CN206195663U - Electric steering engine drive arrangement - Google Patents
Electric steering engine drive arrangement Download PDFInfo
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- CN206195663U CN206195663U CN201621244398.4U CN201621244398U CN206195663U CN 206195663 U CN206195663 U CN 206195663U CN 201621244398 U CN201621244398 U CN 201621244398U CN 206195663 U CN206195663 U CN 206195663U
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Abstract
The utility model discloses an electric steering engine drive arrangement, including the controller, buffer circuit, brushless motor commutation module, the power drive module, three -phase inverter circuit, brushless DC motor, current sampling circuit, gear reduction unit constructs, the rudder face, which comprises a controller, buffer circuit, brushless motor commutation module, the power drive module, three -phase inverter circuit, brushless DC motor concatenates in proper order, hall speedtransmitter's signal output part and brushless motor commutation module, the controller links to each other, brushless DC motor and gear reduction unit construct continuously, a controller, the controller links to each other. The controller draws control signal and issues brushless motor commutation module according to received speed, electric current, position sigual, and brushless motor commutation module produces control signal to power drive module, the work of rethread three -phase inverter circuit control position sigual 0, and position sigual 0 passes through position sigual 2 and constructs the rotation of drive rudder face, makes it follow rudder face position sigual 3.
Description
Technical field
The utility model is related to a kind of electric steering engine drive device.
Background technology
Brush-less Dc motor steering wheel is a kind of positional servosystem, it has, and small volume, control accuracy are high, reliability is high,
The advantages of strong antijamming capability, these advantages become the new direction of steering wheel development.At present, high-precision electric steering engine is in boat
The fields such as its aircraft are widely used, and wherein significant portion electric steering engine is all the control combined using STM32 and CPLD
System processed, its price is also somewhat expensive, and this makes it in general aerospace craft using being restricted.
The content of the invention
In order to solve the above-mentioned technical problem, the electricity that the utility model provides a kind of simple structure, low cost, has a wide range of application
Dynamic steering engine driving device.
The technical scheme that the utility model solves the above problems is：A kind of electric steering engine drive device, including controller, every
From circuit, brushless electric machine inverting module, power driver module, three-phase inverting circuit, brshless DC motor, current sampling circuit,
Gear reduction, rudder face, the controller, isolation circuit, brushless electric machine inverting module, power driver module, three-phase inversion
Circuit, brshless DC motor are sequentially connected in series, and brshless DC motor is provided with hall speed sensor, the letter of hall speed sensor
Number output end is connected with brushless electric machine inverting module, controller, and brshless DC motor is connected with gear reduction, the gear
Reducing gear is arranged on rudder face and drives rudder face to rotate, and the input of current sampling circuit is connected with brshless DC motor, electric current
The output end of sample circuit is connected with controller.
Above-mentioned electric steering engine drive device also includes position sensor, and position sensor is arranged on rudder face, position sensing
The signal output part of device is connected with controller.
Above-mentioned electric steering engine drive device also includes over-current protecting unit, the input and three-phase inversion of over-current protecting unit
The output end of circuit is connected, and the output end of over-current protecting unit is connected with controller.
Above-mentioned electric steering engine drive device also includes telecommunication circuit, and telecommunication circuit is connected with controller, and controller is by logical
Letter circuit carries out data transmission with host computer.
Current sampling circuit described in above-mentioned electric steering engine drive device is current sensor.
The beneficial effects of the utility model are：
1st, the utility model obtains brushless direct-current respectively by hall speed sensor, current sensor, position sensor
The rate signal of motor, the current signal of brshless DC motor, rudder face position signalling, controller is according to the speed, electricity for receiving
Stream, position signalling obtain the duty when motor positive and inverse signal of the pwm control signal of brshless DC motor, and by control signal
Issue brushless electric machine inverting module, brushless electric machine inverting module according to the duty cycle signals, motor positive and inverse signal for receiving with
And the rate signal of brshless DC motor produces 6 road pwm control signals, pwm control signal to give power driver module and be converted into
Power drive signal, power drive signal controls brshless DC motor to work by three-phase inverting circuit, and brshless DC motor leads to
Crossing gear reduction drives rudder face to rotate, and it is followed rudder face Setting signal, and whole drive device has simple structure, cost
Advantage that is low, having a wide range of application.
