CN109546900B - Intelligent steering motor control device of crawler mini-tiller and control method thereof - Google Patents
Intelligent steering motor control device of crawler mini-tiller and control method thereof Download PDFInfo
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- CN109546900B CN109546900B CN201910077418.5A CN201910077418A CN109546900B CN 109546900 B CN109546900 B CN 109546900B CN 201910077418 A CN201910077418 A CN 201910077418A CN 109546900 B CN109546900 B CN 109546900B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000001105 regulatory effect Effects 0.000 claims abstract description 4
- 230000001276 controlling effect Effects 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 4
- 101100406490 Drosophila melanogaster Or49b gene Proteins 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 239000003550 marker Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000003971 tillage Methods 0.000 description 2
- 101100162706 Caenorhabditis elegans ani-3 gene Proteins 0.000 description 1
- 241000208125 Nicotiana Species 0.000 description 1
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 1
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- 230000004720 fertilization Effects 0.000 description 1
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- 230000004907 flux Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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- 238000009333 weeding Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/22—Arrangements for starting in a selected direction of rotation
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/30—Arrangements for controlling the direction of rotation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses an intelligent steering motor control device of a crawler type mini-tiller, which mainly comprises a micro-controller minimum system circuit, a power supply circuit, a mini-tiller steering motor driving circuit, a Hall signal commutation control circuit, a steering motor start-stop control circuit, an overcurrent detection protection circuit and the like. Pulse Width Modulation (PWM) waves are output through a microcontroller timer and a real-time output port, and level commutation control is completed based on position detection of a Hall sensor, so that drive control of a direct current brushless motor is realized, and the method comprises the following steps: the motor is started and stopped, the forward and reverse rotation of the motor is regulated, and the functions of overcurrent detection, forced motor rotation stopping and the like are realized. The invention also discloses a control method of the intelligent steering motor of the crawler mini-tiller.
Description
Technical Field
The invention relates to the field of mini-tiller, in particular to an intelligent steering motor control device and method for a crawler-type mini-tiller.
Background
The mini-tiller generally uses a gasoline engine as power, and utilizes an integral speed change gear box or a belt clutch as transmission, and can directly drive a wheel shaft to drive rotary blades to carry out rotary tillage operation. Simple structure, convenient operation can walk freely in the field, has alleviateed the restriction that large-scale agricultural machinery can't get into mountain area field piece, and application is comparatively more in plain, mountain area, hilly dry land, paddy field, orchard, vegetable field, tobacco field, and its main functions are rotary tillage, plough, intertillage weeding, fertilization hilling etc..
When the mini-tiller is used for steering operation, the steering control method is mainly based on traditional hydraulic steering, has low precision and is not suitable for accurate and fine work of agriculture. With the high-speed development of electronic and communication technologies, the adoption of a microcontroller to perform local or remote wireless control on a direct current brushless motor to finish steering becomes a research and development hot spot, and the innovative microcomputer digital control steering improves the steering control accuracy, reduces the influence of a complex environment on steering control, reduces the labor intensity of workers, improves the production efficiency and meets the application requirements of agricultural environments.
Disclosure of Invention
The invention designs and develops an intelligent steering motor control device of a crawler type mini tiller, and aims to output Pulse Width Modulation (PWM) waves through a microcontroller real-time output port, finish level commutation control based on position detection of a motor signal processing unit and further realize drive control of a direct current brushless motor.
The invention designs and develops a control method of an intelligent steering motor of a crawler mini-tiller, and aims to output Pulse Width Modulation (PWM) waves through a microcontroller timer and a real-time output port, finish level phase-change control based on position detection of a Hall sensor, and further realize drive control of a direct current brushless motor.
