CN205176527U - Many rounds of independent driven robot controllers - Google Patents
Many rounds of independent driven robot controllers Download PDFInfo
- Publication number
- CN205176527U CN205176527U CN201520981087.5U CN201520981087U CN205176527U CN 205176527 U CN205176527 U CN 205176527U CN 201520981087 U CN201520981087 U CN 201520981087U CN 205176527 U CN205176527 U CN 205176527U
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Abstract
The utility model discloses a many rounds of independent driven robot controllers belongs to automatic technology and equipment field, download debugging switching integrated circuit boards including main control unit, two from the procedures of an accuse unit and a complete network, the main control unit carries out communication connection through CAN communication interface with the host computer, download the debugging interface with the procedure is downloaded debugging switching integrated circuit board and is connected. The utility model provides an one can the three motor of individual drive from the accuse unit, has saved monitoring cost, the main control unit is communicated with mutually supporting through singlechip USART peripheral hardware and CAN controller from the accuse unit, has improved the reliability and communication speed of communication, the design has motor over -current protection hardware actuating circuit immediately, moves at once in the time of motor over -current, cuts off the overcurrent, the protection motor, from the control unit, logic control circuit adds, and only need all the way PWM signal and two general IO mouths just can realize electric machine control of the same kind, saved singlechip timer resource.
Description
Technical field
The utility model belongs to automatic technology and apparatus field, is specifically related to a kind of many wheel independent driving robot controllers.
Background technology
Along with fast development and the widespread use of intelligent robot technology, more and more robot instead of manpower, such as industrial robot, domestic robot, search and rescue robot etc.The structural design of above-mentioned intelligent robot purposes different driving wheel is also different, but all needs large driving force.In order to improve the power of robot, often each driving wheel motor drives separately the structure replacing axle interconnection system.Under this background, drive the Controller gain variations of multiple motor to become a field received much concern simultaneously.In existing control program; need an overhead control board and six driver elements, each drive motor takies a controller, and each controller is an independently control module; wherein comprise the control program of electric motor protecting, drive axle, communication interface and solidification, and can not secondary development.In this control model, master control board calorie requirement sends to six driver elements the closed-loop control that a large amount of controling parameters realizes synchro control and motor speed by CAN communication interface, needs reliable communication protocol and a large amount of call duration times.Therefore design a drives structure simple, cost is low, and driving force is strong, and many wheel robots controller that synchronism is strong is very meaningful.
Utility model content
For the above-mentioned technical matters existed in prior art, the utility model proposes a kind of many wheel independent driving robot controllers, reasonable in design, overcome the deficiencies in the prior art, structure is simple, with low cost, has good effect.
To achieve these goals, the utility model adopts following technical scheme:
Much more a kind of wheel independent driving robot controller, comprises a main control unit, two from control unit and a supporting download program debugging switching board;
Described main control unit comprises master control microcontroller, the first CAN controller, host interface unit and master control power supply unit of voltage regulation; Described host interface unit comprises a CAN communication interface, two USART interfaces, sensor assembly data acquisition interface, a download debugging interface and a power interface; Described master control power supply unit of voltage regulation is connected respectively with master control microcontroller and host interface unit; Described master control microcontroller is connected with the first CAN controller by USART interface; Described main control unit comprises two the first CAN controller, corresponding respectively with two USART interfaces of described host interface unit;
Described two from control unit all comprise from control microcontroller, the second CAN controller, three H-bridge drive circuit, three current detecting and current protecting circuit, three control signal arithmetic logic unit, two power switches, from control interface unit with from control power supply unit of voltage regulation; Described from control interface unit comprise a USART interface, three sensor assembly data acquisition interfaces, one download debugging interface and power interfaces; Described from control power supply unit of voltage regulation with from controlling master control microcontroller, three current detecting and current protecting circuit, three control signal arithmetic logic unit, two power switches, being connected respectively from control interface unit; Described from control microcontroller and three current detecting and current protecting circuit, three control signal arithmetic logic unit respectively by connection; Describedly to be connected with the second CAN controller from control microcontroller by USART interface;
Described main control unit is connected with host computer by CAN communication interface and communicates with host computer;
Described main control unit with communicated to connect respectively from controlling unit by the first CAN controller and the second CAN controller;
Described download debugging interface and described download program are debugged card extender and are linked and connect.
Preferably, described master control microcontroller selects 32 ARM core STM32F2 or STM32F4 series monolithic.
Preferably, described from control microcontroller select STM32F1 series monolithic.
