CN207603496U - A kind of helm gear and its driving circuit - Google Patents
A kind of helm gear and its driving circuit Download PDFInfo
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- CN207603496U CN207603496U CN201721621174.5U CN201721621174U CN207603496U CN 207603496 U CN207603496 U CN 207603496U CN 201721621174 U CN201721621174 U CN 201721621174U CN 207603496 U CN207603496 U CN 207603496U
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Abstract
The utility model embodiment discloses a kind of helm gear and its driving circuit, wherein, the driving circuit of helm gear is connected between the motor and power supply of driving steering engine work, including：Voltage detection unit and control unit；The voltage value of power supply is detected by voltage detection unit, and export voltage signal corresponding with voltage value, utilize control unit receiving voltage signal, and when the voltage value that voltage signal is characterized is not equal to preset voltage value, according to preset voltage value and voltage value, generate target pwm signal, the target pwm signal is used to that motor to be controlled to drive steering engine, so that motor is in operation process, it will not change because of the output voltage of power supply, and rotary speed unstabilization is caused to be determined, avoid the phenomenon that steering engine occurs running not quietly.
Description
Technical field
The utility model belongs to electronic technology field more particularly to a kind of helm gear and its driving circuit.
Background technology
With cost of labor increase, manufacturing industry gradually substitutes manual work using robot manipulating task more and more.
Existing robot needs control machinery arm to carry out the actions such as grasping body, assembling, transport when carrying out pipelining, this
The control and execution acted a bit be unable to do without steering engine.
Steering engine needs dependence motor to be driven it, however, since the power supply of existing motor is mostly using shifting
Dynamic formula power supply, for example, lithium battery etc. so that motor, easily because the output voltage of power supply changes, is led in operation process
With causing its rotary speed unstabilization, in turn result in steering engine appearance attitude jitter or movement position there are the operations such as large error not quietly
The phenomenon that.
Utility model content
The utility model embodiment provides a kind of helm gear and its driving circuit, to solve in the prior art, because for
Power supply output voltage variation, cause steering engine operation not quietly the problem of.
In a first aspect, the utility model embodiment provides a kind of driving circuit of helm gear, it is connected to driving steering engine
Between the motor and power supply of work, which is characterized in that the driving circuit includes：
Voltage detection unit is connected with the power supply, for detecting the voltage value of the power supply, and export with it is described
The corresponding voltage signal of voltage value；
Control unit is connected with the voltage detection unit, for receiving the voltage signal, and when the voltage signal
When the voltage value characterized is not equal to preset voltage value, according to the preset voltage value and the voltage value, generation
Target pwm signal, the target pwm signal is for controlling the motor to work, to drive the steering engine.
Second aspect, the utility model embodiment also provide a kind of helm gear, including steering engine and drive the steering engine work
The motor of work, the helm gear further include the driving circuit of steering engine as described above.
The utility model embodiment provides a kind of helm gear and its driving circuit, and electricity is detected by voltage detection unit
The voltage value in source, and voltage signal corresponding with voltage value is exported, using control unit receiving voltage signal, and work as
When the voltage value that voltage signal is characterized is not equal to preset voltage value, according to preset voltage value and voltage value, generation
Target pwm signal, the target pwm signal are used to that motor to be controlled to drive steering engine so that motor, will not be because of confession in operation process
The output voltage variation of power supply, and rotary speed unstabilization is caused to be determined, avoid the phenomenon that steering engine occurs running not quietly.
Description of the drawings
In order to illustrate more clearly of the utility model embodiment technical solution, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the utility model, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of structure diagram of the driving circuit for helm gear that the utility model embodiment provides；
Fig. 2 is the structure diagram of the driving circuit of a kind of helm gear that another embodiment of the utility model provides；
Fig. 3 is the concrete structure of the driving circuit of a kind of helm gear signal that another embodiment of the utility model provides
Figure；
Fig. 4 is the physical circuit figure of the driving circuit of a kind of helm gear that another embodiment of the utility model provides；
Fig. 5 is a kind of structure diagram for helm gear that the utility model embodiment provides.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that described embodiment is the implementation of the utility model part of the embodiment rather than whole
Example.Based on the embodiment in the utility model, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Fig. 1 is referred to, Fig. 1 is a kind of structural representation of the driving circuit for helm gear that the utility model embodiment provides
Figure.As shown in Figure 1, a kind of driving circuit 100 of helm gear, is connected to motor 120 and power supply that driving steering engine 110 works
Between 130, including：Voltage detection unit 10 and control unit 20.Specifically：
Voltage detection unit 10 is connected with power supply 130, for detecting the voltage value of power supply 130, and exports and powers
The corresponding voltage signal of voltage value.
