CN209184518U - A kind of hub motor control device - Google Patents
A kind of hub motor control device Download PDFInfo
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- CN209184518U CN209184518U CN201920132323.4U CN201920132323U CN209184518U CN 209184518 U CN209184518 U CN 209184518U CN 201920132323 U CN201920132323 U CN 201920132323U CN 209184518 U CN209184518 U CN 209184518U
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- hub motor
- module
- master controller
- detection module
- control device
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Abstract
The utility model relates to a kind of hub motor control devices, which is characterized in that speed adjusting module, Rotating speed measring module, current detection module and the power module connecting including master controller, respectively with the master controller；The speed adjusting module is connect by three-phase drive module with hub motor；The Rotating speed measring module is connect with the Hall sensor of the hub motor；The current detection module is connect with the driving current of hub motor described in real-time detection with the hub motor, and the current detection module includes over-current detection module；The power module is that the master controller and the hub motor are powered, and the power module is additionally provided with voltage detection module, and the voltage detection module is connect with the master controller.The utility model simplifies the control logic of wheeled robot entire car controller, so that entire car controller is sent simple instruction and is able to satisfy the demands for control such as two-wheel or four-wheel Collaborative Control, the starting of realization robot stops, and the movement such as positive and negative rotation is reliable flexible.
Description
Technical field
The utility model belongs to minitype wheeled robotic technology field, and in particular to a kind of hub motor control device.
Background technique
Wheeled robot is an important branch of mobile robot, and minitype wheeled robot architecture is simple, and control is flexible,
It can apply in small lot transport, carry the occasions such as manipulator realization Greenhouse Fruit Picking, reduce artificial manual labor.Wheel type machine
The control core of people is the control to motor.Chamber operation robot, sweeping robot, safety check robot, guide robot etc.
The chassis of minitype wheeled robot much uses Dual-motors Driving.
Because hub motor slow-speed of revolution output torque is big, reliable for operation, general select is driven to be based on nothing wheeled robot
The hub motor of brushless motor.Existing Two-wheeled wheeled robot basic machine, generally by entire car controller, mould
Quasi- electric potential signal and brake signal, communicate with motor driver, realize the control to motor.This control mode can only be realized
Simple motor starting and stopping control, is unable to satisfy the demands for control such as positive and negative rotation, two-wheel coordinated control.
Utility model content
In order to solve above-mentioned technical problem, the utility model devises a kind of hub motor control device.
In order to solve above-mentioned technical problem, the utility model discloses:
A kind of hub motor control device, the speed adjusting module being connect including master controller, respectively with the master controller, revolving speed
Detection module, current detection module and power module；
The speed adjusting module is connect by three-phase drive module with hub motor；
The Rotating speed measring module is connect with the Hall sensor of the hub motor；
The current detection module is connect with the driving current of hub motor described in real-time detection, institute with the hub motor
Stating current detection module includes over-current detection module；
The power module is that the master controller and the hub motor are powered, and the power module is additionally provided with voltage
Detection module, the voltage detection module are connect with the master controller.
Further, the hub motor is internally provided with three Hall sensors as position sensor, described in detection
The position of hub motor rotor.
Further, the time between level signal of the Rotating speed measring module by measuring the Hall sensor output
Difference measures revolving speed, and the Rotating speed measring module turns in such a way that every six hall signals acquire a time difference to calculate
Speed.
Further, the three-phase drive module includes the three-phase full-bridge inverting circuit being made of six mosfet transistors.
Further, the speed adjusting module realizes speed regulation in such a way that PWM duty cycle modulates pressure regulation.
Further, the power module includes the rechargeable battery that voltage is 24V；The power module passes through lowering and stabilizing blood pressure electricity
Road is master controller power supply, and the power module is hub motor power supply by three-phase drive module.
Further, the decompression voltage regulator includes MP2359 chip and AMS1117-3.3V chip；The MP2359 core
Piece is by the 24V voltage step-down of the rechargeable battery to 5V, and the AMS1117-3.3V chip is by 5V voltage step-down to 3.3V.
Further, the battery status of power module described in the voltage detection module real-time detection, and battery status is believed
Breath passes to the master controller.
Further, the current detection module includes inspection leakage resistance and amplifying circuit；The current detection module passes through institute
It states inspection leakage resistance and the driving current of the hub motor is converted into small voltage signal, the amplifying circuit puts small voltage signal
The master controller is sent into after big processing.
Further, the over-current detection module includes the comparison circuit based on amplifier.When motor rotation blockage output electric current it is very big,
Output overcurrent signal will be in interruption to motor system to master controller, master controller immediately when reaching the several times of specified running current
It is dynamic.
