CN203726493U - Control device of robot single bus modularized digital steering engine - Google Patents
Control device of robot single bus modularized digital steering engine Download PDFInfo
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- CN203726493U CN203726493U CN201420014371.0U CN201420014371U CN203726493U CN 203726493 U CN203726493 U CN 203726493U CN 201420014371 U CN201420014371 U CN 201420014371U CN 203726493 U CN203726493 U CN 203726493U
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- 238000004134 energy conservation Methods 0.000 description 1
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Abstract
The utility model relates to a control device of a robot single bus modularized digital steering engine. The control device comprises a steering engine control unit, a direct-current motor, a communication module, a speed reduction mechanism, a position sensor, a temperature sensor and a current protection circuit. The steering engine control unit calculates control parameters according to operation temperature, motor drive current and the position of the steering engine and outputs the control parameters to the motor control circuit. The communication module receives a control instruction of an upper computer and feeds the current position, speed and other information of the steering engine back to the upper computer. The speed reduction mechanism and an output mechanism convert high rotation speed and low torque of the motor into low rotation speed and high torque to be output. The position sensor, the temperature sensor and the current protection circuit are used for feeding the current position signal, operation temperature and the motor drive current of the steering engine back to the steering engine control unit respectively to form a closed-loop high-precision safe control. The control device has the advantages of having over-current protection, overvoltage protection and over-temperature protection functions, avoiding overload or over-temperature damage and being high in responding speed, free of dead zones and high in control precision.
Description
Technical field
Robot monobus small size high-torque Modularized digital steering wheel, belongs to automation field, and this steering wheel is widely used in the control of the joint of robot free degree, is used for controlling in addition the operating mechanism of attitude of flight vehicle at space flight, aviation control field.The utility model relates to a kind of steering engine control device and control method, especially relates to a kind of robot monobus Modularized digital steering engine control device and control method.
Background technology
Along with the expansion of the application of automation equipment in recent years, the demand of steering wheel is more and more extensive, and the volume of various application scenarios to steering wheel, moment of torsion, control mode, structure compatible etc. are all had higher requirement.Traditional digital rudder controller and simulation steering wheel basal conditions are that its volume of steering wheel that moment of torsion is large is also very large, bring more limitation to installation and structural configuration; And little its moment of torsion of steering wheel of volume is inadequate, its range of application is had a greatly reduced quality.
In the electronic circuit of tradition steering wheel, without MCU microcontroller, generally be all referred to as to simulate steering wheel.Its steering wheel is connected into Wheatstone bridge by power operational amplifier etc., according to receive between analog voltage control instruction and mechanical linkage position sensor (potentiometer) feedback voltage the differential voltage relatively producing, drive have brushless motor servomotor just/the anti-assigned address that runs to.
The shortcoming of this steering wheel is that efficiency is low, has reactionless district.Suppose a very brief power pulse, and then very long pause, can not apply how many excitations to motor in this case, and steering wheel possibly cannot rotate.Otherwise if a smaller control action of steering wheel output must send a certain amount of inceptive impulse to motor to it, steering wheel could move, this is very inefficient.Same reason, steering wheel is for the tiny action of emitter, and it is very blunt to react, or does not just react at all.This is also why to simulate steering wheel to have the existence in " reactionless district ".
Also occurred at present the digital rudder controller of a small amount of microcontroller, but be limited to the restriction of structure, the output torque (being steering wheel moment of torsion/steering wheel volume) of existing digital rudder controller unit volume is very little, causes its application to be very limited.
In addition, the control mode of traditional steering wheel adopts parallel control more, and many steering wheels obtain control signal and power supply signal from control module separately.Such shortcoming is that system cabling is very loaded down with trivial details in the time that system needs multiple steering wheel, and main control module can need interface very many, has limited the miniaturization of system, and topology layout is very limited.Especially in the high-end automation equipments such as articulated robot, its application is very limited.
Traditional steering wheel, in unloaded, does not have power to be transferred to steering wheel motor.When there being signal input that steering wheel is moved, or the rocking arm of steering wheel is when being subject to external force, and steering wheel can be reacted, to steering wheel motor driven power (voltage).This power 50 cycles in fact per second, be modulated into the maximum voltage of ON/OFF pulse, and produce the power of segment.In the time strengthening the width of each pulse, as the usefulness of electronic transmission just there will be, until maximum power/voltage is sent to motor, revolution makes steering wheel rocking arm point to a new position.Then, when steering wheel potentiometer tell electronic section it arrived the position of appointment, power pulse will reduce pulse width so, and make motor slow down.Until without any power input, motor stops completely.
