CN205336163U

CN205336163U - Steering wheel based on three -phase two poles of earth thoughts brushless DC motor

Info

Publication number: CN205336163U
Application number: CN201521132799.6U
Authority: CN
Inventors: 王静; 朱玉玉
Original assignee: Mianyang Saiyan Electronic Technology Co Ltd
Current assignee: Mianyang Saiyan Electronic Technology Co Ltd
Priority date: 2015-12-31
Filing date: 2015-12-31
Publication date: 2016-06-22
Anticipated expiration: 2025-12-31

Abstract

The utility model discloses a steering wheel based on three -phase two poles of earth thoughts brushless DC motor belongs to electron technical field. Including power supply circuit, microprocessor circuit, commutation control circuit, sensing detection circuitry, brushless motor, reducing gear box and linear potentiometer. Power supply circuit gives each module circuit power supply, and input pulse control signal is caught to the microprocessor circuit to detect current voltage, electric current, position feedback signal, realize the electron switching -over through commutation control circuit behind analysis, drive brushless motor and rotate, export the angle that corresponds through the reducing gear box with the meshing of brushless motor machinery. The utility model discloses based on three -phase the two poles of the earth thoughts brushless DC motor, can promote velocity range and output torque that current steering wheel restricted because of the machinery switching -over, but wide application in model aeroplane and model ship motion, various electronic product and robot control.

Description

A kind of steering wheel based on three-phase the two poles of the earth thoughts brshless DC motor

Technical field

This utility model relates to a kind of brushless steering wheel, is specifically related to a kind of steering wheel based on three-phase the two poles of the earth thoughts brshless DC motor, belongs to electronic technology field。

Background technology

Steering wheel, by inputting pwm control signal, exports corresponding angle information, can be used for the control system that those angles need to be continually changing and can keep。Model being applied more, be mainly used in the rudder face of Controlling model, so being commonly called as steering wheel, as controlled the lifting of aircraft, direction, realizing various athletic posture or track；With robot building in recent years and exploitation upsurge, the range of application of steering wheel is more and more extensive, as provided multiple degrees of freedom for robot so that it is complete various different action。But owing to China's precision manufactureing integral level is not high, key components and parts techno-absence, heavy dependence import, particularly particularly evident with the gap of foreign technology in high-performance steering wheel。This situation causes various aircraft, robot cost high, has influence on robot, being widely popularized of model simultaneously。The direct current generator adopted on current steering wheel is usually standard rotor motor and drag cup brush motor, has increasingly been not suitable with present needs, is embodied in following shortcoming in speed, torsion, reliability etc.:

1, brush motor adopts the frame for movement of brush commutation to limit velocity interval, and the response speed making steering wheel is relatively low。

2, brush motor is when rotating speed is higher, and brush friction increases, and therefore decreases useful torque and service life。

3, not having high side current monitoring function, or adopt and directly go here and there resistance detection, accuracy of detection is low。

Utility model content

In order to overcome above-mentioned the deficiencies in the prior art, this utility model provides a kind of steering wheel based on three-phase the two poles of the earth thoughts brshless DC motor。

This utility model be the technical scheme is that

A kind of steering wheel based on three-phase the two poles of the earth thoughts brshless DC motor, including reduction box and linear potentiometer, power circuit, microcontroller circuit, commutation control circuit, sensing detection circuit, brushless electric machine, described power circuit is by 4～9V DC voltage level conversion of input, output is to microcontroller circuit, commutation control circuit, sensing detection circuit and brushless electric machine, the described microcontroller circuit 0.5～2.5ms pulse signal according to input, output control signals to commutation control circuit, in order to drive the brushless electric machine being connected with commutation control circuit, and be directly connected to brushless electric machine, the rotor-position of detection brushless electric machine, described sensing detection circuit connects brushless electric machine dc bus, also it is connected through linear potentiometer with reduction box simultaneously, by busbar voltage, the angle position of electric current and reduction box output is converted to voltage signal, it is connected to microcontroller circuit, form closed loop feedback, described reduction box engages with motor output gear, output angle position。

Further, brushless electric machine is three-phase the two poles of the earth thoughts brshless DC motors, have inside brushless electric machine 3 Hall elements and space spaced 120 ° symmetrically placed, brushless electric motor rotor is made with a pair permanent magnet, including N pole and S pole。

Further, commutation control circuit is three-phase bridge circuit, including bipolarity field effect transistor MT4607。

Further, sensing detection circuit includes high side current watch-dog ZXCT1009。

Compared with prior art, the beneficial effects of the utility model are:

1, based on the steering wheel of three-phase the two poles of the earth thoughts brshless DC motor, replace brush commutation by three-phase bridge commutation control circuit, there is the higher range of speeds, make steering wheel have fast dynamic response。

2, include bipolarity field effect transistor MT4607, monolithic chip is integrated with 1 N-type field effect transistor and 1 P type field effect transistor, it is easy to reduce panel volume。

3, having compared brush steering wheel, brushless steering wheel does not have the friction of brush, makes the longer service life of brushless steering wheel yet, and noise is lower。

4, use high side current watch-dog ZXCT1009 that load current accurate, high efficiency can not only be provided to measure, additionally it is possible to be able to detect that the fault in follow-up loop is to take corresponding protective measure。

Accompanying drawing explanation

Fig. 1 is the steering wheel structural representation based on three-phase the two poles of the earth thoughts brshless DC motor of a preferred embodiment of the present utility model；

Fig. 2 is the current monitoring circuit schematic diagram of a preferred embodiment of the present utility model；

Fig. 3 is the commutation control circuit schematic diagram of a preferred embodiment of the present utility model。

Detailed description of the invention

Fig. 1 describes a kind of steering gear system structure based on three-phase the two poles of the earth thoughts brshless DC motor, there is brushed DC electric machine rotation to be based on electrical conductor principle of stress in magnetic field, and brshless DC motor is to lean on the active force between the magnetic field of stator winding generation and PM rotor magnetic field to pull rotor to rotate。System is mainly made up of power circuit, microcontroller circuit, commutation control circuit, sensing detection circuit, brushless electric machine, reduction box and linear potentiometer。

The DC source of power circuit input is 4V～9V, directly feed commutation control circuit after filtering afterwards, 4V～9V DC voltage level is changed, adopts power supply voltage stabilizing chip HT7533 by input voltage surely to 3.3V, supply microcontroller circuit, sensing detection circuit, brushless electric machine。

Microcontroller circuit is with single-chip microcomputer STM32F103 for control core, also include peripheral reset circuit, clock circuit, it is achieved position of rotor of brushless motor detection, input control signal are caught, the control signal of commutation control circuit of sampling through the AD of sensing detection circuit input signal, export。Have inside brushless electric machine 3 Hall elements and space spaced 120 ° symmetrically placed, but owing to erection sequence or observed direction are different, the hall signal sensor order at 120 degree of mutual interval is likely to difference, practical operation can slightly rotate clockwise brushless electric machine output gear, high level (3.3V) is represented with 1, low level (0V) is represented with 0, the signal measuring Hall element is 100, 110, 010, 011, 001, the rule change of 101, then 3 Hall elements correspond to Ha respectively, Hb, Hc, rotor often turns over 60 ° of electrical angles (60 ° of mechanical angles), one of them Hall element will change state, 3 Hall element signals are detected respectively by single-chip microcomputer 3 road I/O interrupt, may determine that position of rotor of brushless motor；Single-chip microcomputer adopts the interface with PWM capturing function, the PWM cycle signal of control signal 0.5～2.5ms (corresponding 0 °～180 ° position signallings) high level of Direct Acquisition steering wheel input；Sensing detection circuit connects brushless electric machine dc bus, also being connected through linear potentiometer with reduction box output, angular transition busbar voltage, electric current and reduction box exported is voltage signal, is connected to microcontroller circuit simultaneously, can be obtained by single-chip microcomputer 12 bit AD sample, form closed loop feedback。Single-chip microcomputer is according to the control signal inputted and the signal detected, regulated by single-chip microcomputer closed loop, adopt the port with PWM output function, provide 3 N-type field effect transistor of three-phase bridge commutation control circuit and the control signal of 3 P type field effect transistor, until steering wheel rotate in place (position that input control signal is corresponding), wait the position signalling of next one input。

