CN209200958U - A kind of crawler belt type miniature ploughing machine go to circuit - Google Patents
A kind of crawler belt type miniature ploughing machine go to circuit Download PDFInfo
- Publication number
- CN209200958U CN209200958U CN201920137914.0U CN201920137914U CN209200958U CN 209200958 U CN209200958 U CN 209200958U CN 201920137914 U CN201920137914 U CN 201920137914U CN 209200958 U CN209200958 U CN 209200958U
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- microcontroller
- motor
- unit
- circuit
- crawler belt
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Abstract
The utility model discloses a kind of crawler belt type miniature ploughing machine go to circuits, including power supply power supply unit, starting motor control unit, rotary speed controling unit and motor signal processing unit, which is characterized in that further includes turning control cell；The input terminal of the turning control cell, the starting motor control unit and the rotary speed controling unit is connect with the power supply power supply unit, and the output end of the starting motor control unit, rotary speed controling unit and motor signal processing unit is connect with the enable end of the turning control cell.
Description
Technical field
The utility model relates to mini-tiller fields, and in particular to a kind of crawler belt type miniature ploughing machine go to circuit.
Background technique
Mini-tiller is driven generally using gasoline engine as power using monoblock type change gear box or belt clutch, can be straight
Connecing drive shaft drives rotary blade to carry out rotary tillage process.Structure is simple and convenient to operate, and can freely be walked in field, is mitigated
Large-scale farm machinery cannot be introduced into the limitation of mountain area field, in Plain, mountain area, the nonirrigated farmland on hills, paddy field, orchard, vegetable plot, cigarette
The application on ground is relatively more, and major function has that rotary tillage, ploughing, intertillage is hoed up weeds, fertilising is earthed up.
It is main still based on traditional fluid-link steering, this course changing control Process Precision when mini-tiller carries out steering operation
It is low, be not suitable for the accurate and fine work of agricultural.With the high speed development of electronics and the communication technology, this is carried out using microcontroller
Ground or remote wireless control DC brushless motor, which are completed to turn to, becomes research and development hot spot, and the microcomputer of innovation is digital control
Steering improves course changing control accuracy, reduces influence of the complex environment to course changing control, while it is strong to mitigate labourer's labour
Degree improves production efficiency, meets the requirement of agricultural environment application.
Utility model content
The utility model has designed and developed a kind of crawler belt type miniature ploughing machine go to circuit, the utility model by microcontroller with
Steering motor is connected, and solves the problems, such as that conventional hydraulic course changing control precision is low.
Technical solution provided by the utility model are as follows:
A kind of crawler belt type miniature ploughing machine go to circuit, including power supply power supply unit, starting motor control unit, revolving speed control list
Member and motor signal processing unit, further include turning control cell；
The turning control cell, it is described starting motor control unit and the rotary speed controling unit input terminal with it is described
The connection of power supply power supply unit, the output end of the starting motor control unit, rotary speed controling unit and motor signal processing unit
It is connect with the enable end of the turning control cell；
It wherein, include microcontroller, steering motor and DC brushless motor in the turning control cell；
The microcontroller and the steering motor are connect with the power supply power supply unit respectively, the microcontroller it is defeated
Outlet is connect with the enable end of the steering motor, the enable end of the output end of the steering motor and the DC brushless motor
Connection；
The RTIO00 pin of the microcontroller connects the steering motor U phase anode, the RTIO03 of the microcontroller
Pin connects the steering motor U phase cathode, and the RTIO01 pin of the microcontroller connects the steering motor V phase anode,
The RTIO04 pin of the microcontroller connects the steering motor V phase cathode, the RTIO02 pin connection of the microcontroller
The steering motor W phase anode, the RTIO05 pin of the microcontroller connect the steering motor W phase cathode.
It preferably, include Hall sensor in the motor signal processing unit；
Wherein, the Hall sensor is set as 3, and 120 ° are divided between setting, respectively with the microcontroller
INTP1, INTP2 are connected with INTP3 input port.
Preferably, the starting motor control unit is connected with the AN17 input port of the microcontroller.
Preferably, the rotary speed controling unit is connected with the P13 input port of the microcontroller.
Preferably, the starting motor control unit further includes being connected with the P10 input port of the microcontroller.
