CN215344346U

CN215344346U - Power management system

Info

Publication number: CN215344346U
Application number: CN202120566028.7U
Authority: CN
Inventors: 王延; 张涛; 徐拓威
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2021-12-28
Anticipated expiration: 2031-03-19

Abstract

The utility model provides a power management system, which comprises an MCU control module, a power module and a motor driving module; the MCU control module is respectively connected with the power module and the motor driving module, and the power module is connected with the motor driving module; the MCU control module comprises a power management control unit, a drive control unit and a communication unit; the power module comprises a PDU power management unit, a battery management unit and an auxiliary power supply; the power management control unit is connected with the PDU power management unit, the battery management unit and the auxiliary power supply; the drive control unit is connected with the auxiliary power supply and the motor drive module. The utility model integrates the MCU control module, the power module and the motor driving module together, thereby reducing the occupied space of the power management system, lowering the cost, simplifying the system control, greatly reducing the power consumption of the system and prolonging the endurance time of the whole machine.

Description

Power management system

Technical Field

The utility model relates to the technical field of power management, in particular to a power management system.

Background

The power control of the motor is one of the cores in most industrial control equipment systems, the application of the power control is as small as toys, household appliances, automation equipment, industrial robots and the like, and the power control is a key part of system design.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems of low integration level, high cost and high power consumption of a power management system of a robot in the prior art, the utility model provides the power management system, which integrates an MCU control module, a power module and a motor driving module together, reduces the occupied space of the power management system, reduces the cost, simplifies the system control, greatly reduces the power consumption of the system and prolongs the endurance time of the whole robot. In order to achieve the purpose, the utility model provides the following technical scheme:

a power management system, comprising: the device comprises an MCU control module, a power module and a motor driving module; the MCU control module is respectively connected with the power module and the motor driving module, and the power module is connected with the motor driving module; the MCU control module comprises a power management control unit, a drive control unit and a communication unit; the power module comprises a PDU power management unit, a battery management unit and an auxiliary power supply; the power management control unit is connected with the PDU power management unit, the battery management unit and the auxiliary power supply; the drive control unit is connected with the auxiliary power supply and the motor drive module.

Preferably, the power module further comprises a detection unit; the PDU power management unit, the battery management unit and the motor driving module are respectively connected with the detection unit; the detection unit is connected with the MCU control module and used for feeding back current, voltage and temperature detection information in the power management system to the MCU control module.

Preferably, the PDU power management unit includes an overcurrent protection subunit and a branch power distribution subunit; the overcurrent protection subunit is used for overcurrent protection of main power input hardware, and the branch power distribution subunit is used for supplying power and distributing power to a load branch connected with the motor drive module.

Preferably, the overcurrent protection subunit includes a main power input circuit, a main power input control circuit, and a hardware overcurrent detection circuit.

Preferably, the branch power distribution subunit includes a plurality of MOS transistors, and the branch power distribution subunit performs power distribution on the load branch connected to the motor drive module through the MOS transistors.

Preferably, the MOS tube comprises a plurality of main power MOS tubes and soft start MOS tubes; the PDU power management unit also comprises a HALL chip and a plurality of current detection chips; a main power MOS tube and a soft start MOS tube are connected between the current detection chips and the load in parallel, and the current detection chips are respectively connected with the HALL chip; the HALL chip is used for detecting the current of a main power input circuit, and the current detection chip is used for detecting the current of the load branch circuit.

Preferably, the battery management unit is externally connected with a plurality of battery packs connected in parallel, and the bidirectional DC-DC converter is connected between the battery management unit and the battery packs.

Preferably, the auxiliary power supply comprises an isolated auxiliary power supply and a non-isolated auxiliary power supply.

Preferably, the detection unit comprises a bus current detection subunit, a motor driving current detection subunit, a voltage sampling subunit and a temperature sampling subunit; and the bus current detection subunit, the motor driving current detection subunit, the voltage sampling subunit and the temperature sampling subunit are connected to the MCU control module.

Preferably, the MCU control module is constructed by one or more of STM32, DSP and FPGA.

The utility model integrates the MCU control module, the power module and the motor driving module together, thereby reducing the occupied space of the power management system, lowering the cost, simplifying the system control, greatly reducing the power consumption of the system and prolonging the endurance time of the whole machine.

