CN207368640U - Digital steering engine - Google Patents
Digital steering engine Download PDFInfo
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- CN207368640U CN207368640U CN201721190733.1U CN201721190733U CN207368640U CN 207368640 U CN207368640 U CN 207368640U CN 201721190733 U CN201721190733 U CN 201721190733U CN 207368640 U CN207368640 U CN 207368640U
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Abstract
The utility model discloses a digital steering engine, especially a prevent digital steering engine of stifled commentaries on classics. A digital steering engine comprises a direct current motor, a control chip and a potentiometer; the direct current motor is controlled by a control chip, and the control chip is connected with a potentiometer; the control chip is internally provided with a timing interruption, and the control chip detects whether the steering engine angle is the same as the preset angle of the upper computer at the moment when the interruption is triggered each time; the control chip calculates preset angle information and feeds the preset angle information back to the control chip; and the potentiometer is responsible for detecting the angle information of the steering engine and feeding back the angle information to the control chip. The utility model discloses mainly solved under the state that does not add steering wheel main control board protection circuit and realized stifled commentaries on classics or overcurrent protection to the steering wheel, the effect is showing in the aspect of reducing steering wheel cost, improving multi-system stability.
Description
Technical field
The utility model belongs to technical field of industrial automatic control, and in particular to a kind of digital rudder controller, particularly one kind
The digital rudder controller of blocking rotation.
Background technology
Steering engine has the characteristics that small, light-weight, moment of torsion is big and precision is high, and remote control mould is widely used in as driving
Type and robot field.It is divided into simulation steering engine and digital rudder controller according to signal processing difference, digital rudder controller only needs to send once
Pwm signal can allow motor persistently to be rotated under setting speed, and, digital rudder controller provides more compared to traditional simulation steering engine more
High precision and more preferable fixed strength.
Found by analyzing the reason for steering engine is burnt, steering engine burns that to be primarily due to external load excessive, can be held more than steering engine
Loaded, steering engine motor internal is without counter electromotive force at this time, therefore causes this moment greatly to produce amount of heat by rudder by electric current
Machine burning is ruined.In existing steering engine protection technique, the method taken more is overcurrent protection of the hardware circuit for steering engine.For example,
Patent application " a kind of output current transient protection circuit for electric steering engine ", application number 201220051090.3, such as above-mentioned patent institute
It is related to, the protected mode of ordinary numbers bus steering engine is hardware protection at present.Its principle is to be added on actuator driving plate
Current sensor, microcontroller or AD conversion chip are to differentiate this moment electric current by the current value of steering engine by uninterruptedly reading
It is no to have reached predetermined maximum.In not up to maximum, circuit is kept powered on state, passes through when reaching maximum current
Cut-out circuit plays a protective role steering gear electric-machine and master control borad.Its methods must observe current value and judge steering engine to be directly perceived
Whether it is in high load capacity, easily burns state.Such a method is directly perceived simple but adds current sensor, protection circuit, adds
Steering engine protection cost, reduce steering gear system overall stability.The utility model proposes do not adding external hardware circuit
On the basis of, realize protection of the steering engine in the case where crossing high load capacity or locked rotor condition.
The content of the invention
The technical problem to be solved by the present invention is to provide a kind of digital rudder controller, and the steering engine is without current sensor
Whether detection steering engine is in locked rotor condition.The utility model, which mainly solves, is not adding the state of steering engine master control borad protection circuit
Under realize stall or overcurrent protection for steering engine, acted in terms of steering engine cost is reduced, improve multisystem stability notable.
In order to solve the above technical problems, technical solution adopted in the utility model is：A kind of digital rudder controller, including direct current
Motor, control chip, potentiometer, the direct current generator are controlled by control chip, and the control chip connects potentiometer；The control
Interruption is set in coremaking piece, control chip detects whether steering engine angle at this time is preset with host computer when triggering is interrupted every time
Angle is identical；The control chip is calculated predetermined angle information and feeds back to control chip；The potentiometer is responsible for detection
Steering engine angle information simultaneously feeds back to control chip.
Preferably, including host computer, the host computer are led to the control chip by single serial communication bus
News connection, for sending control signal to the control chip.
