CN213425782U - Motor control device and motor control system - Google Patents

Abstract

The utility model provides a motor control device and motor control system, relate to motor control's technical field, through set up latch circuit between controller and motor drive and detection circuitry, make motor drive and detection circuitry can be to the big feedback signal of latch circuit output current flow when the output current of motor surpasss the setting value, latch circuit can be to the control signal of motor drive and the forbidden work of detection circuitry output when receiving the too big feedback signal of this electric current, thereby make motor drive and detection circuitry close power output's function, realized protecting motor control device's circuit when the output current of motor is too big, prevent that the device from appearing damaging. Further, because the utility model discloses a hardware circuit has realized the turn-off of power take off, consequently, the turn-off of motor is not controlled the loaded influence of procedure of controller, has effectively avoided because the problem that can't play the guard action to motor drive that the procedure leads to unusually.

Description

Motor control device and motor control system

Technical Field

The utility model belongs to the technical field of motor control's technique and specifically relates to a motor control device and motor control system are related to.

Background

The servo motors have the characteristics of fast response and high speed and position control precision, so that the servo motors are widely applied to an automatic control system, for example, a plurality of servo motors are arranged in a single-piece separator for separating packages and a cross sorting belt device for sorting the packages, and the servo motors are used as power sources to drive a conveyor belt to move according to set requirements so as to realize the separation and sorting of the packages.

Generally, overload operation is allowed to occur in a short time in application of a servo motor, when the servo motor has sudden load change or under the conditions of locked rotor, high-inertia high-speed shutdown and the like, instantaneous sudden change occurs in output current of the servo motor, large current is often established within microsecond level, and the driver of the servo motor is easily damaged by the instantaneously generated large current, and even other devices in a control system can be burnt. Therefore, how to detect the current of the motor and perform corresponding circuit protection is very important for the stable operation of the whole system.

In the motor control system disclosed in the related art, the current of the motor is converted into a voltage signal, the voltage signal is input to the MCU, and when the MCU monitors that the voltage signal exceeds a preset upper limit, a corresponding control signal is output to the motor driver to stop the motor, thereby protecting the devices in the system. However, in the motor control system of the related art, when a program in the MCU is abnormally halted or runs away, the MCU cannot normally monitor the motor current or output a corresponding control signal to stop the motor, and thus cannot protect the devices of the system.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a motor control device and a motor control system to alleviate the above technical problems.

In a first aspect, an embodiment of the present invention provides a motor control device, including a controller, a motor driving and detecting circuit, and a latch circuit; the latch circuit comprises a latch signal input end, an erasing signal input end and a data output end; the controller comprises a first output end and a first input end, wherein the first output end is used for outputting a latch signal, and the first input end is used for detecting whether the motor current is overlarge; the motor driving and detecting circuit comprises a second input end for receiving a control signal for inhibiting/enabling work and a second output end for outputting a feedback signal with overlarge current; a latch signal input end of the latch circuit is electrically connected with a first output end of the controller, a clearing signal input end of the latch circuit is electrically connected with a second output end of the motor driving and detecting circuit, a data output end of the latch circuit is electrically connected with a second input end of the motor driving and detecting circuit, and a first input end of the controller is electrically connected with a second output end of the motor driving and detecting circuit; the latch circuit can output a control signal for inhibiting the operation to the motor driving and detecting circuit when the clearing signal input end of the latch circuit receives a feedback signal of large current, and can output a control signal for enabling the operation to the motor driving and detecting circuit when the latch signal input end of the latch circuit receives a latch signal.

Preferably, in a preferred embodiment, the latch circuit includes a D flip-flop; the D trigger comprises a trigger input end, an erasing end, a data input end and a data output end; the trigger input end of the D trigger is electrically connected with the latch signal input end of the latch circuit, the clearing end of the D trigger is electrically connected with the clearing signal input end of the latch circuit, the data input end of the D trigger is electrically connected with the first signal source, and the data output end of the D trigger is electrically connected with the data output end of the latch circuit; wherein the level of the feedback signal with large current flowing is the same as the active level of the clearing end of the D trigger, the level of the control signal for enabling operation is the same as the level of the signal output by the first signal source, and the level of the control signal for disabling operation is opposite to the level of the signal output by the first signal source.

Preferably, in a preferred embodiment, the motor driving and detecting circuit includes a motor driving chip and a sampling circuit; the motor driving chip comprises an enabling control input end, a current input end and a feedback output end; the sampling circuit comprises an input end and an output end; the input end of the sampling circuit is electrically connected with a power line of the motor, and the output end of the sampling circuit is electrically connected with the current input end of the motor driving chip; the enabling control input end of the motor driving chip is electrically connected with the second input end of the motor driving and detecting circuit, and the feedback output end of the motor driving chip is electrically connected with the second output end of the motor driving and detecting circuit.