The technical scheme provided by the invention is as follows:
An intelligent steering motor control device of a crawler mini-tiller comprises a power supply unit, a starting motor control unit, a rotating speed control unit, a motor signal processing unit and a steering control unit;
The input ends of the steering control unit, the starting motor control unit and the rotating speed control unit are connected with the power supply unit, and the output ends of the starting motor control unit, the rotating speed control unit and the motor signal processing unit are connected with the enabling end of the steering control unit;
The steering control unit comprises a microcontroller, a steering motor and a direct current brushless motor;
The microcontroller and the steering motor are respectively connected with the power supply unit, the output end of the microcontroller is connected with the enabling end of the steering motor, and the output end of the steering motor is connected with the enabling end of the DC brushless motor;
The positive pole of steering motor U phase is connected to RTIO pin of microcontroller, RTIO pin of microcontroller is connected steering motor U phase negative pole, RTIO pin of microcontroller is connected steering motor V phase positive pole, RTIO pin of microcontroller is connected steering motor V phase negative pole, RTIO pin of microcontroller is connected steering motor W phase positive pole, RTIO pin of microcontroller is connected steering motor W phase negative pole.
Preferably, the method further comprises:
The current detection unit is connected with the steering motor at the enabling end and the microcontroller at the output end; and
And the enabling end of the overcurrent protection unit is connected with the steering motor, and the output end of the overcurrent protection unit is connected with the microcontroller.
Preferably, the motor signal processing unit comprises a hall sensor;
The Hall sensors are arranged in 3, the arrangement interval is 120 degrees, and the Hall sensors are respectively connected with INTP1, INTP2 and INTP3 input ports of the microcontroller.
Preferably, the starting motor control unit is connected with AN AN17 input port of the microcontroller; and
The rotating speed control unit is connected with a P13 input port and a P10 input port of the microcontroller.
Preferably, the current detection unit is connected with AN AN13 input port of the microcontroller; and
The overcurrent protection unit is connected with an INTP0 input port of the microcontroller.
Preferably, an amplifying circuit is arranged between the steering motor and the current detection unit and between the steering motor and the overcurrent protection unit; and
And a comparator circuit is further arranged between the steering motor and the overcurrent protection unit.
A control method for an intelligent steering motor of a crawler mini-tiller, which uses the control device, comprises the following steps:
step one, starting and initializing a microcontroller and a Hall sensor;
Step two, detecting the state of a starting motor, stopping the starting motor if forced cut-off occurs after the starting motor is started, and restarting the starting motor;
Detecting the position of a steering motor, and controlling the steering speed of the steering motor speed regulation module; and collecting motor current at fixed time, detecting the state of the starting motor, and restarting the starting motor when the starting motor is closed.
Preferably, in the second and third steps, the motor start control process includes the steps of:
Step 1, when the starting motor is closed, starting the starting motor and clearing a forced cut-off state;
Step 2, a real-time output port of the microcontroller outputs PWM waves to control the motor to start at 500 rpm;
step 3, starting a timer of the microcontroller, and when the input port is at a high level, starting the motor in a clockwise direction; when the input port is at a low level, the starting motor is in a counterclockwise direction;
and 4, according to the starting time sequence of the steering motor, taking the output signal of the Hall sensor as an interrupt trigger source, setting interrupt processing to perform phase-change control, enabling a rotating speed measuring part to calculate the current rotating speed, and starting the starting motor.
Preferably, the steering motor is controlled by proportional integral, and for any moment, the duty ratio calculation formula of the PWM wave output by the microcontroller is:
ΔDuty＝KP×(err[n]-err[n-1])+KI×err[n]；
Where Δduty is a Duty value, err is a deviation between a motor rotation speed control value and a calculated value, K P is a coefficient of a proportional term, and K I is a coefficient of an integral term.
Preferably, the motor speed is controlled by adjusting the duty cycle value.
Compared with the prior art, the invention has the following beneficial effects:
1. The cost of the whole system is reduced by adopting a low-cost microcontroller;
2. the position signal of the permanent magnet is collected by a Hall sensor, and the motor is accurate in speed regulation;
3. Accurate control algorithm is adopted, and motor speed regulation is reliable
Drawings
Fig. 1 is a block diagram of the overall architecture of the present invention.
Fig. 2 is a schematic diagram of a steering motor driving circuit of the mini-tiller according to the present invention.
Fig. 3 is a schematic diagram of the hall sensor for detecting the position of the permanent magnet of the steering motor of the mini-tiller.
Fig. 4 is a timing diagram of the hall signal and three-phase conduction of the motor U, V, W according to the present invention.
Fig. 5 is an overall flowchart of embedded software according to the present invention.