Preferably, the control chip controls the direct current generator to perform control model and power-down mode, the power down mould
Formula detects that steering engine angle is differed with host computer predetermined angle for the control chip, is measured again after carrying out short delay, still
So exceed allowable error, then it is assumed that steering engine is in locked rotor condition, automated execution power-down mode at this time.
Preferably, after the control chip performs power-down mode, host computer, which sends instruction, can come back to control model.
The utility model takes whether a kind of new thinking detection steering engine is in locked rotor condition, i.e., by judging that steering engine is referring to
Whether the fixed time reaches specified angle as foundation, judge steering engine in rotation process whether stall.When steering engine is in normal work
Make under state, when in the range of rational carrying, steering engine can angle needed for reaching on the time.Allowable load, rudder are loaded beyond in steering engine
Necessarily so that steering engine within a specified time has certain gap with specified angle when machine stalls.Passed in certain moment steering wheel potentiometer
Return data and learn the situation that target angle has gap and do not correct at the appointed time with real angle, must be that there occurs stall
Phenomenon.Master control control chip trigger protection mechanism at this time, is about to steering engine and is arranged to power-down mode certainly.When preventing that stall from occurring duration
Between have high current by steering engine to produce substantial amounts of heat, avoid steering engine overheat and what is occurred burn phenomenon.
It is using beneficial effect caused by above-mentioned technical proposal：1st, the utility model and traditional steering engine guard method phase
Compare, have and reduce cost, reduce the more reliable advantage of control circuit volume, detection.2nd, the utility model proposes new inspection
Survey steering engine stall method to have any different with ordinary numbers bus steering engine in principle, can be achieved using intrinsic sensor (potentiometer)
The protection of steering engine.Avoid using unnecessary hardware circuit, the cost of current sensor can be reduced, in batch into reducing number during production
Word steering engine cost, beneficial to promoting the use of for steering engine.3rd, using the method for software detection can avoid because of current sensor and caused by
Control circuit plate bulk is excessive, so that this method can be utilized broadly and the bus digital rudder controller high to space requirement.
Enhance detection reliability be embodied in using the utility model without additional unnecessary circuit realize rotation-clogging protection, so reduce
The probability of hardware error, it is ensured that steering engine relatively reliable can stably work.After steering engine stall power down, only host computer is needed to send out
Send instruction to come back to control model, played without the cumbersome step such as restarting.So that the servos control of the utility model is more
Flexibly safety, better adapts to the demand of client.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model digital rudder controller.
Fig. 2 is the UART circuitry principle of one of embodiment when the digital rudder controller of the utility model is communicated with host computer
Figure；
Wherein：1- direct current generators, 2- control chips, 3- potentiometers, 4- host computers.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail the utility model.
Embodiment 1
The utility model is a kind of digital rudder controller, including direct current generator 1, control chip 2, potentiometer 3, direct current generator 1 by
Control chip 2 controls, and control chip 2 connects potentiometer 3；Interruption is set in control chip 2, is controlled when triggering is interrupted every time
Whether chip 2 detects steering engine angle at this time identical with 1 predetermined angle of host computer；Predetermined angle letter is calculated in control chip 2
Cease and feed back to control chip 2；Potentiometer is responsible for detecting steering engine angle information and feeds back to control chip 2.
The utility model includes host computer, and host computer carries out communication company with control chip 2 by single serial communication bus
Connect, for sending control signal to the control chip 2.Control chip 2 controls direct current generator 1 to perform control model and power down mould
Formula, chip 2 detects that steering engine angle is differed with 1 predetermined angle of host computer to power-down mode in order to control, carries out after short delay again
Measure, still beyond allowable error, then it is assumed that steering engine is in locked rotor condition at this time, performs power-down mode.Control chip 2 performs
After power mode, host computer 4, which sends instruction, can come back to control model.
The digital rudder controller provide a kind of new detection steering engine whether the method for stall.Schematic diagram such as Fig. 2 institutes are embodied
Show.
