CN202754140U - Digital servo - Google Patents
Digital servo Download PDFInfo
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- CN202754140U CN202754140U CN 201220381514 CN201220381514U CN202754140U CN 202754140 U CN202754140 U CN 202754140U CN 201220381514 CN201220381514 CN 201220381514 CN 201220381514 U CN201220381514 U CN 201220381514U CN 202754140 U CN202754140 U CN 202754140U
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- rudder controller
- digital rudder
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Abstract
The utility model discloses a digital servo which comprises a transmission module and a process identifier (PID) control module, the transmission module is used for transmitting a control data package to the PID control module, and the PID control module is used for analyzing the control data package and transforming the control data package to a pulse-width modulation (PWM) signal, and is also used for carrying out PID control on the control data package based on the PWM signal to control the output of the digital servo. The digital servo can carry out closed-loop control on the output position, the speed and the output torque of the digital servo, is higher in control accuracy, and more complex motion control can be achieved. In addition, communication is carried out through a RS 485 serial bus, the number of control lines connected to an upper computer is reduced, and therefore more control points are achieved, communication reliability is higher, numerous resources of the upper computer do not need to be occupied, and the burden of the upper computer is greatly reduced.
Description
Technical field
The utility model relates to a kind of digital rudder controller, and particularly a kind of PID of employing controls the digital rudder controller that outgoing position, speed and output torque to steering wheel are carried out closed loop control.
Background technology
Steering wheel is a kind of actuator of position servo, mainly is made of parts such as shell, circuit card, motor, gears, and is little owing to volume, output torque is large, integrated level is high is widely used in telecontrolled model and robot field.Traditional steering wheel is by the PWM(pulse width modulation) ripple controls, and principle of work is: pwm signal carries out demodulation by receiving cable entering signal demodulator circuit, obtains a dc offset voltage.With the voltage ratio of the dc offset voltage that obtains and potential device, obtain voltage difference and also output to motor-drive circuit, rotate with drive motor, rotate by multi-stage speed-reducing gear driven potential device, until voltage difference is zero, motor stops operating.Wherein pwm signal is the control signal of steering wheel, changes the outgoing position of steering wheel by the variation of PWM dutycycle.And there are many deficiencies in traditional steering wheel in application:
One, can not can not form the large closed-loop control system to the upper computer feedback signal, the reliability of control is reduced;
Two, mode and function are fairly simple, can not regulate the output movement curve of speed, output torque and the steering wheel of steering wheel, have seriously limited steering wheel and have built High Performance complex model and robot;
When three, using the quantity of traditional steering wheel many, control is complicated, takies a lot of resources of upper computer, and the upper computer burden is large;
Four, traditional steering wheel mostly adopts centralized control, when steering wheel quantity is many particularly in the robot application (steering wheel of use has tens even more than 20) control count many, the line of drawing is a lot, connects up various so that the signal interference between the bad layout of line and the line all is more scabrous problem;
Five, not to the protection of temperature, load, voltage etc., cause steering wheel in use often can damage.
The utility model content
The technical problems to be solved in the utility model is can not carry out closed loop control and can not regulate the output movement curve of speed, output torque and the steering wheel of steering wheel in order to overcome steering wheel in the prior art, the defective that causes the reliability of the control of steering wheel to reduce and can't build High Performance complex model and robot, a kind of employing PID control digital rudder controller that (proportional-integral-differential control, a kind of close-loop control mode) comes outgoing position, speed and output torque to steering wheel to carry out closed loop control is provided.
The utility model solves above-mentioned technical matters by following technical proposals:
The utility model provides a kind of digital rudder controller, its characteristics are, this digital rudder controller comprises a transport module and a pid control module, this transport module is used for a control data packet transmission to this pid control module, this pid control module is used for that data packet is resolved and should be controlled to this control data packet and is converted to a pwm signal, also be used for based on this pwm signal this digital rudder controller being carried out PID control, to control the output of this digital rudder controller.
This pwm signal that this pid control module is changed out can be controlled the output of this digital rudder controller, and comprise the pid parameter that the user arranges in the control data of this control data packet, and utilize pid parameter and in conjunction with the real-time output of this digital rudder controller, this pid control module just can carry out PID control to this digital rudder controller, so that this digital rudder controller finally can produce the output that the user sets.
