CN207216363U - A kind of bionical limbs Servocontrol device - Google Patents
A kind of bionical limbs Servocontrol device Download PDFInfo
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- CN207216363U CN207216363U CN201721247939.3U CN201721247939U CN207216363U CN 207216363 U CN207216363 U CN 207216363U CN 201721247939 U CN201721247939 U CN 201721247939U CN 207216363 U CN207216363 U CN 207216363U
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Abstract
The utility model discloses a kind of bionical limbs Servocontrol device, including：For the structure separate type steering wheel pivoting angle data received and process angle detection electric circuit inspection arrives, and according to the central processing unit of control of the angle-data moment adjustment to drive circuit；It is connected with the central processing unit, the drive circuit rotated for receiving the drive signal motor that the central processing unit is sent；It is connected with the drive circuit, for the direction of motion of whole system and the electric machine controller of speed according to direction of motor rotation and speed control structure separate type steering wheel；It is connected respectively with the central processing unit and the electric machine controller, for detecting the angle detection circuitry of the structure separate type steering wheel anglec of rotation；The utility model as bionical limbs Servocontrol device, not only reduces that use cost and the driving of steering wheel are simpler and accurate by using separate structure steering wheel, makes the pliable legs motion of intelligent toy robot freely.
Description
Technical field
It the utility model is related to intelligent toy robot technical field, and in particular to a kind of bionical limbs SERVO CONTROL dress
Put.
Background technology
Steering wheel is a kind of position（Angle）The driver of servo, it is widely used in bionical limbs servo-control system, fits
The control system that angle constantly changes and can keep is needed for those, steering wheel is used for ship and space flight upper angle direction earliest
Control, it is at present, as commonly used in being had been obtained in aircraft, submarine model, remote-controlled robot in high-grade remote-control toy.
Steering wheel is all used very much with intelligent robot now with the development of science and technology, common steering wheel is typically by reducing gear
What wheel group, direct current generator, angular transducer and processor collection formed, these parts are typically all what is become one, due to machine
Device person joint just needs many steering wheels to be arranged on each joint more can just make robot motion flexible, but due to steering wheel cost
Height, the cost that so not only result in intelligent toy robot can be very high, and whole robot system driving can be made complicated.
Such as a kind of Intelligent machine dog provided by the utility model, if allowing one leg flexible motion of Intelligent machine dog, in the prior art
The steering wheel of normal need at least three, then the Intelligent machine dog of four legs just needs 12 steering wheels, and cost is higher.
Therefore, prior art has yet to be improved and developed.
Utility model content
The technical problems to be solved in the utility model is, for the drawbacks described above of prior art, there is provided a kind of Bionic limb
Body Servocontrol device, it is intended to by using separate structure steering wheel as bionical limbs Servocontrol device, reduce steering wheel
Use cost, and make it that driving is simpler and accurate, the pliable legs of intelligent toy robot is moved freely.
Technical scheme is as follows used by the utility model solves technical problem：
A kind of bionical limbs Servocontrol device, wherein, the control device includes：
Central processing unit, for the structure separate type steering wheel anglec of rotation number received and process angle detection electric circuit inspection arrives
According to；
Drive circuit, it is connected with the central processing unit, is driven for receiving the drive signal that the central processing unit is sent
Dynamic motor rotates；
Electric machine controller, it is connected with the drive circuit, for according to direction of motor rotation and speed control structure separation
The direction of motion and speed of the whole system of formula steering wheel；
Angle detection circuitry, it is connected respectively with the central processing unit and the electric machine controller, for detecting structure point
From the formula steering wheel anglec of rotation；
Electric power management circuit, it is connected respectively with the central processing unit and the drive circuit, for controlling the driving
The disconnection of circuit power is with connecting.
Described bionical limbs Servocontrol device, wherein, the drive circuit includes being used for the list for driving direct current generator
The MOS full bridge drivers of passage built-in power；The MOS full bridge drivers be used for drive hollow cup DC motor rotate forward, reversion,
Stop and brake.
Described bionical limbs Servocontrol device, wherein, the first pin OUTA of described MOS full bridge drivers one end leads to
Cross the positive pole of the first plug-in unit inductance connection hollow cup DC motor of series connection, the second pin of described MOS full bridge drivers one end
The negative pole that OUTB passes through the second plug-in unit inductance connection hollow cup DC motor of connecting；
The the first pin INA and second pin INB of the MOS full bridge drivers other end are controlling switch, and respectively with
3rd pin of central processing unit is connected the PGND of the MOS full bridge drivers other end with the 4th pin of central processing unit
Pin and AGND pins are grounded.
