CN209896949U

CN209896949U - Brushless motor control device

Info

Publication number: CN209896949U
Application number: CN201920551501.7U
Authority: CN
Inventors: 潘孝威; 王其辉
Original assignee: Subelectron Science And Technology Ltd Of Jinan Section
Current assignee: Subelectron Science And Technology Ltd Of Jinan Section
Priority date: 2019-04-22
Filing date: 2019-04-22
Publication date: 2020-01-03
Anticipated expiration: 2029-04-22

Abstract

The utility model discloses a brushless motor control device, including following step: the method comprises the following steps: the microprocessor receives the command and controls the driving unit to control the brushless motor to rotate forwards, and the tarpaulin runs towards the cover closing direction; step two: the microprocessor always monitors the position of the tarpaulin; step three: when the microprocessor detects the tarpaulin in-place signal, the microprocessor controls the brushless motor to rotate reversely for 30-50ms through the driving unit; step four: the position of the tarpaulin is processed and judged by the microprocessor, when the tarpaulin is completely closed, the current and time data detected by the cheating prevention unit are simultaneously transmitted to the muck car management platform by the communication and alarm output unit through the Beidou satellite network, so that the checking is convenient.

Description

Brushless motor control device

Technical Field

The utility model relates to a motor control technical field especially relates to a brushless motor control device.

Background

The muck transportation of construction projects is generally carried out by special large-scale engineering vehicles, which are called as follows for short: although the prior countries have definite standards and regulations for the transportation mode and vehicles of the muck, most of the muck vehicles work at night, so that the supervision intensity is reduced, and the muck vehicles basically have serious overload, overspeed and the like, so that the violation of regulation and violation of regulation such as muck throwing, dust flying and the like exist in many muck vehicles along the way, and a lot of negative influences are brought to the life, the safety, the environmental pollution and the like of people.

In the prior art, the tarpaulin of the muck truck is driven by a direct current motor, but the manufacturing process of the direct current motor is complex and the production cost is high. Maintenance is difficult. Some manufacturers use a brushless motor to replace a dc motor due to poor reliability, but the use of a controller of the brushless motor is greatly different from that of the dc motor, so a brushless motor control device is urgently needed.

SUMMERY OF THE UTILITY MODEL

The utility model provides a brushless motor control device.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a brushless motor control device comprises an upper shell and a circuit part arranged on a bottom plate, wherein the bottom plate is fixed at the lower end of the upper shell, the circuit part comprises a microprocessor, a driving unit, a voltage sampling circuit, a current sampling circuit and an anti-cheating unit, and the input end of the microprocessor is connected with a tarpaulin opening switch and a tarpaulin closing switch; the anti-cheating device comprises a microprocessor, a driving unit, a cheating prevention unit, a Hall counting unit, a cover opening button, a stop button and a cover closing button, wherein the microprocessor is used for collecting input voltage of a controller and current flowing through a motor respectively through a voltage sampling circuit and a current sampling circuit, the driving unit is used for controlling the forward and reverse rotation of the motor, the anti-cheating unit is used for preventing a driver from operating a vehicle under the condition that a tarpaulin is not closed, the microprocessor is used for counting the number of pulses to judge the position of the tarpaulin cover, the anti-cheating unit comprises a current generation duration detection unit and a Hall counting unit, the current generation duration detection unit is used for detecting and controlling the movement current time of the brushless motor, the Hall counting unit is used for counting the number of pulses to judge the position of the tarpaulin cover, the microprocessor is connected with the cover opening button, the stop button and the cover closing button, the cover opening button, the, the lower end of the bottom plate is fixedly connected with the base, a first locking buckle used for installing a phase line of the brushless motor and a power line of the driver is arranged on the upper shell, and a second locking buckle used for installing a Hall line of the motor and a communication line is further arranged on the upper shell.

