CN204615697U - Electric machine control system - Google Patents
Electric machine control system Download PDFInfo
- Publication number
- CN204615697U CN204615697U CN201520333171.6U CN201520333171U CN204615697U CN 204615697 U CN204615697 U CN 204615697U CN 201520333171 U CN201520333171 U CN 201520333171U CN 204615697 U CN204615697 U CN 204615697U
- Authority
- CN
- China
- Prior art keywords
- bridge
- switching device
- drive
- oxide
- semiconductor
- 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.)
- Active
Links
Landscapes
- Toys (AREA)
Abstract
The utility model provides a kind of electric machine control system, belongs to motor-drive technique field.This electric machine control system comprises: main control chip, two half-bridge driven chips, two H bridge type switching circuits and two drive motors; Wherein, main control chip couples two half-bridge driven chips, overlaps independently drive singal be supplied to each half-bridge driven chip respectively by two; Each half-bridge driven chip couples each switching device in a H bridge type switching circuit, and the signal that cut-offs drive singal being converted to each switching device is supplied to each switching device; Each H bridge type switching circuit inside couples a drive motors, is combined to form different drive circuits by cut-offfing of switching device.The utility model combination two is overlapped independently drive circuit and is driven two motors to carry out in the same way respectively or reverse rotation, for the driving robot of two wheel guide robot, in a controller, control speed and the position of two driving wheels simultaneously, achieve with the position-force control of overall machine manual control unit.
Description
Technical field
The utility model relates to motor-drive technique field, particularly a kind of electric machine control system.
Background technology
Traditional wheeled robot generally relies on three or four travel wheel to move, because robot may move to all directions, therefore wheeled robot generally at least uses a motor to drive travel wheel, also needs configuration steering to control moving direction simultaneously.
Adopt the mode of prior art, although motor-driven structure is relatively simple, then overall hardware cost is still higher to add steering.In addition, cooperatively interacting owing to turning to and driving needs, it is mobile to realize, and the Design and implementation for course changing control and drived control has higher requirement.Especially for Indoor Robot, because activity space is limited, robot build is less and obstacle is more, if turn to and drived control inaccuracy, the mobile of robot will be very clumsy, and the damage equipment that very easily collides.And the movement that will realize freedom and flexibility among a small circle turns to, must rely on closely cooperating of steering and drive system, but high-precision control system needs complicated control logic, the design that this also increases Whole Equipment realizes difficulty.
Utility model content
For the above-mentioned defect of prior art, how technical problem to be solved in the utility model realizes flexibly motor freely drives.
For achieving the above object, the utility model provides a kind of electric machine control system, comprising: main control chip, two half-bridge driven chips, two H bridge type switching circuits and two drive motors; Wherein,
Each H bridge type switching circuit comprises multiple switching device;
Main control chip couples two half-bridge driven chips, overlaps independently drive singal output to each half-bridge driven chip respectively by two;
Each half-bridge driven chip couples each switching device in a H bridge type switching circuit, is converted to by drive singal to cut-off signal and output to each switching device;
Each H bridge type switching circuit inside couples a drive motors, is combined to form different drive circuits by cut-offfing of switching device.
Preferably, described system also comprises:
Two travel wheel, each travel wheel and a drive motors couple, and advance respectively or retreat under the drive of drive motors.
Preferably, each H bridge type switching circuit comprises four switching devices, and be arranged at respectively on four arms of H bridge type switching circuit, drive motors is arranged on the bridge at H bridge type switching circuit center.
Preferably, the two ends of each H bridge type switching circuit also ground connection and connect driving voltage respectively, drive circuit is at driving voltage end, formed between drive motors and ground end.
Preferably, in four arms, to cut-off pattern identical for the switching device of every two-arm relatively, and it is contrary that the switching device of adjacent two-arm cut-offs pattern.
Preferably, described switching device is metal-oxide-semiconductor.
Preferably, described metal-oxide-semiconductor is NMOS tube or PMOS.
Preferably, half-bridge driven chip couples mutually with the control pole of each metal-oxide-semiconductor, cut-offs signal for controlling pole tension control signal.
