CN203588023U - Electric servo mechanism based on ARM controller - Google Patents
Electric servo mechanism based on ARM controller Download PDFInfo
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- CN203588023U CN203588023U CN201320764758.3U CN201320764758U CN203588023U CN 203588023 U CN203588023 U CN 203588023U CN 201320764758 U CN201320764758 U CN 201320764758U CN 203588023 U CN203588023 U CN 203588023U
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Abstract
The utility model discloses an electric servo mechanism based on an ARM controller. The electric servo mechanism based on the ARM controller includes a control module, a driver module and an electric steering engine; the control module includes the ARM controller, a first signal preprocessing circuit, a second signal preprocessing circuit, a third signal preprocessing circuit and a logic circuit; the input end of the first signal preprocessing circuit is connected with a steering control signal; the input end of the second signal preprocessing circuit is connected to a feedback end of the electric steering engine; the input end of the third signal preprocessing circuit is connected to the feedback end of the driver module; the output end of the first signal preprocessing circuit, the output end of the second signal preprocessing circuit and the output end of the third signal preprocessing circuit are connected with the input end of the ARM controller; the input end of the logic circuit is connected to the output end of the ARM controller; the input end of the driver module is connected to the output end of the logic circuit; and the input end of the electric steering engine is connected to the output end of the driver module. The electric servo mechanism based on the ARM controller has the characteristics of high integration degree, flexible control method, and fast running speed.
Description
Technical field
The utility model belongs to motor control mechanism field, is specifically related to a kind of electric servomechanism based on ARM controller.
Background technology
Electric servomechanism is a kind of servo-control system, and it carries out rudder control signal and rudder feedback signal comprehensively, amplifies, and drive motor drives gear train running, allows rudder follow Control signal of the rudder beat.
Disclosed electric servomechanism type has simulation control type, the digital control type of DSP, the digital control type of single-chip microcomputer, FPGA FPGA (Field Programmable Gate Array) control type, and the motor of control has: have brushless motor, brshless DC motor, ac synchronous motor.In controller, simulation control type and the application of DSP control type are more, but simulation control type is because of debug difficulties, is difficult to adapt to the needs of servo control mechanism development; DSP type, because of powerful, use performance affluence excessive, and price is higher; Single-chip microcomputer is limited because of performance, and its application obtains certain limitation; FPGA FPGA (Field Programmable Gate Array) control type is because realizing complexity, and popularization and application is restricted.
Utility model content
For above defect or the Improvement requirement of prior art, the utility model provides a kind of electric servomechanism based on ARM controller, and its object is to improve the utilization ratio of control chip, to simplify servo control mechanism structure, reduces costs.
A kind of electric servomechanism based on ARM controller that the utility model provides comprises control module, driver module and electric steering engine; Described control module comprises: ARM controller, first signal pre-process circuit, secondary signal pre-process circuit, the 3rd signal pre-processing circuit and logical circuit; The input end of described first signal pre-process circuit is used for connecting rudder control signal, and the input end of described secondary signal pre-process circuit is connected to the feedback end of described electric steering engine; The input end of described the 3rd signal pre-processing circuit is connected to the feedback end of described driver module; The output terminal of the output terminal of the output terminal of described first signal pre-process circuit, described secondary signal pre-process circuit and described the 3rd signal pre-processing circuit is all connected with the input end of described ARM controller; The input end of described logical circuit is connected to the output terminal of described ARM controller; The input end of described driver module is connected to the output terminal of described logical circuit; The input end of described electric steering engine is connected to the output terminal of described driver module.
Further, also comprise and being connected with driver module with described control module respectively and for the electric power management circuit of operating voltage is provided.
Further, described electric power management circuit comprises: the power supply, dcdc converter and the low-dropout regulator that connect successively; Described dcdc converter has two output terminals, and one for output+-15V voltage, and another is for output+5V voltage; The output terminal of described low-dropout regulator is for output+3.3V voltage.
Further, described electric power management circuit and described control module are integrated in one.
Further, described logical circuit comprises: clock circuit, programmable logic device (PLD) and buffering drive chip; The clock signal terminal of described programmable logic device (PLD) connects described clock circuit, and the power end of described programmable logic device (PLD) is for connection+3.3V voltage, and the input end of described programmable logic device (PLD) is for connecting the output terminal of described ARM controller; Described buffering drives the input end of chip to be connected to the output terminal of described programmable logic device (PLD), and described buffering drives the output terminal of chip to be used for connecting described driver module.
