CN107253214A - A kind of digital steering wheel of extended pattern and its method of work - Google Patents
A kind of digital steering wheel of extended pattern and its method of work Download PDFInfo
- Publication number
- CN107253214A CN107253214A CN201710646476.6A CN201710646476A CN107253214A CN 107253214 A CN107253214 A CN 107253214A CN 201710646476 A CN201710646476 A CN 201710646476A CN 107253214 A CN107253214 A CN 107253214A
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- steering wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of digital steering wheel of extended pattern and its method of work, steering wheel includes servos control unit, circuit for controlling motor, motor drive module, feedback circuit, brushless electric machine, serial communication module, reducing gear, position sensor etc..The steering wheel and method of work of the present invention, with standard control patterns and extension control model, compatibility is strong, and applicability is wide.Because using serial communication bus, in parallel can also it be connected in the system integration so that interface is simple, and system line is greatly simplified, and improves the reliability of system, is that modularized design and modularized production are laid a good foundation.Solve the small technical problem of existing traditional digital rudder controller unit volume output torque and closed-loop control, unprotected circuit, control signal can not be formed and interface links are complicated, various, the low problem of reliability; the control of mobile robot joint freedom degrees is can be widely applied to, the manipulation control of the attitude of flight vehicle such as the driving of unmanned plane propeller, control and model plane can also be used in.
Description
Technical field
The invention belongs to technical field of automatic control, specifically a kind of digital steering wheel of extended pattern and its method of work.
Background technology
With developing rapidly that automation equipment is applied, control field is more and more extensive to the demand of steering wheel, more and more
Application scenario higher requirement is proposed to the volume of steering wheel, moment of torsion, control mode, structural compatibility etc..Traditional number
Word steering wheel is essentially all to use brush motor with simulation steering wheel, and this just determines that both steering wheels have a disadvantage that：Moment of torsion is big
Steering wheel its volume it is also very big, to installing and topology layout brings more limitations；And the steering wheel of small volume its moment of torsion is not
Enough, its application is had a greatly reduced quality；Other brush motor uses carbon brush commutation, and fire can be produced during phase so this kind of steering wheel commutates
Flower, limits and uses scope, and short life, is easily damaged, and adds maintenance cost etc..
Simulate without MCU microcontrollers in the electronic circuit of steering wheel, control signal is modulated by the passage entering signal of receiver
Chip, obtains DC offset voltage.There is a reference circuit inside it, the pulsewidth position modulation that the cycle is 20ms can be produced
(PPM) signal, wherein pulse width are usually 0.5ms--2.5ms, and the position of corresponding output shaft is 0----180 degree, in line
Property change.That is, providing certain pulsewidth (Transistor-Transistor Logic level, 0V/5V) to controlling switch, its output shaft is remained in
In one corresponding angle, no matter how extraneous torque changes, until provide it with an other width pulse signal it
Output angle can just be changed to new corresponding position.
As can be seen here, steering wheel is a kind of driver of position servo, and slewing area is general no more than 180 degree, it is adaptable to
Those are needed among the driving that angle is continually changing and can kept.For example joint control of robot etc..With robot
The development of technology, traditional steering wheel technology gradually can not meet demand, and such as anthropomorphic robot requires that execution unit can not only do angle
Degree is rotated, and also needs to move in a circle under some application scenarios；Meanwhile, robot multi-joint uses the situation of multiple steering wheels
Under so that the control and wiring of whole system seem cumbersome and poor reliability.In such case, digital steering wheel arises at the historic moment.