Described bionical limbs Servocontrol device, wherein, the electric machine controller include reducing motor group, driving wheel and
Driving gear set；The driving gear set is connected with the reducing motor group, and the reducing motor group is connected with the driving wheel；
The reducing motor group includes hollow cup DC motor and reduction gear box；The hollow cup DC motor with it is described
MOS full bridge drivers connect；The driving gear set is made up of multiple travelling gears.
Described bionical limbs Servocontrol device, wherein, the angle detection circuitry is by angular transducer, power supply unit
Divide, detection part and signal processing form；
The angular transducer connects with driving gear set least significant end gear in the electric machine controller, and driving gear set exists
During rotation, the angle detection circuitry detects the angle of driving gear set rotation, and the angle-data that will be detected
It is sent to the central processing unit；
The direct current power source voltage of input is converted into direct current 3.3V voltages by the power unit by DC voltage-stabilizing chip, is given
Whole angle detection circuitry provides power supply；
The detection part includes slide rheostat；The end gear of the driving gear set connects the slip variable resistance
Device, the driving gear set drive the slide rheostat to rotate during operating, and the control anglec of rotation changes into slip
Rheostatic resistance；
The resistance of the slide rheostat is changed into voltage signal by the signal processing, and the moment detects whole rudder
The angle of machine system rotation.
Described bionical limbs Servocontrol device, wherein, the angular transducer is high-accuracy slide rheostat, institute
State the second pin of slide rheostat and the first pin of central processing unit connects, the first pin connection of the slide rheostat
One the 7th current-limiting resistance for protecting slide rheostat, what is be connected with the 7th current-limiting resistance other end is DC voltage-stabilizing
Chip；The second pin of the slide rheostat carries out analogue ground after being also connected with one first electric capacity；The slide rheostat
3rd pin carries out analogue ground after connecting one the 6th current-limiting resistance；
The power unit includes model HL53R33 DC voltage-stabilizing chip, and the DC voltage-stabilizing chip is by input
Direct current power source voltage is stable in 3.3V；Described DC voltage-stabilizing chip one end connects battery by VDD pins, and the other end passes through VOUT
Pin is connected after connecting the 7th current-limiting resistance with the slide rheostat；The VDD pins and two of the DC voltage-stabilizing chip
It is grounded after individual second electric capacity in parallel and the 3rd capacitance connection；The VOUT pins of the DC voltage-stabilizing chip it is in parallel with two
It is grounded after four electric capacity and the 5th capacitance connection；
The resistance value that the angular transducer detects is converted into 1-2V electricity by the detection part by change-over circuit
Pressure value.
Described bionical limbs Servocontrol device, wherein, the anglec of rotation of the structure separate type steering wheel is 0-120
Degree, the linear corresponding rotation angle of 1-2V magnitudes of voltage that the change-over circuit is converted into is 0-120 degree.
Described bionical limbs Servocontrol device, wherein, the electric power management circuit includes the 16th current-limiting resistance, the
The second metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor of 17 current-limiting resistances, triode and two P-channels in parallel；
Base stage after second pin connection the 16th current-limiting resistance of the central processing unit with the triode connects
Connect；
Described 16th current-limiting resistance one end is grounded after connecting the 17th current-limiting resistance；The emitter stage of the triode connects
Ground；
Second metal-oxide-semiconductor connects the tenth conducting resistance, and the 3rd metal-oxide-semiconductor connects the 11st conducting resistance；
Drain electrode of the colelctor electrode of the triode respectively with second metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor is connected；
The source electrode of second metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor is all connected with battery；
VDD pin of the grid of second metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor with the MOS full bridge drivers is connected.
Described bionical limbs Servocontrol device, wherein, the triode-type is PNP triode, model
SS8050；Second metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor model ME2307；The MOS full bridge drivers model TC118.
Described bionical limbs Servocontrol device, wherein, the central processing unit is the CPU of 32.