Further, the system comprises a communication and alarm output end unit, wherein the communication and alarm output end unit is connected with the microprocessor; the communication and alarm output unit is composed of a communication circuit and an alarm circuit, wherein the communication circuit can transmit and receive data through a Beidou satellite network.

Furthermore, the microprocessor is also connected with a remote control receiving unit, and the remote control receiving unit is used for receiving control signals of opening and closing of the tarpaulin sent by the remote controller.

Further, 485 and Can communication are supported to the communication line for with the communication at on-vehicle big dipper terminal, Can upload the tarpaulin state to government monitoring platform through big dipper terminal, realize the implementation control to the vehicle.

Furthermore, the bottom plate and the base are both provided with fixing holes.

Furthermore, a rubber pad is arranged between the bottom plate and the base.

A brushless motor control method is characterized by comprising the following steps

The method comprises the following steps: the microprocessor receives the command and controls the driving unit to control the brushless motor to rotate forwards, and the tarpaulin runs towards the cover closing direction;

step two: the microprocessor always monitors the position of the tarpaulin;

step three: when the microprocessor detects the tarpaulin in-place signal, the microprocessor controls the brushless motor to rotate reversely for 30-50ms through the driving unit;

step four: the position of the tarpaulin is processed and judged by the microprocessor, when the tarpaulin is completely closed, the current and time data detected by the cheating prevention unit are simultaneously transmitted to the muck car management platform by the communication and alarm output unit through the Beidou satellite network, so that the checking is convenient.

Further, when the microprocessor in the second step detects that the position of the tarpaulin is not completely closed and the position of the tarpaulin cannot move, the microcontroller controls the amount of current passing through the motor to increase.

Further, the microcontroller controls the amount of current passing through the motor to increase the starting current of the motor to 2-3 times the original current through the driving unit.

Furthermore, the microprocessor always monitors the position of the tarpaulin and judges the position through detecting the running time of the motor and the current passing through the motor by the microprocessor.

Further, when microprocessor detects the tarpaulin signal that targets in place, when microprocessor detects the condition that the electric current through the motor does not take place the multiple increase promptly, the time of motor operation reaches the general time value of settlement.

Use of a brushless motor controller, characterized by: the controller is applied to the control of the muck truck awning cloth.

The utility model discloses have following useful part:

the controller uses a high-performance 32-bit MCU, adopts an advanced motion control algorithm, and is matched with a Hall feedback element of the motor to complete the motor motion under open-loop and closed-loop speeds and closed-loop torques. The controller has a plurality of analog input ports, pulse input ports and digital I/O ports, the functions of which can be redefined by dedicated software. The general RS232 and CAN bus serial port communication CAN be widely used for vehicle automatic operation.

(1) The driver is used for the residue soil vehicle tarpaulin occasion, and the position of the tarpaulin cover can be judged by utilizing the pulse number fed back by the Hall feedback element, so that the illegal operation that the driver does not cover the tarpaulin is avoided, and the anti-cheating function is realized.

(2) The driver has the function of adjusting the driving current of the driver through the remote controller, and is better suitable for various vehicle type structures.

(3) The driver has the function of in-place automatic speed reduction, avoids the phenomenon that the speed reducer is blocked due to too large impact force because of too high motor speed, and protects the mechanical structure

(4) The driver has a remote wireless remote control function. The tarpaulin switch cover is controlled through a wireless remote controller.

(5) The driver has overtime operation protection function, and the operating time can be set, reaches the automatic shutdown of settlement time, avoids leading to the motor to operate the problem of burning out for a long time because of mechanical structure problem.

(6) The driver has the function of over-distance operation protection, avoids the structure from skidding, and the motor does not stop

(7) 485 and Can communication are supported to the driver for with the communication at on-vehicle big dipper terminal, Can upload to government monitoring platform through big dipper terminal with the tarpaulin state, realize the implementation control to the vehicle.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a left side view schematic structure of fig. 1 according to the present invention;

FIG. 3 is a schematic diagram of the structure of the circuit part of the present invention;

fig. 4 is a schematic diagram of the anti-cheating unit of fig. 3 according to the present invention.