Further, described driver module comprises: photoelectric isolating circuit, motor drive module and current sensor; The input end of described photoelectric isolating circuit is connected to the output terminal of described logical circuit, the input end of described motor drive module is connected to the output terminal of described photoelectric isolating circuit, the power end of described motor drive module is for connection+-15V voltage, and the output terminal of described motor drive module is used for connecting described electric steering engine; The input end of described current sensor is connected to the output terminal of described motor drive module, and the output terminal of described current sensor is connected to the input end of described the 3rd signal pre-processing circuit; The power end of described current sensor is for connection+5V voltage.
Further, described electric steering engine comprises: angular transducer and the motor, gear train and the output shaft that connect successively; The input end of described motor is for being connected to the output terminal of described driver module, and the output terminal of described output shaft is used for connecting rudder face; The input end of described angular transducer is connected with described output shaft, and the output terminal of described angular transducer is for being connected to the input end of described secondary signal pre-process circuit.
Further, described motor is brush direct current motor or DC brushless motor.
The electric servomechanism based on ARM controller that the utility model provides has the distinguishing feature that integrated level is high, control method is flexible, travelling speed is fast, ARM controller is Developing controller the most rapidly, it selects with accommodation broad, good and cheap, can select as required the ARM controller of different performance; Control programming in logic algorithm able to programme is flexible, by changing control logical algorithm able to programme, controller based on ARM can have been controlled respectively brushless motor or brshless DC motor operation through power driver module, by gear train, drive control surface deflection, by angular transducer, the angle number of believing one side only is fed back to ARM controller, form different closed loop servos, be applied to various servo-drive systems.
Accompanying drawing explanation
The modular structure schematic diagram of the electric servomechanism based on ARM controller that Fig. 1 provides for the utility model;
The internal module structural representation of electric power management circuit in the electric servomechanism based on ARM controller that Fig. 2 provides for the utility model;
The internal module structural representation of logical circuit in the electric servomechanism based on ARM controller that Fig. 3 provides for the utility model;
The internal module structural representation of driver module in the electric servomechanism based on ARM controller that Fig. 4 provides for the utility model;
The internal module structural representation of electric steering engine in the electric servomechanism based on ARM controller that Fig. 5 provides for the utility model.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.In addition,, in each embodiment of described the utility model, involved technical characterictic just can not combine mutually as long as do not form each other conflict.
The utility model discloses a kind of electric servomechanism based on ARM controller, comprise control module 1, driver module 2 and electric steering engine 3; Control module 1 comprises ARM controller 11, first signal pre-process circuit 12, secondary signal pre-process circuit 13, the 3rd signal pre-processing circuit 14 and logical circuit 15; Wherein ARM controller is processed rear output rudder by first signal pre-process circuit 12, secondary signal pre-process circuit 13, the 3rd signal pre-processing circuit 14 by the rudder control signal of collection, rudder feedback signal and motor current signal respectively and is driven signal, through driver module, controlling driven by motor electric steering engine rotates, angular transducer feedback output shaft (rudder face) deflection angle, control output shaft (rudder face) and deflect into predetermined angle, thereby rudder face is rotated by the requirement of rudder control signal.The utility model adopts ARM digital servo to control, all servo control mechanism control methods are integrated in controller and are completed, have that integrated level is high, control method distinguishing feature flexibly, electric servomechanism controller volume based on ARM controller is little, lightweight, servo control mechanism adapts to wide.
As shown in Figure 1, the electric servomechanism based on ARM controller, comprises control module 1, driver module 2 and electric steering engine 3; Control module 1 comprises ARM controller 11, first signal pre-process circuit 12, secondary signal pre-process circuit 13, the 3rd signal pre-processing circuit 14 and logical circuit 15; The input end of first signal pre-process circuit 12 is used for connecting rudder control signal, and the input end of secondary signal pre-process circuit 13 is connected to the feedback end of described electric steering engine 3; The input end of described the 3rd signal pre-processing circuit 14 is connected to the feedback end of described driver module 2; The output terminal of the output terminal of the output terminal of first signal pre-process circuit 12, described secondary signal pre-process circuit 13 and described the 3rd signal pre-processing circuit 14 is all connected with the input end of described ARM controller 11; The input end of logical circuit 15 is connected to the output terminal of described ARM controller 11; The input end of described driver module 2 is connected to the output terminal of described logical circuit 15; The input end of electric steering engine 3 is connected to the output terminal of described driver module 2.