Simulation steering wheel needs ceaselessly to send the PPM signal in 20mS cycles to it, could allow its uniform rotation or allowing it
Defined position is maintained at, digital rudder controller only needs to send a pwm signal with regard to steering wheel can be allowed to be maintained at defined position.At present
Two kinds of digital rudder controller is occurred in that on the market, is divided into 180 degree steering wheel and 360 degree of steering wheels according to the rotational angle of steering wheel.Its
The compatible traditional analog steering wheel of middle 180 degree steering wheel, it can only be rotated at 0 degree between 180 degree, and more than this scope, steering wheel will
There is stall, gently then damage steering wheel reduction gearing, it is heavy then burn out the motor inside steering wheel.And mode that 360 degree of steering wheels are rotated and
Common motor is similar, can continuously rotate, but can only control the direction and speed of its rotation, it is impossible to adjust angle of rotation
Degree.Digital rudder controller has two big advantages relative to traditional analog steering wheel：First, because digital rudder controller introduces CPU relation, digital rudder controller
Power pulse is sent to steering wheel motor again after being pre-processed to the signal of input according to the parameter of setting.This means
The width of power pulse, can be adjusted according to the sequential operation of microprocessor, to adapt to different functional requirements, and optimize rudder
The performance of machine；2nd, digital steering wheel can be received than simulating the faster PWM external control signals of steering wheel 50Hz frequencies, just by CPU
The positional information of PWM external control signals can be told within the shorter time, calculate PWM duty cycle direct ratio voltage and
The voltage difference of feedback potentiometer, goes motor to act, and makes the newest change in steering wheel rocking arm position.Thus digital steering wheel is anti-
Answer speed faster than simulation steering wheel, it is also rapider, softer when accelerating and slowing down；Digital rudder controller provides higher precision and more simultaneously
Good fixation strength.
From above it is thus seen that, general digital rudder controller, although solve the control problem of traditional steering wheel, but its angle of rotation
Spend scope still only have 180 degree, or simultaneously for a digital rudder controller be the controllable pattern of angle (positive and negative 90 degree adjust or
It is 0-180 degree), or being exactly motor mode (360 degree of rotations), the two is not taken into account well, makes it in practical application
In by significant limitation.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of digital steering wheel of extended pattern and its method of work, the extended pattern number
Code steering wheel and its method of work are provided simultaneously with standard control patterns and extension control model, and compatibility is strong, and applicability is wide.
For achieving the above object, the present invention uses following technical scheme：
A kind of digital steering wheel of extended pattern, including servos control unit, circuit for controlling motor, motor drive module, feedback electricity
Road, brushless electric machine, serial communication module, reducing gear, position sensor；
The servos control unit：Including master controller and brushless electric machine control circuit；The servos control unit connects
The control information of host computer and the feedback information of feedback circuit are received, and motor control is calculated according to control information and feedback information
Parameter, then exports control parameter to circuit for controlling motor.Wherein servos control unit also controlled motor is turned by normal mode
Move a certain angle or the number of turns continuously rotated by mode of extension controlled motor and the number of degrees.
Host computer (i.e. steering engine controller)：Connected with the servos control element circuit plate by serial communication bus
Connect, for sending control signal, a host computer and the steering wheel no more than 110 to the servos control element circuit plate
The communication connection of control unit circuit board.
Brushless electric machine：The control information of circuit for controlling motor output is received, and is rotated according to specified rotating speed；
Serial communication module：Host computer is fed back to for receiving the control information of host computer and sending steering wheel；
Reducing gear：Docked with brushless electric machine output shaft, for the high rotating speed of motor, low torque output to be converted into low turn
Speed, high torque output；
Position sensor：It is connected with the other end of motor, for motor speed signal, position signalling to be fed back into motor control
Circuit processed.
Traditional steering wheel often fill a motor be required for all the way PPM circuits individually control, PC control circuit is complicated, resource
Take more, control cost increase.Traditional steering wheel will be each connected on PC control circuit, if the steering wheel used
At most system wiring is more complicated, various, easily causes signal interference, less stable.These problems are all resolved simultaneously.
Further, the feedback circuit includes overcurrent-overvoltage protecting circuit, and the overcurrent-overvoltage protecting circuit is used for anti-
Present brushless electric machine driving voltage and whether driving current exceedes given threshold, and feedback information is sent to servos control unit
Control chip.
Further, the feedback circuit includes setting TEMP in temperature protection circuit, the temperature protection circuit
Whether device, the temperature sensor is used to feed back current running temperature more than given threshold, and feedback information is sent to steering wheel
Master controller in control unit.Traditional steering wheel feeds back and protected without temperature, load, voltage, electric current etc., adds these protections
Afterwards, steering wheel uses safer.