Preferably, in a preferred embodiment, the motor driving and detecting circuit includes a motor driving chip, a sampling circuit and an overcurrent detecting circuit; the motor driving chip comprises an enabling control input end, the sampling circuit comprises an input end and an output end, and the over-current detection circuit comprises a current input end and a feedback output end; the control circuit comprises a motor drive chip, a sampling circuit, an overcurrent detection circuit and a motor drive and detection circuit, wherein the enable control input end of the motor drive chip is electrically connected with the second input end of the motor drive and detection circuit, the input end of the sampling circuit is electrically connected with a power line of a motor, the output end of the sampling circuit is electrically connected with the current input end of the overcurrent detection circuit, and the feedback output end of the overcurrent detection circuit is electrically connected with the second output end of the motor drive and detection circuit.

Preferably, in a preferred embodiment, the motor driving and detecting circuit includes a motor driving chip, a sampling circuit and an overcurrent detecting circuit; the motor driving chip comprises an enabling control input end, a first current input end and a first feedback output end, the sampling circuit comprises an input end and an output end, and the over-current detection circuit comprises a second current input end and a second feedback output end; the system comprises a motor drive chip, a sampling circuit, a motor drive and detection circuit, a motor, an overcurrent detection circuit and a motor drive and detection circuit, wherein an enable control input end of the motor drive chip is electrically connected with a second input end of the motor drive and detection circuit, an input end of the sampling circuit is electrically connected with a power line of the motor, an output end of the sampling circuit is electrically connected with a first current input end of the motor drive chip and a second current input end of the overcurrent detection circuit, and a first feedback output end of the motor drive chip and a second feedback output end of the overcurrent detection circuit are both electrically connected with a second output end of the motor drive.

Preferably, in a preferred embodiment, the over-current detection circuit includes a voltage comparison chip; the voltage comparison chip comprises a first input end, a second input end, a third input end, a fourth input end, a first output end and a second output end; wherein the first output outputs a signal reflecting a result of a comparison of the input signals of the first and second inputs; the second output terminal outputs a signal reflecting a comparison result of the input signals of the third input terminal and the fourth input terminal; the sampling circuit comprises a phase current output end and a bus current output end; the phase current output end of the sampling circuit is electrically connected with the first input end of the voltage comparison chip, the second input end of the voltage comparison chip is electrically connected with the first power supply through a voltage division circuit, and the first output end of the voltage comparison chip is electrically connected with the second output end of the motor driving and detecting circuit; the bus current output end of the sampling circuit is electrically connected with the third input end of the voltage comparison chip, the fourth input end of the voltage comparison chip is electrically connected with the second power supply through the voltage division circuit, and the second output end of the voltage comparison chip is electrically connected with the second output end of the motor driving and detecting circuit.

Preferably, in a preferred embodiment, the sampling circuit includes an amplifier, an input end of the amplifier is used for being electrically connected with a power line of the motor to collect bus current of the motor, and an output end of the amplifier is electrically connected with a bus current output end of the sampling circuit.

Preferably, in a preferred embodiment, the sampling circuit includes at least two hall sensors, each of the hall sensors is configured to be connected to a phase power line of the motor to collect a phase current of the motor, and a collection output terminal of each of the hall sensors is electrically connected to a phase current output terminal of the sampling circuit.

In a second aspect, an embodiment of the present invention further provides a motor control system, including the first aspect, the motor control device and the motor, the motor driving and detecting circuit of the motor control device and the motor electric connection.

Preferably, in a preferred embodiment, the motor is a servo motor.

The embodiment of the utility model provides a following beneficial effect has been brought:

the embodiment of the utility model provides a motor control device and motor control system, through set up latch circuit between controller and motor drive and detection circuitry, make motor drive and detection circuitry can be to the big feedback signal of latch circuit output current flow when the output current of motor surpasss the setting value, latch circuit can be to the control signal of motor drive and the forbidden work of detection circuitry output when receiving the too big feedback signal of this electric current to make motor drive and detection circuitry close power output's function, consequently, the embodiment of the utility model provides a through latch circuit realized protecting motor control device's circuit when the output current of motor is too big, prevent that the device from appearing damaging. Because the embodiment of the utility model provides a pass through hardware circuit when the output current of motor is too big and realize the turn-off of power output, consequently, the turn-off of motor is not influenced by the loaded procedure of controller, has solved among the correlation technique because the program among the MCU appears crashing unusually or runs the problem that leads to when flying and can't play the guard action to motor drive when the output current of motor is too big.

Further, the embodiment of the utility model provides a pass through hardware circuit when the output current of motor is too big and realize the turn-off of power output, because for MCU's program control, hardware circuit's response speed is faster, consequently, through the embodiment of the utility model provides a can in time close the output current of motor when the output current of motor is too big, further improved hardware circuit's security.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a motor control device according to an embodiment of the present invention;

fig. 2 is a schematic circuit diagram of a latch circuit according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of another motor control device according to an embodiment of the present invention;

fig. 4 is a schematic circuit diagram of a motor driving chip according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of another motor control device according to an embodiment of the present invention;

fig. 6 is a schematic circuit diagram of an over-current detection circuit according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of another motor control device according to an embodiment of the present invention.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

At present, a common motor control system mostly detects the current of a motor through an MCU (microprogrammed control unit), but when a program in the MCU is abnormal, the MCU cannot normally monitor the current of the motor or cannot output a corresponding control signal to stop the motor, so that a related device cannot be protected. Based on this, the embodiment of the utility model provides a pair of motor control device and motor control system can alleviate above-mentioned problem.