2nd, the utility model is provided with over-current protecting unit, and the bus current that over-current protecting unit will be collected is processed,
And constantly the excessively stream threshold value with setting is compared, once bus current exceedes given threshold, then an excessively stream is sent immediately
To controller, controller immediately enters interrupt processing to signal after receiving over-current signal, closes duty cycle signals, fixes a breakdown,
Security performance is more preferable.
3rd, the utility model is provided with telecommunication circuit, and controller is carried out data transmission by telecommunication circuit with host computer, control
Device can receive the rudder face declination signal that host computer sends, so as to drive brshless DC motor to work and by gear reduction
Rudder face is acted on, rudder face is tracked given position signalling.
Brief description of the drawings
Fig. 1 is structured flowchart of the present utility model.
Fig. 2 is that Rotor Position Sensor Signal obtains circuit theory diagrams.
Fig. 3 is current detection circuit schematic diagram.
Fig. 4 is isolated and driver circuit schematic diagram for A.
Fig. 5 is isolated and driver circuit schematic diagram for B.
Fig. 6 is isolated and driver circuit schematic diagram for C.
Fig. 7 is over-current protecting unit schematic diagram.
Specific embodiment
The utility model is further described with reference to the accompanying drawings and examples.
As shown in figure 1, the utility model includes a kind of electric steering engine drive device, including controller 2, isolation circuit 3, nothing
Brush motor inverting module 4, power driver module 5, three-phase inverting circuit 6, brshless DC motor 7, current sampling circuit, gear subtract
Fast mechanism 8, rudder face 9, position sensor 11, over-current protecting unit 12 and telecommunication circuit, telecommunication circuit are connected with controller 2, institute
Telecommunication circuit is stated for CAN module 1, controller 2 is carried out data transmission by telecommunication circuit with host computer, the controller 2,
Isolation circuit 3, brushless electric machine inverting module 4, power driver module 5, three-phase inverting circuit 6, brshless DC motor 7 are gone here and there successively
Connect, brshless DC motor 7 is provided with hall speed sensor 13, the signal output part and brushless electric machine of hall speed sensor 13
Inverting module 4, controller 2 are connected, and the master chip of brushless electric machine inverting module 4 is FCM8201, and brshless DC motor 7 subtracts with gear
Fast mechanism 8 is connected, and the gear reduction 8 is arranged on rudder face 9 and drives rudder face 9 to rotate, and current sampling circuit is passed for electric current
Sensor 10, the input of current sensor 10 is connected with brshless DC motor 7, output end and the controller 2 of current sensor 10
It is connected, position sensor 11 is arranged on rudder face 9, and the signal output part of position sensor 11 is connected with controller 2, overcurrent protection
The input of unit 12 is connected with the output end of three-phase inverting circuit 6, output end and the phase of controller 2 of over-current protecting unit 12
Even.
The CAN interface of controller 2 receives the position signalling of given rudder face 9 that host computer is sent by CAN module 1；Control
The electric current letter that the position signalling of rudder face 9 that the ADC ports receiving positions sensor 11 of device processed 2 is measured is measured with current sensor 10
Number, and constitute position closed loop and current closed-loop；The hall signal of brshless DC motor 7（HallA、HallB、HallC）Through toning
The capture-port of the timer TIM of controller 2 is respectively connected to after reason processing of circuit, the hall signal according to capture obtains brushless
Motor speed feedback, forms speed closed loop；Brushless electric machine inverting module 4 is connected by SPI interface with controller 2, receives control
The duty cycle control signal that device processed 2 sends and troubleshooting signal, and the hall signal of brshless DC motor 7 is received, it is autonomous complete
Into commutation function, 6 road pwm control signals are exported.