Further, the master controller uses STM32F103RC single-chip microcontroller.
24V rechargeable battery when work, in the power module, on the one hand, first pass through MP2359 chip for cell voltage
It is depressured to 5V, then by AMS1117-3.3V chip by 5V voltage step-down to 3.3V, is the master controller after voltage regulator circuit
Power supply；On the other hand, 24V DC charging battery directly supplies electricity to the three-phase drive module.The three-phase drive module is by 24V
The DC inverter that rechargeable battery provides is alternating current, and is controlled by motor commutation, to drive the brush hub motor.It is described
Position sensor, i.e. Hall sensor correspond to unique in any position section of rotor with there are three inside hub motor
Hall coding, by read Hall coding value, can be detected the position of rotor at any time.To every 6 Halls
Time difference of signal acquisition, revolving speed can be measured.The speed adjusting module only does conducting effect in electric motor starting, without
Speed control, when needing acceleration or deceleration, the speed adjusting module is by changing resistance value to export different voltage, through described
After master controller acquisition, PWM pulsewidth modulation is carried out according to the size of output voltage, controls power tube in the three-phase drive module
The ratio closed is connected to adjust the speed to realize.The voltage detection module acquires cell voltage in the motor course of work to judge electricity
Pond state, signal is issued when cell voltage is too low makes the master controller closing motor export and alarm, and avoids battery over-discharge
Electricity.The driving current of the hub motor is converted to voltage signal by inspection leakage resistance by the current detection module, then is passed through
Amplifying circuit processing, is finally sent into the master controller, and when driving current is higher than rated current, the master controller will be issued
Order reduces voltage output, and driving circuit overcurrent is avoided to burn.When the hub motor stall, exports electric current and reach specified operation
When the several times of electric current, output overcurrent signal gives the master controller to the over-current detection module immediately, and the master controller will be
To motor braking in interruption.
The hub motor control device has the advantages that
(1) the utility model can realize small-sized wheel according to requiring starting, stopping, positive and negative rotation for realizing motor etc. to act
The forward-reverse of formula robot.
(2) the utility model simplifies the control logic of wheeled robot entire car controller, and entire car controller is made to send letter
Single instruction is able to satisfy the demands for control such as two-wheel or four-wheel Collaborative Control, realize and drive to double wheel hub motor or four hub motors
Mobile robot starting stops, the reliable in action such as positive and negative rotation, flexible control.
Detailed description of the invention
Fig. 1: the modular construction schematic diagram of hub motor control device in the utility model embodiment；
Fig. 2: robot chassis cloth is driven using the double wheel hub of hub motor control device in the utility model embodiment
Office's figure；
Fig. 3: the program flow diagram of three-phase drive module in the utility model embodiment；
Fig. 4: hub motor startup program flow chart in the utility model embodiment；
Fig. 5: revolving speed detection module program flow diagram in the utility model embodiment.
Description of symbols:
1-hub motor control device；11-master controllers；12-Rotating speed measring modules；13-speed adjusting modules；14-three-phases
Drive module；15-voltage detection modules；16-power modules；17-current detection modules；18-over-current detection modules；2—
Hub motor；21-Hall sensors；3-entire car controllers；4-inflation wheels；5-infrared sensors.
Specific embodiment
With reference to the accompanying drawing, the utility model is described further:
Fig. 1 to Fig. 5 shows the specific embodiment of the utility model hub motor control device.Fig. 1 is present embodiment
The modular construction schematic diagram of middle hub motor control device；Fig. 2 is in present embodiment using the double of hub motor control device
Wheel hub drives robot chassis layout；Fig. 3 is the program flow diagram of three-phase drive module in present embodiment；Fig. 4 is this reality
Apply hub motor startup program flow chart in mode；Fig. 5 is revolving speed detection module program flow diagram in present embodiment.
As shown in Figure 1, the hub motor control device in present embodiment, including master controller 11, respectively with master controller
Speed adjusting module 13, Rotating speed measring module 12, current detection module 17 and the power module 16 of 11 connections；
Speed adjusting module 13 is connect by three-phase drive module 14 with hub motor 2；
Rotating speed measring module 12 is connect with the Hall sensor 21 of hub motor 2；
Current detection module 17 is connect with the driving current of real-time detection hub motor 2, current detecting mould with hub motor 2
Block 17 includes over-current detection module 18；
Power module 16 is that master controller 11 and hub motor 2 are powered, and power module 16 is additionally provided with voltage detection module
15, voltage detection module 15 is connect with master controller 11.