The method of work of the digital steering wheel of above-mentioned extended pattern, comprises the following steps：
11) servos control unit receives the control parameter that host computer is sent, and parses standard control patterns or expansion
Open up control model；
12) servos control unit is received calculates Motor control parameters from steering wheel position sensor feedback information, and will control
PWM waveform processed is sent to motor-drive circuit；
13) motor drive module is received after PWM waveform, and driving brushless electric machine is rotated according to specified speed；
14) brushless electric machine output shaft is connected with reducing gear, and the high rotating speed of brushless electric machine, low torque are converted into low turn
Speed, high torque；One end connection reducing gear of brushless electric machine, the position sensor of other end connection steering wheel output, sensor will
Motor speed signal, position signalling feed back to servos control unit, form closed-loop control.
Further, for the digital steering wheel of the extended pattern containing overcurrent-overvoltage protecting circuit and temperature protection circuit, its work
Make method as follows：
21) servos control unit receives the control parameter that host computer is sent, and parses standard control patterns or expansion
Open up control model；
22) servos control unit is received from steering wheel position sensor information and temperature, voltage x current protection circuit
Feedback information, is converted according to CLARKE, PARK, and PI control algolithms etc. calculate Motor control parameters, and will control PWM waveform
It is sent to motor-drive circuit；If temperature sensor feedback temperature exceedes given threshold or voltage x current protection circuit feedback electricity
Pressure or electric current exceed given threshold, and servos control unit will send motor abnormality control command, stop PWM outputs, make motor
Stop operating, protect steering wheel；
23) motor drive module is received after PWM waveform, and driving brushless electric machine is rotated according to specified speed；
24) brushless electric machine output shaft is connected with reducing gear, and the high rotating speed of brushless electric machine, low torque are converted into low turn
Speed, high torque；One end connection reducing gear of brushless electric machine, the position sensor of other end connection steering wheel output, sensor will
Motor speed signal, position signalling feed back to servos control unit, form closed-loop control.Traditional steering wheel feedback-less is solved, no
Closed-loop control can be formed so that Control system resolution is low, the problem of poor reliability.
A kind of digital steering wheel of extended pattern of the present invention and its method of work, with two kinds of control models -- standard control patterns
With extension control model, by force, applicability is wide for compatibility.Because using serial communication bus, so the steering wheel of the present invention is in system collection
Cheng Zhongke parallel connections can also connect so that interface is simple, and system line is greatly simplified, and improves the reliability of system.Because using
Serial communication bus is connected, and is that modularized design and modularized production are laid a good foundation.Relative to traditional steering wheel unit volume
Output torque (i.e. steering wheel moment of torsion/steering wheel volume) very little, and rotational angle is limited (in positive and negative 90 degree regulations or 0-180
Degree), cause the problem of its application is very limited, the digital steering wheel of extended pattern of the invention is sensed according to position sensor
The rotational angle of angle of rotation angle value regulation motor arbitrarily stop (i.e. traditional steering wheel pattern) in the range of 0 ° -340 °, motor company
It is continuous to rotate multiple 360 ° (extending steering wheel pattern), solve the small skill of existing traditional digital rudder controller unit volume output torque
Art problem and closed-loop control, unprotected circuit, control signal can not be formed and interface links are complicated, various, reliability is low
Problem, can be widely applied to mobile robot joint freedom degrees control, can also be used in unmanned plane propeller driving, control and
The manipulation control of the attitude of flight vehicle such as model plane.
A kind of digital steering wheel of extended pattern of the present invention and its method of work, have the advantages that：
1st, compared with traditional steering wheel is using brush motor, the digital steering wheel that the present invention is provided uses drag cup brushless electric machine,
This, which allows for the digital steering wheel of the invention provided, has load capacity strong, and output torque is big, and operation noise is low, and long lifespan etc. is excellent
Point.
2nd, with traditional steering wheel compared to the prior art, the digital steering wheel that the present invention is provided integrates two kinds of mode of operations,
Steering engine controller according to CAN interface receive command sequence can between normal mode and mode of extension any switching laws, make its should
Expanded with scope.
3rd, with traditional steering wheel compared to the prior art, the digital steering wheel that the present invention is provided can work as anterior angle according to brushless electric machine
Feedback information including degree, rotating speed, driving voltage, load current and system temperature carries out the control of brushless electric machine, not only in rudder
Machine has been internally formed closed-loop control so that Control system resolution is improved, reliability enhancing, also steering wheel is unlikely to because of temperature mistake
The factor such as high, load excessive and motor rotation blockage is damaged, and serves the protective effect to brushless electric machine.