Control unit 20 is connected with voltage detection unit 10, for receiving voltage signal, and characterized when voltage signal
When voltage value is not equal to preset voltage value, according to preset voltage value and voltage value, target pwm signal, target are generated
Pwm signal is for controlling motor 120 to work, to drive steering engine 110.
It should be noted that power supply 130 can include alternating current, storage battery or generator etc..Preset voltage value is used for
The normal voltage value that description control motor 120 works.
In the present embodiment, by sending control instruction, and then steering engine 110 is controlled to work to driving circuit 100.Due to electricity
The rotating speed of machine 120 can generate error, therefore the confession of power supply 130 is detected by detection because of the current voltage variation of power supply 130
Piezoelectric voltage value, according to the specific size of the voltage value, can determine motor 120 rotating speed whether with control instruction phase
Match.
When the voltage value that voltage signal is characterized is not equal to preset voltage value, then demonstrate the need for controlling motor
The pwm signal of 120 rotations is adjusted.
In the present embodiment, target pwm signal is generated according to preset voltage value and voltage value, can is specifically, with
Ratio between preset voltage value and voltage value is as proportional is adjusted, using the corresponding pwm signal of voltage value as quilt
Adjustment item is adjusted using proportional is adjusted to being conditioned item, and then obtains target pwm signal, which is used for
Control motor 120 works, to drive steering engine 110.
In said program, the voltage value of power supply is detected by voltage detection unit, and export and voltage value pair
The voltage signal answered, using control unit receiving voltage signal, and when the voltage value that voltage signal is characterized is not equal in advance
If during voltage value, according to preset voltage value and voltage value, target pwm signal is generated, which is used to control electricity
Machine works, and then drives steering engine so that motor will not change in operation process because of the output voltage of power supply, and lead
Rotary speed unstabilization is caused to determine, avoids the phenomenon that steering engine occurs running not quietly.
Fig. 2 is referred to, Fig. 2 is the structure of the driving circuit of a kind of helm gear that another embodiment of the utility model provides
Schematic diagram.As shown in Fig. 2, as a kind of mode in the cards of the present embodiment, driving circuit 100 further includes：Filter unit 30.
Specifically：
Filter unit 30 is connected with voltage detection unit 10, forms voltage signal input node 31, voltage signal input section
Point 31 is used to connect control unit.
It should be noted that in order to avoid other interference signals other than driving circuit 100 impact voltage signal,
By setting filter unit 30 that can be filtered out to the electric signal of other other than voltage signal.
Fig. 3 is the concrete structure of the driving circuit of a kind of helm gear signal that another embodiment of the utility model provides
Figure.As shown in figure 3, control unit 20 includes：AD conversion unit 21, processing unit 22 and driving unit 23.Specifically：
AD conversion unit 21 is connected with voltage detection unit 10, for receiving voltage signal, and voltage signal is carried out
Analog-to-digital conversion, the corresponding voltage value of output voltage signal.
Processing unit 22 is connected with AD conversion unit 21, for receiving voltage value, and when voltage value differs
When preset voltage value, according to preset voltage value and voltage value, generation target duty compares information.
Driving unit 23 is connected with processing unit 22, for receiving target duty than information, and according to target duty than believing
Breath generation target pwm signal, target pwm signal are used to that motor to be controlled to drive steering engine.