Drawings

For a clearer explanation of the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art are briefly introduced below, it is obvious that the drawings in the following description are only the embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic diagram of a power management system according to the present invention.

Fig. 2 is a schematic diagram of a specific structure of a power management system according to an embodiment of the present invention.

FIG. 3 is a circuit diagram of a main power input circuit and a main power input control circuit according to an embodiment of the present invention.

Fig. 4 is a circuit diagram of a hardware over-current detection circuit according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of a PDU power management unit supplying power to a load branch and distributing power according to an embodiment of the present invention.

Fig. 6 is a circuit diagram of a multi-battery parallel bidirectional DC-DC converter according to an embodiment of the present invention.

Fig. 7 is a circuit diagram of a single battery pack bidirectional DC-DC converter in an embodiment of the present invention.

The system comprises a 1-MCU control module, a 2-power module, a 3-motor driving module, a 10-power management control unit, a 11-drive control unit, a 12-communication unit, a 20-PDU power management unit, a 21-battery management unit, a 22-auxiliary power supply, a 23-detection unit, a 201-HALL chip and a 202-current detection chip.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

In the description of the present invention, it is to be understood that the terms "longitudinal", "radial", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but 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 thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following embodiments all take power control for robots as an example, and the technical solution of the present invention can be applied to other similar power management systems, and has the same advantages.

Fig. 1 shows a schematic structural diagram of a power management system according to an embodiment of the utility model. The system of this embodiment comprises: the device comprises an MCU control module 1, a power module 2 and a motor drive module 3, wherein the MCU control module 1 is respectively connected with the power module 2 and the motor drive module 3, and the power module 2 is connected with the motor drive module 3.

Specifically, referring to fig. 2, the MCU control module 1 includes a power management control unit 10, a driving control unit 11, and a communication unit 12; the power module 2 comprises a PDU power management unit 20, a battery management unit 21 and an auxiliary power supply 22; the power management control module 10 is connected with the PDU power management unit 20, the battery management unit 21 and the auxiliary power supply 22; the drive control unit 11 is connected with the auxiliary power supply 22 and the motor drive module 33; the power module further comprises a detection unit 23; the PDU power management unit 20, the battery management unit 21 and the motor driving module 3 are respectively connected to the detection unit 23; the detection unit 23 is connected to the MCU control module 1, and is configured to feed back current, voltage, and temperature detection information in the power management system to the MCU control module 1.

In one embodiment, the power module 2 includes a PDU power management unit 20, a battery management unit 21 and an auxiliary power supply 22, and in another embodiment, the power module 2 further includes a detection unit 23; the PDU power management unit 20 further includes an overcurrent protection subunit and a branch power distribution subunit, where the overcurrent protection subunit is used for overcurrent protection of main power input hardware, and the branch power distribution subunit is used for power supply and power distribution to each branch. The two-part functional implementation of the PDU power management unit 20 is further described below with reference to the drawings.

The first part is the realization of the main power input hardware overcurrent protection function, and the overcurrent protection subunit comprises a main power input circuit, a main power input control circuit and a hardware overcurrent detection circuit.

The main power input circuit and the main power input control circuit are shown in fig. 3, in which U4 is a power management chip for controlling the MOS switch, the capacitor C124 and the resistor R207 constitute a hot swap circuit, and hot swap refers to a process of removing a failed circuit board or module and inserting a replacement component without interrupting the operation of the system by maintaining the rest of the system if one component of the system fails or needs to be upgraded. The input voltage provides voltage for a power management chip U4 after passing through a voltage division circuit formed by resistors R60/R61/R63/R64 and a zener diode U20, the resistor R55 plays a role of current limiting, the resistor R35 is a pull-down resistor, the resistor R54 is an undervoltage protection resistor, the resistor R37 is a driving resistor, the resistor R53 is an off resistor, and the capacitor C71 is used to prevent circuit oscillation. The hardware overcurrent detection circuit is shown in fig. 4, wherein resistors R38 and R39 and capacitors C29/C30/C31 jointly form a filter circuit to play a filtering role, D44 and D45 are also of two diode anti-parallel structures and mainly play a role in voltage clamping, U23 and U48 are operational amplifiers, U25 is a comparator, capacitors C78 and C192 are compensation capacitors, resistors R44/R43/R135/R42/R157/R163/R161 form a feedback network in the circuit, resistors R40 and R41 are voltage dividing resistors, resistors R36 and R105 are protection resistors, resistor R122 is a pull-up resistor, and resistors D11 and D21 are two diodes which are connected in parallel in the same direction to realize circuit self-locking, that is to restore power-on after power failure, the circuit can normally work. Fig. 3 and 4 mainly implement the hardware overcurrent protection and the control of the main power loop, and the implementation manner is not limited to the manner of fig. 3 and 4.

And in the second part, each branch circuit supplies power and realizes the power distribution function, the branch circuit power distribution subunit comprises a plurality of MOS (metal oxide semiconductor) tubes, and the branch circuit power distribution subunit performs power distribution on load branch circuits connected with the motor driving module 3 through the MOS tubes. The MOS tube comprises a plurality of main power MOS tubes and soft start MOS tubes; the PDU power management unit 20 further includes a HALL chip 201 and a plurality of current detection chips 202; a main power MOS (metal oxide semiconductor) tube and a soft start MOS tube are connected between the current detection chip 202 and a load in parallel, and the current detection chips 202 are respectively connected with the HALL chip 201; the HALL chip 201 is used for current detection of a main power input circuit, and the current detection chip 202 is used for current detection of the load branch. Specifically, referring to fig. 5, wherein Q1/Q3/Q5/Q7/QX is a main power MOS transistor, Q2/Q4/Q6/Q8/QX +1 is a soft start MOS transistor, soft start refers to soft start, and is used for limiting slow start of a power supply so as to limit inrush current when the power supply is started, and a load is a driving motor or other load modules. In another embodiment, the current detection can be performed on the total power input loop through the sampling resistor, and the hardware overcurrent protection can be performed through the comparator. The part mainly supplies power and distributes power to load branches, a designer can reasonably distribute the power to each branch according to specific requirements and limit the power of the corresponding branch, the current of each branch can be detected by the current detection chip 202 of each load branch, when the current exceeds a threshold value specified by the designer, the MCU control module 1 can transmit a command to the MOS tube to carry out wave-by-wave current limiting, if the load is short-circuited or too large, the hardware overcurrent protection of the branch can be executed, and the whole machine can continuously run under the condition that the branch does not influence the requirements of other customers.

The auxiliary power supply 22 is used for supplying a stable low-voltage stabilized power supply to the control circuit and the driving circuit. In the embodiment, the auxiliary power supply 22 includes an isolated part and a non-isolated part, and a non-isolated power supply, such as a cooling fan, an advertisement screen, etc., can be used for supplying power to non-critical components, and an isolated power supply can be used for supplying power to critical components, so that the reliability and the service life of the device and the whole machine can be increased.

In an embodiment, the battery management unit 21 may be externally connected with a plurality of battery packs, the battery management unit 21 is mainly for the use condition of a plurality of battery packs connected in parallel, when the power of a single battery is insufficient, the plurality of battery packs may be used in parallel, on the other hand, the battery packs may be rapidly disassembled without affecting the operation condition of the machine, and meanwhile, the corresponding work of authentication, battery type reselection and the like may be reduced, through the battery management unit 21, not only all the battery packs may be discharged simultaneously, but also some battery packs therein may be discharged, other battery packs may not be discharged, and also the plurality of battery packs may be charged simultaneously.

As shown in fig. 6, the battery management unit 21 is externally connected with a plurality of battery packs connected in parallel, the battery management unit 21 and the battery packs are connected with a bidirectional DC-DC converter, where BAT1, BAT2, and BAT3 are battery packs, capacitors C1, C2, and C3 are input filter capacitors, capacitors C4 and C5 are output filter capacitors, inductors L1 to L6 are energy storage inductors, and capacitors Q1 to Q12 are power switching tubes for switching control of voltage and current flow, and in particular, all the capacitors in fig. 6 and 7 represent electrolytic capacitors, and one end of an arc line in a capacitor symbol is a negative electrode and the other end is a positive electrode. Specifically, the operation principle of the single-battery-pack bidirectional DC-DC converter in this embodiment is described with reference to fig. 7, where BAT4 is a battery pack, inductors L7 and L8 are energy storage inductors, Q13 and Q14 are power switching tubes, capacitor C6 is an input filter capacitor, and capacitor C7 is an output filter capacitor. The bidirectional DC-DC converter is a device for realizing bidirectional flow of direct current electric energy, is mainly applied to hybrid electric vehicles, direct current uninterruptible power supply systems and the like, adopts a classic BUCK/BOOST circuit topology, and has a BUCK-BOOST bidirectional conversion function, namely a BUCK-BOOST chopper circuit, and when energy flows from C6 to C7, the DC converter works in a BOOST mode to realize a BOOST function; when energy flows from C7 to C6, the direct current converter works in a BUCK mode to realize a voltage reduction function, the converter is simple in structure, few in switching element number, small in loss, simple in driving and control circuit, and capable of effectively reducing ripple voltage and ripple current at a battery end by adopting LCL filtering at battery side output. The battery management unit 21 can realize that when a certain battery supplies power, other batteries can be detached to supply power, so that the continuous operation of the equipment is not influenced, and particularly, the uninterrupted operation of the equipment can be ensured for equipment which works movably, such as an automatic navigation trolley, a mobile robot and the like.

In an embodiment, the power module further comprises a detection unit 23; the PDU power management unit 20, the battery management unit 21 and the motor driving module 3 are respectively connected to the detection unit 23; the detection unit 23 is connected to the MCU control module 1, and is configured to feed back current, voltage, and temperature detection information in the power management system to the MCU control module 1. The detection unit 23 comprises a bus current detection subunit, a motor driving current detection subunit, a voltage sampling subunit and a temperature sampling subunit; the bus current detection subunit, the motor driving current detection subunit, the voltage sampling subunit and the temperature sampling subunit are connected to the MCU control module 1 and used for feeding back current detection information, voltage detection information and temperature detection information to the MCU control module 1.

The bus current detection subunit is used for detecting bus current, mainly preventing a main power MOS tube from being damaged and key components such as a load from being damaged due to load short circuit, and performing hardware overcurrent protection on the bus when an output end or the load is short-circuited, so that the load or a driver does not bear bus voltage and accidents are ensured, as a preferred mode of the embodiment, two modes can be adopted for detecting the bus current, one mode adopts a current detection chip to detect current, specifically a chip with the model of ACS711ELCTR-25AB-T of Allegro company to detect current, the other mode also adopts a mirror constant current source and an optical coupler to perform hardware overcurrent protection, the mirror constant current source is a standard component commonly existing in an analog integrated circuit, the controlled current of the mirror constant current source is equal to input reference current, namely the input-output current transmission ratio is equal to 1, it features that the output current is the 'copy' of the input current in a certain proportion, which is used to generate bias current and used as active load. An optical coupler, also known as a photoelectric isolator or photoelectric coupler, is a device for transmitting electrical signals by using light as a medium, and generally, a light emitter and a light receiver are packaged in the same tube shell, wherein when an electrical signal is applied to an input end, the light emitter emits light, and after the light receiver receives the light, a photocurrent is generated and flows out from an output end, so that 'electro-optic-electro' control is realized. The photoelectric coupler uses light as medium to couple the input end signal to the output end, and has the advantages of small volume, long service life, no contact, strong anti-interference capability, insulation between output and input, unidirectional signal transmission and the like, so that the photoelectric coupler is widely applied to digital circuits.

The motor driving current detection subunit is used for detecting the current of the driving motor, specifically, a hall chip can be adopted for detecting the motor driving current, a sampling resistor can also be adopted for detecting the motor driving current, if the output current of the driver is sampled through the hall chip, only two phases of three-phase currents need to be sampled, and if the current is detected through the scheme of the sampling resistor, the three-phase currents need to be sampled. The voltage sampling subunit can sample the voltage through the voltage dividing resistor. In one embodiment, the temperature sampling subunit samples by using NTC or a temperature sensor of model LMT86QDCKTQ 1.

The MCU control module is constructed by adopting one or more modes of STM32, DSP and FPGA. In one embodiment, the MCU control module 1 is constructed by adopting STM32, and the STM32 is used for communicating with other modules or units, controlling a motor and expanding IO functions. The MCU control module 1 includes: the device comprises a power management control unit 10, a drive control unit 11 and a communication unit 12, wherein the power management control unit 10 is connected with a PDU power management unit 20, a battery management unit 21 and an auxiliary power supply 22, and the drive control unit 11 is connected with the auxiliary power supply 22 and a motor drive module 3; the PDU power management unit 20, the battery management unit 21 and the motor driving module 3 are respectively connected to the detection unit 23. The communication unit 12 can be connected with an upper computer and is used for establishing master-slave control between the upper computer and lower equipment. As another preferred mode of this implementation, the MCU control module 1 may also be built by using a DSP and an FPGA chip, the FPGA performs logic sampling processing on the corresponding feedback signal, and the DSP may perform functions such as communication with other parts such as an upper computer, IO extension, and the like, and control on the motor, thereby obtaining higher performance.

In an embodiment, the motor driving module 3 is mainly used for driving each motor, and the module can be adopted for multiple motor devices, so that the multiple motors can be independently controlled, each motor is not influenced mutually, if one of the motor devices is stopped, other motor devices are required to be stopped, and the control can be set.

The power management system integrates an MCU control module 1, a power module 2 and a motor drive module 3, wherein the MCU control module 1 comprises a power management control unit 10, a drive control unit 11 and a communication unit 12; the power module 2 comprises a PDU power management unit 20, a battery management unit 21 and an auxiliary power supply 22; the power management control unit 10 is connected with the PDU power management unit 20, the battery management unit 21 and the auxiliary power supply 22; the drive control unit 11 is connected to the auxiliary power supply 22 and the motor drive module 3. According to the utility model, the MCU control module 1, the power module 2 and the motor drive module 3 are integrated, so that the occupied space of a power management system is reduced, the cost is reduced, the system control is simpler, the power consumption of the system is greatly reduced, and the endurance time of the whole machine is prolonged.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A power management system is characterized by comprising an MCU control module, a power module and a motor driving module; the MCU control module is respectively connected with the power module and the motor driving module, and the power module is connected with the motor driving module;

the MCU control module comprises a power management control unit, a drive control unit and a communication unit;

the power module comprises a PDU power management unit, a battery management unit and an auxiliary power supply;

the power management control unit is connected with the PDU power management unit, the battery management unit and the auxiliary power supply;

the drive control unit is connected with the auxiliary power supply and the motor drive module.

2. The power management system of claim 1, wherein the power module further comprises a detection unit;

the PDU power management unit, the battery management unit and the motor driving module are respectively connected with the detection unit;

the detection unit is connected with the MCU control module and used for feeding back current, voltage and temperature detection information in the power management system to the MCU control module.

3. The power management system of claim 1, wherein the PDU power management unit comprises an over-current protection subunit and a branch power distribution subunit; the overcurrent protection subunit is used for overcurrent protection of main power input hardware, and the branch power distribution subunit is used for supplying power and distributing power to a load branch connected with the motor drive module.

4. The power management system of claim 3, wherein the over-current protection subunit comprises a main power input circuit, a main power input control circuit, and a hardware over-current detection circuit.

5. The power management system according to claim 3, wherein the branch power distribution subunit comprises a plurality of MOS transistors, and the branch power distribution subunit performs power distribution on the load branches connected with the motor drive module through the MOS transistors.

6. The power management system of claim 5, wherein the MOS transistors include a number of main power MOS transistors and soft start MOS transistors; the PDU power management unit also comprises a HALL chip and a plurality of current detection chips; a main power MOS tube and a soft start MOS tube are connected between the current detection chips and the load in parallel, and the current detection chips are respectively connected with the HALL chip;

the HALL chip is used for detecting the current of a main power input circuit, and the current detection chip is used for detecting the current of the load branch circuit.

7. The power management system of claim 1, wherein the battery management unit is externally connected with a plurality of battery packs connected in parallel, and a bidirectional DC-DC converter is connected between the battery management unit and the battery packs.

8. The power management system of claim 1, wherein the auxiliary power supply comprises an isolated auxiliary power supply and a non-isolated auxiliary power supply.

9. The power management system of claim 2, wherein the detection unit comprises a bus current detection subunit, a motor drive current detection subunit, a voltage sampling subunit, and a temperature sampling subunit; and the bus current detection subunit, the motor driving current detection subunit, the voltage sampling subunit and the temperature sampling subunit are connected to the MCU control module.

10. The power management system of claim 1, wherein the MCU control module is constructed using one or more of STM32, a DSP, and FPG a.