CN218728679U - Servo control integrated chip - Google Patents
Servo control integrated chip Download PDFInfo
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- CN218728679U CN218728679U CN202222902630.0U CN202222902630U CN218728679U CN 218728679 U CN218728679 U CN 218728679U CN 202222902630 U CN202222902630 U CN 202222902630U CN 218728679 U CN218728679 U CN 218728679U
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Abstract
The utility model discloses a servo control integrated chip, which belongs to the technical field of chips, and comprises a carrier, an angle sensing module and a motor control module which are arranged on the carrier, wherein the angle sensing module is connected with the motor control module and is connected with a motor; the angle sensing module is used for sensing the angle position of the motor and outputting a position signal; the motor control module is used for generating a motor control signal according to the position signal and controlling the motor to work; the motor control module adopts dual-core control and comprises a digital processor and an inner core controller which are connected with each other, the digital processor is connected with the angle sensing module, and the inner core controller is connected with the motor. The utility model provides a servo control chip have the area great, the cost of manufacture is higher and the lower problem of development efficiency, reached the effect that reduces servo control's PCB board whole volume and cost of manufacture.
Description
Technical Field
The utility model relates to a chip technology field, in particular to servo control NULL.
Background
At present, in the field of servo control, for a scene with an angle control requirement, two chips, namely an angle sensor chip and a motor control chip, are generally used for controlling a motor. However, in some scenes that require a small area of a PCB (Printed Circuit Board), the arrangement of using two independent chips not only increases the area of the PCB, but also increases the manufacturing cost, resulting in limited use.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at: the utility model provides a servo control integrated chip, aims at solving the technical problem that the servo control chip has the area great, the cost of manufacture is higher and development efficiency is lower among the prior art.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
in a first aspect, the utility model provides a servo control integrated chip, which comprises a carrier, an angle sensing module and a motor control module, wherein the angle sensing module and the motor control module are arranged on the carrier, and are connected with each other and are connected with a motor;
the angle sensing module is used for sensing the angle position of the motor and outputting a position signal;
the motor control module is used for generating a motor control signal according to the position signal and controlling the motor to work;
the motor control module adopts dual-core control and comprises a digital processor and an inner core controller which are connected with each other, the digital processor is connected with the angle sensing module, and the inner core controller is connected with the motor.
Optionally, in the servo control integrated chip, the angle sensing module includes:
the Hall sensor is connected with the digital processor and used for detecting the initial angle of the motor, generating an initial angle signal and outputting the initial angle signal;
the angle sensor is connected with the digital processor and used for detecting the working angle of the motor, generating a real-time angle signal and outputting the real-time angle signal; wherein, the angle sensor adopts a magnetic resistance angle sensor.
Optionally, the servo control integrated chip further includes:
and the driving module is connected with the motor control module, is also connected with the motor through an external switching circuit, and is used for generating a driving signal according to the motor control signal to drive the external switching circuit to be switched on or switched off so as to control the motor to work or stop.
Optionally, in the servo control integrated chip, the driving module is connected to the motor control module through a protection circuit.
Optionally, the servo control integrated chip further includes:
and the switch module is respectively connected with the driving module and the motor and used for controlling the motor to work or stop according to the on or off of the driving signal.
Optionally, in the servo control integrated chip, the digital processor is configured to decode the position signal and output the decoded position signal;
and the kernel controller is used for generating a motor control signal according to the decoded position signal and outputting the motor control signal.
Optionally, in the servo control integrated chip, the digital processor includes:
and the multiplication and division operation unit is respectively connected with the angle sensing module and the kernel controller and is used for carrying out angle decoding on the position signal to obtain a decoded position signal.
Optionally, in the servo control integrated chip, the multiplication and division operation unit includes:
the computing subunit is respectively connected with the angle sensing module and the kernel controller and is used for carrying out angle decoding on the position signal to obtain a decoded position signal;
and the calibration subunit is respectively connected with the angle sensing module and the kernel controller and is used for calibrating the angle sensing module.
Optionally, in the servo control integrated chip, the digital processor further includes a PI adjustment unit, a low-pass filtering unit, and/or an FOC control unit.
Optionally, the servo control integrated chip further includes:
and the signal processing module is respectively connected with the angle sensing module and the digital processor and is used for carrying out signal amplification processing and analog-to-digital conversion processing on the position signal and outputting the processed position signal.
The utility model provides an above-mentioned one or more technical scheme can have following advantage or at least realized following technological effect:
the utility model provides a servo control integrated chip, through sealing angle sensing module and motor control module on same carrier, constitute servo control integrated chip, use a chip alright realize angle detection and motor control to the motor to reduce servo control's PCB board whole volume, and reduced the cost of manufacture; still realize the dual-core control to the motor through interconnect's digital processor and kernel controller, can realize signal transmission in motor control module, need not write communication program in addition, compare prior art, not only guaranteed product development efficiency, still avoided the time delay that communication leads to.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic connection diagram of a first embodiment of the servo control ic of the present invention;
fig. 2 is a schematic structural diagram of a second embodiment of the servo control ic of the present invention;
fig. 3 is a schematic structural diagram of a magnetoresistive angle sensor according to a second embodiment of the servo control ic of the present invention;
fig. 4 is a schematic partial structural diagram of a third embodiment of the servo control ic of the present invention;
fig. 5 is a schematic diagram of the servo control ic of the present invention.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
To make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It is to be noted that, in the present invention, the terms "comprises", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion, so that an apparatus or system including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such apparatus or system. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of another like element in a device or system that comprises the element. In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, and thus, for example, "connected" may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; either internally or in an interactive relationship. In the present invention, suffixes such as "module", "part", or "unit" used to denote elements are used only for facilitating the description of the present invention, and have no specific meaning by themselves. Thus, "module", "component" or "unit" may be used mixedly. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art. In addition, the technical solutions of the respective embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, the combination of the technical solutions should be considered to be absent, and is not within the protection scope of the present invention.
The analysis of the prior art shows that, for a scene with an angle control requirement, two chips, namely an angle sensor chip and a motor control chip, are generally used for controlling a motor. The angle sensor chip is generally a magnetic or optical encoder-based angle sensor using magnetoresistance (AMR) as a material, and the motor control chip is generally a motor drive chip using dc brushless control.
However, in some scenes requiring a small area of the PCB, the arrangement of using two independent chips not only increases the area and manufacturing cost of the PCB, but also reduces the product development efficiency because the communication program between the two chips must be rewritten for the sensor signal specifically used by the angle sensor chip.
In view of the technical problem that there is the servo control chip area great among the prior art, the cost of manufacture is higher and development efficiency is lower, the utility model provides a servo control integrated chip, concrete embodiment and implementation mode are as follows:
example one
Referring to fig. 1, the present embodiment provides a servo control integrated chip. Fig. 1 is a schematic connection diagram of a first embodiment of the servo control ic of the present invention; the servo control integrated chip may include:
the angle sensing device comprises a carrier, an angle sensing module 100 and a motor control module 200 which are arranged on the carrier, wherein the angle sensing module 100 and the motor control module 200 are mutually connected and are both connected with a motor;
the angle sensing module 100 is used for sensing an angle position of the motor and outputting a position signal;
the motor control module 200 is used for generating a motor control signal according to the position signal and controlling the motor to work;
the motor control module 200 adopts dual-core control, and includes a digital processor 210 and a core controller 220 which are connected with each other, the digital processor 210 is connected with the angle sensing module 100, and the core controller 220 is connected with the motor.
Specifically, the carrier may be a chip substrate, and both the angle sensing module 100 and the motor control module 200 may be mounted on the carrier; the motor may be a dc brushless motor; the angle sensing module 100 may employ a magnetoresistive angle sensor; the motor control module 200 includes a digital processor 210 and a core controller 220, the digital processor 210 processes the signals collected by the magnetic resistance angle sensor, and then outputs the processed signals to the core controller 220, and the core controller 220 controls the motor. The digital processor 210 can integrate a decoding algorithm and a direct current brushless motor control algorithm, processing of angle signals and control over a motor are achieved, the core controller 220 can integrate 51 core control algorithms, control over an external device or a motor is achieved, the design process of circuit board design and servo control is simplified through dual-core control of the digital processor 210 and a core processor in the motor control module 200, and development of small servo control application can be greatly facilitated.
The embodiment provides a new chip architecture, namely a servo control integrated chip, which is formed by sealing an angle sensing module and a motor control module on the same carrier, and can realize angle detection and motor control on a motor by using one chip, so that the overall size of a servo control PCB is reduced, and the manufacturing cost is reduced; still realize the dual-core control to the motor through interconnect's digital processor and kernel controller, can realize signal transmission in motor control module, need not write communication program in addition, compare prior art, not only guaranteed product development efficiency, still avoided the time delay that communication leads to.
Example two
Referring to fig. 2, on the basis of the first embodiment, the present embodiment further provides a servo control ic. Fig. 2 is a schematic structural diagram of a second embodiment of the servo control ic of the present invention; further, the angle sensing module 100 may include:
a hall sensor 110 connected to the digital processor 210, for detecting an initial angle of the motor, generating an initial angle signal, and outputting the initial angle signal;
an angle sensor (AMR) 120 connected to the digital processor 210, for detecting a working angle of the motor, generating a real-time angle signal, and outputting the real-time angle signal; wherein the angle sensor 120 is a magnetoresistive angle sensor.
Specifically, as shown in fig. 3, the magnetoresistive angle sensor includes a magnet portion and a sensing portion, the magnet portion and the sensing portion are arranged at an interval, an air gap is formed between the magnet portion and the sensing portion, the magnet is movable in an off-axis manner, when an angle is detected, an angle position of the motor is obtained through an off-axis misalignment principle of the magnet, and then the sensing portion generates a position signal, i.e., a real-time angle signal.
The magnetoresistive angle sensor uses an AMR (magnetoresistive) technology, and can obtain an angle position of the motor by reducing a magnetic field of a magnet that operates in synchronization with the motor, and output a sine wave signal to the digital processor 210 of the motor control module 200 (MCU) for angle decoding processing.
Specifically, after receiving the initial angle signal sent by the hall sensor 110, the digital processor 210 may generate a motor control signal correspondingly, and control the motor to work according to the angle, and then may receive the real-time angle signal sent by the angle sensor 120, and continue to control the motor to work, so that the hall sensor 110 is used to assist the motor in starting without reverse bias.
The Hall sensor 110, the angle sensor 120, the digital processor 210 and the kernel controller 220 are integrated in one chip, and on the basis that motor angle acquisition and motor control can be achieved by using one chip, the Hall is built in, so that absolute position information exists when the direct current brushless motor is started, and no reverse bias starting is achieved.
Further, as shown in fig. 2, the servo control integrated chip may further include:
and the driving module 300 (Drive) is connected with the motor control module 200, is also connected with the motor through an external switch circuit, and is used for generating a driving signal according to the motor control signal to Drive the external switch circuit to be switched on or switched off so as to control the motor to work or stop.
Specifically, the driving module 300 may include a pre-driving circuit 310, which may be connected to an external switching circuit, such as an external MOS circuit, and output a driving signal to the external switching circuit, so as to control the motor.
The pre-driver circuit 310 may directly drive the external switch circuit according to the output of the servo control ic, that is, the motor control signal output by the core controller 220.
The hall sensor 110, the angle sensor 120, the digital processor 210, the core controller 220 and the driving module 300 are integrated in one chip, a driver is built in, and the external part of the chip can be directly connected with an external switch circuit, so that the requirements of more application scenes are met.
Further, as shown in fig. 2, the servo control integrated chip may further include:
and a switch module 400 (MOS) connected to the driving module 300 and the motor, respectively, for controlling the motor to operate or stop according to the on or off of the driving signal.
Specifically, the switch module 400 includes an MOS switch circuit, is connected to the pre-driver circuit 310, is integrated on a carrier of a chip, and can be directly connected to a motor, and directly controls the motor by turning on and off the switch module itself without connecting to other circuits.
The hall sensor 110, the angle sensor 120, the digital processor 210, the core controller 220, the driving module 300 and the switch module 400 are integrated in one chip, the MOS driver is arranged in the chip, the motor can be directly connected to the outside of the chip through a motor wire, the space of a PCB is greatly simplified, more development steps are saved, and the development efficiency is improved.
Further, as shown in fig. 5, which is a schematic diagram of a servo control ic, the driving module 300 is connected to the motor control module 200 through a protection circuit 320.
Specifically, the protection circuit 320 is connected to the digital processor 210 and the pre-driver circuit 310, respectively, to provide short-circuit protection, overcurrent protection, overvoltage protection, and the like for the servo control integrated chip.
The servo control integrated chip provided by the embodiment can integrate the hall sensor, the angle sensor, the digital processor and the kernel controller into one chip; the Hall sensor, the angle sensor, the digital processor, the kernel controller and the driving module can also be integrated into one chip; the Hall sensor, the angle sensor, the digital processor, the core controller, the driving module and the switch module can be integrated into a chip, and further implementation modes are provided.
EXAMPLE III
Referring to fig. 1 to 5, on the basis of the first embodiment or the second embodiment, the present embodiment provides a servo control integrated chip. Fig. 4 is a schematic structural diagram of a third embodiment of the servo control ic of the present invention; further, the digital processor 210 is configured to perform decoding processing on the position signal, and output a decoded position signal; the core controller 220 is configured to generate the motor control signal according to the decoded position signal, and output the motor control signal.
In the digital processor 210, different angle decoding algorithms can be developed according to different requirements, so that more different angle sensors can be adapted. The angle information obtained after decoding can be directly used for motor drive control, and compared with the process that the angle sensing chip outputs signals and the communication chip transmits the signals to the motor control chip in the prior art, the time delay caused by communication between the chips is reduced, and the signal processing time and efficiency are improved.
Still further, as shown in fig. 5, the digital processor 210 may include:
and a multiplication and division operation unit 213, connected to the angle sensing module 100 and the kernel controller 220, respectively, and configured to perform angle decoding on the position signal to obtain the decoded position signal.
Specifically, the multiplication-division operation unit 213 may adopt a multiplication-division operator (MDU), and the angle decoding may be implemented by correspondingly inserting a decoding algorithm into the angle sensor used in the angle sensing module 100.
Further, as shown in fig. 5, the multiplication-division operation unit 213 may include:
a calculating subunit 2131, connected to the angle sensing module 100 and the kernel controller 220, respectively, and configured to perform angle decoding on the position signal to obtain the decoded position signal;
a calibration subunit 2132, connected to the angle sensing module 100 and the kernel controller 220, respectively, for calibrating the angle sensing module 100.
Further, as shown in fig. 5, the digital processor 210 may further include a PI adjustment unit, a low pass filtering unit, and/or a FOC control unit.
Specifically, the PI adjusting unit 211, the low pass filter unit (LPF) 212, and the FOC (Field-Oriented Control) Control unit 214 may all be connected to the angle sensing module 100, and all connected to the kernel controller 220.
Specifically, the core controller 220 may include 51 a single chip microcomputer and peripheral devices thereof, as shown in fig. 5, the single chip microcomputer may be connected to a timer WDT; may be connected to the oscillator FOSC, receiving the clock signal SYS _ CLK; can be connected with a plurality of PORTs to receive or send input signals, output signals, reference signals and the like; can be connected with an external circuit or device through an interface I2C, SPI, UART or FICE; and the method can also be connected with RESET, failure reporting CRC and the like.
Further, the servo control integrated chip may further include:
and a signal processing module 500, connected to the angle sensing module 100 and the digital processor 210, for performing signal amplification processing and analog-to-digital conversion processing on the position signal and outputting the processed position signal.
Specifically, as shown in fig. 4 and 5, the signal processing module 500 may include a signal amplifying circuit and an analog-to-digital converting circuit, wherein the signal amplifying circuit may include an external signal amplifying circuit 501 and/or an on-chip Amplifier (AMP) 502, and the analog-to-digital converting circuit may include an analog-to-digital converter (ADC) 503. More specifically, two amplifiers AMP and analog-to-digital converters ADC, and two Hall sensors 110, namely Hall1 and Hall2, as shown in fig. 2, may be provided corresponding to the calculation sub-unit 2131 and the calibration sub-unit 2132 in the multiplication-division operation unit 213.
Furthermore, the number of the amplifiers can be multiple, and the signals received by the chips are amplified and then directly sent to the kernel controller for other processing; the signal processing module 500 may also send a signal to the protection circuit 320 when the signal processing is faulty (Fault), so that the protection circuit 320 provides a corresponding protection measure in response to the signal to prevent the servo control ic from being damaged.
The servo control integrated chip of the embodiment performs signal amplification through the built-in signal processing module, amplifies the weak voltage signal output by the angle sensing module, and inputs the amplified weak voltage signal into the digital processor of the motor control module 200, so that the digital processor can perform processing more conveniently; and the design area of the PCB is greatly saved.
It should be noted that the numbers of the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments. The above is only the optional embodiment of the present invention, and not therefore the limit of the patent scope of the present invention, all the concepts of the present invention utilize the equivalent structure transformation of the content of the specification and the attached drawings, or directly or indirectly applied to other related technical fields, all included in the patent protection scope of the present invention.
Claims (10)
1. A servo control integrated chip is characterized by comprising a carrier, an angle sensing module and a motor control module, wherein the angle sensing module and the motor control module are arranged on the carrier, and the angle sensing module and the motor control module are connected with each other and are both connected with a motor;
the angle sensing module is used for sensing the angle position of the motor and outputting a position signal;
the motor control module is used for generating a motor control signal according to the position signal and controlling the motor to work;
the motor control module adopts dual-core control and comprises a digital processor and an inner core controller which are connected with each other, the digital processor is connected with the angle sensing module, and the inner core controller is connected with the motor.
2. The servo control integrated chip of claim 1, wherein the angle sensing module comprises:
the Hall sensor is connected with the digital processor and used for detecting the initial angle of the motor, generating an initial angle signal and outputting the initial angle signal;
the angle sensor is connected with the digital processor and used for detecting the working angle of the motor, generating a real-time angle signal and outputting the real-time angle signal; wherein, the angle sensor adopts a magnetic resistance angle sensor.
3. The servo control integrated chip of claim 2, further comprising, disposed on the carrier:
and the driving module is connected with the motor control module, is also connected with the motor through an external switch circuit, and is used for generating a driving signal according to the motor control signal to drive the external switch circuit to be switched on or switched off so as to control the motor to work or stop.
4. The servo control integrated chip of claim 3, wherein the drive module is connected to the motor control module through a protection circuit.
5. The servo control integrated chip of claim 3, further comprising, disposed on the carrier:
and the switch module is respectively connected with the driving module and the motor and used for controlling the motor to work or stop according to the on or off of the driving signal.
6. The servo control integrated chip of claim 1,
the digital processor is used for decoding the position signal and outputting a decoded position signal;
and the kernel controller is used for generating the motor control signal according to the decoded position signal and outputting the motor control signal.
7. The servo control integrated chip of claim 6 wherein the digital processor comprises:
and the multiplication and division operation unit is respectively connected with the angle sensing module and the kernel controller and is used for carrying out angle decoding on the position signal to obtain the decoded position signal.
8. The servo control integrated chip of claim 7, wherein the multiplication-division operation unit comprises:
the computing subunit is respectively connected with the angle sensing module and the kernel controller and is used for carrying out angle decoding on the position signal to obtain the decoded position signal;
and the calibration subunit is respectively connected with the angle sensing module and the kernel controller and is used for calibrating the angle sensing module.
9. The servo control integrated chip of claim 7 wherein the digital processor further comprises a PI regulation unit, a low pass filter unit, and/or a FOC control unit.
10. The servo control integrated chip of claim 6, further comprising, disposed on the carrier:
and the signal processing module is respectively connected with the angle sensing module and the digital processor and is used for carrying out signal amplification processing and analog-to-digital conversion processing on the position signal and outputting the processed position signal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222902630.0U CN218728679U (en) | 2022-11-01 | 2022-11-01 | Servo control integrated chip |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222902630.0U CN218728679U (en) | 2022-11-01 | 2022-11-01 | Servo control integrated chip |
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| Publication Number | Publication Date |
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| CN218728679U true CN218728679U (en) | 2023-03-24 |
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| CN202222902630.0U Active CN218728679U (en) | 2022-11-01 | 2022-11-01 | Servo control integrated chip |
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- 2022-11-01 CN CN202222902630.0U patent/CN218728679U/en active Active
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