Main program exports the PWM of different duty to control direct current generator 1 to run according to friction speed all the time.In control core
Interruption is set in piece 2, whether default with host computer 4 control chip 2 detects steering engine angle at this time when triggering is interrupted every time
Angle is identical.Detection steering engine angle is realized that chip 2 instructs predetermined angle according to host computer 4 in order to control by steering engine built-in potential device 3
The angle that this moment being calculated should go to.A NOP do-nothing instruction is performed when identical with presetting, interrupt routine performs knot
Beam.(exceed angle allowable error scope) when different from predetermined angle, carry out detecting again after short delay at this time at this time angle with
Current predetermined angular is compared.If still outside allowable error angular range, then it is assumed that steering engine is in locked rotor condition at this time, at once will
Open and set steering engine to power-down mode in steering engine power loss indicator position.If steering engine angle is in the angular range of allowable error at this time,
Then at this time perform a NOP instruction after end interrupt function.The delay time of program setting is experiment gained, by test of many times
Obtain a suitable value.Ensure that steering engine will not burn within this time and ensure that steering engine is strictly under the precarious position of stall
Just powered off.
The creativeness of the utility model is to utilize the angular transducer (potentiometer 3) in ordinary numbers bus steering engine, knot
The operational data for closing control chip 2 is in locked rotor condition to have judged that steering engine is no.Judge that steering engine is by the use of this feature as feature
It is no to need power down to carry out the protection burnt of prevention overheat, the method performance more flexible and fully met in terms of steering engine protection will
Ask.
Above example is only to illustrative and not limiting the technical solution of the utility model, although with reference to above-described embodiment pair
The utility model is described in detail, it will be understood by those of ordinary skill in the art that：Still can to the utility model into
Row modification or equivalent substitution, without departing from any modification or partial replacement of the spirit and scope of the utility model, it should all
Cover among the right of the utility model.
Claims (2)
1. a kind of digital rudder controller, including direct current generator, control chip, potentiometer, it is characterised in that the direct current generator is by controlling
Chip controls, the control chip connect potentiometer；Interruption is set in the control chip, is controlled when triggering is interrupted every time
Whether chip detects steering engine angle at this time identical with host computer predetermined angle；Predetermined angle letter is calculated in the control chip
Cease and feed back to control chip；The potentiometer is responsible for detecting steering engine angle information and feeds back to control chip.
2. according to a kind of digital rudder controller described in claim 1, it is characterised in that including host computer, the host computer and institute
State control chip and communication connection is carried out by single serial communication bus, for sending control signal to the control chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721190733.1U CN207368640U (en) | 2017-09-18 | 2017-09-18 | Digital steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721190733.1U CN207368640U (en) | 2017-09-18 | 2017-09-18 | Digital steering engine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207368640U true CN207368640U (en) | 2018-05-15 |
Family
ID=62348693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721190733.1U Active CN207368640U (en) | 2017-09-18 | 2017-09-18 | Digital steering engine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207368640U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110350482A (en) * | 2019-07-12 | 2019-10-18 | 四川虹美智能科技有限公司 | Motor rotation blockage guard method and device |
-
2017
- 2017-09-18 CN CN201721190733.1U patent/CN207368640U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110350482A (en) * | 2019-07-12 | 2019-10-18 | 四川虹美智能科技有限公司 | Motor rotation blockage guard method and device |
| CN110350482B (en) * | 2019-07-12 | 2021-03-19 | 四川虹美智能科技有限公司 | Motor locked-rotor protection method and device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221020 Address after: 519031 room 105-71398, No. 6, Baohua Road, Hengqin new area, Zhuhai City, Guangdong Province (centralized office area) Patentee after: Zhuhai Daran Robot Technology Co.,Ltd. Address before: - 502-14 Jinzuo Square, No. 5, Meiyuan Road, Binhai Hi tech Zone, Tianjin, 300000 (centralized office area) Patentee before: TIANJIN DARAN TECHNOLOGY CO.,LTD. |
|
| TR01 | Transfer of patent right | ||
| CP02 | Change in the address of a patent holder |
Address after: Room 309, Building 18, No. 1889, Huandao East Road, Hengqin New District, Zhuhai City, Guangdong Province, 519031 Patentee after: Zhuhai Daran Robot Technology Co.,Ltd. Address before: 519031 room 105-71398, No. 6, Baohua Road, Hengqin new area, Zhuhai City, Guangdong Province (centralized office area) Patentee before: Zhuhai Daran Robot Technology Co.,Ltd. |
|
| CP02 | Change in the address of a patent holder |