It should be noted that voltage detection unit 10 is detected the voltage value of power supply, one is obtained for retouching
The voltage signal of power source supplying voltage value is stated, which is analog signal, and AD conversion unit 21 carries out the analog quantity
After analog-to-digital conversion, the corresponding voltage value of voltage signal is obtained.Processing unit 22 is by comparing the voltage value with presetting
The size of voltage value, and when voltage value is not equal to preset voltage value, generated according to preset voltage value and voltage value
Target duty compares information.
As a kind of mode in the cards of the present embodiment, processing unit 22 is given birth to according to preset voltage value and voltage value
, can be by calculating steering engine 110 according to control instruction into target duty than information, the reality reached under the driving of pwm signal
Location information；By the corresponding target position information of control instruction, with actual position information, preset Position Form PID control is imported
Algorithm carries out loop computation, the first dutyfactor value is obtained, finally according to first dutyfactor value and preset voltage value and power supply
The ratio of voltage value obtains target duty and compares information.
Compare information it is possible to further obtain target duty by the following formula；
Wherein, PNFor the target duty ratio, VnFor the preset voltage value, VmFor the voltage value, PVIt is described
First dutyfactor value.
It should be noted that preset positional PID control calculation is the existing pwm signal being used for according to input, it is defeated
Go out the algorithm of the corresponding dutyfactor value of the pwm signal, those skilled in the art can use by storing the algorithm into chip
In the signal of the corresponding dutyfactor value of output pwm signal, so it will not be repeated.
Further, the signal input part of AD conversion unit 21 is connected with voltage detection unit 10, AD conversion unit
21 signal output end is connected with the input terminal of processing unit 22, and the signal of the output terminal and driving unit 23 of processing unit 22 is defeated
Enter end to be connected, the signal output end of driving unit 23 is connected with motor 120.
Fig. 4 is the physical circuit figure of the driving circuit of a kind of helm gear that another embodiment of the utility model provides.Such as
Shown in Fig. 4, voltage detection unit 10 includes：First resistor R1.
The first end of first resistor R1 is connected with power supply 130, and the second end of first resistor R1 is used to connect filter unit 30.
As shown in figure 4, filter unit 30 includes：First capacitance C1 and second resistance R2.
The first end of first capacitance C1 is connected with the first end of second resistance R2, forms first node 31, first node 31
For connecting voltage detection unit 10, the second end of the first capacitance C1 is connected with the second end of second resistance R2, forms the second section
Point 32, second node 32 are used to be grounded.
As shown in figure 4, AD conversion unit 21 includes the first chip U1.
The signal input part IN_1 of first chip U1 is for connecting voltage detection unit 10, and receiving voltage signal, and first
The signal output end OUT_1 of chip U1 is used for connection processing unit, and to 22 output voltage signal of processing unit.
As shown in figure 4, processing unit 22 includes the second chip U2.
The signal input part IN_2 of second chip U2 is used to connect AD conversion unit 21, and receive voltage value, the
The signal output end OUT_2 of two chip U2 exports target duty to driving unit 23 and compares information for connecting driving unit 23.
As shown in figure 4, driving unit 23 includes third chip U3.
The signal input part IN_3 of third chip U3 is used for connection processing unit 22, and receives target duty than information, the
The signal output end OUT_1 of three chip U3 exports target pwm signal for connecting motor 120 to motor 120.
It is understood that in other embodiments, AD conversion unit 21, processing unit 22 in control unit 20 with
And driving unit 23, the first chip U1, the second chip U2 and the third core that can be encapsulated as in an entirety namely Fig. 4
Piece U3 can be encapsulated as an independent chip.
Below in conjunction with Fig. 3 and Fig. 4 to a kind of operation principle of the driving circuit 100 of helm gear provided by the utility model
It is described in detail.
As shown in Figure 3 and Figure 4, when steering engine 110 is driven to work, by sending control instruction to driving circuit 100, and then
Corresponding pwm signal is generated, motor 120 is controlled, so as to fulfill the control to steering engine 110.
During driving steering engine 110 works, voltage detection unit 10 examines the voltage value of power supply 130
It surveys, and voltage signal corresponding with voltage value is exported to control unit 20.When the voltage value that voltage signal is characterized
During not equal to preset voltage value, control unit 20 generates target pwm signal, target according to preset voltage value and voltage value
Pwm signal is used to that motor 120 to be controlled to drive steering engine 110.
