CN206363107U - A kind of drive control circuit and robot - Google Patents
A kind of drive control circuit and robot Download PDFInfo
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- CN206363107U CN206363107U CN201621492419.4U CN201621492419U CN206363107U CN 206363107 U CN206363107 U CN 206363107U CN 201621492419 U CN201621492419 U CN 201621492419U CN 206363107 U CN206363107 U CN 206363107U
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Abstract
The utility model provides a kind of drive control circuit and robot, wherein, drive control circuit is used to control the motor of steering wheel to move, and the drive control circuit includes reverse bias module, electronic switch module, drive module, control module, current sample module and Voltage stabilizing module；The power supply of reverse bias module access steering wheel is simultaneously connected with electronic switch module, drive module is connected by electronic switch module with motor, control module is connected with drive module and is connected by current sample module with electronic switch module, and Voltage stabilizing module access power supply is simultaneously connected with drive module, control module and current sample module respectively.The utility model is by providing a kind of drive control circuit including reverse bias module, can be after steering wheel power-off, when the motor of steering wheel produces counter electromotive force because making mechanical movement artificial promotion, prevent the mainboard of the current direction steering wheel of counter electromotive force generation, it is to avoid electric on the mainboard of steering wheel.
Description
Technical field
The utility model embodiment belongs to servos control technical field, more particularly to a kind of drive control circuit and machine
People.
Background technology
With that can learn continuing to develop for technology, the various automation equipments such as robot, automatic guided vehicle are continuously developed out
It is that the life of people brings great convenience to be applied to the daily production and life of people.Steering wheel is because its is easily controllable, torque
Greatly, it is widely used in the advantages of manufacturing technology maturation in the automation equipments such as robot.
However, it is existing by robot, automatic guided vehicle of servo driving etc. steering wheel power-off after, if artificially being led
Draw motion, then the motor of steering wheel can be caused to produce direction electromotive force because of mechanical movement, a small amount of electric current is generated and make rudder
The mainboard of machine under abnormal condition on electricity, reduce the service life of mainboard.
Utility model content
The utility model embodiment provides a kind of drive control circuit and robot, a kind of including reverse bias by providing
The drive control circuit of module, can be after steering wheel power-off, and the motor of steering wheel is because artificial promotion makes mechanical movement
When producing counter electromotive force, the mainboard of the current direction steering wheel of counter electromotive force generation is prevented, it is to avoid electric on the mainboard of steering wheel.
On the one hand the utility model embodiment provides a kind of drive control circuit, for controlling the motor of steering wheel to transport
Dynamic, the drive control circuit includes reverse bias module, electronic switch module, drive module, control module, current sample mould
Block and Voltage stabilizing module；
The reverse bias module accesses the power supply of the steering wheel and is connected with the electronic switch module, the driving mould
Block is connected by the electronic switch module with the motor, and the control module is connected and passed through with the drive module
The current sample module is connected with the electronic switch module, and the Voltage stabilizing module accesses the power supply and driven respectively with described
Dynamic model block, the control module and current sample module connection；
When the power supply electrifying, the reverse bias module forward conduction input current signal, in the control module
Electrically activate and output control signal, the drive module electrifying startup and according to the control signal output drive signal is described
Electronic switch module is according to the current signal and drive signal conducting and output driving pulse, and the motor is by institute
Driving pulse driving rotation is stated, the control module also gathers the work electricity of the motor by the current sample module
Stream, to adjust control signal of the output to the drive module according to the operating current；
When the power cut-off, if the motor continues rotation, generation counter electromotive force makes the electronic switch module
Conducting, then the reverse bias module is reversely ended, control module described in the current direction that the prevention counter electromotive force is produced, and is kept away
Exempt from the control module electrifying startup.
It is preferred that, the reverse bias module includes reverse bias unit and the first filter unit；
The input of the reverse bias unit is the input of the reverse bias module, the reverse bias unit
The input of output end and first filter unit connects the output end for constituting the reverse bias module, first filtering altogether
The output end of unit is the earth terminal of the reverse bias module；
The input of the reverse bias module is connected to the power supply altogether with the input of the Voltage stabilizing module, described reverse
The input of the output termination electronic switch module of biasing module, the ground connection termination power of the reverse bias module；
When the power supply electrifying, the reverse bias unit forward conduction, the current signal of the power supply output passes through
The reverse bias unit is exported to the electronic switch module；
When the power cut-off, if the motor continues rotation, generation counter electromotive force makes the electronic switch module
Conducting, then the reverse bias unit reversely ends, and the electric current that the counter electromotive force is produced is through the electronic switch module and institute
State the first filter unit with exporting to power supply, the electronic switch mould is passed sequentially through with the electric current for preventing the counter electromotive force from producing
Block, the reverse bias module and the Voltage stabilizing module flow into the control module, it is to avoid the control module electrifying startup.
It is preferred that, the reverse bias unit includes three end diodes, and first filter unit includes the first current limliting electricity
Resistance and the first filter capacitor；
Two positive poles of three end diode connect the input for constituting the reverse bias unit, the pole of three end two altogether
The negative pole of pipe is the output end of the reverse bias unit；
It is single that the positive pole of one end of first current-limiting resistance and first filter capacitor connects composition first filtering altogether
The negative pole of the input of member, the other end of first current-limiting resistance and first filter capacitor connects composition first filter altogether
The output end of ripple unit.
It is preferred that, the electronic switch module includes the first electronic switch unit, the second electronic switch unit and the 3rd electricity
Sub switch unit；
The input of first electronic switch unit, the input of second electronic switch unit and the 3rd electricity
The input of sub switch unit connects the input for constituting the electronic switch module, the first of first electronic switch unit altogether
Controlled end, bootstrapping connection end and the second controlled end are respectively the first controlled end of the electronic switch module, the first bootstrapping connection
End and the second controlled end, the first controlled end, bootstrapping connection end and the second controlled end of second electronic switch unit are respectively
3rd controlled end of the electronic switch module, the second bootstrapping connection end and the 4th controlled end, the 3rd electronic switch unit
The first controlled end, bootstrapping connection end and the second controlled end be respectively the 5th controlled end of the electronic switch module, the 3rd from
Lift connection end and the 6th controlled end, the output end of first electronic switch unit, the output of second electronic switch unit
The output end of end and the 3rd electronic switch unit connects the output end for constituting the electronic switch module altogether；
The output end of the input termination switch control module of the electronic switch module, the electronic switch module
First controlled end, the second controlled end, the 3rd controlled end, the 4th controlled end, the 5th controlled end, the 6th controlled end connect respectively with it is described
The first control end, the second control end, the 3rd control end, the 4th control end, the 5th control end, the 6th control end one of drive module
One correspondence connection, the first bootstrapping connection end of the electronic switch module is connected to institute altogether with the first bootstrapping end of the drive module
State the first of motor to be connected end, the second bootstrapping connection end and the second of the drive module of the electronic switch module
Bootstrapping end is connected to the second of the motor and is connected end altogether, the 3rd of the electronic switch module boot connection end with it is described
3rd bootstrapping end of drive module is connected to the third phase connection end of the motor, the output end of the electronic switch module altogether
With connecing power supply and respectively it is connected with the current sample end of the current sample module and the low-voltage power supply end of the drive module；
When the power supply electrifying, first electronic switch unit, second electronic switch unit and the described 3rd
Any two in electronic switch unit inputs the current signal conducting of the power supply, to be driven described in output driving Pulse Width Control
Motor rotates；
When the power cut-off, if the motor, which continues to rotate, produces counter electromotive force, first electronic cutting
The electric current for closing unit, second electronic switch unit and the 3rd electronic switch unit input counter electromotive force generation is led
Lead to, and the electric current that the counter electromotive force is produced is exported to the reverse bias module.
It is preferred that, first electronic switch unit includes the first NMOS tube and the second NMOS tube, second electronic cutting
Closing unit includes the 3rd NMOS tube and the 4th NMOS tube, and the 3rd electronic switch unit includes the 5th NMOS tube and the 6th N
Metal-oxide-semiconductor；
The grid of first NMOS tube and drain electrode are respectively the first controlled end of first electronic switch unit and defeated
Enter end, the drain electrode of the source electrode of first NMOS tube and second NMOS tube connects altogether constitutes first electronic switch unit
Boot connection end, the grid and source electrode of second NMOS tube be respectively first electronic switch unit the second controlled end and
Output end；
The grid of 3rd NMOS tube and drain electrode are respectively the first controlled end of second electronic switch unit and defeated
Enter end, the source electrode of the 3rd NMOS tube and the drain electrode of the 4th NMOS tube connect altogether constitutes second electronic switch unit
Boot connection end, the grid and source electrode of the 4th NMOS tube be respectively second electronic switch unit the second controlled end and
Output end；
The grid of 5th NMOS tube and drain electrode are respectively the first controlled end of the 3rd electronic switch unit and defeated
Enter end, the source electrode of the 5th NMOS tube and the drain electrode of the 6th NMOS tube connect altogether constitutes the 3rd electronic switch unit
Boot connection end, the grid and source electrode of the 6th NMOS tube be respectively the 3rd electronic switch unit the second controlled end and
Output end；
The electronic switch module also includes the second filter unit, the input of second filter unit and described first
The output end of electronic switch unit, the output end of second electronic switch unit, the output of the 3rd electronic switch unit
End and the current sample end of the current sample module connect altogether, the output termination power of second filter unit；
Second filter unit includes the second current-limiting resistance and the second filter capacitor, one end of second current-limiting resistance
Connect the input for constituting second filter unit altogether with the positive pole of second filter capacitor, second current-limiting resistance it is another
The negative pole of one end and second filter capacitor connects the output end for constituting second filter unit altogether.
