CN205601917U - 4 wheel driven intelligence car steering engine control circuit - Google Patents
4 wheel driven intelligence car steering engine control circuit Download PDFInfo
- Publication number
- CN205601917U CN205601917U CN201620273251.1U CN201620273251U CN205601917U CN 205601917 U CN205601917 U CN 205601917U CN 201620273251 U CN201620273251 U CN 201620273251U CN 205601917 U CN205601917 U CN 205601917U
- Authority
- CN
- China
- Prior art keywords
- control unit
- unit
- steering wheel
- pin
- drive plate
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model provides a 4 wheel driven intelligence car steering engine control circuit, includes the drive plate unit, be equipped with drive plate power module on the drive plate unit, drive plate power module connects 7.2V battery supply. Be equipped with right side wheel the control unit, revolver the control unit on the drive plate unit, right side wheel the control unit, revolver the control unit connect 7.2V battery supply respectively. Be equipped with the steering engine control unit on the drive plate unit, steering engine control unit connection 6V constant voltage power supply. Be equipped with sensor plate unit, MCU microprocessor unit on the drive plate unit, sensor plate unit, MCU microprocessor unit connect 5V constant voltage power supply respectively. The PWM signal output pin that interface CN1 connects MCU microprocessor unit's IO mouth is connected to the steering wheel of steering engine control unit. The utility model discloses can satisfy characteristics such as steering wheel electromechanical time constant is little, breakaway torque is big, the linearity is good, the reaction is fast, reduction sluggishness.
Description
Technical field
This utility model relates to a kind of 4 wheel driven intelligent vehicle control circuit, particularly a kind of 4 wheel driven intelligent vehicle helm control circuit.
Background technology
Along with intelligence sciemtifec and technical sphere development, the development and utilization of robot has arrived at increasingly automated development trend.4 wheel driven intelligent vehicle, as a kind of small scale robot, can adjust the most accurately according to road conditions turn to and travel speed if developing 4 wheel driven intelligent vehicle, and this application prospect and value are inestimable.And the steering wheel caing be compared to " steering wheel " plays decisive role on 4 wheel driven intelligent vehicle direction controlling.Steering wheel (Servo Motor) has another name called servomotor, is the driver of a kind of (angle) position servo, receives certain control signal, export certain angle, it is adaptable to needs angle to be continually changing and can keep the system controlled.The such as direction controlling of anthropomorphic robot arm and lower limb, Che Mo and model plane.But intelligent vehicle can be caused to turn to chaotic problem for current Angle ambiguity is insensitive, the most urgently need R & D design one high accuracy helm control circuit, purpose is to change operating angle in order to steering wheel can react the most accurately, completes a series of action, it is achieved control purpose.
The control signal of steering wheel is actually a pulse width modulating signal (pwm signal), typically utilizes the interruption of single-chip microcomputer timer internal to produce required control signal.Steering wheel with 20ms as cycle, 0.5ms～2.5ms be the recurrent pulse square wave of pulsewidth as control signal, corresponding corner is 0～180 °.This signal can be by FPGA device, analog circuit or MCU(microprocessor) produce, but use FPGA relatively costly, then circuit is realized more complicated with analog circuit, in view of the simple and practical property of Financial cost, the most commonplace is mainly to use MCU(microprocessor) realize servos control method, in the control circuit of steering wheel, do not take the pwm signal that anti-interference is stronger into consideration, the most urgently need to design a kind of high accuracy helm control circuit, it is possible not only to obtain ideal control signal, and improves the control accuracy of mechanical arm.
How to design high-precision helm control circuit enable 4 wheel driven intelligent vehicle or robot independently, smoothly fast running, reach home with the shortest time and will become the hot issue of research.Intelligent vehicle is operationally, high-precision helm control circuit can realize external signal compared with reference signal, judge direction and size, thus produce the turn signal of motor, this is necessary for requiring that steering wheel is operationally, according only to the angle residing for the pulsewidth decision output shaft of PWM control signal or position, and not torque suspension and the impact of other disturbing signals.In the control system of intelligent vehicle, course changing control is a complicated problem, its reason be control object steering wheel be a Nonlinear System With Hysteresis Characteristics.Therefore, based on the problem that presently, there are, design a kind of high-precision helm control circuit and can not only realize being converted into by voltage signal torque to drive control object, but also can realize that steering wheel electromechanical time constant is little, breakaway torque is big, the linearity is good, react the feature such as fast.
