CN106100463A - A kind of six axle Serve Motor Control Circuits System - Google Patents
A kind of six axle Serve Motor Control Circuits System Download PDFInfo
- Publication number
- CN106100463A CN106100463A CN201610668457.9A CN201610668457A CN106100463A CN 106100463 A CN106100463 A CN 106100463A CN 201610668457 A CN201610668457 A CN 201610668457A CN 106100463 A CN106100463 A CN 106100463A
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- China
- Prior art keywords
- axle
- supply module
- control circuits
- chip microcomputer
- voltage
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention discloses a kind of six axle Serve Motor Control Circuits System, it is characterised in that: include single-chip microcomputer, supply module, six axle optocoupler control circuits, first interface and six axle motors；Six axle optocoupler control circuits include optic coupling element and n-channel field pipe, and the control signal from single-chip microcomputer exports after six axle optocoupler control circuit isolation, connects through first interface and drives six axle motors；Supply module includes the first supply module and the second supply module, wherein the first supply module meets, for being converted into by input voltage, the voltage that six axle optocoupler control circuits are powered, and the second supply module meets, for being converted into by the first supply module further, the voltage that single-chip microcomputer is powered.
Description
Technical field
The present invention relates to a kind of electric machines control technology, especially six axle Serve Motor Control Circuits System.
Background technology
Some self-help sales terminals, realize correspondence as unmanned supermarket, unmanned vehicle etc. need to use six axle servomotors
Function.Each axle motor is separately controlled by existing scheme often through multiple single-chip microcomputers, or circuit structure is complicated, it is impossible to
Realize six axle motors or the unification of the associated mechanisms that is connected with six axle motors, work in coordination with, be precisely controlled.
Summary of the invention
The main object of the present invention is to provide a kind of six axle Serve Motor Control Circuits System, and it overcomes prior art not
Foot or a kind of new circuit structure scheme is provided, it is achieved six axle motors or the system of associated mechanisms being connected with six axle motors
One, work in coordination with, be precisely controlled.
For achieving the above object, the six axle Serve Motor Control Circuits System that the present invention proposes, it is characterised in that: include list
Sheet machine, supply module, six axle optocoupler control circuits, first interface and six axle motors；Six axle optocoupler control circuits include optocoupler unit
Part and n-channel field pipe, the control signal from single-chip microcomputer exports after six axle optocoupler control circuit isolation, through first interface
Connect and drive six axle motors；Supply module includes the first supply module and the second supply module, and wherein the first supply module is used
Meet, in being converted into by input voltage, the voltage that six axle optocoupler control circuits are powered, and the second supply module is for further by the
One supply module is converted into and meets the voltage that single-chip microcomputer is powered.
Preferably, also include that the first supply module is output as 12V voltage；Second supply module is output as 5V electricity
Pressure.
Preferably, also include feedback sense circuit, for gathering the one in position, temperature, electric current, voltage or one
Above parameter also feeds back to single-chip microcomputer；The control signal of motor-end is exported by single-chip microcomputer according to feedback detection input change.
Preferably, also include the testing circuit that also puts in place, be used for detecting whether described six axle motors put in place.
Preferably, also including ON-OFF control circuit, ON-OFF control circuit includes six axle optocoupler control circuit quantity Matching
Optic coupling element and n-channel field pipe；ON-OFF control circuit is needed and six axles electricity with control by the second interface output control signal
The components and parts that machine synchro switch controls.
Preferably, also include the 3rd supply module, power for single-chip microcomputer and with single-chip simulation circuit part.
Preferably, also include serial communication distance intensifier circuit, in order to by the serial communication voltage increase of 5V with improve
Serial communication distance.
Preferably, also include that crystal oscillator reset circuit is for producing clock frequency necessary to single-chip microcomputer and realizing reset merit
Energy.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to the structure shown in these accompanying drawings；
Fig. 1 is the structured flowchart of system；
Fig. 2 is the first supply module electrical block diagram；
Fig. 3 is the second supply module electrical block diagram；
Fig. 4 is the 3rd supply module structural representation；
Fig. 5 is single-chip microcomputer wiring schematic diagram；
Fig. 6 is six axle optocoupler control circuit structure schematic diagrams；
Fig. 7 is crystal oscillator reset circuit structural representation；
Fig. 8 is feedback sense circuit structural representation；
Fig. 9 is the testing circuit structural representation of signal of putting in place；
Figure 10 is serial communication distance intensifier circuit structural representation；
Figure 11 is ON-OFF control circuit structural representation；
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under not making creative work premise all its
His embodiment, broadly falls into the scope of protection of the invention.