It is preferred that, the drive module includes the first driver element, the second driver element and the 3rd driver element；
First power end of first driver element, the first power end of second driver element and the described 3rd drive
First power end of moving cell connects the first power end for constituting the drive module, the second source of first driver element altogether
The second source end at end, the second source end of second driver element and the 3rd driver element connects the composition driving altogether
The second source end of module, the low-voltage power supply end of first driver element, the low-voltage power supply end of second driver element and
The low-voltage power supply end of 3rd driver element connects the low-voltage power supply end for constituting the drive module, first driver element altogether
High pressure controlled end, the high pressure controlled end of the high pressure controlled end of second driver element and the 3rd driver element be respectively
The first high pressure controlled end, the second high pressure controlled end and the 3rd high pressure controlled end of the drive module, first driver element
Low-pressure controlled end, the low-pressure controlled end of the low-pressure controlled end of second driver element and the 3rd driver element be respectively
The first low-pressure controlled end, the second low-pressure controlled end and the 3rd low-pressure controlled end of the drive module, first driver element
The first control end, the first control end of the first control end of second driver element and the 3rd driver element be respectively
The first control end, the second control end and the 3rd control end of the drive module, the second control end of first driver element,
Second control end of second driver element and the second control end of the 3rd driver element are respectively the drive module
The 4th control end, the 5th control end and the 6th control end, first driver element second bootstrapping end, it is described second driving
Unit second bootstrapping end and the 3rd driver element second bootstrapping end be respectively the drive module first bootstrapping end,
Second bootstrapping end and the 3rd bootstrapping end；
First power end of the drive module and second source end respectively with the first output end of the Voltage stabilizing module and
3rd output end is connected, and the low-voltage power supply end of the drive module is connected with the output end of the electronic switch module, described to drive
The first high pressure controlled end, the second high pressure controlled end and the 3rd high pressure controlled end of dynamic model block respectively with the control module first
High voltage control end, the second high voltage control end and the 3rd high voltage control end connect one to one, the first low pressure of the drive module
Controlled end, the second low-pressure controlled end and the 3rd low-pressure controlled end the first low voltage control end respectively with the control module, second
Low voltage control end and the 3rd low voltage control end connect one to one, the drive module first bootstrapping end, second bootstrapping end and
The the first bootstrapping terminals, the second bootstrapping terminals and the 3rd bootstrapping wiring of 3rd bootstrapping end respectively with the electronic switch module
End connects one to one；
When the power supply electrifying, first driver element, second driver element and the 3rd driver element
Electrifying startup and according to the control signal output drive signal, while the first driver element, second driver element and institute
State any two output control signal in the 3rd driver element and control corresponding two electronic switch units conducting, make the drive
The first of dynamic motor be connected end, second be connected electric in corresponding two-phase in end and third phase connection end, to drive the drive
Dynamic motor is rotated.
It is preferred that, first driver element includes the first driving chip, 3rd resistor, the 4th resistance, the 5th resistance, the
Six resistance, the 7th resistance, the 3rd electric capacity, the 4th electric capacity, the second diode, the second diode and the 3rd diode；
The power end of first driving chip is total to the positive pole of the 3rd electric capacity and the positive pole of second diode
The first power end for constituting first driver element is connect, with connecing power supply, described first drives core to the negative pole of the 3rd electric capacity
The high pressure controlled end of piece and one end of the 3rd resistor connect the high pressure controlled end for constituting first driver element altogether, and described the
Another termination power of three resistance, the low-pressure controlled end of first driving chip and one end of the 4th resistance connect structure altogether
Into the low-pressure controlled end of first driver element, another termination power of the 4th resistance, first driving chip
Low-voltage power supply end be first driver element low-voltage power supply end, the low-voltage driving end of first driving chip with it is described
The negative pole of one end of 5th resistance and the 3rd diode connects altogether, the other end and the 3rd diode of the 5th resistance
Positive pole connect the second control end for constituting first driver element altogether, the first high voltage supply end of first driving chip with
The positive pole of 4th electric capacity connects the bootstrapping end for constituting first driver element, the high drive of first driving chip altogether
End connects altogether with one end of the 6th resistance and the negative pole of the 4th diode, the other end of the 6th resistance and described the
The positive pole of four diodes connects the first control end for constituting first driver element, the second high pressure of first driving chip altogether
Feeder ear connects altogether with one end of the 7th resistance and the negative pole of the 4th electric capacity, described in another termination of the 7th resistance
The negative pole of second diode；
Second driver element includes the second driving chip, the 8th resistance, the 9th resistance, the tenth resistance, the 11st electricity
Resistance, the 12nd resistance, the 5th electric capacity, the 6th electric capacity, the 5th diode, the 6th diode and the 7th diode；
The power end of second driving chip is total to the positive pole of the 5th electric capacity and the positive pole of the 5th diode
The first power end for constituting second driver element is connect, with connecing power supply, described second drives core to the negative pole of the 5th electric capacity
One end of the high pressure controlled end of piece and the 8th resistance connects the high pressure controlled end for constituting second driver element altogether, and described the
Another termination power of eight resistance, the low-pressure controlled end of second driving chip and one end of the 9th resistance connect structure altogether
Into the low-pressure controlled end of second driver element, another termination power of the 9th resistance, second driving chip
Low-voltage power supply end be second driver element low-voltage power supply end, the low-voltage driving end of second driving chip with it is described
The negative pole of one end of tenth resistance and the 6th diode connects altogether, the other end and the 6th diode of the tenth resistance
Positive pole connect the second control end for constituting second driver element altogether, the first high voltage supply end of second driving chip with
The positive pole of 6th electric capacity connects the bootstrapping end for constituting second driver element, the high drive of second driving chip altogether
End connects altogether with one end of the 11st resistance and the negative pole of the 7th diode, the other end of the 11st resistance and institute
The positive pole for stating the 7th diode connects the first control end for constituting second driver element, the second of second driving chip altogether
High voltage supply end connects altogether with one end of the 12nd resistance and the negative pole of the 6th electric capacity, the 12nd resistance it is another
Terminate the negative pole of the 5th diode；
3rd driver element includes the 3rd driving chip, the 13rd resistance, the 14th resistance, the 15th resistance, the
16 resistance, the 17th resistance, the 7th electric capacity, the 8th electric capacity, the 8th diode, the 9th diode and the tenth diode；
The positive pole of the power end of 3rd driving chip and the positive pole of the 7th electric capacity and the 8th diode is total to
The first power end for constituting the 3rd driver element is connect, with connecing power supply, the described 3rd drives core to the negative pole of the 7th electric capacity
One end of the high pressure controlled end of piece and the 13rd resistance connects the high pressure controlled end for constituting the 3rd driver element altogether, described
Another termination power of 13rd resistance, the low-pressure controlled end of the 3rd driving chip and one end of the 14th resistance
Connect the low-pressure controlled end for constituting the 3rd driver element altogether, another termination power of the 14th resistance, the described 3rd
The low-voltage power supply end of driving chip is the low-voltage power supply end of the 3rd driver element, the low-voltage driving of the 3rd driving chip
End connects altogether with one end of the 15th resistance and the negative pole of the 9th diode, the other end of the 15th resistance and institute
The positive pole for stating the 9th diode connects the second control end for constituting the 3rd driver element, the first of the 3rd driving chip altogether
The positive pole of high voltage supply end and the 8th electric capacity connects the bootstrapping end for constituting the 3rd driver element, the 3rd driving core altogether
The high drive end of piece connects altogether with one end of the 16th resistance and the negative pole of the tenth diode, the 16th resistance
The other end and the positive pole of the tenth diode connect the first control end for constituting the 3rd driver element altogether, the described 3rd drives
Second high voltage supply end of dynamic chip connects altogether with one end of the 17th resistance and the negative pole of the 8th electric capacity, and the described tenth
The negative pole of another termination the 8th diode of seven resistance.