Utility model content
The utility model is mainly to solve the existing traditional digital rudder controller of prior art and the little technical problem of simulation steering wheel unit volume output torque; A kind of small size high-torque is provided; The modularization monobus steering wheel control mode that it adopts, control signal is connected with power signal line flexibly, greatly simplify the structure of the controller mainboard of steering wheel, its connected mode on equipment can adopt series connection or in parallel, also a kind of robot monobus Modularized digital steering engine control device and control method very easily.
Above-mentioned technical problem of the present utility model is mainly solved by following technical proposals:
A kind of robot monobus Modularized digital steering engine control device, is characterized in that, comprising:
One steering wheel control module: comprise control module and circuit for controlling motor; The wherein feedback information of the control information of control module reception steering wheel and temperature, current protecting circuit, and calculate Electric Machine Control parameter according to control information and feedback information, then export control parameter to circuit for controlling motor;
One direct current generator: receive the control parameter information of circuit for controlling motor output, and according to the rotating speed rotation of specifying;
One communication module: for exporting the output signal of circuit for controlling motor to direct current generator signal input part;
One reducing gear: connect with direct current generator output shaft, for the high rotating speed of motor, the output of low moment of torsion are converted into the slow-speed of revolution, the output of high moment of torsion;
One output mechanism: be connected with reducing gear one end, export the slow-speed of revolution, high moment of torsion to steering wheel;
One position sensor: be connected with the other end of reducing gear, for motor speed signal, position signalling are fed back to circuit for controlling motor.
One temperature sensor: whether exceed setting threshold for feeding back current running temperature, and feedback information is sent to the control chip on steering wheel control module.
One current protecting circuit: whether exceed setting threshold for feeding back direct current generator drive current, and feedback information is sent to the control chip on steering wheel control module.
After the creationary employing said structure of the utility model:
1, because of the relation of microprocessor, digital rudder controller can, before power pulse is sent to steering wheel motor, be processed according to the parameter of setting the signal of input.This means the width of power pulse, that is to say the power of excitation motor, can adjust according to the sequential operation of microprocessor, to adapt to different functional requirements, and optimize the performance of steering wheel.
2, digital rudder controller response is fast, stops " reactionless district ".Excellent essential digital rudder controller sends power pulse (with traditional 50 pulse/sec, being 300 pulse/sec now relatively) with the frequency of 6 times of traditional steering wheels to motor, and motor is received more pumping signal at one time, and response speed is faster, rotates sooner.This also means the frequency response control signal that steering wheel motor can be higher, there is no " reactionless district "; Because driving pulse frequency is high, reaction becomes faster, accelerate and slow down also more rapidly, softer, controls finer and smoothlyer, thereby higher precision also can be provided and better fix strength.
3, band angle feedback and off normal debugging functions, the high conformity of steering wheel, 180 degree are controlled, and without the blind area of control, the scope of actual controllable angle is 0-180 degree, and lock-bit is accurate, and non-jitter, without overshoot.
4, there is overcurrent, overvoltage and overheat protector, can detect stall overcurrent and short-circuit condition and stop rapidly motor drive signal.
Therefore, the utlity model has following advantage: 1, maximum energy conversion efficiency (weighing the index of its energy conservation characteristic): its efficiency is generally more than 90%, and portioned product can reach more than 95%, is greatly better than common iron core motor (15-50%); 2, activate, brake rapidly, response is exceedingly fast: mechanical time constant is less than 28 milliseconds, and portioned product can reach in 10 milliseconds, and under the state that runs up of recommending in operation area, rotational speed regulation is sensitive; 3, reliable operation stability: adaptive ability is strong, self fluctuation of speed can be controlled in 2%; 4, electromagnetic interference is few: adopt brush, the commutator structure of high-quality, commutation spark is little, can remove additional means for anti-jamming from; 5, energy density is large: compared with the iron core motor of Same Efficieney, its weight, volume alleviate 1/3-1/2; The corresponding parameters such as rotating speed-voltage, rotary speed-torque, torque-current all present the linear relationship of standard.
Brief description of the drawings
Accompanying drawing 1 is structure principle chart of the present utility model.
Accompanying drawing 2 is the utility model cut-away views.
Accompanying drawing 3 is circuit diagrams of control module in the utility model.
Accompanying drawing 4 is circuit for controlling motor figure in the utility model.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, the technical solution of the utility model is described in further detail.
Embodiment:
Paper is hardware configuration of the present utility model once:
1, this steering wheel is made up of steering wheel control module, direct current generator, communication module, reducing gear, output mechanism, position sensor, temperature sensor and current protecting circuit.Structure control schematic diagram as shown in Figure 1.