It is to be appreciated that directional instruction in the embodiment of the present invention (such as up, down, left, right, before and after ...) is only used
In explaining relative position relation between each parts, motion conditions etc. under a certain particular pose (as shown in drawings), if should
When particular pose changes, then directionality instruction changes the most therewith.
It addition, the most only to relate to technical problem solve structure, composition proposal be described time, for
Known necessary structure, part and annexation, although below do not describe, but be not equal in technical scheme not exist, more
Should not become insufficient disclosure reason.
It is the integrated model of whole six axle Serve Motor Control Circuits System with reference to Fig. 1.In certain embodiments, six axles are watched
Take circuit for controlling motor system include single-chip microcomputer, supply module, crystal oscillator reset circuit, feedback sense circuit, the testing circuit that puts in place,
Six axle optocoupler control circuits, first interface, ON-OFF control circuit, the second interface, motor etc..Wherein, supply module includes first
Supply module, the second supply module and the 3rd supply module.First supply module is for being converted into the defeated of 12V by the input of 24V
Going out is that six axle optocoupler control circuits are powered, and the second supply module is converted into surely for being inputted by the 12V from the first supply module
Fixed 5V output, for powering for single-chip microcomputer, so forms secondary power supply transformational structure, and the voltage stabilizing not only meeting single-chip microcomputer is powered
Demand, also by the control performance of the output raising motor of 12V, can drive more powerful motor, solve multi-axis motor same
Time control to drive not enough problem.3rd supply module is for powering for single-chip simulation circuit part.Six axle optocouplers control electricity
Road connects six spindle motors needing to control by first interface, it is achieved the concentration Collaborative Control to No. six motors.On-off control electricity
Road, for according to the control to six spindle motors, is formed by single-chip microcomputer and exports machine synchronously driven with the need that six spindle motors are associated
The switching signal of structure, and exported by ON-OFF control circuit and perform.ON-OFF control circuit passes through the second interface, can be according to need
Connect the various components and parts needing on-off control.Crystal oscillator reset circuit is used for producing clock frequency necessary to single-chip microcomputer and realization
Reset function.Testing circuit put in place for detecting the state-detection that puts in place of motor.Feedback detection is for input position, temperature, electricity
One or more parameter feedback in stream, voltage sampling, in order to realize the Based Intelligent Control more complicated to six spindle motors.?
In some embodiments, the multi-channel control Circuits System of automatic vending machine also has serial communication distance intensifier circuit, to solve string
Mouth communication such as RS232 serial communication, apart from short problem, meets the wiring connection requirement of large-scale automatic vending machine.
With reference to Fig. 2, in certain embodiment, the circuit structure scheme of first supply module the first supply module.U0 is power supply
Conversion IC, it uses L78M12,24V voltage to sequentially pass through F0 insurance for after 2A overload protection, through by inductance L0, electric capacity C0
The input pin to L78M12 is inputted with after the filter circuit filtering of C1 composition.Inductance L0 two ends parallel connection ZD0 is to protect element, separately
Outer through two diode D0 in parallel, it is connected to prevent reversal connection with electric capacity C0 one end after D1.24V voltage turns through Power convert IC
Stable 12V voltage is exported by after the filter circuit connected with Power convert IC output pin, for the optocoupler unit of native system after changing
Parts etc. are powered.
With reference to Fig. 3, it it is the circuit structure of the second supply module.U1 is Power convert IC, and it uses L78M05, from
The 12V voltage input of one supply module is respectively connected to input and the grounding pin of U1 after DR1 and DR2 unidirectional protection；U1's
It is that single-chip microcomputer is powered that two ends export stable 5V power supply after the filter circuit that C4, C5, C6, C7 form.In preferred version, U1
Two input and are connected the element in DZ1, DZ2 protection circuit between output pin with grounding pin respectively.So, supply by first
The tapping voltage conversion of electricity module and the second supply module, is possible not only to meet single-chip microcomputer 5V power demands, also by the light of 12V
Coupling is powered, and improves the control performance of motor, can drive more powerful motor, solves multi-axis motor and controls to drive deficiency simultaneously
Problem.