Preferably, the output of this digital rudder controller comprises the outgoing position of this digital rudder controller, the speed of this digital rudder controller and the output torque of this digital rudder controller, thereby so that digital rudder controller of the present utility model has higher control accuracy, so that this digital rudder controller can be realized more complicated motion control.
Preferably, this pid control module comprises a microcontroller chip, a level shifting circuit, a H bridge driving circuit (DC motor control circuit), a current detection circuit, an angular sensor, a train of reduction gears and a motor;
This microcontroller chip is used for controlling by this level shifting circuit and this H bridge driving circuit successively based on this pwm signal the rotation of this motor, this motor is connected with this angular sensor by this train of reduction gears, this angular sensor is for detection of the speed of outgoing position and this digital rudder controller of this digital rudder controller, and this outgoing position and this speed transferred to this microcontroller chip, this current detection circuit is used for detecting by this H bridge driving circuit the electric current of this motor, calculate the output torque of this digital rudder controller and this output torque is transferred to this microcontroller chip based on this amperemeter, this microcontroller chip is receiving this outgoing position, after this speed and this output torque, this digital rudder controller is carried out PID control.
Wherein, the output shaft of this motor is connected with this train of reduction gears, and the output shaft of this train of reduction gears is connected with this angular sensor.And detect this current outgoing position and calculate this current speed by the angle that turns in the certain hour by this angular sensor, and to calculate this current output torque based on this amperemeter all be technology well known in the art, just do not giving unnecessary details at this.
Preferably, this transport module is used for by RS485(serial communication) bus should control data packet transmission to this microcontroller chip.
Like this, this transport module utilizes this RS485 universal serial bus to carry out communication, just can form dcs, greatly reduced the control line quantity of the upper computer of receiving, with respect to traditional steering wheel, the control that can realize is counted more, and the reliability of communication is also higher, and do not need to take the resource of a lot of upper computers, greatly reduced the burden of upper computer.
Preferably, this digital rudder controller also comprises a thermally dependent resistor and a resistor voltage divider network, this thermally dependent resistor and this resistor voltage divider network all are connected with this microcontroller chip, and this microcontroller chip is used for measuring the temperature of this motor and the input voltage of this digital rudder controller by this thermally dependent resistor and this resistor voltage divider network respectively.
Preferably, this digital rudder controller also comprises a LED(light-emitting diode that is connected with this microcontroller chip) status indicator lamp, whether the electrifying startup state and the operation of this digital rudder controller that are used to indicate this digital rudder controller be normal.Wherein, whether the operation of this digital rudder controller normally comprises also whether the communication between this digital rudder controller and upper computer and this digital rudder controller various piece is normal.
Indicate in real time the current state of this digital rudder controller to the user by this led state indicator lamp; so that the user can understand the current state of this digital rudder controller in real time; and when the temperature of the input voltage of this digital rudder controller, motor and load surpass user's setting value; can protect this digital rudder controller in time; as can being the Voltage-output that is carried in the motor two ends zero; like this; just can effectively prevent the damage of the core devices such as this digital rudder controller motor internal and control circuit board, this digital rudder controller is played a very good protection.
Positive progressive effect of the present utility model is: the utility model can adopt PID to control outgoing position, speed and output torque to digital rudder controller to carry out closed loop control, thereby so that digital rudder controller has higher control accuracy, and can realize more complicated motion control.And carry out communication by the RS485 universal serial bus, just can form dcs, greatly reduced the control line quantity of the upper computer of receiving, the control that can realize is like this counted more, the reliability of communication is also higher, and do not need to take the resource of a lot of upper computers, greatly reduced the burden of upper computer.
Description of drawings
Fig. 1 is the structural representation of the digital rudder controller of a preferred embodiment of the present utility model.
Fig. 2 is the structural representation of pid control module in the digital rudder controller of a preferred embodiment of the present utility model.
Fig. 3 is the hardware structure diagram of the digital rudder controller of a preferred embodiment of the present utility model.
The specific embodiment
Provide the utility model preferred embodiment below in conjunction with accompanying drawing, to describe the technical solution of the utility model in detail.
As shown in Figure 1, digital rudder controller of the present utility model comprises a transport module 1 and a pid control module 2.
Referring to Fig. 2, in specific implementation process, this pid control module 2 specifically can comprise a microcontroller chip 21, a level shifting circuit 22, a H bridge driving circuit 23(DC motor control circuit), a current detection circuit 24, an angular sensor 25, a train of reduction gears 26 and a motor 27.
