CN205594387U - Two -wheeled self -balancing car control circuit - Google Patents

Abstract

The utility model discloses a two -wheeled self -balancing car control circuit, including MCU, and the power module who pass through the power driving module connection that connects of MCU, motor driver module, motor encoder module, gesture detection module, wireless control module and OLED display module, power module adopts 12v's the chargeable nickel -hydrogen battery of 3600mhA, motor driver module adopts the TB6612FNG driving element, motor encoder module adopts operating voltage to be 12V, the incremental encoder of 1000 revolutions per minutes of maximum (top) speed, this encoder is as the speedtransmitter of two -wheeled self -balancing car, gesture detection module adopts 6 motions having integrated 3 gyroscopes and 3 accelerometer to handle subassembly MPU6050, the wireless control module adopts the wireless transceiver chip nRF24L01 of single -chip, MCU adopts STC12C5A60S2 series singlechip.

Description

A kind of double-wheel self-balancing car control circuit

Technical field

This utility model belongs to portable tool instead of walk technical field, particularly to a kind of two-wheeled from flat Weighing apparatus car control circuit.

Background technology

Double-wheel self-balancing dolly can also as a kind of brand-new, the portable vehicles, due to Two wheeler uses driven by power, and volume is little, and driver behavior is flexible, not only takes up room Less, convenient and practical, it is a kind of well selection for short distance trip, there is practical value. But, in prior art, double-wheel self-balancing dolly at cost and functionally have deficiency, Have impact on marketing.

Utility model content

The purpose of this utility model is to provide a kind of double-wheel self-balancing car control circuit, optimizes existing Design, facilitates parameter testing.

The technical solution of the utility model is, a kind of double-wheel self-balancing car control circuit, including MCU, and the power module connected by electric power driving module that connects of MCU, motor driven Dynamic model block, motor encoder module, attitude detection module, wireless control module and OLED Display module,

Power module uses the 3600mhA rechargeable nickel-hydrogen battery of 12v,

Motor drive module uses TB6612FNG driving element,

Motor encoder module uses running voltage to be 12V, the increasing that maximum (top) speed is 1000 revs/min Amount formula encoder, this encoder as the velocity sensor of double-wheel self-balancing car,

Attitude detection module uses the 6 axle fortune incorporating 3 axle gyroscopes and 3 axis accelerometers Dynamic process assembly MPU6050,

Wireless control module uses single-chip radio transmitting and receiving chip nRF24L01,

MCU uses STC12C5A60S2 series monolithic.

This utility model is same in a kind of double-wheel self-balancing car control circuit achieving a kind of optimization Time, facilitate the parameter testing to double-wheel self-balancing car.

Accompanying drawing explanation

Fig. 1 is the circuit composition schematic diagram of this utility model embodiment.

Detailed description of the invention

As it is shown in figure 1, a kind of double-wheel self-balancing car control circuit, including MCU, and The power module connected by electric power driving module that MCU connects, motor drive module, electricity Machine coder module, attitude detection module, wireless control module and OLED display module.

Power module uses 12v, 3600mhA Large Copacity rechargeable nickel-hydrogen battery, to ensure The abundance of power supply, power conversion module can provide the conversion 12V voltage of different voltage to provide To motor, 3.3V supplies mpu6050,5V voltage and is supplied to master chip and powers.

The TB6612FNG that motor drive module uses is a next-generation drive part, can be independent 2 direct current generators of double-direction control, it has the highest integrated level, is provided that enough defeated simultaneously Output capacity, runnability and energy consumption aspect also have advantage, therefore integrated, miniaturization In electric machine control system, it can be as preferable motor driver part.TB6612FNG is A DC motor driver part that semiconductor company of Toshiba produces, it has big electric current MOSFET-H bridge construction, two-channel circuit exports, can simultaneously drive 2 motors. The every passage of TB6612FNG exports the Continuous Drive electric current of the highest 1.2A, starts peak point current Reach 2A/3.2A (continuous impulse/pulse)；4 kinds of motor control models: forward/reverse/brake/stop Only；PWM supports that frequency is up to 100kHz；Holding state；In sheet, low-voltage testing circuit stops with heat Machine protection circuit；Operating temperature :-20～85 DEG C；SSOP24 minitype paster encapsulates.

The running voltage of motor encoder module is 12V, maximum (top) speed 1000 turns every point.Choosing Selecting the incremental encoder velocity sensor as balanced bi-wheel vehicle, this encoder can carry For biphase output, volume is little, light weight, and line number is many, it is possible to meet actual demand, additionally selects With the less travelling gear of the number of teeth, it is possible to the effective rotating speed phase improving photoelectric encoder and motor Ratio, makes the pulse adopted under identical speed more, this provides for improved the precision of velocity feedback. The corresponding displacement increment of each output signal of incremental optical-electricity encoder, but it can not lead to Cross its output pulse to distinguish the position that increment is concrete.It can produce equal with displacement value Pulse signal, its effect is to provide or discretization quantitation to continuous print displacement and position Move a kind of method for sensing of change, be the positional increment that certain datum mark is relative relatively, it is impossible to straight Connect the absolute position measuring its axle；The output phase of this photoelectric encoder with differ.Pulse signal, The direction rotated can be judged easily, as the pulse signal with reference to zero-bit facies marker, code Spiral and circle, be issued by a corresponding index pulse signal.Wherein index pulse is often referred to Show and accumulation is reset or mechanical location.This encoder is mainly by code-disc, light source, detection light Grid optical, electrical detection device and change-over circuit are constituted.