Preferably, in each H bridge type switching circuit of described system:
Upper half-bridge and lower half-bridge adopt the metal-oxide-semiconductor of identical type, and the grid control signal low and high level opposed complementary of the lower half-bridge metal-oxide-semiconductor of the grid control signal of upper half-bridge metal-oxide-semiconductor and homonymy;
Or upper half-bridge and lower half-bridge adopt dissimilar metal-oxide-semiconductor, and the grid control signal of upper half-bridge metal-oxide-semiconductor is identical with the grid control signal low and high level of the lower half-bridge metal-oxide-semiconductor of homonymy.
Preferably, described system also comprises two encoders;
Two encoders are fixed on the rice counting wheel of electric machine rotational axis, driving wheel rotating shaft or independent suspension; Described two encoders export step-by-step counting on described main control chip, and main control chip obtains movement angle and the coordinate of robot.
In the technical solution of the utility model, combination two is overlapped independently drive circuit and is driven two motors to carry out in the same way or reverse rotation respectively, for the driving robot of two wheel guide robot, achieve in a controller, control two driving wheels in left and right speed and position simultaneously, improve system effectiveness, obtain the distance travelled coordinate of robot simultaneously, thus achieve with the position-force control of overall machine manual control unit.
Accompanying drawing explanation
Fig. 1 is the structural representation of the electric machine control system in an embodiment of the present utility model.
Embodiment
For making those skilled in the art understand the technical solution of the utility model better, below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Traditional wheeled robot relies at least three travel wheel to move, and wherein realizes forward/backward by a motor driving part point travel wheel, then by steering adjustment member travel wheel to control moving direction.Adopt the robot of prior art due to needs two cover system cooperating, complexity is higher and be unfavorable for that indoor are moved among a small circle, to Indoor Robot freely advance and maintenance causes larger obstacle.The utility model provides a kind of novel electric machine control system, by drive two travel wheel, can realize turning to freely and moving flexibly among a small circle.
As shown in Figure 1, in an embodiment of the present utility model, electric machine control system comprises: main control chip, two half-bridge driven chips, two H bridge type switching circuits and two drive motors; Wherein, main control chip couples two half-bridge driven chips, overlaps independently drive singal be supplied to each half-bridge driven chip respectively by two; Each half-bridge driven chip couples each switching device in a H bridge type shape switching circuit, and the signal that cut-offs drive singal being converted to each switching device is supplied to each switching device; Each H bridge type switching circuit inside couples a drive motors, is combined to form different drive circuits by cut-offfing of switching device.
In the preferred embodiment in figure 1, each H bridge type switching circuit comprises four switching devices, composition is similar to the structure of Wheatstone bridge (also known as wheatstone bridge), and just the resistance of four arms in Wheatstone bridge is replaced with switching device, drive motors is coupled on the bridge at circuit center.In addition, the two ends of each H bridge type switching circuit also ground connection and connect driving voltage (24V) respectively, cut-offfing of switching device makes circuit at driving voltage end, forms loop between drive motors and ground end.In four arms, to cut-off pattern identical for the switching device of every two-arm relatively, it is contrary that the switching device of adjacent two-arm cut-offs pattern, thus make can be formed respectively in circuit by contrary two loops (in Fig. 1, filled arrows and dotted arrow represent the sense of current in two kinds of different circuits respectively) of the drive motors sense of current, this makes drive motors to rotate and reverse respectively, and then makes the travel wheel of Electric Machine Control complete advance or backward movement.