It is preferred that, the current sample module includes the 18th resistance, the 19th resistance, the 20th resistance, the 21st
Resistance, the 9th electric capacity and the tenth electric capacity；
One end of 18th resistance be the current sample module current sample end, the 18th resistance it is another
One end and one end of the 19th resistance, the positive pole of the 9th electric capacity connect altogether to be constituted the first of the current sample module and adopts
Sample output end, the other end of the 19th resistance is the power end of the current sample module, the 20th resistance it is another
One end of one end and the 21st resistance and the negative pole of the tenth electric capacity connect altogether constitutes the of the current sample module
Three sampled outputs, the other end of the 21st resistance and the positive pole of the tenth electric capacity connect the composition current sample altogether
Second sampled output of module；
The current sample end of the current sample module is connected with the output end of the electronic switch module, and the electric current is adopted
The power end of egf block is connected with the 3rd output end of the Voltage stabilizing module, the first sampling output of the current sample module
End, the second sampled output and the 3rd sampled output respectively with the first sampling end of the control module, the second sampling end and
3rd sampling end connects one to one；
When the power supply electrifying, the motor are rotated, the current sample module passes through the driving electricity respectively
The first of machine be connected end, second be connected end and third phase connection end gathers the operating current of the motor, and respectively
Exported by first sampled output, second sampled output and the 3rd sampled output to the control mould
Block.
It is preferred that, the Voltage stabilizing module includes the first voltage regulation unit, the second voltage regulation unit and the 3rd voltage regulation unit；
The input of first voltage regulation unit is the input of the Voltage stabilizing module, the output of first voltage regulation unit
End and the input of second voltage regulation unit connect the first output end for constituting the Voltage stabilizing module, second voltage regulation unit altogether
The input of output end and the 3rd voltage regulation unit connect the second output end for constituting the Voltage stabilizing module altogether, the described 3rd is steady
Press the 3rd output end that unit output end is the Voltage stabilizing module；
When the power supply electrifying, the Voltage stabilizing module by first voltage regulation unit, second voltage regulation unit and
The current signal of the output of the power supply is converted to the first predeterminated voltage, the second predeterminated voltage by the 3rd voltage regulation unit successively
Exported respectively with the 3rd predeterminated voltage and by its three output ends.
On the other hand the utility model embodiment also provides a kind of robot, and it includes steering wheel, CAN transceiver and magnetic
Alignment sensor, the steering wheel include above-mentioned drive control circuit, the CAN transceiver respectively with the Voltage stabilizing module
With control module connection, the magnetic position sensor is connected with the Voltage stabilizing module and the control module respectively, described
Control module is also connected by the CAN transceiver with external device communication.
The utility model embodiment, can be in steering wheel by providing a kind of drive control circuit including reverse bias module
After power-off, when the motor of steering wheel produces counter electromotive force because making mechanical movement artificial promotion, counter electromotive force is prevented to produce
The mainboard of raw current direction steering wheel, it is to avoid electric on the mainboard of steering wheel.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the utility model embodiment
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present utility model,
For those of ordinary skill in the art, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings
Other accompanying drawings.
Fig. 1 is the basic structure block diagram for the drive control circuit that one embodiment of the present utility model is provided；
Fig. 2 is the concrete structure block diagram for the drive control circuit that one embodiment of the present utility model is provided；
Fig. 3 is the electrical block diagram for the reverse bias module that one embodiment of the present utility model is provided；
Fig. 4 is the electrical block diagram for the electronic switch module that one embodiment of the present utility model is provided；
Fig. 5 is the electrical block diagram for the drive module that one embodiment of the present utility model is provided；
Fig. 6 is the electrical block diagram for the current sample module that one embodiment of the present utility model is provided；
Fig. 7 is the electrical block diagram for the voltage sample module that one embodiment of the present utility model is provided；
Fig. 8 is the electrical block diagram for the temperature collect module that one embodiment of the present utility model is provided；
Fig. 9 is the basic structure block diagram for the robot that one embodiment of the present utility model is provided.
Embodiment
In order that those skilled in the art more fully understand the utility model scheme, it is real below in conjunction with the utility model
The accompanying drawing in example is applied, the technical scheme in the utility model embodiment is explicitly described, it is clear that described embodiment
It is the embodiment of the utility model part, rather than whole embodiments.Based on the embodiment in the utility model, this area
The every other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, should all belong to this practicality
Novel protected scope.
Term " comprising " and their any changes in specification and claims of the present utility model and above-mentioned accompanying drawing
Shape, it is intended that covering is non-exclusive to be included.Process, method or system, product for example comprising series of steps or unit or
The step of equipment is not limited to list or unit, but alternatively also include the step of do not list or unit, or it is optional
Ground is also included for the intrinsic other steps of these processes, method, product or equipment or unit.In addition, term " first ", " the
Two " and " the 3rd " etc. are to be used to distinguish different objects, not for description particular order.
As shown in figure 1, one embodiment of the present utility model provides a kind of drive control circuit 100, for controlling steering wheel
200 motor 201 works or is stopped, and it includes reverse bias module 10, electronic switch module 20, drive module
30th, control module 40, current sample module 50 and Voltage stabilizing module 60.
The power supply 202 of the access steering wheel 200 of reverse bias module 10 is simultaneously connected with electronic switch module 20, and drive module 30 is led to
Cross electronic switch module 20 to be connected with motor 201, control module 40 is connected with drive module 30 and by current sample mould
Block 50 is connected with electronic switch module 20, Voltage stabilizing module 60 access power supply 202 and respectively with drive module 30, control module 40 and
Current sample module 50 is connected.
In a particular application, motor 201 is specifically as follows three-phase dc servomotor, and power supply 202 is specifically as follows
24V dc sources, control module 40 can specifically pass through universal integrated circuit, such as CPU (Central Processing
Unit, central processing unit), or by ASIC (Application Specific Integrated Circuit, it is special integrated
Circuit) realize.
The operation principle for the drive control circuit that the present embodiment is provided is：
When power supply electrifying, reverse bias module forward conduction input current signal, the output control of control module electrifying startup
Signal processed, drive module electrifying startup is according to control signal output drive signal, and electronic switch module is according to current signal and drive
Dynamic signal conduction output driving pulse, motor pulsed drive rotation driven, control module also passes through current sample module
The operating current of motor is gathered, to adjust control signal of the output to drive module according to operating current；
When power cut-off, if motor continues rotation, generation counter electromotive force turns on electronic switch module, inversely
Biasing module reversely ends, the current direction control module for preventing counter electromotive force from producing, it is to avoid control module electrifying startup.
The present embodiment can power off it by providing a kind of drive control circuit including reverse bias module in steering wheel
Afterwards, when the motor of steering wheel produces counter electromotive force because making mechanical movement artificial promotion, the electricity for preventing counter electromotive force from producing
Flow traffic organising module, it is to avoid electric in the control module (i.e. the mainboard of steering wheel) of steering wheel.
As shown in Fig. 2 in one embodiment of the present utility model, reverse bias module 10 includes reverse bias unit 11
With the first filter unit 12；Electronic switch module 20 includes the first electronic switch unit 21, the second electronic switch unit 22 and the
Three electronic switch units 23；Drive module 30 includes the first driver element 31, the second driver element 32 and the 3rd driver element 33；
Voltage stabilizing module 60 includes the first voltage regulation unit 61, the second voltage regulation unit 62 and the 3rd voltage regulation unit 63；Servo driving module 100 is also
Including voltage sample module 70 and temperature sampling module 80.
As shown in Fig. 2 in the present embodiment, the annexation between reverse bias module 10 and other each modules is：
The input of reverse bias unit 11 is the input of reverse bias module 10, the output of reverse bias unit 11
The input of end and the first filter unit 12 connects the output end for constituting reverse bias module 10, the output of the first filter unit 12 altogether
Hold as the earth terminal of reverse bias module 10.
In a particular application, reverse bias unit 11 can specifically select diode, and the first filter unit can specifically be selected
With arbitrarily conventional filter circuit construction.
The input of reverse bias module 10 is connected to power supply 202, reverse bias module altogether with the input of Voltage stabilizing module 60
The input of 10 output termination electronic switch module 20, the ground connection termination power of reverse bias module 10.
The operation principle for the reverse bias module that the present embodiment is provided is：
When the power supply electrifying, the reverse bias unit forward conduction, the current signal of the power supply output passes through
The reverse bias unit is exported to the electronic switch module；
When the power cut-off, if the motor continues rotation, generation counter electromotive force makes the electronic switch module
Conducting, then the reverse bias unit reversely ends, and the electric current that the counter electromotive force is produced is through the electronic switch module and institute
State the first filter unit with exporting to power supply, the electronic switch mould is passed sequentially through with the electric current for preventing the counter electromotive force from producing
Block, the reverse bias module and the Voltage stabilizing module flow into the control module, it is to avoid the control module electrifying startup.