The utility model provides a kind of bionical limbs Servocontrol device, and the control device includes：For receive and
The structure separate type steering wheel pivoting angle data that process angle detection electric circuit inspection arrives, and according to the adjustment of angle-data moment to driving
The central processing unit of the control of dynamic circuit；It is connected with the central processing unit, the drive sent for receiving the central processing unit
The drive circuit that dynamic signal drive motor rotates；It is connected with the drive circuit, for according to direction of motor rotation and speed control
The direction of motion of whole system and the electric machine controller of speed of structure separate type steering wheel processed；Respectively with the central processing unit and
The electric machine controller connection, for detecting the angle detection circuitry of the structure separate type steering wheel anglec of rotation；The utility model leads to
Cross using separate structure steering wheel as bionical limbs Servocontrol device, not only reduce use cost and the driving of steering wheel
It is simpler and accurate, the pliable legs of intelligent toy robot is moved freely.
Brief description of the drawings
Fig. 1 is the functional schematic block diagram of the preferred embodiment of the bionical limbs Servocontrol device of the utility model.
Fig. 2 is the circuit theory diagrams of the bionical limbs Servocontrol device of the utility model.
Fig. 3 is the structural representation that the bionical limbs Servocontrol device of the utility model is applied on Intelligent machine dog.
Embodiment
To make the purpose of this utility model, technical scheme and advantage clearer, clear and definite, develop simultaneously implementation referring to the drawings
The utility model is further described example.It should be appreciated that specific embodiment described herein is only explaining this reality
With new, it is not used to limit the utility model.
Fig. 1 is referred to, Fig. 1 is the principle of work and power frame of the preferred embodiment of the bionical limbs Servocontrol device of the utility model
Figure.As shown in figure 1, a kind of bionical limbs Servocontrol device, wherein, the control device includes：
Central processing unit 10, for the structure separate type steering wheel anglec of rotation received and process angle detection circuit 40 detects
Degrees of data, and the control to drive circuit 20 is adjusted according to the angle-data moment；Drive circuit 20, with the central processing unit 10
Connection, the drive signal controlled motor rotation direction and speed sent for receiving the central processing unit 10；Electric machine controller
30, it is connected with the drive circuit 20, for the whole system according to direction of motor rotation and speed control structure separate type steering wheel
The direction of motion and speed of system；Angle detection circuitry 40, connect respectively with the central processing unit 10 and the electric machine controller 30
Connect, for detecting the structure separate type steering wheel anglec of rotation；Electric power management circuit 50, respectively with the central processing unit 10 and described
Drive circuit 20 connects, for controlling the disconnection of the power supply of drive circuit 20 with connecting.
Specifically, the core of central processing unit 10 is the CPU of 32（U1 is represented）, it is mainly used in receiving other processors
Or the control signal of control platform output, and total separate type steering gear system is controlled according to control signal；Its internal calculation
Method is mainly used to the data for controlling drive circuit 20 and process angle detection circuit 40 to return, and is returned according to angle detection circuitry 40
The data moment returned adjusts the control to drive circuit 20, and the central processing unit 10 especially employs pid control algorithm,
In process control, in the ratio of deviation（P）, integration（I）And differential（D）The PID controller being controlled（Also known as PID regulator）
It is a kind of automatic controller being most widely used, it has principle simple, it is easy to accomplish, widely applicable, control parameter is mutual
It is independent, parameter it is selected fairly simple the advantages that；In the utility model, pid control algorithm can be simply accurately controlled entirely
Structure separate type steering gear system, in the processing of ratio, integration and differential in algorithm, passing ratio algorithm can make entirely to tie core
Structure separate type steering gear system quickly rotates to angle on target, and the error model during integral-rotation is reduced by integral algorithm
Enclose, in the deviation reduced whole steering gear system by differential algorithm and rotate to angle on target, further by a series of
Detection and control algolithm can make electric machine controller 30 quickly export accurately angle.
Specifically, it is described as shown in Fig. 2 Fig. 2 is the circuit theory diagrams of the bionical limbs Servocontrol device of the utility model
Drive circuit 20 is used for the drive signal for receiving the transmission of central processing unit 10, further controlled motor controller 30；The drive
Dynamic circuit 20 includes the MOS full bridge drivers U3 for being used to drive the single channel built-in power of direct current generator（The MOS full-bridges driving
Device U3 models are preferably TC118）；The MOS full bridge drivers U3 is used to drive hollow cup DC motor U5 to rotate forward, invert, stop
Only and the function such as brake, and there is built-in hysteresis fuel factor overcurrent protection function.