In order to facilitate understanding of the present embodiment, a motor control device disclosed in an embodiment of the present invention is first described in detail.

In a possible implementation manner, the present invention provides a motor control device, such as the schematic structural diagram of the motor control device shown in fig. 1, including a controller 10, a motor driving and detecting circuit 20, and a latch circuit 30;

the latch circuit 30 includes a latch signal input terminal 30a, a clear signal input terminal 30b, and a data output terminal 30 c; the controller 10 includes a first output terminal 10a for outputting a latch signal and a first input terminal 10b for detecting whether the motor current is excessive; the motor drive and detection circuit 20 comprises a second input 20a for receiving a control signal for disabling/enabling operation and a second output 20b for outputting a feedback signal for excessive current.

Specifically, as shown in fig. 1, the latch signal input terminal 30a of the latch circuit 30 is electrically connected to the first output terminal 10a of the controller 10, the clear signal input terminal 30b of the latch circuit 30 is electrically connected to the second output terminal 20b of the motor driving and detecting circuit 20, the data output terminal 30c of the latch circuit 30 is electrically connected to the second input terminal 20a of the motor driving and detecting circuit 20, and the first input terminal 10b of the controller 10 is electrically connected to the second output terminal 20b of the motor driving and detecting circuit 30.

In the motor control device shown in fig. 1, the latch circuit 30 can output a control signal for inhibiting the operation to the motor drive and detection circuit 20 when the clear signal input terminal 30b receives a feedback signal indicating a large current flow, and can output a control signal for enabling the operation to the motor drive and detection circuit 20 when the latch signal input terminal 30a receives a latch signal.

Specifically, the motor driving and detecting circuit is usually connected to a motor of a motor control system to control the motor to rotate, wherein, as shown in fig. 1, the controller 10 further includes a PWM (Pulse width modulation) signal output terminal 10c, the motor driving and detecting circuit 20 further includes a PWM signal input terminal 20c and a power output terminal 20d, the PWM signal input terminal 20c of the motor driving and detecting circuit 20 is electrically connected to the PWM signal output terminal 10c of the controller 10, the power output terminal 20d of the motor driving and detecting circuit 20 is electrically connected to a power line of the motor, and the motor driving and detecting circuit receives a PWM control signal output by the controller and outputs a driving current to the motor according to the received PWM control signal, thereby controlling the motor to rotate.

When the motor rotates, the motor driving and detecting circuit can detect the motor current, monitor whether the motor current is overlarge or not, and output feedback signals with overlarge current to the controller and the latch circuit through the second output end respectively when the motor current is overlarge. The motor driving and detecting circuit can also continue to detect the motor current, when the motor current drops to a certain safe value, a signal that the motor current is normal can be fed back to the controller and the latch circuit through the second output end respectively, at the moment, the controller can output the latch signal to the latch circuit through the first output end, and after receiving the latch signal, the latch circuit can continue to output a control signal for enabling the motor driving and detecting circuit to continue to output the driving current to the motor, so that the motor is controlled to continue to rotate.

Therefore, the embodiment of the utility model provides a motor control device, through set up latch circuit between controller and motor drive and detection circuitry, make motor drive and detection circuitry can be to the big feedback signal of latch circuit output current flow when the output current of motor surpasses the setting value, latch circuit can be to the control signal that motor drive and detection circuitry output forbid work when receiving the too big feedback signal of this electric current to make motor drive and detection circuitry close power output's function, consequently, the embodiment of the utility model provides a realized protecting motor control device's circuit when the output current of motor is too big through latch circuit, prevent that the device from appearing damaging. Because the embodiment of the utility model provides a pass through hardware circuit when the output current of motor is too big and realize the turn-off of power output, consequently, the turn-off of motor is not influenced by the loaded procedure of controller, has solved among the correlation technique because the program among the MCU appears crashing unusually or runs the problem that leads to when flying and can't play the guard action to motor drive when the output current of motor is too big.

Further, the embodiment of the utility model provides a pass through hardware circuit when the output current of motor is too big and realize the turn-off of power output, because for MCU's program control, hardware circuit's response speed is faster, consequently, through the embodiment of the utility model provides a can in time close the output current of motor when the output current of motor is too big, further improved hardware circuit's security.

In practical use, in order to realize that the motor driving and detecting circuit drives the motor, the motor driving and detecting circuit usually includes a motor driving chip and a Metal-Oxide-Semiconductor Field Effect Transistor (MOSFET), the motor driving chip includes an enable control input terminal, a PWM signal input terminal and a PWM signal output terminal, the enable control input terminal of the motor driving chip is electrically connected with the second input terminal of the motor driving and detecting circuit for receiving an enable operation control signal or a disable operation control signal output by the latch circuit, the PWM signal input terminal is electrically connected with the PWM signal input terminal of the motor driving and detecting circuit for receiving a PWM control signal output by the controller, the PWM signal output terminal of the motor driving chip is electrically connected with the input terminal of the MOSFET, the output terminal of the MOSFET is electrically connected with a power line of the motor, when the enabling control input end of the motor driving chip receives a control signal for enabling operation, the motor driving chip sends a driving signal to the MOSFET according to the received PWM control signal, and drives the MOSFET to be opened so as to output a driving current to the motor, so that the motor is driven.