Preferably, further includes:
Current detecting unit, enable end are connected with steering motor, and output end is connected with the microcontroller；And
Over-current protecting unit, enable end are connected with the steering motor, and output end is connected with the microcontroller.
Preferably, the current detecting unit is connected with the AN13 input port of the microcontroller.
Preferably, the over-current protecting unit is connected with the INTP0 input port of the microcontroller.
Preferably, amplification is set between the steering motor and the current detecting unit and the over-current protecting unit
Circuit.
Preferably, comparator circuit is also set up between the steering motor and the over-current protecting unit.
The utility model is possessed compared with prior art the utility model has the advantages that using low cost microcontroller, reduces whole
The cost of a system；Permanent magnet position signal is acquired by Hall sensor, electric machine speed regulation is accurate.
Detailed description of the invention
Fig. 1 is general frame block diagram described in the utility model.
Fig. 2 is mini-tiller steering motor driver circuit schematic diagram described in the utility model.
Fig. 3 is the position view of Hall sensor detection mini-tiller steering motor permanent magnet described in the utility model.
Fig. 4 is the timing diagram between hall signal and motor U, V, W tri- described in the utility model is conducted.
Fig. 5 is embedded software overall flow figure described in the utility model.
Fig. 6 is circuit start control module software flow pattern described in the utility model.
Specific embodiment
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art referring to explanation
Book text can be implemented accordingly.
It is low for the traditional fluid-link steering precision of crawler belt type miniature ploughing machine, be not suitable for accurate and fine work of agricultural etc. and ask
Topic, the purpose of the utility model is to provide a kind of crawler belt type miniature ploughing machine automated steering motor control assemblies；The present apparatus mainly includes
Microcontroller minimum system circuit, power-supplying circuit, mini-tiller steering motor driving circuit, hall signal commutation control electricity
Road, steering motor starting or stopping control circuit, over-current detection protection circuit etc..It is defeated by microcontroller timer and real-time output port
Pulse width modulates (PWM) wave out, and the position detection based on Hall sensor completes level commutation control, to realize to direct current
The drive control of brushless motor, comprising: start and stop the positive and negative rotation speed regulation of motor, motor, and realize over-current detection, force electricity
Machine such as stops operating at the functions.
To achieve the goals above, the utility model is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, being the general frame block diagram of the utility model, described device includes microcontroller minimum system electricity
Road, power-supplying circuit, mini-tiller steering motor driving circuit, hall signal commutation control circuit, steering motor start-up and shut-down control
Circuit, over-current detection protection circuit etc.；Pass through microcontroller timer and real-time output port output pulse width modulation (PWM)
Wave, the position detection based on Hall sensor completes level commutation control, thus realize the drive control to DC brushless motor,
It include: to start and stop the positive and negative rotation speed regulation of motor, motor, and realize over-current detection, force the functions such as motor stalls.
As shown in Fig. 2, being the mini-tiller steering motor driver circuit schematic diagram of the utility model, the mini-tiller turns to electricity
Drive circuit uses the FSB50325 motor driven integrated chip (U3) of Fairchild Semiconductor production, Renesas Electronics Corporation
4 feet of the 3 foot Electricity Federation (RTIO00) of R7F Series of MCU (U4) of production to FSB50325 motor driven integrated chip U3
(UH), the PWM wave of microcontroller output control motor U phase positive (U+) is realized, the Electricity Federation microcontroller (U4) 6 foot (RTIO03) is arrived
5 feet (UL) of FSB50325 motor driven integrated chip U3 realize the PWM of microcontroller output control motor U phase cathode (U-)
Wave；Micro-control is realized to 9 feet (VH) of FSB50325 motor driven integrated chip U3 in the 4 foot Electricity Federation (RTIO01) of microcontroller (U4)
The PWM wave of device output control motor V phase positive (V+) processed, the 7 foot Electricity Federation (RTIO04) of microcontroller (U4) to FSB50325 motor
10 feet (VL) of integrated chip U3 are driven, realize the PWM wave of microcontroller output control motor V phase cathode (V-)；Microcontroller
(U4) microcontroller output control is realized to 14 feet (WH) of FSB50325 motor driven integrated chip U3 in the 5 feet Electricity Federation (RTIO02)
The PWM wave of motor W phase processed positive (W+), the 8 foot Electricity Federation (RTIO05) of microcontroller (U4) to FSB50325 motor driven integrate core
15 feet (WL) of piece U3 realize the PWM wave of microcontroller output control motor W phase cathode (W-).