In Fig. 2, the first pin OUTA of described MOS full bridge drivers U3 one end is hollow by the first plug-in unit inductance L2 connections
Cup direct current generator U5（Belong to electric machine controller 30, Fig. 2 is not shown）Positive pole, the second of described MOS full bridge drivers U3 one end
Pin OUTB passes through the second plug-in unit inductance L3 connection hollow cup DC motors U5 negative pole, the first plug-in unit inductance L2 and second
Plug-in unit inductance L3 is used to reduce to be disturbed caused by motor rotation, it is preferable that the first plug-in unit inductance L2 and the second plug-in unit inductance
L3 parameters are preferably 6.8nH；The the first pin INA and second pin INB of the MOS full bridge drivers U3 other ends draw for control
Pin, and respectively with central processing unit 10（U1 includes four pins）The 3rd pin be connected with the 4th pin of central processing unit 10
Connect；The PGND pins and AGND pins of the MOS full bridge drivers U3 other ends are grounded.
Further, the drive circuit 20 and electric power management circuit 50（Such as Fig. 1 and Fig. 2）After connection, when the center
Processor 10 controls described in the drive circuit 20 that the first pin INA is high level in MOS full bridge drivers U3 and second draws
For low spot usually, hollow cup DC motor U5 is to rotate forward to pin INB；When the central processing unit 10 controls the drive circuit
First pin INA is low level and when second pin INB is high level in the U3 of MOS full bridge drivers described in 20, and drag cup is straight
Motor U5 is flowed to reversely rotate；When the central processing unit 10 controls MOS full bridge drivers U3 described in the drive circuit 20
In the first pin INA and second pin INB when being all low level, then hollow cup DC motor U5 stops the rotation.
Specifically, as shown in figure 3, the utility model is by taking Intelligent machine dog 100 as an example（One leg of the utility model only needs
One group of structure separate type steering wheel is installed, greatly reduces cost, and controls more simple, precision）, by structure separate type steering wheel
Control device is applied on Intelligent machine dog, and the electric machine controller 30 includes reducing motor group 31, driving wheel 32 and driving cog
Wheel group 33, in addition to a shell 34（Shell 34 is used to fix whole driving gear set 33 and electric machine actuating mechanism）；The deceleration
Group of motors 31 includes hollow cup DC motor U5（Such as Fig. 2）And reduction gear box, the hollow cup DC motor U5 are used to provide
The power of whole steering gear system, the reduction gear box are used to increase output power and reduce the hollow cup DC motor U5's
Output speed；The driving wheel 32 is used to drive total separate type steering wheel；The driving gear set 33 is used for gear reduction
The power that group of motors 31 exports, the driving gear set 33 are made up of multiple travelling gears.
Further, hollow cup DC motor U5 is used for the power for providing whole system, due to hollow cup DC motor U5
The power of output is very small and rotating speed is very high so that being not enough to directly drive whole system, so coordinating train of reduction gears
To increase output power and reduce output speed, although common direct current generator is cheap, common direct current generator
Volume is big, and weight is big, if for that if this structure separate type steering gear system, can make the increase of whole system weight；Drag cup is straight
Motor is flowed with regard to different, and it is not only in light weight but also rotating speed is high；Train of reduction gears in the utility model, using high-precision
Close low module train of reduction gears, speed reducing ratio 1:81.
Further, the driving wheel 32 is used to drive total separate type steering wheel, when driving wheel 32 contacts with ground
When, because the limitation reduction gear box of frictional resistance then can passively rotate, thus driving gear set 33 can be driven to rotate, so as to
Serving makes the purpose of whole steering wheel rotation；After driving gear set 33 is rotated in place, driving wheel 32 may proceed to rotate, and at this moment drive
Driving wheel 32 just can drive the equipment entirely connected with structure separate type steering wheel or be moved together with robot；The driving cog
Wheel group 33 is used for the power that driving decelerating electric machine group 31 exports, and this steering wheel will be driven to revolve when driving gear set 33 rotates
Turn, then serve the effect slowed down and be driven.