Further, the latch circuit includes a D flip-flop; the D trigger comprises a trigger input end, an erasing end, a data input end and a data output end; specifically, a trigger input end of the D trigger is electrically connected with a latch signal input end of the latch circuit, a clearing end of the D trigger is electrically connected with a clearing signal input end of the latch circuit, a data input end of the D trigger is electrically connected with the first signal source, and a data output end of the D trigger is electrically connected with a data output end of the latch circuit.

The level of the feedback signal with overlarge current is the same as the effective level of the clearing end of the D trigger, the level of the control signal which enables working is the same as the level of the signal output by the first signal source, and the level of the control signal which disables working is opposite to the level of the signal output by the first signal source.

For easy understanding, fig. 2 shows a circuit schematic diagram of a latch circuit, as shown in fig. 2, including a D flip-flop U1, and a peripheral circuit of the D flip-flop U1, where CLK-ARM in fig. 2 is a latch signal input terminal of the latch circuit, and is electrically connected to a first output terminal of a controller for receiving a latch signal; the I-BKIN is a clearing signal input end of the latch circuit, is electrically connected with a second output end of the motor driving and detecting circuit and is used for receiving a feedback signal of large current, and the EN-DRV is a data output end of the latch circuit and is electrically connected with a second input end of the motor driving and detecting circuit and is used for outputting a control signal for inhibiting work or a control signal for enabling work.

In fig. 2, the first signal source is used as an example to provide a 5V power supply, and the D flip-flop U1 in fig. 2 includes a trigger input terminal CLK, a clear terminal CLR, a data input terminal D, and a data output terminal Q.

Specifically, in fig. 2, the data input terminal D of the D flip-flop is connected to the first signal source through a current-limiting resistor R11, so that, when the system starts to operate, when the controller outputs the latch signal through the first output terminal, the latch signal is input to the latch circuit through the CLK-ARM, the transistor Q1 is controlled to be turned on or off, and the valid trigger signal is received at the trigger input terminal CLK of the D flip-flop, the level of the signal output from the data output terminal Q of the D flip-flop is the same as the level of the signal input from the data input terminal, and since the level of the enable control signal is the same as the level of the signal output from the first signal source, the data output terminal of the D flip-flop outputs the enable control signal to the second input terminal of the motor driving and detecting circuit, so that the motor driving and detecting circuit can supply the driving current to the motor according to the received PWM control signal, when the motor driving and detecting circuit outputs a current-passing large feedback signal to the clearing signal input end of the latch circuit through the second output end, the level of the current-passing large feedback signal is the same as the effective level of the clearing end CLR of the D trigger, so that the clearing end of the D trigger receives the effective level, the state of the data output end of the D trigger is cleared, the level of the signal output by the data output end of the D trigger is opposite to the level of the signal output by the first signal source, namely, the data output end of the D trigger outputs a control signal for inhibiting work, and the second input end of the motor driving and detecting circuit receives the control signal for inhibiting work and then closes the power output function of the motor driving and detecting circuit, so that the output current of the motor is closed, and the device damage caused by the overlarge output current of the motor is prevented.

In addition, in fig. 2, the D flip-flop U1 can also be powered by the voltage of 5V shown by the first signal source, and therefore, fig. 2 also shows the capacitor C17 connected to the power supply pin of the D flip-flop U1. Further, the latch circuit shown in fig. 2 further includes a current limiting resistor R10 connected to the collector of the transistor Q1, a filter device connected to the latch signal input terminal, e.g., a capacitor C6, a resistor R8, forming an RC filter circuit, and a filter capacitor C60 connected to the trigger input terminal CLK of the D flip-flop U1. Moreover, the package and parameters of each device in fig. 2 can be set according to the actual use condition, and the embodiment of the present invention does not limit this.

Further, the motor driving and detecting circuit comprises a motor driving chip and a sampling circuit; therefore, on the basis of fig. 1, fig. 3 also provides a schematic structural diagram of another motor control device, as shown in fig. 3, in addition to the structure shown in fig. 1, the motor control device further includes a motor driving chip 201 and a sampling circuit 202, wherein a portion shown by a dotted line is a motor driving and detecting circuit.

As shown in fig. 3, the motor driving chip 201 includes an enable control input terminal 201a, a current input terminal 201b, and a feedback output terminal 201 c; the sampling circuit 202 includes an input 202a and an output 202 b; an input end 202a of the sampling circuit 202 is used for being electrically connected with a power line of the motor, and an output end 202b of the sampling circuit 202 is electrically connected with a current input end 201b of the motor driving chip 201; the enable control input terminal 201a of the motor driving chip 201 is electrically connected to the second input terminal 20a of the motor driving and detecting circuit, and the feedback output terminal 201c of the motor driving chip 201 is electrically connected to the second output terminal 20b of the motor driving and detecting circuit.

