CN204308952U - The control device of a kind of robot digital rudder controller - Google Patents
The control device of a kind of robot digital rudder controller Download PDFInfo
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- CN204308952U CN204308952U CN201420647164.9U CN201420647164U CN204308952U CN 204308952 U CN204308952 U CN 204308952U CN 201420647164 U CN201420647164 U CN 201420647164U CN 204308952 U CN204308952 U CN 204308952U
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Abstract
The utility model relates to the control device of a kind of robot digital rudder controller, comprise current sense module, angle sensor module, voltage sensor module and the system power supply module connected successively, voltage transformation module, microprocessor, PWM control module, H bridge driver module, brshless DC motor, reducing gear, described system power supply module is also connected with H bridge driver module; Described microprocessor is also connected with host controller by asynchronous serial bus interface, and receives the control signal of host controller; Described microprocessor exports corresponding control instruction to PWM control module according to the input voltage of the control signal of host controller, the output current of H bridge driver module, the output angle of reducing gear and system power supply module, form a comprehensive closed-loop control, greatly improve stability and the reliability of control device, and the interface of the autgmentability of raising control system, host controller is few, wiring is simple, and not producing mutual interference between each steering wheel, independence is good.
Description
Technical field
The utility model relates to robot steering wheel technical field, is specifically related to the control device of a kind of robot digital rudder controller.
Background technology
Along with the development of automation equipment application, the application of steering wheel is more and more extensive.The requirement of various application scenario to the aspect such as volume, moment of torsion, control mode, structural compatibility of steering wheel is more and more higher.Traditional digital rudder controller is large because of moment of torsion with simulation steering wheel, causes its volume also very large, brings more limitation to installation and structural configuration; And little its moment of torsion of steering wheel of volume is limited, is restricted in the application in a lot of field.For this reason, the control device of the robot digital rudder controller that volume is little, output torque is large, integrated level is high is the new direction of current robot digital rudder controller development.And traditional steering wheel directly controls direct current generator by PWM ripple, wherein pwm signal is the control signal of steering wheel, is changed the outgoing position of steering wheel by the change of PWM dutycycle.Be specially after pwm signal entering signal demodulator circuit carries out demodulation and obtain a DC offset voltage, the voltage of DC offset voltage and potentiometer compares, and obtains voltage difference and output to direct current motor drive circuit to rotate with drive motors; Rotated by multi-stage speed-reducing gear driven potentiometer, until voltage difference is zero, direct current generator then stops operating.But the control device of existing robot digital rudder controller does not have comprehensive closed-loop control system, cause that the control stability of digital rudder controller is poor, reliability is low.In addition, existing robot digital rudder controller control device adopts centerized fusion mostly, each steering wheel obtains control signal and power supply signal from host controller respectively, when steering wheel quantity is more, host controller lead-in wire is many, and wiring is complicated, and interface is various, and the serious interference between lead-in wire, this external tapping is various makes the control system miniaturization of digital rudder controller receive considerable restraint.
Utility model content
The purpose of this utility model overcomes shortcomings and deficiencies of the prior art, provides the control device of a kind of robot digital rudder controller, and good reliability, volume are little, and structure is simple.
The purpose of this utility model is achieved through the following technical solutions: the control device of a kind of robot digital rudder controller, comprise current sense module, angle sensor module, voltage sensor module and the system power supply module connected successively, voltage transformation module, microprocessor, PWM control module, H bridge driver module, brshless DC motor, reducing gear, described system power supply module is also connected with H bridge driver module; Described microprocessor is also connected with host controller by asynchronous serial bus interface, and receives the control signal of host controller; Described current sense module detects the output current of H bridge driver module and feeds back to microprocessor; Described angle sensor module detects the output angle of reducing gear and feeds back to microprocessor; The output voltage of described voltage sensor module detection system power module also transfers to microprocessor; Described microprocessor exports corresponding control instruction to PWM control module according to the input voltage of the control signal of host controller, the output current of H bridge driver module, the output angle of reducing gear and system power supply module.
Further, the control device of described robot digital rudder controller also comprises the temperature sensor be connected with microprocessor.
Further, the control device of described robot digital rudder controller also comprises the LED state indicator lamp be connected with microprocessor, is used to indicate the duty of control device.
Further, described PWM control module comprises 555 chips, electric capacity C2, a termination reference voltage of electric capacity C2, and the other end connects the THRS pin of 555 chips, TRIG pin, the positive pole of diode D1 and the negative pole of diode D2 respectively; The positive pole of diode D2 is connected with the DIS pin of 555 chips; The negative pole of diode D1 is connected with the DIS pin of 555 chips, and is connected with power supply positive pole after series resistance R2, resistance R1 successively; Power supply positive pole connects Vcc pin, the RTS pin of 555 chips respectively; The OUT pin of 555 chips exports pwm control signal as the output of PWM control module; The output control terminal of microprocessor is connect after the CV pin serial connection electric capacity C1 of 555 chips.