It is certain embodiment with reference to Fig. 4, the circuit structure scheme of the 3rd supply module.C11 and C12 is also unified into electric capacity pair, so
Rear C11 and C12 is also unified into electric capacity to rear, two electric capacity between series inductance L1 constitute filter circuit, the power supply of 5V was through should
Power to after filter circuit and electric capacity C1 single-chip simulation circuit part
With reference to Fig. 5, in one embodiment, single-chip microcomputer uses Atmega16, and the PA2-PA7 of single-chip microcomputer, PB2-PB7 pin is respectively
Connect six axle optocoupler control circuits, form six groups and control output, as wherein PA2 Yu PB2 forms the control etc. of a road motor.Monolithic
5th pin of machine connects the first supply module, to obtain the power supply of single-chip microcomputer self job demand.The AREF pin of single-chip microcomputer
It is that single-chip simulation circuit part is powered for connecting the 3rd supply module.PD3-PD7 and PA1 connecting valve control circuit.
PC2-PC7 connects feedback sense circuit, includes but not limited to the one in position, temperature, electric current, voltage sampling or with input
Plant above parameter feedback.And PD0-PD2 pin connects serial communication distance intensifier circuit respectively, logical to realize RS232 serial ports
Letter.
With reference to Fig. 6, in certain embodiment, six axle optocoupler control circuits are by multiple optic coupling elements and the combination of n-channel field pipe
Becoming, in certain embodiments, optic coupling element U24-U35 and n-channel field pipe U18-U23 has 6 respectively.Wherein, single-chip microcomputer
PA2-PA7, PB2-PB7 pin connects six axle optocoupler control circuits respectively, forms six groups and controls output, such as wherein PA2 Yu PB2 group
The control etc. of Cheng Yilu motor.Optic coupling element can select 817C model, n-channel field pipe can be chosen as 9945n model.Optocoupler
Element and n-channel field pipe connect one to one.Optic coupling element connect with n-channel field my humble opinion a 27K resistance (such as R86-R97) with
Current limliting also obtains the power supply required for the management and control system of n-channel field.The output of n-channel field pipe is by connecting first interface after 5.1K resistance
Pin.Six axle optocoupler control circuit first interface output control signals are to control six axle motors.Wherein, such as PA2, PB2 warp
U34, U35, then through U23, more just can control a spindle motor therein through 1,2 pins of first interface J2.
With reference to Fig. 7, for the crystal oscillator reset circuit organization plan of certain embodiment.Two electric capacity C10 and C9 form crystal oscillator with crystal oscillator
Loop；The power supply of 5V accesses single-chip microcomputer after the reset circuit of resistance and diodes in parallel；The resistance composition sampling of four 1R
Circuit, reset circuit is connected at earth terminal with crystal oscillator loop and sample circuit jointly by electric capacity C8.
With reference to Fig. 8, for the feedback sense circuit organization plan of certain embodiment.Wherein U42-U47 is optocoupler, R122-R133
For resistance, collectively constitute the detection of feedback signal.
With reference to Fig. 9, the testing circuit organization plan of the signal that puts in place for the motor of certain embodiment.It includes optic coupling element U3,
Model is 817C.Put in place signal testing circuit output connect single-chip microcomputer PC1 pin.
With reference to Figure 10, for the serial communication distance intensifier circuit structure of certain embodiment, by the 5V that will power to single-chip microcomputer
Voltage promotes.With solution serial communication such as RS232 serial communication apart from short problem, meet distance wiring and connect need
Ask.
With reference to Fig. 9, the testing circuit organization plan of the signal that puts in place for the motor of certain embodiment.It includes optic coupling element U3,
Model is 817C.Put in place signal testing circuit output connect single-chip microcomputer PC1 pin.
With reference to Figure 10, for the serial communication distance intensifier circuit structure of certain embodiment, by the 5V that will power to single-chip microcomputer
Voltage promotes.With solution serial communication such as RS232 serial communication apart from short problem, meet distance wiring and connect need
Ask.
With reference to Figure 11, for the ON-OFF control circuit organization plan of a certain embodiment.It includes optic coupling element U49-U54, n ditch
Place where Taoist rites are performed pipe U55-U57；Gate-controlled switch K0-K5.Wherein, optic coupling element connect with n-channel field my humble opinion a 27K resistance (as
R140-R145) with current limliting and obtain the power supply required for the management and control system of n-channel field.ON-OFF control circuit input connects single-chip microcomputer
PD3-PD7 and PA1 pin, the other end connects the second interface J4.Then needed and six axle motors by the second interface driver
Sync response such as various components and parts needing on-off control such as servo-motor, other driving means.
