location information and said actual position information are compared, and sends to said PID module according to comparative result;
Said PID module is connected with said motor control unit, is used for generating control signal according to comparative result, and said control signal is sent to said motor control unit.
Wherein, the high precision potential device that links together for its main shaft and said steering wheel main shaft of said position feedback unit.
Wherein, said motor control unit is a H bridge driving circuit.
Wherein, said device also comprises over-current detection unit, is connected with the master control chip with said motor control unit respectively, is used to detect the current value through said motor control unit, and testing result is sent to said master control chip.
Compared with prior art; The advantage of the utility model is: the digital steering engine control device of the utility model has fully been avoided the influence of noises such as electromagnetism to digital steering wheel precise control property, electromagnetic compatibility; And this digital steering engine control device also provides multiple input interface, for the application of different distance requirement.Use arrival desired location that the steering wheel of the digital steering engine control device control of the utility model can be accurate, quick, stable and can be higher at electromagnetism, normally operation in the environment that noise is bigger, maximumly simultaneously can reach 12A through electric current.
Description of drawings
Fig. 1 is a kind of structural representation with dirigible with the device of high pulling torque steering wheel driving circuit of the utility model embodiment;
Fig. 2 is the structural representation of the signal input unit of the utility model embodiment;
Fig. 3 is the circuit diagram of the H bridge driving circuit of the utility model embodiment;
Fig. 4 is the circuit diagram of the over-current detection unit of the utility model embodiment;
Fig. 5 is the structural representation of the steering wheel part of the utility model embodiment.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the specific embodiment of the utility model is described in further detail.Following examples are used to explain the utility model, but are not used for limiting the scope of the utility model.
It is as shown in Figure 1 with the structure of the device of high pulling torque steering wheel driving circuit that the utility model embodiment a kind of has dirigible, comprises signal input unit, master control chip, motor control unit, position feedback unit and over-current detection unit;
Said signal input unit is connected with said master control chip, is used to receive steering wheel desired location information, and said desired location information is sent to said master control chip.
Said position feedback unit is connected with the master control chip with said steering wheel respectively, is used to detect the actual position of said steering wheel, and said actual position information is sent to said master control chip; In the present embodiment, said position feedback unit is the 3 or 5 circle high precision potential devices that its main shaft and steering wheel main shaft directly link together through external member, to guarantee the accuracy of steering wheel.
Said master control chip is connected with said motor control unit, is used for said desired location information and said actual position information are compared, and transmits control signal to said motor control unit according to comparative result; The chip of master control described in the present embodiment uses the AVR Mega16L micro controller system of High Performance, low-power consumption, and this micro controller system has characteristics such as many ADC inputs, many PWM producing method, has fully satisfied the requirement of the utility model.The chip of master control described in the present embodiment comprises position comparison module and PID module; Said position comparison module is connected with said signal input unit, position feedback unit and PID module respectively, is used for said desired location information and said actual position information are compared, and sends to said PID module according to comparative result; Said PID module is connected with said motor control unit, is used for generating control signal according to comparative result, and said control signal is sent to said motor control unit.
Said motor control unit is connected with said steering wheel, is used for the control signal according to said master control chip transmission, controls said steering wheel and moves to desired location; In the present embodiment, said motor control unit uses H bridge driving circuit, and H bridge driving circuit can be stablized, control accurately the motor rotation and can pass through bigger voltage and electric current.
Said over-current detection unit is connected with the master control chip with said motor control unit respectively, is used to detect the current value through said motor control unit, and testing result is sent to said master control chip.In the present embodiment, because of controlled object is different, the torsion that needs is also therefore different, also just might surpass 12A through electric current like this in the middle of steering wheel uses, and this module is to detect current value and send into the master to this value and make and control in the chip.
The structure of the signal input unit of the utility model embodiment is as shown in Figure 2, and said signal input unit comprises PWM input interface, coder input interface, serial ports input interface, first phase inverter, second phase inverter, RS232 serial port chip and incoming signal chooser unit; First phase inverter in the present embodiment and second phase inverter adopt a unified 74HC14 chip.
The input end of said first phase inverter is connected with said PWM input interface, and mouth is connected with the input end of said incoming signal chooser unit;
The input end of said second phase inverter is connected with said coder input interface, and mouth is connected with the input end of said incoming signal chooser unit;
The input end of said RS232 serial port chip is connected with said serial ports input interface, and mouth is connected with the input end of said incoming signal chooser unit;
The mouth of said incoming signal chooser unit is connected with said master control chip, is used for selecting at the output signal of said first phase inverter, second phase inverter and RS232 serial port chip that riches all the way delivers to said master control chip.