As shown in Fig. 2 brshless DC motor 7 is embedded into motor body using three groups of Hall sensors 13, as rotor position
Detection means is put, the device is uniformly distributed, every group of 120 ° of difference, Hall sensor signal（HallA、HallB、HallC）First pass through
RC filter circuits are crossed, 74LS14 phase inverters are then input to, it is after reverse twice and by electric resistance partial pressure, hall signal is straight
It is connected to the capture mouthful of controller STM32 and general GPIO mouthfuls.Capture mouth is used to capture edge signal, obtains the commutation moment,
GPIO mouthfuls is read 3 current Hall level signals, judges rotor present position, so as to send corresponding control signal,
And control the break-make of corresponding power switching tube.Simultaneously nothing can be obtained by detecting and processing three groups of signals of Hall sensor 13
The rate signal of brushless motor 7.
As shown in figure 3, current sensor 10 is directly connected on the dc bus of inverter bridge using sampling resistor R5, sampling
Sampled signal on resistance R5 is first passed through after sending out device U32 big and being amplified, then is isolated by isolation circuit U34, then through filtering
The last AD interfaces for being sent to STM32, can obtain the current signal of brshless DC motor 7 after ripple filtering.
The angular position information of rudder face is transformed into corresponding magnitude of voltage by position sensor 11 using potentiometer, by electronic
AD mouthfuls of magnitude of voltage of sampling that steering engine driving device passes through controller 2, then calculates to realize the position signalling of rudder face 9 according to conversion
Feedback.
Reduction gear 8 is steering engine actuator, and its speed reducing ratio is 1：180, nothing can be made by reduction gearing mechanism 8
Brushless motor output reaches the angular speed and output torque of steering wheel requirement.
As shown in figure 4, figure includes isolation module 3 and power driver module 5, it is by isolation high speed photo coupling U6, U9, three poles
Pipe Q2, Q8, MOS type power drive pipe Q5, Q11 composition, upper bridge arm optocoupler U6 and triode Q2, Q8 constitute isolation drive electricity together
Road.When control signal is high level, triode Q2 cut-offs, Q8 conductings are driven, so that pmos type power drive pipe Q5 is turned on,
Conversely, when control signal is low level, Q5 cut-offs；Drive circuit is carried inside lower bridge arm isolation optocoupler U9, when input control letter
During number for high level, 6,7 pin of U9 are output as high level, turn on nmos type power tube Q11, otherwise input control signal is for low
When Q11 cut-off.
Controller 2 obtains the pwm control signal of brshless DC motor 7 according to the speed, electric current, position signalling that receive
Duty when motor positive and inverse signal, and control signal is issued into brushless electric machine inverting module 4, brushless electric machine inverting module 4
6 road PWM are produced to control according to the rate signal of the duty cycle signals, motor positive and inverse signal and brshless DC motor 7 for receiving
Signal, pwm control signal gives power driver module 5 and is converted into power drive signal by isolation module 3.
As shown in Figure 4,5, 6, power drive signal controls brshless DC motor 7 to work by three-phase inverting circuit 6, and this three
4,5,6 three circuits cascading composition three-phase full-bridge inverting circuits of contrary power transformation routing diagram, 6 bridge arms of inverter circuit are big by 6
The MOS switch pipe of power is constituted, and the 6 road pwm control signals that inverting module 4 is given control 6 corresponding MOS switch pipe switches
State, pwm signal modulation system uses PWM-ON.When the PWM module to STM32 is configured, set by group PWM
Certain Dead Time avoids the three phase inverter bridge from occurring in commutation with phase bridge arm direct pass, to ensure system safety.
Brshless DC motor 7 drives rudder face 9 to rotate by gear reduction 8, it is followed the Setting signal of rudder face 9；Control
Device processed 2 also can receive the declination signal of rudder face 9 that host computer sends by CAN module 1, so as to drive brshless DC motor 7
Work and rudder face 9 is acted on by gear reduction 8, rudder face 9 is tracked given position signalling.
