CN210120399U

CN210120399U - Direct current motor closed loop drive controller based on STM32 singlechip

Info

Publication number: CN210120399U
Application number: CN201921308867.8U
Authority: CN
Inventors: 苏鹏; 卢萌萌; 张远向
Original assignee: Shandong Labor Vocational and Technical College
Current assignee: Shandong Labor Vocational and Technical College
Priority date: 2019-08-14
Filing date: 2019-08-14
Publication date: 2020-02-28
Anticipated expiration: 2029-08-14

Abstract

The utility model discloses a direct current motor closed loop drive controller based on STM32 singlechip, including power supply and monitoring circuit, core controller, H bridge closed loop drive circuit, excess temperature protection circuit, communication interface, user operation panel. After the system is initialized, the core controller receives a motion control instruction from the communication interface; the motor is controlled and driven through the PWM signal, and the feedback speed and direction signals are received to form closed-loop control; monitoring running state information in real time, sending the running state information to a communication interface and an operation panel, and automatically starting a fan to dissipate heat if a motor is over-temperature; the user can debug the system program, monitor the system state, reset the system or shut down the traveling motor through the operation panel at any time. Compared with the prior art, the utility model provides a control is simple, possess closed-loop control function, modularization, have the driver of excess temperature automatic protection, satisfies requirements such as the flexibility of inspection robot to motion control, reliability.

Description

Direct current motor closed loop drive controller based on STM32 singlechip

Technical Field

The utility model relates to a tour the robot field, especially relate to a direct current motor closed loop drive controller based on STM32 singlechip.

Background

The robot taking tour as a main task is generally powered by a battery, flexible in motion requirement, high in control precision, strong in cruising ability and certain in load capacity, and under comprehensive consideration, the motor is generally selected to be a direct current motor provided with a reduction box and an encoder, and the motor drive is used as a basic motion control task and is the key for determining the performance of the robot. However, the current motor drive controller has the defects of low control precision, large volume, non-modularization, lack of an over-temperature protection function and the like, can not meet the requirements of the inspection robot on flexibility, accuracy and reliability of motion control, and even influences the service life of a motor and other equipment in severe cases.

Disclosure of Invention

The utility model aims at providing a direct current motor closed loop drive controller based on STM32 singlechip improves flexibility, accurate nature, the reliability of current direct current motor drive controller, and designs based on the modularization, is applicable to the motion control task of inspection robot under different occasions.

In order to realize the technical purpose, the utility model discloses a technical scheme as follows: a direct current motor closed-loop driving controller based on an STM32 single chip microcomputer comprises a power supply and monitoring circuit, a core controller, an H bridge closed-loop driving circuit, an over-temperature protection circuit, a communication interface and a user operation panel. The power supply and monitoring circuit directly supplies power to each module, the core controller is connected with and controls the H-bridge closed-loop driving circuit and the communication interface through an internal bus, an input pin of the core controller receives a signal from a user operation panel, and the over-temperature protection circuit directly protects the direct current motor.

The power supply and monitoring circuit is connected with a 12V direct-current power supply by default and allows a continuous current of 3A to be connected; the main circuit and the auxiliary circuit are designed for overcurrent protection, the main path is connected with a 3A/16V self-recovery fuse, and the auxiliary path is connected with a 3A/16V self-recovery fuse and a 4 omega current-limiting resistor in series. In normal operation, current flows through the main path; when the current is overlarge, the main path self-recovery fuse is disconnected, the current only passes through the auxiliary path, and the current-limiting resistor protects a subsequent circuit; to prevent surges, the circuit is connected in parallel with a transient suppression diode (TVS) SMCJ 15A. Two 5V and two 3.3V voltage reduction and voltage stabilization outputs are provided and are respectively used for supplying power to a digital circuit and an analog circuit, so that the anti-interference capability of the circuit is improved: the 5V circuit is a buck switch type voltage stabilizing chip LM2576-5.0, the single-path maximum continuous power supply current is 2.5A, self-recovery fuses are respectively added to the input and the output of the chip for overcurrent protection, and the circuit is connected with a transient suppression diode (TVS) SMCJ6.0A in parallel for preventing surge; the 3.3V voltage reduction and stabilization circuit selects a linear voltage reduction type voltage stabilization chip REG1117-3.3, the maximum continuous power supply current is 800mA, and the output is added with a self-recovery fuse for overcurrent protection.