And this transport module 1(can adopt the SP3485 chip) can utilize the RS485 universal serial bus from a upper computer, to receive a control data packet, utilize with that the RS485 universal serial bus should control data packet transmission to this microcontroller chip 21, wherein, generally store the output torque of the speed of outgoing position, this digital rudder controller of this digital rudder controller that the user sets in advance and this digital rudder controller and some pid parameters etc. in this control data packet.
This microcontroller chip 21(can adopt the LPC1111 chip) receive this control data packet by the RS485 bus after, will control that data packet is resolved and be converted into corresponding pwm signal in conjunction with real-time output and the pid parameter of this digital rudder controller this, this pid control module 2 just can carry out PID control to this digital rudder controller, thereby so that this digital rudder controller finally can produce the output that the user sets, also be outgoing position, the speed of this digital rudder controller and the output torque of this digital rudder controller of this digital rudder controller of setting in advance of user.
When specific implementation, this microcontroller chip 21 can be controlled successively based on this pwm signal the rotation of this motor by this level shifting circuit 22 and this H bridge driving circuit 23, this motor 27 is connected with this angular sensor 25 by this train of reduction gears 26,25 of this angular sensors detect the outgoing position of this digital rudder controller and the speed of this digital rudder controller, and this outgoing position and this speed transferred to this microcontroller chip 21,24 electric currents that can detect by this H bridge driving circuit 23 this motor of this current detection circuit, calculate the output torque of this digital rudder controller and this output torque is transferred to this microcontroller chip 21 based on this amperemeter, this microcontroller chip 21 is receiving this outgoing position, after this speed and this output torque, this digital rudder controller is carried out PID control.
Wherein, the output shaft of this motor 27 is connected with this train of reduction gears 26, and the output shaft of this train of reduction gears 26 is connected with this angular sensor 25.And detect this current outgoing position and calculate this current speed by the angle that turns in the certain hour by this angular sensor 25, and to calculate this current output torque based on this amperemeter all be technology well known in the art, just do not giving unnecessary details at this.
Referring to Fig. 1, in order to carry out more detailed more specifically monitoring to this digital rudder controller, a thermally dependent resistor 3, a resistor voltage divider network 4 and a led state indicator lamp 5 can also be set in this digital rudder controller.Wherein, this thermally dependent resistor 3, this resistor voltage divider network 4 and this led state indicator lamp 5 all are connected with this microcontroller chip 21, then show the annexation of the hardware configuration of this digital rudder controller among Fig. 3.
This microcontroller chip 21 can be measured the temperature of this motor 27 and the input voltage of this digital rudder controller by this thermally dependent resistor 3 and this resistor voltage divider network 4 respectively, indicates in real time the current state of this digital rudder controller to the user by this led state indicator lamp 5.So just so that the user can understand the current state of this digital rudder controller in real time; and when input voltage, motor temperature and the load of this digital rudder controller surpass user's setting value; can protect this digital rudder controller in time; as can being the Voltage-output that is carried in motor 27 two ends zero; like this; just can effectively prevent the damage of the core devices such as this digital rudder controller motor internal and control circuit board, this digital rudder controller is played a very good protection.
Although more than described the specific embodiment of the present utility model, it will be understood by those of skill in the art that these only are casehistorys, protection domain of the present utility model is limited by appended claims.Those skilled in the art can make various changes or modifications to these embodiments under the prerequisite that does not deviate from principle of the present utility model and essence, but these changes and modification all fall into protection domain of the present utility model.
Claims (6)
1. digital rudder controller, it is characterized in that, it comprises a transport module and a pid control module, this transport module is used for a control data packet transmission to this pid control module, this pid control module is used for that data packet is resolved and should be controlled to this control data packet and is converted to a pwm signal, also be used for based on this pwm signal this digital rudder controller being carried out PID control, to control the output of this digital rudder controller.
2. digital rudder controller as claimed in claim 1 is characterized in that, the output of this digital rudder controller comprises the speed of the outgoing position of this digital rudder controller, this digital rudder controller and the output torque of this digital rudder controller.