Fig. 6 is a flow chart of motor start control module software according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
Aiming at the problems that the traditional hydraulic steering precision of the crawler type mini-tiller is low, the crawler type mini-tiller is not suitable for accurate and fine work of agriculture and the like, the invention aims to provide the intelligent steering motor control device of the crawler type mini-tiller; the device mainly comprises a micro-controller minimum system circuit, a power supply circuit, a micro-cultivator steering motor driving circuit, a Hall signal commutation control circuit, a steering motor start-stop control circuit, an overcurrent detection protection circuit and the like. Pulse Width Modulation (PWM) waves are output through a microcontroller timer and a real-time output port, and level commutation control is completed based on position detection of a Hall sensor, so that drive control of a direct current brushless motor is realized, and the method comprises the following steps: the invention also provides a control method of the intelligent steering motor of the crawler type mini-tiller, which starts and stops the motor, adjusts the speed of the motor in the forward and reverse rotation, realizes the functions of overcurrent detection, forced motor rotation stop and the like.
In order to achieve the above object, the present invention will be described in further detail with reference to the accompanying drawings:
As shown in fig. 1, the device is a general architecture block diagram of the invention, and comprises a micro-controller minimum system circuit, a power supply circuit, a mini-tiller steering motor driving circuit, a hall signal commutation control circuit, a steering motor start-stop control circuit, an overcurrent detection protection circuit and the like. Pulse Width Modulation (PWM) waves are output through a microcontroller timer and a real-time output port, and level commutation control is completed based on position detection of a Hall sensor, so that drive control of a direct current brushless motor is realized, and the method comprises the following steps: the motor is started and stopped, the forward and reverse rotation of the motor is regulated, and the functions of overcurrent detection, forced motor rotation stopping and the like are realized.
As shown in fig. 2, the principle diagram of the steering motor driving circuit of the mini-tiller is shown, the steering motor driving circuit of the mini-tiller adopts an FSB50325 motor driving integrated chip (U3) produced by a fawn semiconductor company, an R7F series microcontroller (U4) 3 pin (RTIO 00) produced by a Ruisha electronic company is electrically connected to a 4 pin (UH) of the FSB50325 motor driving integrated chip U3, so that the microcontroller outputs PWM waves for controlling a U-phase positive electrode (U+) of the motor, and a 6 pin (RTIO 03) of the microcontroller is electrically connected to a 5 pin (UL) of the FSB50325 motor driving integrated chip U3, so that the microcontroller outputs PWM waves for controlling a U-phase negative electrode (U-) of the motor; the 4 pin (RTIO 01) of the microcontroller (U4) is electrically connected to the 9 pin (VH) of the FSB50325 motor drive integrated chip U3, so that the microcontroller outputs PWM waves for controlling the V-phase positive electrode (V+) of the motor, the 7 pin (RTIO 04) of the microcontroller (U4) is electrically connected to the 10 pin (VL) of the FSB50325 motor drive integrated chip U3, and the microcontroller outputs PWM waves for controlling the V-phase negative electrode (V-); and a 5-foot (RTIO) of the microcontroller (U4) is electrically connected to a 14-foot (WH) of the FSB50325 motor drive integrated chip U3, so that the microcontroller outputs PWM waves for controlling the W-phase positive electrode (W+) of the motor, and an 8-foot (RTIO 05) of the microcontroller (U4) is electrically connected to a 15-foot (WL) of the FSB50325 motor drive integrated chip U3, so that the microcontroller outputs PWM waves for controlling the W-phase negative electrode (W-).
As shown in fig. 3 and fig. 4, the rotation of the motor is controlled by a 120 ° conduction control mode of the brushless dc motor based on the hall sensor, and the specific working principle is as follows:
1. The 3 hall sensors are used, the interval between every two sensors is 120 degrees, each hall signal is switched according to the direction of the rotating magnetic pole, and according to the states of the 3 hall signals, the position information can be obtained once every 60 degrees (6 modes exist in each period).
2. In fig. 4, the real-time output port (RTO) of the microcontroller is programmed such that the conduction mode of each phase in the three-phase winding is changed and switched in time sequence with the hall signal, and a rotating magnetic flux is generated, so that the motor rotor gets torque and rotates.