Attitude detection module MPU6050 incorporates 6 axle motion process for whole world the first Assembly, incorporates 3 axle gyroscopes, 3 axis accelerometers.Compared to multicompartment scheme, not only Eliminate time difference problem existing when combination gyroscope and accelerometer data, and decrease Substantial amounts of packaging space reduces the size of whole external member.Its its angular velocity full lattice sensing range is Positive and negative 250, positive and negative 500, positive and negative 2000, can be selected by programming, Accurately to follow the trail of quickly and action at a slow speed；And user can be at positive and negative 2g, positive and negative 4g, Accekeration is selected to measure scope between positive and negative 16g.Angle, angular speed calculation and angle control System is the intermediate portions in self-balancing control algolithm, and good Angle ambiguity algorithm produces stable Balance control effect, angle, angular velocity calculate by the peripheral circuit signal according to sensor Amplify and signal filtering etc. determines related angle and angular velocity conversion.

The nRF24L01 that wireless transport module uses be the single-chip produced by Nordic company without Line transceiving chip, works in the frequency of 2.4GHz～2.5GHz, built-in chip type frequency synthesizer, Functional module, output and the communication channels such as power amplifier, crystal oscillator and manipulator Can be configured by program.Launching the running parameter such as power and operating frequency can be easily The port set with single-chip microcomputer by 6 line I2C ports is connected.This utility model is wireless mould Block includes the sending module A being connected to send single-chip microcomputer, is connected to receive the reception mould of single-chip microcomputer Block B, achieves the parameter testing to two-wheeled balance car by this communication.

The STC12C5A60S2 series monolithic that single-chip microcomputer micro treatment module uses is macrocrystalline section The single-chip microcomputer of the single clock cycle that skill produces, is at a high speed, low-power consumption, superpower jamproof new one Generation 8051 single-chip microcomputers, instruction code completely compatible traditional 8051, but fast 8-12 times of speed.In Portion's integrated MAX810 Special reset circuit, 2 road PWM, 8 road 10-bit high speed A/D conversions, For motor control, strong jamming occasion.Just carry up to inside STC12C5A60S2 single-chip microcomputer 60K FLASH ROM, the memorizer user of this technique can in the way of electricity consumption moment erasing, Rewrite.And STC series monolithic supports serial ports program burn writing.It is clear that this list Sheet machine is the lowest to the requirement of development equipment, and the development time is also greatly shortened.In write single-chip microcomputer Program can also be encrypted, this protects your fruit of labour the most well.The design adopts With two STC12 series monolithics one as send PD value transmitter, another conduct The receiver that algorithm process and interruption are carried.

OLED display module, OLED i.e. Organic Light Emitting Diode.Module resolution is 128x64, the built-in booster circuit high pressure of display 8～14V (OLED light) and resetting Circuit, if so 3～5V power input voltages.I2C or spi bus is used to pass through, Circuit connects succinct.Small size brings little power consumption, as long as the electric current of about 3mA just can allow It shows content, consumes energy the least.The control mode of MCU is as follows: control mode is OLED Display controller is connected with certain the Parallel I/O Interface in Single Chip Microcomputer (SCM) system, and single-chip microcomputer passes through The operation room ground connection of this I/O interface is realized the control to OLED display controller.This Control mode system on hardware circuit needs 8 parallel-by-bit interfaces and OLED to show The data wire of controller connects, as data/address bus, in addition it is also necessary to 3 parallel-by-bit interfaces are made For timing control signal line RD, WR, RS or E, R/W, RS.This control mode Interface circuit unrelated with sequential.Have again owing to parallel interface is to be exclusively used in OLED display control The interface of device processed, and this parallel interface is from there being corresponding sheet selection of land in Single Chip Microcomputer (SCM) system Location, so the chip selection signal of OLED display controller can be directly grounded work gating state.

Claims (1)

1. a double-wheel self-balancing car control circuit, it is characterised in that include MCU, and MCU The power module connected by electric power driving module that connects, motor drive module, motor encoder Device module, attitude detection module, wireless control module and OLED display module,

Power module uses the 3600mhA rechargeable nickel-hydrogen battery of 12v,

Motor drive module uses TB6612FNG driving element,

Motor encoder module uses running voltage to be 12V, the increasing that maximum (top) speed is 1000 revs/min Amount formula encoder, this encoder as the velocity sensor of double-wheel self-balancing car,

Attitude detection module uses the 6 axle fortune incorporating 3 axle gyroscopes and 3 axis accelerometers Dynamic process assembly MPU6050,

Wireless control module uses single-chip radio transmitting and receiving chip nRF24L01,

MCU uses STC12C5A60S2 series monolithic.