As shown in Fig. 2 in the present embodiment, the annexation between electronic switch module 20 and other each modules is：
The input and the 3rd electronic switch list of the input of first electronic switch unit 21, the second electronic switch unit 22
Member 23 input connect altogether constitute electronic switch module 20 input, the first controlled end of the first electronic switch unit 21, from
It is respectively that the first controlled end of electronic switch module 20, the first bootstrapping connection end and second are controlled to lift connection end and the second controlled end
End, the first controlled end, bootstrapping connection end and the second controlled end of the second electronic switch unit 22 are respectively electronic switch module 20
The 3rd controlled end, the second bootstrapping connection end and the 4th controlled end, the first controlled end of the 3rd electronic switch unit 23, bootstrapping connect
Connect end and the second controlled end be respectively the 5th controlled end of electronic switch module 20, the 3rd bootstrapping connection end and the 6th controlled end,
The output end of first electronic switch unit 21, the output end of the second electronic switch unit 22 and the 3rd electronic switch unit 23 it is defeated
Go out end and connect the output end for constituting electronic switch module 20 altogether.
In a particular application, the first electronic switch unit, the second electronic switch unit and the 3rd electronic switch unit
To be constituted electronic switching circuit by metal-oxide-semiconductor.
The output end of the input termination switch control module 40 of electronic switch module 20, the first of electronic switch module 20
Controlled end, the second controlled end, the 3rd controlled end, the 4th controlled end, the 5th controlled end, the 6th controlled end connect and drive module respectively
30 the first control end, the second control end, the 3rd control end, the 4th control end, the 5th control end, the 6th control end are corresponded
Connection, the first bootstrapping connection end of electronic switch module 20 and the first bootstrapping end of drive module are connected to motor 201 altogether
First is connected end, and the second bootstrapping connection end of electronic switch module is connected to driving electricity altogether with the second bootstrapping end of drive module 30
The second of machine 201 is connected end, and the 3rd bootstrapping connection end of electronic switch module 20 is total to the 3rd bootstrapping end of drive module 30
Be connected to the third phase connection end of motor 201, the output termination power of electronic switch module 20 and respectively with current sample
The current sample end of module 50 and the low-voltage power supply end connection of drive module 40.
The operation principle for the electronic switch module that the present embodiment is provided is：
When the power supply electrifying, first electronic switch unit, second electronic switch unit and the described 3rd
Any two in electronic switch unit inputs the current signal conducting of the power supply, to be driven described in output driving Pulse Width Control
Motor rotates；
When the power cut-off, if the motor, which continues to rotate, produces counter electromotive force, first electronic cutting
The electric current for closing unit, second electronic switch unit and the 3rd electronic switch unit input counter electromotive force generation is led
Lead to, and the electric current that the counter electromotive force is produced is exported to the reverse bias module.
In a particular application, in power supply electrifying, drive module controls the first electronic switch unit, the second electronic switch list
Any two in member or the 3rd electronic switch unit, the first of output driving pulse to motor is connected end, the second phase
Connection end or any two terminal of third phase connection end, so that motor rotates.
As shown in Fig. 2 in the present embodiment, the annexation between drive module 30 and other each modules is：
The first power end and the 3rd driver element 33 of first power end of the first driver element 31, the second driver element 32
The first power end connect altogether constitute drive module 30 the first power end, the second source end of the first driver element 31, second drive
The second source end of moving cell 32 and the second source end of the 3rd driver element 33 connect the second source for constituting drive module 30 altogether
End, the low-voltage power supply end of the first driver element 31, the low-voltage power supply end of the second driver element 32 and the 3rd driver element 33 it is low
Pressure feeder ear connects the low-voltage power supply end for constituting drive module 30 altogether, and the high pressure controlled end of the first driver element 31, the second driving are single
First 32 high pressure controlled end and the high pressure controlled end of the 3rd driver element 33 be respectively drive module 30 the first high pressure controlled end,
Second high pressure controlled end and the 3rd high pressure controlled end, the low-pressure controlled end of the first driver element 31, the second driver element 32 it is low
The low-pressure controlled end for pressing controlled end and the 3rd driver element 33 is respectively the first low-pressure controlled end of drive module 30, the second low pressure
Controlled end and the 3rd low-pressure controlled end, the first control end of the first driver element 31, the first control end of the second driver element 32
The first control end with the 3rd driver element 33 is respectively the first control end, the second control end and the 3rd control of drive module 30
End, the second control end of the first driver element 31, the of the second control end of the second driver element 32 and the 3rd driver element 33
Two control ends are respectively the 4th control end, the 5th control end and the 6th control end of drive module 30, the first driver element 31
The second bootstrapping end at the second bootstrapping end, the second bootstrapping end of the second driver element 32 and the 3rd driver element 33 is respectively driving mould
The first bootstrapping end, the second bootstrapping end and the 3rd bootstrapping end of block 30.
In a particular application, the first driver element, the second driver element and the 3rd driver element can specifically pass through motor
Driving chip is constituted.
First power end of drive module 30 and second source end respectively with the first output end of Voltage stabilizing module 60 and the 3rd
Output end is connected, and the low-voltage power supply end of drive module 30 is connected with the output end of electronic switch module 20, and the of drive module 30
One high pressure controlled end, the second high pressure controlled end and the 3rd high pressure controlled end the first high voltage control end respectively with control module 40,
Second high voltage control end and the 3rd high voltage control end connect one to one, the first low-pressure controlled end of drive module 30, second low
Press the first low voltage control end, the second low voltage control end and the 3rd of controlled end and the 3rd low-pressure controlled end respectively with control module 40
Low voltage control end connects one to one, drive module 30 first bootstrapping end, second bootstrapping end and the 3rd bootstrapping end respectively with electricity
The first bootstrapping terminals, the second bootstrapping terminals and the 3rd bootstrapping terminals of sub switch module connect one to one；
The operation principle for the drive module that the present embodiment is provided is：
When the power supply electrifying, first driver element, second driver element and the 3rd driver element
Electrifying startup and according to the control signal output drive signal, while the first driver element, second driver element and institute
State any two output control signal in the 3rd driver element and control corresponding two electronic switch units conducting, make the drive
The first of dynamic motor be connected end, second be connected electric in corresponding two-phase in end and third phase connection end, to drive the drive
Dynamic motor is rotated.
In a particular application, drive module passes through its first driver element, the second driver element and the 3rd driver element point
Not Kong Zhi motor first be connected end, second be connected end and third phase connection end electrifying condition.
As shown in Fig. 2 in the present embodiment, the annexation between current sample module 50 and other each modules is：
The current sample end of current sample module 50 is connected with the output end of electronic switch module 20, current sample module 50
Power end be connected with the 3rd output end of Voltage stabilizing module 60, the first sampled output of current sample module 50, second sampling
Output end and the 3rd sampled output respectively with the first sampling end, the second sampling end and the 3rd sampling end of control module 40 one by one
Correspondence connection.
The operation principle for the current sample module that the present embodiment is provided is：
When power supply electrifying, motor rotate when, current sample module respectively by the first of motor be connected end,
Second is connected end and third phase connection end gathers the operating current of motor, and passes through the first sampled output, the respectively
Two sampled outputs and the 3rd sampled output are exported to control module.
As shown in Fig. 2 in the present embodiment, the annexation between Voltage stabilizing module 60 and other each modules is：
The input of first voltage regulation unit 61 is the input of Voltage stabilizing module 60, the output end of the first voltage regulation unit 61 and the
The input of two voltage regulation units 62 connects the first output end for constituting Voltage stabilizing module 60, the output end of the second voltage regulation unit 62 and the altogether
The input of three voltage regulation units 63 connects the second output end for constituting Voltage stabilizing module 60 altogether, and the output end of the 3rd voltage regulation unit 63 is voltage stabilizing
3rd output end of module 60.
In a particular application, the first voltage regulation unit, the second voltage regulation unit and the 3rd voltage regulation unit can specifically pass through voltage stabilizing
Device, dc-dc or voltage stabilizing chip are realized.In a particular application, the first voltage regulation unit can specifically select MP4560 types
Buck converter, the second voltage regulation unit can specifically select MP2314 type voltage stabilizing chips, and the 3rd voltage regulation unit can specifically be selected
SGM2013 type low pressure difference linear voltage regulators.
The operation principle for the Voltage stabilizing module that the present embodiment is provided is：
When power supply electrifying, Voltage stabilizing module by the first voltage regulation unit, the second voltage regulation unit and the 3rd voltage regulation unit successively
By the current signal of the output of power supply be converted to the first predeterminated voltage, the second predeterminated voltage and the 3rd predeterminated voltage and by thirdly
Individual output end is exported respectively.