Further, switching device is preferably metal-oxide-semiconductor, and half-bridge driven chip couples mutually with the control pole (grid) of each metal-oxide-semiconductor, and cut-offfing signal is Gate voltage control signals, preferably adopts square to provide.Metal-oxide-semiconductor can adopt NMOS tube or PMOS, the switching device of relative two-arm cut-offs the identical implementation of pattern two kinds: adopt the metal-oxide-semiconductor of identical type and adopt identical Gate voltage control signals, or adopts dissimilar metal-oxide-semiconductor and Gate voltage control signals low and high level opposed complementary; The switching device of adjacent two-arm cut-offs the contrary implementation of pattern also two kinds: adopt dissimilar metal-oxide-semiconductor and adopt identical Gate voltage control signals, or adopts the metal-oxide-semiconductor of facies type and Gate voltage control signals low and high level opposed complementary.Adopt preferred implementation of the present utility model, whole metal-oxide-semiconductors can be controlled with same Gate voltage control signals, or identical metal-oxide-semiconductor can be adopted to simplify circuit preparation.
By the motor of two drive, the utility model can drive two travel wheel to do the different actions advanced or retreat respectively, robot be can move freely also can realize turning to neatly outward, even can complete pivot stud, substantially increase the one-movement-freedom-degree of robot in activity space among a small circle, flexibility and reliability.
Two overlap independently drive singal is provided by main control chip, and main control chip preferably adopts embedded microcontroller, such as STM32 chip; Half-bridge driven chip preferably adopts IR2110 series of driver, such as IR2110S circuit.More preferably, main control chip also couples two encoders (Encoder), and two encoders are fixed on the rice counting wheel of electric machine rotational axis, driving wheel rotating shaft or independent suspension; Two encoders export step-by-step counting on described main control chip, and main control chip calculates rotational angle and distance, the velocity of rotation of driving wheel, and the rotational angle in conjunction with two groups of driving wheels obtains movement angle and the coordinate of robot.By the setting of encoder, not only can feed back speed and the position of driving wheel, also can obtain operating range and the coordinate information of robot simultaneously, achieve with the position-force control of overall machine manual control unit.
In the technical solution of the utility model, combination two is overlapped independently drive circuit and is driven two motors to carry out in the same way or reverse rotation respectively, for the driving robot of two wheel guide robot, achieve in a controller, control two driving wheels in left and right speed and position simultaneously, improve system effectiveness, obtain the distance travelled coordinate of robot simultaneously, thus achieve with the position-force control of overall machine manual control unit.
Be understandable that, the illustrative embodiments that above execution mode is only used to principle of the present utility model is described and adopts, the utility model is not limited thereto.For those skilled in the art, when not departing from spirit of the present utility model and essence, can make various modification and improvement, these modification and improvement are also considered as protection range of the present utility model.
Claims (10)
1. an electric machine control system, is characterized in that, described system comprises: main control chip, two half-bridge driven chips, two H bridge type switching circuits and two drive motors; Wherein,
Each H bridge type switching circuit comprises multiple switching device;
Main control chip couples two half-bridge driven chips, overlaps independently drive singal output to each half-bridge driven chip respectively by two;
Each half-bridge driven chip couples each switching device in a H bridge type switching circuit, is converted to by drive singal to cut-off signal and output to each switching device;
Each H bridge type switching circuit inside couples a drive motors, is combined to form different drive circuits by cut-offfing of switching device.
2. the system as claimed in claim 1, is characterized in that, described system also comprises:
Two travel wheel, each travel wheel and a drive motors couple, and advance respectively or retreat under the drive of drive motors.
3. the system as claimed in claim 1, is characterized in that, each H bridge type switching circuit comprises four switching devices, and be arranged at respectively on four arms of H bridge type switching circuit, drive motors is arranged on the bridge at H bridge type switching circuit center.
4. the system as claimed in claim 1, is characterized in that, the two ends of each H bridge type switching circuit also ground connection and connect driving voltage respectively, and drive circuit is at driving voltage end, formed between drive motors and ground end.
5. system as claimed in claim 3, is characterized in that, in four arms, to cut-off pattern identical for the switching device of every two-arm relatively, and it is contrary that the switching device of adjacent two-arm cut-offs pattern.
6. the system as described in claim 1 or 3, is characterized in that, described switching device is metal-oxide-semiconductor.
7. system as claimed in claim 6, it is characterized in that, described metal-oxide-semiconductor is NMOS tube or PMOS.
8. system as claimed in claim 6, it is characterized in that, half-bridge driven chip couples mutually with the control pole of each metal-oxide-semiconductor, cut-offs signal for controlling pole tension control signal.