Specifically, based on the motor control device shown in fig. 3, the sampling circuit 202 is configured to collect an output current of the motor, after the sampling circuit 202 samples the output current of the motor, the sampled current is output to the motor driving chip 201, an integrated circuit inside the motor driving chip 201 is used to detect whether the output current of the motor exceeds a first set value, the motor driving chip 201 outputs a feedback signal indicating that the current is too large when the output current of the motor exceeds the first set value, and the feedback signal is transmitted to a second output terminal of the motor driving and detecting circuit through a feedback output terminal, so that the motor driving and detecting circuit outputs a feedback signal indicating that the current is too large to the controller and the latch circuit.

Therefore, the embodiment of the utility model provides an adopt the inside integrated circuit of motor drive chip to carry out the too big detection of output current of motor, be favorable to simplifying motor control device's circuit structure.

Further, for easy understanding, fig. 4 shows a schematic circuit diagram of a motor driving chip, which includes a motor driving chip U2 and a part of peripheral circuits of a motor driving chip U2, wherein the motor driving chip U2 shown in fig. 4 is a chip of the drive601 series, and an intelligent shutdown circuit is built in the chip of the series, so as to increase the starting speed of the protection function, and immediately shut down the output of the gate driver after detecting an overload or a short circuit, thereby quickly detecting whether the output current of the motor is too large, and timely outputting a feedback signal of the current.

In fig. 4, a port corresponding to the I-BKIN of the motor driving chip U2 is a second output end of the motor driving and detecting circuit, and is connected to the I-BKIN of the latch circuit shown in fig. 2, and is used for outputting a feedback signal with an excessive current to the latch circuit; the port corresponding to the EN-DRV is a second input end of the motor driving and detecting circuit, is connected with the EN-DRV at the data output end of the latch circuit in the figure 2, and is used for receiving a control signal for inhibiting work or a control signal for enabling work, which is output by the latch circuit;

is the current input end of the motor driving chip and is connected with the output end of the sampling circuit 202 to obtain the output current of the motor.

In actual use, the drive601 series chip used by the motor driver chip U2 is also commonly referred to as a tri-half bridge high voltage gate driver, and is suitable for three-phase applications to drive three-phase motors. Therefore, the motor driving chip U2 shown in fig. 4 further includes U, V, W three-phase output terminals connected to a three-phase motor, and fig. 4 also shows the connection conditions of the high side and the low side of the STDRIVE601 series chip, including resistors R1, R3 and R6 connected to the high side pins HIN1 to HIN3, resistors R2, R4 and R7 connected to the low side pins LIN1 to LIN3, and grounding capacitors C2, C4, C5, C7, C8 and C9 of the high side and the low side pins. Also, in fig. 4, the under-voltage lockout function of the low-side and each high-side driver unit can be configured through ULO, VLO, WLO, and UHO, VHO, and WHO pins to prevent the power switch of the motor driver chip U2 from operating in an inefficient or dangerous state. Further, fig. 4 also shows the connection of the power supply pin of the motor driving chip U2, taking the motor driving chip U2 powered by 15V as an example, the connection of the power supply pin of the motor driving chip U2 is as shown in fig. 4, and includes a filter circuit composed of capacitors C11, C13, and C15, and U, V, W each corresponding bootstrap voltage-boosting circuit, wherein, the bootstrap booster circuit of each phase comprises a resistor and a diode which are connected in series, in particular, a resistor R12 and a diode D1 corresponding to U, a resistor R13 and a diode D2 corresponding to V, and W, a resistor R14 and a diode D3, it being understood that the peripheral circuitry of the motor driver chip U2 shown in fig. 4 is merely one possible implementation, in other embodiments, can also set up the motor driver chip U2 circuit according to the in-service use condition, the embodiment of the utility model provides a do not restrict this.

Further, the embodiment of the present invention provides a motor driving and detecting circuit, which may further include a motor driving chip, a sampling circuit and an overcurrent detecting circuit; specifically, on the basis of fig. 1, fig. 5 further shows a schematic structural diagram of another motor control apparatus, as shown in fig. 5, the portions shown by dotted lines are motor driving and detecting circuits, which include a motor driving chip 201, a sampling circuit 202, and an overcurrent detecting circuit 203, where in fig. 5, the motor driving chip 201 includes an enable control input 201a, the sampling circuit 202 includes an input 202a and an output 202b, and the overcurrent detecting circuit 203 includes a current input 203a and a feedback output 203 b.

Specifically, the enable control input terminal 201a of the motor driving chip 201 is electrically connected to the second input terminal 20a of the motor driving and detecting circuit, the input terminal 202a of the sampling circuit 202 is used for being electrically connected to a power line of the motor, the output terminal 202b of the sampling circuit 202 is electrically connected to the current input terminal 203a of the over-current detecting circuit 203, and the feedback output terminal 203b of the over-current detecting circuit 203 is electrically connected to the second output terminal 20b of the motor driving and detecting circuit.

Based on the motor driving and detecting circuit shown in fig. 5, the sampling circuit 202 can output the sampled current to the over-current detecting circuit 203 after sampling the output current of the motor, the over-current detecting circuit 203 includes a voltage comparing chip, the over-current detecting circuit 203 detects whether the output current of the motor exceeds the second set value by using the voltage comparing chip, and outputs a feedback signal indicating that the current is too large when the output current of the motor exceeds the second set value, so that the motor driving and detecting circuit outputs a feedback signal indicating that the current is too large to the controller and the latch circuit. The embodiment of the utility model provides a whether too big detection of output current of motor is carried out owing to use external detection circuitry that overflows, consequently, the embodiment of the utility model provides an in motor drive chip can not take and overflow the detection function, consequently, can choose for use the lower motor drive chip of price, be favorable to reducing motor control device's cost.