The core controller is composed of an STM32F103VCT6 single chip microcomputer and peripheral circuits, wherein the single chip microcomputer and the peripheral circuits are manufactured by STMicroelectronics, and the core controller comprises an external clock circuit, a digital power supply input, an analog power supply input, an ADC reference source input and a debugging simulation port circuit. The digital power supply and the analog power supply are separately distributed and independently supplied with power, and each pair of power supply and the ground are connected with a decoupling capacitor in parallel, so that the anti-interference capability is enhanced; the ADC reference source adopts a 3.3V reference source REF 3033.

In order to simplify the circuit structure and enhance the stability, the H-bridge closed-loop driving circuit is composed of a PWM driving logic circuit, a full-bridge driving circuit and a motor direction and speed detection circuit. The PWM driving logic circuit is formed by adopting inverters 74HC14 and 74HC27 NOR gate circuits, and receives a PWM signal output by the core controller to adjust the rotating speed. The full-bridge driving circuit adopts a mode of driving by two integrated chips with the same structure and an N-channel MOS tube, two motors can be driven simultaneously, the integrated chip selects a full-bridge driving chip A3940 special for a high-power motor produced by Allegro company and is suitable for driving a 6-40V direct-current motor, the working temperature is-40 TO +135 ℃, the chip is internally provided with undervoltage/overvoltage/overtemperature/short-circuit protection and fault diagnosis output, the N-channel MOS tube selects IRFZ48NPBF (TO-220 packaging), and in order TO ensure enough starting current, each driving circuit is connected with a 1000UF capacitor in parallel. The motor direction and speed detection circuit is suitable for an incremental encoder and consists of an inverter 74HC14 and a D trigger 74HC74, wherein A, B phase signals of the encoder are output to the D trigger through the inverter, and A phase pulses are directly measured to finish motor speed measurement; the phase A is used as the input of a D trigger, the phase B is used as a clock signal of the D trigger, and the output end directly outputs high and low levels for detecting the direction of the motor.

The over-temperature protection circuit selects a precision integrated circuit temperature sensor LM35 and is matched with an operational amplifier and a comparison circuit, when the temperature of the system is higher than an upper limit temperature threshold value, an alarm level signal is sent, and meanwhile, a fan is automatically started to radiate the circuit.

The communication interface comprises an RS232 interface and a CAN communication interface.

The user operation panel is designed for debugging personnel, and comprises a core controller program simulation debugging port, a starting and resetting key, a motor emergency stop key, a power state indicator lamp, a motion state indicator lamp, a state buzzer and an alarm indicator lamp.

The utility model discloses a work flow is: (1) starting up and supplying power by a power supply, and initializing the system; (2) the core controller receives a motion control command from the communication system; (3) the core controller controls the driving of the traveling motor through the PWM signal, receives the feedback speed and direction signal and forms closed-loop control; (4) the core controller monitors the running state information in real time, sends the running state information to the communication interface and the operation panel, automatically starts the fan to dissipate heat when the motor is over-temperature; (5) the user can debug the system program, monitor the system state, reset the system or shut down the traveling motor through the operation panel at any time.

According to the above technical scheme, the utility model provides a direct current motor closed loop drive controller based on STM32 singlechip compares with prior art, provides a control simply, possesses closed loop control function, modularization, has the driver of excess temperature automatic protection, satisfies requirements such as the flexibility of inspection robot to motion control, reliability.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic circuit diagram of the power supply and monitoring circuit.

Fig. 3 is a circuit schematic of the core controller.

Fig. 4 is a simplified structure diagram of an H-bridge closed loop driving circuit.

Fig. 5 is a circuit schematic diagram of the over-temperature protection circuit.

Fig. 6 is a diagram showing a structure of a user operation panel.

Detailed Description

In order to clearly illustrate the technical means, main features and effects of the present invention, the following will further illustrate the embodiments of the present invention with reference to the accompanying drawings.

The utility model discloses the structure schematic diagram is shown in fig. 1, including power supply and monitoring circuit, core controller, H bridge closed loop drive circuit, excess temperature protection circuit, communication interface, user operation panel. The power supply and monitoring circuit directly supplies power to each module, the core controller is connected with and controls the H-bridge closed-loop driving circuit and the communication interface through an internal bus, an input pin of the core controller receives a signal from a user operation panel, and the over-temperature protection circuit directly protects the direct current motor.