Preferably, described H-bridge drive circuit adopts the pcb board card of design separately, is connected with from the base plate controlling unit by the L-type contact pin of double 2.54mm; Described each H-bridge drive circuit is connected with a motor by 5.08mmKF2EDGK-2P plug connector.
Preferably, described H-bridge drive circuit adopts first brachium pontis to be P channel MOS tube, and second brachium pontis is the H bridge drives structure of N-channel MOS pipe; Described P channel MOS tube adopts IFR4905; Described N-channel MOS pipe adopts IRF3205; Described P channel MOS tube and N-channel MOS all adopt IR4426 or IR4427 or IR4428 to drive.
Preferably, described master control power supply unit of voltage regulation and from control power supply unit of voltage regulation all select LM2940 and LM1117 voltage stabilizing chip, the output terminal of described LM2940 and the input end of LM1117 are by connection, and the output terminal of described LM1117 voltage stabilizing chip is connected with the quiet hot-tempered device of EMI.
Preferably, described first CAN controller and the second CAN controller all select TJA1040 or TJA1050CAN chip.
Preferably, described download debugging interface selects 2.0mmSW or JTAG contact pin, debugs card extender link and connect with described download program.
Preferably, wherein two input ends of two rejection gates link together as pwm signal control end by described control signal arithmetic logic unit, and two other input end is as rotating control end.
Preferably, described main control unit also comprises navigating instrument.
Preferably, described sensor assembly data acquisition interface adopts 14 pin 2.54mm ox horn seat interfaces.
The Advantageous Effects that the utility model brings:
1, one can drive three motors from control unit, replace a traditional control module to control a motor, save cost, and each control panel be reserved with download debugging interface, facilitates secondary development and debugging.
2, in telecommunication circuit design part, on sheet on microcontroller, USART controller is connected to CAN controller interface chip, the interface chip of both sides is interconnected, after this makes microcontroller send the data to CAN controller interface chip, data are transmitted with the form of difference, namely make full use of single-chip microcomputer Resources on Chip, improve again reliability and the traffic rate of communication, reduce communications cost; Through actual test, this data-transmission mode at the traffic rate of 115.2K, still transmitting under 2m communication distance.
3, in logic control circuit part, the input of two rejection gates links together as pwm signal control end by this circuit, two other input is as rotating control end, control signal acts on H-bridge circuit after logical operation, this makes Zhi Xu mono-road pwm signal and two controller general I/O mouths just achieve a road Electric Machine Control, save single-chip microcomputer timer resource, isolate the undesired signal of crosstalk main control chip in motor operation course simultaneously.
4, when motor Driver Card designs, in order to reduce pcb board area, H bridge drive part is with separately and is designed to little board, used L-type connection-peg to be welded in Driver Card, this project organization reduces the area of drive plate, and the plate expense of opening of PCB is reduced, also help the heat radiation of driving chip, improve the current-carrying capacity of Driver Card, and be convenient to safeguard and upgrading, make this system more be tending towards commercialization.
5, the H-bridge circuit in Driver Card adopts first brachium pontis to be P channel MOS tube, and second brachium pontis is the structure of N-channel MOS pipe; Wherein, the source electrode of first brachium pontis metal-oxide-semiconductor IRF4905 connects power supply, the source ground of second brachium pontis metal-oxide-semiconductor IRF3205, and source level is respectively 0V and VCC, and applying low and high level at the gate pole of metal-oxide-semiconductor can drive; Adopt second brachium pontis N-channel MOS pipe gate-drive of two panels chip I R4426, realize the driving of whole H-bridge circuit metal-oxide-semiconductor, overall driving circuit is simple, can drive direct current generator four quadrant running.
6, overcurrent protection hardware makes an immediate response circuit; coordinate the logic control part of driving circuit; realize hardware defencive function immediately, avoid excess current in software computation process to cause damage to motor, and this current foldback circuit defines the size of protective current by the mode that DAC exports.
7, controller can control at most the robot of six driving wheels, lower than 6 also can control, only needs symmetrical distribution to control mouth.
8, be connected with emulator by download program debugging interface card extender, save Control card PCB surface and amass, be conducive to reducing controller volume, reduce PCB making sheet expense, total interface employing standard plug connector, plugs easily, convenient debugging and popularization.
Accompanying drawing explanation
Fig. 1 is the theory diagram of a kind of many wheel independent driving robot controllers of the utility model.