Preferably, hub motor 2 is internally provided with three Hall sensors 21 as position sensor, to detect wheel hub electricity
The position of 2 rotor of machine.In any position section of 2 rotor of hub motor, corresponding unique Hall coding is compiled by reading Hall
The value of code, that is, may know that the position of 2 rotor of hub motor at any time.
Preferably, the time difference between level signal that Rotating speed measring module 12 passes through the measurement output of Hall sensor 21
Measure revolving speed.In the present embodiment, Rotating speed measring module 12 is counted in such a way that every six hall signals acquire a time difference
Revolving speed is calculated, both can increase the precision of measurement result under high speed conditions, while reducing the occupancy to 11 resource of master controller.
Preferably, three-phase drive module 14 includes the three-phase full-bridge inverting circuit being made of six mosfet transistors.Three
The DC inverter that phase drive module 14 provides the 24V DC charging battery of power module 16 is alternating current.Master controller 11
On state by controlling the on state of six mosfet transistors, i.e., between controllable any time three-phase.In Hall
After sensor 21 detects motor rotor position, master controller 11 exports commutation signal at once, the magnetic field for generating commutation signal
Be ahead of current stator field certain angle forever, motor can operating in cycles go down.
Preferably, speed adjusting module 13 realizes speed regulation in such a way that PWM duty cycle modulates pressure regulation.When needing acceleration or deceleration
When, speed adjusting module 13 is by changing resistance value to export different voltage, after the acquisition of master controller 11, according to output voltage
Size carries out PWM pulsewidth modulation, and the ratio of closing is connected to realize speed regulation in control power tube.
Preferably, power module 16 includes the rechargeable battery that voltage is 24V；Power module 16 is by decompression voltage regulator
Master controller 11 is powered, and power module 16 is the power supply of hub motor 2 by three-phase drive module 14.
In the present embodiment, decompression voltage regulator includes MP2359 chip and AMS1117-3.3V chip；The MP2359 core
The 24V voltage step-down of rechargeable battery to 5V, AMS1117-3.3V chip are master controller by 5V voltage step-down to 3.3V by piece
11 power supplies.
Preferably, the battery status of 15 real-time detection power module 16 of voltage detection module, and voltage status information is passed
Pass master controller 11.Specifically, voltage detection module 15 is that cell voltage is acquired in the motor course of work to judge battery
State, signal is issued when cell voltage is too low makes the closing motor of master controller 11 export and alarm, and avoids battery over-discharge.
Preferably, current detection module 17 includes inspection leakage resistance and amplifying circuit；Current detection module 17 passes through the inspection
The driving current of hub motor 2 is converted to small voltage signal by leakage resistance, and the amplifying circuit is by small voltage signal enhanced processing
It is sent into master controller 11 afterwards.When driving current is higher than rated current, master controller 11, which will issue to order, reduces voltage output, keeps away
Exempt from driving circuit overcurrent to burn.The amplifying circuit is the amplifying circuit that amplifier is constituted.
Preferably, over-current detection module 18 includes the comparison circuit based on amplifier.When motor rotation blockage output electric current it is very big, reach
To specified running current several times when output overcurrent signal will be in interruption to motor to master controller 11, master controller 11 immediately
Braking.
In the present embodiment, master controller 11 uses STM32F103RC single-chip microcontroller, runs μ C/OS-III real-time system, utilizes
Keil software, exploitation control program.STM32F103 series monolithic is the middle-end ARM kernel processes based on Cortex-M3 kernel
Device has high speed, reliable for operation, runs the advantages that low in energy consumption.