3. digital rudder controller as claimed in claim 2 is characterized in that, this pid control module comprises a microcontroller chip, a level shifting circuit, a H bridge driving circuit, a current detection circuit, an angular sensor, a train of reduction gears and a motor;
This microcontroller chip is used for controlling by this level shifting circuit and this H bridge driving circuit successively based on this pwm signal the rotation of this motor, this motor is connected with this angular sensor by this train of reduction gears, this angular sensor is for detection of the speed of outgoing position and this digital rudder controller of this digital rudder controller, and this outgoing position and this speed transferred to this microcontroller chip, this current detection circuit is used for detecting by this H bridge driving circuit the electric current of this motor, calculate the output torque of this digital rudder controller and this output torque is transferred to this microcontroller chip based on this amperemeter, this microcontroller chip is receiving this outgoing position, after this speed and this output torque, this digital rudder controller is carried out PID control.
4. digital rudder controller as claimed in claim 3 is characterized in that, this transport module is used for should controlling data packet transmission to this microcontroller chip by the RS485 bus.
5. such as the described digital rudder controller of any one among the claim 1-4, it is characterized in that, this digital rudder controller also comprises a thermally dependent resistor and a resistor voltage divider network, this thermally dependent resistor and this resistor voltage divider network all are connected with this microcontroller chip, and this microcontroller chip is used for measuring the temperature of this motor and the input voltage of this digital rudder controller by this thermally dependent resistor and this resistor voltage divider network respectively.
6. digital rudder controller as claimed in claim 5 is characterized in that, this digital rudder controller also comprises a led state indicator lamp that is connected with this microcontroller chip, and whether the electrifying startup state and the operation of this digital rudder controller that are used to indicate this digital rudder controller be normal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220381514 CN202754140U (en) | 2012-08-02 | 2012-08-02 | Digital servo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220381514 CN202754140U (en) | 2012-08-02 | 2012-08-02 | Digital servo |
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| CN202754140U true CN202754140U (en) | 2013-02-27 |
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| CN 201220381514 Expired - Fee Related CN202754140U (en) | 2012-08-02 | 2012-08-02 | Digital servo |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753535A (en) * | 2014-01-08 | 2014-04-30 | 深圳市优必选科技有限公司 | Device and method for controlling single-bus modular digital actuator of robot |
| CN104407625A (en) * | 2014-09-26 | 2015-03-11 | 北京博创尚和科技有限公司 | Digital steering engine |
| CN105457249A (en) * | 2015-12-29 | 2016-04-06 | 范勤荣 | Body building boat |
| CN106113039A (en) * | 2016-07-08 | 2016-11-16 | 深圳市优必选科技有限公司 | Steering wheel lock-bit control method and steering wheel |
| CN106142084A (en) * | 2016-07-28 | 2016-11-23 | 西安旭天电子科技有限公司 | A kind of multiplex roles steering wheel |
| CN106564052A (en) * | 2016-10-19 | 2017-04-19 | 上海未来伙伴机器人有限公司 | Intelligent motor and robot |
| CN106610582A (en) * | 2015-10-27 | 2017-05-03 | 哈尔滨建成集团有限公司 | Compensation method for performance change, caused by ambient temperature change, of electric steering engine |
| CN107005129A (en) * | 2016-07-28 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of magnetic compiles steering wheel |
| CN107053172A (en) * | 2016-12-27 | 2017-08-18 | 深圳市优必选科技有限公司 | Steering wheel main board control circuit and robot |
| CN107635870A (en) * | 2016-10-27 | 2018-01-26 | 深圳市大疆创新科技有限公司 | Steering wheel and its control method, unmanned plane |
| WO2018076292A1 (en) * | 2016-10-28 | 2018-05-03 | 深圳市优必选科技有限公司 | Steering engine control system and robot |
| CN108058800A (en) * | 2016-11-08 | 2018-05-22 | 广州奥睿智能科技有限公司 | The method for controlling number of revolution and system of steering engine |