The invention provides a control method of an intelligent steering motor of a crawler mini-tiller, which adopts a Proportional Integral (PI) method to control the motor rotation speed, and further, for any time n, a microcontroller outputs a duty ratio calculation formula of PWM waves:
ΔDuty＝KP×(err[n]-err[n-1])+KI×err[n]； (1)
In the formula (1), Δduty is a Duty value, err is a deviation between a motor rotation speed control value and a calculated value, K P is a coefficient of a proportional term, K I is a coefficient of an integral term, and the motor rotation speed is controlled by adjusting the Duty value.
As shown in FIG. 5, the invention provides a control method for an intelligent steering motor of a crawler type mini-tiller, which also comprises a system embedded software program, and specifically comprises the following steps: the method comprises a main program processing module, an initialization module, a starting motor control module, a stopping motor control module, a current detection module, a rotating speed calculation module, a PI control module, an interrupt processing module and the like, and specifically comprises the following steps:
Firstly, carrying out hardware initialization on a system: a port comprising a microcontroller (U4), a timer, a real-time output port (RTO) and an AD conversion module initialization; hall sensor use initialization, etc.;
Step two, detecting whether a start/stop key is pressed, if so, starting the motor, otherwise, waiting for the start/stop key to be pressed;
Step three, after starting the motor, firstly detecting whether forced cut-off occurs, if so, stopping the motor forcefully, and entering step two, otherwise, entering step four;
Detecting whether the PI flag bit is positioned at the opening position (1), if so, entering a PI motor speed regulating module to control the steering speed, otherwise, entering a fifth step;
and fifthly, collecting the motor current at fixed time, detecting whether the start/stop key is pressed again, stopping the rotation of the motor if the start/stop key is pressed, and otherwise, entering the step two.
As shown in fig. 6, a software flowchart of a motor start control module is shown, which comprises the following specific steps:
step one, when the start/stop key (SW 1) is pressed in the motor stop state, the forced cut-off state is cleared;
Step two, a real-time output port (RTO) of the microcontroller outputs PWM waves to control the motor to start at the lowest rotation speed of 500 revolutions per minute (rpm);
Step three, starting a timer, judging the rotation direction of the motor according to the level of the input port, and if the motor is at a high level, judging the motor to be clockwise; if the level is low, the counter-clockwise direction is adopted;
And step four, according to the motor starting time sequence of fig. 4, taking the output signal of the Hall sensor as an interrupt trigger source, setting an INTP interrupt processing subprogram to perform commutation control, enabling a rotating speed measuring part to calculate the current rotating speed, and simultaneously starting a motor zone bit to be in an on state.
In the current detection module, after the motor is started, the A/D port ANI3 of the microcontroller is used for realizing real-time detection of the motor current by collecting the voltage value of the sampling resistor and amplifying and filtering the voltage value.
In the rotating speed PI control module, an adjusting knob (VR 1) acquires a corresponding voltage value through an A/D port ANI7 of a microcontroller to acquire a target rotating speed, the speed PI control is carried out every 5ms, and the rotating speed of a motor is consistent with the target rotating speed through adjusting the duty ratio of an output PWM wave of a 6-path real-time output port (RTO) of the microcontroller;
In the overcurrent protection module, if the motor current exceeds a corresponding reference value in the process of motor rotation, the INTP0 interruption of the microcontroller is triggered, and meanwhile, a real-time output port (RTO) enters a forced cut-off mode, so that the motor is protected; the motor is started again and the forced cut-off mode is released.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (8)
1. The intelligent steering motor control method for the crawler type mini-tiller is characterized by comprising the following steps of:
firstly, carrying out hardware initialization on a system: the method comprises the steps of initializing a port, a timer, a real-time output port (RTO) and an AD conversion module of a microcontroller (U4), and initializing a Hall sensor;
step two, detecting whether the start/stop key is pressed, if so, starting the motor, otherwise waiting for the start/stop key to be pressed,
Step three, after starting the motor, firstly detecting whether forced cut-off occurs, if so, stopping the motor forcefully, and entering step two, otherwise, entering step four;
Detecting whether the PI flag bit is positioned at the starting position, if so, entering a PI motor speed regulating module to control the steering speed, otherwise, entering a fifth step;