24V rechargeable battery when work, in power module 16, on the one hand, first pass through MP2359 chip and drop cell voltage
It is pressed onto 5V, then by AMS1117-3.3V chip by 5V voltage step-down to 3.3V, after voltage regulator circuit, is supplied for master controller 11
Electricity；On the other hand, 24V DC charging battery directly supplies electricity to three-phase drive module 14.Three-phase drive module 14 charges 24V electric
The DC inverter that pond provides is alternating current, and is controlled by motor commutation, to drive brushless hub electric motor 2.In hub motor 2
Portion matches there are three position sensor, i.e. Hall sensor 21, and in any position section of rotor, corresponding unique Hall is compiled
Code can be detected the position of rotor at any time by reading the value of Hall coding.Every 6 hall signals are acquired
Time difference, revolving speed can be measured.Speed adjusting module 13 only does conducting effect in electric motor starting, without speed control, when
When needing acceleration or deceleration, speed adjusting module 13 by change resistance value to export different voltage, through master controller 11 acquisition after,
PWM pulsewidth modulation is carried out according to the size of output voltage, the ratio that power tube conducting is closed in three-phase drive module 14 is controlled and comes
Realize speed regulation.Voltage detection module 15 acquires cell voltage in the motor course of work to judge battery status, works as cell voltage
Signal is issued when too low makes the closing motor of master controller 11 export and alarm, and avoids battery over-discharge.Current detection module 17 is logical
It crosses inspection leakage resistance and the driving current of hub motor 2 is converted into voltage signal, then handled by amplifying circuit, be finally sent into master control
Device 11 processed, when driving current is higher than rated current, master controller 11, which will issue to order, reduces voltage output, avoids driving circuit
Overcurrent is burnt.When 2 stall of hub motor, when output electric current reaches the several times of specified running current, over-current detection module 18 is immediately
For output overcurrent signal to master controller 11, master controller 11 will be in interruption to motor braking.
As shown in figure 3, the program flow diagram of three-phase drive module, the utility model is carried out using three-phase brushless dc motor
Commutation is controlled with driving motor.The a certain on state of motor is exactly switched to another state by the commutation.In Hall element
After detecting motor position, master controller 11 exports commutation signal at once, and the magnetic field for generating commutation signal is ahead of forever works as
Front stator magnetic field certain angle, motor can operating in cycles go down.Three hall sensings are distributed inside hub motor 2
Device 21, real-time detection angle of rotor state, each Hall element export 0 and 1 two states, compile to three Hall elements
Number, after Hall element is powered, motor any rotation angle corresponds to unique Hall coding.Motor commutation is converted to be compiled in specific Hall
Under code, commutation signal is exported to motor.When needing to realize motor reversal, it is only necessary to which exporting the commutation sequence opposite with rotating forward is
It can.
As shown in figure 4, electric motor starting program flow diagram, in the utility model electric motor starting by the way of stepless starting,
The function of slide rheostat in the stepless starting of driving end voltage analog tradition is gradually increased by program.It can pass through in a program
AD conversion mouth continuous acquisition drives end electric current, and when each testing result is less than rated current, driving voltage is increased one point
Angle value 0.012V, after motor speed reaches setting speed, startup stage is completed, access motor speed control.
As shown in figure 5, Rotating speed measring modular program flow chart, motor speed acquisition is tested the speed using improved T method, i.e., every 6
Time interval of a Hall pulse collection, motor turns over half cycle in the time interval, so as to calculate motor speed.Motor
Hall capture can be entered in normal operation to interrupt, be encoded in 6 Hall states wherein one into Hall when interrupting every time
It is a.Time interval is only calculated when Hall is encoded to 1, motor just turns over 6 Hall pulses when next Hall is encoded to 1.
The period that will lead to time interval calculating twice when revolving speed very little or motor rotation blockage is elongated, and Hall capture in this case is interrupted
Can not renewal time interval value, cause actual time interval value be far longer than for revolving speed calculate time interval value, make
Current rotating speed state cannot really be reflected by obtaining, and be judged in timer 3 in this case, as stall time-out 200ms, directly fixed
When device fall into a trap evaluation time interval.
As shown in Fig. 2, giving an application example of hub motor control device 1, Fig. 2 is to use hub motor control device
1 double wheel hub drives robot chassis layout, including two hub motors 2, corresponding two hub motor control devices 1, vehicles
Controller 3, inflation 4, four infrared sensors 5 of wheel.Double wheel hub drives robot car body to use four wheel constructions, before two of them
Wheel is driving wheel, and hub motor 2 is mounted on the position of two front-wheels of car body, as the power output in car body operational process.Two
A hub motor control device 1 communicates between entire car controller 3 respectively, is driven according to the simple instruction that entire car controller 3 is sent
Corresponding hub motor 2 completes desired movement.Four infrared sensors 5 detect robots, avoid and surrounding
Wall collides.
Hub motor control device provided by the utility model, can not only starting to double wheel hub motor driven robot, stop
Only, the movements such as positive and negative rotation carry out reliable, flexible control, and can be applied to the motor-driven situation of four wheel hubs, i.e., Fig. 2
In air servicer wheel be changed to hub motor, controlled by four hub motor control devices, to simplify entire car controller
Control logic makes entire car controller by sending simple instruction, realizes the control to car body basic exercise.
The utility model can realize the forward-reverse of minitype wheeled robot according to the positive and negative rotation for requiring realization motor.