Specifically, as shown in figure 4, voltage detection unit 10 by first resistor R1 to the voltage value to power supply 130
It is detected, and to the first chip U1 output voltage signals.When the voltage value that voltage signal is characterized is not equal to default electricity
During pressure value, the first chip U1 carries out analog-to-digital conversion to voltage signal, and to the corresponding power supply of the second chip U2 output voltage signals
Voltage value.When voltage value is not equal to preset voltage value, the second chip U1 is raw according to preset voltage value and voltage value
Into target duty than information, and the duty cycle information is sent to third chip U3, makes third chip U3 according to the target duty
It generates that motor 120 is controlled to work and then drives the target pwm signal of steering engine 110 than information.
In said program, the voltage value of power supply is detected by voltage detection unit, and export and voltage value pair
The voltage signal answered, using control unit receiving voltage signal, and when the voltage value that voltage signal is characterized is not equal in advance
If during voltage value, according to preset voltage value and voltage value, target pwm signal is generated, which is used to control electricity
Machine works, and then drives steering engine so that motor will not change in operation process because of the output voltage of power supply, and lead
Rotary speed unstabilization is caused to determine, avoids the phenomenon that steering engine occurs running not quietly.
Fig. 5 shows a kind of apparatus structure schematic diagram for the fuse that fuses that the utility model embodiment provides.Such as Fig. 5
Shown, a kind of helm gear 200 includes：The motor 120 that steering engine 110 and driving steering engine 110 work.
Helm gear 200 further includes the driving circuit 100 of the helm gear in above-described embodiment.
It is understood that due to a kind of helm gear 200 provided in this embodiment and the relevant content of the utility model
It is had been described in the above content with realization method, therefore details are not described herein again.
In said program, the voltage value of power supply is detected by voltage detection unit, and export and voltage value pair
The voltage signal answered, using control unit receiving voltage signal, and when the voltage value that voltage signal is characterized is not equal in advance
If during voltage value, according to preset voltage value and voltage value, target pwm signal is generated, which is used to control electricity
Machine works, and then drives steering engine so that motor will not change in operation process because of the output voltage of power supply, and lead
Rotary speed unstabilization is caused to determine, avoids the phenomenon that steering engine occurs running not quietly.
Unit in the utility model embodiment terminal can be combined, divided and deleted according to actual needs.
More than, only specific embodiment of the present utility model, but the scope of protection of the utility model is not limited thereto,
In the technical scope that any one skilled in the art discloses in the utility model, it can readily occur in various equivalent
Modifications or substitutions, these modifications or substitutions should be covered within the scope of the utility model.Therefore, the utility model
Protection domain should be subject to the protection scope in claims.
Claims (10)
1. a kind of driving circuit of helm gear is connected between the motor and power supply of driving steering engine work, which is characterized in that institute
Driving circuit is stated to include：
Voltage detection unit is connected with the power supply, for detecting the voltage value of the power supply, and exports and the power supply
The corresponding voltage signal of voltage value；
Control unit is connected with the voltage detection unit, for receiving the voltage signal, and when voltage signal institute table
When the voltage value of sign is not equal to preset voltage value, according to the preset voltage value and the voltage value, target is generated
Pwm signal, the target pwm signal is for controlling the motor to work, to drive the steering engine.
2. driving circuit according to claim 1, which is characterized in that the driving circuit further includes：
Filter unit is connected with the voltage detection unit, forms voltage signal input node, the voltage signal input node
For connecting described control unit.
3. driving circuit according to claim 1, which is characterized in that described control unit includes：
AD conversion unit is connected with the voltage detection unit, for receiving the voltage signal, and to the voltage signal
Analog-to-digital conversion is carried out, exports the corresponding voltage value of the voltage signal；
Processing unit is connected with the AD conversion unit, for receiving the voltage value, and when the voltage value
During not equal to preset voltage value, according to the preset voltage value and the voltage value, generation target duty compares information；
Driving unit is connected with the processing unit, for receiving the target duty than information, and according to the target duty
The target pwm signal is generated than information, the target pwm signal is used to that the motor to be controlled to drive the steering engine.
4. driving circuit according to claim 3, which is characterized in that the signal input part of the AD conversion unit and institute
It states voltage detection unit to be connected, the signal output end of the AD conversion unit is connected with the input terminal of the processing unit, institute
The output terminal for stating processing unit is connected with the signal input part of the driving unit, the signal output end of the driving unit and institute
Motor is stated to be connected.
5. driving circuit according to claim 2, which is characterized in that the voltage detection unit includes：First resistor；
The first end of the first resistor is connected with the power supply, and the second end of the first resistor is single for connecting the filtering
Member.
6. driving circuit according to claim 5, which is characterized in that the filter unit includes：First capacitance and second
Resistance；
The first end of first capacitance is connected with the first end of the second resistance, forms first node, the first node
For connecting the voltage detection unit, the second end of first capacitance is connected with the second end of the second resistance, is formed
Second node, the second node are used to be grounded.
7. driving circuit according to claim 3, which is characterized in that the AD conversion unit includes the first chip；
The signal input part of first chip is described for connecting the voltage detection unit, and receive the voltage signal
The signal output end of first chip exports the voltage signal for connecting the processing unit to the processing unit.
8. driving circuit according to claim 7, which is characterized in that the processing unit includes the second chip；
The signal input part of second chip is for connecting the AD conversion unit, and receive the voltage value, institute
The signal output end of the second chip is stated for connecting the driving unit, and the target duty ratio is exported to the driving unit
Information.
9. driving circuit according to claim 8, which is characterized in that the driving unit includes third chip；
The signal input part of the third chip is used to connect the processing unit, and receive the target duty than information, institute
The signal output end of third chip is stated for connecting the motor, and the target pwm signal is exported to the motor.
10. a kind of helm gear, including steering engine and the motor that the steering engine is driven to work, which is characterized in that the helm gear
Further include the driving circuit of claim 1 to 9 any one of them steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721621174.5U CN207603496U (en) | 2017-11-27 | 2017-11-27 | A kind of helm gear and its driving circuit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721621174.5U CN207603496U (en) | 2017-11-27 | 2017-11-27 | A kind of helm gear and its driving circuit |
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| CN207603496U true CN207603496U (en) | 2018-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721621174.5U Active CN207603496U (en) | 2017-11-27 | 2017-11-27 | A kind of helm gear and its driving circuit |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108897367A (en) * | 2018-07-27 | 2018-11-27 | 京东方科技集团股份有限公司 | Voltage control circuit, method, apparatus and storage medium |
| CN112497206A (en) * | 2020-12-18 | 2021-03-16 | 乐聚(深圳)机器人技术有限公司 | Compensation control method of steering engine and steering engine compensation circuit |
| CN113114141A (en) * | 2021-04-26 | 2021-07-13 | 北京机械设备研究所 | Method, device and equipment for compensating power supply voltage of electric steering engine |
-
2017
- 2017-11-27 CN CN201721621174.5U patent/CN207603496U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108897367A (en) * | 2018-07-27 | 2018-11-27 | 京东方科技集团股份有限公司 | Voltage control circuit, method, apparatus and storage medium |
| US10663992B2 (en) | 2018-07-27 | 2020-05-26 | Boe Technology Group Co., Ltd. | Voltage control circuit, method and device, and storage medium |
| CN112497206A (en) * | 2020-12-18 | 2021-03-16 | 乐聚(深圳)机器人技术有限公司 | Compensation control method of steering engine and steering engine compensation circuit |
| CN112497206B (en) * | 2020-12-18 | 2022-05-17 | 乐聚(深圳)机器人技术有限公司 | Steering engine compensation control method and steering engine compensation circuit |
| CN113114141A (en) * | 2021-04-26 | 2021-07-13 | 北京机械设备研究所 | Method, device and equipment for compensating power supply voltage of electric steering engine |
| CN113114141B (en) * | 2021-04-26 | 2024-06-07 | 北京机械设备研究所 | Method, device and equipment for compensating power supply voltage of electric steering engine |
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