Specifically, as shown in Figures 2 and 3, the angle detection circuitry 40 is by angular transducer 41, power unit 42（
3.3V power modules can be referred to as）, detection part（41 whole circuit structure）Formed with signal processing；The angle passes
Sensor 41 connects with the least significant end gear of driving gear set 33 in the electric machine controller 30, when driving gear set 33 is in the mistake of rotation
Cheng Zhong, the angle detection circuitry 40 detects the angle that driving gear set 33 rotates, and the angle-data detected is transmitted
To the central processing unit 10；The direct current power source voltage of input is converted into by the power unit 42 by DC voltage-stabilizing chip U2
Direct current 3.3V voltages, power supply is provided to whole angle detection circuitry 40；The detection part includes slide rheostat U4, the cunning
Dynamic rheostat U4 second pin is also connected with one first electric capacity C18（Filter capacitor, parameter are preferably 0.1uF）After carry out simulation and connect
Ground, the 3rd pin of the slide rheostat U4 connect one the 6th current-limiting resistance R6（Parameter is preferably 10 k Ω）After simulated
Ground connection；The end gear of the driving gear set 33 connects the slide rheostat U4, and the driving gear set 33 is in operating
During drive the slide rheostat U4 to rotate, the control anglec of rotation changes into slide rheostat U4 resistance；The signal
The resistance of the slide rheostat U4 is changed into voltage signal by process part, and the moment detects the angle of whole steering gear system rotation
Degree.
Further, as shown in Fig. 2 the angular transducer 41 is mainly high-accuracy slide rheostat U4（Can be
Detected in the range of 180 degree）, the slide rheostat U4 second pins and central processing unit 10（U1）First pin connects, described
The pins of slide rheostat U4 first connection one is used for the 7th current-limiting resistance R7 for protecting slide rheostat U4（The 7th current limliting electricity
It is preferably 10 k Ω to hinder R7）, that be connected with the 7th current-limiting resistance R7 other ends is DC voltage-stabilizing chip U2（Power unit
In 42）；The power unit 42 includes model HL53R33 DC voltage-stabilizing chip U2, and the DC voltage-stabilizing chip U2 will be defeated
The direct current power source voltage entered is accurately stable in 3.3V（The lithium battery voltage BAT that will be connected is stable in 3.3V）, its precision
For 2%；The DC voltage-stabilizing chip U2 distinguishes four electric capacity of parallel connection, is the second electric capacity C23, the 3rd electric capacity C25, the 4th respectively
Electric capacity C24 and the 5th electric capacity C26, wherein the second electric capacity C23 and the 4th electric capacity C24 parameters are preferably 100uF/16V, be used for into
Row low frequency filters, and the 3rd electric capacity C25 and the 5th electric capacity C26 parameters are preferably 0.1uF, for carrying out high-frequency filtering.
The resistance value that the angular transducer 41 detects is converted into 1-2V's by the detection part by change-over circuit
Magnitude of voltage；The anglec of rotation of the structure separate type steering wheel is 0-120 degree, the 1-2V magnitude of voltage lines that the change-over circuit is converted into
Property corresponding rotation angle is 0-120 degree.
As shown in figure 1, electric power management circuit 50 in the control device respectively with the central processing unit 10 and described
Drive circuit 20 connects, for controlling the disconnection of the power supply of drive circuit 20 with connecting.
Further, as shown in Fig. 2 the electric power management circuit 50 include the 16th current-limiting resistance R16, triode Q1 with
And the second metal-oxide-semiconductor Q2 and the 3rd metal-oxide-semiconductor Q3 of two P-channels in parallel；The central processing unit 10（U1）Second pin connection
The 16th current-limiting resistance R16（Parameter is preferably 1 k Ω）Afterwards with the triode Q1（PNP triode, model
SS8050）Base stage B connections；Described 16th current-limiting resistance R16 one end is grounded after connecting the 17th current-limiting resistance R17；It is described
Triode Q1 emitter E ground connection；The conducting resistance R10 of second metal-oxide-semiconductor Q2 connections the tenth（Parameter is 100 k Ω）, it is described
The conducting resistance R11 of 3rd metal-oxide-semiconductor Q3 connections the 11st（Parameter is 100 k Ω）, when the second metal-oxide-semiconductor Q2 and the 3rd metal-oxide-semiconductor Q3 is led
After logical, due to respective conducting resistance R10 and conducting resistance R11 presence, such electric current can be in conducting resistance R10 and conducting resistance
Electricity is consumed on R11, the electricity of this part consumption is called conduction loss,；The second metal-oxide-semiconductor Q2 and the 3rd metal-oxide-semiconductor Q3 models
It is ME2307；The colelctor electrode C of the triode Q1 connects with the second metal-oxide-semiconductor Q2 and the 3rd metal-oxide-semiconductor Q3 drain D respectively
Connect；The source S of the second metal-oxide-semiconductor Q2 and the 3rd metal-oxide-semiconductor Q3 are all connected with battery；The second metal-oxide-semiconductor Q2 and the 3rd metal-oxide-semiconductor Q3
VDD pin of the grid G with the MOS full bridge drivers U3 be connected.