Specifically, the schematic diagram of the power supply and monitoring circuit is shown in fig. 2, and a 12V dc power supply is connected by default, allowing a continuous current of 3A to be connected; the main circuit and the auxiliary circuit are designed for overcurrent protection, the main path is connected with a 3A/16V self-recovery fuse, and the auxiliary path is connected with a 3A/16V self-recovery fuse and a 4 omega current-limiting resistor in series. In normal operation, current flows through the main path; when the current is overlarge, the main path self-recovery fuse is disconnected, the current only passes through the auxiliary path, and the current-limiting resistor protects a subsequent circuit; to prevent surges, the circuit is connected in parallel with a transient suppression diode (TVS) SMCJ 15A. Two 5V and two 3.3V voltage reduction and voltage stabilization outputs are provided and are respectively used for supplying power to a digital circuit and an analog circuit, so that the anti-interference capability of the circuit is improved: the 5V circuit is a buck switch type voltage stabilizing chip LM2576-5.0, the single-path maximum continuous power supply current is 2.5A, self-recovery fuses are respectively added to the input and the output of the chip for overcurrent protection, and the circuit is connected with a transient suppression diode (TVS) SMCJ6.0A in parallel for preventing surge; the 3.3V voltage reduction and stabilization circuit selects a linear voltage reduction type voltage stabilization chip REG1117-3.3, the maximum continuous power supply current is 800mA, and the output is added with a self-recovery fuse for overcurrent protection.

Specifically, the circuit schematic diagram of the core controller is shown in fig. 3, and the core controller is composed of an STM32F103VCT6 single chip microcomputer and peripheral circuits, and includes an external clock circuit, a digital power input, an analog power input, an ADC reference source input, and a debugging simulation interface circuit. The digital power supply and the analog power supply are separately distributed and independently supplied with power, and each pair of power supply and the ground are connected with a decoupling capacitor in parallel, so that the anti-interference capability is enhanced; the ADC reference source adopts a 3.3V reference source REF 3033.

Specifically, a simple structure diagram of the H-bridge closed-loop driving circuit is shown in fig. 4, and the H-bridge closed-loop driving circuit is composed of a PWM driving logic circuit, a full-bridge driving circuit, and a motor direction and speed detection circuit. The PWM driving logic circuit is formed by adopting inverters 74HC14 and 74HC27 NOR gate circuits, and receives a PWM signal output by the core controller to adjust the rotating speed. The full-bridge driving circuit adopts a mode of driving by two integrated chips with the same structure and an N-channel MOS tube, two motors can be driven simultaneously, the integrated chip selects a full-bridge driving chip A3940 special for a high-power motor produced by Allegro company and is suitable for driving a 6-40V direct-current motor, the working temperature is-40 TO +135 ℃, the chip is internally provided with undervoltage/overvoltage/overtemperature/short-circuit protection and fault diagnosis output, the N-channel MOS tube selects IRFZ48NPBF (TO-220 packaging), and in order TO ensure enough starting current, each driving circuit is connected with a 1000UF capacitor in parallel. The motor direction and speed detection circuit is suitable for an incremental encoder and consists of an inverter 74HC14 and a D trigger 74HC74, wherein A, B phase signals of the encoder are output to the D trigger through the inverter, and A phase pulses are directly measured to finish motor speed measurement; the phase A is used as the input of a D trigger, the phase B is used as a clock signal of the D trigger, and the output end directly outputs high and low levels for detecting the direction of the motor.

Specifically, a circuit schematic diagram of the over-temperature protection circuit is shown in fig. 5, a precision integrated circuit temperature sensor LM35 is selected and matched with an operational amplifier and comparator circuit, when the system temperature is higher than the upper limit temperature threshold, an alarm level signal is sent, and a fan is automatically started to dissipate heat for the circuit.

Specifically, the structure diagram of the user operation panel is shown in fig. 6, and the user operation panel is designed for debugging personnel, and comprises a core controller program simulation debugging port, a start and reset key, a motor emergency stop key, a power state indicator lamp, a motion state indicator lamp, a state buzzer and an alarm indicator lamp.

The specific embodiment of the utility model will be further explained in combination with the workflow, and the specific workflow is: (1) starting up and supplying power by a power supply, and initializing the system; (2) the core controller receives a motion control command from the communication system; (3) the core controller controls the driving of the traveling motor through the PWM signal, receives the feedback speed and direction signal and forms closed-loop control; (4) the core controller monitors the running state information in real time, sends the running state information to the communication interface and the operation panel, automatically starts the fan to dissipate heat when the motor is over-temperature; (5) the user can debug the system program, monitor the system state, reset the system or shut down the traveling motor through the operation panel at any time.