Wherein, PWM input interface, coder input interface and serial ports input interface are formed signal input part, and the utility model provides 3 kinds of different input modes, and the user can be according to the optional one of which of s own situation; First phase inverter, second phase inverter and RS232 serial port chip are the input port control chip, and radical function is conversion and shaping, to obtain more accurate desired location; Since these several kinds of incoming signals be or relation, the user can only select wherein a kind of control, so select through incoming signal chooser unit.
The circuit diagram of the H bridge driving circuit of the utility model embodiment is as shown in Figure 3.Wherein the base stage of NPN type aerotron Q5 and Q6 is a pwm signal H bridge input end, and input end is divided into two, controls the different directions that motor rotates respectively.When the needs motor then provides pwm signal to the respective direction input end when a side is rotated, the other end then is a low level, but two ends can not be high level entirely.
It is to open the master control aerotron of expection rotation direction and can guarantee that aerotron opens simultaneously that NPN type aerotron Q5 and Q6 mainly act on, and plays protection, vital function such as synchronous.
Resistance R 5, R6, R7, R8 are protective resistance, protection H bridge master control aerotron.
Aerotron Q1, Q2, Q3 and Q4 are the master control aerotron, are H bridge cores.To two aerotrons in intersection place motor is rotated through opening simultaneously to different directions, and can adjust the speed of motor according to the dutycycle of the PWM ripple of importing.
Fig. 4 is the circuit diagram of the over-current detection unit of the utility model embodiment.Wherein, the electrode input end of op amp U3A is the current detecting input end, links to each other with H bridge driving circuit; Resistance R 14 is a proportion resistor with R15, and the ratio decision of these two resistance is to the magnification factor of institute's measured value; Op amp U3A is used to amplify institute's measured value size and output; Signal Ii+ is a circuit output signal, sends to the master control chip.
Fig. 5 is the structural representation of the steering wheel part of the utility model embodiment, and wherein, steering wheel main shaft 1 is used to connect controlled device; Retarder 2 is made up of three layers of gear, and main purpose is for reducing rotative speed and adding high pulling torque, torsion; Potential device 3 is the critical elements of position feedback, and its main shaft and steering wheel main shaft directly connect together through external member, and the utility model uses 3 or 5 circle high precision potential devices, to guarantee the accuracy of steering wheel; DC machine 4 is the core drive parts, drives the main shaft rotation and makes controlled device reach the desired location.
When adopting the digital steering engine control device of present embodiment; The user provides the steering wheel desired location via PWM input interface (coder input interface, serial ports input interface) to the master control chip; This moment, motor began to rotate, and the position feedback unit begins to detect the steering wheel present position and sends into the master control chip to these data; The master control chip compares desired location and actual position, and comparative figure is sent among the PID handle, and sends into motor control unit to processing costs; When desired location is identical with actual position, then stop the steering wheel motion; If changing desired location, the user repeats this process.
The AVR Mega16L micro controller system that uses of master control chip wherein; Motor control unit uses the H bridge control circuit to guarantee that the master control chip is to steering wheel precise control property; Signal input circuit has used RS232 serial port chip and 74HC14 chip with to the incoming signal shaping; The position feedback unit uses 3～5 circle high precision potential devices to guarantee the accuracy and the adjustability of steering wheel position.
Concrete working process is following:
Input mode in the user by selecting signal input part (being made up of PWM input interface, coder input interface and serial ports input interface) provides the desired location signal to steering wheel, and the general 50Hz of use, 5V high level, scope are at 1～2ms when using the PWM input; Send in the master control chip after the shaping of this signal through input port control chip (adopting first phase inverter, second phase inverter and RS232 serial port chip respectively) and handle according to different input modes; This step effect is to obtain desired location signal accurately, removes the influence of noise to this signal; Obtain signal in the master control chip, calculated location value is also sent this value into PID, and this moment, PID was with the row operation of going forward side by side of detected actual position value contrast in this value and the position feedback unit, obtained 2 road PWM ripples via the master control chip then; The H bridge circuit that receives the PWM ripple drives the DC machine 4 among Fig. 5, rotates to predetermined direction, to reach desired location.
In Fig. 5, DC machine rotates and to reach steering wheel main shaft 1 via retarder 2, and the purpose of deceleration is to underspeed and strengthen steering wheel torsion; When steering wheel main shaft 1 rotated, potential device 3 also rotated and the real-time actual position to master control chip transmission steering wheel thereupon; When actual position was identical with desired location, H bridge driving circuit then can be received 2 lasting low level signals, so that steering wheel stops operating.