In the figure: 1 epitheca, 2 bottom plates, 3 fixed orificess, 4 power indicator lamps, 5 overload indicator lamps, 6 uncapping buttons, 7 stop buttons, 8 close the lid button, 9 first locking buckles, 10 second locking buckles, 11 cushion, 12 bases, 13 microprocessors, 14 drive unit, 15 brushless motor, 16 voltage sampling circuit, 17 electric current sampling circuit, 20 communication and alarm output unit, 21 remote control receiving unit, 23 anti-cheating unit.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Example 1:

with reference to fig. 1-2, a brushless motor control apparatus comprises an upper casing 1 and a circuit part installed on a bottom plate 2, wherein the bottom plate 2 is fixed at the lower end of the upper casing 1, the circuit part comprises a microprocessor 13, a driving unit 14, a voltage sampling circuit 16, a current sampling circuit 17 and an anti-cheating unit 23, and an input end of the microprocessor 13 is connected with a tarpaulin opening switch and a tarpaulin closing switch; the microprocessor 13 respectively collects the input voltage of the controller and the current flowing through the motor through a voltage sampling circuit 16 and a current sampling circuit 17, the driving unit 14 controls the positive and negative rotation of the motor, the cheating prevention unit 23 is used for preventing a driver from operating the vehicle under the condition of not closing the tarpaulin, the microprocessor 13 judges the position of the tarpaulin cover by counting the number of pulses, the cheating prevention unit 23 comprises a current generation duration detection unit for detecting and controlling the movement current time of the brushless motor 15 and a Hall counting unit for counting the number of pulses to judge the position of the tarpaulin cover, the microprocessor 13 is connected with a cover opening button 6, a stop button 7 and a cover closing button 8, the cover opening button 6, the stop button 7 and the cover closing button 8 are all arranged on the upper shell 1, the microprocessor 13 is also connected with a power indicator lamp 4 and an overload indicator lamp 5, power indicator 4 with overload indicator 5 also all installs on

epitheca

1, 2 lower extremes of bottom plate and base 12 fixed connection, be provided with the first locking knot 9 that is used for installing 15 phase lines of brushless motor and driver power cord on the epitheca 1, still be provided with the second locking knot 10 that is used for installing motor hall line and communication line on the epitheca 1.

Example 2:

epitheca

1, 2 lower extremes of bottom plate and base 12 fixed connection, be provided with the first locking knot 9 that is used for installing 15 phase lines of brushless motor and driver power cord on the epitheca 1, still be provided with the second locking knot 10 that is used for installing motor hall line and communication line on the epitheca 1. The device is driven by adopting a two-phase electrifying mode, namely two windings are electrified simultaneously. The three-phase full-bridge driving circuit in the device comprises a three-phase inverter circuit consisting of 6 transistors and diodes, and Ha, Hb and Hc are rotor position signals fed back by Hall elements. The control circuit can determine the on-off of 6 paths of PWM signals according to the position signal, so that the power tube is switched on or off, the winding is switched on according to a certain sequence, and the motor is driven to rotate continuously. When the drive unit drives the brushless motor, the on or off condition of the power tube passes through 1/6 cycles (i.e., 60 °). Embedded inside the dc brushless motor are 3 hall position sensors, which are spatially separated by 120 °. Because the rotor of the motor is a permanent magnet, when the rotor rotates, the magnetic field of the rotor changes to form a rotating magnetic field, and each Hall sensor can generate an output signal with 180-degree pulse width; the device adopts a three-phase full-bridge driving circuit, when power tubes V1 and V6 are conducted, current flows into the motor from the phase A and flows out of the motor from the phase C, and the directions of magnetic fields generated by the current passing through the winding are (A and C). The torque produced by the combined magnetic fields of a and C rotates the rotor to the AC position. The rotation of the rotor changes the output of the Hall sensor, and the control circuit can adjust the conduction condition of the power tube according to the change, so that the V6 is switched off, and the V5 is switched on. At this time, current flows into the motor from phase a and flows out of the motor from phase B, and the direction of the magnetic field generated by the windings is (a, B). The torque produced by the combined magnetic fields of a and B rotates the rotor to the AB position. Similarly, the Hall device can output a different value, and the control circuit performs corresponding processing to complete a complete commutation period.