Summary of the invention
Based on drawbacks described above, this utility model provides a kind of 4 wheel driven intelligent vehicle helm control circuit, and MCU can not only be utilized to realize pwm signal output, to reach function voltage signal being converted into torque to drive control object；But also the features such as steering wheel electromechanical time constant is little, breakaway torque is big, the linearity is good, it is fast to react, minimizing is sluggish can be met.This circuit simple and stable strong interference immunity so that control system more identification ability, thus more precisely control speed and the corner of steering wheel.
This utility model be the technical scheme is that
A kind of 4 wheel driven intelligent vehicle helm control circuit, including driving Slab element, described driving Slab element is provided with driving plate supply module, drives plate supply module to connect 7.2V battery supply.Described driving Slab element is provided with right wheel control unit, revolver control unit, and right wheel control unit, revolver control unit connect 7.2V battery supply respectively.Described driving Slab element is provided with servos control unit, and servos control unit connects 6V regulated power supply.Described driving Slab element is provided with sensor board unit, MCU microprocessor unit, and sensor board unit, MCU microprocessor unit connect 5V regulated power supply respectively.The steering wheel of servos control unit connects the pwm signal output pin that interface CN1 connects the I/O mouth of MCU microprocessor unit.
Input signal port connects the output pwm signal pin P0 end of MCU microprocessor unit I/O mouth, and P0 end one tunnel connects resistance R1 one end, the pin 1 of another road connection Schmidt trigger U1, resistance R1 other end ground connection.The pin 14 of Schmidt trigger U1 connects pin 7 ground connection of+5VCC, Schmidt trigger U1, and the pin 2 of Schmidt trigger U1 connects the input of crystal triode TR1, and the earth terminal ground connection of crystal triode TR1, outfan connect the PWM syringe needle of socket CN1；
Electric capacity C1 one end connects the pin 14 of Schmidt trigger U1, other end ground connection.Resistance R2 one end connection+5VCC, the other end connects the outfan of crystal triode TR1.The pin 1 of three-terminal voltage-stabilizing chip U2 connects the pin 1 of adjustable potentiometer VR1, and the second tunnel connects resistance R3 one end, and the pin 3 of adjustable potentiometer VR1 is directly grounded.The pin 2 of three-terminal voltage-stabilizing chip U2 is voltage input end, and a road is connected with the resistance R3 other end, the pin interface 3 of another road tie jumper JP1.Pin 3 one tunnel of three-terminal voltage-stabilizing chip U2 connects DC motor Driver 7.2V and powers pin interfaces VBAT, and another road connects electric capacity C2 one end, electric capacity C2 other end ground connection.The pin interface 3 of JP1 connects electric capacity C3 one end, and the electric capacity C3 other end is directly grounded.
Pin interface 2 one tunnel of JP1 connects the pin 2 of socket CN1, and another road connects the positive pole of electrochemical capacitor C4, the minus earth of electrochemical capacitor C4.
This utility model one 4 wheel driven intelligent vehicle helm control circuit, the pwm control signal quality received due to steering wheel directly affects the control effect of steering wheel, by different phase inverter chips, pwm signal is optimized during design, the PWM square-wave signal of generation standard, add whole system to the capacity of resisting disturbance during servos control, and use hardware closed-loop method to control the steering wheel circuit that pivoted arm lengthens, the problem that can effectively solve steering wheel response lag, improves Path Recognition ability and the capacity of resisting disturbance of intelligent vehicle system.Through test repeatedly, the described high-precision helm control circuit of 4 wheel driven intelligent vehicle, not only improve the control accuracy of mechanical arm, it is obvious that signal controls effect, capacity of resisting disturbance is strong, improves steering wheel response speed, thus has more precisely controlled speed and the corner of steering wheel.
Accompanying drawing explanation
Fig. 1 is module connection figure of the present utility model；
Fig. 2 is control flow chart of the present utility model；
Fig. 3 is control circuit figure of the present utility model.