Specifically, fig. 6 shows a schematic circuit diagram of an overcurrent detection circuit, which includes a voltage comparison chip U6, where I-BKIN in fig. 6 is a feedback output terminal of the overcurrent detection circuit, and is electrically connected to a second output terminal of the motor driving and detecting circuit, and can output a feedback signal of an excessive current to the latch circuit.

IU, IV and IW are current input ends of the overcurrent detection circuit, and output current of the motor is transmitted to a voltage comparison chip U6, wherein the voltage comparison chip U6 can adopt a double-path comparator chip, namely, comprises two built-in comparators, and one path of comparator pair

The input currents are compared, and the other path compares the current of IU, IV and IW inputs, therefore, the current setting circuit of each path of comparator is also shown in FIG. 6, wherein the resistor R65 is

The current limiting resistor corresponding to the end is used for setting the set value of the current path, and the current setting circuit of the current path also comprises an RC filter circuit consisting of a resistor R49 and a capacitor C62. Further, the resistor R57 is a current limiting resistor corresponding to IU, IV, IW terminals, and is used to set the set value of the path, and,the current setting circuit also comprises an RC filter circuit consisting of a resistor R58 and a capacitor C61. Furthermore, the current input from the IU, IV, IW terminals is input to the voltage comparing chip U6 through the resistor R52, and the current input terminals of the voltage comparing chip U6 corresponding to the IU, IV, IW terminals further include an RC filter circuit composed of a resistor R54 and a capacitor C58.

In addition, in addition to the embodiment shown in fig. 5, the motor driving and detecting circuit including the motor driving chip, the sampling circuit and the overcurrent detecting circuit can also directly connect the sampling circuit with the motor driving chip, so that the motor driving chip can simultaneously detect the output current of the motor, thereby realizing a dual detection mechanism.

Specifically, fig. 7 also shows a schematic structural diagram of another motor control device, as shown in fig. 7, the portion shown by the dotted line is a motor driving and detecting circuit, which includes a motor driving chip 201, a sampling circuit 202, and an overcurrent detecting circuit 203.

The motor driving chip 201 includes an enable control input terminal 201a, a first current input terminal 201d, and a first feedback output terminal 201e, the sampling circuit 202 includes an input terminal 202a and an output terminal 202b, and the over-current detection circuit 203 includes a second current input terminal 203c and a second feedback output terminal 203 d.

Specifically, the enable control input end 201a of the motor driving chip 201 is electrically connected to the second input end 20a of the motor driving and detecting circuit, the input end 202a of the sampling circuit 202 is used for being electrically connected to a power line of the motor, the output end 202b of the sampling circuit is electrically connected to the first current input end 201d of the motor driving chip 201 and the second current input end 203c of the overcurrent detecting circuit 203, and both the first feedback output end 201e of the motor driving chip 201 and the second feedback output end 203d of the overcurrent detecting circuit 203 are electrically connected to the second output end 20b of the motor driving and detecting circuit.

Based on the motor driving and detecting circuit shown in fig. 7, after sampling the output current of the motor, the sampling circuit 202 outputs the sampled current to the motor driving chip 201 on the one hand, and outputs the sampled current to the over-current detecting circuit 203 on the other hand, the motor driving chip 201 detects whether the output current of the motor exceeds a first set threshold and outputs a feedback signal that the current flows greatly when the output current of the motor exceeds the first set value, the over-current detecting circuit 203 can detect whether the output current of the motor exceeds a second set value and outputs a feedback signal that the current flows excessively when the output current of the motor exceeds the second set value, because the first feedback output terminal of the motor driving chip 201 and the second feedback output terminal of the over-current detecting circuit 203 are both electrically connected with the second output terminal of the motor driving and detecting circuit, when either one of the motor driving chip 201 and the over-current detecting circuit 203 detects that the output current of the motor is excessively large, the motor driving and detecting circuit outputs a feedback signal with overlarge current to the controller and the latch circuit through the second output end. Through the dual detection mechanism, when the output current of the motor cannot be detected in time too much because of factors such as interference in one of the motor driving chip 201 and the overcurrent detection circuit 203, the excessive feedback signal of the current can be output in time through the other one, so that the reliability of current detection can be improved through the dual detection mechanism, and then the circuit can be protected in time when the output current of the motor is too much, and the safety of the circuit is further improved.

Optionally, when in actual use, can set up first setting value and second setting value to the same, also can set to different according to the in-service use demand, specifically use the in-service use condition as the standard, the embodiment of the utility model provides a do not restrict this.