These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every in the present invention
Inventive concept under, utilize the equivalent structure transformation that description of the invention and accompanying drawing content are made, or directly/be indirectly used in it
The technical field that he is correlated with is included in the scope of patent protection of the present invention.
Claims (8)
1. an axle Serve Motor Control Circuits System, it is characterised in that: include single-chip microcomputer, supply module, six axle optocoupler controls
Circuit processed, first interface and six axle motors；Six axle optocoupler control circuits include optic coupling element and n-channel field pipe, from single-chip microcomputer
Control signal output through six axle optocoupler control circuits isolation after, connect through first interface and drive six axle motors；Power supply
Module includes the first supply module and the second supply module, and wherein the first supply module meets six for being converted into by input voltage
The voltage that axle optocoupler control circuit is powered, and the second supply module meets monolithic for being converted into by the first supply module further
The voltage that machine is powered.
Six axle Serve Motor Control Circuits System the most as claimed in claim 1, it is characterised in that the output of the first supply module
For 12V voltage；Second supply module is output as 5V voltage.
Six axle Serve Motor Control Circuits System the most as claimed in claim 1, it is characterised in that also include feedback detection electricity
Road, for gathering one or more the parameter in position, temperature, electric current, voltage and feeding back to single-chip microcomputer；Single-chip microcomputer root
According to feedback detection input change, the control signal of motor-end is exported.
Six axle Serve Motor Control Circuits System the most as claimed in claim 1, it is characterised in that also include the detection electricity that puts in place
Road, is used for detecting whether described six axle motors put in place.
Six axle Serve Motor Control Circuits System the most as claimed in claim 1, it is characterised in that also include on-off control electricity
Road, ON-OFF control circuit includes optic coupling element and the n-channel field pipe of six axle optocoupler control circuit quantity Matching；On-off control electricity
Road needs the components and parts controlled with six spindle motor synchro switches by the second interface output control signal with control.
Six axle Serve Motor Control Circuits System the most as claimed in claim 2, it is characterised in that also include the 3rd power supply mould
Block, powers for single-chip microcomputer and with single-chip simulation circuit part.
Six axle Serve Motor Control Circuits System the most as claimed in claim 1, it is characterised in that also include serial communication distance
Intensifier circuit, in order to by the serial communication voltage increase of 5V to improve serial communication distance.
Six axle Serve Motor Control Circuits System the most as claimed in claim 1, it is characterised in that also include crystal oscillator reset circuit
For producing clock frequency necessary to single-chip microcomputer and realizing reset function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610668457.9A CN106100463B (en) | 2016-08-16 | 2016-08-16 | A kind of six axis Serve Motor Control circuit systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610668457.9A CN106100463B (en) | 2016-08-16 | 2016-08-16 | A kind of six axis Serve Motor Control circuit systems |
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| Publication Number | Publication Date |
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| CN106100463A true CN106100463A (en) | 2016-11-09 |
| CN106100463B CN106100463B (en) | 2019-03-01 |
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| CN201610668457.9A Active CN106100463B (en) | 2016-08-16 | 2016-08-16 | A kind of six axis Serve Motor Control circuit systems |
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| CN105204502A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof |
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| CN105302133A (en) * | 2015-08-24 | 2016-02-03 | 铜陵学院 | Single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller |
| CN205992867U (en) * | 2016-08-16 | 2017-03-01 | 中山微宇电器科技有限公司 | A kind of six axle Serve Motor Control Circuits System |
-
2016
- 2016-08-16 CN CN201610668457.9A patent/CN106100463B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105159324A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | Six-wheel and dual-core type medium-speed fire-extinguishing robot servo controller |
| CN105204502A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof |
| CN105302133A (en) * | 2015-08-24 | 2016-02-03 | 铜陵学院 | Single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller |
| CN105204394A (en) * | 2015-08-26 | 2015-12-30 | 电子科技大学 | Six-degree-of-freedom chewing robot control system |
| CN105223960A (en) * | 2015-10-14 | 2016-01-06 | 上海大学 | A kind of unmanned boat lays retracting device |
| CN205992867U (en) * | 2016-08-16 | 2017-03-01 | 中山微宇电器科技有限公司 | A kind of six axle Serve Motor Control Circuits System |
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| CN106100463B (en) | 2019-03-01 |
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