In a particular application, when the voltage swing that power supply is exported is 24V direct current, the first voltage regulation unit is used for will
It is output after 12V direct currents that 24V direct currents, which are depressured, and it is defeated after 5V direct currents that the second voltage regulation unit, which is used for the decompression of 12V direct currents,
Go out, it is output after 3.3V direct currents that the 3rd voltage regulation unit, which is used for the decompression of 5V direct currents,.
As shown in Fig. 2 in the present embodiment, the annexation between voltage sample module 70 and other each modules is：
First voltage sampling end, second voltage sampling end, sampled output and the earth terminal difference of voltage sample module 70
Connected one to one with power supply 202, the 3rd output end of Voltage stabilizing module 60, the voltage sample end of control module 40 and power supply.
The operation principle for the voltage sample module that the present embodiment is provided is：
In power supply electrifying, control module control voltage sampling module sampling power supply voltage signal and Voltage stabilizing module the 3rd
The voltage signal of output end output, to detect whether the voltage of whole servo driving circuit is normal.
As shown in Fig. 2 in the present embodiment, the annexation between temperature collect module 80 and other each modules is：
The power end of temperature collect module 80, sampled signal output and ground are respectively with connecing the of Voltage stabilizing module 30
Connect one to one three output ends, the temperature acquisition end of control module 40 and power supply.
The operation principle for the temperature collect module that the present embodiment is provided is：
Temperature collect module is positioned close to the position of motor, and collection motor is controlled for controlled module
Temperature, if the temperature of the motor collected is more than preset temperature threshold value, control module controls the motor to stop
Spin-ended turn, or reduce the rotary speed of motor.
As shown in figure 3, in one embodiment of the present utility model, reverse bias unit 11 includes three end diode D1,
First filter unit 12 includes the first current-limiting resistance R1 and the first filter capacitor C1.
The annexation of each electronic component is in reverse bias module 10：
Three end diode D1 two positive poles meet the input 24V, three end diode D1 for constituting reverse bias unit 11 altogether
Negative pole be reverse bias unit 11 output end 24V_MOS；
First current-limiting resistance R1 one end and the first filter capacitor C1 positive pole connect altogether constitutes the defeated of the first filter unit 12
Enter and hold 24V_MOS, the first current-limiting resistance R1 other end and the C1 of the first filter capacitor negative pole connect the filtering list of composition first altogether
The output end of member 12.
As shown in figure 4, in one embodiment of the present utility model, the first electronic switch unit 21 includes the first NMOS tube
Q1 and the second NMOS tube Q2, the second electronic switch unit 22 includes the 3rd NMOS pipes Q3 and the 4th NMOS tube Q4, the 3rd electronic cutting
Closing unit 23 includes the 5th NMOS tube Q5 and the 6th N metal-oxide-semiconductors Q6.
The annexation of each electronic component is in electronic switch module 20：
First NMOS tube Q1 grid and drain electrode be respectively the first electronic switch unit 21 the first controlled end PWM_AT and
Input 24V_MOS, the first NMOS tube Q1 source electrode and the second NMOS tube Q2 drain electrode connect the first electronic switch unit of composition altogether
21 bootstrapping connection end PHASE_A, the 2nd NMOS pipes Q2 grid and source electrode are respectively the second of the first electronic switch unit 21
Controlled end PWM_AB and output end I_PHASE_A；
3rd NMOS tube Q3 grid and drain electrode be respectively the second electronic switch unit 21 the first controlled end PWM_BT and
The drain electrode of input 24V_MOS, the 3rd NMOS tube Q3 source electrode and the 4th NMOS tube Q4 connects the second electronic switch unit of composition altogether
22 bootstrapping connection end PHASE_B, the 4th NMOS pipes Q4 grid and source electrode are respectively the second of the second electronic switch unit 22
Controlled end PWM_BB and output end I_PHASE_A；
5th NMOS tube Q5 grid and drain electrode be respectively the 3rd electronic switch unit 23 the first controlled end PWM_CT and
The drain electrode of input 24V_MOS, the 5th NMOS tube Q5 source electrode and the 6th NMOS tube Q6 connects the 3rd electronic switch unit of composition altogether
23 bootstrapping connection end PHASE_C, the 6th NMOS pipes Q6 grid and source electrode be respectively the 3rd electronic switch unit second by
Control end PWM_CB and output end I_PHASE_A.
In the present embodiment, electronic switch module 20 also includes the second filter unit 24, the input of the second filter unit 24
End and the output end, the output end of the second electronic switch unit 22, the 3rd electronic switch unit 23 of the first electronic switch unit 21
Output end and the current sample end of current sample module 50 connect altogether, the output termination power of the second filter unit 24.
In the present embodiment, the particular circuit configurations of the second filter unit 24 are：
Second filter unit 24 includes the second current-limiting resistance R2 and the second filter capacitor C2, the second current-limiting resistance R2 one end
Meet the input I_PHASE_A, the second current-limiting resistance R2 for constituting the second filter unit 24 altogether with the second filter capacitor C2 positive pole
The other end and the second filter capacitor C2 negative pole connect altogether constitute the second filter unit 24 output end.
As shown in figure 5, in one embodiment of the present utility model, the first driver element 31 includes the first driving chip
U1,3rd resistor R3, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the 7th resistance R7, the 3rd electric capacity C3, the 4th electric capacity
C4, the second diode D2, the second diode D3 and the 3rd diode D4.
In the present embodiment, the first driving core U1 specifically selects DGD1503 type motor drive ics.
In the present embodiment, the annexation in the first driver element 31 between each device is：
First driving chip U1 power end VCC and the 3rd electric capacity C3 positive pole and the second diode D2 positive pole connects altogether
Constitute the first power end 3.3V of the first driver element 31, the 3rd electric capacity C3 negative pole with connecing power supply, the first driving chip U1's
High pressure controlled end HIN and 3rd resistor R3 one end meet the high pressure controlled end MCU_AT for constituting the first driver element 31, the 3rd altogether
Resistance R3 another termination power, the first driving chip U1 low-pressure controlled end LIN and the 4th resistance R4 one end connect structure altogether
Into the low-pressure controlled end MCU_AB of the first driver element 31, the 4th resistance R4 another termination power, the first driving chip
U1 low-voltage power supply end COM is the low-voltage power supply end I_PHASE_A of the first driver element 31, and the first driving chip U1 low pressure is driven
Moved end LO connects altogether with the 5th resistance R5 one end and the 3rd diode D3 negative pole, the 5th resistance R5 other end and the three or two pole
Pipe D3 positive pole meets the second control end PWM_AB for constituting the first driver element 31, the first driving chip U1 the first high pressure altogether
Feeder ear VS and the 4th electric capacity C4 positive pole meet the bootstrapping end PHASE_A for constituting the first driver element 31, the first driving chip altogether
U1 high drive end HO connects altogether with the 6th resistance R6 one end and the 4th diode D4 negative pole, and the 6th resistance R6's is another
End and the 4th diode D4 positive pole meet the first control end PWM_AT, the first driving chip U1 for constituting the first driver element 31 altogether
The second high voltage supply end VB connect altogether with the 7th resistance R7 one end and the 4th electric capacity C4 negative pole, the 7th resistance R7 other end
Connect the second diode D2 negative pole.
Second driver element 32 includes the second driving chip U2, the 8th resistance R8, the 9th resistance R9, the tenth resistance R10, the
11 resistance R11, the 12nd resistance R12, the 5th electric capacity C5, the 6th electric capacity C6, the 5th diode D5, the 6th diode D6 and
Seven diode D7.
In the present embodiment, the second driving core U1 specifically selects DGD1503 type motor drive ics.
In the present embodiment, the annexation in the second driver element 32 between each device is：
Second driving chip U2 power end VCC connects altogether with the 5th electric capacity C5 positive pole and the 5th diode D5 positive pole
Constitute the first power end 3.3V of the second driver element 32, the 5th electric capacity C5 negative pole with connecing power supply, the second driving chip U2's
High pressure controlled end HIN and the 8th resistance R8 one end meet the high pressure controlled end MCU_BT for constituting the second driver element 32, the 8th altogether
Resistance R8 another termination power, the second driving chip U2 low-pressure controlled end LIN and the 9th resistance R9 one end connect structure altogether
Into the low-pressure controlled end MCU_BB of the second driver element 32, the 9th resistance R9 another termination power, the second driving chip
U2 low-voltage power supply end COM is the low-voltage power supply end I_PHASE_B of the second driver element 32, and the second driving chip U2 low pressure is driven
Moved end LO connects altogether with the tenth resistance R10 one end and the 6th diode D6 negative pole, the tenth resistance R10 other end and the six or two
Pole pipe D6 positive pole meets the second control end PWM_BB for constituting the second driver element 32 altogether, and the first of the second driving chip U2 is high
Pressure feeder ear VS and the 6th electric capacity C6 positive pole meets the bootstrapping end PHASE_B for constituting the second driver element 32, the second driving core altogether
Piece U2 high drive end HO connects altogether with the 11st resistance R11 one end and the 7th diode D7 negative pole, the 11st resistance R11
The other end and the 7th diode D7 positive pole connect altogether constitute the second driver element 32 the first control end PWM_BT, second driving
Chip U2 the second high voltage supply end VB connects altogether with the 12nd resistance R12 one end and the 6th electric capacity C6 negative pole, the 12nd electricity
Hinder the R12 diode D5 of another termination the 5th negative pole.