| 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 |
| 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 |
| CN109814616A (en) * | 2017-11-21 | 2019-05-28 | 深圳市优必选科技有限公司 | A kind of control method, system and the terminal device of steering engine torque |
| CN112334388A (en) * | 2019-11-19 | 2021-02-05 | 深圳市大疆创新科技有限公司 | Steering engine self-checking method, steering engine self-checking device, controller, steering engine, movable platform and computer readable storage medium |
| CN113772081A (en) * | 2021-09-28 | 2021-12-10 | 上海莘汭驱动技术有限公司 | High-performance steering engine of unmanned aerial vehicle |
-
2012
- 2012-08-02 CN CN 201220381514 patent/CN202754140U/en not_active Expired - Fee Related
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753535A (en) * | 2014-01-08 | 2014-04-30 | 深圳市优必选科技有限公司 | Device and method for controlling single-bus modular digital actuator of robot |
| CN104407625A (en) * | 2014-09-26 | 2015-03-11 | 北京博创尚和科技有限公司 | Digital steering engine |
| CN106610582A (en) * | 2015-10-27 | 2017-05-03 | 哈尔滨建成集团有限公司 | Compensation method for performance change, caused by ambient temperature change, of electric steering engine |
| CN106610582B (en) * | 2015-10-27 | 2019-05-28 | 哈尔滨建成集团有限公司 | The compensation method of electric steering engine performance change as caused by variation of ambient temperature |
| CN105457249A (en) * | 2015-12-29 | 2016-04-06 | 范勤荣 | Body building boat |
| CN106113039A (en) * | 2016-07-08 | 2016-11-16 | 深圳市优必选科技有限公司 | Steering wheel lock-bit control method and steering wheel |
| CN106113039B (en) * | 2016-07-08 | 2018-06-15 | 深圳市优必选科技有限公司 | Steering engine lock-bit control method and steering engine |
| CN107005129A (en) * | 2016-07-28 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of magnetic compiles steering wheel |
| CN106142084A (en) * | 2016-07-28 | 2016-11-23 | 西安旭天电子科技有限公司 | A kind of multiplex roles steering wheel |
| CN106564052A (en) * | 2016-10-19 | 2017-04-19 | 上海未来伙伴机器人有限公司 | Intelligent motor and robot |
| US11249491B2 (en) | 2016-10-27 | 2022-02-15 | SZ DJI Technology Co., Ltd. | Servo, control method, and unmanned aerial vehicle |
| CN107635870A (en) * | 2016-10-27 | 2018-01-26 | 深圳市大疆创新科技有限公司 | Steering wheel and its control method, unmanned plane |
| WO2018076254A1 (en) * | 2016-10-27 | 2018-05-03 | 深圳市大疆创新科技有限公司 | Steering gear and control method therefor, and unmanned aerial vehicle |
| US10478967B2 (en) | 2016-10-28 | 2019-11-19 | UBTECH Robotics Corp. | Servo control system and robot |
| WO2018076292A1 (en) * | 2016-10-28 | 2018-05-03 | 深圳市优必选科技有限公司 | Steering engine control system and robot |
| CN108058800A (en) * | 2016-11-08 | 2018-05-22 | 广州奥睿智能科技有限公司 | The method for controlling number of revolution and system of steering engine |
| CN107053172A (en) * | 2016-12-27 | 2017-08-18 | 深圳市优必选科技有限公司 | Steering wheel main board control circuit and robot |
| 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 |
| CN109814616A (en) * | 2017-11-21 | 2019-05-28 | 深圳市优必选科技有限公司 | A kind of control method, system and the terminal device of steering engine torque |
| 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 |
| CN112334388A (en) * | 2019-11-19 | 2021-02-05 | 深圳市大疆创新科技有限公司 | Steering engine self-checking method, steering engine self-checking device, controller, steering engine, movable platform and computer readable storage medium |
| WO2021097642A1 (en) * | 2019-11-19 | 2021-05-27 | 深圳市大疆创新科技有限公司 | Steering gear self-inspection method, steering gear self-inspection apparatus, controller, steering gear, movable platform and computer-readable storage medium |
| CN113772081A (en) * | 2021-09-28 | 2021-12-10 | 上海莘汭驱动技术有限公司 | High-performance steering engine of unmanned aerial vehicle |
| CN113772081B (en) * | 2021-09-28 | 2024-05-14 | 上海莘汭驱动技术有限公司 | High-performance unmanned aerial vehicle steering engine |
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Effective date of registration: 20200508 Address after: Room 612, Zone D, building 20, No. 1-42, Lane 83, Hongxiang North Road, Wanxiang Town, Pudong New Area, Shanghai Patentee after: Shanghai Yingchen Information Technology Co., Ltd Address before: 200233, 1122 North Qinzhou Road, Shanghai, 90, building 8, Xuhui District Patentee before: SHANGHAI PARTNERX ROBOTICS Co.,Ltd. |
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