The electric power management circuit 50 is that the drive circuit 20 provides power supply, and the central processing unit 10 is by controlling
The change high level of the 16th current-limiting resistance R16 one end level in electric power management circuit 50 is stated, control triode Q1 conducting is with cutting
Only, so as to control the second metal-oxide-semiconductor Q2 and the 3rd metal-oxide-semiconductor Q3 of two P-channels in parallel conducting and cut-off, further described in control
The disconnection of the power supply of drive circuit 20 is with connecting（It is why in parallel using the metal-oxide-semiconductor progress of two P-channels, it is to control increase
Electric current）.
It should be noted that electric power management circuit 50 here directly controls its conducting using central processing unit 10 and closed
Close, in order to be easy to control the power supply of drive circuit 20.Drive circuit 20 can certainly be made to be directly connected to power supply, or
Power supply is connected by switching, the utility model does not limit.
In summary, the utility model discloses a kind of bionical limbs Servocontrol device, the control device to include：With
In the structure separate type steering wheel pivoting angle data received and process angle detection electric circuit inspection arrives, and according to the angle-data moment
Adjust the central processing unit of the control to drive circuit；It is connected with the central processing unit, for receiving the central processing unit
The drive circuit that the drive signal motor of transmission rotates；It is connected with the drive circuit, for according to direction of motor rotation
With the direction of motion of whole system and the electric machine controller of speed of speed control structure separate type steering wheel；Respectively with the center
Processor connects with the electric machine controller, for detecting the angle detection circuitry of the structure separate type steering wheel anglec of rotation；This reality
By the use of it is new by using separate structure steering wheel as bionical limbs Servocontrol device, not only reduce the use cost of steering wheel
And driving is simpler and accurate, the pliable legs of intelligent toy robot are made to move freely.
It should be appreciated that application of the present utility model is not limited to above-mentioned citing, those of ordinary skill in the art are come
Say, can according to the above description be improved or converted, all these modifications and variations should all belong to the appended power of the utility model
The protection domain that profit requires.
Claims (10)
1. a kind of bionical limbs Servocontrol device, it is characterised in that the control device includes：
Central processing unit, for the structure separate type steering wheel pivoting angle data received and process angle detection electric circuit inspection arrives；
Drive circuit, it is connected with the central processing unit, electricity is driven for receiving the drive signal that the central processing unit is sent
Machine rotates；
Electric machine controller, it is connected with the drive circuit, for according to direction of motor rotation and speed control structure Detached rudder
The direction of motion and speed of the whole system of machine；
Angle detection circuitry, it is connected respectively with the central processing unit and the electric machine controller, for detecting structure separate type
The steering wheel anglec of rotation；
Electric power management circuit, it is connected respectively with the central processing unit and the drive circuit, for controlling the drive circuit
The disconnection of power supply is with connecting.
2. bionical limbs Servocontrol device according to claim 1, it is characterised in that the drive circuit includes being used for
Drive the MOS full bridge drivers of the single channel built-in power of direct current generator；The MOS full bridge drivers are used to drive drag cup straight
Motor is flowed to rotate forward, invert, stop and brake.
3. bionical limbs Servocontrol device according to claim 2, it is characterised in that the MOS full bridge drivers one
The first pin OUTA at end passes through the positive pole for the first plug-in unit inductance connection hollow cup DC motor of connecting, the MOS full-bridges driving
The negative pole that the second pin OUTB of device one end passes through the second plug-in unit inductance connection hollow cup DC motor of connecting；
The the first pin INA and second pin INB of the MOS full bridge drivers other end are controlling switch, and respectively with center
3rd pin of processor is connected with the 4th pin of central processing unit；The PGND of the MOS full bridge drivers other end draws
Pin and AGND pins are grounded.