3rd driver element 33 includes the 3rd driving chip U3, the 13rd resistance R13, the 14th resistance R14, the 15th electricity
Hinder R15, the 16th resistance R16, the 17th resistance R17, the 7th electric capacity C7, the 8th electric capacity C8, the 8th diode D8, the 9th 2
Pole pipe D9 and the tenth diode D10.
In the present embodiment, the 3rd driving core U1 specifically selects DGD1503 type motor drive ics.
In the present embodiment, the annexation in the 3rd driver element 33 between each device is：
3rd driving chip U3 power end VCC connects altogether with the 7th electric capacity C7 positive pole and the 8th diode D8 positive pole
Constitute the first power end 3.3V of the 3rd driver element 33, the 7th electric capacity C7 negative pole with connecing power supply, the 3rd driving chip U3's
High pressure controlled end HIN and the 13rd resistance R13 one end meet the high pressure controlled end MCU_CT for constituting the 3rd driver element 33 altogether, the
13 resistance R13 another termination power, the one of the 3rd driving chip U3 low-pressure controlled end LIN and the 14th resistance R14
End meets the low-pressure controlled end MCU_CB for constituting the 3rd driver element 33, the 14th resistance R14 another termination power, the 3rd altogether
Driving chip U3 low-voltage power supply end COM is the low-voltage power supply end I_PHASE_C, the 3rd driving chip U3 of the 3rd driver element 33
Low-voltage driving end LO connect altogether with the 15th resistance R15 one end and the 9th diode D9 negative pole, the 15th resistance R15's
The other end and the 9th diode D9 positive pole meet the second control end PWM_CB for constituting the 3rd driver element 33, the 3rd driving core altogether
Piece U3 the first high voltage supply end VS and the 8th electric capacity C8 positive pole meet the bootstrapping end PHASE_ for constituting the 3rd driver element 33 altogether
C, the 3rd driving chip U3 high drive end HO connect altogether with the 16th resistance R16 one end and the tenth diode D10 negative pole,
The 16th resistance R16 other end and the tenth diode D10 positive pole connect the first control end for constituting the 3rd driver element 33 altogether
PWM_CT, the 3rd driving chip U3 the second high voltage supply end VB and the 17th resistance R17 one end and bearing for the 8th electric capacity C8
Extremely connect altogether, the 17th resistance R17 diode D8 of another termination the 8th negative pole.
As shown in fig. 6, in one embodiment of the present utility model, current sample module 50 include the 18th resistance R18,
19th resistance R19, the 20th resistance R20, the 21st resistance R21, the 9th electric capacity C9 and the tenth electric capacity C10.
In the present embodiment, the annexation in current sample module between each electronic component is：
18th resistance R18 one end is the current sample end I_PHASE_A of current sample module 50, the 18th resistance
The R18 other end and the 19th resistance R19 one end, the 9th electric capacity C9 positive pole connect altogether constitutes the first of current sample module 50
Sampled output PA1, the 19th resistance the R19 other end are the power end 3.3V, the 20th resistance R20 of current sample module 50
The other end and the 21st resistance R21 one end and the tenth electric capacity C10 negative pole connect constitute the of current sample module 50 altogether
Three sampled output PA3, the 21st resistance R21 other end and the tenth electric capacity C10 positive pole connect composition current sample mould altogether
Second sampled output PA2 of block 50.
As shown in fig. 7, in one embodiment of the present utility model, voltage acquisition module 70 includes the 22nd resistance
R22, the 23rd resistance R23, the 11st electric capacity C11, the 11st diode (being specially Schottky diode) D11.
In the present embodiment, the annexation in voltage acquisition module 70 between each electronic component is：
22nd resistance R22 one end is the first voltage sampling end 24V of voltage acquisition module 70, the 22nd resistance
The positive pole of the R22 other end and the 23rd resistance R23 one end, the 11st electric capacity C11 positive pole and the 11st diode D11
The sampled output Vdet, the 23rd resistance R23 that constitute voltage acquisition module 70 other end and the 11st electric capacity C11 are connect altogether
Negative pole connect the earth terminal for constituting voltage sample module 70 altogether, the 11st diode D11 negative pole constitutes voltage sample module 70
Second voltage sampling end 3.3V.
As shown in figure 8, in one embodiment of the present utility model, temperature collect module 80 includes the 24th resistance
R24, the 25th resistance R25 (being specially thermistor) and the 12nd electric capacity C12.
In the present embodiment, the annexation in current sample module between each electronic component is：
24th resistance R24 one end is the power end 3.3V of temperature collect module 80, and the 24th resistance R24's is another
One end connects the sampling for constituting temperature collect module 80 with the 25th resistance R25 one end and the 12nd electric capacity C12 positive pole altogether
Signal output part NTC, the 25th resistance R25 other end and the 12nd electric capacity C12 negative pole are temperature collect module 80
Earth terminal.
In one embodiment of the present utility model, the equal common implementing of all embodiments corresponding to accompanying drawing 3~8, accompanying drawing
In all mark identical ports connect altogether.In the present embodiment, control module 40 is specifically micro- from STM32F302RBT6 types
Controller；First voltage regulation unit specifically selects MP4560 type buck converters, and the second voltage regulation unit is specifically steady from MP2314 types
Chip is pressed, the 3rd voltage regulation unit specifically selects SGM2013 type low pressure difference linear voltage regulators.Due in a particular application,
STM32F302RBT6 types microcontroller, MP4560 types buck converter, MP2314 types voltage stabilizing chip and SGM2013 type low voltage differences
The function of each pin of linear voltage regulator is, it is known that therefore, no longer to these chip applications in drive control electricity in the present embodiment
Physical circuit attachment structure when in road 100 is described in detail.
As shown in figure 9, one embodiment of the present utility model also provides a kind of robot 00, it includes steering wheel 200, CAN
Bus transceiver 300 and magnetic position sensor 400, steering wheel 200 include the drive control circuit 100 in above-described embodiment, and CAN is total
Line transceiver 300 is connected with Voltage stabilizing module 60 and control module 40 respectively, magnetic position sensor 400 respectively with Voltage stabilizing module 60
Connected with control module 40, control module 40 is also connected by CAN transceiver 300 with external device communication.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of drive control circuit, for controlling steering wheel to move, it is characterised in that the drive control circuit includes reverse inclined
Die block, electronic switch module, drive module, control module, current sample module and Voltage stabilizing module；
The reverse bias module accesses the power supply of the steering wheel and is connected with the electronic switch module, and the drive module is led to
Cross the electronic switch module to be connected with the motor, the control module is connected with the drive module and by described
Current sample module is connected with the electronic switch module, the Voltage stabilizing module access the power supply and respectively with the driving mould
Block, the control module and current sample module connection；
When the power supply electrifying, the reverse bias module forward conduction input current signal, electricity is opened in the control module
Dynamic and output control signal, the drive module electrifying startup and according to the control signal output drive signal, the electronics
Switch module is driven according to the current signal and drive signal conducting and output driving pulse, the motor by described
Moving pulse driving rotation, the control module also gathers the operating current of the motor by the current sample module,
To adjust control signal of the output to the drive module according to the operating current；
When the power cut-off, if the motor continues rotation, generation counter electromotive force leads the electronic switch module
Logical, then the reverse bias module is reversely ended, and prevents control module described in the current direction of the counter electromotive force generation, it is to avoid
The control module electrifying startup.
2. drive control circuit as claimed in claim 1, it is characterised in that the reverse bias module includes reverse bias list
Member and the first filter unit；
The input of the reverse bias unit is the input of the reverse bias module, the output of the reverse bias unit
End and the input of first filter unit connect the output end for constituting the reverse bias module, first filter unit altogether
Output end be the reverse bias module earth terminal；
The input of the reverse bias module is connected to the power supply, the reverse bias altogether with the input of the Voltage stabilizing module
The input of the output termination electronic switch module of module, the ground connection termination power of the reverse bias module；
When the power supply electrifying, the reverse bias unit forward conduction, the current signal that the power supply is exported passes through described
Reverse bias unit is exported to the electronic switch module；
When the power cut-off, if the motor continues rotation, generation counter electromotive force leads the electronic switch module
Logical, then the reverse bias unit reversely ends, and the electric current that the counter electromotive force is produced is through the electronic switch module and described
First filter unit with exporting to power supply, the electronic switch mould is passed sequentially through with the electric current for preventing the counter electromotive force from producing
Block, the reverse bias module and the Voltage stabilizing module flow into the control module, it is to avoid the control module electrifying startup.