Operation principle of the present utility model is as follows:
Described system power supply module is connected with H bridge driver module, for brshless DC motor is powered, is microprocessor power supply after voltage transformation module is changed simultaneously; Described microprocessor, by asynchronous serial bus and host controller information interaction, receives the control instruction of host controller, and the state of steering wheel is uploaded to host controller; Described microprocessor exports corresponding control instruction to PWM control module according to the output voltage of the output angle of the reducing gear of angle sensor module feedback, the system power supply module of voltage sensor module feedback, the output current of H bridge driver module of current sense module feedback and the control signal of host controller, PWM control module exports pwm control signal control H bridge driver module according to microprocessor-based control instruction, and then drives brshless DC motor by H bridge driver module.
The utility model comprises following advantage and beneficial effect compared to existing technology:
(1) microprocessor of the present utility model is connected with host controller by asynchronous serial bus interface, each steering wheel forms chain, the autgmentability of raising control system, the interface of host controller are few, wiring simply, and does not produce mutual interference between each steering wheel, and independence is good.
(2) output current of H bridge driver module is fed back to microprocessor by described current sense module, the input voltage of system power supply module is inputed to microprocessor by voltage sensor module, the output angle of reducing gear is fed back to microprocessor by angle sensor module, form a comprehensive closed-loop control, greatly improve stability and the reliability of control device.
(3) adopt 555 chips to produce pwm control signal control H bridge driver module, thus realize the control to brshless DC motor, this PWM control module structure is simple on the one hand, realizes cost low; The maloperation that this PWM control module of another aspect effectively avoids signal jitter to produce, improves the performance of the control device of robot digital rudder controller.
Accompanying drawing explanation
Fig. 1 is the schematic block circuit diagram in the utility model embodiment;
Fig. 2 is the circuit theory diagrams of pwm control circuit in the utility model embodiment.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
Embodiment
As shown in Figure 1, the control device of a kind of robot digital rudder controller, comprise current sense module, angle sensor module, voltage sensor module, temperature sensor, LED state indicator lamp and the system power supply module connected successively, voltage transformation module, microprocessor, PWM control module, H bridge driver module, brshless DC motor, reducing gear, described temperature sensor and LED state indicator lamp are connected with microprocessor respectively; Described system power supply module is also connected with H bridge driver module; Described microprocessor is also connected with host controller by asynchronous serial bus interface, and receives the control signal of host controller; Described current sense module detects the output current of H bridge driver module and feeds back to microprocessor; Described angle sensor module detects the output angle of reducing gear and feeds back to microprocessor; The output voltage of described voltage sensor module detection system power module also transfers to microprocessor; Described microprocessor exports corresponding control instruction to PWM control module according to the input voltage of the control signal of host controller, the output current of H bridge driver module, the output angle of reducing gear and system power supply module.Described voltage transformation module is 5V voltage transformation module, is microprocessor power supply after the output voltage of system power supply module being converted to 5V DC voltage.
Described system power supply module is connected with H bridge driver module, for brshless DC motor is powered, is microprocessor power supply after voltage transformation module is changed simultaneously; Described microprocessor, by asynchronous serial bus and host controller information interaction, receives the control instruction of host controller, and the state of steering wheel is uploaded to host controller; Described microprocessor exports corresponding control instruction to PWM control module according to the output voltage of the output angle of the reducing gear of angle sensor module feedback, the system power supply module of voltage sensor module feedback, the output current of H bridge driver module of current sense module feedback and the control signal of host controller, PWM control module exports pwm control signal control H bridge driver module according to microprocessor-based control instruction, and then drives brshless DC motor by H bridge driver module.
As shown in Figure 2, in the present embodiment, described PWM control module comprises 555 chips, electric capacity C2, a termination reference voltage of electric capacity C2, and the other end connects the THRS pin of 555 chips, TRIG pin, the positive pole of diode D1 and the negative pole of diode D2 respectively; The positive pole of diode D2 is connected with the DIS pin of 555 chips; The negative pole of diode D1 is connected with the DIS pin of 555 chips, and is connected with power supply positive pole after series resistance R2, resistance R1 successively; Power supply positive pole connects Vcc pin, the RTS pin of 555 chips respectively; The OUT pin of 555 chips exports pwm control signal as the output of PWM control module; The output control terminal of microprocessor is connect after the CV pin serial connection electric capacity C1 of 555 chips.
The temperature of the control device of the real-time measuring robots digital rudder controller of described temperature sensor; when the temperature of the control device of robot digital rudder controller exceedes preset temperature threshold value; microprocessor stops exporting control instruction; brshless DC motor is stopped, realizing the protection of the control device of robot digital rudder controller.
The duty of the control device of robot digital rudder controller is carried out output display by LED state indicator lamp by microprocessor in real time, and person easy to use simply, directly knows the duty of control device.
The control device of described robot digital rudder controller also comprises the Overvoltage protecting unit, overload protection unit, the under-voltage protection unit that are connected with microprocessor respectively.