Fig. 2 is the structural drawing of the download program debugging switching board of a kind of many wheel independent driving robot controllers of the utility model.
Fig. 3 is the control signal logical operation circuit figure of a kind of many wheel independent driving robot controllers of the utility model.
Fig. 4 is the master & slave control unit communication interface connection diagram of a kind of many wheel independent driving robot controllers of the utility model.
Fig. 5 is the current foldback circuit figure of a kind of many wheel independent driving robot controllers of the utility model.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail:
As shown in Figure 1, main control unit be responsible for coordination two from control unit control the synchronous operation of motor, complete the CAN communication with host computer, completed the collection of GPS positioning signal by sensor, and the collection of environmental parameter; Each can three motors of control side at most from control unit, complete the closed-loop control of the overcurrent protection of each motor, current detecting, speed acquisition and motor speed electric current.
First from the first motor, the second motor, the 3rd motor of controlling unit controls robot side.
Second from the 4th motor, the 5th motor, the 6th motor of controlling unit controls robot opposite side.
As shown in Figure 2, emulator standard 20 pin jtag interface is connected to 20 pin standard interfaces above download program debugging switching board, jtag interface is the double contact pin of 2.54mm standard; 2.0mm gauge pin below switching board can be single 4 pins also can be double 10 pins, according to debugging interface choice criteria SW pattern or the standard JTAG pattern of artificial debugging.
Control signal logical operation circuit in many wheels independent driving robot controller as shown in Figure 3, wherein two input ends of two rejection gates link together as pwm signal control end by this circuit, two other input end is as rotating forward control port and rotating control port, control signal acts on H-bridge circuit after logical operation, this makes Zhi Xu mono-road pwm signal and two controller general I/O mouths just achieve a road Electric Machine Control, save single-chip microcomputer timer resource, isolate the undesired signal of crosstalk main control chip in motor operation course simultaneously.Wherein, the output of first rejection gate and input signal are connected respectively to upper left brachium pontis and the bottom right brachium pontis of H bridge; The output of second rejection gate and input signal are connected respectively to upper right brachium pontis and the lower-left brachium pontis of H bridge.
As shown in Figure 4, main control unit and be connected respectively to the input end of corresponding CAN controller interface chip from the master control microcontroller control unit with from the USART controller control microcontroller, main control unit and interconnected from the output terminal of CAN controller interface chip corresponding to control unit, this makes master control microcontroller and after microcontroller sends the data to corresponding CAN controller interface chip from control, data are transmitted with the form of difference, then realize data transmission in conjunction with the multi-microcontroller communication pattern that USART and DMA coordinates.
Current foldback circuit as shown in Figure 5, this circuit arranges output voltage by the DAC on single-chip microcomputer, is compared by the sampled voltage of output voltage and electric current, when sampled voltage is less than DAC output voltage, or the normal output pwm signal of door; Otherwise export and be set to high level; the PWM input of H-bridge circuit can become high level; and then cause the input end of two of control signal logical operation circuit rejection gates to have high level; export and dragged down; in addition driving chip IR4426 exports input inversion; metal-oxide-semiconductor gate pole is turned off by setting high, and current of electric is cut off, and completes overcurrent protection function.
Certainly; above-mentioned explanation is not to restriction of the present utility model; the utility model is also not limited in above-mentioned citing, the change that those skilled in the art make in essential scope of the present utility model, remodeling, interpolation or replacement, also should belong to protection domain of the present utility model.
Claims (10)
1. take turns an independent driving robot controller more, it is characterized in that: comprise a main control unit, two from control unit and a supporting download program debugging switching board;
Described main control unit comprises master control microcontroller, the first CAN controller, host interface unit and master control power supply unit of voltage regulation; Described host interface unit comprises a CAN communication interface, two USART interfaces, sensor assembly data acquisition interface, a download debugging interface and a power interface; Described master control power supply unit of voltage regulation is connected respectively with master control microcontroller and host interface unit; Described master control microcontroller is connected with the first CAN controller by USART interface;
Described two from control unit all comprise from control microcontroller, the second CAN controller, three H-bridge drive circuit, three current detecting and current protecting circuit, three control signal arithmetic logic unit, two power switches, from control interface unit with from control power supply unit of voltage regulation; Described from control interface unit comprise a USART interface, three sensor assembly data acquisition interfaces, one download debugging interface and power interfaces; Described from control power supply unit of voltage regulation with from controlling master control microcontroller, three current detecting and current protecting circuit, three control signal arithmetic logic unit, two power switches, being connected respectively from control interface unit; Described from control microcontroller and three current detecting and current protecting circuit, three control signal arithmetic logic unit respectively by connection; Describedly to be connected with the second CAN controller from control microcontroller by USART interface;
Described main control unit is connected with host computer by CAN communication interface and communicates with host computer;
Described main control unit with communicated to connect respectively from controlling unit by the first CAN controller and the second CAN controller;
Described download debugging interface and described download program are debugged card extender and are linked and connect.