4th, with traditional steering wheel compared to the prior art, the digital steering wheel that the present invention is provided is entered by CAN with host computer
Row communication connection so that the digital helm control circuit plate that a host computer can be provided with the present invention no more than 110 leads to
News connection, it enormously simplify PC control circuit, reduce the resource occupation of host computer；Each steering wheel can set difference
Node address, multiple steering wheels can also single independent control with unified movement；Numerous and diverse wiring can be thus reduced, so that
Avoid the signal interference caused by wiring is cumbersome, the defect of stability difference.
Brief description of the drawings
Fig. 1 is the digital steering wheel theory diagram of extended pattern of the present invention；
Fig. 2 is the digital steering wheel structural representation of extended pattern of the present invention；
Fig. 3 is brushless electric machine drive control algorithm block diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, a kind of digital steering wheel of extended pattern proposed by the present invention and its method of work are carried out specifically
It is bright.In the description of the invention, it is to be understood that term " left side ", " right side ", " top ", " bottom ", " bottom " etc. are indicated
Orientation or position relationship be based on orientation shown in the drawings or position relationship, be for only for ease of description the present invention and simplification retouch
State, rather than indicate or imply that the device or element of meaning there must be specific orientation, with specific azimuth configuration and operation,
" first ", " second " etc. are not offered as the significance level of parts, therefore are not considered as limiting the invention.The present embodiment
The specific size of middle use technical scheme solely for the purpose of illustration, is not intended to limit protection scope of the present invention.
As illustrated in fig. 1 and 2, a kind of digital steering wheel of extended pattern of the invention is main by servos control unit 5, power management mould
Block, motor-drive circuit and overcurrent-overvoltage protecting circuit 4, brushless electric machine 2, reducing gear 1 (i.e. fast gear train and output device),
Temperature sensor, position sensor 3 and serial communication module composition.
Servos control unit：Servos control unit is the servos control plate using TMS320F28069M as master controller, comprising
Motor drive module, communication module, sensor feedback circuit module and excessively stream, overvoltage, protection module etc..Due to structure and sky
Between demand, servos control plate using layering superposition by the way of.Programming in FLASH inside other master controller TMS320F28069M
There are servos control algorithm, Schema control algorithm and communication program etc..Wherein control unit receive host computer control information and
The feedback information of temperature, current protecting circuit, and Motor control parameters are calculated according to control information and feedback information, then will control
Parameter processed is exported to motor-drive circuit.Wherein servos control unit also controlled motor by normal mode turn to a certain angle or
Person is continuously rotated how many circles how many degree again by mode of extension controlled motor.
Brushless electric machine：Brushless electric machine uses drag cup induction less brush-less motor, the induction less brush-less motor list in the present invention
Load capacity is strong in the volume of position, and output torque is big, strong antijamming capability, and the noise that motor rotates generation is small, electrical machinery life length etc..
Serial communication module：Host computer is fed back to for receiving the control information of host computer and sending steering wheel；
CAN2.0 communication interfaces (can also use RS232 or RS485 communication interfaces) are used in the present invention.Up to 110 can be supported
Node, that is to say, that in a robot multiple steering wheels by CAN constitute chain connection with upper machine communication and do not do mutually
Disturb.Each steering wheel can set different node IDs, and multiple steering wheels can also single independent control with unified movement.
Reducing gear：Deceleration device using high accuracy, multistage big retarding than reducing gear, motor output torque can be increased
Plus hundred times.Reach the purpose that the high rotating speed of motor, low torque output are converted into the slow-speed of revolution, high torque output.
Position sensor：It is connected with the other end of brushless electric machine, for motor speed signal, position signalling to be fed back into electricity
Machine control unit.Using magnetic code sensor and Hall pulse transducer in the present invention, the angle that can have both been rotated with detection-sensitive motor,
Motor rotation speed and rotation direction can also be detected.
Temperature sensor：Whether exceed given threshold, and feedback information is sent to rudder for feeding back current running temperature
Control chip in machine control unit.