9. system as claimed in claim 8, is characterized in that, in each H bridge type switching circuit of described system:
Upper half-bridge and lower half-bridge adopt the metal-oxide-semiconductor of identical type, and the grid control signal low and high level opposed complementary of the lower half-bridge metal-oxide-semiconductor of the grid control signal of upper half-bridge metal-oxide-semiconductor and homonymy;
Or upper half-bridge and lower half-bridge adopt dissimilar metal-oxide-semiconductor, and the grid control signal of upper half-bridge metal-oxide-semiconductor is identical with the grid control signal low and high level of the lower half-bridge metal-oxide-semiconductor of homonymy.
10. the system as claimed in claim 1, is characterized in that, described system also comprises two encoders;
Two encoders are fixed on the rice counting wheel of electric machine rotational axis, driving wheel rotating shaft or independent suspension; Described two encoders export step-by-step counting on described main control chip, and main control chip obtains movement angle and the coordinate of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520333171.6U CN204615697U (en) | 2015-05-21 | 2015-05-21 | Electric machine control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520333171.6U CN204615697U (en) | 2015-05-21 | 2015-05-21 | Electric machine control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204615697U true CN204615697U (en) | 2015-09-02 |
Family
ID=53968220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520333171.6U Active CN204615697U (en) | 2015-05-21 | 2015-05-21 | Electric machine control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204615697U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106877748A (en) * | 2015-10-26 | 2017-06-20 | 布罗泽汽车部件制造班贝克有限公司 | The method of electric installation, at least two electro-motors of electric car window jacking equipment and control |
-
2015
- 2015-05-21 CN CN201520333171.6U patent/CN204615697U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106877748A (en) * | 2015-10-26 | 2017-06-20 | 布罗泽汽车部件制造班贝克有限公司 | The method of electric installation, at least two electro-motors of electric car window jacking equipment and control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104986233B (en) | Track swing arm type obstacle-crossing robot | |
| CN101913311B (en) | Multiple motion mode robot and motion mode thereof | |
| CN101549494B (en) | Monomer automatic transformable robot with self-assembly characteristic | |
| CN205499115U (en) | Novel diversion removes device | |
| CN102055069B (en) | Electric tuning antenna control system and method | |
| KR101180872B1 (en) | Spherical robot with a pair of pendulums | |
| CN201784421U (en) | Robot with multiple movement modes | |
| CN106639443A (en) | Omni-directional-driving steering automated guided vehicle (AGV) | |
| CN205978318U (en) | Many nuts of ball screw unipolar linkage control device | |
| CN102053630A (en) | Device and system for controlling deviation correction of brushless direct current (DC) motor | |
| CN204615697U (en) | Electric machine control system | |
| CN106240628A (en) | A kind of line traffic control Four wheel independent steering system based on universal drive structure | |
| CN206475746U (en) | It is a kind of to be used for the differential drive device of industrial traveling vehicle | |
| CN106625553A (en) | Intelligent movement platform with multi-degree-of-freedom mechanical arm | |
| CN204701690U (en) | Foot combines with wheel the mobile robot designed | |
| CN107539163A (en) | A kind of drive device, diagonal wheel apparatus and its motion control method | |
| CN111497964B (en) | Distributed control system of electrically-driven quadruped robot | |
| CN106097567B (en) | A kind of guider for conveying flaky objects | |
| CN105035207B (en) | Flexible-obstacle-striding steering small vehicle | |
| CN103661085A (en) | Car headlamp follow-up steering arc driving system | |
| CN208376917U (en) | A kind of single driving steering wheel type omnidirectional AGV vehicle | |
| CN202818188U (en) | Wiper motor resetting device | |
| CN203766976U (en) | Multi-speed driving system for child electric vehicle | |
| CN204389979U (en) | A kind of turntable flat car for transportation image location system | |
| CN201784477U (en) | Wheel mechanism of electric forklift |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: Room 710, beijiayuan shopping center, Chaoyang District, Beijing Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |