CN205945574U - DC BRUSH MOTOR driver - Google Patents
DC BRUSH MOTOR driver Download PDFInfo
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- CN205945574U CN205945574U CN201620938807.4U CN201620938807U CN205945574U CN 205945574 U CN205945574 U CN 205945574U CN 201620938807 U CN201620938807 U CN 201620938807U CN 205945574 U CN205945574 U CN 205945574U
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Abstract
The utility model discloses a DC BRUSH MOTOR driver, include: host computer, microprocessor controller unit, logic processing unit, optoelectronic isolation amplifying unit, level switching unit, H bridge, the host computer for control the order to the input of microprocessor controller unit, the microprocessor controller unit for the receive feedback signal with control the instruction, and the running state of control motor, logic processing unit is used for receiving the execution instruction of microprocessor controller unit to the logical operating instruction of output behind the two bit logical operation carries out, still include: current sensor, current detection unit, encoder, differential signal conversion circuit, hall signal interface circuit. The utility model provides a DC BRUSH MOTOR driver can real -time accuracy gather position loop, speed ring, electric current loop information, the motion of accurate control motor. Try the control in brush DC motor, the circuit is simple, and control is nimble convenient, and the practicality is strong, width voltage input, and control accuracy is high.
Description
Technical field
This utility model is related to motion planning and robot control field, particularly to a kind of brush direct current motor driver.
Background technology
IGBT (Insulated Gate Bipolar Transistor), insulated gate bipolar transistor, is (double by BJT
Polar form audion) and the compound full-control type voltage driven type power semiconductor that forms of MOS (insulating gate type field effect tube), and
There are the high input impedance of MOSFET and the advantage of both low conduction voltage drop of GTR.IGBT voltage-type power part is driven to have many
Plant the Integrate Design with protection and isolation features.These modules have multi-protective function, isolation drive, circuit parameter
Concordance is good, stable and reliable operation the advantages of, but its relative price is higher, can only drive single power tube.
And current electric machine controller when commutation due to the impact of the factors such as winding inductance, can cause the commutation to be
Current fluctuation, the data of impact collection, acquisition precision is low.
Utility model content
The technical problems to be solved in the utility model is to provide simply perfect motor control closed loop system, can be accurate in real time
Really collection position ring, speed ring, electric current loop information, precise control motor movement.
Solve above-mentioned technical problem, this utility model provides a kind of brush direct current motor driver, including：Host computer,
Microprocessor controller unit, Logical processing unit, Phototube Coupling amplifying unit, level conversion unit, H bridge,
Described host computer, in order to input manipulation order to microprocessor controller unit；
The microprocessor controller unit being connected with described host computer, in order to receive feedback signal and manipulation instruction, and control
The running status of motor processed；
The Logical processing unit being connected with described microprocessor controller unit, in order to receive described microprocessor controller unit
Execute instruction, and carry out output logical operation instruction after two bit logical operationss；
Described Logical processing unit is connected with described level conversion unit by described Phototube Coupling amplifying unit, described electricity
Flat converting unit is connect with H bridging, and described H bridge is connected with machine winding, in order to control direct current generator；
Also include：Current sensor, current detecting unit, encoder, differential signal conversion circuit, hall signal interface electricity
Road,
Described machine winding is connected with described current sensor, and described current sensor passes through current detecting unit and Wei Chu
AD interface on reason controller unit connects formation current closed-loop；
Described encoder is connected with one end machine winding, and the other end is connected with the GPIO interface on microprocessor controller unit
Connect, position and velocity feedback are realized in the pulse for recording orthogonal encoder；
Described hall signal interface circuit one end is connected with machine winding, on the other end and microprocessor controller unit
GPIO interface connects, in order to carry out clear point detection to direct current generator.
Further, described host computer is connected with microprocessor controller unit by RS232 interface.
Further, described Logical processing unit passes through PWM interface output pwm signal, and by described by described electricity
Flat converting unit carries out level conversion, obtains the level signal of metal-oxide-semiconductor needs in H bridge.
Further, motor driver also includes the output protection unit connecing with H bridging, described output protection unit bag
Include：Overvoltage circuit, under-voltage circuit, short circuit current, over-temperature circuit, in order to carry out over-pressed, under-voltage, short-circuit, overheated fault detect.
Further, motor driver also includes the boostrap circuit unit connecing with H bridging, described boostrap circuit unit bag
Include：Bootstrap diode and bootstrap capacitor, by described bootstrap capacitor discharge voltage and supply voltage superposition, make voltage raise.
Further, described differential signal conversion circuit adopts MC3486 chip, in order to by A+, A-, B of described encoder
+, the 6 road differential signals of B-, I+, I- be converted to A, B, I tri- road signal number.
Further, described current sensor is Lyme current sensor, and described current detecting unit is in order to by described Lay
The voltage signal of nurse current sensor output is converted to the collectable voltage range of AD interface on described microprocessor controller unit.
Further, the upper brachium pontis side outfan of described H bridge and lower brachium pontis output logic input terminal adopt motor IC
Circuit.
Further, by the Hall element in hall signal interface circuit and described encoder after electricity on direct current generator
In increment code wheel detection rotor obtain positional information.
The beneficial effects of the utility model：
The microprocessor controller unit in brush direct current motor driver in this utility model, collection Hall element letter
Number and motor encoder pulse signal, according to the collection to hall signal and code device signal, carry out existing pid algorithm process,
The rotating of controlled motor, direction and speed.Described microprocessor controller unit is communicated by serial ports and host computer, and leads to
Cross and issue a command to microprocessor controller unit under host computer, and according to control instruction and encoder to count value, and microprocessor control
Device unit processed produces pwm control signal, and PWM isolates amplifying unit and level conversion unit, output control H bridge through photoelectric coupling
In metal-oxide-semiconductor, thus adjusting the voltage swing at motor two ends, realize the closed loop control of motor.
The brush direct current motor driver that this utility model provides is tried out in brushed DC motor control, and circuit is simple, control
System is flexible, practical, and Width funtion inputs, and control accuracy is high.
Brief description
Fig. 1 is the brush direct current motor activation configuration schematic diagram in this utility model one embodiment.
Fig. 2 is the brush direct current motor driver concrete structure schematic diagram in this utility model one preferred embodiment.
Fig. 3 is H-bridge circuit structural representation of the prior art.
Fig. 4 is the electrical block diagram after H bridge simplification in Fig. 1.
Specific embodiment
For making the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with specific embodiment, and
Referring to the drawings, this utility model is further described.
Fig. 1 is the brush direct current motor activation configuration schematic diagram in this utility model one embodiment.
One of the present embodiment brush direct current motor driver, including：Host computer 1, microprocessor controller unit 2, patrol
Collect processing unit 3, Phototube Coupling amplifying unit 4, level conversion unit 5, H bridge 6,
Described host computer 1, in order to input manipulation order to microprocessor controller unit；
The microprocessor controller unit 2 being connected with described host computer 1, in order to receive feedback signal and manipulation instruction, and
The running status of controlled motor；
The Logical processing unit 3 being connected with described microprocessor controller unit 2, in order to receive described microprocessor controller list
The execute instruction of unit, and carry out output logical operation instruction after two bit logical operationss；
Described Logical processing unit 3 is connected with described level conversion unit 5 by described Phototube Coupling amplifying unit 4, institute
State level conversion unit 5 to be connected with H bridge 6, described H bridge 6 is connected with machine winding 100, in order to control direct current generator；
Also include：Current sensor 7, current detecting unit 8, encoder 9, differential signal conversion circuit 10, hall signal
Interface circuit 11,
Described machine winding 100 is connected with described current sensor 7, and described current sensor 7 passes through current detecting unit 8
It is connected formation current closed-loop with the AD interface on microprocessor controller unit 2；
Described encoder 9 is connected with one end machine winding 100, and the other end is connect with the GPIO on microprocessor controller unit 2
Mouth connects, and position and velocity feedback are realized in the pulse for recording orthogonal encoder；
Described hall signal interface circuit 11 one end is connected with machine winding 100, the other end and microprocessor controller unit 2
On GPIO interface connect, in order to clear point detection is carried out to direct current generator.
By being tried out in brushed DC motor control, circuit letter using the brush direct current motor driver in the present embodiment
Single, control flexible, practical, Width funtion inputs, and control accuracy is high.Further, motor-drive circuit has logic defeated
Enter, level translation and output protection circuit.It is many convenient to bring for the design of device.
Fig. 2 is the brush direct current motor driver concrete structure schematic diagram in this utility model one preferred embodiment.
One of the present embodiment brush direct current motor driver, including：Host computer 1, microprocessor controller unit 2, patrol
Collect processing unit 3, Phototube Coupling amplifying unit 4, level conversion unit 5, H bridge 6, described host computer 1, in order to microprocessor control
Device unit inputs manipulation order；The microprocessor controller unit 2 being connected with described host computer 1, in order to receive feedback signal and behaviour
Control instruction, and the running status of controlled motor；The Logical processing unit 3 being connected with described microprocessor controller unit 2, in order to
Receive the execute instruction of described microprocessor controller unit, and carry out output logical operation instruction after two bit logical operationss；Institute
State Logical processing unit 3 to be connected with described level conversion unit 5 by described Phototube Coupling amplifying unit 4, described level conversion
Unit 5 is connected with H bridge 6, and described H bridge 6 is connected with machine winding 100, in order to control direct current generator；Also include：Current sensor
7th, current detecting unit 8, encoder 9, differential signal conversion circuit 10, hall signal interface circuit 11, described machine winding 100
It is connected with described current sensor 7, described current sensor 7 passes through on current detecting unit 8 and microprocessor controller unit 2
AD interface connects formation current closed-loop；Described encoder 9 is connected with one end machine winding 100, the other end and microprocessor controller
GPIO interface on unit 2 connects, and position and velocity feedback are realized in the pulse for recording orthogonal encoder；Described hall signal
Interface circuit 11 one end is connected with machine winding 100, and the other end is connected with the GPIO interface on microprocessor controller unit 2, uses
So that clear point detection is carried out to direct current generator.
In certain embodiments, detect that rotor obtains position by Hall element and encoder after electricity on described motor
Confidence ceases.
Microprocessor controller unit 2 in the present embodiment is the core of electric machine controller, by encoder feedback signal,
Hall element feeds back signal；And be connected with current detecting unit.By anti-from direct current generator encoder to count code value
Feedback signal, to microprocessor controller unit 2, passes through the electric current from current detecting unit that the collection of AD (digital-to-analogue) interface comes simultaneously, complete
Become control algolithm to calculate and export digital control amount.Host computer transmitting-receiving order is to the running status of microprocessor controlled motor.Logical
Cross brush motor encoder and Hall element come determining the position of rotor.
Specifically, the GPIO interface of microprocessor controller unit 2 reads the pulse signal of encoder every certain cycle,
And current signal is read by AD interface, and the digital control amount being read according to CPU, compare the pwm control signal of CPU generation,
Output control signal relatively amplifies output through optical coupling isolator, then through level shifted signal, is converted to required for metal-oxide-semiconductor
Voltage signal, to drive metal-oxide-semiconductor upper and lower bridge arm switching signal, upper brachium pontis to be controlled switching signal by boostrap circuit, to control
The voltage swing at motor two ends, realizes the closed loop control of direct current generator.
As preferred in the present embodiment, described Logical processing unit passes through PWM interface output pwm signal, and passes through institute
State and level conversion is carried out by described level conversion unit, obtain the level signal of metal-oxide-semiconductor needs in H bridge.In the present embodiment
Logical processing unit 3, in order to process logic input, by logic input pwm signal, through level conversion, be converted into metal-oxide-semiconductor
The level signal needing.Logic input adopts the delayed Schmidt trigger for 0.1VDD, to improve capacity of resisting disturbance and reception
The slow input signal rising.And opening between its input and raster data model and turning off propagation delay is 120ns and 95ns.Defeated
Go out level to be made up of two N-channel MOS FET recommending connection, driven by input circuit, each MOSFET can absorb or provide 2A
Grid level electric current, due to push-pull connection method, the rise time of gate drive waveform is slower than fall time.With dislocation inductive load, relatively
Slowly open and can reduce peak reverse recovery current in fly-wheel diode, but turn-on consumption has rising.On the other hand, push-pull connection method
All 2A current output capability gate discharge current.In the method for recommending, the source electrode of downside device is independently drained, so that grid
Driving current forms loop.
As preferred in the present embodiment, the brush direct current motor driver in the present embodiment also includes connecing with H bridging
Boostrap circuit unit 13, described boostrap circuit unit 13 includes：Bootstrap diode and bootstrap capacitor, are put by described bootstrap capacitor
Piezoelectric voltage and supply voltage superposition, make voltage raise.Float to -5V from 500V high pressure wing passage relative power.Recommending output mode
Two N-channel MOS pipes float on boostrap circuit, boostrap circuit is added on power ground voltage and is set up.General, boostrap circuit is even
It is connected to the source electrode of high-pressure side device, and swing in two main lines with high tension apparatus.One distinguishing feature of power MOSFET is to hold
Property input characteristics.It needs drive circuit to provide some electric charges open-minded to grid, rather than provides continuous current, and high-pressure side leads to
The grid electric charge bootstrap capacitor of the power MOSFET that road drives provides, and is in off-state in upper brachium pontis switching tube, with the switch of brachium pontis at present
When pipe falls logical, bootstrap capacitor passes through bootstrap diode by VCC power source charges.Preferably, boostrap circuit have bootstrap diode and from
Lift electric capacity, the voltage of bootstrap capacitor is only VCC supply voltage, and H-bridge circuit uses 4 metal-oxide-semiconductors, two upper pipes and two down tubes.
Boostrap circuit provides upper pipe high-pressure side metal-oxide-semiconductor conducting voltage.Down tube low-pressure side metal-oxide-semiconductor controls conducting by pwm signal.High-end
The design of suspension bootstrap power supply, it is possible to reduce one group of outside power supply higher than system VCC, reduces the cost of system, that is, with one
The power supply of group VCC can achieve the conducting of the upper and lower bridge arm of whole metal-oxide-semiconductor.
As preferred in the present embodiment, described host computer is connected with microprocessor controller unit by RS232 interface, profit
It is connected with host computer with serial port extended chip RS232 interface circuit.
As preferred in the present embodiment, described Logical processing unit 3, logic supply voltage is Width funtion, adapt to TTL or
CMOS logic signal input, has 2 output channels of independent high-end and low side.Because logical signal all couples electricity by level
Road is connected on respective passage it is allowed to have patrolling of -5-+5V between logic circuit reference ground (VSS) and power circuit reference ground
Collect amount, and the pulse of 50ns can be shielded.Set out input using cmos schmitt, to improve the capacity of resisting disturbance of circuit.Work frequency
Rate is high, and open-minded up to 500KHz, turn-off delay is little.
As preferred in the present embodiment, the brush direct current motor driver in the present embodiment also includes being connected with H bridge 6
Output protection unit 12, described output protection unit 12 includes：Overvoltage circuit, under-voltage circuit, short circuit current, over-temperature circuit, use
To carry out over-pressed, under-voltage, short-circuit, overheated fault detect.
As preferred in the present embodiment, described current sensor 7 is Lyme current sensor, described current detecting unit
Voltage signal in order to export described Lyme current sensor is converted to AD interface on described microprocessor controller unit and can adopt
The voltage range of collection.
As preferred in the present embodiment, described differential signal conversion circuit 10 adopts MC3486 chip, in order to will be described
The 6 road differential signals of A+, A-, B+, B-, I+, I- of encoder are converted to A, B, I tri- road signal number.Differential conversion circuit A+,
A-, B+, B-, I+, I-6 road differential signal is converted to A, B, I tri- road pulse signal, and microprocessor controller unit 2 receives A, B, I tri-
Road pulse carries out commutation process.Microprocessor controller unit 2 receives the control instruction of upper microcomputer by serial ports, and is referred to according to control
Make and to calculate digital control amount, the GPIO mouth receive data of microprocessor controller unit 2 from encoder pulse signal-count value
Word controlled quentity controlled variable simultaneously compares generation pwm control signal through the output of Phototube Coupling amplifying unit, driving power unit upper and lower bridge arm
Switching signal.Adjust the voltage at motor two ends, realize the closed loop control of motor.
Refer to Fig. 3～Fig. 4, Fig. 3 is H-bridge circuit structural representation of the prior art, after Fig. 4 is H bridge simplification in Fig. 1
Electrical block diagram.
As preferred in the present embodiment, the upper brachium pontis side outfan of described H bridge and lower brachium pontis output logic input terminal are adopted
With motor IC circuit.
As shown in figure 3 above, H bridge is driven by special Motor drive IC, and IC can drive half H bridge (bridge in inclusion
Arm and lower brachium pontis), wherein HO pin drives upper bridge, and LO pin drives lower bridge, and whole power supply is powered (i.e. power supply using direct current+12V
Input block 14), because the driving voltage of metal-oxide-semiconductor used is in 12V, so, and the reference voltage of lower brachium pontis is over the ground, and LO
Pin voltage-to-ground is also 12V, therefore, for the driving voltage of lower brachium pontis, does not have bootstrapping can say, IC output voltage is permissible
The lower brachium pontis of direct drive metal-oxide-semiconductor.Essentially consist in the upper brachium pontis of metal-oxide-semiconductor, because the reference point of the MOS of upper brachium pontis is not ground voltage
Before 0, but the VS pin of IC, MOS conducting, the general voltage of this pin in 12V, so, want to allow the MOS of brachium pontis to lead
Logical, it is necessary for the voltage exceeding 12V than reference point, i.e. direct current 24V voltage, typically all two kinds methods solve：One is outer
Plus the direct current power source voltage of a 24V, simple and convenient, but for system design, how one group of power supply, cost also increases relatively
Plus；Two are to increase boostrap circuit, and driving IC general at present has this function, additionally increase an electric capacity and diode can be real
Existing, greatly eliminate the simplification of external power source, circuit diagram is illustrated in fig. 4 shown below, by a diode and an electric capacity composition,
When the lower brachium pontis conducting of metal-oxide-semiconductor, the VS pin of IC passes through this metal-oxide-semiconductor and forms a charge circuit to ground, and power supply passes through two poles
Pipe charges to electric capacity；When the lower brachium pontis of metal-oxide-semiconductor turns off, electric capacity starts to discharge, thus can continuous charging and discharging, IC is logical
Cross internal circuit, one 2 times of VCC voltage will be produced on HO pin, i.e. the 2 of supply voltage times 24V voltage, so that
The MOS that brachium pontis must be gone up is in the conduction state.Design by high-end suspension bootstrap power supply, it is possible to reduce one group outside higher than being
The power supply of system VCC, reduces the cost of system, can achieve the leading of upper and lower bridge arm of whole metal-oxide-semiconductor with the power supply of one group of VCC
Logical.
As preferred in the present embodiment, by the hall sensing in hall signal interface circuit after electricity on direct current generator
Increment code wheel detection rotor in device and described encoder obtains positional information.
It should be appreciated that each several part of the present utility model can be realized with hardware, software, firmware or combinations thereof.?
In above-mentioned embodiment, multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Software or firmware are realizing.For example, if realized with hardware, and the same in another embodiment, can use known in this field
Any one of following technology or their combination realizing：There is the gate for data signal is realized with logic function
The discrete logic of circuit, has a special IC of suitable combinational logic gate circuit, programmable gate array (PGA),
Field programmable gate array (FPGA) etc..
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy describing with reference to this embodiment or example
Point is contained at least one embodiment of the present utility model or example.In this manual, the schematic table to above-mentioned term
State and be not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can be
Combine in an appropriate manner in any one or more embodiments or example.
Those of ordinary skill in the art should be understood：More than, described be only specific embodiment of the utility model and
, be not limited to this utility model, all within spirit of the present utility model and principle, any modification of being made, equivalent
Replace, improve etc., should be included within protection domain of the present utility model.
Claims (9)
1. a kind of brush direct current motor driver is it is characterised in that include：Host computer, microprocessor controller unit, logical process
Unit, Phototube Coupling amplifying unit, level conversion unit, H bridge,
Described host computer, in order to input manipulation order to microprocessor controller unit；
The microprocessor controller unit being connected with described host computer, in order to receive feedback signal and manipulation instruction, and controls electricity
The running status of machine；
The Logical processing unit being connected with described microprocessor controller unit, in order to receive holding of described microprocessor controller unit
Row instruction, and carry out output logical operation instruction after two bit logical operationss；
Described Logical processing unit is connected with described level conversion unit by described Phototube Coupling amplifying unit, and described level turns
Change unit to connect with H bridging, described H bridge is connected with machine winding, in order to control direct current generator；
Also include：Current sensor, current detecting unit, encoder, differential signal conversion circuit, hall signal interface circuit,
Described machine winding is connected with described current sensor, and described current sensor passes through current detecting unit and microprocessor control
AD interface on device unit processed connects formation current closed-loop；
Described encoder is connected with one end machine winding, and the other end is connected with the GPIO interface on microprocessor controller unit, uses
Position and velocity feedback are realized in pulse in record orthogonal encoder；
Described hall signal interface circuit one end is connected with machine winding, and the other end is connect with the GPIO on microprocessor controller unit
Mouth connects, in order to carry out clear point detection to direct current generator.
2. brush direct current motor driver according to claim 1 is it is characterised in that described host computer is connect by RS232
Mouth is connected with microprocessor controller unit.
3. brush direct current motor driver according to claim 1 is it is characterised in that described Logical processing unit is passed through
PWM interface output pwm signal, and by described, level conversion is carried out by described level conversion unit, obtain metal-oxide-semiconductor in H bridge
The level signal needing.
4. brush direct current motor driver according to claim 1 is it is characterised in that also include the output connecing with H bridging
Protection location, described output protection unit includes：Overvoltage circuit, under-voltage circuit, short circuit current, over-temperature circuit, in order to carry out
Pressure, under-voltage, short-circuit, overheated fault detect.
5. brush direct current motor driver according to claim 1 is it is characterised in that also include the bootstrapping connecing with H bridging
Circuit unit, described boostrap circuit unit includes：Bootstrap diode and bootstrap capacitor, by described bootstrap capacitor discharge voltage and
Supply voltage is superimposed, and so that voltage is raised.
6. brush direct current motor driver according to claim 1 is it is characterised in that described differential signal conversion circuit is adopted
Use MC3486 chip, in order to the 6 road differential signals of A+, A-, B+, B-, I+, I- of described encoder are converted to A, B, I tri- tunnel
Signal number.
7. brush direct current motor driver according to claim 1 is it is characterised in that described current sensor is Lyme electricity
Flow sensor, described current detecting unit is converted to described micro- place in order to the voltage signal exporting described Lyme current sensor
The collectable voltage range of AD interface on reason controller unit.
8. brush direct current motor driver according to claim 1 is it is characterised in that the upper brachium pontis side of described H bridge exports
End and lower brachium pontis output logic input terminal adopt motor IC circuit.
9. brush direct current motor driver according to claim 1 is it is characterised in that pass through Hall after electricity on direct current generator
Increment code wheel detection rotor in Hall element and described encoder in signal interface circuit obtains positional information.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620938807.4U CN205945574U (en) | 2016-08-24 | 2016-08-24 | DC BRUSH MOTOR driver |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620938807.4U CN205945574U (en) | 2016-08-24 | 2016-08-24 | DC BRUSH MOTOR driver |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108663085A (en) * | 2018-04-28 | 2018-10-16 | 东华大学 | A kind of one-stop life-cycle shakes window Motor Measuring System |
| CN110244159A (en) * | 2019-06-24 | 2019-09-17 | 北京航天控制仪器研究所 | A kind of Multifunctional potentiometer Performance Test System |
| CN110365258A (en) * | 2019-07-30 | 2019-10-22 | 杭州晴川科技有限公司 | A kind of controlling and driving circuits |
| CN114157105A (en) * | 2021-12-06 | 2022-03-08 | 广州导远电子科技有限公司 | North finder motor control circuit, north finder motor control method and device and north finder |
-
2016
- 2016-08-24 CN CN201620938807.4U patent/CN205945574U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108663085A (en) * | 2018-04-28 | 2018-10-16 | 东华大学 | A kind of one-stop life-cycle shakes window Motor Measuring System |
| CN110244159A (en) * | 2019-06-24 | 2019-09-17 | 北京航天控制仪器研究所 | A kind of Multifunctional potentiometer Performance Test System |
| CN110365258A (en) * | 2019-07-30 | 2019-10-22 | 杭州晴川科技有限公司 | A kind of controlling and driving circuits |
| CN110365258B (en) * | 2019-07-30 | 2024-04-16 | 杭州晴川科技有限公司 | Control and drive circuit |
| CN114157105A (en) * | 2021-12-06 | 2022-03-08 | 广州导远电子科技有限公司 | North finder motor control circuit, north finder motor control method and device and north finder |
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