In the utility model, under the control of ARM controller, gather the input value of control signal, rudder feedback signal, current signal, after carrying out filtering noise reduction, by ARM controller, it is processed and output drive signal signal pre-processing circuit, through buffering driving, optocoupler, power drive, the running of driving electric steering wheel.When the electric servomechanism based on ARM has after control signal input, by control signal, rudder feedback signal and current signal input control device, output drive signal after ARM controller is processed it, by H bridge or three-phase bridge driving circuit drive motor direction and speed as requested, rotate, through gear train, drive output shaft rotation.With the coaxial mounted angular transducer of output shaft, feedback deflection angle positional information, to controller, forms the closed-loop control of system, realizes the controlled deflection of angle.
The electric servomechanism based on ARM controller that the utility model provides has the distinguishing feature that integrated level is high, control method flexible, travelling speed is accelerated, by the control of control logic able to programme, controller based on ARM can have been controlled respectively brushless motor and brshless DC motor by power driver module, by gear train, drives control surface deflection.
Current ARM controller development rapidly, of a great variety, goes for the ARM controller of different function requirements in the electric servomechanism that the utility model provides.
In the utility model, the electric servomechanism based on ARM controller also comprises and being connected with driver module 2 with control module 1 respectively and for the electric power management circuit 4 of operating voltage is provided.
Wherein, as shown in Figure 2, electric power management circuit 4 comprises: the power supply 41, dcdc converter 42 and the low-dropout regulator 43 that connect successively; Dcdc converter 42 has two output terminals, and one for output+-15V voltage, and another is for output+5V voltage; The output terminal of low-dropout regulator 43 is for output+3.3V voltage.
As a preferred embodiment of the present utility model, comprise ARM controller, electric power management circuit, signal pre-processing circuit, Programmable Logic Device etc. and can be integrated on control panel, drive part comprises photoelectric isolating circuit, integrated driver module; And electric steering engine is one independently whole.Control panel can be connected by electric connector with drive plate, and electric steering engine can be connected with drive plate by cable.
As shown in Figure 3, logical circuit 15 comprises: clock circuit 151, programmable logic device (PLD) 152 and buffering drive chip 153; Wherein the clock signal terminal of programmable logic device (PLD) 152 connects clock circuit 151, and the power end of programmable logic device (PLD) 152 is for connection+3.3V voltage, and the input end of programmable logic device (PLD) 152 is for connecting the output terminal of ARM controller 11; Buffering drives the input end of chip 153 to be connected to the output terminal of programmable logic device (PLD) 152, and buffering drives the output terminal of chip 153 to be used for connecting driver module 2.
As shown in Figure 4, driver module 2 comprises: photoelectric isolating circuit 21, motor drive module 22 and current sensor 23; The input end of photoelectric isolating circuit 21 is connected to the output terminal of logical circuit 15, the input end of motor drive module 22 is connected to the output terminal of photoelectric isolating circuit 21, the power end of motor drive module 22 is for connection+-15V voltage, and the output terminal of motor drive module 22 is used for connecting electric steering engine 3; The input end of current sensor 23 is connected to the output terminal of motor drive module 22, and the output terminal of current sensor 23 is connected to the input end of the 3rd signal pre-processing circuit 14; The power end of current sensor 23 is for connection+5V voltage.
As shown in Figure 5, electric steering engine 3 comprises: angular transducer 34 and the motor 31, gear train 32 and the output shaft 33 that connect successively; The input end of motor 31 is for being connected to the output terminal of driver module 2, and the output terminal of output shaft 33 is used for connecting rudder face; The input end of angular transducer 34 is connected with output shaft 33, and the output terminal of angular transducer 34 is for being connected to the input end of secondary signal pre-process circuit 13.
In the utility model, motor 31 can be brush direct current motor, can be also DC brushless motor.