Overcurrent-overvoltage protecting circuit：For feeding back whether brushless electric machine driving voltage and driving current exceed given threshold,
And send feedback information to the control chip on servos control unit.
A kind of digital steering wheel method of work of extended pattern, comprises the following steps：
1) servos control unit receives control parameter (rotation direction of steering wheel, the rotation that host computer is sent by CAN
Speed and rotational angle), and parse standard control patterns or extension control model.Extended pattern number steering wheel can basis
" command sequence " work that host computer is sent.Such as control digital steering wheel action command sequence：
Command------ command words (" can order " steering wheel to be acted by command sequence, " can order " rudder
Machine returns to the running status of itself, can also issue " parameter " and allow steering wheel to be calibrated etc. by this " parameter ")
Dir---- orders direction of motor rotation (main story or reversion)
Analog----- rotational angles (0-340 degree or XXX circles and XXX degree)
Speed------ allows motor to turn/min rotations with speed.
Crc-------Byte1 to Byte8 verification and.
Whole command in combination sequence can be understood as：Host computer allows digital steering wheel to be rotated with Speed speed by Dir directions
Analog degree.
2) servos control unit receive from steering wheel position sensor information and temperature, voltage x current protection circuit it is anti-
Feedforward information, and CLARKE, PARK conversion are carried out according to figure three, PI control algolithms etc. calculate Motor control parameters, and will control PWM
Waveform signal is sent to motor-drive circuit.If temperature sensor feedback temperature exceedes given threshold or current protecting circuit is anti-
Supply current exceedes given threshold, and servos control unit will send motor abnormality control command, stops PWM outputs, stops steering wheel
Only export, protect steering wheel；
3) motor drive module is received after PWM waveform, and motor is rotated according to specified speed.
4) motor output shaft is connected with reducing gear, and the high rotating speed of motor, low torque are converted into the slow-speed of revolution, high torque；
Reducing gear exports the output that one end connects whole steering wheel, the position sensor of other end connection steering wheel output, and sensor is by electricity
Machine tach signal, position signalling feed back to servos control unit, form closed-loop control.
Based on description of the preferred embodiment of the present invention, it should be apparent that the sheet being defined by the appended claims
Invention is not limited only to the specific detail that is illustrated in specification above, without departing from present inventive concept or scope to this hair
Bright many obviously change equally possible reaches the purpose of the present invention.
Claims (5)
1. the digital steering wheel of a kind of extended pattern, it is characterised in that including servos control unit, circuit for controlling motor, motor driving mould
Block, feedback circuit, brushless electric machine, serial communication module, reducing gear, position sensor；
The servos control unit：Including master controller and brushless electric machine control circuit；On the servos control unit is received
The control information and the feedback information of feedback circuit of position machine, and motor control ginseng is calculated according to control information and feedback information
Number, then exports control parameter to circuit for controlling motor；
Wherein servos control unit also controlled motor turns to a certain angle or by mode of extension controlled motor by normal mode
The number of turns and the number of degrees continuously rotated；
Brushless electric machine：The control information of circuit for controlling motor output is received, and is rotated according to specified rotating speed；
Serial communication module：Host computer is fed back to for receiving the control information of host computer and sending steering wheel；
Reducing gear：Docked with brushless electric machine output shaft, for by the high rotating speed of motor, low torque output be converted into the slow-speed of revolution,
High torque is exported；
Position sensor：It is connected with the other end of motor, for motor speed signal, position signalling to be fed back into motor control electricity
Road.
2. the digital steering wheel of extended pattern according to claim 1, it is characterised in that the feedback circuit is protected including overcurrent-overvoltage
Protection circuit, the overcurrent-overvoltage protecting circuit is used to feed back brushless electric machine driving voltage and whether driving current exceedes setting threshold
Value, and feedback information is sent to the control chip on servos control unit.
3. the digital steering wheel of extended pattern according to claim 2, it is characterised in that the feedback circuit includes temperature protection electricity
Temperature sensor is set in road, the temperature protection circuit, and the temperature sensor is used to feed back whether current running temperature surpasses
Given threshold is crossed, and feedback information is sent to the master controller on servos control unit.