The above embodiment only have expressed embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the utility model the scope of the claims.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (4)
1. the control device of a robot digital rudder controller, it is characterized in that: comprise current sense module, angle sensor module, voltage sensor module and the system power supply module connected successively, voltage transformation module, microprocessor, PWM control module, H bridge driver module, brshless DC motor, reducing gear, described system power supply module is also connected with H bridge driver module; Described microprocessor is also connected with host controller by asynchronous serial bus interface, and receives the control signal of host controller; Described current sense module detects the output current of H bridge driver module and feeds back to microprocessor; Described angle sensor module detects the output angle of reducing gear and feeds back to microprocessor; The output voltage of described voltage sensor module detection system power module also transfers to microprocessor; Described microprocessor exports corresponding control instruction to PWM control module according to the input voltage of the control signal of host controller, the output current of H bridge driver module, the output angle of reducing gear and system power supply module.
2. the control device of robot according to claim 1 digital rudder controller, is characterized in that: the control device of described robot digital rudder controller also comprises the temperature sensor be connected with microprocessor.
3. the control device of robot according to claim 1 digital rudder controller, is characterized in that: the control device of described robot digital rudder controller also comprises the LED state indicator lamp be connected with microprocessor, is used to indicate the duty of control device.
4. the control device of the robot digital rudder controller according to any one of claims 1 to 3, it is characterized in that: described PWM control module comprises 555 chips, electric capacity C2, the one termination reference voltage of electric capacity C2, the other end connects the THRS pin of 555 chips, TRIG pin, the positive pole of diode D1 and the negative pole of diode D2 respectively; The positive pole of diode D2 is connected with the DIS pin of 555 chips; The negative pole of diode D1 is connected with the DIS pin of 555 chips, and is connected with power supply positive pole after series resistance R2, resistance R1 successively; Power supply positive pole connects Vcc pin, the RTS pin of 555 chips respectively; The OUT pin of 555 chips exports pwm control signal as the output of PWM control module; The output control terminal of microprocessor is connect after the CV pin serial connection electric capacity C1 of 555 chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420647164.9U CN204308952U (en) | 2014-10-30 | 2014-10-30 | The control device of a kind of robot digital rudder controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420647164.9U CN204308952U (en) | 2014-10-30 | 2014-10-30 | The control device of a kind of robot digital rudder controller |
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| CN204308952U true CN204308952U (en) | 2015-05-06 |
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| CN201420647164.9U Expired - Fee Related CN204308952U (en) | 2014-10-30 | 2014-10-30 | The control device of a kind of robot digital rudder controller |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313058A (en) * | 2016-11-09 | 2017-01-11 | 兰州大学 | Steering engine control device for outputting multipath high-precision pulse width modulation (PWM) signals |
| 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 |
| CN106597907A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Driving control circuit and robot |
| CN106695789A (en) * | 2016-12-27 | 2017-05-24 | 深圳市优必选科技有限公司 | Steering engine mainboard and robot |
| CN107005183A (en) * | 2016-08-05 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of steering wheel |
| CN107231104A (en) * | 2017-07-22 | 2017-10-03 | 黄山市科乐思通机器人科技有限公司 | A kind of steering wheel with Radio Control Function |
| CN107253214A (en) * | 2017-07-31 | 2017-10-17 | 南京阿凡达机器人科技有限公司 | A kind of digital steering wheel of extended pattern and its method of work |
| CN107346118A (en) * | 2017-07-13 | 2017-11-14 | 清华大学深圳研究生院 | The control system and control method of a kind of steering wheel |
| CN112783011A (en) * | 2019-11-07 | 2021-05-11 | 南京国器智能装备有限公司 | Steering engine control method based on CAN bus |
-
2014
- 2014-10-30 CN CN201420647164.9U patent/CN204308952U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107005183A (en) * | 2016-08-05 | 2017-08-01 | 深圳市创客工场科技有限公司 | A kind of steering wheel |
| WO2018023725A1 (en) * | 2016-08-05 | 2018-02-08 | 深圳市创客工场科技有限公司 | Servo motor |
| 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 |
| CN106313058A (en) * | 2016-11-09 | 2017-01-11 | 兰州大学 | Steering engine control device for outputting multipath high-precision pulse width modulation (PWM) signals |
| CN106695789A (en) * | 2016-12-27 | 2017-05-24 | 深圳市优必选科技有限公司 | Steering engine mainboard and robot |
| CN106597907A (en) * | 2016-12-30 | 2017-04-26 | 深圳市优必选科技有限公司 | Driving control circuit and robot |
| CN106597907B (en) * | 2016-12-30 | 2024-05-03 | 深圳市优必选科技股份有限公司 | Drive control circuit and robot |
| CN107346118A (en) * | 2017-07-13 | 2017-11-14 | 清华大学深圳研究生院 | The control system and control method of a kind of steering wheel |
| CN107231104A (en) * | 2017-07-22 | 2017-10-03 | 黄山市科乐思通机器人科技有限公司 | A kind of steering wheel with Radio Control Function |
| CN107253214A (en) * | 2017-07-31 | 2017-10-17 | 南京阿凡达机器人科技有限公司 | A kind of digital steering wheel of extended pattern and its method of work |
| CN112783011A (en) * | 2019-11-07 | 2021-05-11 | 南京国器智能装备有限公司 | Steering engine control method based on CAN bus |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150506 Termination date: 20181030 |