Detailed description of the invention
A kind of 4 wheel driven intelligent vehicle helm control circuit, including driving Slab element 3, described driving Slab element 3 is provided with driving plate supply module 8, drives plate supply module 8 to connect 7.2V battery supply.Plate supply module 8 is driven to be provided with chip power supply module 7:+5VCC.Described driving Slab element 3 is provided with right wheel control unit 4, revolver control unit 5, and right wheel control unit 4, revolver control unit 5 connect 7.2V battery supply respectively.Described driving Slab element 3 is provided with servos control unit 6, and servos control unit 6 connects 6V regulated power supply.Described driving Slab element 3 is provided with sensor board unit 1, MCU microprocessor unit 2, and sensor board unit 1, MCU microprocessor unit 2 connect 5V regulated power supply respectively.The steering wheel of servos control unit 6 connects the pwm signal output pin that interface CN1 connects the I/O mouth of MCU microprocessor unit 2.
By the battery supply of 7.2V to driving plate supply module 8 to power, owing to needed for each unit module in system, supply voltage is different, so the distribution of power supply to be carried out, wherein, the 7.2V of system also to supply motor-driven right wheel control unit 4, revolver control unit 5, designing and driving Slab element 3 and the 6V regulated power supply supply servos control unit 6 through mu balanced circuit, driving Slab element 3, it supplies MCU microprocessor unit 2 and sensor board unit 1 through the 5V of reduction voltage circuit in design.Owing to steering wheel rotational angle range is in 0～180 °, can only be by being controlled the angle of steering wheel by the dutycycle of pwm signal, the PWM then driving steering wheel in Slab element 3 to connect interface CN1 draws pin, design directly connect the pwm signal output pin of the I/O mouth of MCU microprocessor unit 2 on the signal control line road driving Slab element 3.As can be seen here, the persistent period of high level determines the angle of steering wheel, and steering wheel corner is directly proportional with the pulse width variation of input signal, and the pwm control signal quality that steering wheel is received directly affects the control effect of steering wheel.
Specifically describe as shown in Figure 2, press 4 wheel driven intelligent vehicle on and off switch, system starts to start, MCU microprocessor unit 2 timer internal of output pwm signal starts to initialize, then MCU microprocessor unit 2 starts intervalometer, and the sensor board unit 1 being equivalent to " headstock " starts to identify path, carries out angle detection, if Last_Angle is more than the Angle_Feedback set, then steering wheel is turned right；Otherwise, steering wheel turns left, then compare with the difference table importing to MCU microprocessor unit 2 internal storage in advance after the result detected is processed by sensor board unit 1 and feed back again, pwm signal is exported to the control line of steering wheel by layout circuit by last MCU microprocessor unit 2, and control line is through driving the CN1 signal line of Slab element 3 to be connected to the pwm signal output pin of MCU microprocessor I/O mouth, so it is repeatedly detected.Power line+6V and ground wire are for providing the direct current generator within steering wheel and controlling the energy needed for circuit, hardware closed-loop method is used to control the steering wheel circuit that pivoted arm lengthens, the problem that can effectively solve steering wheel response lag, improves Path Recognition ability and the capacity of resisting disturbance of intelligent vehicle system.
Only normally work under+6V voltage owing to driving steering wheel in Slab element 3 to connect interface CN1, and system power supply output voltage is 7.2V, then need a peripheral voltage change-over circuit that supply voltage is converted to the running voltage of steering wheel.In order to obtain ideal control signal, in order to more precisely control speed and the corner of steering wheel, the main circuit used includes logical signal input circuit and voltage conversion circuit.Its physical circuit is as shown in Figure 3, input signal port meets the I/O mouth output pwm signal pin P0 of MCU microprocessor, described P0 end one road connecting resistance R1, one tunnel connects the pin 1 of Schmidt trigger U1, wherein resistance R1 other end ground connection, effect is shunting, does not allow the incoming signal level of Schmidt trigger U1 too high.Schmidt trigger U1 pin 14 meets VCC(+5V), pin 7 ground connection, pin 2 connects the input of crystal triode TR1, Schmidt trigger U1 uses the optocoupler of Schmidt trigger HD74HC14 to receive shaping circuit, mainly by up and down along relatively slow or strange become bigger digital signal and become square and be beneficial to digital signal receiving circuit identification, produce the PWM square-wave signal of standard.Crystal triode TR1 is crystal triode, input is connected with Schmidt trigger U1 pin 2, one end is directly grounded, one end is directly connected to the CN1 pwm signal control line as steering wheel, crystal triode TR1 effect is that small-signal is zoomed into the signal of telecommunication that range value is bigger, has Current amplifier effect.Pwm signal owing to being exported by the I/O mouth of MCU microprocessor has carried out anti-phase during being transmitted by Schmidt trigger U1, so must carry out anti-phase through phase inverter again from Schmidt trigger U1 signal out, again because square-wave signal is after optocoupler transmits, lead and trail edge can be distorted, the signal that Schmidt trigger U1 is transmitted by crystal triode TR1 carries out shaping, the PWM square-wave signal of generation standard, adds whole system to the capacity of resisting disturbance during servos control.