Example 3:

epitheca

1, 2 lower extremes of bottom plate and base 12 fixed connection, be provided with the first locking knot 9 that is used for installing 15 phase lines of brushless motor and driver power cord on the epitheca 1, still be provided with the second locking knot 10 that is used for installing motor hall line and communication line on the epitheca 1. The device is driven by adopting a two-phase electrifying mode, namely two windings are electrified simultaneously. The three-phase full-bridge driving circuit in the device comprises a three-phase inverter circuit consisting of 6 transistors and diodes, and Ha, Hb and Hc are rotor position signals fed back by Hall elements. The control circuit can determine the on-off of 6 paths of PWM signals according to the position signal, so that the power tube is switched on or off, the winding is switched on according to a certain sequence, and the motor is driven to rotate continuously. When the drive unit drives the brushless motor, the on or off condition of the power tube passes through 1/6 cycles (i.e., 60 °). Embedded inside the dc brushless motor are 3 hall position sensors, which are spatially separated by 120 °. Because the rotor of the motor is a permanent magnet, when the rotor rotates, the magnetic field of the rotor changes to form a rotating magnetic field, and each Hall sensor can generate an output signal with 180-degree pulse width; the device adopts a three-phase full-bridge driving circuit, when power tubes V1 and V6 are conducted, current flows into the motor from the phase A and flows out of the motor from the phase C, and the directions of magnetic fields generated by the current passing through the winding are (A and C). The torque produced by the combined magnetic fields of a and C rotates the rotor to the AC position. The rotation of the rotor changes the output of the Hall sensor, and the control circuit can adjust the conduction condition of the power tube according to the change, so that the V6 is switched off, and the V5 is switched on. At this time, current flows into the motor from phase a and flows out of the motor from phase B, and the direction of the magnetic field generated by the windings is (a, B). The torque produced by the combined magnetic fields of a and B rotates the rotor to the AB position. Similarly, the Hall device can output a different value, and the control circuit performs corresponding processing to complete a complete commutation period. The brushless motor control device comprises a communication and alarm output end unit, and a communication and alarm output unit 20 is connected with the microprocessor 13; the communication and alarm output unit 20 is composed of a communication circuit and an alarm circuit which can receive and transmit data through a Beidou satellite network. The microprocessor 13 is further connected with a remote control receiving unit 21, the remote control receiving unit 21 is used for receiving tarpaulin opening and closing control signals sent by a remote controller, the communication line supports 485 and Can communication and is used for communicating with a vehicle-mounted Beidou terminal, the tarpaulin state Can be uploaded to a government monitoring platform through the Beidou terminal, implementation monitoring on vehicles is achieved, and fixing holes 3 are formed in the bottom plate 2 and the base 12. A rubber pad 11 is arranged between the bottom plate 2 and the base 12.

Example 4:

referring to fig. 1 to 4, a brushless motor control method includes the following steps

The method comprises the following steps: the signal indicating unit sends a command for closing the tarpaulin, the microprocessor 13 receives the command and controls the driving unit 14 to control the brushless motor 15 to rotate forwards, and the tarpaulin runs towards the cover closing direction;

step two: the microprocessor 13 always monitors the position of the tarpaulin;

step three: when the microprocessor 13 detects the tarpaulin in-place signal, the microprocessor 13 controls the brushless motor 15 to rotate reversely for 30-50ms through the driving unit 14;

step four: the position of the tarpaulin is processed and judged by the microprocessor 13, when the tarpaulin is completely closed, the current and time data detected by the cheating prevention unit 23 are simultaneously transmitted to the muck car management platform through the Beidou satellite network by the communication and alarm output unit 20, so that the checking is convenient.

And when the microprocessor 13 in the step two detects that the position of the tarpaulin is not completely closed and the position of the tarpaulin cannot move, the microcontroller controls the amount of current passing through the motor to increase. The microcontroller controls the amount of current through the motor such that the starting current of the motor is increased to 2-3 times the original current by the driving unit 14. The microprocessor 13 always monitors the position of the tarpaulin and judges the position by detecting the running time of the motor and the current passing through the motor through the microprocessor 13. When the microprocessor 13 detects that the tarpaulin is in place, namely when the microprocessor 13 detects that the current passing through the motor does not increase by multiple, the running time of the motor reaches the set universal time value.

The signal indication unit is sent out through a remote controller, an A key, a B key and a C key are arranged on the remote controller, and the A key is a wake-up key. The B and C keys are a current increase key and a current decrease key, respectively. The B key and the C key are a time increasing key and a time decreasing key, respectively.

When the tarpaulin controller needs to be adjusted through the current of the motor, the tarpaulin controller is adjusted through the following steps: a first step; electrifying the tarpaulin controller; the second step is that: pressing the key A until the tarpaulin controller status indicator lamp is turned off for about 6 seconds; the third step: pressing the key B, increasing the current passing through the motor by 1A when the key B is pressed, and increasing the current to 60A to the maximum, and decreasing the current passing through the motor by 1A when the key C is pressed; the fourth step: and waiting for about 10 seconds, and lighting a state indicator lamp of the tarpaulin controller, namely automatically storing the data of current adjustment.

When the operating time of the motor is required to be adjusted for the tarpaulin controller, the tarpaulin controller is adjusted through the following steps: a first step; electrifying the tarpaulin controller; the second step is that: pressing the key A until the tarpaulin controller status indicator lamp is turned off for about 6 seconds; the third step: pressing the key B, increasing the running time of the motor by 2 seconds when the key B is pressed, increasing the running time of the motor to 150 seconds at most, pressing the key C, and reducing the running time of the motor by 2 seconds when the key C is pressed; the fourth step: and waiting for about 10 seconds, and lighting a state indicator lamp of the tarpaulin controller, namely automatically storing the time-adjusted data.

The resilience function of the tarpaulin: the purpose is as follows: the brushless motor 15 in the market has a structure of eight doors, the mass is uneven, and the brushless motor 15 and the speed reducer are easy to block, so that the problem is solved through resilience. And (3) rebounding: as long as the tarpaulin is closed, the rebounding function of 40ms can be triggered, the brushless motor 15 runs for 40ms in the reverse direction, and the action of the brushless motor 15 cannot be seen by the tarpaulin for 40ms, so that the problem of untight sealing of the tarpaulin cannot be caused. The states of opening and closing of the tarpaulin uploaded to the platform through the Beidou are data instruction signals and non-cheatable signals. The communication and alarm output unit 20 is connected with the microprocessor 13 and consists of a communication circuit capable of transmitting data through a Beidou satellite network and an alarm output unit, and the microprocessor 13 can transmit tarpaulin closing information of the muck truck to remote monitoring equipment through the communication circuit so as to monitor the running state of the muck truck.

The microprocessor 13 is further connected with a remote control receiving unit 21 and a status indicator lamp, and the remote control receiving unit 21 is used for receiving tarpaulin opening and tarpaulin closing signals sent by a remote controller. In a normal case, the driver may control the opening and closing of the tarpaulin by pressing the tarpaulin-opening switch SW1 and the tarpaulin-closing switch SW2 in the cab, but in case that the driver needs to operate outside the cab, the opening and closing of the tarpaulin is controlled by pressing a button on the remote controller. The status indicator lamp adopts a double-color LED as a power supply and an overload indicator, and the LED is in green when voltage is input and the voltage value is normal; when the motor is overloaded or the tarpaulin moves in place, the LED is bright red.