Further, the over-current detection circuit comprises a voltage comparison chip; the voltage comparison chip comprises a first input end, a second input end, a third input end, a fourth input end, a first output end and a second output end; wherein the first output terminal outputs a signal reflecting a result of comparison of the input signals of the first input terminal and the second input terminal; the second output end outputs a signal reflecting a comparison result of the input signals of the third input end and the fourth input end; the sampling circuit comprises a phase current output end and a bus current output end; the phase current output end of the sampling circuit is electrically connected with the first input end of the voltage comparison chip, the second input end of the voltage comparison chip is electrically connected with the first power supply through the voltage division circuit, and the first output end of the voltage comparison chip is electrically connected with the second output end of the motor driving and detecting circuit; the bus current output end of the sampling circuit is electrically connected with the third input end of the voltage comparison chip, the fourth input end of the voltage comparison chip is electrically connected with the second power supply through the voltage division circuit, and the second output end of the voltage comparison chip is electrically connected with the second output end of the motor driving and detecting circuit.

Specifically, taking the overcurrent detection circuit shown in fig. 6 as an example, the voltage comparison chip U6 detects whether the phase current and the bus current of the motor exceed the set values through two built-in comparators, in fig. 6, INA-and INA + may correspond to the third input terminal and the fourth input terminal, the bus current output terminal of the sampling circuit is connected to INA-, INB-and INB + may correspond to the first input terminal and the second input terminal, and the phase current output terminal included in the sampling circuit may be connected to INB-. The output terminals of both comparators (i.e., the first output terminal and the second output terminal, such as OUTA and OUTB in fig. 6) are electrically connected to the second output terminal of the motor driving chip and the detection circuit (i.e., the output terminals of both comparators are electrically connected to the feedback output terminal of the over-current detection circuit in fig. 5, or the output terminals of both comparators are electrically connected to the second feedback output terminal of the over-current detection circuit in fig. 7), and therefore, when any one of the phase current of the motor and the bus current exceeds a set value, the motor driving and detecting circuit can output a feedback signal with overlarge current, therefore, the voltage comparison chip also realizes the detection of whether the output current of the motor is overlarge through a double detection mechanism, improves the reliability of the motor current, and then can in time protect the circuit when the output current of motor is too big, further improve the security of circuit.

Further, the sampling circuit may include an amplifier, an input end of the amplifier is electrically connected to a power line of the motor to collect a bus current of the motor, and an output end of the amplifier is electrically connected to a bus current output end of the sampling circuit. In addition, except for the mode of the amplifier, the sampling circuit can further comprise at least two Hall sensors, each Hall sensor is used for being connected with one phase power line of the motor to collect phase current of the motor, and the collection output end of each Hall sensor is electrically connected with the phase current output end of the sampling circuit. Considering that the motor driving chip selects more chips suitable for the three-phase motor, the sampling circuit may be provided with three hall sensors, and each hall sensor is used for acquiring the phase current of one phase of the motor. Specifically sampling circuit's the condition of setting can set up according to the in-service use condition, the embodiment of the utility model provides a do not restrict this.

To sum up, the embodiment of the utility model provides a motor control device, it has set up latch circuit between controller and motor drive and detection circuit, motor drive and detection circuit to latch circuit output current too big feedback signal when the output current of motor surpasss the setting value, latch circuit can be to motor drive and detection circuit output forbidding the control signal of work when receiving the too big feedback signal of electric current to make motor drive and detection circuit close power output's function, consequently, the embodiment of the utility model provides a motor control device has realized protecting motor control device's circuit when the output current of motor is too big through latch circuit, prevents that the device from appearing damaging.

Further, because the embodiment of the utility model provides a motor control device has realized the turn-off of power output through hardware circuit when the output current of motor is too big, consequently, the turn-off of motor is not controlled the influence of controller loaded procedure, has solved among the correlation technique because the program among the MCU appears crashing or runs the problem that leads to when flying when the output current of motor is too big unusually. And, the embodiment of the utility model provides a motor control device realizes the turn-off of power output through the hardware circuit when the output current of motor is too big, because for MCU's program control, the response speed of hardware circuit is faster, consequently, through the utility model provides a motor control device can in time close the output current of motor when the output current of motor is too big, has further improved the security of hardware circuit.

Further, on the basis of the above-mentioned embodiment, the embodiment of the utility model provides a motor control system is still provided, including above-mentioned motor control device and motor, this motor control device's motor drive and detection circuitry and motor electricity are connected.

Further, the motor is a servo motor.

The embodiment of the utility model provides a motor control system, the motor control device who provides with above-mentioned embodiment has the same technical characteristic, so also can solve the same technical problem, reaches the same technological effect.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the motor control system described above may refer to the corresponding process in the foregoing embodiment, and is not described herein again.

In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "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 simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the above embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A motor control device is characterized by comprising a controller, a motor driving and detecting circuit and a latch circuit;

the latch circuit comprises a latch signal input end, an erasing signal input end and a data output end;

the controller comprises a first output end and a first input end, wherein the first output end is used for outputting a latch signal, and the first input end is used for detecting whether the motor current is overlarge;

the motor driving and detecting circuit comprises a second input end for receiving a control signal for inhibiting/enabling work and a second output end for outputting a feedback signal with overlarge current;

a latch signal input end of the latch circuit is electrically connected with a first output end of the controller, a clearing signal input end of the latch circuit is electrically connected with a second output end of the motor driving and detecting circuit, a data output end of the latch circuit is electrically connected with a second input end of the motor driving and detecting circuit, and a first input end of the controller is electrically connected with a second output end of the motor driving and detecting circuit;

the latch circuit can output a control signal for inhibiting the operation to the motor driving and detecting circuit when the clearing signal input end of the latch circuit receives a feedback signal of large current, and can output a control signal for enabling the operation to the motor driving and detecting circuit when the latch signal input end of the latch circuit receives a latch signal.