Electric capacity C1 mono-terminates the pin 14 of Schmidt trigger U1, meets VCC(+5V the most altogether), the other end is directly grounded, and acts primarily as filter action.Resistance R2 mono-terminates VCC(+5V), the output pin of another termination TR1, there is the accentuator function of current, promote signal to become apparent from.Owing to needing a peripheral voltage change-over circuit that 7.2V supply voltage is converted to the running voltage+6V of steering wheel, then use three-terminal voltage-stabilizing chip U2, three-terminal voltage-stabilizing chip U2 pin 1 is the adjustable end of voltage, and a road connects adjustable potentiometer VR1 pin 1, and a road connects resistance R3 one end；Described adjustable potentiometer VR1 pin 3 is directly grounded, before intelligent vehicle is the most not actuated, must be by slowly changing the size of adjustable potentiometer VR1, recall the input burning voltage+6V of steering wheel, otherwise can damage steering wheel because of overtension, so by slow tune potentiometer so that service voltage is more stable, thus reach high accuracy effect.The pin 2 of three-terminal voltage-stabilizing chip U2 is voltage output end; one tunnel is connected with the resistance R3 other end; the pin interfaces 3 of one road tie jumper JP1; described U2 pin 3 is voltage input end; one tunnel connects DC motor Driver 7.2V and powers pin interfaces VBAT; what one tunnel connected is to prevent self-excitation capacitance C2, electric capacity C2 other end ground connection, plays the effect of protection U1.Described wire jumper JP1 Main Function be facilitate circuit be altered without rewiring; add overcurrent capability; in general depending on will be according to the service condition of U1; the U1 pin interface 1 that reason is described is connected to DC motor Driver and powers pin interfaces VBAT; voltage is more than 6V; so needing to be directly connected to pin 2 and the pin 3 of U1 by wire, protect the effective+6V voltage of CN1 output.The one end also preventing self-excitation capacitance C3 being connected with JP1 pin interface 3, the described C3 other end is directly grounded.There is the pin 2 of CN1 on the road being connected with JP1 pin interface 2, and+6V the voltage that supply steering wheel is stable, another road is connected with the positive pole of C4.Described C4 is electrochemical capacitor, and the other end is directly grounded, and is charged electrochemical capacitor C4 and both end voltage can not be suddenlyd change during normal circuit operation.Described 4 wheel driven intelligent vehicle high accuracy helm control circuit, mainly have employed circuit and includes logical signal input circuit and voltage conversion circuit, not only improve the control accuracy of mechanical arm, control effect obvious, more precisely control speed and the corner of steering wheel.
Its physical circuit is as it is shown on figure 3, the parameter of electrical equipment is as follows:
Pwm signal controls input port: the pwm signal output pin of P0(with MCU microprocessor I/O mouth is connected).
Schmidt trigger element: U1(model is HD74HC14).
Crystal triode element: TR1(model DTC114ESA).
Three terminal regulator: U2(model LM350T), adjustable potentiometer: VR1(model C T-6P
5k Ω).
Wire jumper: JP1.
Resistance R1:10k Ω, resistance R2:1k Ω, resistance R3:240 Ω.
Electric capacity C1:0.1uF, electric capacity C2:0.1uF, electric capacity C3:0.1uF, electric capacity C4:100uF/16V.
DC motor Driver 7.2V powers pin interfaces: VBAT.
5V regulated power supply is powered pin interfaces: VCC.
Steering wheel line interface: CN1(socket, model XG8V-0331, three in line inserting represent respectively: pwm signal input pin ,+6V supply voltage pin, GND pin).