The tarpaulin opening switch, the tarpaulin closing switch and the state indicating lamp are all arranged on the box cover. In the working process, a driver can control the tarpaulin to be opened by pressing the tarpaulin opening switch, and in the tarpaulin opening process, if the tarpaulin opening switch is pressed again, the tarpaulin stops moving; the tarpaulin can be controlled to be closed by pressing the tarpaulin closing switch, and in the process of closing the tarpaulin, if the tarpaulin closing switch is pressed again, the tarpaulin stops moving.

The controller for the sealing device of the muck transport vehicle adopts the four power switch tubes to form the H bridge arm circuit for controlling the operation of the motor, thereby not only controlling the motor to carry out soft start, but also avoiding the damage of overlarge starting current to the motor and circuit devices; meanwhile, the power switch tube has the advantages of long service life and stable work, the service life of the controller is prolonged, and the defects of short service life and high failure rate caused by mechanical reversing are effectively overcome.

The states of opening and closing of the tarpaulin uploaded to the platform through the Beidou are data instruction signals and non-cheatable signals.

The utility model discloses a controller for dregs transport vehicle sealing device because dregs car adopts a foldable tarpaulin to seal, has changed and has adopted two side open-type half lid sealing forms in the past, consequently can order about the tarpaulin through a motor and open and be closed.

Example 5:

with reference to fig. 1-4, an application of a brushless motor controller for a muck tarpaulin control.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A brushless motor control device characterized in that: the anti-cheating circuit comprises an upper shell and a circuit part arranged on a bottom plate, wherein the bottom plate is fixed at the lower end of the upper shell, the circuit part comprises a microprocessor, a driving unit, a voltage sampling circuit, a current sampling circuit and an anti-cheating unit, and the input end of the microprocessor is connected with a tarpaulin opening switch and a tarpaulin closing switch; the anti-cheating device comprises a microprocessor, a driving unit, a cheating prevention unit, a Hall counting unit, a cover opening button, a stop button and a cover closing button, wherein the microprocessor is used for collecting input voltage of a controller and current flowing through a motor respectively through a voltage sampling circuit and a current sampling circuit, the driving unit is used for controlling the forward and reverse rotation of the motor, the anti-cheating unit is used for preventing a driver from operating a vehicle under the condition that a tarpaulin is not closed, the microprocessor is used for counting the number of pulses to judge the position of the tarpaulin cover, the anti-cheating unit comprises a current generation duration detection unit and a Hall counting unit, the current generation duration detection unit is used for detecting and controlling the movement current time of the brushless motor, the Hall counting unit is used for counting the number of pulses to judge the position of the tarpaulin cover, the microprocessor is connected with the cover opening button, the stop button and the cover closing button, the cover opening button, the, the lower end of the bottom plate is fixedly connected with the base, a first locking buckle used for installing a phase line of the brushless motor and a power line of the driver is arranged on the upper shell, and a second locking buckle used for installing a Hall line of the motor and a communication line is further arranged on the upper shell.

2. The brushless motor control device of claim 1, further comprising a communication and alarm output unit, the communication and alarm output unit being connected to the microprocessor; the communication and alarm output unit is composed of a communication circuit and an alarm circuit, wherein the communication circuit can transmit and receive data through a Beidou satellite network.

3. The brushless motor control device of claim 1, wherein the microprocessor is further connected to a remote control receiving unit, and the remote control receiving unit is used for receiving a control signal for opening and closing the tarpaulin sent by the remote controller.

4. The brushless motor control device of claim 1, wherein the communication line supports 485 and Can communication, is used for communicating with a vehicle-mounted Beidou terminal, and Can upload the tarpaulin state to a government monitoring platform through the Beidou terminal to realize vehicle monitoring.

5. A brushless motor control device according to claim 1, wherein the bottom plate and the base are provided with fixing holes.

6. The brushless electric machine control device of claim 1, wherein a rubber pad is disposed between the base plate and the base.