3. drive control circuit as claimed in claim 2, it is characterised in that the reverse bias unit includes the pole of three end two
Pipe, first filter unit includes the first current-limiting resistance and the first filter capacitor；
Two positive poles of three end diode connect the input for constituting the reverse bias unit altogether, three end diode
Negative pole is the output end of the reverse bias unit；
The positive pole of one end of first current-limiting resistance and first filter capacitor connects altogether constitutes first filter unit
It is single that the negative pole of input, the other end of first current-limiting resistance and first filter capacitor connects composition first filtering altogether
The output end of member.
4. drive control circuit as claimed in claim 1, it is characterised in that the electronic switch module includes the first electronic cutting
Close unit, the second electronic switch unit and the 3rd electronic switch unit；
The input of first electronic switch unit, the input of second electronic switch unit and the 3rd electronic cutting
The input for closing unit connects the input for constituting the electronic switch module altogether, and the first of first electronic switch unit is controlled
End, bootstrapping connection end and the second controlled end be respectively the first controlled end of the electronic switch module, first bootstrapping connection end and
Second controlled end, the first controlled end, bootstrapping connection end and the second controlled end of second electronic switch unit are respectively described
3rd controlled end of electronic switch module, the second bootstrapping connection end and the 4th controlled end, the of the 3rd electronic switch unit
One controlled end, bootstrapping connection end and the second controlled end are respectively the 5th controlled end of the electronic switch module, the 3rd bootstrapping company
Connect end and the 6th controlled end, the output end of first electronic switch unit, the output end of second electronic switch unit and
The output end of 3rd electronic switch unit connects the output end for constituting the electronic switch module altogether；
The output end of the input termination switch control module of the electronic switch module, the first of the electronic switch module
Controlled end, the second controlled end, the 3rd controlled end, the 4th controlled end, the 5th controlled end, the 6th controlled end connect and the driving respectively
First control end of module, the second control end, the 3rd control end, the 4th control end, the 5th control end, the 6th control end one a pair
It should connect, the first bootstrapping connection end of the electronic switch module is connected to the drive altogether with the first bootstrapping end of the drive module
The first of dynamic motor is connected end, and the second bootstrapping connection end of the electronic switch module is booted with the second of the drive module
End is connected to the second of the motor and is connected end altogether, the 3rd bootstrapping connection end of the electronic switch module and the driving
3rd bootstrapping end of module is connected to the third phase connection end of the motor, the output termination electricity of the electronic switch module altogether
Source and be connected respectively with the current sample end of the current sample module and the low-voltage power supply end of the drive module；
When the power supply electrifying, first electronic switch unit, second electronic switch unit and the 3rd electronics
Any two in switch element inputs the current signal conducting of the power supply, with motor described in output driving Pulse Width Control
Rotation；
When the power cut-off, if the motor, which continues to rotate, produces counter electromotive force, the first electronic switch list
First, described second electronic switch unit and the 3rd electronic switch unit input the current lead-through that the counter electromotive force is produced,
And the electric current for producing the counter electromotive force is exported to the reverse bias module.
5. drive control circuit as claimed in claim 4, it is characterised in that first electronic switch unit includes first
NMOS tube and the second NMOS tube, second electronic switch unit include the 3rd NMOS tube and the 4th NMOS tube, the 3rd electricity
Sub switch unit includes the 5th NMOS tube and the 6th N metal-oxide-semiconductors；
The grid of first NMOS tube and drain electrode are respectively the first controlled end and input of first electronic switch unit,
The drain electrode of the source electrode of first NMOS tube and second NMOS tube connects the bootstrapping for constituting first electronic switch unit altogether
Connection end, the grid and source electrode of second NMOS tube are respectively the second controlled end and the output of first electronic switch unit
End；
The grid of 3rd NMOS tube and drain electrode are respectively the first controlled end and input of second electronic switch unit,
The source electrode of 3rd NMOS tube and the drain electrode of the 4th NMOS tube connect the bootstrapping for constituting second electronic switch unit altogether
Connection end, the grid and source electrode of the 4th NMOS tube are respectively the second controlled end and the output of second electronic switch unit
End；
The grid of 5th NMOS tube and drain electrode are respectively the first controlled end and input of the 3rd electronic switch unit,
The source electrode of 5th NMOS tube and the drain electrode of the 6th NMOS tube connect the bootstrapping for constituting the 3rd electronic switch unit altogether
Connection end, the grid and source electrode of the 6th NMOS tube are respectively the second controlled end and the output of the 3rd electronic switch unit
End；
The electronic switch module also includes the second filter unit, the input of second filter unit and first electronics
The output end of switch element, the output end of second electronic switch unit, the output end of the 3rd electronic switch unit and
The current sample end of the current sample module connects altogether, the output termination power of second filter unit；
Second filter unit includes the second current-limiting resistance and the second filter capacitor, one end of second current-limiting resistance and institute
The positive pole for stating the second filter capacitor connects the input for constituting second filter unit, the other end of second current-limiting resistance altogether
Connect the output end for constituting second filter unit altogether with the negative pole of second filter capacitor.
6. drive control circuit as claimed in claim 1, it is characterised in that the drive module include the first driver element,
Second driver element and the 3rd driver element；
First power end of first driver element, the first power end of second driver element and the 3rd driving are single
First power end of member connects the first power end for constituting the drive module altogether, the second source end of first driver element,
The second source end of second driver element and the second source end of the 3rd driver element connect the composition driving mould altogether
The second source end of block, the low-voltage power supply end of first driver element, the low-voltage power supply end of second driver element and institute
The low-voltage power supply end for stating the 3rd driver element connects the low-voltage power supply end for constituting the drive module altogether, first driver element
The high pressure controlled end of high pressure controlled end, the high pressure controlled end of second driver element and the 3rd driver element is respectively institute
The the first high pressure controlled end, the second high pressure controlled end and the 3rd high pressure controlled end of drive module are stated, first driver element
The low-pressure controlled end at low-pressure controlled end, the low-pressure controlled end of second driver element and the 3rd driver element is respectively institute
The the first low-pressure controlled end, the second low-pressure controlled end and the 3rd low-pressure controlled end of drive module are stated, first driver element
First control end of the first control end, the first control end of second driver element and the 3rd driver element is respectively institute
State the first control end, the second control end and the 3rd control end of drive module, the second control end of first driver element, institute
It is respectively the drive module to state the second control end of the second driver element and the second control end of the 3rd driver element
4th control end, the 5th control end and the 6th control end, the second bootstrapping end of first driver element, second driving are single
Second bootstrapping end of member and the second bootstrapping end of the 3rd driver element are respectively the first bootstrapping end of the drive module, the
Two bootstrapping ends and the 3rd bootstrapping end；
First power end of the drive module and second source end respectively with the first output end of the Voltage stabilizing module and the 3rd
Output end is connected, and the low-voltage power supply end of the drive module is connected with the output end of the electronic switch module, the driving mould
First high pressure controlled end of block, the first high pressure of the second high pressure controlled end and the 3rd high pressure controlled end respectively with the control module
Control end, the second high voltage control end and the 3rd high voltage control end connect one to one, the first low-pressure controlled of the drive module
End, the second low-pressure controlled end and the 3rd low-pressure controlled end the first low voltage control end respectively with the control module, the second low pressure
Control end and the 3rd low voltage control end connect one to one, the first bootstrapping end, the second bootstrapping end and the 3rd of the drive module
The the first bootstrapping terminals, the second bootstrapping terminals and the 3rd bootstrapping terminals one of bootstrapping end respectively with the electronic switch module
One correspondence connection；
It is electric on first driver element, second driver element and the 3rd driver element when the power supply electrifying
Start and according to the control signal output drive signal, while the first driver element, second driver element and described the
Any two output control signal in three driver elements controls corresponding two electronic switch units conducting, makes the driving electricity
The first of machine be connected end, second be connected in end and third phase connection end electricity in corresponding two-phase, to drive the driving electricity
Machine is rotated.