As shown in Figure 3, Figure 4,120 ° of conducting control modes of the DC brushless motor based on Hall sensor carry out control electricity
Machine rotation, concrete operating principle:
1, using 3 Hall sensors, the interval of sensor between any two is 120 °, and each hall signal is according to rotary magnetic
The direction of pole switches over, and according to the state of 3 hall signals, can obtain once every 60 ° (there are 6 kinds of modes in each period)
Location information.
2, in Fig. 4, the real-time output port (RTO) of microcontroller carries out process control, so that every phase in three-phase windings
Conduction mode be changed switching by with according to the timing of hall signal, then rotating magnetic flux will be generated, thus rotor
It obtains torque and rotates.
A kind of work of crawler belt type miniature ploughing machine automated steering circuit provided by the utility model uses proportional integration (PI)
The control of motor speed is carried out, further, for any time n, microcontroller exports the duty ratio calculation formula of PWM wave:
Δ Duty=KP×(err[n]-err[n-1])+KI×err[n] (1)
In formula (1), Δ Duty is dutyfactor value, and err is the deviation of motor speed controlling value and calculated value, KPFor ratio
The coefficient of item, KIFor the coefficient of integral term, by adjusting dutyfactor value and then motor speed is controlled.
As shown in figure 5, a kind of course of work of the crawler belt type miniature ploughing machine automated steering circuit provided in the present invention
Further include system embedment formula software program, specifically include: main program processing module, initialization module, starting motor control module,
Stop motor control module, current detection module, revolving speed computing module, PI control module, interruption processing module etc., specific implementation
Step are as follows:
Step 1: system carries out hardware initialization first: port, timer, output in real time including microcontroller (U4)
Port (RTO) and AD conversion module initialization；Hall sensor uses initialization etc.；
Step 2: detecting whether that starting/stop key is pressed, if being pressed, start motor, otherwise waits for starting/stopping
Only key is pressed；
Step 3: first detecting whether to occur to force cut-off after starting motor, if pressure cut-off has occurred, pressure stops
Only motor enters step two, otherwise enters step four；
Step 4: whether detection PI flag bit sets 1, if mark position 1, enters PI electric machine speed regulation module and carry out turning to speed
Degree control, otherwise enters step five；
Step 5: timing acquiring current of electric, while detecting no starting/stop key and being pressed again, if being pressed,
Stop motor rotation, otherwise enters step two.
As shown in fig. 6, for electric motor starting control module software flow pattern, specific steps:
Step 1: pressing starting/stop key (SW1) under motor halted state, it is purged pressure cut-off shape first
State；
Step 2: microcontroller real-time output port (RTO) output PWM wave control motor with 500 revs/min (rpm) most
The slow-speed of revolution is started；
Step 3: then start timer, according to the electrical level judging motor direction of rotation of input port, if high level,
Then for clockwise；If low level, then for counterclockwise；
Step 4: the electric motor starting timing according to Fig. 4, using the output signal of Hall sensor as down trigger source, if
It sets INTP Interrupt Subroutine and carries out commutation control, and enabled tachometric survey part, calculate current rotating speed, while starting motor
Mark position is in open state.
In current detection module, after electric motor starting, the port the A/D ANI3 of microcontroller passes through acquisition sampling resistor
Voltage value simultaneously amplifies filtering, and realization is measured in real time current of electric.
In revolving speed PI control module, adjusting knob (VR1) acquires corresponding voltage by microcontroller A/D port ANI7
Value obtains rotating speed of target, and every 5ms carries out a speed PI control, by the real-time output port in 6 roads (RTO) for adjusting microcontroller
Output PWM wave duty ratio so that motor speed is reached consistent with rotating speed of target；
In overcurrent protection module, in motor rotation process, if current of electric exceeds corresponding reference value, it will triggering
The INTP0 of microcontroller is interrupted, while output port (RTO) enters pressure cut-off mode in real time, to protect motor；It opens again
Dynamic motor, forces cut-off mode to release.
It is not only in the description and the implementation although the embodiments of the present invention have been disclosed as above
Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art,
Other modifications may be easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
It is not limited to specific details and legend shown and described herein with novel.