For the electric servomechanism based on ARM controller that further description the utility model provides, existing in conjunction with instantiation, details are as follows:
It is the chip of STM32F103ZET6 that ARM controller 11 can adopt model; The computing circuit that first signal pre-process circuit 12, secondary signal pre-process circuit 13, the 3rd signal pre-processing circuit 14 can adopt operational amplifier OPA364 to form, biasing reference circuit is taken into account operational amplifier OPA335 by current potential and is formed; Clock circuit 151 selects 12MHz crystal resonator and interlock circuit to form, and CPLD logical circuit 152 can be selected EMP240T100I chip, and buffering drive circuit is selected SN74LVC245A chip.Photoelectric isolating circuit 21 is comprised of photoelectrical coupler HCPL-3120#300 and interlock circuit; Motor drive module 22 can adopt IGBT module FS200R06KL4; Current sensor 23 can adopt ACS754LCB-100-PFF.Motor 31 can adopt brush motor J40SY120B or brushless electric machine J40ZWX01; Gear train 32 can adopt harmonic gear drive mechanism or gear+ball-screw transmission mechanism; Output shaft 33 self-controls; Angular transducer 34 can adopt WHS (H) 22-1.Power supply 41 can be selected common+28V power supply; ± 15V+5VDC/DC module 42 can be selected LSA2815D and LHF2805S (F); Low-dropout regulator 43 can be selected TPS73HD318PWP chip.
In the utility model, the electric servomechanism based on ARM controller comprises control section, drive part and steering wheel part; Wherein control section comprises ARM controller, electric power management circuit, signal pre-processing circuit, CPLD Programmable Logic Device, buffering drive circuit, power-switching circuit; Drive part comprises power drive photoelectrical coupler and H bridge or three-phase bridge driving circuit; Steering wheel partly comprises motor, gear train, output shaft, angular transducer.
The control signal of control section is inputted by host computer, through signal pre-processing circuit, then send ARM leukorrhea A/D converter, rudder feedback signal, current signal send A/D converter after signal is processed simultaneously, under the control of ARM, A/D converter Jiang San road simulating signal is converted to digital signal, and import respectively that ARM carries out digital filtering and rudder control signal is processed into, the Control signal of the rudder after processing is through pulse width modulator PWM output, output simultaneously control in addition direction signal.
Wherein electric power management circuit is by DC/DC transducer, input power is transformed to+5V, ± 15V, for system digits circuit, mimic channel, power circuit portion, in addition, by be transformed to+3.3V of low-dropout regulator LDO general+5V for ARM controller, digital circuit, signal processor circuit.
Programmable Logic Device comprises clock circuit, buffering drive circuit, CPLD logical circuit receives direction signal, pwm signal and the DC brushless motor output San road hall signal of ARM controller output, process out the control signal of control DC brushless motor or control brush direct current motor, through 74LVC4245A chip buffering rear drive isolation optocoupler.
Input signal (containing control inputs signal, rudder feedback signal, motor current signal), after signal pre-processing circuit filtering and signal conversion, is converted to the range ability of the A/D converter permission of ARM controller expansion, A/D converter collection altogether.Hall signal translation circuit is converted to the hall signal of DC brushless motor output the signal level of CPLD FPGA (Field Programmable Gate Array) compatibility.
Photoelectric isolating driving circuit, power of motor driving circuit and drive part DC/DC power converting circuit used.Photoelectric isolating driving circuit receives the motor operation control signal of control section, the driving signal of output drive motor power driver module, and its main circuit is photoelectrical coupler.Power of motor driver module is used for driving brush direct current motor or DC brushless motor, drives control surface deflection after gear train.DC/DC power converting circuit provides 4 road 15V power supplys, for three phase bridge circuit, uses, and provides a road 5V Power supply flow sensor to use.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (8)
1. the electric servomechanism based on ARM controller, is characterized in that, comprises control module (1), driver module (2) and electric steering engine (3); Described control module (1) comprising: ARM controller (11), first signal pre-process circuit (12), secondary signal pre-process circuit (13), the 3rd signal pre-processing circuit (14) and logical circuit (15);
The input end of described first signal pre-process circuit (12) is used for connecting rudder control signal, and the input end of described secondary signal pre-process circuit (13) is connected to the feedback end of described electric steering engine (3); The input end of described the 3rd signal pre-processing circuit (14) is connected to the feedback end of described driver module (2);
The output terminal of the output terminal of the output terminal of described first signal pre-process circuit (12), described secondary signal pre-process circuit (13) and described the 3rd signal pre-processing circuit (14) is all connected with the input end of described ARM controller (11);
The input end of described logical circuit (15) is connected to the output terminal of described ARM controller (11);
The input end of described driver module (2) is connected to the output terminal of described logical circuit (15);
The input end of described electric steering engine (3) is connected to the output terminal of described driver module (2).
2. electric servomechanism as claimed in claim 1, is characterized in that, also comprises being connected with driver module (2) with described control module (1) respectively and for the electric power management circuit (4) of operating voltage is provided.