Sensing detection circuit comprises voltage detecting, position signalling detection and current detecting, if brushless steering wheel adopts battery power supply mode, owing to providing the limited battery capacity of energy, along with the consumption of electricity, voltage constantly reduces, the electromagnetic torque of motor output also reduces, rotating speed reduces simultaneously, therefore, the detection of magnitude of voltage is particularly important, voltage detecting adopts electric resistance partial pressure mode, directly samples with 12 AD of single-chip microcomputer。Wherein position signalling detection and angle detection, by a linear rotary proportional potentiometer, reduction gearbox output shaft is mechanically connected with this potentiometer, reduction box rotates and then drives potentiometer to rotate, angle signal is converted to the signal of telecommunication, the voltage of potentiometer is detected by 12 AD of single-chip microcomputer, then can the angle of corresponding reduction box output, single-chip microcomputer is compared with the control signal of input by the angle signal detected, produce to adjust pulse, drive motor rotates forward or backwards, the outgoing position making gear train is consistent with expected value, order adjusts pulse and tends to be 0, thus reaching to make the pinpoint purpose of steering wheel。Fig. 2 is current detection circuit schematic diagram in sensing detection circuit, adopting high side current chip monitoring ZXCT1009, it is little that it has volume, uses simple advantage, internal circuit includes an amplifier, an audion and internal 100 ohmages, it is achieved electric current is converted linearly into voltage signal function。The maximum input voltage of detection current maxima and AD conversion is wherein can set that by R1 and R2, R1 is sampling resistor, sampling resistor R1 is more little also less on circuit impact, choosing sampling resistor R1 is 20 milliohm 1W, maximum 7A electric current can be detected, it is connected between voltage monitoring chip Vin and Load bipod, R2 is 2K resistance, then the maximum input voltage of AD conversion is 2.8V, the voltage of R2 is recorded by AD sampling, can trying to achieve, through conversion, the electric current flowing through current sampling resistor R1, as the closed loop feedback of electric current, reduced current is:

Fig. 3 is commutation control circuit schematic diagram, and the operation principle of brshless DC motor and brushed DC motor is distinctive in that brushless electric machine substitutes carbon brush commutation with commutation control circuit commutation。Wherein V1, V3, V5 are P type field effect transistor, V4, V6, V2 are N-type field effect transistor, adopt 3 bipolarity field effect transistor MT4607, monolithic chip is integrated with 1 P type field effect transistor and 1 N-type field effect transistor, and each field effect transistor has reverse parallel connection parasitic diode, preventing from field effect transistor to be reversed to puncture, P type field effect transistor and N-type field effect transistor are respectively as upper brachium pontis and lower brachium pontis。Maximum synchronizations only open two field effect transistor, and one be upper brachium pontis field effect transistor, one is lower brachium pontis field effect transistor, and when rotor direction in the same direction turns over 60 ° of electrical angles (detecting that hall signal changes), power tube just carries out a change of current。Node A, B, C of three-phase bridge connects three-phase brushless motor stator coil winding, and brushless electric machine winding is star-like connection, and stator winding and Hall element are without electrical connection。By giving the energising of stator coil winding in certain sequence, produce the magnetic field rotated, this the action of a magnetic field is in permanent magnet rotary, rotor is made to rotate along the direction of rotating excitation field, as when opening order for V1-V2-V3-V4-V5-V6, brushless electric machine turns clockwise, open order and turn counterclockwise for V1-V6-V5-V4-V3-V2 brushless electric machine。The change of motor speed is realized by regulating power source voltage, the method that specifically can adopt pulsewidth modulation (PWM), V4, V6, V2 of lower brachium pontis is inputted pwm signal, just can regulate the size of supply armature winding voltage。

Claims

1. the steering wheel based on three-phase the two poles of the earth thoughts brshless DC motor, including reduction box and linear potentiometer, it is characterized in that, also include power circuit, microcontroller circuit, commutation control circuit, sensing detection circuit, brushless electric machine, described power circuit is by 4～9V DC voltage level conversion of input, output is to microcontroller circuit, commutation control circuit, sensing detection circuit and brushless electric machine, the described microcontroller circuit 0.5～2.5ms pulse signal according to input, output control signals to commutation control circuit, in order to drive the brushless electric machine being connected with commutation control circuit, and be directly connected to brushless electric machine, the rotor-position of detection brushless electric machine, described sensing detection circuit connects brushless electric machine dc bus, also it is connected through linear potentiometer with reduction box simultaneously, by busbar voltage, the angle position of electric current and reduction box output is converted to voltage signal, it is connected to microcontroller circuit, form closed loop feedback, described reduction box engages with motor output gear, output angle position。

2. a kind of steering wheel based on three-phase the two poles of the earth thoughts brshless DC motor according to claim 1, it is characterized in that, described brushless electric machine is three-phase the two poles of the earth thoughts brshless DC motors, have inside brushless electric machine 3 Hall elements and space spaced 120 ° symmetrically placed, brushless electric motor rotor is made with a pair permanent magnet, including N pole and S pole。

3. a kind of steering wheel based on three-phase the two poles of the earth thoughts brshless DC motor according to claim 1, it is characterised in that described commutation control circuit is three-phase bridge circuit, including bipolarity field effect transistor MT4607。

4. a kind of steering wheel based on three-phase the two poles of the earth thoughts brshless DC motor according to claim 1, it is characterised in that described sensing detection circuit includes high side current watch-dog ZXCT1009。