The digital steering engine control device of the utility model has fully been avoided the influence of noises such as electromagnetism to digital steering wheel precise control property, electromagnetic compatibility, and this digital steering engine control device also provides multiple input interface, the application that requires for different distance.Use arrival desired location that the steering wheel of the digital steering engine control device control of the utility model can be accurate, quick, stable and can be higher at electromagnetism, normally operation in the environment that noise is bigger, maximumly simultaneously can reach 12A through electric current.
The above only is the preferred implementation of the utility model; Should be understood that; For those skilled in the art; Under the prerequisite that does not break away from the utility model know-why, can also make some improvement and retouching, these improvement and retouching also should be regarded as the protection domain of the utility model.
Claims (6)
1. the device with dirigible with high pulling torque steering wheel driving circuit is characterized in that, said device comprises signal input unit, master control chip, motor control unit and position feedback unit;
Said signal input unit is connected with said master control chip, is used to receive steering wheel desired location information, and said desired location information is sent to said master control chip;
Said position feedback unit is connected with the master control chip with said steering wheel respectively, is used to detect the actual position of said steering wheel, and said actual position information is sent to said master control chip;
Said master control chip is connected with said motor control unit, is used for said desired location information and said actual position information are compared, and transmits control signal to said motor control unit according to comparative result;
Said motor control unit is connected with said steering wheel, is used for the control signal according to said master control chip transmission, controls said steering wheel and moves to desired location.
2. the device with dirigible with high pulling torque steering wheel driving circuit according to claim 1; It is characterized in that said signal input unit comprises PWM input interface, coder input interface, serial ports input interface, first phase inverter, second phase inverter, RS232 serial port chip and incoming signal chooser unit;
The input end of said first phase inverter is connected with said PWM input interface, and mouth is connected with the input end of said incoming signal chooser unit;
The input end of said second phase inverter is connected with said coder input interface, and mouth is connected with the input end of said incoming signal chooser unit;
The input end of said RS232 serial port chip is connected with said serial ports input interface, and mouth is connected with the input end of said incoming signal chooser unit;
The mouth of said incoming signal chooser unit is connected with said master control chip, is used for selecting at the output signal of said first phase inverter, second phase inverter and RS232 serial port chip that riches all the way delivers to said master control chip.
3. the device with dirigible with high pulling torque steering wheel driving circuit according to claim 1 is characterized in that said master control chip comprises position comparison module and PID module;
Said position comparison module is connected with said signal input unit, position feedback unit and PID module respectively, is used for said desired location information and said actual position information are compared, and sends to said PID module according to comparative result;
Said PID module is connected with said motor control unit, is used for generating control signal according to comparative result, and said control signal is sent to said motor control unit.
4. the device with dirigible with high pulling torque steering wheel driving circuit according to claim 1 is characterized in that, said position feedback unit is the high precision potential device that its main shaft and said steering wheel main shaft link together.
5. the device with dirigible with high pulling torque steering wheel driving circuit according to claim 1 is characterized in that, said motor control unit is a H bridge driving circuit.
6. according to each described device of claim 1 to 5 with dirigible with high pulling torque steering wheel driving circuit; It is characterized in that; Said device also comprises over-current detection unit; Be connected with the master control chip with said motor control unit respectively, be used to detect current value, and testing result is sent to said master control chip through said motor control unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202224988U CN202557793U (en) | 2011-06-28 | 2011-06-28 | Device with large-torque steering engine drive circuit for airship |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202224988U CN202557793U (en) | 2011-06-28 | 2011-06-28 | Device with large-torque steering engine drive circuit for airship |
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| CN202557793U true CN202557793U (en) | 2012-11-28 |
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| CN2011202224988U Expired - Fee Related CN202557793U (en) | 2011-06-28 | 2011-06-28 | Device with large-torque steering engine drive circuit for airship |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753535A (en) * | 2014-01-08 | 2014-04-30 | 深圳市优必选科技有限公司 | Device and method for controlling single-bus modular digital actuator of robot |
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2011
- 2011-06-28 CN CN2011202224988U patent/CN202557793U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753535A (en) * | 2014-01-08 | 2014-04-30 | 深圳市优必选科技有限公司 | Device and method for controlling single-bus modular digital actuator of robot |
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Granted publication date: 20121128 Termination date: 20130628 |