3. electric servomechanism as claimed in claim 2, is characterized in that, described electric power management circuit (4) comprising: the power supply (41), dcdc converter (42) and the low-dropout regulator (43) that connect successively; Described dcdc converter (42) has two output terminals, and one for output+-15V voltage, and another is for output+5V voltage; The output terminal of described low-dropout regulator (43) is for output+3.3V voltage.
4. electric servomechanism as claimed in claim 2 or claim 3, is characterized in that, described electric power management circuit (4) is integrated in one with described control module (1).
5. electric servomechanism as claimed in claim 1, is characterized in that, described logical circuit (15) comprising: clock circuit (151), programmable logic device (PLD) (152) and buffering drive chip (153);
The clock signal terminal of described programmable logic device (PLD) (152) connects described clock circuit (151), the power end of described programmable logic device (PLD) (152) is for connection+3.3V voltage, and the input end of described programmable logic device (PLD) (152) is used for connecting the output terminal of described ARM controller (11);
Described buffering drives the input end of chip (153) to be connected to the output terminal of described programmable logic device (PLD) (152), and described buffering drives the output terminal of chip (153) to be used for connecting described driver module (2).
6. electric servomechanism as claimed in claim 1, is characterized in that, described driver module (2) comprising: photoelectric isolating circuit (21), motor drive module (22) and current sensor (23);
The input end of described photoelectric isolating circuit (21) is connected to the output terminal of described logical circuit (15), the input end of described motor drive module (22) is connected to the output terminal of described photoelectric isolating circuit (21), the power end of described motor drive module (22) is for connection+-15V voltage, and the output terminal of described motor drive module (22) is used for connecting described electric steering engine (3);
The input end of described current sensor (23) is connected to the output terminal of described motor drive module (22), and the output terminal of described current sensor (23) is connected to the input end of described the 3rd signal pre-processing circuit (14); The power end of described current sensor (23) is for connection+5V voltage.
7. electric servomechanism as claimed in claim 1, is characterized in that, described electric steering engine (3) comprising: angular transducer (34) and the motor (31), gear train (32) and the output shaft (33) that connect successively; The input end of described motor (31) is used for being connected to the output terminal of described driver module (2), and the output terminal of described output shaft (33) is used for connecting rudder face;
The input end of described angular transducer (34) is connected with described output shaft (33), and the output terminal of described angular transducer (34) is used for being connected to the input end of described secondary signal pre-process circuit (13).
8. electric servomechanism as claimed in claim 7, is characterized in that, described motor (31) is brush direct current motor or DC brushless motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320764758.3U CN203588023U (en) | 2013-11-27 | 2013-11-27 | Electric servo mechanism based on ARM controller |
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| CN201320764758.3U CN203588023U (en) | 2013-11-27 | 2013-11-27 | Electric servo mechanism based on ARM controller |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444426A (en) * | 2016-10-31 | 2017-02-22 | 陕西航天时代导航设备有限公司 | Method for designing electric actuator based on harmonic decelerating mechanism |
| 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 |
| CN107196380A (en) * | 2017-07-18 | 2017-09-22 | 深圳诺欧博智能科技有限公司 | A kind of power management system of robot and robot |
| CN113848758A (en) * | 2021-09-29 | 2021-12-28 | 中国民航大学 | Numerical and semi-physical simulation platform for fault injection of flight control electromechanical actuation system |
| CN114228825A (en) * | 2021-12-27 | 2022-03-25 | 天津德科智控股份有限公司 | Electric power steering control system and method |
-
2013
- 2013-11-27 CN CN201320764758.3U patent/CN203588023U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444426A (en) * | 2016-10-31 | 2017-02-22 | 陕西航天时代导航设备有限公司 | Method for designing electric actuator based on harmonic decelerating mechanism |
| CN106444426B (en) * | 2016-10-31 | 2019-08-20 | 陕西航天时代导航设备有限公司 | Electric steering engine design method based on harmonic reducing mechanism |
| 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 |
| CN107196380A (en) * | 2017-07-18 | 2017-09-22 | 深圳诺欧博智能科技有限公司 | A kind of power management system of robot and robot |
| CN113848758A (en) * | 2021-09-29 | 2021-12-28 | 中国民航大学 | Numerical and semi-physical simulation platform for fault injection of flight control electromechanical actuation system |
| CN114228825A (en) * | 2021-12-27 | 2022-03-25 | 天津德科智控股份有限公司 | Electric power steering control system and method |
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