As shown in fig. 7, over-current protecting unit 12, is input to high-speed comparator U2 positive by the current sampling signal after conditioning
End, backward end is accessed and constitutes bleeder circuit by fixed resistance R1 and adjustable resistance V1, by adjusting adjustable resistance V1 resistances, is set
The threshold voltage of comparator, the output of high-speed comparator U2 terminates to the peripheral interrupt mouthful XINT1 of STM32.Work as current sample
When the magnitude of voltage of conversion is higher than the threshold voltage for setting, comparator output high level, STM32 peripheral interrupts detect rising edge letter
Number when, trigger peripheral interrupt, STM32 close immediately PWM output, brshless DC motor is stopped.
Claims (5)
1. a kind of electric steering engine drive device, it is characterised in that：Including controller, isolation circuit, brushless electric machine inverting module, work(
Rate drive module, three-phase inverting circuit, brshless DC motor, current sampling circuit, gear reduction, rudder face, the control
Device, isolation circuit, brushless electric machine inverting module, power driver module, three-phase inverting circuit, brshless DC motor are sequentially connected in series,
Brshless DC motor is provided with hall speed sensor, signal output part and the brushless electric machine commutation mould of hall speed sensor
Block, controller are connected, and brshless DC motor is connected with gear reduction, and the gear reduction is arranged on rudder face and drives
Rudder face is rotated, and the input of current sampling circuit is connected with brshless DC motor, the output end and controller of current sampling circuit
It is connected.
2. electric steering engine drive device according to claim 1, it is characterised in that：Also include position sensor, position passes
Sensor is arranged on rudder face, and the signal output part of position sensor is connected with controller.
3. electric steering engine drive device according to claim 1, it is characterised in that：Also include over-current protecting unit, excessively stream
The input of protection location is connected with the output end of three-phase inverting circuit, and the output end of over-current protecting unit is connected with controller.
4. electric steering engine drive device according to claim 1, it is characterised in that：Also include telecommunication circuit, telecommunication circuit
It is connected with controller, controller is carried out data transmission by telecommunication circuit with host computer.
5. electric steering engine drive device according to claim 1, it is characterised in that：The current sampling circuit is passed for electric current
Sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621244398.4U CN206195663U (en) | 2016-11-18 | 2016-11-18 | Electric steering engine drive arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621244398.4U CN206195663U (en) | 2016-11-18 | 2016-11-18 | Electric steering engine drive arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206195663U true CN206195663U (en) | 2017-05-24 |
Family
ID=58727080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621244398.4U Expired - Fee Related CN206195663U (en) | 2016-11-18 | 2016-11-18 | Electric steering engine drive arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206195663U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106655639A (en) * | 2016-11-18 | 2017-05-10 | 江南工业集团有限公司 | Electric steering engine driving device |
| CN108400726A (en) * | 2018-03-31 | 2018-08-14 | 湖南明康中锦医疗科技发展有限公司 | Motor controller assistant starting method |
| CN110247588A (en) * | 2019-05-31 | 2019-09-17 | 惠州市蓝微电子有限公司 | A kind of mono pulse control method and system of hall electric machine |
| CN110466666A (en) * | 2019-08-26 | 2019-11-19 | 苏州哈工拓普传感控制技术有限公司 | A kind of brshless DC motor adaptive control system |
-
2016
- 2016-11-18 CN CN201621244398.4U patent/CN206195663U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106655639A (en) * | 2016-11-18 | 2017-05-10 | 江南工业集团有限公司 | Electric steering engine driving device |
| CN108400726A (en) * | 2018-03-31 | 2018-08-14 | 湖南明康中锦医疗科技发展有限公司 | Motor controller assistant starting method |
| CN110247588A (en) * | 2019-05-31 | 2019-09-17 | 惠州市蓝微电子有限公司 | A kind of mono pulse control method and system of hall electric machine |
| CN110247588B (en) * | 2019-05-31 | 2022-02-22 | 惠州市蓝微电子有限公司 | Single-pulse control method and system of Hall motor |
| CN110466666A (en) * | 2019-08-26 | 2019-11-19 | 苏州哈工拓普传感控制技术有限公司 | A kind of brshless DC motor adaptive control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20171118 |
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| CF01 | Termination of patent right due to non-payment of annual fee |