7. drive control circuit as claimed in claim 6, it is characterised in that first driver element includes the first driving core
Piece, 3rd resistor, the 4th resistance, the 5th resistance, the 6th resistance, the 7th resistance, the 3rd electric capacity, the 4th electric capacity, the second diode,
Second diode and the 3rd diode；
The power end of first driving chip connects structure altogether with the positive pole of the 3rd electric capacity and the positive pole of second diode
Into the first power end of first driver element, the negative pole of the 3rd electric capacity with connecing power supply, first driving chip
One end of high pressure controlled end and the 3rd resistor connects the high pressure controlled end for constituting first driver element, the 3rd electricity altogether
Another termination power of resistance, one end of the low-pressure controlled end of first driving chip and the 4th resistance meets composition institute altogether
State the low-pressure controlled end of the first driver element, another termination power of the 4th resistance, first driving chip it is low
Press the low-voltage power supply end that feeder ear is first driver element, the low-voltage driving end of first driving chip and the described 5th
The negative pole of one end of resistance and the 3rd diode connects altogether, and the other end and the 3rd diode of the 5th resistance are just
Extremely connect the second control end for constituting first driver element altogether, the first high voltage supply end of first driving chip with it is described
The positive pole of 4th electric capacity connects the bootstrapping end for constituting first driver element altogether, the high drive end of first driving chip with
One end of 6th resistance and the negative pole of the 4th diode connect altogether, the other end and the 4th diode of the 6th resistance
Positive pole connect the first control end for constituting first driver element altogether, the second high voltage supply end of first driving chip with
One end of 7th resistance and the negative pole of the 4th electric capacity connect altogether, another termination the two or two pole of the 7th resistance
The negative pole of pipe；
Second driver element includes the second driving chip, the 8th resistance, the 9th resistance, the tenth resistance, the 11st resistance, the
12 resistance, the 5th electric capacity, the 6th electric capacity, the 5th diode, the 6th diode and the 7th diode；
The power end of second driving chip connects structure altogether with the positive pole of the 5th electric capacity and the positive pole of the 5th diode
Into the first power end of second driver element, the negative pole of the 5th electric capacity with connecing power supply, second driving chip
One end of high pressure controlled end and the 8th resistance connects the high pressure controlled end for constituting second driver element, the 8th electricity altogether
Another termination power of resistance, one end of the low-pressure controlled end of second driving chip and the 9th resistance meets composition institute altogether
State the low-pressure controlled end of the second driver element, another termination power of the 9th resistance, second driving chip it is low
Press the low-voltage power supply end that feeder ear is second driver element, the low-voltage driving end of second driving chip and the described tenth
The negative pole of one end of resistance and the 6th diode connects altogether, and the other end and the 6th diode of the tenth resistance are just
Extremely connect the second control end for constituting second driver element altogether, the first high voltage supply end of second driving chip with it is described
The positive pole of 6th electric capacity connects the bootstrapping end for constituting second driver element altogether, the high drive end of second driving chip with
One end of 11st resistance and the negative pole of the 7th diode connect altogether, the other end of the 11st resistance and described
The positive pole of seven diodes connects the first control end for constituting second driver element, the second high pressure of second driving chip altogether
Feeder ear connects altogether with one end of the 12nd resistance and the negative pole of the 6th electric capacity, another termination of the 12nd resistance
The negative pole of 5th diode；
3rd driver element includes the 3rd driving chip, the 13rd resistance, the 14th resistance, the 15th resistance, the 16th
Resistance, the 17th resistance, the 7th electric capacity, the 8th electric capacity, the 8th diode, the 9th diode and the tenth diode；
The positive pole of the power end of 3rd driving chip and the positive pole of the 7th electric capacity and the 8th diode connects structure altogether
Into the first power end of the 3rd driver element, the negative pole of the 7th electric capacity with connecing power supply, the 3rd driving chip
One end of high pressure controlled end and the 13rd resistance connects the high pressure controlled end for constituting the 3rd driver element, the described tenth altogether
Another termination power of three resistance, the low-pressure controlled end and one end of the 14th resistance of the 3rd driving chip connect altogether
Constitute the low-pressure controlled end of the 3rd driver element, another termination power of the 14th resistance, the 3rd driving
The low-voltage power supply end of chip be the 3rd driver element low-voltage power supply end, the low-voltage driving end of the 3rd driving chip with
One end of 15th resistance and the negative pole of the 9th diode connect altogether, the other end of the 15th resistance and described
The positive pole of nine diodes connects the second control end for constituting the 3rd driver element, the first high pressure of the 3rd driving chip altogether
The positive pole of feeder ear and the 8th electric capacity connects the bootstrapping end for constituting the 3rd driver element altogether, the 3rd driving chip
High drive end connects altogether with one end of the 16th resistance and the negative pole of the tenth diode, the 16th resistance it is another
The positive pole of one end and the tenth diode connects the first control end for constituting the 3rd driver element, the 3rd driving core altogether
Second high voltage supply end of piece connects altogether with one end of the 17th resistance and the negative pole of the 8th electric capacity, the 17th electricity
The negative pole of another termination the 8th diode of resistance.
8. drive control circuit as claimed in claim 1, it is characterised in that the current sample module includes the 18th electricity
Resistance, the 19th resistance, the 20th resistance, the 21st resistance, the 9th electric capacity and the tenth electric capacity；
One end of 18th resistance is the current sample end of the current sample module, the other end of the 18th resistance
The first sampling that the positive pole of one end, the 9th electric capacity with the 19th resistance connects the composition current sample module altogether is defeated
Go out end, the other end of the 19th resistance is the power end of the current sample module, the other end of the 20th resistance
Connect the composition current sample module altogether with one end of the 21st resistance and the negative pole of the tenth electric capacity the 3rd adopts
Sample output end, the other end of the 21st resistance and the positive pole of the tenth electric capacity connect the composition current sample module altogether
The second sampled output；
The current sample end of the current sample module is connected with the output end of the electronic switch module, the current sample mould
The power end of block is connected with the 3rd output end of the Voltage stabilizing module, the first sampled output of the current sample module,
The first sampling end, the second sampling end and the 3rd of two sampled outputs and the 3rd sampled output respectively with the control module are adopted
Sample end connects one to one；
When the power supply electrifying, the motor are rotated, the current sample module passes through the motor respectively
First be connected end, second be connected end and third phase connection end gathers the operating current of the motor, and pass through respectively
First sampled output, second sampled output and the 3rd sampled output are exported to the control module.
9. drive control circuit as claimed in claim 1, it is characterised in that the Voltage stabilizing module include the first voltage regulation unit,
Second voltage regulation unit and the 3rd voltage regulation unit；
The input of first voltage regulation unit be the Voltage stabilizing module input, the output end of first voltage regulation unit with
The input of second voltage regulation unit connects the first output end for constituting the Voltage stabilizing module altogether, second voltage regulation unit it is defeated
Go out end and the input of the 3rd voltage regulation unit connects the second output end for constituting the Voltage stabilizing module, the 3rd voltage stabilizing list altogether
First output end is the 3rd output end of the Voltage stabilizing module；
When the power supply electrifying, the Voltage stabilizing module passes through first voltage regulation unit, second voltage regulation unit and described
The current signal of the output of the power supply is converted to the first predeterminated voltage, the second predeterminated voltage and by the 3rd voltage regulation unit successively
Three predeterminated voltages are simultaneously exported respectively by its three output ends.
10. a kind of robot, it is characterised in that the robot includes steering wheel, CAN transceiver and magnetic position sensor,
The steering wheel includes drive control circuit as described in any one of claim 1~9, the CAN transceiver respectively with institute
State Voltage stabilizing module and the control module connection, the magnetic position sensor respectively with the Voltage stabilizing module and the control module
Connection, the control module is also connected by the CAN transceiver with external device communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621492419.4U CN206363107U (en) | 2016-12-30 | 2016-12-30 | A kind of drive control circuit and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621492419.4U CN206363107U (en) | 2016-12-30 | 2016-12-30 | A kind of drive control circuit and robot |
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| Publication Number | Publication Date |
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| CN206363107U true CN206363107U (en) | 2017-07-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621492419.4U Active CN206363107U (en) | 2016-12-30 | 2016-12-30 | A kind of drive control circuit and robot |
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| CN (1) | CN206363107U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597907A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Driving control circuit and robot |
| CN111030521A (en) * | 2019-12-24 | 2020-04-17 | 兰州飞行控制有限责任公司 | Linear electric mechanism limiting and braking control circuit |
-
2016
- 2016-12-30 CN CN201621492419.4U patent/CN206363107U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597907A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Driving control circuit and robot |
| WO2018121727A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳市优必选科技有限公司 | Drive control circuit and robot |
| CN111030521A (en) * | 2019-12-24 | 2020-04-17 | 兰州飞行控制有限责任公司 | Linear electric mechanism limiting and braking control circuit |
| CN111030521B (en) * | 2019-12-24 | 2023-08-29 | 兰州飞行控制有限责任公司 | Limiting and braking control circuit of linear electric mechanism |
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Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Youbixuan Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Youbixuan Technology Co.,Ltd. |
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