Step five, collecting motor current at fixed time, detecting whether a start/stop key is pressed again, stopping the rotation of the motor if the start/stop key is pressed, otherwise, entering step two;
In the second, third, fourth and fifth steps, the motor start control process includes the steps of:
step 1, when a start/stop key (SW 1) is pressed in a motor stop state, a forced cut-off state is cleared;
Step 2, a real-time output port of the microcontroller outputs PWM waves to control the motor to start at 500 rpm;
step 3, starting a timer of the microcontroller, and when the input port is at a high level, starting the motor in a clockwise direction; when the input port is at a low level, the starting motor is in a counterclockwise direction;
Step 4, according to the starting time sequence of the steering motor, taking the output signal of the Hall sensor as an interrupt trigger source, setting interrupt processing to perform phase change control, enabling a rotating speed measuring part to calculate the current rotating speed, and simultaneously enabling a motor marker bit to be in an on state;
The intelligent steering motor control device of the crawler mini-tiller comprises a power supply unit, a starting motor control unit, a rotating speed control unit, a motor signal processing unit and a steering control unit;
The input ends of the steering control unit, the starting motor control unit and the rotating speed control unit are connected with the power supply unit, and the output ends of the starting motor control unit, the rotating speed control unit and the motor signal processing unit are connected with the enabling end of the steering control unit;
the steering control unit comprises a microcontroller and a steering motor;
The microcontroller and the steering motor are respectively connected with the power supply unit, the output end of the microcontroller is connected with the enabling end of the steering motor, and the steering motor is a direct current brushless motor;
The positive pole of steering motor U phase is connected to RTIO pin of microcontroller, RTIO pin of microcontroller is connected steering motor U phase negative pole, RTIO pin of microcontroller is connected steering motor V phase positive pole, RTIO pin of microcontroller is connected steering motor V phase negative pole, RTIO pin of microcontroller is connected steering motor W phase positive pole, RTIO pin of microcontroller is connected steering motor W phase negative pole.
2. The method for controlling an intelligent steering motor of a crawler mini-tiller according to claim 1, wherein the steering motor is controlled by proportional integral, and for any moment, a duty ratio calculation formula of the output PWM wave of the microcontroller is:
ΔDuty＝KP×(err[n]-err[n-1])+KI×err[n]；
Where Δduty is a Duty value, err is a deviation between a motor rotation speed control value and a calculated value, KP is a coefficient of a proportional term, and KI is a coefficient of an integral term.
3. The method for controlling an intelligent steering motor of a crawler mini-tiller according to claim 2, wherein the motor rotation speed is controlled by adjusting a duty ratio value.
4. The method for controlling an intelligent steering motor of a crawler mini-tiller according to claim 3, further comprising: the current detection unit is connected with the steering motor at the enabling end and the microcontroller at the output end; and the enabling end of the overcurrent protection unit is connected with the steering motor, and the output end of the overcurrent protection unit is connected with the microcontroller.
5. The method for controlling an intelligent steering motor of a crawler mini-tiller according to claim 4, wherein the motor signal processing unit comprises a hall sensor;
The Hall sensors are arranged in 3, the arrangement interval is 120 degrees, and the Hall sensors are respectively connected with INTP1, INTP2 and INTP3 input ports of the microcontroller.
6. The intelligent steering motor control method of the crawler mini-tiller according to claim 5, wherein the starting motor control unit is connected with AN17 input port of the microcontroller; and the rotating speed control unit is connected with a P13 input port and a P10 input port of the microcontroller.
7. The intelligent steering motor control method of the crawler mini-tiller according to claim 6, wherein the current detection unit is connected with AN13 input port of the microcontroller; and the overcurrent protection unit is connected with an INTP0 input port of the microcontroller.
8. The method for controlling an intelligent steering motor of a crawler mini-tiller according to claim 7, wherein an amplifying circuit is arranged between the steering motor and the current detection unit and between the steering motor and the overcurrent protection unit; and a comparator circuit is further arranged between the steering motor and the overcurrent protection unit.
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