4. the method for work of the digital steering wheel of extended pattern described in claim 1, it is characterised in that comprise the following steps：
11）Servos control unit receives the control parameter that host computer is sent, and parses standard control patterns or extension control
Molding formula；
12）Servos control unit is received calculates Motor control parameters from steering wheel position sensor feedback information, and will control PWM
Waveform signal is sent to motor-drive circuit；
13）Motor drive module is received after PWM waveform, and driving brushless electric machine is rotated according to specified speed；
14）Brushless electric machine output shaft is connected with reducing gear, and the high rotating speed of brushless electric machine, low torque are converted into the slow-speed of revolution, height
Moment of torsion；One end connection reducing gear of brushless electric machine, the position sensor of other end connection steering wheel output, sensor turns motor
Fast signal, position signalling feed back to servos control unit, form closed-loop control.
5. the method for work of the digital steering wheel of extended pattern described in claim 3, it is characterised in that comprise the following steps：
For the digital steering wheel of the extended pattern containing overcurrent-overvoltage protecting circuit and temperature protection circuit, its method of work is as follows：
21）Servos control unit receives the control parameter that host computer is sent, and parses standard control patterns or extension control
Molding formula；
22）Servos control unit is received from steering wheel position sensor information and temperature, the feedback of voltage x current protection circuit
Information, is converted according to CLARKE, PARK, and PI control algolithms etc. calculate Motor control parameters, and will control PWM waveform signal hairs
Give motor-drive circuit；If temperature sensor feedback temperature exceedes given threshold or voltage x current protection circuit feedback voltage
Or electric current exceedes given threshold, servos control unit will send motor abnormality control command, stop PWM outputs, stop motor
Rotation stop is moved, and protects steering wheel；
23）Motor drive module is received after PWM waveform, and driving brushless electric machine is rotated according to specified speed；
24）Brushless electric machine output shaft is connected with reducing gear, and the high rotating speed of brushless electric machine, low torque are converted into the slow-speed of revolution, height
Moment of torsion；One end connection reducing gear of brushless electric machine, the position sensor of other end connection steering wheel output, sensor turns motor
Fast signal, position signalling feed back to servos control unit, form closed-loop control.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646476.6A CN107253214A (en) | 2017-07-31 | 2017-07-31 | A kind of digital steering wheel of extended pattern and its method of work |
| PCT/CN2018/087573 WO2019024570A1 (en) | 2017-07-31 | 2018-05-18 | Digital servo and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646476.6A CN107253214A (en) | 2017-07-31 | 2017-07-31 | A kind of digital steering wheel of extended pattern and its method of work |
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| CN107253214A true CN107253214A (en) | 2017-10-17 |
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| CN201710646476.6A Pending CN107253214A (en) | 2017-07-31 | 2017-07-31 | A kind of digital steering wheel of extended pattern and its method of work |
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| WO (1) | WO2019024570A1 (en) |
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| CN108052039A (en) * | 2017-12-15 | 2018-05-18 | 佛山三维二次方科技有限公司 | Steering engine for unmanned plane control system |
| CN108762148A (en) * | 2018-05-31 | 2018-11-06 | 杭州海灵智电科技有限公司 | A kind of control method of steering engine pattern switching and bias adjustment |
| CN109029548A (en) * | 2018-04-24 | 2018-12-18 | 天津大学 | A kind of steering gear system and method for real-time accurate feedback running current and output torque |
| CN109308080A (en) * | 2018-09-06 | 2019-02-05 | 深圳市天博智科技有限公司 | Steering engine control method, system, device and storage medium |
| WO2019024570A1 (en) * | 2017-07-31 | 2019-02-07 | 南京阿凡达机器人科技有限公司 | Digital servo and control method thereof |
| CN110932612A (en) * | 2019-11-07 | 2020-03-27 | 上海航天控制技术研究所 | Differential high-performance brushless motor driver and driving method |
| CN111216123A (en) * | 2019-11-29 | 2020-06-02 | 深圳勇艺达机器人有限公司 | Humanoid robot arm control and fault diagnosis system |
| CN113894797A (en) * | 2021-11-25 | 2022-01-07 | 乐聚(深圳)机器人技术有限公司 | Robot protection control method, device, equipment and storage medium based on dynamic current detection |
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