Claims (10)
1. a kind of crawler belt type miniature ploughing machine go to circuit, including power supply power supply unit, starting motor control unit, rotary speed controling unit
With motor signal processing unit, which is characterized in that further include turning control cell；
The input terminal and the power supply of the turning control cell, the starting motor control unit and the rotary speed controling unit
Power supply unit connection, output end and the institute of the starting motor control unit, rotary speed controling unit and motor signal processing unit
State the enable end connection of turning control cell；
It wherein, include microcontroller, steering motor and DC brushless motor in the turning control cell；
The microcontroller and the steering motor are connect with the power supply power supply unit respectively, the output end of the microcontroller
It is connect with the enable end of the steering motor, the enable end of the output end of the steering motor and the DC brushless motor connects
It connects；
The RTIO00 pin of the microcontroller connects the steering motor U phase anode, the RTIO03 pin of the microcontroller
The steering motor U phase cathode is connected, the RTIO01 pin of the microcontroller connects the steering motor V phase anode, described
The RTIO04 pin of microcontroller connects the steering motor V phase cathode, described in the RTIO02 pin connection of the microcontroller
Steering motor W phase anode, the RTIO05 pin of the microcontroller connect the steering motor W phase cathode.
2. crawler belt type miniature ploughing machine go to circuit as described in claim 1, which is characterized in that in the motor signal processing unit
Including Hall sensor；
Wherein, the Hall sensor is set as 3, and 120 ° are divided between setting, respectively with the INTP1 of the microcontroller,
INTP2 with INTP3 input port is connected.
3. crawler belt type miniature ploughing machine go to circuit as claimed in claim 1 or 2, which is characterized in that the starting motor control list
It is first to be connected with the AN17 input port of the microcontroller.
4. crawler belt type miniature ploughing machine go to circuit as claimed in claim 3, which is characterized in that the rotary speed controling unit with it is described
The P13 input port of microcontroller is connected.
5. crawler belt type miniature ploughing machine go to circuit as claimed in claim 2, which is characterized in that the starting motor control unit is also
It is connected including the P10 input port with the microcontroller.
6. crawler belt type miniature ploughing machine go to circuit as claimed in claim 5, which is characterized in that further include:
Current detecting unit, enable end are connected with steering motor, and output end is connected with the microcontroller；And
Over-current protecting unit, enable end are connected with the steering motor, and output end is connected with the microcontroller.
7. crawler belt type miniature ploughing machine go to circuit as claimed in claim 6, which is characterized in that the current detecting unit with it is described
The AN13 input port of microcontroller is connected.
8. crawler belt type miniature ploughing machine go to circuit as claimed in claim 7, which is characterized in that the over-current protecting unit with it is described
The INTP0 input port of microcontroller is connected.
9. crawler belt type miniature ploughing machine go to circuit as claimed in claim 8, which is characterized in that the steering motor and the electric current
Amplifying circuit is set between detection unit and the over-current protecting unit.
10. crawler belt type miniature ploughing machine go to circuit as claimed in claim 9, which is characterized in that the steering motor and the mistake
Comparator circuit is also set up between stream protection location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920137914.0U CN209200958U (en) | 2019-01-28 | 2019-01-28 | A kind of crawler belt type miniature ploughing machine go to circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920137914.0U CN209200958U (en) | 2019-01-28 | 2019-01-28 | A kind of crawler belt type miniature ploughing machine go to circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209200958U true CN209200958U (en) | 2019-08-02 |
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ID=67431733
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920137914.0U Expired - Fee Related CN209200958U (en) | 2019-01-28 | 2019-01-28 | A kind of crawler belt type miniature ploughing machine go to circuit |
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| Country | Link |
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| CN (1) | CN209200958U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109546900A (en) * | 2019-01-28 | 2019-03-29 | 辽宁工业大学 | A kind of crawler belt type miniature ploughing machine automated steering motor control assembly and its control method |
-
2019
- 2019-01-28 CN CN201920137914.0U patent/CN209200958U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109546900A (en) * | 2019-01-28 | 2019-03-29 | 辽宁工业大学 | A kind of crawler belt type miniature ploughing machine automated steering motor control assembly and its control method |
| CN109546900B (en) * | 2019-01-28 | 2024-05-31 | 辽宁工业大学 | Intelligent steering motor control device of crawler mini-tiller and control method thereof |
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| GR01 | Patent grant | ||
| 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: 20190802 Termination date: 20200128 |