2, steering wheel control module is the steering wheel control panel taking ATMEGA as main control chip; shown in steering wheel control panel, comprise actuating mechanism controls module (containing control algolithm), communication module, sensor feedback circuit module and overcurrent, overvoltage, protection module as shown in fig. 1.
3, communication module: steering wheel adopts asynchronous serial bus communication modes, can support that nearly 254 robot steering wheels become chain connection and upper machine communication not to interfere with each other by bus group.Each steering wheel can be set different node ID, and multiple steering wheels can be unified motion also can single independent control.
4, slow down and increase the reducing gear of turning round device employing high accuracy, multistage big retarding ratio, motor output torque can be increased to 200-300 doubly.
5, steering wheel adopts modularized design mode, and steering wheel control panel, the very convenient handover configurations of direct current generator, can flexible configuration according to different needs and application scenario.
When work, comprise the following steps:
Steps A: steering wheel control panel receives the control information of steering wheel, the i.e. angle on target of steering wheel, velocity of rotation.Working control signal is the PWM waveform of different duty, introduces for 30,31,32, No. 1 from Fig. 3 chips pin;
Step B: control module receives the feedback information from steering wheel position sensor information and temperature, current protecting circuit from pin two 3,24,25; proportionally, differential, integration Electric Machine Control algorithm calculate Electric Machine Control parameter, and control PWM waveform signal are sent to circuit for controlling motor.If temperature sensor feedback temperature exceedes setting threshold or current protecting circuit feedback current exceedes setting threshold, steering wheel control module will send reset control command, stops PWM output, makes steering wheel stop output, protection steering wheel;
Step C: the PWM motor control signal sending from control module, through circuit for controlling motor, drives direct current generator to rotate to assigned address according to the rotating speed of specifying.
Step D: direct current generator output shaft is connected with reducing gear, turns to the slow-speed of revolution, high moment of torsion by the high rotating speed of motor, low torque axis; Reducing gear output one end connects the output of whole steering wheel, and the other end connects the position sensor of steering wheel output, and motor speed signal, position signalling are fed back to control circuit by sensor, forms closed-loop control.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various amendments or supplements or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present utility model or surmount the defined scope of appended claims.
Claims (1)
1. a robot monobus Modularized digital steering engine control device, is characterized in that, comprising:
One steering wheel control module: comprise control module and circuit for controlling motor; The wherein feedback information of the control information of control module reception steering wheel and temperature, current protecting circuit, and calculate Electric Machine Control parameter according to control information and feedback information, then export control parameter to circuit for controlling motor;
One direct current generator: receive the control parameter information of circuit for controlling motor output, and according to the rotating speed rotation of specifying;
One communication module: for exporting the output signal of circuit for controlling motor to direct current generator signal input part;
One reducing gear: connect with direct current generator output shaft, for the high rotating speed of motor, the output of low moment of torsion are converted into the slow-speed of revolution, the output of high moment of torsion;
One output mechanism: be connected with reducing gear one end, export the slow-speed of revolution, high moment of torsion to steering wheel;
One position sensor: be connected with the other end of reducing gear, for motor speed signal, position signalling are fed back to circuit for controlling motor;
One temperature sensor: whether exceed setting threshold for feeding back current running temperature, and feedback information is sent to steering wheel control module;
One current protecting circuit: whether exceed setting threshold for feeding back direct current generator drive current, and feedback information is sent to steering wheel control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420014371.0U CN203726493U (en) | 2014-01-08 | 2014-01-08 | Control device of robot single bus modularized digital steering engine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420014371.0U CN203726493U (en) | 2014-01-08 | 2014-01-08 | Control device of robot single bus modularized digital steering engine |
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| CN203726493U true CN203726493U (en) | 2014-07-23 |
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| CN201420014371.0U Expired - Lifetime CN203726493U (en) | 2014-01-08 | 2014-01-08 | Control device of robot single bus modularized digital steering engine |
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Cited By (3)
| 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 |
| CN106313058A (en) * | 2016-11-09 | 2017-01-11 | 兰州大学 | Steering engine control device for outputting multipath high-precision pulse width modulation (PWM) signals |
| CN109696825A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | The control response method, apparatus and steering engine of steering engine |
-
2014
- 2014-01-08 CN CN201420014371.0U patent/CN203726493U/en not_active Expired - Lifetime
Cited By (3)
| 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 |
| CN106313058A (en) * | 2016-11-09 | 2017-01-11 | 兰州大学 | Steering engine control device for outputting multipath high-precision pulse width modulation (PWM) signals |
| CN109696825A (en) * | 2017-10-23 | 2019-04-30 | 深圳市优必选科技有限公司 | The control response method, apparatus and steering engine of steering engine |
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Granted publication date: 20140723 |