The basic principles and main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a direct current motor closed loop drive controller based on STM32 singlechip which characterized in that: including power supply and monitoring circuit, core controller, H bridge closed loop drive circuit, excess temperature protection circuit, communication interface, user operation panel, and power supply and monitoring circuit directly give each module power supply, core controller passes through internal bus connection and controls H bridge closed loop drive circuit, communication interface, core controller's input pin receives the signal that comes from user operation panel, excess temperature protection circuit direct protection DC motor, wherein: the power supply and monitoring circuit is connected with a 12V direct-current power supply by default, a 3A continuous current is allowed to be connected, a main circuit and an auxiliary circuit are designed to perform overcurrent protection, a main channel is connected with a 3A/16V self-recovery fuse, the auxiliary channel is connected with the 3A/16V self-recovery fuse and a 4 omega current-limiting resistor in series, current flows through the main channel during normal work, the main channel self-recovery fuse is disconnected when the current is too large, the current only passes through the auxiliary channel, and the current-limiting resistor protects a subsequent circuit; the core controller is composed of an STM32F103VCT6 single chip microcomputer and peripheral circuits and comprises an external clock circuit, a digital power supply input, an analog power supply input, an ADC reference source input and a debugging simulation port circuit; the H-bridge closed-loop driving circuit is composed of a PWM driving logic circuit, a full-bridge driving circuit and a motor direction and speed detection circuit, the PWM driving logic circuit is composed of inverters 74HC14 and 74HC27 NOR gate circuits and receives PWM signals output by a core controller to adjust the rotating speed, the full-bridge driving circuit is composed of two paths of special full-bridge driving chips A3940 and N channel MOS tubes IRFZ48NPBF with the same structure for the high-power motor, two paths of motors can be driven simultaneously, each driving circuit is connected with a 1000UF capacitor in parallel, and the motor direction and speed detection circuit is connected with a motor encoder and outputs the signals to be directly connected with the core controller; the over-temperature protection circuit consists of a precision integrated circuit temperature sensor LM35, an operational amplifier and comparison circuit and a cooling fan; the communication interface comprises an RS232 interface and a CAN communication interface; the user operation panel comprises a core controller program simulation debugging port, a starting and resetting key and a motor emergency stop key.

2. The STM32 single chip microcomputer-based DC motor closed-loop driving controller according to claim 1, wherein: the power supply and monitoring circuit is connected with a transient suppression diode SMCJ15A in parallel to prevent surge; two 5V and two 3.3V voltage reduction and stabilization outputs are provided and are respectively used for supplying power to a digital circuit and an analog circuit, the anti-jamming capability of the circuit is improved, wherein the 5V circuit selects a voltage reduction switch type voltage stabilization chip LM2576-5.0, the single-path maximum continuous power supply current is 2.5A, self-recovery fuses are respectively added to the input and the output of the chip for overcurrent protection, and the circuit is connected with a transient suppression diode SMCJ6.0A in parallel to prevent surge; the 3.3V voltage reduction and stabilization circuit selects a linear voltage reduction type voltage stabilization chip REG1117-3.3, the maximum continuous power supply current is 800mA, and the output is added with a self-recovery fuse for overcurrent protection.

3. The STM32 single chip microcomputer-based DC motor closed-loop driving controller according to claim 1, wherein: the digital power supply and the analog power supply of the core controller are separately distributed and independently supplied with power, and each pair of power supplies and the ground are connected with a decoupling capacitor in parallel, so that the anti-interference capability is enhanced; the ADC reference source adopts a 3.3V reference source REF 3033.

4. The STM32 single chip microcomputer-based DC motor closed-loop driving controller according to claim 1, wherein: the H-bridge closed-loop driving circuit is suitable for driving a 6-40V direct current motor, the working temperature is-40- +135C degrees, the motor direction and speed detection circuit is suitable for an incremental encoder and consists of an inverter 74HC14 and a D trigger 74HC74, a A, B phase signal of the encoder is output to the D trigger through the inverter, and an A phase pulse is directly measured to finish the motor speed measurement; the phase A is used as the input of a D trigger, the phase B is used as a clock signal of the D trigger, and the output end directly outputs high and low levels for detecting the direction of the motor.

5. The STM32 single chip microcomputer-based DC motor closed-loop driving controller according to claim 1, wherein: the user operation panel is designed for debugging personnel, and further comprises a power state indicator light, a motion state indicator light, a state buzzer and an alarm indicator light.