The utility model simplifies the control logic of entire car controller, and entire car controller is made to send simple instruction, energy
The control to car body basic exercise is realized by hub motor control device.
Illustrative description has been carried out to the utility model above in conjunction with attached drawing, it is clear that the realization of the utility model not by
The limitation of aforesaid way, if the method concept of the utility model and the various improvement of technical solution progress are used, or without
It improves and the conception and technical scheme of the utility model is directly applied into other occasions, in the protection scope of the utility model
It is interior.
Claims (10)
1. a kind of hub motor control device, which is characterized in that the speed regulation being connect including master controller, respectively with the master controller
Module, Rotating speed measring module, current detection module and power module；
The speed adjusting module is connect by three-phase drive module with hub motor；
The Rotating speed measring module is connect with the Hall sensor of the hub motor；
The current detection module is connect with the driving current of hub motor described in real-time detection, the electricity with the hub motor
Flowing detection module includes over-current detection module；
The power module is that the master controller and the hub motor are powered, and the power module is additionally provided with voltage detecting
Module, the voltage detection module are connect with the master controller.
2. hub motor control device according to claim 1, which is characterized in that the hub motor is internally provided with three
Hall sensor is as position sensor, to detect the position of the hub motor rotor.
3. hub motor control device according to claim 1 or 2, which is characterized in that the Rotating speed measring module passes through survey
The time difference between the level signal of the Hall sensor output is measured to measure revolving speed, every six of the Rotating speed measring module is suddenly
A that time difference of signal acquisition.
4. hub motor control device according to claim 1, which is characterized in that the three-phase drive module includes by six
The three-phase full-bridge inverting circuit that mosfet transistor is constituted.
5. hub motor control device according to claim 1, which is characterized in that the speed adjusting module uses PWM duty cycle
The mode of modulation pressure regulation realizes speed regulation.
6. hub motor control device according to claim 1, which is characterized in that the power module includes that voltage is 24V
Rechargeable battery；The power module is master controller power supply by decompression voltage regulator, and the power module passes through three
Phase drive module is hub motor power supply.
7. hub motor control device according to claim 6, which is characterized in that the decompression voltage regulator includes MP2359
Chip and AMS1117-3.3V chip；The MP2359 chip by the 24V voltage step-down of the rechargeable battery to 5V, it is described
AMS1117-3.3V chip is by 5V voltage step-down to 3.3V.
8. according to claim 1, hub motor control device described in 6 or 7, which is characterized in that the voltage detection module is real-time
The battery status of the power module is detected, and battery status information is passed into the master controller.
9. hub motor control device according to claim 1, which is characterized in that the current detection module includes inspection galvanic electricity
Resistance and amplifying circuit；The current detection module is converted to the driving current of the hub motor by the inspection leakage resistance small
Voltage signal, the amplifying circuit will be sent into the master controller after small voltage signal enhanced processing.
10. according to claim 1 or hub motor control device described in 9, which is characterized in that the over-current detection module includes base
In the comparison circuit of amplifier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920132323.4U CN209184518U (en) | 2019-01-25 | 2019-01-25 | A kind of hub motor control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920132323.4U CN209184518U (en) | 2019-01-25 | 2019-01-25 | A kind of hub motor control device |
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| CN209184518U true CN209184518U (en) | 2019-07-30 |
Family
ID=67378855
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| CN201920132323.4U Expired - Fee Related CN209184518U (en) | 2019-01-25 | 2019-01-25 | A kind of hub motor control device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112379208A (en) * | 2020-11-30 | 2021-02-19 | 摩拜(北京)信息技术有限公司 | Fault detection method of electric bicycle, electric bicycle and system |
| CN116865602A (en) * | 2023-07-04 | 2023-10-10 | 无锡军工智能电气股份有限公司 | Downhole robot four-wheel drive system and motor rotation speed measuring method |
-
2019
- 2019-01-25 CN CN201920132323.4U patent/CN209184518U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112379208A (en) * | 2020-11-30 | 2021-02-19 | 摩拜(北京)信息技术有限公司 | Fault detection method of electric bicycle, electric bicycle and system |
| CN116865602A (en) * | 2023-07-04 | 2023-10-10 | 无锡军工智能电气股份有限公司 | Downhole robot four-wheel drive system and motor rotation speed measuring method |
| CN116865602B (en) * | 2023-07-04 | 2024-02-20 | 无锡军工智能电气股份有限公司 | Downhole robot four-wheel drive system and motor rotation speed measuring method |
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Granted publication date: 20190730 Termination date: 20200125 |