2. many wheel independent driving robot controllers according to claim 1, is characterized in that: described master control microcontroller selects 32 ARM core STM32F2 or STM32F4 series monolithic.
3. many wheel independent driving robot controllers according to claim 1, is characterized in that: describedly select STM32F1 series monolithic from control microcontroller.
4. many wheel independent driving robot controllers according to claim 1, is characterized in that: described H-bridge drive circuit adopts the pcb board card of design separately, is connected with from the base plate controlling unit by the L-type contact pin of double 2.54mm; Described each H-bridge drive circuit is connected with a motor by 5.08mmKF2EDGK-2P plug connector.
5. many wheel independent driving robot controllers according to claim 1, it is characterized in that: described H-bridge drive circuit adopts first brachium pontis to be P channel MOS tube, second brachium pontis is the H bridge drives structure of N-channel MOS pipe; Described P channel MOS tube adopts IFR4905; Described N-channel MOS pipe adopts IRF3205; Described P channel MOS tube and N-channel MOS all adopt IR4426 or IR4427 or IR4428 to drive.
6. many wheel independent driving robot controllers according to claim 1, it is characterized in that: described master control power supply unit of voltage regulation and from control power supply unit of voltage regulation all select LM2940 and LM1117 voltage stabilizing chip, the output terminal of described LM2940 and the input end of LM1117 are by connection, and the output terminal of described LM1117 voltage stabilizing chip is connected with the quiet hot-tempered device of EMI.
7. many wheel independent driving robot controllers according to claim 1, is characterized in that: described first CAN controller and the second CAN controller all select TJA1040 or TJA1050CAN chip.
8. many wheel independent driving robot controllers according to claim 1, is characterized in that: described download debugging interface selects 2.0mmSW or JTAG contact pin, debug card extender link and connect with described download program.
9. many wheel independent driving robot controllers according to claim 1, it is characterized in that: wherein two input ends of two rejection gates link together as pwm signal control end by described control signal arithmetic logic unit, and two other input end is as rotating control end.
10. many wheel independent driving robot controllers according to claim 1, is characterized in that: described main control unit also comprises navigating instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520981087.5U CN205176527U (en) | 2015-12-01 | 2015-12-01 | Many rounds of independent driven robot controllers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520981087.5U CN205176527U (en) | 2015-12-01 | 2015-12-01 | Many rounds of independent driven robot controllers |
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| Publication Number | Publication Date |
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| CN205176527U true CN205176527U (en) | 2016-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520981087.5U Expired - Fee Related CN205176527U (en) | 2015-12-01 | 2015-12-01 | Many rounds of independent driven robot controllers |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054896A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Intelligent navigation robot dolly system |
| CN111162741A (en) * | 2019-12-23 | 2020-05-15 | 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) | Digital power amplifier suitable for active-towed transmit line array and matched filtering method |
| CN112187120A (en) * | 2020-08-21 | 2021-01-05 | 天津市天波科达科技有限公司 | Output circuit of PWM-saving control port |
| CN114800507A (en) * | 2022-04-27 | 2022-07-29 | 北京龙诚智航科技有限公司 | Master-slave mechanical arm control system |
-
2015
- 2015-12-01 CN CN201520981087.5U patent/CN205176527U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054896A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Intelligent navigation robot dolly system |
| CN111162741A (en) * | 2019-12-23 | 2020-05-15 | 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) | Digital power amplifier suitable for active-towed transmit line array and matched filtering method |
| CN111162741B (en) * | 2019-12-23 | 2023-07-25 | 上海船舶电子设备研究所(中国船舶重工集团公司第七二六研究所) | Digital power amplifier and matched filtering method |
| CN112187120A (en) * | 2020-08-21 | 2021-01-05 | 天津市天波科达科技有限公司 | Output circuit of PWM-saving control port |
| CN114800507A (en) * | 2022-04-27 | 2022-07-29 | 北京龙诚智航科技有限公司 | Master-slave mechanical arm control system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160420 Termination date: 20161201 |