4. bionical limbs Servocontrol device according to claim 3, it is characterised in that the electric machine controller includes subtracting
Speed motor group, driving wheel and driving gear set；The driving gear set is connected with the reducing motor group, the reducing motor group
It is connected with the driving wheel；
The reducing motor group includes hollow cup DC motor and reduction gear box；The hollow cup DC motor and the MOS
Full bridge driver connects；The driving gear set is made up of multiple travelling gears.
5. bionical limbs Servocontrol device according to claim 4, it is characterised in that the angle detection circuitry is by angle
Spend sensor, power unit, detection part and signal processing composition；
The angular transducer connects with driving gear set least significant end gear in the electric machine controller, and driving gear set is rotating
During, the angle detection circuitry detects the angle of driving gear set rotation, and the angle-data detected is transmitted
To the central processing unit；
The direct current power source voltage of input is converted into direct current 3.3V voltages by the power unit by DC voltage-stabilizing chip, to whole
Angle detection circuitry provides power supply；
The detection part includes slide rheostat；The end gear of the driving gear set connects the slide rheostat, institute
State driving gear set drives the slide rheostat to rotate during operating, and the control anglec of rotation changes into slide rheostat
Resistance；
The resistance of the slide rheostat is changed into voltage signal by the signal processing, and the moment detects whole steering wheel system
The angle of system rotation.
6. bionical limbs Servocontrol device according to claim 5, it is characterised in that the angular transducer is high-precision
Close slide rheostat, the second pin of the slide rheostat and the first pin of central processing unit connect, and described slide becomes
The first pin connection one of resistance device is used for the 7th current-limiting resistance for protecting slide rheostat, with the 7th current-limiting resistance other end
What is be connected is DC voltage-stabilizing chip；The second pin of the slide rheostat is also connected with carrying out simulation after one first electric capacity connecing
Ground；3rd pin of the slide rheostat carries out analogue ground after connecting one the 6th current-limiting resistance；
The power unit includes model HL53R33 DC voltage-stabilizing chip, and the DC voltage-stabilizing chip is by the direct current of input
Supply voltage is stable in 3.3V；Described DC voltage-stabilizing chip one end connects battery by VDD pins, and the other end passes through VOUT pins
It is connected after connecting the 7th current-limiting resistance with the slide rheostat；The VDD pins of the DC voltage-stabilizing chip and two are simultaneously
It is grounded after second electric capacity of connection and the 3rd capacitance connection；The 4th that the VOUT pins of the DC voltage-stabilizing chip are in parallel with two is electric
Hold and be grounded after the 5th capacitance connection；
The resistance value that the angular transducer detects is converted into 1-2V magnitude of voltage by the detection part by change-over circuit.
7. bionical limbs Servocontrol device according to claim 6, it is characterised in that the structure separate type steering wheel
The anglec of rotation is 0-120 degree, and the linear corresponding rotation angle of 1-2V magnitudes of voltage that the change-over circuit is converted into is 0-120 degree.
8. bionical limbs Servocontrol device according to claim 6, it is characterised in that the electric power management circuit includes
16th current-limiting resistance, the 17th current-limiting resistance, the second metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor of triode and two P-channels in parallel；
The second pin of the central processing unit is connected after connecting the 16th current-limiting resistance with the base stage of the triode；
Described 16th current-limiting resistance one end is grounded after connecting the 17th current-limiting resistance；The grounded emitter of the triode；
Second metal-oxide-semiconductor connects the tenth conducting resistance, and the 3rd metal-oxide-semiconductor connects the 11st conducting resistance；
Drain electrode of the colelctor electrode of the triode respectively with second metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor is connected；
The source electrode of second metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor is all connected with battery；
VDD pin of the grid of second metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor with the MOS full bridge drivers is connected.
9. bionical limbs Servocontrol device according to claim 8, it is characterised in that the triode-type is PNP
Triode, model SS8050；Second metal-oxide-semiconductor and the 3rd metal-oxide-semiconductor model ME2307；The MOS full bridge drivers type
Number it is TC118.
10. bionical limbs Servocontrol device according to claim 1, it is characterised in that the central processing unit is 32
The CPU of position.
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| CN112230668A (en) * | 2020-10-14 | 2021-01-15 | 四川航天烽火伺服控制技术有限公司 | Drive circuit and system |
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