2. The motor control apparatus of claim 1, wherein the latch circuit comprises a D flip-flop;

the D trigger comprises a trigger input end, an erasing end, a data input end and a data output end;

the trigger input end of the D trigger is electrically connected with the latch signal input end of the latch circuit, the clearing end of the D trigger is electrically connected with the clearing signal input end of the latch circuit, the data input end of the D trigger is electrically connected with the first signal source, and the data output end of the D trigger is electrically connected with the data output end of the latch circuit;

wherein the level of the feedback signal with large current flowing is the same as the active level of the clearing end of the D trigger, the level of the control signal for enabling operation is the same as the level of the signal output by the first signal source, and the level of the control signal for disabling operation is opposite to the level of the signal output by the first signal source.

3. The motor control device of claim 1, wherein the motor driving and detecting circuit comprises a motor driving chip and a sampling circuit;

the motor driving chip comprises an enabling control input end, a current input end and a feedback output end;

the sampling circuit comprises an input end and an output end;

the input end of the sampling circuit is electrically connected with a power line of the motor, and the output end of the sampling circuit is electrically connected with the current input end of the motor driving chip;

the enabling control input end of the motor driving chip is electrically connected with the second input end of the motor driving and detecting circuit, and the feedback output end of the motor driving chip is electrically connected with the second output end of the motor driving and detecting circuit.

4. The motor control device of claim 1, wherein the motor driving and detecting circuit comprises a motor driving chip, a sampling circuit and an overcurrent detecting circuit;

the motor driving chip comprises an enabling control input end, the sampling circuit comprises an input end and an output end, and the over-current detection circuit comprises a current input end and a feedback output end;

the control circuit comprises a motor drive chip, a sampling circuit, an overcurrent detection circuit and a motor drive and detection circuit, wherein the enable control input end of the motor drive chip is electrically connected with the second input end of the motor drive and detection circuit, the input end of the sampling circuit is electrically connected with a power line of a motor, the output end of the sampling circuit is electrically connected with the current input end of the overcurrent detection circuit, and the feedback output end of the overcurrent detection circuit is electrically connected with the second output end of the motor drive and detection circuit.

5. The motor control device of claim 1, wherein the motor driving and detecting circuit comprises a motor driving chip, a sampling circuit and an overcurrent detecting circuit;

the motor driving chip comprises an enabling control input end, a first current input end and a first feedback output end, the sampling circuit comprises an input end and an output end, and the over-current detection circuit comprises a second current input end and a second feedback output end;

the system comprises a motor drive chip, a sampling circuit, a motor drive and detection circuit, a motor, an overcurrent detection circuit and a motor drive and detection circuit, wherein an enable control input end of the motor drive chip is electrically connected with a second input end of the motor drive and detection circuit, an input end of the sampling circuit is electrically connected with a power line of the motor, an output end of the sampling circuit is electrically connected with a first current input end of the motor drive chip and a second current input end of the overcurrent detection circuit, and a first feedback output end of the motor drive chip and a second feedback output end of the overcurrent detection circuit are both electrically connected with a second output end of the motor drive.

6. The motor control device according to claim 4 or 5, wherein the overcurrent detection circuit includes a voltage comparison chip;

the voltage comparison chip comprises a first input end, a second input end, a third input end, a fourth input end, a first output end and a second output end; wherein the first output outputs a signal reflecting a result of a comparison of the input signals of the first and second inputs;

the second output terminal outputs a signal reflecting a comparison result of the input signals of the third input terminal and the fourth input terminal;

the sampling circuit comprises a phase current output end and a bus current output end;

the phase current output end of the sampling circuit is electrically connected with the first input end of the voltage comparison chip, the second input end of the voltage comparison chip is electrically connected with the first power supply through a voltage division circuit, and the first output end of the voltage comparison chip is electrically connected with the second output end of the motor driving and detecting circuit;

the bus current output end of the sampling circuit is electrically connected with the third input end of the voltage comparison chip, the fourth input end of the voltage comparison chip is electrically connected with the second power supply through the voltage division circuit, and the second output end of the voltage comparison chip is electrically connected with the second output end of the motor driving and detecting circuit.

7. The motor control device of claim 6, wherein the sampling circuit comprises an amplifier, an input end of the amplifier is electrically connected with a power line of the motor to collect bus current of the motor, and an output end of the amplifier is electrically connected with a bus current output end of the sampling circuit.

8. The motor control device of claim 6, wherein the sampling circuit comprises at least two Hall sensors, each Hall sensor is used for being connected with a phase power line of the motor to acquire the phase current of the motor, and the acquisition output end of each Hall sensor is electrically connected with the phase current output end of the sampling circuit.

9. A motor control system comprising the motor control device according to any one of claims 1 to 8 and a motor, wherein the motor drive and detection circuit of the motor control device is electrically connected to the motor.

10. The motor control system of claim 9, wherein the motor is a servo motor.

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