Claims (1)
1. a 4 wheel driven intelligent vehicle helm control circuit, including driving Slab element (3), it is characterised in that described driving Slab element (3) is provided with driving plate supply module (8), drives plate supply module (8) to connect 7.2V battery supply；Described driving Slab element (3) is provided with right wheel control unit (4), revolver control unit (5), and right wheel control unit (4), revolver control unit (5) connect 7.2V battery supply respectively；Described driving Slab element (3) is provided with servos control unit (6), and servos control unit (6) connects 6V regulated power supply；Described driving Slab element (3) is provided with sensor board unit (1), MCU microprocessor unit (2), and sensor board unit (1), MCU microprocessor unit (2) connect 5V regulated power supply respectively；The steering wheel of servos control unit (6) connects the pwm signal output pin that interface CN1 connects the I/O mouth of MCU microprocessor unit (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273251.1U CN205601917U (en) | 2016-04-01 | 2016-04-01 | 4 wheel driven intelligence car steering engine control circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273251.1U CN205601917U (en) | 2016-04-01 | 2016-04-01 | 4 wheel driven intelligence car steering engine control circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205601917U true CN205601917U (en) | 2016-09-28 |
Family
ID=56965398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620273251.1U Expired - Fee Related CN205601917U (en) | 2016-04-01 | 2016-04-01 | 4 wheel driven intelligence car steering engine control circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205601917U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737563A (en) * | 2016-11-30 | 2017-05-31 | 山东康威通信技术股份有限公司 | A kind of railway robot 4 wheel driven kinetic control system and its method |
| CN110488691A (en) * | 2019-08-06 | 2019-11-22 | 淮安信息职业技术学院 | Drill bit tests automatic measuring and controlling circuit |
-
2016
- 2016-04-01 CN CN201620273251.1U patent/CN205601917U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737563A (en) * | 2016-11-30 | 2017-05-31 | 山东康威通信技术股份有限公司 | A kind of railway robot 4 wheel driven kinetic control system and its method |
| CN106737563B (en) * | 2016-11-30 | 2019-05-17 | 山东康威通信技术股份有限公司 | A kind of railway robot 4 wheel driven kinetic control system and its method |
| CN110488691A (en) * | 2019-08-06 | 2019-11-22 | 淮安信息职业技术学院 | Drill bit tests automatic measuring and controlling circuit |
| CN110488691B (en) * | 2019-08-06 | 2022-06-28 | 淮安信息职业技术学院 | Automatic test and control circuit for drill bit test |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102837821B (en) | Controller of steering engine | |
| CN104950690B (en) | A kind of inertial-stabilized platform controlling system semi-physical simulation method | |
| CN103231798B (en) | A kind of control method utilizing digitalized electric steering engine control device | |
| CN100498625C (en) | Control system for satellite antenna motion | |
| CN204308952U (en) | The control device of a kind of robot digital rudder controller | |
| CN103560039B (en) | A kind of high-voltage breaker permanent magnet salient pole motor operation mechanism and control method | |
| CN103457530B (en) | Airborne radar antenna servo control system | |
| CN205601917U (en) | 4 wheel driven intelligence car steering engine control circuit | |
| CN201965486U (en) | Intelligent tracking trolley | |
| CN205945574U (en) | DC BRUSH MOTOR driver | |
| CN202679300U (en) | Controller for brush DC motor | |
| CN200976558Y (en) | Permanent-magnetic brushless motor driving controller for electric vehicle | |
| CN105739498A (en) | Intelligent obstacle avoidance trolley based on single-chip microcomputer control | |
| CN201772127U (en) | Solar power supply and CyFi communication technology-based valve controller | |
| CN204215226U (en) | A kind of rotary inverted pendulum surely puts controller | |
| CN107888112A (en) | A kind of electric steering engine drive device | |
| CN206363107U (en) | A kind of drive control circuit and robot | |
| CN204452101U (en) | Electric vehicle third gear controller | |
| CN202966414U (en) | Flow variable electronically-controlled hydraulic steering system | |
| CN204613742U (en) | A kind of novel intelligent autonomous mobile robot | |
| CN203965914U (en) | Robot for high-voltage hot-line work Gao Zhiju embedded control system | |
| CN205829403U (en) | The drive circuit that a kind of absolute encoder is integrated with servo-drive | |
| CN204928636U (en) | Single -phase drive circuit structure based on many MEMS sensor | |
| CN204928635U (en) | Three -phase driving circuit structure based on single MEMS sensor | |
| CN203708159U (en) | Dead-zone compensation controllable type stepping motor subdivision driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160928 Termination date: 20170401 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |