KR920004232B1 - An electronic vacuum cleaner - Google Patents

An electronic vacuum cleaner Download PDF

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KR920004232B1
KR920004232B1 KR1019900005371A KR900005371A KR920004232B1 KR 920004232 B1 KR920004232 B1 KR 920004232B1 KR 1019900005371 A KR1019900005371 A KR 1019900005371A KR 900005371 A KR900005371 A KR 900005371A KR 920004232 B1 KR920004232 B1 KR 920004232B1
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South Korea
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transistors
motor
turned
motors
current
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KR1019900005371A
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Korean (ko)
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KR910017995A (en
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오기태
황진성
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주식회사 금성사
이헌조
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2842—Suction motors or blowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Direct Current Motors (AREA)

Abstract

The circuit includes transistors (17a,17b) for being turned on and off by pulse width modulation reference signals of a timer (13). Photo couplers (15a,15b) are turned on and off in accordance with the turning-on and off of the transistors. Another set of transistors (18a,18b) operates in accordance with the turning-on and off of the photo couplers to drive DC motors (30a,30b). Transistors (19a,19b) are turned on and off by another set of reference signals to govern the operations of another set of photo couplers (16a,16b), while diodes (21a,21b) are connected in parallel through relays (20a,20b) to the DC motors (30a,30b). The circuit improves the running performance of the cleaner, and reduces the noise.

Description

자동주행청소기의 주행 모터 제어회로Travel motor control circuit of automatic driving cleaner

제 1 도는 일반적인 자동주행 청소기의 주행계 구조도.1 is a structure diagram of a traveling system of a general automatic driving cleaner.

제 2 도는 종래의 자동주행 청소기의 주행모터 제어회로도.2 is a driving motor control circuit diagram of a conventional automatic driving cleaner.

제 3 도는 종래의 자동주행 청소기 주행모터 제어회로의 다른 예시도.3 is another exemplary diagram of a conventional automatic driving cleaner driving motor control circuit.

제 5도는 본 발명에 따른 자동주행 청소기 주행 모터 제어회로도.5 is a driving circuit control circuit for automatic driving cleaner according to the present invention.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

10 : 중앙연산처리장치 11 : 롬10: central processing unit 11: ROM

12 : 램 13 : 타이머12: RAM 13: Timer

14 : PIO 15a~16b : 포토커플러14: PIO 15a ~ 16b: Photocoupler

17a~19b : 트랜지스터 20a, 20b : 릴레이17a ~ 19b: transistor 20a, 20b: relay

21a, 21b : 다이오드 22a~28b :슈미트 트리거21a, 21b: diode 22a ~ 28b: Schmitt trigger

31a31b : 자동주행 청소기 주행바퀴 32a, 33b : 콘덴서31a31b: Automatic driving cleaner wheels 32a, 33b: Condenser

34a, 34b : 모토코일 35a, 35b : 엔코더34a, 34b: Motor coil 35a, 35b: Encoder

100a, 100b : 모터제어회로부100a, 100b: motor control circuit part

본 발명은 자동주행 청소기의 주행 모터 제어회로에 관한 것으로, 특히 직류모터의 위치제어 및 속도제어를 위하여 펄스폭변조(PWM)파형을 인가할 경우 발생하는 역전류를 방지하여 자동주행 진공 청소기의 주행 성능을 향상시키도록 한 자동주행 청소기의 주행 모터 제어회로에 관한 것이다.The present invention relates to a driving motor control circuit of an automatic driving cleaner, and in particular, to prevent reverse current generated when applying a pulse width modulation (PWM) waveform for position control and speed control of a DC motor. The present invention relates to a traveling motor control circuit of an automatic running cleaner to improve performance.

일반적으로 자동주행 진공청소기의 주행계 구조는 제 1 도에 도시된 바와 같이 엔코더(35a, 35b)가 부착된직류(DC)모터(30a, 30b)의 동력이 기어(32a, 32b)를 통해 좌, 우 바퀴(31a, 31b)에 전달되어, 그 좌, 우바퀴(31a, 31b)를 구동시키게 구성되어 있는 것으로, 상기 직류모터(30a, 30b)는 제 2 도에 도시된 바와 같은 제어회로에 의해 제어를 받게 구성되어 있다.In general, the traveling system structure of the self-driving vacuum cleaner has the power of the direct current (DC) motors 30a and 30b with the encoders 35a and 35b attached thereto as shown in FIG. 1 through the gears 32a and 32b. It is configured to drive the left and right wheels (31a, 31b), which are transmitted to the right wheel (31a, 31b), the DC motor (30a, 30b) to the control circuit as shown in FIG. It is configured to be controlled by.

즉, 제어신호(1~4)에 의해 구동제어를 받는 4개의 트랜지스터(5~8)를 브리지(Brideg)형태로 연결한 후 모터(30)를 정방향으로 회전시킬때는 트랜지스터(5, 8)는 도통시키고, 트랜지스터(6, 7)는 차단(Off)시킴으로써 모터(30)에 전류가 순방향으로 흐르게 하며, 역방향으로 회전시킬때는 트랜지스터(6, 7)를 도통시키고 트랜지스터(5, 8)를 차단시킴으로써 모터(30)에 전류가 순방향으로 흐르게 하며, 역방향으로 회전시킬때는 트랜지스터(6, 7)를 도통시키고 트랜지스터(5, 8)를 차단 오프시킴으로써 모터(30)에 전류가 역방향으로 흐르게 한다.That is, when the four transistors 5 to 8 which are driven by the control signals 1 to 4 are connected in the form of a bridge, the transistors 5 and 8 are rotated when the motor 30 is rotated in the forward direction. The transistors 6 and 7 are turned off to allow current to flow in the motor 30 in the forward direction, and when rotated in the reverse direction, the transistors 6 and 7 are turned on and the transistors 5 and 8 are cut off. The current flows in the forward direction to the motor 30, and when the motor rotates in the reverse direction, the transistors 6 and 7 are turned on and the transistors 5 and 8 are turned off so that the current flows in the motor 30 in the reverse direction.

그리고, 모터(30)의 모터 및 속도제어를 위하여 펄스폭변조(PWM)파형을 이용하고자 할 경우, 별도의 제어회로에 의해 펄스폭변조파형을 발생시켜 제어신호(1-40로 인가하여야 한다.In addition, in order to use the pulse width modulation (PWM) waveform for the motor and speed control of the motor 30, the pulse width modulation waveform should be generated by a separate control circuit and applied as the control signal 1-40.

즉, 모터(30)를 정방향으로 회전시키고자 할 경우에는 제어신호(2, 3)는 저전위로 인가하여 트랜지스터(6, 7)를 오프상태로 유지시키고, 제어신호(1, 4)는 일정주기의 펄스파형으로 인가하여 트랜지스터(5, 8)를 온, 오프반복시킴으로써 모터(30)가 정회전된다.That is, when the motor 30 is to be rotated in the forward direction, the control signals 2 and 3 are applied at a low potential to keep the transistors 6 and 7 in the off state, and the control signals 1 and 4 have a constant period. The motor 30 is rotated forward by applying the pulse waveform of the waveform to turn the transistors 5 and 8 on and off repeatedly.

이때, 제어신호(1, 4)가 제 4a 도에 도시된 바와 같은 펄스형으로 인가되면, 그 제어신호(1, 4)가 저전위에서 고전위로 될때 (t1), 트랜지스터(5, 8)가 도통되고, 이에 따라 전원(24Ⅴ)에서 트랜지스터(5), 모터(30) 및 트랜지스터(8)를 통해 접지로 연결되는 전류루프가 형성되어, 그 모터(30)를 통하는 전류가 제 4b 도에 도시된 바와 같이 증가된다.At this time, if the control signals (1, 4) are applied in a pulse form as shown in Fig. 4A, when the control signals (1, 4) become low potential at high potential (t 1 ), the transistors (5, 8) And thus a current loop is formed from the power supply 24V to ground through the transistor 5, the motor 30 and the transistor 8 so that the current through the motor 30 is shown in FIG. 4B. Is increased.

여기서, 모터(30)코일의 인덕턱스 성분과 저항성분을 각각 L, R이라하고, 키르히호프(Kirchhoff)법칙을 적용하면, 그 모터(30)의 코일을 흐르는 전류(ⅰ)는 하기의 식(1)과 같이된다.Here, the inductance component and the resistance component of the coil of the motor 30 are referred to as L and R, respectively. When Kirchhoff's law is applied, the current flowing through the coil of the motor 30 is represented by the following equation. Becomes like 1)

Figure kpo00001
Figure kpo00001

즉, 모터(30)의 코일을 흐르는 전류는

Figure kpo00002
를 점근선으로 하고
Figure kpo00003
은 시상수로 하는 자연함수값으로 제 4b 도와 같이 증가한다.That is, the current flowing through the coil of the motor 30 is
Figure kpo00002
With asymptote
Figure kpo00003
Is the natural function of the time constant and increases with the 4b degree.

이후, 제어신호(1, 4)가 고전위에서 저전위로 될때 (t2), 트랜지스터(5, 8)가 온상태에서 오프상태로 되므로 그 트랜지스터(5, 8)를 통하는 전류루프가 차단되어 모터(30)의 코일을 통하는 전류가 감소된다.Subsequently, when the control signals 1 and 4 go from high potential to low potential (t 2 ), the transistors 5 and 8 are turned off from on, so that the current loop through the transistors 5 and 8 is cut off and the motor ( The current through the coil of 30 is reduced.

따라서, 이때 그 모터(30)코일의 인덕턱스 성분에 의해 역기전류

Figure kpo00004
이 발생되어, 접지에서 다이오드(D3), 모터(30), 다이오드(D2)를 통해 전원(24Ⅴ)에 연결되는 전류루프가 형성되고, 이에따라 모터(30)의 코일을 흐르는 전류는
Figure kpo00005
를 점근선으로 하여, 제 4b 도의 도시된 바와 같이 자연함수적으로 감소된다.Therefore, at this time, the counter electromotive current is caused by the inductance component of the coil of the motor 30.
Figure kpo00004
Is generated to form a current loop connected to the power source 24V through the diode D 3 , the motor 30, and the diode D 2 at ground, whereby the current flowing through the coil of the motor 30 is
Figure kpo00005
With asymptotes, it is reduced naturally as shown in FIG. 4B.

즉, 제어신호(1, 4)로 인가되는 펄수파형에 따라 전류의 자연함수적인 증감이 이루어진다.That is, the natural function of the current increases and decreases according to the pulse number waveforms applied as the control signals 1 and 4.

그런데, 모터(30)의 코일을 흐르는 전류의 증감은 모터(30)의 토오크 증감을 의미하며, 이러한 일정 펄스폭변조 파형에서의 토오크의 변동을 청소기의 주행성능에 나쁜 영향을 미치게 되고, 또한 상기의 설명에서와 같이 펄스폭변조파형이 고전위에서 저전위로될때 전원으로 전류가 흘러들어가게 되어 전원노이즈의 원인으로 되는 문제점이 있었다.However, increase or decrease of the current flowing through the coil of the motor 30 means increase or decrease of the torque of the motor 30, and the fluctuation of the torque in the constant pulse width modulation waveform adversely affects the running performance of the cleaner. As described in the description, when the pulse width modulated waveform goes from the high potential to the low potential, current flows into the power source, which causes power noise.

제 3 도는 종래 자동주행 청소기 주행모터 제어회로의 다른 예시도로서, 이에 도시된 바와 같이 제어신호(9)에 따라 트랜지스터(17S)의 온, 오프가 제어되어 모터(30)의 구동을 제어하게 구성되어 있다.3 is another exemplary diagram of a conventional automatic driving cleaner driving motor control circuit, and as shown therein, the on / off of the transistor 17S is controlled according to the control signal 9 to control the driving of the motor 30. It is.

따라서, 제어신호(9)가 제 4a 도에 도시된 바와 같이 고전위로 인가될때(t1), 트랜지스터(17S)가 도통되어, 모터(30)의 코일을 통해 전류가 흐르게 되고, 이때, 그 전류는 상기의 설명과 동일하게 증가되어 제 4c 도와 같이 된다.Therefore, when the control signal 9 is applied at high potential as shown in FIG. 4A (t 1 ), the transistor 17S is turned on so that a current flows through the coil of the motor 30, at which time the current Is increased in the same manner as described above to become the 4c degree.

그리고, 제어신호(9)가 제 4a 도에 도시된 바와 같이 고전위에서 저전위로 인가될때(t2), 트랜지스터(17S)가 오프되어 그 트랜지스터(17S)를 통하는 전류루프가 차단되고, 이에따라 그 모터(30)코일의 인덕턴스 성분에 의해 역기전력

Figure kpo00006
이 발생되어, 그 모터(30)의 코일 및 다이오드(DS)를 통하는 전류루프가 형성되며, 이때 그 모터(30)의 코일을 통하는 전류는 0을 점근선으로하여 제 4c 도에 도시된 바와 같이 자연함수적으로 감소된다.Then, when the control signal 9 is applied from the high potential to the low potential as shown in FIG. 4A (t 2 ), the transistor 17S is turned off to cut off the current loop through the transistor 17S, thereby the motor. (30) Back electromotive force by inductance component of coil
Figure kpo00006
Is generated, and a current loop through the coil of the motor 30 and the diode DS is formed, wherein the current through the coil of the motor 30 is natural as shown in FIG. Reduced functionally

그런데, 제 4b 도의 파형에 있어서는 전류의 감소가

Figure kpo00007
를 점근선으로 하여 이루어지고, 제 4c 도의 파형에 있어서는 전류의 감소가 0을 점근선으로 하여 이루어지므로, 제 3 도의 회로가 제 2도의 회로에 비하여 전류의 감소가 완만하게 이루어지며, 이에 따라 전류의 증감의 폭(△I)이 작아지게 되고, 이는 곧 토오크의 변동의 폭이 작아지게 되어 제 2 도에서 발생되는 주행성능의 문제점을 개선할 수 있게 되고, 또한 역기전력에 의해 전원으로 전류가 흘러가지 않게되어, 전원노이즈의 문제점을 해결할 수 있게 된다.By the way, in the waveform of FIG.
Figure kpo00007
In the waveform of FIG. 4C, the current decreases to 0 in the asymptote, so that the current of FIG. 3 is slower than that of FIG. 2. Thus, the current decreases. The width of ΔI becomes small, which in turn shortens the range of torque fluctuation, thereby improving the problem of running performance generated in FIG. 2 and preventing current from flowing to the power supply by the counter electromotive force. Thus, the problem of power supply noise can be solved.

그러나, 이 종래 회로에 있어서는 모터를 한쪽방향으로 밖에는 회전시킬 수 없는 문제점이 있다.However, this conventional circuit has a problem in that the motor can only be rotated in one direction.

따라서, 본 발명은 상기와 같은 종래의 문제점을 감안하여, 모터의 회전방향 조절이 가능하면서도 청소기의 주행성능 및 노이즈의 문제점을 해결할 수 있는 자동주행 청소기의 주행모터 제어회로를 창안한 것으로, 이를 첨부된 도면을 참조하여 상세히 설명하면 다음과 같다.Accordingly, the present invention has been made in view of the conventional problems as described above, while devising a driving motor control circuit of an automatic driving cleaner capable of adjusting the rotational direction of the motor while solving the problems of running performance and noise of the cleaner. When described in detail with reference to the drawings as follows.

제 5 도는 본 발명에 따른 자동주행 청소기 주행모터 제어회로도로서, 이에 도시한 바와 같이 중앙연산 처리장치(10)는 롬(11), 램(12), 타이머(13) 및 PIO(14)에 연결되고, 타이머(13)에서 출력되는 펄스폭변조기준신호(Pa, Pb)는 각 모터 제어회로부(100a, 100b)의 저항(22a, 22b)을 통해 에미터 접지된 트랜지스터(17a, 17b)의 베이스에 인가되고, 이 트랜지스터(17a, 17b)의 컬렉터에 전압(5V)이 저항(23a, 23b) 및 포토커플러(15a, 15b)의 발광다이오드를 통해 인가되고 포토커플러(15a, 15b)의 수광트랜지스터는 에미터접지(G)되어 있으며, 컬렉터에 저항(24a, 24b)를 통해 전압(24V)이 인가됨과 동시에 에미터 접지된 고속 트랜지스터(18a, 18b)의 베이스와 저항(25a, 25b)에 연결되고, 상기 고속 트랜지스터(18a, 18b)의 콜렉터는 고속 다이오드(21a, 21b)의 애노드와 고속 릴레이(20a, 20b)의 공통단자(Com2)에 연결되고, 전원전압(24V)이 인가된 고속 다이오드(21a, 21b)의 캐소드는 릴레이(20a, 20b)의 공통단자(Com1)에 연결되고, 릴레이 내부중 공통단자(Com1, Com2)와 결합될 단자(A1,

Figure kpo00008
,A2,
Figure kpo00009
)는 X자형이 되도록 단자(A1)는 단자(
Figure kpo00010
)와 연결한 후 노이즈 방지용 콘덴서(33a, 33b)가 병렬 연결된 모터코일(34a, 34b)을 거쳐 단자(A2)에 연결된 단자(
Figure kpo00011
)에 접속되고, 릴레이(20a, 20b)의 단자(CON＋)에는 전압(24V)이 인가되고 단자(CON-)는 저항(27a, 27b)과 포토커플러(16a, 16b)의 수광트랜지스터를 통해 접지(G)되고, 상기 포토커플러(16a, 16b)의 발광다이오드의 애노드는 전압(5V)이 인가된 저항(26a, 26b)이 연결되며, 캐소드는 에미터 접지된 트랜지스터(19a, 19b)의 컬렉터에 연결되고, 상기 트랜지스터(19a, 19b)의 베이스에는 저항(28a, 28b)을 통해 PIO(14)의 기준제어신호(r1, r2)가 인가되며, 진공청소기 모터(30a, 30b)의 동력은 기어(32a, 32b)를 통해 좌, 우 주행 바퀴(31a, 31b)에 전달되고, 상기 진공청소기의 직류모터(30a, 30b)에 연결된 엔코더(35a, 35b)는 슈미트트리거(29a, 29b)를 거쳐 타이머(13)에 연결되어 구성된 것으로, 상기 릴레이(20a, 20b)는 단자(CON＋, CON－)에 인가되는 전압(24V)에 의해 동작하여 공통단자(Com1)와 (Com2)가 단자(A1)와(A2) 또는 (
Figure kpo00012
)와 (
Figure kpo00013
)에 연결되게 구성되어 있다.FIG. 5 is a circuit diagram of an automatic driving cleaner driving motor control circuit according to the present invention, in which the central processing unit 10 is connected to the ROM 11, the RAM 12, the timer 13, and the PIO 14. The pulse width modulation reference signals Pa and Pb output from the timer 13 are the bases of the transistors 17a and 17b which are emitter grounded through the resistors 22a and 22b of the respective motor control circuit units 100a and 100b. Voltage is applied to the collectors of the transistors 17a and 17b through the light emitting diodes of the resistors 23a and 23b and the photocouplers 15a and 15b, and the light receiving transistors of the photocouplers 15a and 15b. Is connected to the base and resistors 25a and 25b of the fast transistors 18a and 18b that are emitter grounded at the same time the voltage is applied to the collector through resistors 24a and 24b. The collector of the high speed transistors 18a and 18b has a common end between the anode of the high speed diodes 21a and 21b and the high speed relays 20a and 20b. Coupled to (Com 2), the cathode of the power supply voltage (24V) is applied to a high-speed diode (21a, 21b) is connected to the common terminal (Com 1) of the relays (20a, 20b), of the internal relay common terminal (Com 1 , Com 2 ) to be combined with terminal A 1 ,
Figure kpo00008
, A 2 ,
Figure kpo00009
), The terminal A 1 is the terminal (
Figure kpo00010
) And the terminal connected to the terminal (A 2 ) via the motor coils (34a, 34b) connected in parallel to the noise prevention capacitor (33a, 33b)
Figure kpo00011
), A voltage 24V is applied to the terminals CON + of the relays 20a and 20b, and the terminal CON- is grounded through the light receiving transistors of the resistors 27a and 27b and the photocouplers 16a and 16b. (G), the anodes of the light emitting diodes of the photocouplers 16a and 16b are connected to resistors 26a and 26b to which a voltage of 5V is applied, and the cathodes of the emitter grounded transistors 19a and 19b. The reference control signals r 1 and r 2 of the PIO 14 are applied to the bases of the transistors 19a and 19b through the resistors 28a and 28b. Power is transmitted to the left and right traveling wheels 31a and 31b through the gears 32a and 32b, and the encoders 35a and 35b connected to the DC motors 30a and 30b of the vacuum cleaner are Schmitt triggers 29a and 29b. The relays 20a and 20b are operated by voltages 24V applied to the terminals CON + and CON-, and are connected to the common terminals Com 1 and (Com 2 ). Go Characters (A 1) and (A 2) or (
Figure kpo00012
)Wow (
Figure kpo00013
It is configured to be connected to).

이와 같이 구성된 본 발명의 작용, 효과를 상세히 설명하면 다음과 같다.Referring to the operation, effects of the present invention configured as described above in detail.

자동주행 청소기의 직류모터(30a, 30b)를 구동시키는 모터제어회로부(100a, 100b)는 펄스폭변조기준신호(Pa, Pb)를 타이머(13)로부터 받으며 기준제어신호(r1, r2)는 PIO(14)로부터 받는다.The motor control circuit units 100a and 100b for driving the DC motors 30a and 30b of the automatic running cleaner receive the pulse width modulation reference signals Pa and Pb from the timer 13 and the reference control signals r 1 and r 2 . Is received from the PIO 14.

따라서, 타이머(13)로부터 좌, 우모터의 펄스폭변조기준신호(Pa, Pb)가 출력되면, 트랜지스터(17a, 17b)와 노이즈방지를 위해 설치한 포커플러(15a, 15b)를 통해 고속파워 트랜지스터(18a, 18b)의 베이스에 인가되며, 이때 PIO(14 )로부터 출력되는 기준제어신호(r1, r2)는 트랜지스터(19a, 19b)와 포토커플러(16a, 16b)를 통하여 릴레이(20a, 20b)를 제어하게 되는데, PIO(14)에서 출력되는 기준제어신호(r1, r2)가 하이(High)이면 트랜지스터(19a, 19b)와 포토커플러(16a, 16b)가 동작하여 릴레이(20a, 20b)를 구동시키고, 이때에는 공통단자 (Com1), (Com2)가 단자(A1), (A2)에 각각 접속되고, 이에 따라 고속 다이오드(21a, 21b)의 캐소드단 전원전압(24V)이 릴레이(20a, 20b)의 단자 “(Com1)→(A1)→(

Figure kpo00014
)”직류모터 코일(34a, 34b) 및 단자 “(
Figure kpo00015
)→(A2)→(Com2)”를 순차적으로 통하여 고속 트랜지스터(18a, 18b)의 콜렉터에 인가된다(화살표“a”방향)Therefore, when the pulse width modulation reference signals Pa and Pb of the left and right motors are output from the timer 13, high-speed power is provided through the transistors 17a and 17b and the poker plugs 15a and 15b provided to prevent noise. The reference control signals r 1 and r 2 , which are applied to the bases of the transistors 18a and 18b, output from the PIO 14, are relayed 20a through the transistors 19a and 19b and the photocouplers 16a and 16b. , 20b. When the reference control signals r 1 and r 2 output from the PIO 14 are high, the transistors 19a and 19b and the photocouplers 16a and 16b operate to relay the relay ( 20a and 20b are driven, and at this time, common terminals Com 1 and Com 2 are connected to terminals A 1 and A 2 , respectively, and thus cathode terminal power supplies of the fast diodes 21a and 21b. The voltage 24V is applied to the terminals “(Com 1 ) → (A 1 ) → (
Figure kpo00014
DC motor coils 34a and 34b and terminals
Figure kpo00015
) Is applied to the collectors of the high-speed transistors 18a and 18b sequentially through (A 2 ) → (Com 2 ) ”(arrow“ a ”direction).

따라서, 모터(30a, 30b)는 타이머(13)에서 출력되는 펄스폭변조기준신호(Pa, Pb)에 따라 고속트랜지스터(18a, 18b)가 온되므로 속도제어가 되면서 정방향으로 회전하게 된다.Therefore, the motors 30a and 30b rotate in the forward direction while being controlled by the speed since the high speed transistors 18a and 18b are turned on according to the pulse width modulation reference signals Pa and Pb output from the timer 13.

한편 PIO(14)에서 출력되는 기준제어신호(r1, r2)가 저전위이면, 트랜지스터(19a, 19b) 및 포토커플러(16a, 16b)가 오프(off)되어 릴레이(20a, 20b)가 구동되지 않게되고, 이때 에는 공통단자(Com1), (Com2)가 각각 단자(

Figure kpo00016
),(
Figure kpo00017
)에 각각 접속되고, 이에 따라 고속다이오드(21a, 21b)의 캐소드단 전원전압(24V)이 릴레이(20a, 20b)의 단자“(Com1)→(
Figure kpo00018
)”, 직류모터 코일(34a, 34b) 및 단자“(
Figure kpo00019
)→(Com2)를 순차적으로 통하여 고속 트랜지스터(18a, 18b)의 콜렉터에 인가된다(화살표 "a"의 반대방향).On the other hand, when the reference control signals r 1 and r 2 output from the PIO 14 have a low potential, the transistors 19a and 19b and the photocouplers 16a and 16b are turned off so that the relays 20a and 20b are turned off. In this case, the common terminal (Com 1 ), (Com 2 ) is a terminal (
Figure kpo00016
), (
Figure kpo00017
), So that the cathode terminal power supply voltage 24V of the high-speed diodes 21a and 21b is connected to the terminals " (Com 1 ) > of the relays 20a and 20b.
Figure kpo00018
) ”, DC motor coils 34a and 34b and terminals“ (
Figure kpo00019
Is applied to the collectors of the high-speed transistors 18a and 18b sequentially through < RTI ID = 0.0 >)< / RTI > (Com 2 ).

따라서, 이때 모터(30a,30b)는 타이머(13)에서 출력되는펄스폭 변조기준신호(Pa,Pb)에 따라 고속트랜지스터(18a,18b)가 온되므로, 속도제어가 되면서 역방향으로 회전하게 된다.Accordingly, at this time, since the high speed transistors 18a and 18b are turned on according to the pulse width modulation reference signals Pa and Pb output from the timer 13, the motors 30a and 30b rotate in the opposite direction while being controlled by the speed.

이때 위치 및 속도제어를 위하여 엔코더(35a, 35b)의 출력신호는 슈미트트리거(29a, 29b)를 거쳐 타이머(13)에 입력시키며, 노이즈를 방지하기 위해 펄스폭변조기준신호(Pa, Pb)와 기준제어신호(r1, r2)는 포토커플러(15a-16b)에 의해 직류모터(30a, 30b)로부터 분리시킨다.At this time, the output signals of the encoders 35a and 35b are input to the timer 13 through the Schmitt triggers 29a and 29b for position and speed control, and the pulse width modulation reference signals Pa and Pb are used to prevent noise. The reference control signals r 1 and r 2 are separated from the direct current motors 30a and 30b by the photocouplers 15a-16b.

이상에서 상세히 설명한 바와 같이 릴레이(20a, 20b)의 여부에 따라 모터(30a, 30b)의 코일(34a, 34b)에 흐르는 전류의 방향이 결정되므로 그 모터(30a, 30b)의 회전방향 조절에 가능하고, 또한, 모터(30a, 30b)의 회전방향과 상관없이 다이오드(21a, 21b)가 모터(30a, 30b)의 코일(34a, 34b)과 항상 역방향으로 병렬연결되므로, 트랜지스터(18a, 18b)의 오프시에 전류변동폭이 적게되어 주행성능이 개선되고, 전원전압(24V)측으로 전류의 흐름이 없게되어 노이즈문제가 해결되는 효과가 있게 된다.As described in detail above, the direction of the current flowing through the coils 34a and 34b of the motors 30a and 30b is determined by the presence of the relays 20a and 20b, and thus the rotational direction of the motors 30a and 30b can be adjusted. In addition, since the diodes 21a and 21b are always connected in parallel with the coils 34a and 34b of the motors 30a and 30b regardless of the rotation directions of the motors 30a and 30b, the transistors 18a and 18b are connected. At the time of off, the current fluctuation range is reduced, so that the running performance is improved, and there is no current flow to the power supply voltage (24V) side, so that the noise problem can be solved.

Claims (3)

타이머(13)에서 출력되는 펄스폭변조기준신호(Pa, Pb)에 의해 온/오프 제어를 받는 트랜지스터(17a, 17b)와 이 트랜지스터(17a, 17b)의 온/오프에 의해 온/오프되는 포토카플러(15a, 15b)와, 이 포토카플러(15a, 15b)의 온/오프에 의해 온/오프제어를 받아 직류모터(30a, 30b)의 구동을 제어하는 트랜지스터(18a,18b)와, PIO(14)로부터 출력되는 기준제어신호(r1,r2)에 의해 온,오프 제어를 받는 트랜지스터(19a, 19b)와, 이 트랜지스터(19a, 19b)의 온/오프에 의해 온/오프되는 포토카플러(16a, 16b)와, 이 포토카플러(16a, 16b)의 온/오프상태에 따라 상기 직류모터(30a, 30b)의 전류흐름방향을 결정하여 회전방향을 결정하는 릴레이(20a, 20b)와, 이 릴레이(20a, 20b)를 통해 상기 직류모터(30a, 30b)에 역방향으로 병렬연결되는 다이오드(21a, 21b)로 구성된 것을 특징으로하는 자동주행 청소기의 주행모터 제어회로.Transistors 17a and 17b subjected to on / off control by the pulse width modulation reference signals Pa and Pb output from the timer 13, and photos turned on and off by on / off of the transistors 17a and 17b. A coupler (15a, 15b), transistors (18a, 18b) for controlling the driving of the DC motors (30a, 30b) under the on / off control by the on / off of the photocouplers (15a, 15b), and the PIO ( Transistors 19a and 19b subjected to on / off control by the reference control signals r 1 and r 2 outputted from 14, and photocouplers turned on and off by on / off of the transistors 19a and 19b. (16a, 16b) and relays (20a, 20b) for determining the rotational direction by determining the current flow direction of the DC motors (30a, 30b) in accordance with the on / off state of the photocouplers (16a, 16b); Main of the automatic driving cleaner, characterized in that consisting of diodes (21a, 21b) connected in parallel to the DC motor (30a, 30b) in reverse through the relay (20a, 20b) A motor control circuit. 제 1 항에 있어서, 릴레이(20a, 20b)의 단자(A1,
Figure kpo00020
,A2,
Figure kpo00021
)를 X자형으로 배선(A1과
Figure kpo00022
,A2와
Figure kpo00023
)하여 직류모터(30a, 30b)의 코일(34a, 34b)에 인가되는 전류의 방향을 바꿔주도록 구성된 것을 특징으로 하는 자동주행 청소기의 주행모터 제어회로.2. A terminal according to claim 1, wherein terminals A 1 , of relays 20a, 20b are present.
Figure kpo00020
, A 2 ,
Figure kpo00021
) X-shaped wiring (A 1 and
Figure kpo00022
, With A 2
Figure kpo00023
) So as to change the direction of the current applied to the coils (34a, 34b) of the DC motor (30a, 30b) driving motor control circuit. 제 1 항에 있어서, 포토커플러(15a-16b)를 사용하여 위치 및 속도를 제어하는 펄스폭 변조기준신호(Pa, Pb)와 모터방향을 바꿔주는 기준제어신호(r1, r2)를 직류모터(30a, 30b)측의 노이즈 및 릴레이(20a, 20b)의 접점변환시 발생되는 노이즈로부터 분리되도록 구성한 것을 특징으로 하는 자동주행 청소기의 주행모터 제어회로.The method of claim 1, wherein the pulse width modulation reference signals (Pa, Pb) for controlling position and speed using the photocoupler (15a-16b) and the reference control signals (r 1 , r 2 ) for changing the motor direction are direct current. A traveling motor control circuit for an automatic running cleaner, characterized in that it is configured to be separated from noise on the motor (30a, 30b) side and noise generated during contact conversion of the relay (20a, 20b).
KR1019900005371A 1990-04-17 1990-04-17 An electronic vacuum cleaner KR920004232B1 (en)

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